CN102309365A - Wearable brain-control intelligent prosthesis - Google Patents
Wearable brain-control intelligent prosthesis Download PDFInfo
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- CN102309365A CN102309365A CN201110251808A CN201110251808A CN102309365A CN 102309365 A CN102309365 A CN 102309365A CN 201110251808 A CN201110251808 A CN 201110251808A CN 201110251808 A CN201110251808 A CN 201110251808A CN 102309365 A CN102309365 A CN 102309365A
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Abstract
The invention discloses a wearable brain-control intelligent prosthesis, comprising a wearable type brain-electric signal detection sensor device, skin dry electrodes distributed on the head of a person, a wearable type brain-electric signal acquisition and amplification device, a wearable type brain-electric signal identification device, a wearable type intelligent prosthesis driving control device and an intelligent prosthesis sensing device. In the wearable brain-control intelligent prosthesis, the wearable type detection and calculation of brain-electric detection and identification is realized, and precise and self-adaptive intelligent control on the prosthesis is realized by combination with the intelligent sensing technology; and the wearable brain-control intelligent prosthesis can be worn on the human body directly, so that the defects of myoelectric control is avoided, the efficiency and the precision of the prosthesis action are improved and the human-hand function is realized in a more ideal manner. The wearable brain-control intelligent prosthesis can be applicable to the driving control of the nerve artificial limb hand used by the person with the disabled upper arms.
Description
Technical field
the invention belongs to the wearable intelligent substitute and the accurate control field thereof of people's limbs, have been specifically related to a kind of wearable brain control intelligent artificial limb.
Background technology
are when China's economy constantly develops; Welfare services for the disabled also become promote social harmony development and progressive emphasis gradually, and the dynamics that strengthens the welfare services for the disabled development can play and reduce social pressure, eases one's family burden, improves people with disability's effect of quality of life.Show according to national people with disability's quantity statistics in 2006; All kinds of people with disability's total amounts with account for the total population ratio and all rise to some extent; And physical disabilities 2,412 ten thousand people account for 29.07% of people with disability's sum, wherein because of amputation, ALS (Amyotrophic Lateral Sclerosis; ALS), (Osteogenesis Imperfecta OI) waits the people with disability's One's name is legion that lacks limbs ability to act or muscle control ability to osteogenesis imperfecta.Present stage China's upper limb disability patient still has part not use artificial limb; Yet mounted artificial limb majority then is ornamental, and simple mechanical type of function or myoelectric limb, and this type artificial limb is not suitable for the patient that can not produce good electromyographic signal; And its function is simple relatively; Underaction, intelligence can not satisfy above-mentioned disabled human needs, and dexterous Practical Intelligent artificial limb has a large amount of potential demands on the market at home.The tradition myoelectric limb is not suitable for the patient that some lack the muscle control ability; And the myoelectricity that muscle fatigue causes in the use changes the use that has also influenced artificial limb; The feasible method that the existing stage addresses this problem is that (Brain Machine Interface BMI) directly sets up " outside neural " between brain and the artificial limb through brain-computer interface technology.The brain control artificial limb and the control system thereof that are used for human body at present still exist various problem.Although the brain-computer interface of intrusive mood has a clear superiority in, on human body, still there are problems such as experimental technique, ethics by implant electrode on signal quality; Non-intrusion type brain control equipment and checkout equipment thereof still can not miniaturizations, portability, and installation process is easy inadequately, can not come into operation as product; The artificial limb body does not utilize the perception information integration technology to improve the artificial limb performance capacity yet, forms intelligent artificial limb; It is highly important that wearableization, the portability problem of brain control intelligent artificial limb controller in addition; Signal analysis and control sequence should not be on PC or notebook, to accomplish, but should utilize wearable calculating and embedded technology with relevant device microminiaturization, portability.
Summary of the invention
the present invention seeks to: the present invention adopts non-intrusion type brain-computer interface technology to combine to drive intelligent artificial limb with the accurate adaptive control technology of intelligent artificial limb; And adopted wearable calculating and embedded technology with system equipment microminiaturization, wearable, realized a kind of wearable brain control intelligent artificial limbs system.
