CN106943217A - A kind of reaction type human body artificial limb control method and system - Google Patents
A kind of reaction type human body artificial limb control method and system Download PDFInfo
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- CN106943217A CN106943217A CN201710304348.3A CN201710304348A CN106943217A CN 106943217 A CN106943217 A CN 106943217A CN 201710304348 A CN201710304348 A CN 201710304348A CN 106943217 A CN106943217 A CN 106943217A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
- A61F2/72—Bioelectric control, e.g. myoelectric
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
- A61B5/25—Bioelectric electrodes therefor
- A61B5/279—Bioelectric electrodes therefor specially adapted for particular uses
- A61B5/291—Bioelectric electrodes therefor specially adapted for particular uses for electroencephalography [EEG]
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
- A61B5/316—Modalities, i.e. specific diagnostic methods
- A61B5/369—Electroencephalography [EEG]
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/72—Signal processing specially adapted for physiological signals or for diagnostic purposes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/60—Artificial legs or feet or parts thereof
Abstract
This application discloses a kind of reaction type human body artificial limb control method and system, this method includes the EEG signals of collection user；The EEG signals are pre-processed；The EEG signals by pretreatment are separated, feature extraction and pattern-recognition；Acted accordingly using recognition result driving artificial limb；Whether collection artificial limb has carried out the feedback signal of corresponding actions, for when artificial limb does not carry out corresponding actions, control artificial limb carries out corresponding actions again, therefore whether made a response according to artificial limb, and realize that closed loop is adjusted, so as to reduce fault rate of the physical disabilities during using artificial limb, the purpose of accurate operation is realized.
Description
Technical field
The invention belongs to technical field of medical instruments, more particularly to a kind of reaction type human body artificial limb control method and it is
System.
Background technology
At present, the prosthesis control of physical disabilities can have four kinds control electrical artificial limb modes, the first be with it is miniature by
Button switch controlled motor rotating, button quantity is more, causes inconvenient operation；Second is to utilize myoelectricity control circuit, detection
The bioelectrical signals (electromyographic signal) produced during amputee's contraction of muscle, controlled motor is acted after processing, this control mode
It is required that deformed limb muscle and nerve are substantially intact, even so, electromyographic signal analysis is still more difficult, and this kind of artificial limb can only help disability
Personage completes some simple and crude significantly actions, is just felt simply helpless for the action that becomes more meticulous largely existed in daily life
, its reliability is low, and cost is high；The third is that, using chip microprocessor control, volume is larger, and energy consumption is big, and cost is high；4th
Kind is the method for human brain control machinery, with human brain thinking control machinery artificial limb, uses human brain thinking control computer technology,
People's brain is scanned using layer electroencephalogram scanning technique, then scanning information is converted into the limb action of hand or leg, this
The artificial limb control system action that class has EEG signals to participate in is more versatile and flexible, operates finer.But, the one of the kind equipment
Individual major defect is exactly to employ open loop control mode, and physical disabilities are when using this kind of artificial limb, it is impossible to ensure to be arranged on artificial limb
Interior processor can make a response after the signal sent each time is received, and cause operation not accurate enough.
The content of the invention
, being capable of basis the invention provides a kind of reaction type human body artificial limb control method and system to solve the above problems
Whether artificial limb makes a response, and realizes that closed loop is adjusted, so as to reduce fault rate of the physical disabilities during using artificial limb, realizes
The purpose of accurate operation.
A kind of reaction type human body artificial limb control method that the present invention is provided, including：
Gather the EEG signals of user；
The EEG signals are pre-processed；
The EEG signals by pretreatment are separated, feature extraction and pattern-recognition；
Acted accordingly using recognition result driving artificial limb；
Whether collection artificial limb has carried out the feedback signals of corresponding actions, for when artificial limb does not carry out corresponding actions, again
Artificial limb is controlled to carry out corresponding actions.
It is preferred that, in above-mentioned reaction type human body artificial limb control method,
Whether the collection artificial limb, which has carried out the feedback signals of corresponding actions, is：
Artificial limb is monitored in real time using camera, whether collection artificial limb has carried out the feedback signal of corresponding actions.
