TY - GEN
T1 - A measurement and control system based on USB bus for prosthetic hand
AU - Ting, Zhang
AU - Li, Jiang
AU - Nan, Li
AU - Hong, Liu
PY - 2011
Y1 - 2011
N2 - A five-fingered, multi-sensory and biomimetic prosthetic hand is presented in this paper. And the measurement and control system of HIT prosthetic hand based on the DSP and USB chip(ATmega32U2) is presented. The measurement and control system communicate with PC by USB bus, and the measurement and control system use the power supplied by USB electric cable. This system include bottom control subsystem, USB communications subsystem. The ATmega32U2 communicate with DSP by SPI(the pins of SS, SCLK, MOSI, MISO), and the ATmega32U2 configure as master mode, while the DSP configure as slave mode in the SPI. The communication speed of SPI between Atmega32U2 and DSP can achieve 8Mbit/s, and the communication speed of USB between master computer and USB chip is 12Mbit/s. The USB interface circuit, firmware program, drive program and PC application software are design. The proposed impedance control approach allows the fingers to behave as virtual springs. Experiments showed that users were able to successfully operate the device in the control strategies, and that the grasp success increased with more interactive control. The experiment results shows that this measurement and control system have high real-time property and reliability.
AB - A five-fingered, multi-sensory and biomimetic prosthetic hand is presented in this paper. And the measurement and control system of HIT prosthetic hand based on the DSP and USB chip(ATmega32U2) is presented. The measurement and control system communicate with PC by USB bus, and the measurement and control system use the power supplied by USB electric cable. This system include bottom control subsystem, USB communications subsystem. The ATmega32U2 communicate with DSP by SPI(the pins of SS, SCLK, MOSI, MISO), and the ATmega32U2 configure as master mode, while the DSP configure as slave mode in the SPI. The communication speed of SPI between Atmega32U2 and DSP can achieve 8Mbit/s, and the communication speed of USB between master computer and USB chip is 12Mbit/s. The USB interface circuit, firmware program, drive program and PC application software are design. The proposed impedance control approach allows the fingers to behave as virtual springs. Experiments showed that users were able to successfully operate the device in the control strategies, and that the grasp success increased with more interactive control. The experiment results shows that this measurement and control system have high real-time property and reliability.
KW - USB bus
KW - impedance control
KW - measurement and control system
KW - prosthetic hand
UR - https://www.scopus.com/pages/publications/81055138790
U2 - 10.1109/ICMA.2011.5985853
DO - 10.1109/ICMA.2011.5985853
M3 - 会议稿件
AN - SCOPUS:81055138790
SN - 9781424481149
T3 - 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
SP - 1321
EP - 1326
BT - 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
T2 - 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
Y2 - 7 August 2011 through 10 August 2011
ER -