CN104398326B - Electrical stimulation muscle electric inducing feedback control method and device for stabilizing output of muscle electric prosthetic hand strength - Google Patents
Electrical stimulation muscle electric inducing feedback control method and device for stabilizing output of muscle electric prosthetic hand strength Download PDFInfo
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- CN104398326B CN104398326B CN201410758634.3A CN201410758634A CN104398326B CN 104398326 B CN104398326 B CN 104398326B CN 201410758634 A CN201410758634 A CN 201410758634A CN 104398326 B CN104398326 B CN 104398326B
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Abstract
The invention relates to an electrical stimulation muscle electric inducing feedback control method and an electrical stimulation muscle electric inducing feedback control device for stabilizing output of muscle electric prosthetic hand strength, and belongs to the technical field of muscle electric prosthetic hand control. The electrical stimulation muscle electric inducing feedback control method includes following steps: 1) detecting surface muscle electric signals of residual limb muscle of a prosthetic hand user in real time; 2) collecting and analyzing the detected muscle electric signals, and judging whether the muscle electric activity level indicated in the muscle electric signals generated by contraction of the residual limb muscle is reduced due to factors of inattention, fatigue and the like; 3) if the muscle electric activity level is reduced, starting an electrical stimulation device to stimulate objective muscle, enhancing contraction of the objective muscle and then inducing a large muscle electric signal, and improving the muscle electric activity level; 4) repeatedly comparing and regulating intensity of electrical stimulation until the muscle electric activity level of the objective muscle reaches the initial state level, and thereby guaranteeing that prosthetic hand contraction strength remains at the original level. The electrical stimulation muscle electric inducing feedback control method not only guarantees that the user has a strong participation feeling, but also reduces requirements for attention of the user, and thereby reduces occurrence rate of the fatigue.
Description
Technical field
The invention belongs to myoelectric limb control technology field, it is related to a kind of electricity for stablizing myoelectricity prosthetic hand force production
Induced by Stimulation EMG feedback control method and device.
Background technology
Because war, accident or congenital diseases cause the patient of hand disappearance, suffer from huge in daily life
Inconvenience.Show according to national people with disability's quantity statistics in 2006, all kinds of people with disability's total amounts with account for total population ratio and all go up
Rise, and physical disabilities 2412 people, account for the 29.07% of people with disability's sum.In order to physically disabled can preferably be socially reintegrated, peace
Fit an artificial limb and be to aid in their compensation function, improvement situations the most maximally effective approach.The prosthetic hand with motor function is one
Plant the upper extremity exercise function auxiliary device having application prospect, its correlational study has been made significant headway in recent decades.
Myoelectric limb handss are exactly a kind of surface muscle signal of telecommunication (surface electromyography, semg) of utilization human body forearm
As information source, by certain information decoding policy, the rehabilitation being intended to be converted into motion control information that controls of people is equipped.
Because surface electromyogram signal is simple, convenient, the direct, nature of myoelectric-controlled prosthesis is so that become using the artificial limb that myoelectricity controls
The class having comparative advantage for quantity in externally energized prosthesis.
The myoelectric limb handss of early stage typically only control the opening and closing done evil through another person, and prosthetic hand does not have any sensation anti-in itself
Feedback, has the disadvantage that, due to not having feedback information, the opening and closing of prosthetic hand depend on the myoelectricity of deformed limb muscle contraction to believe
Number, need lasting myoelectricity to export when persistently gripping object, that is, deformed limb muscle needs the state that remains retracted；Muscle contraction shape
Any change of state all will cause electromyographic signal to change, and then change prosthetic hand grip strength or state, may lead to be held thing
Body loosens, even landing.In order to solve this problem, improve the serviceability of prosthetic hand it is necessary to carry out grinding of sensory feedback
Study carefully and application.
