CN104997579A - Intelligent electrical prosthetic hand with high-precision small line-pull control system - Google Patents
Intelligent electrical prosthetic hand with high-precision small line-pull control system Download PDFInfo
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- CN104997579A CN104997579A CN201510457571.2A CN201510457571A CN104997579A CN 104997579 A CN104997579 A CN 104997579A CN 201510457571 A CN201510457571 A CN 201510457571A CN 104997579 A CN104997579 A CN 104997579A
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Abstract
An intelligent electrical prosthetic hand with a high-precision small line-pull control system comprises a manipulator, a prosthetic arm, a connecting line, a waist-hung battery and control system box, and an electromyographic signal sensor. The manipulator is arranged at the front end of the prosthetic arm. The connecting line connects the waist-hung battery and control system box and the prosthetic arm. The electromyographic signal sensor is connected with the waist-hung battery and control system box. By adopting a line-pull control mode, the intelligent electrical prosthetic hand is simple in structure and low in failure rate and cost, and can meet the daily use requirements of general patients.
Description
Technical field
The present invention relates to a kind of intelligent myoelectric limb arm device, belong to intelligence and to help the disabled instrument field.
Background technology
At present, the important problem of prosthetic hand research field be design meet simultaneously lightweight, volume is little, High power output, flexible movements multi-freedom artificial limb hands.Research for intelligent artificial limb hand drive mode is mainly divided into two kinds of directions: a kind of emphasis reproduces the various actions of hand accurately by frame for movements such as the gear trains of complexity.The advantage of this mode is that precision is higher, and action is enriched, but to be fault rate high for the deficiency simultaneously brought, and weight is large, and cost is high, and wherein large and these two inferior positions of cost height of weight especially embarrass common prosthetic hand user to accept.
Another kind of direction is then drive bracing wire to handle the motion of finger-joint by motor.Its advantage is that frame for movement greatly simplifies, and weight reduces thereupon, and cost is lower simultaneously.And by controlling the continuous research of prosthetic hand to bracing wire, high-precision control can be realized by using the motor stay wire groups of a greater number to prosthetic hand at present.Compared to complicated gear drive mechanism, its motion mode and effect are more close to the motion of actual staff.But in order to reach high-precision control, the quantity of bracing wire group of motors can reach tens groups, cause power plant module volume weight cabling bigger than normal and bracing wire comparatively numerous and diverse.
Also two kinds of research directions are had at present for stay-supported prosthetic hand, one uses more bracing wire group of motors to reach finger-joint to control more accurately, but the weight of its group of motors and volume can not be optimized very well, and the routine use for patient causes certain burden.Another kind is the weight as far as possible alleviating prosthetic hand, and only use a small amount of motor to meet basic operation, its practicality is higher, uses simply comfortable, but is inevitably short of to some extent in control accuracy.
Summary of the invention
The invention provides a kind of intelligent myoelectric limb hands with high precision small bracing wire control system, its objective is to overcome existing numerous and diverse based on drawing the bracing wire of line-controlled high-precision intelligent artificial limb, the large weight of group of motors volume is unfavorable for greatly the deficiency of dressing.
technical scheme:the present invention is achieved by the following technical solutions:
With the intelligent myoelectric limb hands of high precision small bracing wire control system, it is characterized in that: this prosthetic hand comprises mechanical hand, artificial limb arm, connecting line, waist-mounted type battery and control system box and electromyographic signal sensor; Mechanical hand is arranged on the front end of artificial limb arm, and connecting line connects waist-mounted type battery and control system box and artificial limb arm, and electromyographic signal sensor is connected with control system box with waist-mounted type battery.
In artificial limb arm, be provided with motor drive, this motor drives and comprises miniaturization motor and the gear-box matched and double-deck roller, miniaturization motor is by gear-box connected double-layer roller, and miniaturization motor connects waist-mounted type battery and control system box by connecting line.
This prosthetic hand also comprises low drawing coefficient bracing wire, this bracing wire is made up of crust, terminal and interior lines, terminal is arranged on crust two ends, interior lines are through crust and terminal, the terminal of side is fixed on the positioning disk of artificial limb arm front end, opposite side is then fixed on the required joint root connected, one end, interior lines connects required joint, the other end is connected with double-deck roller, every one deck roller in double-deck roller all fixes interior lines, two interior lines are fixed with contrary direction, to meet when motor rotates, realize controlling two interior lines one simultaneously and receive a requirement of putting.
