CN102008362B - Electronic artificial hand with voice/myoelectricity mixed control - Google Patents
Electronic artificial hand with voice/myoelectricity mixed control Download PDFInfo
- Publication number
- CN102008362B CN102008362B CN2010106089468A CN201010608946A CN102008362B CN 102008362 B CN102008362 B CN 102008362B CN 2010106089468 A CN2010106089468 A CN 2010106089468A CN 201010608946 A CN201010608946 A CN 201010608946A CN 102008362 B CN102008362 B CN 102008362B
- Authority
- CN
- China
- Prior art keywords
- control
- myoelectricity
- voice
- voice recognition
- control system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Prostheses (AREA)
Abstract
The invention relates to an electronic artificial hand with voice/myoelectricity mixed control, comprising a voice control system, a myoelectricity control system, a voice control and myoelectricity control switching system and a voice switching control joint system, wherein the voice control and myoelectricity control switching system consists of voice recognition chips; when the voice recognition chips receive a voice command 'myoelectricity', a control signal is outputted to drive the myoelectricity control system to work; when the voice recognition chips receive a voice command 'voice', the voice recognition chips are communicated with the voice control system to control the artificial hand; and when the voice recognition chips receive a voice command 'collaboration', the voice control command received by the voice recognition chips is processed to output a control signal to the myoelectricity control system so as to switch joints of the artificial hand, and the voice control system and the myoelectricity control system work simultaneously. The electronic artificial hand comprises the voice control system and the myoelectricity control system and can switch corresponding control according to actual use conditions.
Description
Technical field
The present invention relates to a kind of electronic hand prosthesis that adopts sound control technique and myoelectricity control technology, especially a kind ofly come the device of doing evil through another person that multiple freedom degrees hand-prosthesis is controlled through sound identification module and wireless or wire transmission module or through the electromyographic signal of extracting deformed limb.
Background technology
Sound both hands are very important concerning the mankind, can accomplish to hold, sth. made by twisting, hook, propose, press from both sides or the like the action of the multiple complicacy that must use in the life.But in the reality because vehicle accident, natural disaster, industrial injury, many factors such as war and congenital diseases, the deformed limb patient is strong in number.According to statistics, whole world deformed limb patient have tens million of more than.In order to let the deformed limb person take care of oneself, and improve as far as possible their quality of life, various doing evil through another person arisen at the historic moment.Therefore, the reconstruction that hands is damaged is an important topic of rehabilitation engineering always.
Ideal doing evil through another person should be the same with true hands on shape and function.It can not only substitute the sensation and the motor function of staff, but also will have graceful profile as staff.But present technology does not also reach this ideal requirement far away.The human upper limb mechanism model has 27 degree of freedom.Wherein finger part has 20 degree of freedom.But scientific level can't accomplish to have the electronic hand prosthesis of 27 degree of freedom at present.7-11 degree of freedom of having done evil through another person of the U.S., Japanese experimentation, but doing evil through another person of present clinical use is at most 3 degree of freedom stretch, refer to bend, revolve to accomplish the most frequently used finger of human hand function that preceding, supination, wrist are stretched, wrist is bent 6 actions.The designer is faced with huge technical difficulty although do evil through another person, and the design of doing evil through another person should comprise following standard: have multiple grasping pattern and regulate automatically according to the shape of object; The texture of object, shape and temperature can be used as feedback information; Has somesthetic sensibility; In light weight, outward appearance is good; Can under subconsciousness, control.Though commercial in the world artificial limb has reached thousands of kinds, none can reach above standard.
