基于指間協(xié)同的假肢手設(shè)計(jì)和對(duì)比研究

1、Contents上海交通大學(xué)上海交通大學(xué)交大密西根學(xué)院交大密西根學(xué)院基于指基于指間協(xié)同的協(xié)同的假肢手設(shè)計(jì)和對(duì)比研究假肢手設(shè)計(jì)和對(duì)比研究杜宇恒杜宇恒上海交通大學(xué)密西根學(xué)院碩士學(xué)位論文機(jī)械工程專業(yè)委員會(huì)成員：委員會(huì)成員：上海上海徐凱徐凱（主席）（主席）2016年3月萬(wàn)方數(shù)據(jù)AbstractRecentneurologicalresearcheshaveshownthathumancentralnervesystemcontrolsdozen

2、sofmusclesfhposturesinacodinatedwaythiscodinationbetweenneuralstimulationshmusclesiscalledposturalsynergy.NowadaysposturalsynergyisbeingappliedinthecontrolalgithmsofprosthetichsfitsadvantagestodexterouslyposeamultiDoF(De

3、greeofFreedom)anthropomphicrobotichusingonlyafewactuatsviatwotothreechannelsofbiologicalsignals.Thereareseveralwaystoextractposturalsynergiesfromcollectedhpostures.Principlecomponentanalysisasalineardimensionreductionmet

4、hodisoneofthemostpopularways.Thispaperfirstlyproposestwodesignsofaprosthetichtheimplementationoftheposturalsynergiesusingamechanicaltransmissionunitbasedontheprinciplecomponentanalysis.Sincerelativelybigerrsareoftenprodu

5、cedwhileusingthismethodthisthesisthenpresentsacomparativestudywithanonlineardimensionreductionmethodwhichiscalledGaussianprocesslatentvariablemodel(GPLVM).Computationalexperimentalverificationswereimplementedtoshowthepos