Every layer of roller of double-deck roller is provided with anchorage shoe and through wires hole.
One end of bracing wire is fixed on anchorage shoe through through wires hole, and the other end is drawn from motor roller embedded groove, fixes a side terminal by positioning disk, is drawstring through comb-line plate and is connected to each required joint part finally by flexible pipe grouping.
Comb-line plate carries out combing grouping by the circular hole being arranged in rectangle to bracing wire.
It is two groups that motor drives, and every 7 motors drive composition one group of group of motors, and 7 motors often organized drive with circle-shaped evenly distributed, during the motor often organizing arrangement drives, inside with miniaturization motor, and the outside mode of double-deck roller is arranged; Two groups of motors drive interlaced plug hole to arrange, namely each motor of the second group of motors drives the position between adjacent two motors driving of corresponding first group of motors, bracing wire is drawn smoothly to facilitate.
Every root finger of mechanical hand is furnished with two motors and drives, two motors drive draws four bracing wires altogether, i.e. control line one, control line two, strength line one and strength line two, control line one and control line two-phase mutual Opposite direction connection motor drive, strength line one and strength line two-phase mutual Opposite direction connection motor drive, control line one and control line two put in finger, control line one is arranged on extension side outside digital flexion, control line two is arranged near digital flexion inner face contraction side, and line one processed and control line two intersect the bending of control finger and stretch at finger tip place; Strength line one and strength line two are arranged on finger root place, and strength line one is arranged on the outside rotated near finger root, and strength line two is arranged on the inner side rotated near finger root, and strength line one and strength line two control the rotation of root joint.
The pitching rotating shaft of band two chutes is provided with at the mechanical wrist place of mechanical hand, pitching rotating shaft is driven by two motors and drives respectively, a motor drives extraction two bracing wires, two bracing wires are from both sides, be embedded in chute, and then receive one by two bracing wires one and put, the pitching of palm is realized by the frictional force of bracing wire to chute;
The root of mechanical wrist is provided with the lateral rotation axle with chute, and motor drives extraction two bracing wires, and two bracing wires are from both sides, be embedded in chute, and then two bracing wires one are received one and put when motor drives, by the frictional force of bracing wire to chute, the rotation of existing mechanical wrist transverse direction.
Thumb root is provided with the lateral rotation axle with chute, and motor drives extraction two bracing wires, and two bracing wires are from both sides, be embedded in chute, and then when motor drives, two bracing wires one are received one and are put, and by the frictional force of bracing wire to chute, realize the rotation of thumb transverse direction
Waist-mounted type battery and control system box, comprise control module, set of cells, communication interface and control panel, the communication interface that control module connects set of cells and arranges on the battery pack, and communication interface connects connecting line and electromyographic signal sensor.
advantage and effect:the invention provides a kind of intelligent myoelectric limb hands with high precision small bracing wire control system, it not only can complete and control the high accuracy in five fingers and wrist joint, and makes intelligent artificial limb hands can carry out comfortable wearing and the use of long period.The present invention designs high precision small bracing wire control system, designs group of motors embedded groove in the middle part of artificial limb arm, and totally ten four grooves divide two groups circumferentially to arrange, each motor slot with corresponding bracing wire passage so that bracing wire draw.Select the small brushless dc motor of band hall sensor, the motor of band gear-box is embedded in motor slot, the folding and unfolding of motor by driving runner to control bracing wire after gearbox speed reduction, wherein, two-layer equation runner can drive two bracing wires to rotate backward simultaneously, realizes one and receives an effect of putting.A disk spacer is fixed, the terminal of fixing 28 bracing wires of drawing in motor slot in group of motors front end.The reason line plate with 28 circular holes is used to carry out combing to bracing wire afterwards.Artificial limb arm foremost designed channel bracing wire divided into groups as required derive, arrive each finger and wrist joint.The present invention designs waist-mounted type set of cells and control system box, by set of cells larger for weight and control module integrated in Box mounted to waist.Prosthetic hand main body with by one, there is good flexible data wire between Box mounted to waist and be connected.Be fixed on it user by bandage.
