CAJ | 학술논문

针对残疾人假肢手部需要保持平衡的环境比较多，但是要实现假肢手部在运动过程中的平衡非常不易，要实现假肢手部的姿态自平衡更是困难，所以该文提出了一种基于stm32智能上假肢手部姿态自平衡系统的设计方法。该系统由加速度传感器、陀螺仪、stm32微控制器、高性能舵机组成，由stm32实时采集加速度传感器、陀螺仪的数据经过互补滤波算法优化角度值并处理后，通过串口向舵机发送动作信号。实验结果表明，该系统能使假肢在无规则运动过程中保持手部平衡。
침대잔질인가지수부수요보지평형적배경비교다，단시요실현가지수부재운동과정중적평형비상불역，요실현가지수부적자태자평형경시곤난，소이해문제출료일충기우stm32지능상가지수부자태자평형계통적설계방법。해계통유가속도전감기、타라의、stm32미공제기、고성능타궤조성，유stm32실시채집가속도전감기、타라의적수거경과호보려파산법우화각도치병처리후，통과천구향타궤발송동작신호。실험결과표명，해계통능사가지재무규칙운동과정중보지수부평형。
There are many occasions in which balance has to be maintained for hands of artificial limbs of the disabled,but it is quite difficult to realize balance for hands of artificial limbs during the motion process, so this paper proposed a design method for self-balancing system of hand gestures of intel igent upper artificial limbs based on stm32.The system is composed of acceleration sensor,gyroscope,the stm32 mi-cro control er,and high-performance steering engines;actuating signal can be sent out to steering engines through the serial port after data are col ected from acceleration sensor and gyroscope via stm32 and the angle values are optimized and disposed via complementary filtering algorithm.The test results suggest that this system can maintain hand balance for artificial limbs during random motion process.