语音控制肌腱驱动仿生手的研发
Development of a Voice-Controlled Tendon-Driven Bionic Hand
AI总结：
本文研发了一款语音控制肌腱驱动仿生手，基于Arduino微控制器实现预设手势，经测试其运动稳定、协调，可稳定抓持不同物体，具备良好控制性能。
AI中文摘要：
手部损伤会严重影响个体完成日常活动的能力，因此稳定且可控的辅助装置设计是重要研究领域。本文设计并实现了一种自动化仿生手，其采用简化高效的驱动机构实现手指协调运动，该系统基于肌腱驱动方法设计，伺服电机在经校准的角度控制辅助下产生手指运动；驱动由微控制器控制，该微控制器基于Arduino平台编程，可执行的预设手势包括手张开、握拳、捏取和半弯曲。系统配备语音命令接口，便于与基于蓝牙的收发架构交互，该架构可执行训练后的命令并将其立即转换为手指动作。为探究运动行为、手指协调性及对输入的控制响应，对实验系统进行测试，结果显示：手指驱动完成所有手指依次完全弯曲的总时长约为7-8秒；在多个驱动周期内，系统运动重复且稳定，无明显张力损失或控制精度下降；系统可稳定抓持不同形状和尺寸的物体，表明手指间协调一致。这些结果表明，所提系统具备可预测且稳定的控制行为，拥有简单高效的机械与控制架构。
英文摘要：
The impairment of the hands can seriously affect the abilities of every individual to perform the every-day activity, so the design of stable and controllable support devices is a significant field of study. This paper is about the design and implementation of an automated bionic hand which is dedicated to the coordinated finger movement through the simplified and efficient actuation mechanism. The method that the proposed system was designed on is the tendon-based method whereby the servo motors generate the movement of the fingers, with assistance of the angular control which is calibrated. An actuation is controlled by a microcontroller that will be programmed by use of an Arduino-based microcontroller to carry out programmed gestures that include open hand, fist, pinch and half flexion. It has an interface that is voice command enabled to make it easy to interact with a Bluetooth based sender receiver architecture which offers an option of executing trained commands which are immediately converted to finger actions. To explore the motions behavior, finger coordination and control response to the input, the behavior of the experiment system is tested. The actuation of the fingers was found to take a total of about 7-8 seconds to achieve full flexion of all fingers in a sequence. The system showed repetitive and constant motion throughout several actuation cycles without loss of any apparent tension or precision of control. There was a stable grasp of objects of different shapes and sizes, which implied consistent coordination between the fingers. These findings indicate that the proposed system offers predictable and steady control behavior and has a simple and efficient mechanical and control architecture.