In sum, the present invention can while carrying out accurately controlling to five fingers and wrist joint, by motor gearbox group all larger for bulking value, artificial limb arm is put inner by the mode that miniaturization motor is embedded, greatly reduce the size of module, be more suitable for the requirement of intelligent artificial limb hands for weight and volume, while being convenient to wear use, decrease the stroke of bracing wire.Bracing wire contraction in length, and major part is all from the inner cabling of artificial limb arm, more stable in use procedure, not easily occur and the winding scratching of other object and affect the situation of prosthetic hand steady operation.Box mounted to waist is integrated with heavier set of cells and control module, owing to being be worn on belt, use comfortable while for weight restriction greatly relax, for increase battery capacity, extend working time, upgrading hardware performance is very favourable.Mode simultaneously owing to taking bracing wire to control, simple for structure, fault rate is lower, and cost is lower, is applicable to the routine use demand of general patient.
accompanying drawing illustrates:
Fig. 1 is that overall structure of the present invention is always schemed;
Fig. 2 is miniaturization motor module figure;
Fig. 3 is guy structure figure;
Fig. 4 is high precision small bracing wire control system schematic diagram;
Fig. 5 is motor inline mode schematic diagram;
Fig. 6 is group of motors profile;
Fig. 7 is finger-joint bracing wire wire laying mode schematic diagram;
Fig. 8 is waist-mounted type battery and control system box schematic diagram;
Fig. 9 is palm root chute schematic diagram;
Figure 10 is thumb root chute schematic diagram.
detailed description of the invention:below in conjunction with accompanying drawing, the present invention is described further:
The invention provides a kind of intelligent myoelectric limb hands with high precision small bracing wire control system, this prosthetic hand comprises mechanical hand 1, artificial limb arm 2, connecting line 3, waist-mounted type battery and control system box 4 and electromyographic signal sensor 5; Mechanical hand 1 is arranged on the front end of artificial limb arm 2, and connecting line 3 connects waist-mounted type battery and control system box 4 and artificial limb arm 2, and electromyographic signal sensor 5 is connected with control system box 4 with waist-mounted type battery.
In artificial limb arm 2, be provided with motor drive, this motor drives and comprises miniaturization motor 6 and the gear-box 7 matched and double-deck roller 8, miniaturization motor 6 is by gear-box 7 connected double-layer roller 8, and miniaturization motor 6 connects waist-mounted type battery and control system box 4 by connecting line 3.
This prosthetic hand also comprises low drawing coefficient bracing wire, this bracing wire is by crust 10, terminal 11 and interior lines 12 are formed, terminal 11 is arranged on crust 10 two ends, interior lines 12 are through crust 10 and terminal 11, the terminal of side is fixed on the positioning disk of artificial limb arm 2 front end, opposite side is then fixed on the required joint root connected, one end, interior lines 12 connects required joint, the other end is connected with double-deck roller 8, every one deck roller in double-deck roller 8 all fixes interior lines 12, two interior lines 12 are fixed with contrary direction, to meet when motor rotates, realize controlling two interior lines one simultaneously and receive a requirement of putting.
Every layer of roller of double-deck roller 8 is provided with anchorage shoe 9 and through wires hole.
One end of bracing wire is fixed on anchorage shoe 9 through through wires hole, the other end is drawn from motor roller embedded groove 13, fix a side terminal 11 by positioning disk 14, be drawstring through comb-line plate 15 and be connected to each required joint part finally by flexible pipe 16 grouping.
Comb-line plate 15 carries out combing grouping by the circular hole being arranged in rectangle to bracing wire.
It is two groups that motor drives, and every 7 motors drive composition one group of group of motors, and 7 motors often organized drive with circle-shaped evenly distributed, during the motor often organizing arrangement drives, inside with miniaturization motor 6, and the outside mode of double-deck roller 8 is arranged; Two groups of motors drive interlaced plug hole to arrange, namely each motor of the second group of motors 18 drives the position between adjacent two motors driving of corresponding first group of motors 17, bracing wire is drawn smoothly to facilitate.