A kind of method usually adopting at present is to be distributed some sensors on the palm and finger of prosthetic hand, utilizes these
Tactile on sensor in time detection prosthetic hand is felt with sliding, and by haptic signal and slides and feel that signal passes to controller, by controlling
Device analyzes and processes these signals and makes corresponding decision-making, and then sends certain instruction and control prosthetic hand to hold steady object.If any
People proposes a kind of personification reflection control method, and the method detects sliding feel information by the sensor on prosthetic hand, and is based on
The detailed information coefficient information of discrete wavelet change obtains slip intensity and slip change rate of strength, further according to slip intensity and cunning
Fatigue resistance rate of change calculates the increment of crawl grip, and increment information is passed to controller, drives prosthetic hand to increase grip,
Realize being grabbed the purpose grabbing rapidly steady object when object slides.Although this myoelectric limb handss with sensory feedback can be in thing
Adjust rapidly grip strength when body slides and hold steady object, but this " sensation " information is fed directly to microcontroller, uses
Person is difficult to directly participate in the control to prosthetic hand strength and regulation in itself, lacks letter between prosthetic hand and its controller and user
Breath connects, and this kind of prosthetic hand and its control strategy are not implemented real " people-machine " interface, and the sense of participation of user is relatively low.
In order to allow wearer preferably using doing evil through another person, improve the operating characteristics of prosthetic hand and using it is necessary to increase user
Sense of participation during prosthetic hand is so that user is capable of the landing state of moment perceptual object and is held steady object.Usually adopt
A kind of method be on prosthetic hand installation touch sensor, and pass through sensor moment perceptual object landing state, once thing
Body landing then drives stimulating apparatus that user is stimulated, remind user shrink further deformed limb muscle be allowed to export higher
Electromyographic signal, to drive prosthetic hand to have bigger force production to hold steady object.As it is proposed that one kind makees electricity irritation
For the control method of sensory feedback, the method passes through the grip size of touch sensor real-time detection prosthetic hand, further according to artificial limb
The grip size of handss selects intensity of electric stimulus；Different stimulated intensity necessarily correspond to different stimulus sensation, thus setting up artificial limb
Handss grasp force size and the relation of stimulus sensation intensity, can divide into the stimulus intensity of skin surface according to electric stimulation electrode
The stimulation levels of six varying strengths, can be used to six grades of corresponding prosthetic hand grasp force size；Through after a while
Training, user just can adjust deformed limb muscle contraction strength according to different stimulus sensation, drives prosthetic hand to produce different big
Little gripping strength, when such as user is disturbed and diverts attention, the grip of prosthetic hand can substantially diminish, and sensor detects this strength and becomes
After change, the skin prompting user with electric pulse stimulation another Zhi Jiankang arm will increase grip, and user strengthens deformed limb muscle contraction,
It is made to produce bigger electromyographic signal to increase the grip of prosthetic hand so as to hold steady object.Also it is proposed that one kind is with pressure
As the control method of sensory feedback, the method passes through the grip size of touch sensor real-time detection prosthetic hand, further according to vacation
The grip size selection pressure intensity of limb handss, thus set up the relation of prosthetic hand grasp force size and pressure sensation intensity；Through
The training of a period of time, user just can drive prosthetic hand to produce according to different pressure sensation adjustment deformed limb muscle contraction strength
Raw different size of gripping strength, is such as led to the grip of prosthetic hand to become hour, sensor can detect that this by external interference
Strength changes and points out user will increase grip by the upper arm skin that pressure rings apply Pressure stimulation user's deformed limb, and user passes through
Strengthen deformed limb muscle contraction so as to produce the grip to increase prosthetic hand for the bigger electromyographic signal, hold steady object.Such prosthetic hand
The slip information that touch sensor detects is fed back to user's sensation skin by control strategy, and it is mainly characterized by by tactile sensing
Device detection slip information simultaneously gives sensory stimuli, and prosthesis wearer contracts muscles according to sensory stimuli intensity active to strengthen myoelectricity
Signal output, defines a kind of closed loop control process comprising user's sensory system, user is always involved in prosthetic hand strength
Adjust and control, " people-machine " interface features have very big improvement.But, due to being difficult to differentiate limited by deformed limb muscle feeling ability
Fine stimulus intensity, the feedback set up by above-mentioned stimulation also just cannot accurate adjustment grip size；Even more important
It is to rely on deformed limb muscle electromyographic signal because the strength of prosthetic hand controls, this is accomplished by user contracts last deformed limb muscle, and
And also needing to according to feedback adjustment muscle contraction strength, this requires user attention high concentration, is particularly easy to lead to user
Mental fatigue and muscle fatigue, are unfavorable for the use of prosthetic hand.
