Design And Research On Algorithms Of An Assist-hand System Based On Multi-agent Model

The aggravating trend of aging population brings a number of old people who has inconvenient hands.To this end,researchers invented a corresponding assist-hand system to help patients perform normal hand movements.Existing assist-hand systems are mostly exoskeleton systems.Considering that the multi-agent system(MAS)has good fault tolerance and autonomy,this paper uses a MAS to solve the problem of patients with inconvenient hands.A simulation of the hand-assisting system which is based on the flocking algorithm has been designed and implemented in the Unity software.Among them,this paper improved the basic swarming algorithm.A distance coefficient has been added,and the speed matching term has been changed to make it more suitable for finger movement.This hand-assisting system consists of 76 agents which is mounted on the carrier such as gloves with a spring joint between the carrier and the finger,and 5 virtual target points that can be freely changed.The positions of the 5 target points represent the locations where 5 fingers intend to arrive.After turning on the hand-assisting system,the agent begins the self-organized vibration,following by gradual movement of the finger reaching to the target point through the spring joint,finally realizing the patient's intended movement.By adjusting the position of each target point,it is possible to fully assist the patient in achieving a basic grasping action.The MAS can change the number and size of the agents flexibly and has good stability,which provides a new idea for the application of the MAS.