CN102319130B - Control system and method for triggering multi-degree-of-freedom movement of upper artificial limbs by using toe - Google Patents
Control system and method for triggering multi-degree-of-freedom movement of upper artificial limbs by using toe Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 230000009471 action Effects 0.000 claims abstract description 69
- 238000012545 processing Methods 0.000 claims abstract description 32
- 238000012790 confirmation Methods 0.000 claims abstract description 30
- 230000000875 corresponding effect Effects 0.000 claims description 25
- 238000003825 pressing Methods 0.000 claims description 10
- 230000002085 persistent effect Effects 0.000 claims description 8
- 238000012544 monitoring process Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 6
- 230000001276 controlling effect Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims description 3
- 230000015572 biosynthetic process Effects 0.000 claims description 2
- 238000003860 storage Methods 0.000 claims description 2
- 230000001360 synchronised effect Effects 0.000 claims 1
- 230000001960 triggered effect Effects 0.000 claims 1
- 210000003371 toe Anatomy 0.000 abstract description 47
- 238000007781 pre-processing Methods 0.000 abstract 4
- 230000003183 myoelectrical effect Effects 0.000 abstract 1
- 210000003414 extremity Anatomy 0.000 description 46
- 230000002045 lasting effect Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 230000003592 biomimetic effect Effects 0.000 description 2
- 210000004556 brain Anatomy 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000003909 pattern recognition Methods 0.000 description 2
- 206010002027 Amyotrophy Diseases 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000002266 amputation Methods 0.000 description 1
- 230000037396 body weight Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
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- 210000001364 upper extremity Anatomy 0.000 description 1
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- A43—FOOTWEAR
- A43B—CHARACTERISTIC FEATURES OF FOOTWEAR; PARTS OF FOOTWEAR
- A43B3/00—Footwear characterised by the shape or the use
- A43B3/34—Footwear characterised by the shape or the use with electrical or electronic arrangements
- A43B3/38—Footwear characterised by the shape or the use with electrical or electronic arrangements with power sources
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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
- A61F2/60—Artificial legs or feet or parts thereof
- A61F2/66—Feet; Ankle joints
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Abstract
本发明公开了一种用脚趾触发上假肢多自由度运动的控制系统及其控制方法，它是由脚趾触发信号模块、信号处理模块、提示模块和驱动模块组成。使脚趾以约定的方式按压脚趾触发信号模块中的信号发生器发出电压信号；信号处理模块中的信号采集与预处理单元采集该电压信号并进行预处理，并将预处理结果发给提示模块；根据提示模块结果在指令确认单元中确认脚趾发出的电压信号；然后信号处理模块中的动作识别单元根据预处理结果识别出电压信号对应的动作指令；驱动模块根据动作指令驱动上假肢完成设定动作。本发明可通过完整的脚趾发出信号操作假肢完成各种动作，相对于肌电信号控制和声控来说，隐蔽性好，抗干扰能力强、操作更方便。
The invention discloses a control system and a control method for using toes to trigger multi-degree-of-freedom movements of an upper prosthesis, which is composed of a toe triggering signal module, a signal processing module, a prompt module and a driving module. Make the toe press the toe trigger signal generator in the signal module to send out a voltage signal; the signal acquisition and preprocessing unit in the signal processing module collects the voltage signal and performs preprocessing, and sends the preprocessing result to the prompt module; Confirm the voltage signal from the toes in the command confirmation unit according to the result of the prompt module; then the action recognition unit in the signal processing module recognizes the action command corresponding to the voltage signal according to the preprocessing result; the driving module drives the upper prosthesis to complete the set action according to the action command . The present invention can operate the prosthesis to complete various actions by sending out signals from the complete toes. Compared with myoelectric signal control and voice control, the present invention has good concealment, strong anti-interference ability and more convenient operation.
Description
Technical field
The present invention relates to upper artificial limb for disabled persons, relate in particular to the control technology of artificial limb.
Background technology
At present, upper artificial limb action for disabled persons has several biomimetic control source side formulas.As, the EEG signals of human body self, electroneurographic signal, electromyographic signal, brain magnetic signal and acoustical signal etc.Wherein, utilize research that EEG signals, electroneurographic signal, brain magnetic signal carry out upper artificial limb control still in laboratory stage.
