Method of human-imitating posture generation for mechanical hand prosthesis

摘要

To meet the need of matching analysis of human-machine interface in mechanical system and personification design of the posture for mechanical hand prosthesis, a 7-DOF motion model of mechanical hand prosthesis is established on the principle of human anatomy and robot mechanism. With human comfort as optimizing object, an optimizing model of comfort degree of human upper limb posture is built, and the most comfortable, i.e., instinctive or subconscious motion posture of human upper limb can be obtained by solving the model based on genetic algorithm. The MATLAB simulation analysis and experimental study show that the trend of the obtained human-imitating posture is essentially consistent with the real human upper limb posture, which means that the optimizing model and the method proposed in this paper are reasonable, practical and effective. Meanwhile the evaluation on the layout of man-machine interface in mechanical system, which uses the posture generated through this method, can get rid of the defect only depending on subjective evaluation in previous research.