Thus, improve the control strategy of prosthetic hand, both allowed user fully participate in prosthetic hand strength and controlled, and slowed down artificial limb again
The generation of fatigue during hand control, and strengthen the closed-loop control precision of prosthetic hand strength, to the practicality improving prosthetic hand
Significant.
Content of the invention
In view of this, it is an object of the invention to provide a kind of electricity irritation for stablizing myoelectricity prosthetic hand force production lures
Send out EMG feedback control method and device, the method and device control vacation using electricity irritation in deformed limb inducing myoelectric potential signal and with this
Limb handss output strength, prosthetic user need not persistently focus on actively shrinking deformed limb muscle when grasping object, but according to
Cause muscle contraction inducing myoelectric potential signal by electricity irritation deformed limb neuromuscular, both ensured that user had stronger sense of participation, reduce again
Requirement to user attention and slow down fatigue generation.
For reaching above-mentioned purpose, the present invention following technical scheme of offer:
A kind of electric stimulus inducing myoelectric potential feedback for stablizing myoelectricity prosthetic hand force production, walks including following
Rapid:
Step one: the surface electromyogram signal of real-time detection prosthetic hand user deformed limb muscle；
Step 2: the surface electromyogram signal detecting is acquired and analyzes and processes, judge that deformed limb muscle contraction is formed
The electromyographic signal myoelectrical activity level that whether occurs causing because of the factor such as absent minded, tired decline；
Step 3: decline if there is myoelectrical activity level, then start electrical stimulation device stimulation target muscle so as to shrink
Strengthen and then induce bigger electromyographic signal, strengthen myoelectrical activity level；
Step 4: repeatedly relatively and adjust the intensity of electricity irritation, until target muscles myoelectrical activity level reaches initial shape
State level, so that it is guaranteed that prosthetic hand contraction power keeps original level, so that prosthetic hand wearer can be held with constant strength
Steady object.
Present invention also offers a kind of electric stimulus inducing myoelectric potential feedback control for stablizing myoelectricity prosthetic hand force production
Device it is characterised in that: described device include electromyographic signal testing circuit, electrical stimulation signal generating meanss, artificial limb hand drive electricity
Road, signature comparison circuit and microcontroller；
By the surface electromyogram signal of electromyographic signal testing circuit real-time detection user deformed limb muscle, electromyographic signal is passed through
It is transferred into signature comparison circuit after process；Signature comparison circuit judges user's myoelectrical activity level according to the signal of telecommunication receiving
Whether reducing, if reduced, determining that parameters of electrical stimulation starts electrical stimulation signal generating meanss simultaneously and sends by microcontroller
Electrical stimulation signal stimulation target neuromuscular, thus producing inducing myoelectric potential signal enhancing myoelectrical activity level, realizes artificial limb hand-power
The closed loop control of amount output.
Further, signature comparison circuit can be compared using the temporal signatures such as myoelectricity root-mean-square, myoelectric integral value, also may be used
It is compared using frequecy characteristics such as power spectrum or other time and frequency domain characteristics comparative approach；The determination of stimulus parameter can be by looking into
Table method directly determines parameters of electrical stimulation, also can adjust stimulus parameter by real-time comparative feature value and gradually and finally determine electricity thorn
Sharp parameter.
Further, described microcontroller adopts single-chip microcomputer or digital signal processor.