It is preferred that, in above-mentioned reaction type human body artificial limb control method,
It is described collection user EEG signals be：
The EEG signals of user are gathered using the sensor being attached in brain electrode.
It is preferred that, in above-mentioned reaction type human body artificial limb control method,
It is described to include EEG signals progress pretreatment：
The EEG signals collected are subjected to denoising, amplification and A/D conversions.
It is preferred that, in above-mentioned reaction type human body artificial limb control method,
The described pair of EEG signals by pretreatment, which carry out separation, to be included：
The EEG signals by pretreatment are separated using quasi- NMF blind separating methods.
A kind of reaction type human body artificial limb control system that the present invention is provided, including：
First harvester, for gathering EEG signals；
Pretreatment unit, for the EEG signals to be pre-processed；
Separator, for being separated to the EEG signals by pretreatment, feature extraction and pattern-recognition；
Drive device, for being acted accordingly using recognition result driving artificial limb；
Whether the second harvester, the feedback signal of corresponding actions has been carried out for gathering artificial limb, for not entering when artificial limb
During row corresponding actions, artificial limb is controlled to carry out corresponding actions again.
It is preferred that, in above-mentioned reaction type human body artificial limb control system, second harvester is camera.
It is preferred that, in above-mentioned reaction type human body artificial limb control system, first harvester is to be attached to brain electrode
In sensor.
It is preferred that, in above-mentioned reaction type human body artificial limb control system, the pretreatment unit is used for the brain telecommunications
Number carry out denoising, amplification and A/D conversion.
It is preferred that, in above-mentioned reaction type human body artificial limb control system, the separator is used to utilize quasi- NMF blind separations
Method is separated to the EEG signals by pretreatment.
The above-mentioned reaction type human body artificial limb control method and system provided by foregoing description, the present invention, due to this
Method includes the EEG signals of collection user；The EEG signals are pre-processed；To the brain electricity by pretreatment
Signal is separated, feature extraction and pattern-recognition；Acted accordingly using recognition result driving artificial limb；Gathering artificial limb is
The no feedback signal for having carried out corresponding actions, for when artificial limb does not carry out corresponding actions, controlling artificial limb accordingly to be moved again
Make, therefore whether made a response according to artificial limb, and realize that closed loop is adjusted, so as to reduce physical disabilities during using artificial limb
Fault rate, realizes the purpose of accurate operation.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
The embodiment of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
The accompanying drawing of offer obtains other accompanying drawings.
The schematic diagram for the first reaction type human body artificial limb control method that Fig. 1 provides for the embodiment of the present application；
The schematic diagram for the first reaction type human body artificial limb control system that Fig. 2 provides for the embodiment of the present application.
Embodiment
The core concept of the present invention is to provide a kind of reaction type human body artificial limb control method and system, according to artificial limb whether
Make a response, and realize that closed loop is adjusted, so as to reduce fault rate of the physical disabilities during using artificial limb, realize accurate operation
Purpose.
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
The first reaction type human body artificial limb control method that the embodiment of the present application is provided is as shown in figure 1, Fig. 1 is that the application is real
The schematic diagram of the first reaction type human body artificial limb control method of example offer is applied, this comprises the following steps：
S1：Gather the EEG signals of user；
It should be noted that at least to control artificial limb to carry out certain signal acted including the use of person in the EEG signals,
Each action has a kind of corresponding signal.
S2：The EEG signals are pre-processed；
It should be noted that initial acquisition to EEG signals in comparison of ingredients it is complicated, it is therefore desirable to EEG signals are entered
It can just be conducive to carrying out subsequent step after row pretreatment.
S3：The EEG signals by pretreatment are separated, feature extraction and pattern-recognition；
It should be noted that typically there is number of types of signal in EEG signals, the step is exactly that pretreated is mixed
Syncerebrum electric signal carries out Signal separator to filter out user to realize the EEG signals for being controlled artificial limb.
