发表机构
Polytechnique Montréal（蒙特利尔综合理工大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
研究设计并评估集成肌电控制、无传感器目标检测和振动触觉反馈的肌电触手状假肢，通过肌电信号控制柔性仿生结构，经信号处理识别用户意图，基于电流斜率检测物体接触，测试表明该假肢响应快、检测成功率高、反馈策略有效，促进了可表达人工肢体研究。
AI 中文摘要
本文介绍了一种集成肌电控制、无传感器目标检测和振动触觉反馈的肌电触手状假肢的设计与评估。目标是开发一种响应灵敏且直观的辅助设备，能适应各种物体形状并向用户提供感官反馈。该系统依靠肌电信号控制遵循对数螺旋卷曲几何形状的柔性仿生结构运动以缠绕物体。通过对肌电信号归一化、滤波及基于阈值的方法识别用户意图来确保稳定控制。通过基于电机电流斜率分析检测物体接触，无需外部传感器，基于累积振动触觉刺激的触觉反馈策略传达触手配置的空间信息。通过定量和定性测试评估系统，结果显示平均响应时间低（77毫秒）、目标检测成功率高于90%、触觉反馈策略有效，能让用户可靠识别触手折叠区域。所提出的仿生设计通过优先考虑表达功能而非遵循预定义的拟人外形，促进了对可表达人工肢体的进一步研究。
英文摘要
This paper presents the design and evaluation of a myoelectric tentacle-shaped prosthesis integrating electromyographic (EMG) control, sensorless object detection, and vibrotactile feedback. The objective was to develop a responsive and intuitive assistive device that adapts to various object shapes while providing sensory feedback to the user. The system relies on EMG signals to control the motion of a flexible, biomimetic structure whose curling geometry follows a logarithmic spiral, enabling it to coil around objects. To ensure stable control, the EMG signal is normalized and filtered, and a threshold-based method identifies user intention. Object contact is detected through a slope-based analysis of motor current, eliminating the need for external sensors, and a haptic feedback strategy based on cumulative vibrotactile stimulation conveys spatial information about the tentacle's configuration. The system was evaluated through quantitative and qualitative tests. The results demonstrate a low response time (77 ms on average), enabling smooth real-time interaction; an object-detection success rate above 90%, confirming robustness despite EMG variability; and an effective haptic feedback strategy that allowed users to reliably identify the folding zone of the tentacle. The proposed biomimetic design promotes further investigation of expressive artificial limbs by prioritizing expressive functionality over adherence to a predefined, anthropomorphic form factor.