The beneficial effects of the present invention is: a kind of new prosthetic hand control method that invention proposes, by neuromuscular electricity
Strengthening myoelectrical activity level, solving after surface myoelectric level of activation declines prosthetic hand cannot normal work for Induced by Stimulation electromyographic signal
The problem made, it is to avoid install all multisensors on prosthetic hand, system is realized simple；Simultaneously on the downlink of prosthetic hand
Electricity irritation strengthening myoelectrical activity level, eliminates wearer to the perception of fault-signal and processing links, improves at system
Reason speed, artificial limb is swift in response；System induces user's muscle contraction by neuromuscular electric stimulation therapy, is processing object cunning with true handss
Firmly contract muscles when falling to hold with a firm grip object situation similar, user also can by electricity irritation delta state of muscle perceive thing
Body landing state, apery effect is good, and user's sense of participation is strong；In addition system, when user's myoelectrical activity level reduces, is pierced using electricity
Swash in deformed limb inducing myoelectric potential signal and prosthetic hand output strength is controlled with this, it is to avoid user must concentrate on firmly grabbing in the moment
Situation about holding, can effectively alleviate mental fatigue and muscle fatigue；And the inducing myoelectric potential of generation is made by adjusting stimulus parameter
Target muscles myoelectrical activity level can be accurately enhanced to original state level it is achieved that prosthetic hand strength is precisely controlled by signal.
Brief description
In order that the purpose of the present invention, technical scheme and beneficial effect are clearer, the present invention provides drawings described below to carry out
Illustrate:
Fig. 1 is the structural representation of device of the present invention；
Wherein: 1- acquisition electrode, 2- stimulating electrode, 3- user's deformed limb, 4- electromyographic signal testing circuit, 5- electromyographic signal ratio
Compared with circuit, 6- electrical stimulation signal generating meanss, 7- prosthetic hand drive circuit, 8- prosthetic hand；
Fig. 2 is a kind of structural representation of embodiment of device of the present invention；
Wherein: 1- acquisition electrode, 2- stimulating electrode, 3- user's deformed limb, 4- electromyographic signal testing circuit, 6- electrical stimulation signal
Generating meanss, 7- prosthetic hand drive circuit, 9- single-chip microcomputer, 10- electricity irritation driver；
Fig. 3 is the signal of the closed loop electric stimulus inducing myoelectric potential feedback determining parameters of electrical stimulation based on look-up table
Figure；
Fig. 4 is a kind of structural representation of embodiment of device of the present invention；
Wherein: 1- acquisition electrode, 2- stimulating electrode, 3- user's deformed limb, 4- electromyographic signal testing circuit, 6- electrical stimulation signal
Generating meanss, 7- prosthetic hand drive circuit, 10- electricity irritation driver, 11-dsp；
Fig. 5 adjusts the closed loop electric stimulus inducing myoelectric potential feedback schematic diagram of parameters of electrical stimulation for real-time detection.
Specific embodiment
Below in conjunction with accompanying drawing, the preferred embodiments of the present invention are described in detail.
As shown in figure 1, a kind of electric stimulus inducing myoelectric potential for stablizing myoelectricity prosthetic hand force production that the present invention provides
The structure chart of feed back control system, system obtains surface electromyogram signal, warp by being arranged on the acquisition electrode 1 of user's forearm deformed limb
By electromyographic signal collection circuit 4 real-time detection user deformed limb surface electromyogram signal；By 5 points of comparison circuit comprising microcontroller
Analysis processes the surface electromyogram signal collecting and extracts eigenvalue, whether judges user's myoelectrical activity level according to comparative feature value
Occur declining, described microcontroller can be the processors such as single-chip microcomputer, digital signal processor (dsp)；If there is decline then
Parameters of electrical stimulation is determined by microcontroller com-parison and analysis eigenvalue, simultaneously drives electrical stimulation signal generating meanss 6 to send necessarily
The electrical stimulation signal of parameter；Apply electricity irritation via being pasted onto the nervimuscular stimulating electrode of ownership goal, produce electricity irritation and lure
Send out electromyographic signal, strengthen myoelectrical activity level when wearer's myoelectrical activity level declines, then increasing is analyzed and processed by microcontroller
Surface electromyogram signal after by force, is completed eigenvalue calculation and gesture and is identified with force level, send control instruction and driven by prosthetic hand
Galvanic electricity road 7 drives corresponding electrode to rotate, and controls prosthetic hand 8 to increase output strength so as to hold steady object, completes closed loop control.