Utilizing electromyographic signal to realize the control of upper artificial limb is correspondence based on electromyographic signal and action and good repeatability thereof.The accuracy rate of electromyographic signal being carried out to pattern recognition is determining the effect that upper artificial limb is controlled.In actual applications, too short when the deformed limb of patients with amputation, or while causing amyotrophy because of paralysis, just can not provide the needed control information of artificial limb on enough myoelectricity.Meanwhile, the fatigue of muscle, the fluctuation of the change of electrode position, body weight etc. all can make the eigenvalue of electromyographic signal change and reduce the accuracy rate to electromyographic signal pattern recognition.
Compare with other modes of controlling artificial limb, acoustic control mode is more convenient, and precision is also higher, but uses and be just not suitable in the needs occasion that Keep silence, and upper prosthesis wearer also may cause artificial limb generation misoperation while carrying out communication with others.
Summary of the invention
The object of the invention is the deficiency existing for existing biomimetic control signal source in upper artificial limb is controlled, propose that a kind of capacity of resisting disturbance is strong, artificial limb control system and method in good concealment, easy to operate novel multiple degrees of freedom.
With toe, trigger the control system of upper artificial limb multifreedom motion: it is by a toe triggering signal module, signal processing module, reminding module and driver module form; Wherein:
1, described toe triggering signal module consists of signal generator, amplifying circuit and voltage comparator; Toe triggering signal module can be by toe applied pressure signal formation voltage signal, voltage signal through amplify and relatively after send into signal processing module and process;
2, described signal processing module comprises with lower unit: signals collecting and pretreatment unit, confirmation command unit and action recognition unit; Wherein
1) signals collecting and pretreatment unit are for receiving in real time the signal being sent by toe triggering signal module and carrying out pretreated unit;
2) confirmation command unit is the pretreatment result of sending for storage signal collection and pretreatment unit and allows wearer to determine whether to delete the unit of this pretreatment result.
3) action recognition unit is to identify corresponding action command and this action command is sent into the unit of driver module according to pretreatment result;
3, described reminding module is the module for the pretreatment result of real-time prompting signals collecting and pretreatment unit;
4, described driver module comprises driver and the motor that drives artificial limb to move; When driver receives the action command that signal processing module sends, just control motor rotation, complete artificial limb and set accordingly action.
Artificial limb control system of the present invention adopts the voltage signal of toe discharge by pressing as the signal source of controlling artificial limb, by the voltage signal collecting, identifies corresponding action command, and in control, artificial limb is made the action of expectation.Specifically: comprise the steps:
The first step: the signal generator that toe is pressed in toe triggering signal module in the mode of agreement sends voltage signal;
Second step: the signals collecting in signal processing module and pretreatment unit gather this voltage signal and carry out pretreatment, and pretreatment result is issued to reminding module;
The 3rd step: confirm the voltage signal that toe sends according to reminding module result in confirmation command unit;
The 4th step: after confirming that voltage signal is correct, the action recognition unit in signal processing module identifies according to pretreatment result the action command that voltage signal is corresponding;
The 5th step: driver module drives upper artificial limb to complete according to action command and sets action.
This control method is disguised strong, and it is convenient to control, and pressure size and the persistent period of according to toe, pressing signal generator, can produce multiple different feature, thereby complete more control function.
The invention has the advantages that, upper limb disability person can send by complete toe signal operation artificial limb and complete exercises, with respect to electromyographic signal, control and acoustic control, and good concealment, capacity of resisting disturbance is strong, more convenient operation.
Accompanying drawing explanation
Fig. 1 is the general frame of the embodiment of the present invention;
Fig. 2 is the internal frame diagram of toe triggering signal module 100;
Fig. 3 is the internal frame diagram of signal processing module;
Fig. 4 is the internal frame diagram of driver module;
Fig. 5 is " machine open/close " U of instruction
i, F and T graph of a relation;
Fig. 6 is the U of " cancellation " instruction
i, F and T graph of a relation;
Fig. 7 is toe triggering signal module output " length " high level U
oHLtime U
i, F and T graph of a relation;
Fig. 8 is toe triggering signal module output " short " high level U
oHStime U
i, F and T graph of a relation;
Fig. 9 is toe triggering signal module output low level U
oLtime U
i, F and T graph of a relation;
Figure 10 is work process flow chart.
