形狀記憶合金驅動之電子手研發

Development of Cyberhand by Shape Memory Alloy

林均祺(Jyun-Ci Lin)

指導教授 ： 蕭俊祥

國立臺北科技大學/機電學院/機電整合研究所/碩士(2010年)

https://doi.org/10.6841/NTUT.2010.00202

摘要

本篇論文主要建製了形狀記憶合金(Shape Memory Alloy，簡稱SMA)電子手(cyberhand)的整體系統架構，包括機構設計、肌電訊號(electromyographic ，簡稱EMG)與控制器三大部分。第一大部分介紹人工義手的設計與架構，包含各關節之可動性與形狀記憶合金在義手中的驅動方式，並且簡單介紹SMA作動原理與材料的選用；第二部份則是簡單介紹人體手臂前肢的肌肉構造與電極貼片的黏貼處以及訊號擷取的處理過程，其中包含訊號的放大、濾波、整流等步驟，達到取得乾淨的肌電訊號的目的，再將這些訊號交由控制器做訊號特徵的判別；第三部份也就是關於控制器的部份，乾淨的肌電訊號會經由控制器的類比輸入後，經由內部程式的撰寫使其判斷出訊號該有的特徵，再作輸出訊號使電源加熱人工義手內部的SMA來驅動人工義手。本文最後測試其實際作動情形，並針對其缺點進行改良。本篇研究不但證實形狀記憶合金其取代馬達的可能性，且為SMA找到一個新的且可行的應用方式。

關鍵字

形狀記憶合 ； 電子手 ； 肌電訊號

並列摘要

This thesis main topic is to build the entire system of the SMA cyberhand, which include the mechanical design, EMG signal acquisition and controller three part. First of all, we introduce the mechanism design and the mobility of every finger then the SMA works inside the cyberhand will be shown. We also introduce what is SMA and how does it work and what type of SMA we choose. Second, we introduce the muscle tissue of front hand, and where we stick surface electrodes and the EMG signal processing, that involve signal amplifier, filter, rectification, and some process, that can let us to obtain the pure EMG signals, then we use controller to judge the characteristic EMG signal. Third part is about controller. When the pure EMG signals are being inputted of controller, after some process then we can send signal to drive power supply heating SMA, then we can control the SMA cyberhand. Finally we test some motions of SMA cyberhand in the real environment and try to improve drawback after the test. This research not only verify the possibility of SMA can replace motors but also found a new way to use SMA in application. The most important purpose of this research is to help disabled people live better lives.

並列關鍵字

SMA ； cyberhand ； EMG

參考文獻

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