Technical scheme of the present invention is: a kind of wearable brain control intelligent artificial limb comprises:
Wearable EEG signals detecting sensor device detects EEG signals through the skin dry electrode that is arranged in brain scalp layer;
Wearable eeg signal acquisition amplifying device is worn on human body head, with EEG signals detect that the signal that sensing device detects is gathered, filtering and processing and amplifying, and be transferred to the recognition device of EEG signals;
Wearable EEG's Recognition device, the signal that will obtain from the collection amplifying device of EEG signals carry out feature extraction, the pattern recognition of brain intention, and the result that will finally discern sends to wearable intelligent artificial limb driving control device;
Wearable intelligent artificial limb driving control device after obtaining the recognition result that wearable EEG's Recognition device imports into, drives the feedback information that the intelligent artificial limb body is accomplished corresponding actions and handled the sensing device of intelligent artificial limb;
The sensing device of
intelligent artificial limb utilizes the pick off that is arranged in the intelligent artificial limb body, and perception intelligent artificial limb kinestate also feeds back to wearable intelligent artificial limb driving control device, accomplishes the accurate adaptive control process of intelligent artificial limb.
are further, and said wearable EEG signals detecting sensor device is fixed on the wearable eeg signal acquisition amplifying device.
are further, and described wearable eeg signal acquisition amplifying device is a wear-type, is worn on human body head, and the EEG signals that obtained send said wearable EEG's Recognition device to through bluetooth.
are further, and the sensing device of said intelligent artificial limb comprises the 3 dimension inertial sensors that are installed on the artificial limb hand, PVDF tactile and slip sense pick off and the force transducer that is installed on the artificial limb finger.
are further, and the microprocessor of said wearable EEG's Recognition device is ARM11.
are further, and the shared ARM11 microprocessor of said wearable intelligent artificial limb driving control device and wearable EEG's Recognition device is as master controller.
The control method of the electrically driven (operated) intelligent artificial limb of a kind of brain may further comprise the steps:
(1) according to the cortex station acquisition EEG signals of brain electric control intelligent artificial limb;
(2) EEG signals of being gathered are gathered filtering and amplified pretreatment;
(3) pretreated EEG signals are carried out feature extraction and pattern recognition;
(4) drive intelligent artificial limb according to the result of pattern recognition and carry out corresponding pattern action;
(5) with the operating state and the environment sensing information of intelligent artificial limb, and the action pattern context is carried out the accurate Self Adaptive Control of intelligent artificial limb as feedback;
Human brain is accomplished to the intelligent artificial limb control procedure through accurate Self Adaptive Control of intelligent artificial limb and human visual feedback in
(6).
Advantage of the present invention is:
can directly be worn on human body head; EEG signals are analyzed identification through being wirelessly transmitted to based on the microprocessor of ARM11; Recognition result sends to the intelligent artificial limb controller through the data transmission interface function, and this body action of control artificial limb; By the multiple detecting sensor that is installed on the artificial limb body artificial limb state and environmental information are fed back to the intelligent artificial limb controller; The course of action of adaptive adjusting artificial limb; Form the accurate self adaptation Self Control loop of a cover intelligent artificial limb thus, combined the visual feedback of human body can accomplish the course of action of whole artificial limb simultaneously.The present invention has carried out wearable, portability exploitation and design with the devices such as processing of traditional brain-computer interface, EEG signals; Make wearableization of brain electric control intelligent artificial limb; Overcome shortcomings such as traditional brain electricity analytical equipment based on PC or notebook is not portable, made that the service face of brain electrical control equipment is wider.The design of intelligent artificial limb has realized the accurate Self Adaptive Control of artificial limb, and the installation of intelligence sensor all is very helpful to the perception of artificial limb, control, the action that can accomplish and improves.A kind of wearable brain control intelligent artificial limb successfully realized the wearable property of intelligent artificial limb, for the patient that can not adopt myoelectric-controlled prosthesis provides novel artificial limb, satisfied higher intelligent, the motility of artificial limb and functional requirement.
Description of drawings
Below in conjunction with accompanying drawing and embodiment the present invention is further described:
Fig. 1 the present invention is a kind of wearable brain control intelligent artificial limbs system structural representation.
Fig. 2 is the system block diagram of a kind of wearable brain control intelligent artificial limb of the present invention.