In figure: 100-toe triggering signal module, 200-signal processing module, 300-driver module, 400-reminding module, 101-signal generator, 102-amplifying circuit, 103-window voltage comparator, 104-threshold voltage comparator, 201-signals collecting and pretreatment unit, 202-confirmation command unit, 203-action recognition unit, 301-driver, 302-motor.
The specific embodiment
With reference to the accompanying drawings embodiments of the invention are further illustrated below.
The present invention takes following technical scheme, as shown in Figure 1: it is comprised of toe triggering signal module 100, signal processing module 200, driver module 300 and reminding module 400;
As shown in Figure 2, described toe triggering signal module 100 consists of signal generator 101, amplifying circuit 102, window voltage comparator 103 and threshold voltage comparator 104, the voltage signal that toe triggering signal module 100 produces signal generator 101 amplifies through amplifying circuit 102, through window voltage comparator 103 and threshold voltage comparator 104, carry out voltage ratio again, then send into respectively in signal processing module 200.
The operation principle of toe triggering signal module 100 is, as shown in Figure 2: the mode of pressing by toe makes piezoelectric transducer output voltage signal U
i, U
ithe size pressure F that presses piezoelectric transducer to toe be directly proportional.The voltage signal U of output
ithrough amplifying circuit 102, obtain voltage signal U
i, this voltage signal is sent into window voltage comparator 103 and threshold voltage comparator 104.
Two threshold voltage values setting window voltage comparator 103 are U
tminand U
tmaxand U
tmin< U
tmax.Two threshold voltage value U
tminand U
tmaxrespectively application toe is pressed the force value F of piezoelectric transducer
tminand F
tmax.As shown in Figure 7, Figure 8, work as U
tmin< U
i< U
tmaxtime, corresponding F
tmin< F < F
tmax, a high level U of now window voltage comparator 103 outputs
oH; As shown in Figure 9, work as U
i< U
tmintime, corresponding F < F
tmin, a low level U of window voltage comparator 103 outputs
oL; Work as U
i> U
tmaxtime, corresponding F > F
tmax, a low level U of window voltage comparator 103 outputs
oL.
Set the threshold voltage U of threshold voltage comparator 104
tmax.Threshold voltage value U
tmaxapplication toe is pressed to the force value F of piezoelectric transducer
tmax.As shown in Figure 5, Figure 6, work as U
i> U
tmaxtime, corresponding F > F
tmax, assert a high level U of threshold voltage comparator 104 outputs
gH; Work as U
i< U
tmaxtime, corresponding F < F
tmaxassert a low level U of threshold voltage comparator 104 outputs
gL.
As shown in Figure 3, described signal processing module 200 comprises signals collecting and pretreatment unit 201, confirmation command unit 202 and action recognition unit 203.
The job step of signal processing module 200 is: the high level U that signals collecting and pretreatment unit 201 Real-Time Monitoring window voltage comparators 103 are sent here
oHpersistent period, according to the high level U detecting
oHlasting time length can obtain " length " high level U
oHL" short " high level U
oHStwo kinds of signals.According to " length " high level U
oHL" short " high level U
oHSthe sequential combination of two kinds of signals can represent different instructions.Signals collecting and pretreatment unit 201 often detect once " length " high level U
oHLjust in confirmation command unit 202, write " 1 " and numeral " 1 " is sent into reminding module 400, " short " high level U often being detected once
oHSjust in confirmation command unit 202, write " 0 " and this digital " 0 " is sent into reminding module 400.In correspondence, each action of artificial limb need write the sequential combination of N binary digit " 1 " and " 0 " in confirmation command unit.While finding that current binary digit is wrong, (preferably in 1500 milliseconds) rapidly discharge by pressing " cancellation " instruction at the appointed time, current binary digit is deleted goes out confirmation command unit 202; While writing full N bit binary number in confirmation command unit 202, this N bit binary number is sent into action recognition unit 203 as pre-action command.Action recognition unit 203 adopts template matching method to carry out template matching to pre-action command, according to template matching results, exports corresponding action command to driver module 300, realizes the control to upper artificial limb.According to the size of N, can produce 2
nindividual pre-action command.
Preferably arrange N=5, so just can obtain 2
5article=32, pre-action command.
