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研究生:劉立偉
研究生(外文):Li-Wei Liu
論文名稱:多手指人工義手之研製與整合
論文名稱(外文):Development of a Dexterous Hand for Prosthetic System
指導教授:黃 漢 邦孫 瑞 昇
指導教授(外文):Han-Pang HuangJui-Sheng SUN
學位類別:碩士
校院名稱:國立臺灣大學
系所名稱:機械工程學研究所
學門:工程學門
學類:機械工程學類
論文種類:學術論文
論文出版年:2002
畢業學年度:90
語文別:英文
論文頁數:93
中文關鍵詞:多手指人工義手機構運動學抓握姿態虛擬圖形控制系統人體實驗
外文關鍵詞:dexterous handkinematicstrajectorygraspelectromyography (EMG)
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本文之主要目的,是建立一具有五指十一個自由度之多手指人工義手(NTU-Hand IV),使得所有機構、驅動器、感測器及控制器均可整合至人工義手本體;與傳統之腱帶傳動方式(tendon driven)相比較,本文之研究成果,更適於作為人工義手之用途。在本文中,除了研究多手指人工義手之機構、運動學及抓握姿態之分析,並研發為手指人工義手設計韌體,除了可同時控制五指十一個自由度外,並符合空間限制的需求。此外本文亦發展虛擬圖形控制系統,將人工義手、虛擬圖形控制系統以及實驗室開發之肌電訊號辨識系統進行整合,並成功與截肢患者進行人體實驗。

A new five-fingered dexterous hand (the NTU-Hand IV) with eleven degrees of freedom (DOF) is designed in this thesis. In contract to traditional tendon-driven hands and the old version of NTU-Hands, the NTU-Hand IV has a special configuration that all distal interphalangeal (DIP) joints of fingers are fixed, and other joints of each finger are driven individually. Since the NTU-Hand IV is equipped with all actuators, mechanical components and tactile sensors, such compact design makes it easy to be implemented into prosthetic applications. Based on the mechanism design of the NTU-Hand IV, the kinematics, trajectory planning, grasp implementations, 3D graphic control interface, and control system are also developed in this thesis. In the grasp implementation, the DSP-based EMG discriminative system is integrated as well. This discriminator can discriminate eight normal postures of human hand, such as power grasp, hook grasp, wrist flexion, lateral pinch, flattened hand, centralized grip, three-jaw chunk and cylindrical grasp. After determining the prehensile posture, the multi-fingered hand is controlled to perform the relative posture and the contact mechanisms between object and fingers will be defined to exert corresponding force on the object by the position-force control algorithm.
Since there are five fingers and eleven joints to be controlled simultaneous, a specially designed 3D graphic control interface is also developed to control and monitor the status of the NTU-Hand IV In the meantime, the actual and theoretic kinematics of the NTU-Hand IV will be shown in the 3D graphic control interface as well.

List of FiguresList of Tables
Chapter 1 Introduction
1.1 Motivation
1.2 Related Works
1.3 Organization of This Thesis
1.4 Contributions
Chapter 2 Mechanism Design of the NTU-Hand IV
2.1 Hand Mechanism
2.1.1 Fingers and Finger Segments
2.1.2 Auxiliary Device of the Thumb
2.1.3 Palm and Wrist
2.1.4 Tactile Sensors
2.2 Specification of the NTU-Hand IV
2.3 Verification and Improvement
2.3.1 Comparison of the NTU-Hand Series
2.3.2 Problems of the Present Design
Chapter 3 Kinematics of the NTU-Hand IV
3.1 Direct Kinematics of the NTU-Hand IV
3.1.1 Workspace
3.2 Inverse Kinematics
Chapter 4 Grasp Planning and Control System of the NTU-Hand IV
4.1 Trajectory Planning
4.2 Master-Slave Contact Structure
4.3 Position-Force Control
4.4 Multiprocessor Control System
4.4.1 Central Communication Module
4.4.2 Tactile Sensing Module
4.4.3 Joint Control Module
4.4.4 Power Source Module
4.5 3D Graphic Control System
4.5.1 A Summary of Direct X
4.5.2 3D Graphic Control Interface
Chapter 5 Integration of the Prosthetic System
5.1 EMG Discriminative System
5.2 Integration
5.3 Experiments
5.3.1 Case 1
5.3.2 Case 2
Chapter 6 Conclusions
6.1 Conclusions
6.2 Future Works
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