Every root finger of mechanical hand 1 is furnished with two motors and drives, two motors drive draws four bracing wires altogether, i.e. control line 1, control line 2 21, strength line 1 and strength line 2 23, control line 1 and control line 2 21 mutually Opposite direction connection motor drive, strength line 1 and strength line 2 23 mutually Opposite direction connection motor drive, control line 1 and control line 2 21 put in finger, control line 1 is arranged on extension side outside digital flexion, control line 2 21 is arranged near digital flexion inner face contraction side, line 1 processed and control line 2 21 intersect the bending of control finger and stretch at finger tip place, strength line 1 and strength line 2 23 are arranged on finger root place, and strength line 1 is arranged on the outside rotated near finger root, and strength line 2 23 is arranged on the inner side rotated near finger root, and strength line 1 and strength line 2 23 control the rotation of root joint.
The pitching rotating shaft of band two chutes 28 is provided with at the mechanical wrist place of mechanical hand 1, pitching rotating shaft is driven by two motors and drives respectively, a motor drives extraction two bracing wires, two bracing wires are from both sides, one on the other, be embedded in chute, and then receive one by two bracing wires one and put, realized the pitching of palm by the frictional force of bracing wire to chute;
The root of mechanical wrist is provided with transverse direction (axis) turning cylinder with chute 29, motor drives extraction two bracing wires, two bracing wires are from both sides, one on the other, be embedded in chute, and then two bracing wires one are received one and put when motor drives, by the frictional force of bracing wire to chute 29, the rotation of existing mechanical wrist transverse direction.
Lateral shaft with chute 30 is provided with to turning cylinder at thumb root, motor drives extraction two bracing wires, two bracing wires are from both sides, one on the other, be embedded in chute, and then when motor drives, two bracing wires one are received one and are put, and by the frictional force of bracing wire to chute (30), realize the rotation of thumb transverse direction
Waist-mounted type battery and control system box, comprise control module 24, set of cells 25, communication interface 26 and control panel 27, the communication interface 26 that control module 24 connects set of cells 25 and is arranged in set of cells 25, communication interface 26 connects connecting line 3 and electromyographic signal sensor 5.
Below in conjunction with accompanying drawing, the present invention is described in further detail:
Fig. 1 is overall schematic of the present invention.As shown in Figure 1, the present invention includes mechanical hand 1, artificial limb arm 2, connecting line 3, waist-mounted type battery and control system box 4.Mechanical hand is controlled to draw line-controlled form by the dynamical system that artificial limb arm is embedded, artificial limb arm, and front end is bracing wire combing space, and middle part is embedded group of motors, and rear portion is in order to fixing ring set.The power supply of system and control system are positioned at waist-mounted type battery and control system box, user waist can be worn on, carry out data exchange by connecting line and prosthetic hand main body and electric energy supplies, the electromyographic signal sensor 5 on arm is in order to detect the electromyographic signal of user.
Fig. 2 is used miniaturization motor 6 and the gear-box 7 matched and double-deck roller 8.Motor and associated gear case are installed and are coordinated, and control bracing wire by double-deck pulley.Double-deck pulley is two-layer is all furnished with anchorage shoe 9, can be fastened after being drawstring through hole.After two bracing wires are fixing with contrary direction, when motor rotates, just can realize controlling two bracing wires one simultaneously and receive one and put.
Fig. 3 is used low drawing coefficient bracing wire, and by crust 10, terminal 11, interior lines 12 form, and a side terminal is fixed on positioning disk, and opposite side is then fixed on the required joint root connected.After two terminals are fixed, the very low and the present invention of drawing coefficient due to bracing wire decreases the length of bracing wire to greatest extent, along with the motion of wrist and each finger-joint, can deformation be there is in the bracing wire between two-terminal, but length remains unchanged, the bracing wire folding and unfolding length that such electric machine rotation produces can be reappeared at joint end accurately, completes the accurate control to prosthetic hand.
Fig. 4 is high precision small bracing wire control system schematic diagram.Bracing wire is drawn from motor embedded groove 13, fixes a side terminal by positioning disk 14.Comb-line plate 15 carries out combing grouping by the circular hole being arranged in rectangle to bracing wire, is connected to each required joint part finally by flexible pipe 16 grouping.