Signals collecting and pretreatment unit 201 are gone back the high level U that Real-Time Monitoring threshold voltage comparator 104 is sent here in addition
gHpersistent period, according to the high level U detecting
gHlasting time length can obtain " cancellation ", " start ", " shutdown " three kinds of signals.
Preferably arrange, if the high level U being sent here by window voltage comparator 103 that signals collecting and pretreatment unit 201 real-time monitor
oHpersistent period between 600 milliseconds to 2000 milliseconds, 600 < T4-T3 < 2000 (seeing Fig. 7), think " length " high level U
oHLif, high level U
oHpersistent period, 100 < T4-T3 < 600 (seeing Fig. 8), thought " short " high level U between 100 milliseconds to 600 milliseconds
oHS.
At artificial limb during in off-mode, the high level U being sent here by threshold voltage comparator 104 that preferably approximately settled signals collecting and pretreatment unit 201 real-time monitor
gHpersistent period also F > F while surpassing 5000 milliseconds
tmaxand 5000 milliseconds of persistent period be also T2-T1 > 5000 (seeing Fig. 5), think " start " signal, action recognition unit 203 starts to enter duty, whole artificial limb control system enters duty.
When artificial limb is in running order, the high level U being sent here by threshold voltage comparator 104 that preferably approximately settled signals collecting and pretreatment unit 201 real-time monitor
gHpersistent period also F > F while surpassing 5000 milliseconds
tmaxand 5000 milliseconds of persistent period, be also T2-T1 > 5000 (seeing Fig. 5), think " shutdown " signal, action recognition unit 203 quits work, and whole artificial limb control system enters off-mode.
When artificial limb is in running order, what preferred approximately settled signals collecting and pretreatment unit 201 real-time monitored sends high level U here by threshold voltage comparator 104
gHtime, be also F > F
tmaxthink " cancellation " instruction.The effect one of " cancellation " instruction is for deleting at any time pretreatment result; The 2nd, when upper artificial limb motion, make signal processing module 200 export immediately a stop signal to driver module 300, stop the motion of upper artificial limb.
As shown in Figure 4, described driver module 300 comprises driver 301 and motor 302.When driver 301 receives the driving signal that signal processing module 200 sends, control upper artificial limb and complete corresponding setting action.
According to technique scheme, example in conjunction with the finger closure of artificial limb in a control, can draw following complete work process when daily, the control instruction of " finger is closed " of the upper artificial limb of supposition is 10001 here, i.e. the N=5 (control instruction is 5) here.
1,, when prosthesis wearer wants upper artificial limb to operate, sending " start " signal is that prosthesis wearer can deliberately firmly press by toe the piezoelectric transducer that is positioned at toe below, makes pressure F > F
tmaxand the lasting time surpasses 5000 milliseconds, and now start working in the action recognition unit 203 in signal processing module 200, is also that whole system is started working.
When " finger is closed " of 2, wanting to control upper artificial limb as upper artificial limb wearer so realized and captured certain object, need with toe with F
tmin< F < F
tmaxpressure press piezoelectric transducer 5 times, and make this 5 lasting times respectively between 600 milliseconds to 2000 milliseconds, between 100 milliseconds to 600 milliseconds, between 100 milliseconds to 600 milliseconds, between 100 milliseconds to 600 milliseconds, between 600 milliseconds to 2000 milliseconds.
If 3 toes are pressed the pressure of piezoelectric transducer and persistent period all in prescribed limit at every turn, the signals collecting in signal processing module 200 and pretreatment unit 201 should detect U successively
oHL, U
oHS, U
oHS, U
oHS, U
oHLwhat in confirmation command unit 202, write successively is " 1 ", " 0 ", " 0 ", " 0 ", " 1 ", and the result of observing in reminding module 400 should be " 1 ", " 0 ", " 0 ", " 0 ", " 1 " (the reminding module 400 here can adopt the display screen that is worn on head, real-time display digit " 1 " or " 0 " on display screen) successively.Now 10001 be exactly the instruction of the control wanted " finger is closed ".If have any pressure of once pressing piezoelectric transducer or persistent period not in prescribed limit, there will be undesired result, after observing reminding module 400 and confirming to make a mistake, can be rapidly with F > F
tmaxpressure press piezoelectric transducer, current numeral is deleted goes out confirmation command unit 202.