One embodiment of the present of invention is as shown in Fig. 2 be a kind of closed loop electricity determining parameters of electrical stimulation based on look-up table
Induced by Stimulation EMG feedback control method and device.In this example, paste two groups of acquisition electrodes 1 in user forearm remnants muscle
On 3, wherein acquisition electrode is placed near the extensor digitorum controlling digital flexion and flexor digitorum superficialiss；By electromyographic signal testing circuit
The surface electromyogram signal that the 4 pairs of two groups of acquisition electrodes obtain carries out Real-time Collection, and by incoming for the surface electromyogram signal collecting list
Piece machine 9；Its root-mean-square value is calculated by the surface electromyogram signal that single-chip microcomputer analyzing and processing obtains, and is differentiated by myoelectrical activity level
Program judges whether user's myoelectrical activity level declines；Decline if there is myoelectrical activity level, then electricity is determined by look-up table
Stimulus parameter, then control instruction is sent to electricity irritation driver 10 by single-chip microcomputer, it is driven by electrical stimulation signal generating meanss 6
Send the electrical stimulation signal of relevant parameter, and ownership goal nerve and muscle are applied to by stimulating electrode 2, induce prosthetic hand
Strength controls required electromyographic signal, and this electromyographic signal obtains action pattern parameter through process, sends control instruction and passes through vacation
Limb hand drive circuit 7 drives corresponding motor to rotate, and controls prosthetic hand to increase output strength so as to hold steady object.This it is based on
The electricity irritation prosthetic hand feedback of look-up table and device, are capable of the stable output of prosthetic hand strength, and system is passed through
Table look-up and send direct determination parameters of electrical stimulation, system execution speed is fast, is swift in response；But because look-up table needs in form
Find stimulus parameter, and the data in form is not continuous that is to say, that the myoelectrical activity level that needs reach may be simultaneously
Not in lane database, so can only find stimulus parameter corresponding to value closest therewith as practical stimulation parameter, drop
The precision of low prosthetic hand output strength it is adaptable to system response rate request is high, but in the less high application of required precision.
As shown in figure 3, controlling for a kind of closed loop electric stimulus inducing myoelectric potential feedback determining parameters of electrical stimulation based on look-up table
The schematic diagram of method processed, system pass through the autonomous electromyographic signal of single-chip microcomputer Real-time Collection, according to the horizontal discriminating program of myoelectrical activity Lai
Judge whether user's deformed limb myoelectrical activity level reduces, without being remarkably decreased, then directly drive prosthetic hand circuit, if aobvious
Write and decline, then determine that stimulus parameter rear-guard galvanic electricity stimulates driver by look-up table.The horizontal discriminating program of described myoelectrical activity
By the spontaneous myoelectricity of single-chip microcomputer Real-time Collection musculus flexor and extract its root-mean-square, by compare this moment myoelectricity root-mean-square with reference to myoelectricity
Root-mean-square, judges whether user's deformed limb myoelectrical activity level is remarkably decreased.It is that incipient stability is grabbed wherein with reference to myoelectricity root-mean-square
Spontaneous myoelectricity when holding as reference myoelectricity and calculates its root-mean-square and obtains；Being remarkably decreased of myoelectrical activity level is to pass through
Whether myoelectricity root-mean-square reduction amount exceedes predetermined threshold value to judge, if being more than this threshold value, under thinking that myoelectrical activity level is notable
Fall, otherwise it is assumed that myoelectrical activity level is not remarkably decreased；Predetermined threshold value is relevant with prosthetic hand force production precision, equal in myoelectricity
When root variable quantity is less than this threshold value, force production is unchanged.Described look-up table is in inducing myoelectric potential by reference myoelectricity root-mean-square
Make a look up inside root-mean-square data base, find out corresponding root-mean-square value, electricity irritation is determined according to corresponding root-mean-square
Parameter；When the electricity irritation giving this parameter, myoelectrical activity level can be made to reach with reference to myoelectrical activity level.Wherein inducing myoelectric potential is equal
Root data base is to set up before user wears prosthetic hand, and method for building up is as follows: selects the thorn of different stimulated intensity gradient
Sharp parameter applies electricity irritation, the electromyographic signal that collection different stimulated parameter is induced to user's deformed limb targeted neuromuscular, calculates
And extract root-mean-square value, set up inducing myoelectric potential root-mean-square data base, each of which inducing myoelectric potential root-mean-square correspond to an electricity
Stimulus parameter, can select different stimulated parameter according to actual needs.
