CN104825256A - Artificial limb system with perception feedback function - Google Patents
Artificial limb system with perception feedback function Download PDFInfo
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- CN104825256A CN104825256A CN201510215646.6A CN201510215646A CN104825256A CN 104825256 A CN104825256 A CN 104825256A CN 201510215646 A CN201510215646 A CN 201510215646A CN 104825256 A CN104825256 A CN 104825256A
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Abstract
The invention relates to an artificial limb system with a perception feedback function, which comprises an artificial limb, a voice signal acquisition and processing module, a brain wave acquisition and processing module, a pressure acquisition module, a perception feedback module and a control module; the artificial limb is connected with the stump of a handicapped person and is provided with an action actuating mechanism; the pressure acquisition module is used for acquiring the real-time pressure value of the end of the artificial limb; the perception feedback module generates current signals according to the real-time pressure value of the end of the artificial limb to stimulate the stump, so that the handicapped person can correct brain wave signals of self in real time; the control module receives voice signals and the brain wave signals, and generates a control command for controlling the action actuating mechanism to perform the action of the artificial limb; the control module receives the real-time pressure value, and generates a control command for controlling the perception feedback module to generate stimulating current for the stump. The artificial limb system enables the artificial limb user to control the artificial limb completely according to real intentions of self and know the touch pressure of the end of the artificial limb in real time, so that the artificial limb user can conveniently adjust control intentions in time, and thereby the purpose of fine control is realized.
Description
Technical field
The present invention relates to field of prosthetic limbs, is especially a kind of artificial limb system with perceptible feedback function.
Background technology
At present, humanoid artifucial limb commercially existing various matured product is sold, and which includes the intelligent artifucial limb that some have simple functions.These product majorities are the artifucial limbs only with decorative function, and this part artifucial limb only provides ornamental effect, cannot provide help in life and facility to disabled.Some artifucial limb is the intelligent artifucial limb with simple functions, and this part artifucial limb only gathers simple electromyographic signal, utilizes the anxiety of deformed limb muscle and relaxes to control artifucial limb and complete and simply capture and put down action.Such artifucial limb only can help disabled to complete some simple and crude large scale actions, can do nothing to help disabled and completes the actions that becomes more meticulous a large amount of in daily life.Voice and EEG signals are introduced artifucial limb control system by the current research direction of more current research institutions, and this kind of artifucial limb controls the action of artifucial limb by voice signal and EEG signals, and compare myoelectricity and control artifucial limb, action is more versatile and flexible, operates more meticulous.But this kind equipment major defect have employed open loop control mode, disabled are when using this kind of artifucial limb, and cannot learn the tactile data of artifucial limb end completely, that is artifucial limb user does not have " sense of touch ".Invention increases pressure acquisition and perceptible feedback module, " sense of touch " information of artifucial limb end is conducted to artifucial limb user by pressure acquisition module and perceptible feedback module, user is obtained " sense of touch " similar with true limbs.By this closed-loop feedback control system, artifucial limb user can go to manipulate artifucial limb according to the true intention of oneself completely, and the touch-control pressure size knowing artifucial limb end that can be real-time, be convenient to the control intention adjusting oneself in time, realize the object of meticulous manipulation.
Summary of the invention
The object of the invention is to solve the problem that existing artificial limb system can not complete the action that becomes more meticulous, and provides a kind of artificial limb system with perceptible feedback function, is specifically realized by following technical scheme:
With an artificial limb system for perceptible feedback function, comprise and to be connected with the deformed limb portion of people with disability and there is the artificial limb of action actuating mechanism, also comprise:
Speech signal collection and processing module, gather for disabled persons to realize artificial limb action conversion, large scale moves and lock out action controls voice signal;
Acquiring brain waves and processing module, obtain for disabled persons to realize the meticulous eeg signal controlled of artificial limb;
Pressure acquisition module, is arranged at artificial limb end, for gathering the real-time pressure value of artificial limb end;
Perceptible feedback module, is arranged at the deformed limb portion of people with disability, and the real-time pressure value generation current signal according to artificial limb end stimulates deformed limb portion, makes people with disability revise the eeg signal of oneself in real time;
Control module, receives described voice signal, eeg signal, and formation control action actuating mechanism completes the control instruction of artificial limb action; Receive described real-time pressure value, formation control perceptible feedback module produces the control instruction of stimulating current to deformed limb portion.