Present state-of-the-art electronic hand prosthesis only can be accomplished few partial function of staff, and its accuracy rate can not be satisfactory, all has weak point separately.Also there is defective to a certain degree in current use EMG-controlling prosthetic hand comparatively widely.The great advantage of myoelectric limb is to utilize remaining musculature to control the motor function of artificial limb with the physiology mode; But myoelectricity control is an open-loop control system in essence; The patient only can use vision and audition as feedback signal, and this just needs the patient to concentrate one's energy to control artificial limb, and is unfavorable for the grasp to the artificial limb situation; And some patient's deformed limb is because factor affecting such as too short, the electromyographic signal of deformed limb is weak, causes electromyographic signal to cross weak and can't pass through the electromyographic signal artificial hand controlled.Now voice-operated doing evil through another person appears again in market, and this appearance has brought Gospel for those patients that can't extract myoelectricity, but voice-operated sound of doing evil through another person for the patient requires than higher.The audio frequency and the tone color of sound are more approaching in the time of need training with the patient, cause control to be lost efficacy owing to flu or throat is hoarse can't send and train the time sound when for example the patient uses.Voice are done evil through another person and under the environment that needs peace and quiet, are used inconvenience, as in meeting.Therefore, needs are a kind of, and its combines the advantage of the two, can switch according to patient's demand, learns from other's strong points to offset one's weaknesses based on voice and technological the doing evil through another person of myoelectricity mixture control, and this is again a Gospel undoubtedly for the patient.
Summary of the invention
The present invention is the electronic hand prosthesis that a kind of voice/myoelectricity mixture control will be provided; This electronic hand prosthesis has speech control system and myoelectric control system, can carry out voice control and myoelectricity control switching each other according to the practical situation that uses, and can let the patient under a kind of situation of controlling inefficacy; The same another kind that utilizes is controlled; In order to avoid cause how-do-you-do, and can select optimum effective control mode according to the difference of occasion of living in.
Technical scheme of the present invention is: the electronic hand prosthesis of a kind of voice/myoelectricity mixture control; Comprise speech control system, myoelectric control system, voice control and myoelectricity control switched system; Voice switching controls articular system; Be characterized in: voice control and myoelectricity control switched system are made up of voice recognition chip, when voice recognition chip receives phonetic order " myoelectricity ", export a control signal and drive myoelectric control system work; When voice recognition chip received phonetic order " voice ", voice recognition chip was connected speech control system and is come artificial hand controlled; When voice recognition chip reception phonetic order " is worked in coordination with "; Receive the voice control command of using by voice recognition chip; Output control signals to the do evil through another person switching in joint of myoelectric control system after treatment, speech control system and myoelectric control system are worked simultaneously.
Voice switching controls articular system comprises voice recognition chip, the single-chip microcomputer of myoelectricity control; Say instruction " hand " when voice recognition chip receives user, export a high level to control pin at hand on the single-chip microcomputer of myoelectricity control, thereby single-chip microcomputer is received the folding of signal control hand; When voice recognition chip receive user say instruction " wrist " output control signal to the single-chip microcomputer of myoelectricity control on the pin of control wrist, thereby the left-handed and dextrorotation of control wrist; Say instruction " ancon " when voice recognition chip receives user, export the pin of control signal, thereby control bending and stretching of ancon to control ancon on the single-chip microcomputer of myoelectricity control.
Speech control system comprises voice recognition chip, drive circuit, and speech chip receives the instruction of being said by user, amplifies the back input driving circuit through signal and drives the action of doing evil through another person.
Myoelectric control system comprises pre-amplification circuit, double-t filter net, rearmounted amplifying circuit; The A/D conversion; Single chip microcomputer inputs to the double-t filter net and carries out Filtering Processing through pre-amplification circuit, and after rearmounted amplifying circuit once amplifies, sends into the A/D conversion and single chip microcomputer is analyzed.
The invention has the beneficial effects as follows:
The present invention has both acoustic control and two kinds of control modes of myoelectricity, and when user uses a kind of control, thereby another kind of control mode can be cut off and fails.When user is in sound control, can switch to myoelectricity control through voice, also can switch to myoelectricity control through a control permutator; When user was in myoelectricity control, sound control was in resting state, switched to sound control but can receive some specific orders, also can switch to the sound control section through the control permutator.Under the prerequisite of myoelectricity control mode, the present invention can also be switched the joint of being controlled through voice.