4,10001 in confirmation command unit 202 is sent to action recognition unit 203 as pre-action command, action recognition unit 203 finds the action command corresponding with 10001, and output to driver module 300, now with electric motor starting corresponding to finger, realize the action of " finger is closed ", thereby realize the function capturing.
If 5 because the factors such as external disturbance cause motor action undesirable, can press rapidly piezoelectric transducer with toe, make its force value F > F
tmax, sending " cancellation " instruction, upper artificial limb quits work immediately, realizes the function of brake hard.
6, when sleeping at night or temporarily do not need upper artificial limb to make when action, can press piezoelectric transducer with toe, make its force value F > F
tmaxsurpass 5000 milliseconds, send " shutdown " signal, make control system enter off-mode.Now system is in waiting for " start " signal.
The work process of above-mentioned upper artificial limb control system can be summarized following control method, as shown in figure 10:
Step S1, start.When prosthesis wearer wants upper artificial limb to operate, discharge by pressing " start " signal first.The production method of " start " signal is deliberately by toe, firmly to press the piezoelectric transducer that is positioned at toe below in the present embodiment, makes pressure F > F
tmaxeven if the lasting time surpasses 5000 milliseconds of T2-T1 > 5000, now start working in the action recognition unit 203 in signal processing module 200.When conventionally standing or walking, can deliberately make pressure F > F
tmaxpersistent period surpass 5000 milliseconds, there will not be the situation of T2-T1 > 5000, so just can not produce " start " signal, action recognition unit 203 is with regard to always in the state of quitting work.
, there is voltage signal in step S2.By toe, press in a particular manner the piezoelectric transducer being arranged under toe and produce voltage signal.In the present embodiment, by toe with F
tmin< F < F
tmaxpressure press piezoelectric transducer, if the lasting time between 600 milliseconds to 2000 milliseconds, i.e. 600 < T4-T3 < 2000, window voltage comparator 103 output " length " high level; If the persistent period between 100 milliseconds to 600 milliseconds, i.e. 100 < T4-T3 < 600, window voltage comparator 103 output " short " high level.
Step S3, acquired signal and pretreatment.The voltage signal that control system Real-time Collection occurs also carries out pretreatment.In the present embodiment, the high level U that the signals collecting in signal processing module 200 and pretreatment unit 201 Real-Time Monitorings are sent here by window voltage comparator 103 and threshold voltage comparator 104
oHand U
gHpersistent period.If U
oHthe lasting time, 600 < T4-T3 < 2000, thought " length " high level U between 600 milliseconds to 2000 milliseconds
oHL, and in confirmation command unit 202, write " 1 " and numeral " 1 " is sent into reminding module 400; If U
oHthe lasting time, 100 < T4-T3 < 600, thought " short " high level U between 100 milliseconds to 600 milliseconds
oHS, and write " 0 " and digital " 0 " is sent into reminding module 400 in confirmation command unit 202.
Step S4, confirmation command.Whether the numeral that judgement writes in confirmation command unit 202 in this step is the numeral of wanting, and makes corresponding processing by whether pressing " cancellation " instruction.In the present embodiment, check reminding module 400, if when the binary digit that confirmation command unit 202 is sent here is wrong, send in time " cancellation " instruction, with F > F
tmaxpressure press piezoelectric transducer, this binary digit is deleted, now signals collecting and pretreatment unit 201 continues Real-Time Monitorings; If when full 5 bit binary number is write in confirmation command unit, confirmation command unit 202 is sent into action recognition unit 203 using this binary digit of 5 as pre-action command.
Step S5, sends " cancellation " instruction.With toe, press piezoelectric transducer, make its force value F > F
tmax, send " cancellation " instruction, delete the binary digit that writes confirmation command unit 202.
Step S6, output action instruction.According to pre-action command, adopt template matching method to find corresponding action command signal, and output.In the present embodiment, action recognition unit 203 adopts template matching method to carry out template matching to pre-action command, according to template matching results, exports corresponding action command to driver module 300.
Step S7, upper artificial limb is carried out and is set action, and judges whether to want brake hard according to the action of upper artificial limb.In the present embodiment, driver module 300 operates upper artificial limb accordingly according to the driving signal of signal processing module 200 inputs.If it is abnormal that upper artificial limb occurs in carrying out certain course of action, carry out S8.If upper artificial limb is normal at certain course of action of execution, carry out S9.