The embedding arrangement mode of motor can not be found out in Fig. 4 clearly, therefore the grouping arrangement mode of 14 motors is shown separately in Fig. 5.As shown in the figure, the first group of motors 17 and the second group of motors 18 respectively comprise 7 motor even circumferential arrangements, and two groups of motors are interlaced in vertical direction, bracing wire to be drawn smoothly.
Fig. 6 is group of motors profile, and bracing wire leadout hole 19 two is one group, respectively two heterodromous bracing wires of a corresponding motor runner, and figure is visible thus, due to two groups of motor vertical direction alternate, 28 wires can be derived smoothly.
Fig. 7 is finger-joint bracing wire wire laying mode schematic diagram, and every root finger is furnished with two groups of motors, and can control four bracing wires, control line 1 and control line 2 21 are an Electric Machine Control, adverse movement, can control the bending of finger and stretch.Strength line 1 and strength line 2 23 are another Electric Machine Control, can be increased the strength near palm joint, to obtain the performance of high grip by the rotation controlling root joint.
Fig. 8 is waist-mounted type battery and control system box, comprises control module 24, set of cells 25, communication interface 26 and control panel 27, set of cells larger for weight and control module are hung over waist, alleviate the burden of user, contribute to long-time use.
Fig. 9 is palm root chute schematic diagram, and bracing wire, after extraction, is embedded among chute, puts receipts, utilize the rotation of frictional force band moving axis, realize the transverse rotation of wrist and the pitching of palm by respective drive driven by motor bracing wire one after the binding of chute opposite side.
Figure 10 is thumb root chute schematic diagram, and bracing wire is embedded in chute, is driven by motor, utilizes frictional force to realize the transverse rotation of thumb root.
Claims (10)
1. with the intelligent myoelectric limb hands of high precision small bracing wire control system, it is characterized in that: this prosthetic hand comprises mechanical hand (1), artificial limb arm (2), connecting line (3), waist-mounted type battery and control system box (4) and electromyographic signal sensor (5); Mechanical hand (1) is arranged on the front end of artificial limb arm (2), and connecting line (3) connects waist-mounted type battery and control system box (4) and artificial limb arm (2), and electromyographic signal sensor (5) is connected with control system box (4) with waist-mounted type battery.
2. the intelligent myoelectric limb hands with high precision small bracing wire control system according to claim 1, it is characterized in that: in artificial limb arm (2), be provided with motor drive, this motor drives and comprises miniaturization motor (6) and the gear-box (7) matched and double-deck roller (8), miniaturization motor (6) is by gear-box (7) connected double-layer roller (8), and miniaturization motor (6) connects waist-mounted type battery and control system box (4) by connecting line (3).
3. the intelligent myoelectric limb hands with high precision small bracing wire control system according to claim 2, it is characterized in that: this prosthetic hand also comprises low drawing coefficient bracing wire, this bracing wire is by crust (10), terminal (11) and interior lines (12) are formed, terminal (11) is arranged on crust (10) two ends, interior lines (12) are through crust (10) and terminal (11), the terminal of side is fixed on the positioning disk of artificial limb arm (2) front end, opposite side is then fixed on the required joint root connected, interior lines (12) one end connects required joint, the other end is connected with double-deck roller (8), every one deck roller in double-deck roller (8) all fixes an interior lines (12), two interior lines (12) are fixed with contrary direction, to meet when motor rotates, realize controlling two interior lines one simultaneously and receive a requirement of putting.
4. the intelligent myoelectric limb hands with high precision small bracing wire control system according to claim 3, is characterized in that: on every layer of roller of double-deck roller (8), be provided with anchorage shoe (9) and through wires hole.
5. the intelligent myoelectric limb hands with high precision small bracing wire control system according to claim 4, it is characterized in that: one end of bracing wire is fixed on anchorage shoe (9) through through wires hole, the other end is drawn from motor roller embedded groove (13), fix a side terminal (11) by positioning disk (14), be drawstring through comb-line plate (15) and be connected to each required joint part finally by flexible pipe (16) grouping.
6. the intelligent myoelectric limb hands with high precision small bracing wire control system according to claim 5, is characterized in that: comb-line plate (15) carries out combing grouping by the circular hole being arranged in rectangle to bracing wire.