The described artificial limb system with perceptible feedback function, it designs further and is, described acquiring brain waves and processing module have the sensor for gathering brain wave that two are connected to people with disability's forehead and ear-lobe, process and export frequency of brain wave spectrum, EEG signals quality, original brain wave and three eSense parameters: focus, allowance and detecting nictation.
The described artificial limb system with perceptible feedback function, it designs further and is, described acquiring brain waves and processing module are also connected with blue tooth interface and module in order to realize carrying out radio communication between control module.
The described artificial limb system with perceptible feedback function, it designs further and is, described speech signal collection and processing module adopt unspecified person single-chip voice recognition chip.
The described artificial limb system with perceptible feedback function, it designs further and is, the SMD sensor that described pressure acquisition module adopts polymer thin films force sensitive resistive material to make.
The described artificial limb system with perceptible feedback function, it designs further and is, described perceptible feedback module comprises the patch electrode and electronic impulse drive circuit that are connected to each other, described patch electrode is attached at the deformed limb portion of user, and described electronic impulse drive circuit receives corresponding control signal that control module sends and is converted into frequency modulated signal thus orders about patch electrode and produces corresponding stimulating current.
The described artificial limb system with perceptible feedback function, it designs further and is, control module is made up of Master control chip, data program memory element, communication module, interface module.
The invention enables prosthetic user completely can go to manipulate artificial limb according to the true intention of oneself, and the touch-control pressure size knowing artificial limb end that can be real-time, be convenient to the control intention adjusting oneself in time, realize the object of meticulous manipulation.
Accompanying drawing explanation
Fig. 1 is embodiments of the invention structural representation.
Fig. 2 is that principle of the present invention realizes block diagram.
Detailed description of the invention
Below in conjunction with Figure of description and embodiment, the present invention is further described:
As shown in the figure, should comprise with artificial limb system of perceptible feedback function and to be connected with the deformed limb portion 7 of people with disability and there is the artificial limb 1 of action actuating mechanism, also comprise:
Speech signal collection and processing module 2, gather for disabled persons to realize artificial limb action conversion, large scale moves and lock out action controls voice signal; This speech signal collection and processing module adopt unspecified person single-chip voice recognition chip not need any external auxiliary Flash and RAM, and built-in high-precision A/D, D/A passage: do not need external AD chip, mike can directly be connected on chip AD pin, the integrated level of module is high, low in energy consumption, be applicable to portable wearing.Do not need to carry out recording training can directly use, this technology carries out voice training in advance without the need to user just can complete speech recognition, and Consumer's Experience is better, and recognition accuracy simultaneously still can keep high level.Voice module has the identification key words list of dynamic editor: as long as the key words identified is passed into chip with the form of character string, just at once can come into force in identifying next time.
Acquiring brain waves and processing module 3, obtain for disabled persons to realize the meticulous eeg signal controlled of artificial limb; Described acquiring brain waves and processing module have the sensor for gathering brain wave that two are connected to people with disability's forehead and ear-lobe, process and export frequency of brain wave spectrum, EEG signals quality, original brain wave and three eSense parameters: focus, allowance and detecting nictation.
Pressure acquisition module 4, is arranged at artificial limb end, for gathering the real-time pressure value of artificial limb end; The SMD sensor that this pressure acquisition module adopts polymer thin films force sensitive resistive material to make.Polymer thin films force sensitive resistive material is very responsive to the normal pressure acting on its surface, and resistance value reduces along with the pressure increase acting on surface, in 10000g pressure sphere of action, have good linear relationship.
Perceptible feedback module 5, is arranged at the deformed limb portion of people with disability, and the real-time pressure value generation current signal according to artificial limb end stimulates deformed limb portion, makes people with disability revise the eeg signal of oneself in real time; Described perceptible feedback module comprises the patch electrode and electronic impulse drive circuit that are connected to each other, described patch electrode is attached at the deformed limb portion of user, and described electronic impulse drive circuit receives corresponding control signal that control module sends and is converted into frequency modulated signal thus orders about patch electrode and produces corresponding stimulating current.
Control module 6, receives described voice signal, eeg signal, and formation control action actuating mechanism completes the control instruction of artificial limb action; Receive described real-time pressure value, formation control perceptible feedback module produces the control instruction of stimulating current to deformed limb portion.Described acquiring brain waves and processing module are also connected with blue tooth interface and module in order to realize carrying out radio communication between control module.