Fig. 3 is the brain electricity medicated cap sketch map of a kind of wearable brain control intelligent artificial limb of the present invention.
Fig. 4 drives artificial limb motion sketch map for a kind of wearable brain control intelligent artificial limb of the present invention.
wherein: 1 EEG signals transmission medium; 2 EEG signals amplifiers; 3 EEG signals detecting sensors; 4 brains electricity medicated cap is dressed mouth; 5 EEG signals checkout gear switches; 6 EEG signals amplifier switch; 7 controller boxes; The intelligence sensor of 8 thumbs, forefinger, middle fingertip; 9 mechanical transfer devices; 10 mechanical transfer devices; 11 shoulder joint motors; 12 elbow joint motors; 13 elbow joint motors; 14 carpal joint motors; 15 hand joint motors; 16 ornamental fingers: nameless, little finger.
The specific embodiment
Embodiment: comprise like Fig. 1, wearable brain control intelligent artificial limb shown in Figure 2: wearable EEG signals detecting sensor device, detect EEG signals through the skin dry electrode that is arranged in brain scalp layer;
Wearable eeg signal acquisition amplifying device is worn on human body head, with EEG signals detect that the signal that sensing device detects is gathered, filtering and processing and amplifying, and be transferred to the recognition device of EEG signals;
Wearable EEG's Recognition device, the signal that will obtain from the collection amplifying device of EEG signals carry out feature extraction, the pattern recognition of brain intention, and the result that will finally discern sends to wearable intelligent artificial limb driving control device;
Wearable intelligent artificial limb driving control device after obtaining the recognition result that wearable EEG's Recognition device imports into, drives the feedback information that the intelligent artificial limb body is accomplished corresponding actions and handled the sensing device of intelligent artificial limb;
The sensing device of
intelligent artificial limb utilizes the pick off that is arranged in the intelligent artificial limb body, and perception intelligent artificial limb kinestate also feeds back to wearable intelligent artificial limb driving control device, accomplishes the accurate adaptive control process of intelligent artificial limb.
Among
the present invention; Core controller selects to adopt the ARM11 based on the ARMv6 processor architecture; Can satisfy the mass data access requirement of high performance system, its instruction set architecture up to 32 provides lower power consumption, higher performance, shorter coding.For the real-time processing of EEG signals provides guarantee.
A kind of drive controlling process of wearable brain control intelligent artificial limb, it specifically can comprise following step:
The object that grasps is wanted when the people sees in
(1); This moment, cerebral cortex produced corresponding EEG signal; But this moment, signal can be fainter; Through bringing out of vision, can strengthen the EEG signals of generation, promptly through spontaneous brain electricity and the blended mode producing EEG signals of evoked brain potential.
After
(2) EEG signals produced, the checkout gears such as skin dry electrode through people's brain is dressed detected the EEG signals that cerebral cortex produced.
(3) detected EEG signals are sent to the special-purpose amplifier of gathering EEG signals, then detected EEG signals are carried out filtering, amplify pretreatment.
are in order to realize wearable intelligent artificial limb; More than the detection module of said EEG signals; The amplifier of EEG signals all is incorporated in the wearable brain electricity medicated cap through integrated manufacturing technology, and amplifier is that microvolt level bioelectrical signals amplifies harvester.Make the detection and the processing section of EEG signals to have improved practicality greatly so very easily for the patient uses.
Pretreated EEG signals will be carried out through being wirelessly transmitted in the ARM11 microprocessor in
(4), EEG signals carried out the pattern recognition of feature extraction and intelligent artificial limb action intention.
are wearable in order to realize, microprocessor adopts ARM11, also have its memorizer simultaneously, external device and I/O port, and required controller etc., these hardware devices all make it portability, wearableization through integrated manufacturing technology.Through embedded OS, make microprocessor carry out the pattern recognition of feature extraction and intelligent artificial limb action intention by EEG signals again.Mainly be the adversary static, hold in hand get, hands opens, carpal joint internal rotation, carpal joint external rotation, flexor of elbow joints, elbow joint are stretched, receipts, shoulder joint abduction in the shoulder joint, shoulder joint is protracted and shoulder joint after 11 states in the wrong carry out feature extraction and pattern recognition.
