ПОЗИЦИОНИРОВАНИЯ РАБОЧЕГО ОРГАНА МАНИПУЛЯЦИОННОЙ РЕАБИЛИТАЦИОННОЙ СИСТЕМЫ ПРИ НАЛИЧИИ ТРЕМОРА КУЛЬТИ ЧЕЛОВЕКА

Abstract

The problem of accurate positioning of objects using an active prosthesis hand is not widely investigated, where many factors can play a significant role in degrading of the prosthesis accuracy. An unorthodox rehabilitation system equipped with manipulator with elastic links aimed to help people without brushes in performing fine tool movements has been developed. In this system, a force/torque sensor is securing a physical hard connection between the stump and the prosthesis. In such human-prosthesis systems many factors contribute to tool positioning error, but when high accuracy is required, the human tremor in the residual stump becomes a key factor affecting the accuracy of the tool fine movements. Mathematical model of this system is developed and the error resulted by stump tremor is isolated. Depending of the force/torque sensor, two control strategies are presented in order to perform high accuracy working organ movement between two points. The first is to use the sensor to collect involuntary stump movements caused by the tremor. The second is to use the sensor as an input for the control system by recording all stump movements. In computer simulation, the effect of three main types of human tremor on the manipulation accuracy of the rehabilitation system is observed. As a result, a positioning accuracy of 0.1 mm is achievable by meeting some design criteria that would element the resonance effect in the system