Control module is specifically made up of Master control chip, data program memory element, communication module, interface module.Control module gathers the phonetic order of voice collecting recognition system and the brain wave data of acquiring brain waves identification module by interface module simultaneously, based on these two kinds of data, form driving data control action actuator (steering wheel) motion, realize the action of artifucial limb.
Control module gathers that the order of voice signal realizes artifucial limb action conversion, large scale moves and the action such as locking, and this kind of action adopts open loop control mode, and feedback module does not participate in work.
Control module gathers brain wave data and realizes control to the action of artifucial limb end small scale, is realized the adjustment of " accurately " action of artifucial limb and " grip " size etc. by brain wave data.Artifucial limb terminal pressure sensing numerical value is passed to user by feedback module by control module simultaneously, and user can adjust EEG signals according to " stimulation " size of electrode, completes the adjustment of " accurately " action and " grip " size.This small scale controls to adopt close-loop control mode work.
The invention enables prosthetic user completely can go to manipulate artificial limb according to the true intention of oneself, and the touch-control pressure size knowing artificial limb end that can be real-time, be convenient to the control intention adjusting oneself in time, realize the object of meticulous manipulation.
Claims (7)
1., with an artificial limb system for perceptible feedback function, comprise and to be connected with the deformed limb portion of people with disability and there is the artificial limb of action actuating mechanism, characterized by further comprising:
Speech signal collection and processing module, gather for disabled persons to realize artificial limb action conversion, large scale moves and lock out action controls voice signal;
Acquiring brain waves and processing module, obtain for disabled persons to realize the meticulous eeg signal controlled of artificial limb;
Pressure acquisition module, is arranged at artificial limb end, for gathering the real-time pressure value of artificial limb end;
Perceptible feedback module, is arranged at the deformed limb portion of people with disability, and the real-time pressure value generation current signal according to artificial limb end stimulates deformed limb portion, makes people with disability revise the eeg signal of oneself in real time;
Control module, receives described voice signal, eeg signal, and formation control action actuating mechanism completes the control instruction of artificial limb action; Receive described real-time pressure value, formation control perceptible feedback module produces the control instruction of stimulating current to deformed limb portion.
2. the artificial limb system with perceptible feedback function according to claim 1, it is characterized in that, described acquiring brain waves and processing module have the sensor for gathering brain wave that two are connected to people with disability's forehead and ear-lobe, process and export frequency of brain wave spectrum, EEG signals quality, original brain wave and three eSense parameters: focus, allowance and detecting nictation.
3. the artificial limb system with perceptible feedback function according to claim 2, is characterized in that, described acquiring brain waves and processing module are also connected with blue tooth interface and module in order to realize carrying out radio communication between control module.
4. the artificial limb system with perceptible feedback function according to claim 1, is characterized in that, described speech signal collection and processing module adopt unspecified person single-chip voice recognition chip.
5. the artificial limb system with perceptible feedback function according to claim 1, is characterized in that, the SMD sensor that described pressure acquisition module adopts polymer thin films force sensitive resistive material to make.
6. the artificial limb system with perceptible feedback function according to claim 1, it is characterized in that, described perceptible feedback module comprises the patch electrode and electronic impulse drive circuit that are connected to each other, described patch electrode is attached at the deformed limb portion of user, and described electronic impulse drive circuit receives corresponding control signal that control module sends and is converted into frequency modulated signal thus orders about patch electrode and produces corresponding stimulating current.
7. the artificial limb system with perceptible feedback function according to claim 1, is characterized in that, control module is made up of Master control chip, data program memory element, communication module, interface module.
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| CN109172067A (en) * | 2018-08-21 | 2019-01-11 | 中国地质大学（武汉） | A kind of intelligent artifucial limb system based on EEG signals and voice signal co- controlling |
| CN109248011A (en) * | 2018-09-18 | 2019-01-22 | 北京宏信农业科技发展有限公司 | Method of controlling operation and device based on touch feedback and pressure feedback |
| CN110882095A (en) * | 2019-11-07 | 2020-03-17 | 中国科学院深圳先进技术研究院 | Artificial limb receiving cavity device for experiment |
| CN111657912A (en) * | 2020-07-03 | 2020-09-15 | 上海交通大学 | System for mechanical pressure stimulation of a subject |
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