The present invention can control the action of bending three degree of freedoms such as action of stretching of folding at hand, carpal rotating and elbow joint, wherein can be independent one, while two or the three degree of freedom of controlling wherein.
The rotating that the present invention uses the relay logic control logic circuit to come the driving direct current generator of artificial hand controlled three degree of freedom, with the rotating of realization artificial hand controlled drive motors, thereby realization is done evil through another person out/is closed, inside/outside revolves or the function of flexion/extension.
Description of drawings
Fig. 1 is the principle schematic of voice artificial hand controlled part of the present invention;
Fig. 2 is the principle schematic of myoelectrically controlled hand part of the present invention;
Fig. 3 is the single-degree-of-freedom action switching relay wiring diagram of doing evil through another person;
Fig. 4 is the unitary principle schematic of Switch Control;
Fig. 5 is do evil through another person voice signal amplification and control relay circuit general connection diagram;
Fig. 6 is the principle schematic of voice switch control unit;
Fig. 7 is through voice switching controls joint sketch map.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is further described.
Like Fig. 1 to shown in Figure 7, the electronic hand prosthesis of voice of the present invention/myoelectricity mixture control, by speech control system, myoelectric control system, speech control system and myoelectricity control switched system composition.
As shown in Figure 1, speech control system comprises voice recognition chip, drive circuit, and speech chip receives the instruction of being said by user, amplifies the back input driving circuit through signal and drives the action of doing evil through another person.Before the use, the user person need train, and user is to acoustic control some the orders of device training of doing evil through another person; During use, user sends voice command identical when training, and after procedure identification goes out voice command, signal is exported to do evil through another person make corresponding actions with artificial hand controlled.
As shown in Figure 2, myoelectric control system comprises pre-amplification circuit, double-t filter net, rearmounted amplifying circuit, A/D conversion, single chip microcomputer.
Gained knowledge and can be known by human dissection, the motion of metacarpophalangeal joints and articulations digitorum manus is to be controlled by the electromyographic signal that human body sends, but the electromyographic signal among the human muscle is a ten minutes faint (tens of microvolt).For faint signal like this, therefore, could carry out follow-up processing to it after at first it being amplified through pre-amplification circuit, exist through having in the signal of handling to disturb, must make Filtering Processing to it by process double-t filter net.Select through frequency-selective network then useful signal is analyzed best point, once amplify through rearmounted amplifying circuit, the signal after the amplification is sent into the A/D conversion, imports single chip microcomputer analysis then.The do evil through another person conversion of one degree of freedom action of realization needs two relays, realizes the do evil through another person conversion of folding of four on-off control, and accompanying drawing 3 is seen in the connection of stitch circuit.Fig. 4 is the control mode of coming artificial hand controlled through hand switch: four kinds of states that on-off control is done evil through another person, and state A is controlled by voice only for doing evil through another person, and myoelectricity control is in off-position; State B is controlled by myoelectricity only for doing evil through another person, voice control is in off-position; State C is the myoelectrically controlled hand motion, and the controlled joint state of doing evil through another person is then switched in voice control, and state D is for to control all switchings by voice command.Fig. 5 is that the voice signal of doing evil through another person amplifies the general connection diagram with control relay circuit (output control).The finger of doing evil through another person, carpal joint and elbow joint place are provided with lead limit switch, and the signal source that switching signal can be used as the relay in the output control circuit the do evil through another person urgency of single-degree-of-freedom drive motors M of control action to stop.Speech chip receives the order by mike, through the processing of speech chip, and two relay work of the pin output level of speech chip control, the pin output level of relay comes the completion of each action of artificial hand controlled.The present invention can be in the myoelectricity control mode when state 3, voice control is in holding state.When hand switch was in state 4, the present invention was then switched the control unit of doing evil through another person through voice.