S4：Acted accordingly using recognition result driving artificial limb；
It should be noted that can be according to the signal to prosthesis control recognized, shape paired prostheses portion, which is produced, stimulates electricity
The control instruction of stream.So that C8051F020 single-chip microcomputers is the control systems of core processor as an example, system is collected using single-chip microcomputer itself
Into PCA modules produce dutycycle adjustable pwm signal and be used to drive direct current generator, producing frequency signal using timer is used for
Driving Stepping Motor, controlled quentity controlled variable is detected using CPLD and Real-time Feedback realizes real-time control to controller.
S5：Whether collection artificial limb has carried out the feedback signals of corresponding actions, for when artificial limb does not carry out corresponding actions, then
Secondary control artificial limb carries out corresponding actions.
, for example can be by it should be noted that the collection of feedback signal can be realized using certain image collecting device
One camera faces the artificial limb of user, and after each secondary control artificial limb motion, the image collecting device can just be perceived
Whether artificial limb has carried out corresponding action.The result formation feedback signal that the step will be observed that is used for the work of precise control artificial limb
It is dynamic.It can be, but not limited to be detected the controlled quentity controlled variable of target location by CPLD, specifically, before instruction is not received, the position of artificial limb
Confidence breath is P0, is received after instruction, and artificial limb positional information is P1, by two kinds of information transmissions of P0, P1 to phase device is distinguished, by distinguishing phase device
Judge after the instruction transmitted by controller is received, whether artificial limb moves.If having received instruction that controller transmits and false
Limb is not moved, then control system, which produces new pulse, makes the action that artificial limb was not carried out just now again, whereas if not connecing
Instruction is received, artificial limb is not operating, do not send pulse signal, can so excluded because motor self reason is caused in artificial limb
The not operating interference of artificial limb, and due to artificial limb that signal acquisition process module is caused it is not operating then by this feedback signal collection
To avoid.
The first the reaction type human body artificial limb control method provided by foregoing description, the embodiment of the present application, due to
EEG signals including gathering user；The EEG signals are pre-processed；To the EEG signals by pretreatment
Separated, feature extraction and pattern-recognition；Acted accordingly using recognition result driving artificial limb；Whether to gather artificial limb
The feedback signal of corresponding actions is carried out, for when artificial limb does not carry out corresponding actions, controlling artificial limb to carry out corresponding actions again, because
Whether this can make a response according to artificial limb, and realize that closed loop is adjusted, so as to reduce physical disabilities during using artificial limb
Fault rate, realizes the purpose of accurate operation.
Second of reaction type human body artificial limb control method that the embodiment of the present application is provided, is in the first above-mentioned reaction type people
On the basis of body artificial limb control method, also including following technical characteristic：
Whether the collection artificial limb, which has carried out the feedback signals of corresponding actions, is：
Artificial limb is monitored in real time using camera, whether collection artificial limb has carried out the feedback signal of corresponding actions.
It should be noted that camera can be added within the system, to the real-time monitoring of artificial limb, artificial limb each time is moved
As being fed back.
The third reaction type human body artificial limb control method that the embodiment of the present application is provided, is in above-mentioned second of reaction type people
On the basis of body artificial limb control method, also including following technical characteristic：
It is described collection user EEG signals be：
The EEG signals of user are gathered using the sensor being attached in brain electrode.
It should be noted that this sensor be it is a kind of it is existing detection EEG signals common components, technology more into
Ripe, here is omitted.
The 4th kind of reaction type human body artificial limb control method that the embodiment of the present application is provided, is in the third above-mentioned reaction type people
On the basis of body artificial limb control method, also including following technical characteristic：
It is described to include EEG signals progress pretreatment：
The EEG signals collected are subjected to denoising, amplification and A/D conversions.
It should be noted that EEG signals are passed through after above-mentioned processing, it can use but be not limited to utilize bluetooth approach
It is transmitted.
The embodiment of the present application provide the 5th kind of reaction type human body artificial limb control method, be it is above-mentioned the first to the 4th kind
On the basis of any in reaction type human body artificial limb control method, also including following technical characteristic：
The described pair of EEG signals by pretreatment, which carry out separation, to be included：
The EEG signals by pretreatment are separated using quasi- NMF blind separating methods.
