智能肌电控制假手研究进展

智能肌电假手研究作为康复医疗领域中的重要研究内容，始终是国内外研究的热点.随着机器人技术的进步，假手正往仿人型、灵巧性、直觉控制、智能感知方向发展.智能肌电假手应当具有与人手相近的功能，其不仅能通过运动功能重建辅助残疾人进行日常生活，而且还应通过感知反馈功能重建让残疾人产生人机共融的本体感.本文通过对国内外多年的肌电假手研究成果进行分析比较，从质量、灵巧程度、抓取性能、设计原理等多角度分析了假手的机械结构设计要素；另外，本文还较系统地对基于肌电信号的手势识别研究现状进行概述，介绍了目前基于残肢生物信号识别的多种研究思路，并分析了多种基于不同原理的假手信息感知技术，介绍了利用指尖力触觉传感器实现对假手的自适应控制和用户的感知反馈.最后总结了未来假手的研究发展过程中面临的问题与挑战，提出了肌电假手的未来研究方向.

Research progress on intelligent myoelectric control prosthesis

As an important research content in the field of rehabilitation,intelligent myoelectric prosthetic hand research has always been a hot research spot through the world.With the advancement of robotics,the prosthetic hand is moving toward humanoid type,dexterity,intuitive control,and intelligent perception.The intelligent myoelectric prosthetic hand should have similar function with human hand.It not only assists the daily life of the disabled by rebuilding motor function,but also recreate the proprioception by restoring the perceptual feedback function.This paper reviews years of domestic and foreign research results on myoelectric prosthetic hand and analyzes the mechanical design of the prosthetic hand from the perspectives of weight,dexterity,grasping performance,and design principle.In the area of user motion intention decoding,this study systematically summarizes the state-of-the-art in gesture recognition based on surface electromyography signals,and introduces various of research ideas based on residual limb biological signal recognition.In addition,a variety of prosthetic hand tactile perception technologies based on different principles are analyzed,and adaptive control and user awareness feedback using the finger tip force tactile sensor are introduced.Finally,the problems and challenges faced in the research and development of prosthetic hands are summarized,and the direction of future research in myoelectric prosthetic hand is proposed.