As shown in Figure 6, voice recognition chip receives phonetic order " myoelectricity " speech chip analyzing and processing, exports the single-chip microcomputer work that a control signal drives the myoelectricity system; When voice recognition chip receives phonetic order " voice ", voice recognition chip say connect voice module and do evil through another person between control; When voice recognition chip reception phonetic order " is worked in coordination with ", then receive the voice control command of using by voice recognition chip, output control signals to the switching that the myoelectricity control circuit carries out the joint after treatment, voice control is controlled with myoelectricity and is worked simultaneously.The present invention can come switching controls joint such as Fig. 7 through voice.When user say high level of instruction " hand " voice recognition chip output to the single-chip microcomputer of myoelectricity control on control pin at hand, thereby single-chip microcomputer is received the folding of signal control hand.When say instruction " wrist " voice recognition chip export equally control signal to the single-chip microcomputer of myoelectricity control on the pin of control wrist, thereby the left-handed and dextrorotation of control wrist.When say instruction " ancon " voice recognition chip export equally control signal to the single-chip microcomputer of myoelectricity control on the pin of control ancon, thereby the bending and stretching of control ancon.So just realized under the situation of doing evil through another person of myoelectricity control, coming the joint of switching controls through voice.
Claims (1)
1. the electronic hand prosthesis of voice/myoelectricity mixture control; Comprise speech control system, myoelectric control system, voice control and myoelectricity control switched system; Voice switching controls articular system; It is characterized in that: said voice control and myoelectricity control switched system are made up of voice recognition chip, when described voice recognition chip receives phonetic order " myoelectricity ", export a control signal and drive myoelectric control system work; When described voice recognition chip received phonetic order " voice ", described voice recognition chip was connected speech control system and is come artificial hand controlled; When described voice recognition chip reception phonetic order " is worked in coordination with "; Receive the voice control command of using by described voice recognition chip; Output control signals to the do evil through another person switching in joint of myoelectric control system after treatment, speech control system and myoelectric control system are worked simultaneously; Said voice switching controls articular system comprises the single-chip microcomputer of described voice recognition chip and myoelectricity control; Say instruction " hand " when described voice recognition chip receives user, export a high level to control pin at hand on the single-chip microcomputer of myoelectricity control, thereby described single-chip microcomputer is received the folding of signal control hand; When described voice recognition chip receive user say instruction " wrist " output control signal to the single-chip microcomputer of myoelectricity control on the pin of control wrist, thereby the left-handed and dextrorotation of control wrist; Say instruction " ancon " when described voice recognition chip receives user, export the pin of control signal, thereby control bending and stretching of ancon to control ancon on the single-chip microcomputer of myoelectricity control; Said speech control system comprises described voice recognition chip and drive circuit, and described voice recognition chip receives the instruction of being said by user, amplifies the back input driving circuit through signal and drives the action of doing evil through another person; Said myoelectric control system comprises pre-amplification circuit; The double-t filter net; Rearmounted amplifying circuit, A/D converter, described single-chip microcomputer; Input to the double-t filter net and carry out Filtering Processing through pre-amplification circuit, and after rearmounted amplifying circuit once amplifies, send into A/D converter and described single-chip microcomputer is analyzed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010106089468A CN102008362B (en) | 2010-12-28 | 2010-12-28 | Electronic artificial hand with voice/myoelectricity mixed control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010106089468A CN102008362B (en) | 2010-12-28 | 2010-12-28 | Electronic artificial hand with voice/myoelectricity mixed control |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102008362A CN102008362A (en) | 2011-04-13 |
