NTU-Hand 多手指人工義肢系統之整合與改善

Abstract

本文的主要目的在於將本實驗室所研發的人工義肢系統改善成一個可攜式的系統。為了達成高度整合的目的，我們引進了SOPC的技術，並且使用PDA操控人工義肢，此外，我們也成功的把肌電辨識系統嵌進PDA中。 在人工義肢的控制器方面，我們利用硬體描述語言Verilog撰寫一個多指節控制器，並且使用Nios為整個人工義肢系統的主控核心。在肌電辨識系統方面，我們提出了一個新的時間-尺度領域（time-scaling domain）特徵，攫取此特徵並且透過支持向量機（support vector machine）進行分類，辨識率可達93％。 在PDA人機介面方面，我們開發了一套使用者圖形介面，透過這個圖形介面，使用者可以完整運用機械手的所有功能，包括肌電辨識系統的訓練與測試，抓杯子、雞蛋等抓握動作，以及感測器的監控等功能。

In the thesis, the NTU-hand prosthetic system developed in our laboratory was transferred to a portable system. To obtain a highly integrated system, the SOPC technology was applied. A PDA was adopted to communicate with the NTU-hand prosthetic system. Besides, the EMG discriminative system was built on the PDA. To control the NTU-hand prosthetic system, the multi-joint controller was written in Verilog. Besides, the Nios was used as the kernel of the control system. In the EMG discriminative system, a new time-scaling feature is extracted and feed forwarded to the SVM, a 93% classification rate can be achieved. In the PDA-based human machine interface, a user friendly GUI was developed. Monitor and control of the prosthetic hand, the training and testing of the EMG discriminative system can be performed via the GUI.