(5) are sent to the driving device of intelligent artificial limb through the EEG signals of microprocessor, drive intelligent artificial limb with this and accomplish corresponding action.
Adopt wireless connections between
microprocessor and the intelligent artificial limb, make whole system simpler like this, more convenient to use.To the feature extraction of EEG signals and the pattern recognition of intelligent artificial limb action intention, drive the execution of different joint Electric Machine Control intelligent artificial limb through microprocessor,, finally accomplish grasping objects through a series of control.
The signal that
(6) intelligent artificial limb upper sensor obtains sends the driving device of intelligent artificial limb to as feedback, and combines vision to realize the accurate Self Adaptive Control of intelligent artificial limb.
3 dimension inertia, force transducer and the PVDF tactile and slip sense pick offs that are equipped with on
intelligent artificial limb; Perception intelligent artificial limb kinestate also feeds back to wearable intelligent artificial limb driving control device, accomplishes the accurate adaptive control process of intelligent artificial limb.Improved the precision of intelligent artificial limb control like this, made the perception of artificial limb and move type peopleization more.
A kind of wearable brain control intelligent artificial limb, its EEG signals detecting sensor device and eeg signal acquisition amplifying device all highly are integrated in the wearable brain electricity medicated cap, and the basic composition and the wearing mode of brain electricity medicated cap adopt following measure:
(1) brain as shown in Figure 3 electricity medicated cap is very similar with the earphone of wear-type, but the scope that contact with cerebral cortex compares earphone and want greatly, make checkout gear can with the particular point effect on the cerebral cortex, the detection of realization EEG signals.
The inside, both sides of
(2) brain electricity medicated cap is integrated with the amplifier of EEG signals, is used for detected EEG signals are carried out filtering and amplification, for the feature extraction and the pattern recognition of back are prepared.
(3) brain of the present invention electricity medicated cap, its two ends according to common people's ear after shape, designed and dressed mouthful, make the wearing of brain electricity medicated cap become simple, through the brain-computer interface of high discrimination and rate of information transmission, the acquisition EEG signals.
(4) brain electricity of the present invention medicated cap; Its right-hand member is designed with wireless transmission and brain electricity medicated cap on and off switch, after brain electricity medicated cap is put on, wait for that other devices are in preparedness after; Get final product opening power and wireless transmission switch, whole system is got into smooth.
a kind of wearable brain control intelligent artificial limb; The action that its intelligent artificial limb is accomplished is recognition result that is sent through wearable EEG's Recognition device and the movement instruction that is converted into corresponding each movable joint motor of intelligent artificial limb, drives that joint motor accomplishes.The distribution of its control motor and intelligence sensor is following, and its motion sketch map is as shown in Figure 4.
Among
(1) the present invention, manipulator design thumb, forefinger, these three the highest fingers of human frequency of utilization of middle finger, according to apery shape design, the total three degree of freedom of finger.The wrist of mechanical hand is realized rotation and flexing by two Electric Machine Control.
(2) intelligence sensor is installed on the finger of mechanical hand; PVDF tactile and slip sense pick off, pressure transducer all are housed on each finger fingertip; 3 dimension inertial sensors are housed on hand; Contact force when detecting grasping objects with this, promptly degree and degree of balance realize the effect of intelligent artificial limb and provide basic for the accurate Self Adaptive Control of intelligent artificial limb.
The intelligent artificial limb that
(3) are invented, its mechanical arm elbow joint and shoulder joint all are equipped with two motors respectively.The ancon motor is mainly realized bending and stretching and rotate of forearm, the motor of shoulder mainly realize shoulder joint interior receipts, abduction, protract and rear-guard.
The intelligent artificial limb that
(4) are invented carries out precision control by nine motors altogether, and carpal joint, elbow joint, shoulder joint adopt two motors to control respectively; The control of mechanical hand comprises the opening and closing of finger and certain separating, and considers the motility of people's thumb among the present invention; Increased the control motor at its root; Realize the design of apery shape, therefore, whole hand adopts three motors to control.
Among
(5) the present invention, the control of whole intelligent artificial limb is the joint motor execution that drives corresponding intelligent artificial limb through the action pattern identification of the feature extraction of EEG signals and intelligent artificial limb.Not only comprised the control of joint motor in the control procedure, also comprised the unitary effect of corresponding mechanical transfer, the two cooperation is accomplished drive controlling.
