手眼协调的臂-手假肢系统基础研究

项目名称： 手眼协调的臂-手假肢系统基础研究

项目编号： No.51335004

项目类型： 重点项目

立项/批准年度： 2014

项目学科： 机械、仪表工业

项目作者： 熊蔡华

作者单位： 华中科技大学

项目金额： 300万元

中文摘要： 本项目针对当前肌电假肢和脑控假肢在应用中的局限性，提出利用手眼协调机制驱动臂-手假肢的新理念，围绕构建手眼协调臂-手假肢系统必须直面的挑战性难题：如何建立复现人体上肢功能运动的拟人假肢臂设计理论？如何建立复现人手运动谱的灵巧假手设计的新原理与新方法？如何利用人眼确定抓握对象空间位姿？聚焦“上肢功能运动协同的机械实现方法”、“人手抓握操作运动谱的复现原理”、“从人眼中解析出臂-手假肢运动意图”三个科学问题开展研究，研究内容包括：人体上肢运动解析与假肢臂设计理论，复现人手抓握运动谱的假肢手设计原理，抓握对象的捕获与定位方法，臂-手假肢与人眼交互理论，以及理论与方法的验证平台等。通过上述研究，建立手眼协调臂-手假肢机械系统设计的新原理与新方法，以及基于眼动跟踪的人机交互理论与方法，促进生机电一体化交叉学科的发展，使我国智能康复工程装备研究水平跻身于世界前列，具有重要的学术意义和应用价值。

中文关键词： 上肢假肢;手眼协调;运动协同;生物机械设计;人机交互

英文摘要： Aiming at the limitation of the EMG and EEG based artificial limb in application, this project presents a new idea using the hand-eye coordinated mechanism to drive the artificial upper limb with hand. The challenging problems to design a hand-eye coordinated artificial upper limb with hand include: How to design an artificial upper limb to reproduce the function motion of the human upper limb? How to design a prosthetic hand to reproduce the grasping function of the human hand? How to use human eyes to determine the position of an object to be grasped in three dimensional space? This project focuses on three fundamental problems, that is, the mechanical implementation method of the motor synergy in the human upper limb, the reproducing principle of the grasping manipulation in the human hand, and the detecting method of the motion intention of the artificial upper limb with hand from the human eyes. The research contents of this project include the kinematic analyzing method of the human upper limb and the mechanical design theory of the artificial upper limb, the mechanical design principle reproducing the grasping manipulation of the human hand, the capturing and locating methods of an object to be grasped in 3D space, the design theory of the Human Machine Interface between the human and the artificial upper limb with hand based on eye gaze tracking, and the construction of the experiment system to verify the functions of the artificial upper limb with hand. The objective of this project is to build up the theory framework developing the system of the hand-eye coordinated artificial upper limb with hand. The significance of this project is that the theory results and key technologies developed in this project will be helpful to boost the development of the biomechatronic discipline, and promote the research level of the rehabilitation engineering equipments in China.

英文关键词： Artificial Upper Limb;Hand-Eye Coordinated;Motor Synergy ;Bio-Mechanical Design;Human-Machine Interface