| CN102008362B true CN102008362B (en) | 2012-11-07 |
Family
ID=43838842
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010106089468A Expired - Fee Related CN102008362B (en) | 2010-12-28 | 2010-12-28 | Electronic artificial hand with voice/myoelectricity mixed control |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102008362B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104224495A (en) * | 2014-10-08 | 2014-12-24 | 上海理工大学 | Portable elbow joint rehabilitation robot control method |
| CN105943207B (en) * | 2016-06-24 | 2017-12-05 | 吉林大学 | One kind is based on idiodynamic intelligent artificial limb kinematic system and its control method |
| CN107411857B (en) * | 2017-09-21 | 2019-06-11 | 哈尔滨工业大学 | A kind of control system of distribution wrist hands prostheses system |
| CN111616848B (en) * | 2020-06-02 | 2021-06-08 | 中国科学技术大学先进技术研究院 | Five-degree-of-freedom upper arm prosthesis control system based on FSM |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101584616A (en) * | 2009-06-18 | 2009-11-25 | 上海理工大学 | Electronic artificial hand based on sound control |
-
2010
- 2010-12-28 CN CN2010106089468A patent/CN102008362B/en not_active Expired - Fee Related
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101584616A (en) * | 2009-06-18 | 2009-11-25 | 上海理工大学 | Electronic artificial hand based on sound control |
Non-Patent Citations (3)
| Title |
|---|
| Elena Mainardi et al.Controlling a prosthetic arm with a throat microphone.《Proceedings of the 29th Annual International Conference of the IEEE EMBS》.2007,第3035-3039页. * |
| 丁祥峰等.表面肌电检测中消除工频干扰的方法.《北京生物医学工程》.2006,第25卷(第1期),第63-66页. * |
| 唐建友等.三自由度比例控制肌电假手的设计.《机电工程》.2009,第26卷(第12期),第85-88页. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102008362A (en) | 2011-04-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202128568U (en) | Human artificial hand controlled by double signal sources | |
| Bright et al. | EEG-based brain controlled prosthetic arm | |
| CN103892945B (en) | Myoelectric limb control system | |
| CN105943207B (en) | One kind is based on idiodynamic intelligent artificial limb kinematic system and its control method | |
| CN102008362B (en) | Electronic artificial hand with voice/myoelectricity mixed control | |
| CN102579227B (en) | Hand and wrist exoskeleton rehabilitation training device | |
| CN202537871U (en) | Hand and wrist exoskeleton rehabilitation training device | |
| CN109646156B (en) | Exoskeleton rehabilitation glove | |
| Childress | Upper-limb prosthetics: control of limb prostheses | |
| CN106726027B (en) | A kind of drive lacking prosthetic hand | |
| Liu et al. | Development of a multi-DOF prosthetic hand with intrinsic actuation, intuitive control and sensory feedback | |
| CN107411857B (en) | A kind of control system of distribution wrist hands prostheses system | |
| CN104317196A (en) | Virtual reality-based upper limb rehabilitation training robot control method | |
| CN105012057B (en) | Intelligent artificial limb based on double-arm electromyogram and attitude information acquisition and motion classifying method | |
| CN101987047B (en) | Artificial limb control system and method based on voice and myoelectricity information identification | |
| CN104586608A (en) | Wearable assistance finger based on myoelectric control and control method thereof | |
| CN112494276B (en) | Hand rehabilitation robot system | |
| CN102698411A (en) | Recumbent lower limb rehabilitation robot and corresponding active exercise control method | |
| CN102379760A (en) | Myoelectric prosthetic hand force tactile feedback method and tactile feedback myoelectric prosthetic hand system | |
| CN202168922U (en) | Fixed exoskeleton rehabilitation training manipulator | |
| CN106943217A (en) | A kind of reaction type human body artificial limb control method and system | |
| CN201426830Y (en) | Air pressure massager machine | |
| CN111134917A (en) | Multi-sensing closed-chain cascade type hand prosthesis based on myoelectric control | |
| CN104997582A (en) | Device and method for controlling intelligent artificial limb based on eye and lower jaw electromyographic signals | |
| CN102008385A (en) | Voice signal control based upper limb function rehabilitation training system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121107 Termination date: 20151228 |
|
| EXPY | Termination of patent right or utility model |