It should be noted that because classical algorithm such as ICA, SCA for signal independence and openness have
Certain constraint is, it is necessary to whole non-negative of signal after acquisition process, but in practical situations both, the signal of collection may not be entirely just
Signal, if to also need to by the signal collected handle with certain methods using NMF separation becomes again to divide after non-negative
From；And quasi- NMF is not required to signal to be processed for non-negative, it is for dependent, and non-sparse signal can be separated effectively.
The separation method can be, but not limited in the following ways：
The mixing EEG signals obtained by acquiring brain waves module are stored with a matrix type.
X=(x1..., xn) to mix EEG signals,
X≈FGT
For the EEG signals after separation,
Object function is：J=| | X-FGT||2
Utilize
F=XG (GTG)-1
Iterative formula separated after EEG signals G.
Wherein,
The first reaction type human body artificial limb control system that the embodiment of the present application is provided is as shown in Fig. 2 Fig. 2 is that the application is real
The schematic diagram of the first reaction type human body artificial limb control system of example offer is applied, the system includes：
First harvester 201, for gathering EEG signals；
Pretreatment unit 202, for the EEG signals collected to be pre-processed；
Separator 203, for being separated to passing through the EEG signals pre-processed, feature extraction and pattern are known
Not；
Drive device 204, for being acted accordingly using recognition result driving artificial limb, wherein, control section can be with
But it is not limited to be completed by C8051F020, the EEG signals of acquisition is produced into dutycycle using the integrated PCA modules of single-chip microcomputer itself
Adjustable pwm signal is used to drive direct current generator, and producing frequency signal using timer is used for Driving Stepping Motor；
Whether the second harvester 205, the feedback signal of corresponding actions has been carried out for gathering artificial limb, for when artificial limb not
When carrying out corresponding actions, artificial limb is controlled to carry out corresponding actions again.
The system is the EEG signals that user is gathered since the sensor for acquiring brain waves, and will collection
To EEG signals pre-processed, including but not limited to denoising, amplification and A/D conversion, by pretreated EEG signals profit
With but be not limited to bluetooth equipment and send to the separator for EEG Processing, it is possible to use but be not limited to NMF blind separations
The EEG signals of mixing are separated into multiple independent signals by technology, then carry out feature extraction and pattern-recognition to signal, are obtained
Drive device is transmitted the signal to after final useful EEG signals, corresponding action is made the motor that drives artificial limb.Adopt
After the motion state for collecting artificial limb, handled accordingly according to feedback signal, not it is anticipated that in the case of being acted,
Driving artificial limb carries out corresponding actions again.
Second of reaction type human body artificial limb control system that the embodiment of the present application is provided, is in the first above-mentioned reaction type people
On the basis of body artificial limb control system, also including following technical characteristic：
Second harvester is camera.
The third reaction type human body artificial limb control system that the embodiment of the present application is provided, is in above-mentioned second of reaction type people
On the basis of body artificial limb control system, also including following technical characteristic：
First harvester is the sensor being attached in brain electrode.
The 4th kind of reaction type human body artificial limb control system that the embodiment of the present application is provided, is in the third above-mentioned reaction type people
On the basis of body artificial limb control system, also including following technical characteristic：
The pretreatment unit is used to the EEG signals collected carrying out denoising, amplification and A/D conversions.
Specifically, the original EEG signals gathered using sensor, by primary amplification, 50Hz trappers, LPF
After device, two-stage amplifier and A/D converter, by original EEG signals be converted into can by computer disposal signal.Wherein, it is sharp
The faint EEG signals that sensor is gathered are subjected to primary amplification with primary amplifier, facilitate subsequent treatment.50Hz trappers
It is used for denoising with low pass filter, is then amplified signal again by secondary amplifier so that system meets Linear Amplifer and wanted
Ask, the analog signal of acquisition is converted into the data signal that computer can be handled by A/D converter, the signal after processing is sent
To separator.
The embodiment of the present application provide the 5th kind of reaction type human body artificial limb control system, be it is above-mentioned the first to the 4th kind
On the basis of any in reaction type human body artificial limb control system, also including following technical characteristic：
The separator is used to divide the EEG signals by pretreatment using quasi- NMF blind separating methods
From.