Another example of the present invention is as shown in figure 4, be the closed loop electricity irritation that a kind of real-time detection adjusts parameters of electrical stimulation
Inducing myoelectric potential feedback and device.In this example, obtain user by two groups of surface electromyogram signal acquisition electrodes 1 residual
The stretching of limb forearm 3, flexor surface electromyographic signal, realize surface electromyogram signal Real-time Collection through electromyographic signal testing circuit 4, with
When by incoming for the surface electromyogram signal collecting digital signal processor (dsp) 11；Amassed by dsp real-time gauging surface electromyographic signal
Score value, and judge whether user myoelectrical activity level is remarkably decreased by the horizontal discriminating program of myoelectrical activity；If there is flesh
Electrical activity level is remarkably decreased, then drive electricity irritation generating meanss 6 by dsp, send the electricity irritation of an initial impulse parameter
Produce inducing myoelectric potential signal to strengthen myoelectrical activity level, and electricity irritation is gradually adjusted by the real-time detection of surface electromyogram signal
Parameter, controls required activity intensity until inducing myoelectric potential reaches prosthetic hand strength；Complete the spy of inducing myoelectric potential finally by dsp
Value indicative calculates and gesture is identified with force level, sends control instruction and drives corresponding motor to turn by prosthetic hand drive circuit 7
Dynamic, control prosthetic hand to increase output strength so as to hold steady object.This real-time detection adjusts the closed loop electricity irritation of parameters of electrical stimulation
Inducing myoelectric potential feedback and device, are capable of the stable output of prosthetic hand strength, and system is contrasted by real-time detection
Myoelectric integral value, gradually adjusts parameters of electrical stimulation so that myoelectrical activity level reaches state when incipient stability grasps, Neng Goushi
Show being precisely controlled of prosthetic hand strength；But because system needs the myoelectric integral value of collection is compared and stimulus parameter repeatedly
Gradually adjust, finally just can determine that stimulus parameter, time-consuming it is adaptable to output strength required precision high, but system response is all
Phase requires in less strict application.
As shown in figure 5, the closed loop electric stimulus inducing myoelectric potential feedback adjusting parameters of electrical stimulation for real-time detection shows
It is intended to, system is by the autonomous electromyographic signal of dsp Real-time Collection, and judges user's deformed limb myoelectricity by the horizontal discriminating program of myoelectrical activity
Whether level of activation is remarkably decreased, if not being remarkably decreased, directly drives prosthetic hand circuit；If being remarkably decreased, select one
The electricity irritation of initial parameter, produces electric stimulus inducing myoelectric potential and passes dsp back, continues to judge whether myoelectrical activity level now shows
Write and decline；If being still remarkably decreased, strengthening electric stimulus inducing myoelectric potential by adjusting stimulus intensity, continuing after dsp collection
Judge whether myoelectrical activity level now is remarkably decreased；So pass through repeatedly compare and intensity of electric stimulus progressively regulation, directly
No longer it is remarkably decreased to myoelectrical activity level, now target muscles myoelectrical activity level reaches original state level.Described myoelectricity
Level of activation discriminating program by dsp Real-time Collection musculus flexor myoelectricity and extracts its integrated value, by compare this moment myoelectricity integration with
Integrate to judge whether user's deformed limb myoelectrical activity level is remarkably decreased with reference to myoelectricity, be will be initially steady wherein with reference to myoelectricity integration
Spontaneous myoelectricity when surely grasping as reference myoelectricity and calculates its integrated value and obtains.
Finally illustrate, preferred embodiment above only in order to technical scheme to be described and unrestricted, although logical
Cross above preferred embodiment the present invention to be described in detail, it is to be understood by those skilled in the art that can be
In form and various changes are made to it, without departing from claims of the present invention limited range in details.