7. the intelligent myoelectric limb hands with high precision small bracing wire control system according to claim 2, it is characterized in that: it is two groups that motor drives, every 7 motors drive composition one group of group of motors, 7 motors often organized drive with circle-shaped evenly distributed, often organize in the motor driving of arrangement, with miniaturization motor (6) inwardly, the mode that double-deck roller (8) is outside is arranged; Two groups of motors drive interlaced plug hole to arrange, namely each motor of the second group of motors (18) drives the position between adjacent two motors driving of corresponding first group of motors (17), bracing wire is drawn smoothly to facilitate.
8. the intelligent myoelectric limb hands with high precision small bracing wire control system according to claim 7, it is characterized in that: every root finger of mechanical hand (1) is furnished with two motors and drives, two motors drive draws four bracing wires altogether, i.e. control line one (20), control line two (21), strength line one (22) and strength line two (23), control line one (20) and control line two (21) mutual Opposite direction connection motor drive, strength line one (22) and strength line two (23) mutual Opposite direction connection motor drive, control line one (20) and control line two (21) put in finger, control line one (20) is arranged on extension side outside digital flexion, control line two (21) is arranged near digital flexion inner face contraction side, line one (20) processed and control line two (21) intersect the bending of control finger and stretch at finger tip place, strength line one (22) and strength line two (23) are arranged on finger root place, strength line one (22) is arranged on the outside rotated near finger root, strength line two (23) is arranged on the inner side rotated near finger root, and strength line one (22) and strength line two (23) control the rotation of root joint.
9. the intelligent myoelectric limb hands with high precision small bracing wire control system according to claim 7, it is characterized in that: the pitching rotating shaft being provided with band two chutes (28) at the mechanical wrist place of mechanical hand (1), pitching rotating shaft is driven by two motors and drives respectively, a motor drives extraction two bracing wires, two bracing wires are from both sides, be embedded in chute, and then receive one by two bracing wires one and put, realized the pitching of palm by the frictional force of bracing wire to chute;
The root of mechanical wrist is provided with the lateral rotation axle with chute (29), motor drives extraction two bracing wires, two bracing wires are from both sides, be embedded in chute, and then two bracing wires one are received one and are put when motor drives, by the frictional force of bracing wire to chute (29), the rotation of existing mechanical wrist transverse direction;
Thumb root is provided with the lateral rotation axle with chute (30), and motor drives extraction two bracing wires, and two bracing wires are from both sides, be embedded in chute, and then when motor drives, two bracing wires one are received one and are put, and by the frictional force of bracing wire to chute (30), realize the rotation of thumb transverse direction.
10. the intelligent myoelectric limb hands with high precision small bracing wire control system according to claim 1, it is characterized in that: waist-mounted type battery and control system box, comprise control module (24), set of cells (25), communication interface (26) and control panel (27), the communication interface (26) that control module (24) connects set of cells (25) and is arranged in set of cells (25), communication interface (26) connects connecting line (3) and electromyographic signal sensor (5).
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| CN106667628A (en) * | 2016-12-05 | 2017-05-17 | 上海交通大学 | Half-palm artificial limb hand |
| CN106974749A (en) * | 2017-04-25 | 2017-07-25 | 北京展翼计划科技发展有限公司 | Bionical prosthetic hand and device based on 3D printing |
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| CN111300413A (en) * | 2020-03-03 | 2020-06-19 | 东南大学 | Multi-degree-of-freedom myoelectric artificial hand control system and using method thereof |
| CN113262088A (en) * | 2021-05-27 | 2021-08-17 | 山东大学 | Multi-degree-of-freedom hybrid control prosthetic hand with force feedback and control method |
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| CN111300413A (en) * | 2020-03-03 | 2020-06-19 | 东南大学 | Multi-degree-of-freedom myoelectric artificial hand control system and using method thereof |
| CN111300413B (en) * | 2020-03-03 | 2022-10-14 | 东南大学 | Multi-degree-of-freedom myoelectric artificial hand control system and using method thereof |
| CN113262088A (en) * | 2021-05-27 | 2021-08-17 | 山东大学 | Multi-degree-of-freedom hybrid control prosthetic hand with force feedback and control method |
| CN113262088B (en) * | 2021-05-27 | 2022-08-02 | 山东大学 | Multi-degree-of-freedom hybrid control artificial hand with force feedback and control method |
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| CN104997579B (en) | 2018-02-16 |
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