Grip force control of prosthetic hands based on FSR

DENG Xiao-bao; DUAN Xiao-gang; DENG Hua

doi:10.13873/J.1000-9787(2016)12-0096-03

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Grip force control of prosthetic hands based on FSR

更新时间：2025-09-11

- Grip force control of prosthetic hands based on FSR
- Vol. 35, Issue 12, Pages: 96-98+102(2016)
- 作者机构：
  
  中南大学高性能复杂制造国家重点实验室
- 作者简介：
- 基金信息：
- DOI：10.13873/J.1000-9787(2016)12-0096-03
  CLC： TP273;R318.17
- Published：2016
- 稿件说明：
移动端阅览
[1]邓小保,段小刚,邓华.基于FSR的假肢手抓握力控制[J].传感器与微系统,2016,35(12):96-98+102.

DENG Xiao-bao, DUAN Xiao-gang, DENG Hua. Grip force control of prosthetic hands based on FSR[J]. 2016, 35(12): 96-98+102.
[1]邓小保,段小刚,邓华.基于FSR的假肢手抓握力控制[J].传感器与微系统,2016,35(12):96-98+102. DOI： 10.13873/J.1000-9787(2016)12-0096-03.

DENG Xiao-bao, DUAN Xiao-gang, DENG Hua. Grip force control of prosthetic hands based on FSR[J]. 2016, 35(12): 96-98+102. DOI： 10.13873/J.1000-9787(2016)12-0096-03.

摘要

为了帮助上肢残疾者稳定抓取日常物品

提出了一种基于力敏电阻（FSR）的假肢手抓握力控制方法。FSR采集假肢手抓取力

并根据抓握力及其梯度

建立了假肢手抓握力模糊估计模型。然后将模糊控制器应用于假肢手抓握力控制

并采用试凑法得到模糊控制参数的值。假肢手抓握实验表明:所提出的基于FSR假肢手期望抓握力的估计和抓握力控制的方法是有效的。

Abstract

In order to help amputees grasp everyday objects stably

a force estimation method is presented for prosthetic hands based on force sensitive resistors（ FSR）. Grasping force signal is obtained by FSR

and analysis the force and its gradient signal to the different objects. A grip fuzzy estimation model is established. Fuzzy controller is applied to control the prosthetic and its parameters are obtains by cut-and-trial. Experimental results of prosthetic hand show that the proposed method about desired grip force estimation based on FSR and grip force control is effective.

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references

多抓取模式下人手握力的肌电回归方法 [J]. 杨大鹏,赵京东,姜力,刘宏. 哈尔滨工业大学学报 . 2012(01)

基于关节力矩传感器的灵巧手指的阻抗控制 [J]. 孙金凤,姜力. 传感器与微系统 . 2008(07)

Robustness of fuzzy PID controller due to its inherent saturation [J] . Xiao-Gang Duan,Han-Xiong Li,Hua Deng. Journal of Process Control . 2011 (2)

Evaluation of handgrip force from EMG measurements [J] . J. Duque,D. Masset,J. Malchaire. Applied Ergonomics . 1995 (1)

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