Claims (3)
1. a kind of electric stimulus inducing myoelectric potential feedback for stablizing myoelectricity prosthetic hand force production it is characterised in that:
Comprise the following steps:
Step one: the surface electromyogram signal of real-time detection prosthetic hand user deformed limb muscle；
Step 2: the surface electromyogram signal detecting is acquired and analyzes and processes, judge the flesh that deformed limb muscle contraction is formed
Whether the signal of telecommunication occurs declining because of the myoelectrical activity level that absent minded, fatigue factor cause；
Step 3: decline if there is myoelectrical activity level, then start electrical stimulation device stimulation target muscle and strengthen so as to shrink
And then induce bigger electromyographic signal, strengthen myoelectrical activity level；
Step 4: repeatedly relatively and adjust the intensity of electricity irritation, until target muscles myoelectrical activity level reaches original state water
Flat, so that it is guaranteed that prosthetic hand contraction power keeps original level, so that prosthetic hand wearer can hold steady thing with constant strength
Body.
2. a kind of electric stimulus inducing myoelectric potential feed back control system for stablizing myoelectricity prosthetic hand force production it is characterised in that:
Described device include electromyographic signal testing circuit, electrical stimulation signal generating meanss, prosthetic hand drive circuit, signature comparison circuit and
Microcontroller；
By the surface electromyogram signal of electromyographic signal testing circuit real-time detection user deformed limb muscle, electromyographic signal is through processing
After be transferred into signature comparison circuit；Whether signature comparison circuit judges user's myoelectrical activity level according to the signal of telecommunication receiving
Reducing, if reduced, determining that parameters of electrical stimulation starts electrical stimulation signal generating meanss simultaneously and sends electricity thorn by microcontroller
Energizing signal stimulation target neuromuscular, thus producing inducing myoelectric potential signal enhancing myoelectrical activity level, realizes prosthetic hand strength defeated
The closed loop control going out；
Signature comparison circuit can be compared using myoelectricity root-mean-square, myoelectric integral value temporal signatures, and power spectrum frequency may also be employed
Rate feature is compared or other time and frequency domain characteristics comparative approach；The determination of stimulus parameter can directly determine electricity by look-up table
Stimulus parameter, also can be adjusted stimulus parameter and finally determine parameters of electrical stimulation by real-time comparative feature value and gradually.
3. a kind of electric stimulus inducing myoelectric potential for stablizing myoelectricity prosthetic hand force production according to claim 2 feeds back control
Device processed it is characterised in that: described microcontroller adopt single-chip microcomputer or digital signal processor.
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| CN105640677B (en) * | 2015-12-25 | 2018-07-13 | 上海交通大学 | A kind of electro photoluminescence perceptible feedback system for prosthetic hand perceptible feedback |
| CN108309293B (en) * | 2018-02-05 | 2020-11-06 | 青岛黄海学院 | Piezoelectric flexible sensing device |
| CN110420025B (en) * | 2019-09-03 | 2022-02-01 | 京东科技信息技术有限公司 | Surface electromyogram signal processing method and device and wearable device |
| CN111887869A (en) * | 2020-08-06 | 2020-11-06 | 复旦大学附属中山医院 | Muscle strength measuring system and application |
| CN113332011B (en) * | 2021-07-06 | 2023-12-22 | 上海交通大学 | Electric stimulation interference removal system and method for myoelectric artificial limb |
| CN117398604A (en) * | 2023-08-30 | 2024-01-16 | 重庆大学 | Multichannel vibration stimulation system for feeding back motion of prosthetic elbow joint for amputee |
| CN117504133B (en) * | 2023-12-13 | 2024-04-26 | 上海诺诚电气股份有限公司 | Myoelectricity self-adaptive stimulation method and system |
| CN117679048B (en) * | 2023-12-14 | 2024-05-24 | 太极计算机股份有限公司 | Orthopedic efficacy evaluation method, system, device and electronic equipment |
| CN117653906B (en) * | 2023-12-19 | 2024-07-12 | 太极计算机股份有限公司 | Electric stimulation method and system for regulating contraction force of foot varus muscle |
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