模糊類神經基於肌電訊號控制肢體同動機械手臂之研究

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姓名

吳景弘(Ching-hung Wu) 查詢紙本館藏

畢業系所

機械工程學系

論文名稱

模糊類神經基於肌電訊號控制肢體同動機械手臂之研究
(Neuro-Fuzzy of EMG-based upper-limb motion synchronization robot arm system)

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至系統瀏覽論文 ( 永不開放)

摘要(中)

本研究主要在設計與實現一套肢體同動機械手臂系統用來驗證以肌電訊號控制機械手臂的可行性，並作為穿戴式機械骨骼系統的先期研究。EMG(electromyography)訊號是肌肉在收縮運動中產生的一種類比生理訊號，此訊號會依人體不同的動作而產生不同的變化，因此利用肌電訊號作為義肢或機械手臂的控制命令，是相當直接的方法。
本研究是使用數位訊號處理器(TMS320F2812)實現肌電訊號的訊號處理、扭力估測、角度估測與機械手臂運動控制，讓機械手臂可以實現使用者想要完成的動作和指令，達成機械手臂能夠跟隨使用者手臂動作的目的，也意味著未來應用於穿戴式機械骨骼系統時，機械手臂能幫助病患作想要的動作，使其生活更加便利。

摘要(英)

關鍵字(中)

★ 最小平方法
★ 最陡坡降法
★ 肌電訊號
★ 機械手臂
★ 模糊類神經網路

關鍵字(英)

★ Fuzzy-Neural Network
★ LSE
★ Steepest Descent
★ Robotics
★ EMG

論文目次

摘要........................................................................................................................ i
ABSTRACT.......................................................................................................... ii
致謝......................................................................................................................iii
目錄...................................................................................................................... iv
圖目錄.................................................................................................................. ix
表目錄................................................................................................................. xv
一、緒論............................................................................................................... 1
1-1 研究動機........................................................................................................ 1
1-2 研究目的........................................................................................................ 2
1-3 文獻回顧........................................................................................................ 2
1-4 論文架構........................................................................................................ 4
二、肌肉構造及肌電訊號簡介........................................................................... 6
2-1 肌肉構造........................................................................................................ 6
2-1-1 肌肉............................................................................................................. 6
2-1-2 骨骼肌構造................................................................................................. 6
2-1-3 骨骼肌收縮................................................................................................. 7
2-2 肌電訊號......................................................................................................... 9
2-2-1 肌電訊號的產生......................................................................................... 9
2-2-2 肌電訊號的特性........................................................................................ 10
2-2-3 肌電訊號的量測........................................................................................ 11
三、模糊類神經系統介紹.................................................................................. 14
3-1 前言............................................................................................................... 14
3-2 類神經網路介紹........................................................................................... 14
3-2-1 類神經網路簡介....................................................................................... 14
3-2-2 類神經網路的功能................................................................................. 16
3-2-3 類神經網路架構分類............................................................................. 17
3-2-4 基本架構................................................................................................. 18
3-3 模糊理論介紹............................................................................................ 19
3-3-1 簡介........................................................................................................ 19
3-3-2 模糊化(Fuzzification)............................................................................ 20
3-3-3 模糊知識庫(Fuzzy Knowledge Base)................................................ 20
3-3-4 推論工廠(Inference Engine) ...................................................... 21
3-3-5 解模糊化(Defuzzification)......................................................... 21
3-3-6 整體架構.................................................................................... 22
3-4 模糊結合類神經................................................................................. 22
3-4-1 模糊理論結合類神經的應用.................................................... 23
3-4-2 模糊倒傳遞網路(Fuzzy Back-Propagation Network)............... 24
3-4-3 適應性模糊類神經推論系統(Adaptive-Network-Based Fuzzy Inference System).................................................................................. 25
四、實驗硬體設備............................................................................................. 26
4-1 量測設備............................................................................................. 26
4-1-1 肌電訊號量測設備.................................................................... 26
4-1-2 角度量測設備............................................................................ 27
4-1-3 肌力量測設備............................................................................ 29
4-1-4 擷取卡........................................................................................ 31
4-1-5 人機介面.................................................................................... 31
4-2 硬體設備............................................................................................. 32
4-2-1 機械手臂.................................................................................... 33
4-2-2 數位訊號處理器........................................................................ 34
4-2-3 D/A模組電路............................................................................ 35
4-2-4 A/D模組電路............................................................................ 36
4-2-5 編碼器模組電路........................................................................ 37
4-2-6 DIDO模組電路........................................................................... 38
4-2-7 直流馬達驅動器........................................................................ 38
4-2-8 整體驅動系統成品.................................................................... 39
五、研究方法..................................................................................................... 41
5-1 前言..................................................................................................... 41
5-2 訊號處理............................................................................................. 42
5-2-1 肌電訊號特徵值處理................................................................ 42
5-2-2 角度感測器雜訊處理................................................................ 44
5-2-3 扭力訊號曲線擬和.................................................................... 45
5-3 ANFIS架構......................................................................................... 46
5-3-1 輸出扭力及角度差別................................................................ 47
5-3-2 扭力架構.................................................................................... 49
5-3-3 角度架構.................................................................................... 49
5-3-4 訓練方式.................................................................................... 50
5-4 機械手臂運動控制架構..................................................................... 55
六、模擬實驗及實機測試................................................................................. 59
6-1 前言..................................................................................................... 59
6-2 扭力估測(模擬) .................................................................................. 59
6-2-1 估測架構.................................................................................... 59
6-2-2 實驗結果.................................................................................... 60
6-3 角度估測(模擬) .................................................................................. 74
6-3-1 估測架構.................................................................................... 74
6-3-2 實驗結果.................................................................................... 75
6-4 角度估測(實機) .................................................................................. 78
6-4-1 硬體架構及韌體架構................................................................ 78
6-4-2 數位訊號處理器處理結果........................................................ 80
七、結論與未來展望......................................................................................... 84
7-1 結論..................................................................................................... 84
7-2 未來展望............................................................................................. 85
參考文獻 ............................................................................................................. 87

參考文獻

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指導教授

董必正(Pi-Cheng Tung)

審核日期

2010-7-13

推文