It should be noted that the quasi- NMF blind separating methods are that the EEG signals of acquisition are divided into independent several signals,
Then special extraction and pattern-recognition are carried out to the signal separated, obtains final useful EEG signals.
In summary, the said system that the embodiment of the present application is provided, adds in original open loop brain electric control artificial limb system
Feedback signal is entered so that the system becomes the closed-loop control system for having feedback, physical disabilities can be substantially reduced and used
Fault rate during artificial limb, so as to improve the precision of operation.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or using the present invention.
A variety of modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The most wide scope caused.
Claims (10)
1. a kind of reaction type human body artificial limb control method, it is characterised in that including：
Gather the EEG signals of user；
The EEG signals are pre-processed；
The EEG signals by pretreatment are separated, feature extraction and pattern-recognition；
Acted accordingly using recognition result driving artificial limb；
Whether collection artificial limb has carried out the feedback signals of corresponding actions, for when artificial limb does not carry out corresponding actions, then secondary control
Artificial limb carries out corresponding actions.
2. reaction type human body artificial limb control method according to claim 1, it is characterised in that
Whether the collection artificial limb, which has carried out the feedback signals of corresponding actions, is：
Artificial limb is monitored in real time using camera, whether collection artificial limb has carried out the feedback signal of corresponding actions.
3. reaction type human body artificial limb control method according to claim 2, it is characterised in that
It is described collection user EEG signals be：
The EEG signals of user are gathered using the sensor being attached in brain electrode.
4. reaction type human body artificial limb control method according to claim 3, it is characterised in that described by the EEG signals
Carrying out pretreatment includes：
The EEG signals collected are subjected to denoising, amplification and A/D conversions.
5. the reaction type human body artificial limb control method according to claim any one of 1-4, it is characterised in that
The described pair of EEG signals by pretreatment, which carry out separation, to be included：
The EEG signals by pretreatment are separated using quasi- NMF blind separating methods.
6. a kind of reaction type human body artificial limb control system, it is characterised in that including：
First harvester, for gathering EEG signals；
Pretreatment unit, for the EEG signals to be pre-processed；
Separator, for being separated to the EEG signals by pretreatment, feature extraction and pattern-recognition；
Drive device, for being acted accordingly using recognition result driving artificial limb；
Whether the second harvester, the feedback signal of corresponding actions has been carried out for gathering artificial limb, for not carrying out phase when artificial limb
When should act, artificial limb is controlled to carry out corresponding actions again.
7. reaction type human body artificial limb control system according to claim 6, it is characterised in that second harvester is
Camera.
8. reaction type human body artificial limb control system according to claim 7, it is characterised in that
First harvester is the sensor being attached in brain electrode.
9. reaction type human body artificial limb control system according to claim 8, it is characterised in that
The pretreatment unit is used to the EEG signals carrying out denoising, amplification and A/D conversions.
10. the reaction type human body artificial limb control system according to claim any one of 6-9, it is characterised in that
The separator is used to separate the EEG signals by pretreatment using quasi- NMF blind separating methods.
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Cited By (7)
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| CN108478189A (en) * | 2018-03-06 | 2018-09-04 | 西安科技大学 | A kind of human body ectoskeleton mechanical arm control system and method based on EEG signals |
| CN108742957A (en) * | 2018-06-22 | 2018-11-06 | 上海交通大学 | A kind of artificial limb control method of multi-sensor fusion |
| CN109602521A (en) * | 2018-12-18 | 2019-04-12 | 苏州市职业大学 | A kind of shape memory alloy bionic joint based on brain wave control |
| CN109730818A (en) * | 2018-12-20 | 2019-05-10 | 东南大学 | A kind of prosthetic hand control method based on deep learning |
| CN114681172A (en) * | 2022-03-11 | 2022-07-01 | 哈尔滨工业大学 | Modular closed-loop artificial limb control system for upper limb amputation patient |
| CN116030536A (en) * | 2023-03-27 | 2023-04-28 | 国家康复辅具研究中心 | Data collection and evaluation system for use state of upper limb prosthesis |
| CN114681172B (en) * | 2022-03-11 | 2024-05-14 | 哈尔滨工业大学 | Modularized closed-loop artificial limb control system for upper limb amputee |
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