Claims (7)
1. a wearable brain control intelligent artificial limb is characterized in that, comprising:
Wearable EEG signals detecting sensor device detects EEG signals through the skin dry electrode that is arranged in brain scalp layer;
Wearable eeg signal acquisition amplifying device is worn on human body head, with EEG signals detect that the signal that sensing device detects is gathered, filtering and processing and amplifying, and be transferred to the recognition device of EEG signals;
Wearable EEG's Recognition device, the signal that will obtain from the collection amplifying device of EEG signals carry out feature extraction, the pattern recognition of brain intention, and the result that will finally discern sends to wearable intelligent artificial limb driving control device;
Wearable intelligent artificial limb driving control device after obtaining the recognition result that wearable EEG's Recognition device imports into, drives the feedback information that the intelligent artificial limb body is accomplished corresponding actions and handled the sensing device of intelligent artificial limb;
The sensing device of intelligent artificial limb utilizes the pick off that is arranged in the intelligent artificial limb body, and perception intelligent artificial limb kinestate also feeds back to wearable intelligent artificial limb driving control device, accomplishes the accurate adaptive control process of intelligent artificial limb.
2. wearable brain control intelligent artificial limb according to claim 1 is characterized in that, said wearable EEG signals detecting sensor device is fixed on the wearable eeg signal acquisition amplifying device.
3. wearable brain control intelligent artificial limb according to claim 1; It is characterized in that; Described wearable eeg signal acquisition amplifying device is a wear-type, is worn on human body head, and the EEG signals that obtained send said wearable EEG's Recognition device to through bluetooth.
4. wearable brain control intelligent artificial limb according to claim 1 is characterized in that, the sensing device of said intelligent artificial limb comprises the 3 dimension inertial sensors that are installed on the artificial limb hand, PVDF tactile and slip sense pick off and the force transducer that is installed on the artificial limb finger.
5. wearable brain control intelligent artificial limb according to claim 1 is characterized in that the microprocessor of said wearable EEG's Recognition device is ARM11.
6. wearable brain control intelligent artificial limb according to claim 5 is characterized in that, the shared ARM11 microprocessor of said wearable intelligent artificial limb driving control device and wearable EEG's Recognition device is as master controller.
7. the control method of the electrically driven (operated) intelligent artificial limb of brain may further comprise the steps:
(1) according to the cortex station acquisition EEG signals of brain electric control intelligent artificial limb;
(2) EEG signals of being gathered are gathered filtering and amplified pretreatment;
(3) pretreated EEG signals are carried out feature extraction and pattern recognition;
(4) drive intelligent artificial limb according to the result of pattern recognition and carry out corresponding pattern action;
(5) with the operating state and the environment sensing information of intelligent artificial limb, and the action pattern context is carried out the accurate Self Adaptive Control of intelligent artificial limb as feedback;
(6) accomplish human brain to the intelligent artificial limb control procedure through accurate Self Adaptive Control of intelligent artificial limb and human visual feedback.
