中文摘要：

设计了一种具备握力感觉反馈功能和具有较高灵活度的新型5自由度假手。采用耦合机构设计了假手的5个手指，每根手指分别通过置于手掌内部的一枚直流电机进行独立驱动。嵌入式的控制系统采用基于双数字信号处理器（DSP）的分层结构，在不同控制层中实现肌电信号（EMG）处理，握力感觉反馈，运动控制以及传感器信息处理，提高了实时性和集成度。基于表面电刺激原理设计了电刺激器，并结合力矩传感器构成握力感觉反馈系统，实验表明，该感觉反馈系统能准确地向人体反馈假手握力。

英文摘要：

This paper presents a new and more dexterous 5-DOF prosthetic hand with the sensory feedback of grasping force. A coupling mechanism is adopted to design its 5 fingers, and each of them is driven by a DC motor independently. This makes the hand more dexterous. The embedded hierarchical control system is designed based on the dual digital signal processor（DSP） to process electromyography（EMG） signals, feedback the perception of grasping force, realize au- tonomous control and deal with signals from sensors. The sensory feedback system is constituted by a torque sensor and a electrical stimulator which is designed based on the principle of surface electrical stimulation. The experiment results show that the sensory feedback system provides the perception of grasping force to the hmnan body accurately.