仿生触手假肢用肌电信号控制，无传感器检测抓握，实时反馈触觉。
A Biomimetic Myoelectric Tentacle Prosthesis with Sensorless Object Detection and Vibrotactile Feedback
- 用肌电信号控制仿生触手，通过电流斜率判断是否触物，无需外部传感器。
- 平均响应时间77毫秒，抓握检测成功率超90%，触觉反馈可识别折叠位置。
- 适合希望体验非人形、高适应性假肢的用户，推动仿生肢体表达性设计。
本文提出一种集成肌电（EMG）控制、无传感器物体检测与振动触觉反馈的肌电触手状假肢。目标是开发一种能自适应不同物体形状且提供感官反馈的响应式辅助设备。系统利用肌电信号控制柔性仿生结构，其卷曲几何遵循对数螺旋，可环绕物体。为确保稳定控制，对肌电信号进行归一化和滤波处理，并采用阈值法识别用户意图。通过电机电流斜率分析实现无传感器的物体接触检测，基于累积振动刺激的触觉反馈策略可传递触手构型的空间信息。经定量与定性测试验证：平均响应时间77毫秒，支持流畅实时交互；物体检测成功率超过90%，证明在肌电信号波动下仍具鲁棒性；触觉反馈策略使用户能可靠识别触手折叠区域。所提出的仿生设计强调表达性功能，而非拘泥于传统类人形态，为更具表现力的人工肢体研究提供新方向。
原文摘要 · Abstract (English)
This paper presents the design and evaluation of a myoelectric tentacle-shaped prosthesis integrating electromyographic (EMG) control, sensorless object detection, and vibrotactile feedback. The objective was to develop a responsive and intuitive assistive device that adapts to various object shapes while providing sensory feedback to the user. The system relies on EMG signals to control the motion of a flexible, biomimetic structure whose curling geometry follows a logarithmic spiral, enabling it to coil around objects. To ensure stable control, the EMG signal is normalized and filtered, and a threshold-based method identifies user intention. Object contact is detected through a slope-based analysis of motor current, eliminating the need for external sensors, and a haptic feedback strategy based on cumulative vibrotactile stimulation conveys spatial information about the tentacle's configuration. The system was evaluated through quantitative and qualitative tests. The results demonstrate a low response time (77 ms on average), enabling smooth real-time interaction; an object-detection success rate above 90%, confirming robustness despite EMG variability; and an effective haptic feedback strategy that allowed users to reliably identify the folding zone of the tentacle. The proposed biomimetic design promotes further investigation of expressive artificial limbs by prioritizing expressive functionality over adherence to a predefined, anthropomorphic form factor.
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