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| CN201110251808A CN102309365A (en) | 2011-08-30 | 2011-08-30 | Wearable brain-control intelligent prosthesis |
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|---|---|---|---|
| CN201110251808A CN102309365A (en) | 2011-08-30 | 2011-08-30 | Wearable brain-control intelligent prosthesis |
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Cited By (13)
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| CN102922508A (en) * | 2012-09-21 | 2013-02-13 | 西安交通大学 | Exoskeleton robot system for reloading batteries of electric vehicle |
| CN103006358A (en) * | 2012-12-27 | 2013-04-03 | 东南大学 | Control method of myoelectric artificial hand |
| CN103405293A (en) * | 2013-08-16 | 2013-11-27 | 北京中科创睿科技有限公司 | Intelligent joint assembly and intelligent artificial limb using same |
| CN103876867A (en) * | 2013-08-01 | 2014-06-25 | 中南大学 | Fuzzy estimation method for initial article grabbing reference force of hand prosthesis |
| CN104997581A (en) * | 2015-07-17 | 2015-10-28 | 西安交通大学 | Artificial hand control method and apparatus for driving EEG signals on the basis of facial expressions |
| CN105389014A (en) * | 2015-12-17 | 2016-03-09 | 安徽寰智信息科技股份有限公司 | Three-dimensional man-machine interactive system |
| CN105676639A (en) * | 2016-01-12 | 2016-06-15 | 西安交通大学 | Parallel multi-modal brain control method for complete grabbing operation of artificial hand |
| CN105727442A (en) * | 2015-12-16 | 2016-07-06 | 深圳先进技术研究院 | Closed-loop brain controlled functional electrical stimulation system |
| CN105849788A (en) * | 2013-10-09 | 2016-08-10 | Mc10股份有限公司 | Utility gear including conformal sensors |
| CN107742075A (en) * | 2013-07-30 | 2018-02-27 | 谷歌有限责任公司 | Mobile computing device and wearable computing devices with the control of automatic access module |
| CN109414330A (en) * | 2016-05-10 | 2019-03-01 | 奥托博克欧洲股份两合公司 | The method of the adjustment of prosthese cylinder and the inner periphery for controlling prosthese cylinder |
| CN111067676A (en) * | 2019-12-11 | 2020-04-28 | 中国人民解放军军事科学院军事医学研究院 | Artificial limb finger touch sensor based on force sensitive resistor and polyvinylidene fluoride |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102922508A (en) * | 2012-09-21 | 2013-02-13 | 西安交通大学 | Exoskeleton robot system for reloading batteries of electric vehicle |
| CN102922508B (en) * | 2012-09-21 | 2015-01-07 | 西安交通大学 | Exoskeleton robot system for reloading batteries of electric vehicle |
| CN103006358B (en) * | 2012-12-27 | 2014-11-12 | 东南大学 | Control method of myoelectric artificial hand |
| CN103006358A (en) * | 2012-12-27 | 2013-04-03 | 东南大学 | Control method of myoelectric artificial hand |
| CN107742075A (en) * | 2013-07-30 | 2018-02-27 | 谷歌有限责任公司 | Mobile computing device and wearable computing devices with the control of automatic access module |
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| CN103876867B (en) * | 2013-08-01 | 2018-01-19 | 中南大学 | A kind of prosthetic hand grasps object initial reference power blur estimation method |
| CN103405293A (en) * | 2013-08-16 | 2013-11-27 | 北京中科创睿科技有限公司 | Intelligent joint assembly and intelligent artificial limb using same |
| CN105849788A (en) * | 2013-10-09 | 2016-08-10 | Mc10股份有限公司 | Utility gear including conformal sensors |
| CN104997581A (en) * | 2015-07-17 | 2015-10-28 | 西安交通大学 | Artificial hand control method and apparatus for driving EEG signals on the basis of facial expressions |
| CN105727442A (en) * | 2015-12-16 | 2016-07-06 | 深圳先进技术研究院 | Closed-loop brain controlled functional electrical stimulation system |
| CN105389014A (en) * | 2015-12-17 | 2016-03-09 | 安徽寰智信息科技股份有限公司 | Three-dimensional man-machine interactive system |
| CN105676639A (en) * | 2016-01-12 | 2016-06-15 | 西安交通大学 | Parallel multi-modal brain control method for complete grabbing operation of artificial hand |
| CN105676639B (en) * | 2016-01-12 | 2018-12-07 | 西安交通大学 | A kind of concurrent multimode state brain prosecutor method for complete grasping manipulation of doing evil through another person |
| CN109414330A (en) * | 2016-05-10 | 2019-03-01 | 奥托博克欧洲股份两合公司 | The method of the adjustment of prosthese cylinder and the inner periphery for controlling prosthese cylinder |
| CN109414330B (en) * | 2016-05-10 | 2022-03-15 | 奥托博克欧洲股份两合公司 | Prosthesis cartridge and method for controlling adjustment of inner perimeter of prosthesis cartridge |
| CN111067676A (en) * | 2019-12-11 | 2020-04-28 | 中国人民解放军军事科学院军事医学研究院 | Artificial limb finger touch sensor based on force sensitive resistor and polyvinylidene fluoride |
| CN112828882A (en) * | 2020-12-11 | 2021-05-25 | 天津大学 | Distributed outer limb finger robot control system |
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Application publication date: 20120111 |