Step S8, sends " cancellation " instruction.With toe, press piezoelectric transducer, make its force value F > F
tmax, sending " cancellation " instruction, upper artificial limb quits work immediately.
Step S9, executes after S7 or S8 step, judges whether to work on.If press piezoelectric transducer with toe, make its force value F > F
tmaxsurpass 5000 milliseconds, send " shutdown " signal, make control system enter off-mode; If do not send " shutdown " signal, return to step S2, wait for that toe sends voltage signal again.
Until complete machine quits work.
The above embodiment has only expressed a kind of specific embodiment of the present invention, and it describes comparatively in detail concrete, but can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.
Claims (2)
1. one kind is triggered the above control method of the control system of artificial limb multifreedom motion with toe: it is characterized in that, described control system is comprised of toe triggering signal module (100), signal processing module (200), reminding module (400) and driver module (300); Wherein:
Described toe triggering signal module (100) consists of signal generator (101), amplifying circuit (102), window voltage comparator (103) and threshold voltage comparator (104); Toe triggering signal module (100) can be by toe applied pressure signal formation voltage signal, voltage signal through amplify and relatively after send into signal processing module (200) and process;
Described signal processing module (200) comprises with lower unit: signals collecting and pretreatment unit (201), confirmation command unit (202) and action recognition unit (203); Wherein signals collecting and pretreatment unit (201) are for receiving in real time the signal being sent by toe triggering signal module (100) and carrying out pretreated unit; Confirmation command unit (202) is the pretreatment result of sending for storage signal collection and pretreatment unit (201) and allows wearer to determine whether to delete the unit of this pretreatment result; Action recognition unit (203) is according to pretreatment result, to identify corresponding action command also this action command to be sent into the unit of driver module (300);
Described reminding module (400) is the module for the pretreatment result of real-time prompting signals collecting and pretreatment unit (201);
Described driver module (300) comprises driver (301) and drives the motor (302) of artificial limb action; When driver (301) receives the action command that signal processing module (200) sends, just control motor (302) running, complete artificial limb and set accordingly action;
The control method of this control system is: it adopts the piezoelectric signal of toe discharge by pressing as the signal source of controlling artificial limb, by the voltage signal collecting, identifies corresponding action command, controls the action that artificial limb is made expectation, and concrete steps are as follows:
The first step: the signal generator (101) that toe is pressed in toe triggering signal module (100) in the mode of agreement sends voltage signal; Wherein, the method for work of described toe triggering signal module (100) is:
The mode of pressing by toe makes signal generator (101) output voltage signal U
i, U
ithe size pressure F that presses signal generator (101) to toe be directly proportional, the voltage signal U of output
ithrough amplifying circuit (102), obtain voltage signal U
i, this voltage signal is sent into window voltage comparator (103) and threshold voltage comparator (104);
Two threshold voltage values setting window voltage comparator (103) are U
tminand U
tmaxand U
tmin< U
tmax, two threshold voltage value U
tminand U
tmaxrespectively application toe is pressed to the force value F of signal generator (101)
tminand F
tmax; Work as U
tmin< U
i< U
tmaxtime, corresponding F
tmin< F < F
tmax, a high level U of now window voltage comparator (103) output
oH; Work as U
i< U
tmintime, corresponding F < F
tmin, a low level U of window voltage comparator (103) output
oL; Work as U
i> U
tmaxtime, corresponding F > F
tmax, a low level U of window voltage comparator (103) output
oL;
Set the threshold voltage U of threshold voltage comparator (104)
tmax, threshold voltage value U
tmaxapplication toe is pressed to the force value F of signal generator (101)
tmax; Work as U
i> U
tmaxtime, corresponding F > F
tmax, assert a high level U of threshold voltage comparator (104) output
gH; Work as U
i< U
tmaxtime, corresponding F < F
tmaxassert a low level U of threshold voltage comparator (104) output
gL;
Second step: the signals collecting in signal processing module (200) and pretreatment unit (201) gather this voltage signal and carry out pretreatment; Signal processing module (200) is issued reminding module (400) by pretreatment result; According to reminding module (400) result, in confirmation command unit (202), confirm the voltage signal that toe sends; After confirming that voltage signal is correct, the action recognition unit (203) in signal processing module (200) identifies according to pretreatment result the action command that voltage signal is corresponding; Detailed process is:
The high level U that signals collecting and pretreatment unit (201) Real-Time Monitoring window voltage comparator (103) is sent here
oHpersistent period, according to the high level U detecting
oHlasting time length can obtain " length " high level U
oHL" short " high level U
oHStwo kinds of signals; According to " length " high level U
oHL" short " high level U
oHSthe sequential combination of two kinds of signals can represent different instructions; Signals collecting and pretreatment unit (201) often detect once " length " high level U
oHLjust in confirmation command unit (202), write " 1 " and numeral " 1 " is sent into reminding module (400), " short " high level U often being detected once
oHSjust in confirmation command unit (202), write " 0 " and this digital " 0 " is sent into reminding module (400); In correspondence, each action of artificial limb need write the sequential combination of N binary digit " 1 " and " 0 " in confirmation command unit; While finding that current binary digit is wrong, in time T
qin rapidly discharge by pressing " cancellation " instruction, current binary digit is deleted goes out confirmation command unit (202); While writing full N bit binary number in confirmation command unit (202), using this N bit binary number as pre-action command, send into action recognition unit (203); Action recognition unit (203) adopts template matching method to carry out template matching to pre-action command, according to template matching results, exports corresponding action command to driver module (300), realizes the control to upper artificial limb; According to the size of N, can produce 2
nindividual pre-action command;
Agreement N=5, so just can obtain 2
5article=32, pre-action command;
Synchronous signal gathers with pretreatment unit (201) and goes back the high level U that Real-Time Monitoring threshold voltage comparator (104) is sent here
gHpersistent period, according to the high level U detecting
gHlasting time length can obtain " cancellation ", " start ", " shutdown " three kinds of signals;
Agreement, if the high level U being sent here by window voltage comparator (103) that signals collecting and pretreatment unit (201) real-time monitor
oHpersistent period between 600 milliseconds to 2000 milliseconds, think " length " high level U
oHL; If high level U
oHpersistent period, between 100 milliseconds to 600 milliseconds, is thought " short " high level U
oHS;
At artificial limb during in off-mode, the high level U being sent here by threshold voltage comparator (104) that approximately settled signals collecting and pretreatment unit (201) real-time monitor
gHpersistent period while surpassing 5000 milliseconds of 5000 milliseconds and persistent period, think " start " signal, action recognition unit (203) start to enter duty, whole artificial limb control system enters duty;
When artificial limb is in running order, the high level U being sent here by threshold voltage comparator (104) that approximately settled signals collecting and pretreatment unit (201) real-time monitor
gHpersistent period while surpassing 5000 milliseconds of 5000 milliseconds and persistent period, think " shutdown " signal, action recognition unit (203) quit work, whole artificial limb control system enters off-mode;
When artificial limb is in running order, what approximately settled signals collecting and pretreatment unit (201) real-time monitored sends high level U here by threshold voltage comparator (104)
gHtime, think " cancellation " instruction; The effect one of " cancellation " instruction is for deleting at any time pretreatment result; The 2nd, when upper artificial limb motion, make signal processing module 200 export immediately a stop signal to driver module (300), stop the motion of upper artificial limb;
The 3rd step: driver module drives artificial limb to complete according to action command and sets action, that is to say, when driver (301) receives the driving signal that signal processing module (200) sends, controls upper artificial limb and completes corresponding setting action.
2. control method as claimed in claim 1, is characterized in that, described signal generator (101) adopts diaphragm type piezoelectric transducer or patch type piezoelectric sensor.
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| KR101515845B1 (en) | 2014-08-07 | 2015-05-04 | 스타십벤딩머신 주식회사 | Method and device for gesture recognition |
| US10624411B2 (en) | 2015-05-29 | 2020-04-21 | Nike, Inc. | Writing to apparel by flexing piezoelectric generator |
| CN111031175B (en) * | 2019-12-02 | 2022-06-28 | 维沃移动通信有限公司 | Electronic device and control method of electronic device |
| CN110859688B (en) * | 2019-12-06 | 2021-07-16 | 中国科学院长春光学精密机械与物理研究所 | A kind of intelligent shoe for artificial limb control and control method of artificial limb |
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