On the base of the developed master-slave prosthetic hand-arm robot system, which is controlled mainly based on signals obtained from bending sensors fixed on the data glove, the first idea deduced was to develop and add a multi-dimensional filter into the original control system to make the control signals cleaner and more stable at real time. By going further, a second new idea was also proposed to predict new control information based on the combination of a new algorithm and prediction control theory. In order to fulfill the first idea properly, the possible methods to process data in real time, the different ways to produce Gaussian distributed random data, the way to combine the new algorithm with the previous complex program project, and the way to simplify and reduce the running time of the algorithm to maintain the high efficiency, the real time processing with multiple channels of the sensory system and the real-time performance of the control system were researched. Eventually, the experiment on the same provided robot system gives the results of the first idea and shows the improved performance of the filter comparing with the original control method.

中文翻译：

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肌电假肢手臂机器人系统的多通道实时过滤

在已开发的主从假肢手动机器人系统的基础上，该系统主要基于固定在数据手套上的弯曲传感器获得的信号进行控制，得出的第一个想法是开发多维过滤器并将其添加到原始系统中。控制系统，使控制信号实时更清洁，更稳定。进一步地，还提出了第二种新思想，其基于新算法和预测控制理论的组合来预测新控制信息。为了正确实现第一个想法，需要实时处理数据的方法，产生高斯分布随机数据的不同方法，将新算法与以前的复杂程序项目相结合的方法以及简化和减少方法。该算法的运行时间保持了较高的效率，研究了传感系统多通道的实时处理和控制系统的实时性能。最终，在相同的机器人系统上进行的实验给出了第一个想法的结果，并显示了与原始控制方法相比滤波器的改进性能。