握取器握力自适应控制

为了使假手有握物感觉和具备握力自适应性，分析了人手握物过程以及感觉信息传递，提出在握取器握力控制中采用到人体的大闭环和到假手的小闭环联合控制方案，研制了用于检测指物之间触压觉和滑觉的微型传感器。在假手握物控制中，用触觉传感器进行握物状态识别，用压觉传感器跟踪检测握物时握力的大小，用滑觉传感器实现假手握力自适应控制。实验表明，假手握物过程拟人性好，响应快，握物稳定，可靠。本控制装置结构简单，体积小，可用于各种电动假肢及机器人握取器的握力自适应控制。

Force self-adaptive control for prehensors

A sensory control system for the prehensor is presented after analyzing the human grasp process and artificial sense. This system is a mixed sensory feedback loop. The automatic grasp artificial reflex and the state of the prehensor artificial reflex are its function. Using touch sensor to recognize the state of prehensor, using pressure sensor to test the grasp force, using slip sensor to realize the force self adaptive control, thereby eliminate human response delays with supplemental sensory input and reduce the attention needed by the users and increase the grasp force automatically to obtain a stable grasp. In order to implement this control system, a new slip sensor and a touch sensor are developed. Some experiments about the control system have been done and demonstrate that the sensory control system is successful. The control system can be used in the electric prostheses and manipulator of robots.