CN105127973A - Embedded under-actuated prosthetic hand control system based on CyberGlove - Google Patents
Embedded under-actuated prosthetic hand control system based on CyberGlove Download PDFInfo
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- CN105127973A CN105127973A CN201510581208.1A CN201510581208A CN105127973A CN 105127973 A CN105127973 A CN 105127973A CN 201510581208 A CN201510581208 A CN 201510581208A CN 105127973 A CN105127973 A CN 105127973A
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Abstract
The invention discloses an embedded under-actuated prosthetic hand control system based on CyberGlove. The embedded under-actuated prosthetic hand control system comprises the CyberGlove, an upper computer, a motor assembly and an integrated control unit, wherein the CyberGlove is used for providing original movement data of a human hand, the upper computer is used for wirelessly transmitting the original movement data and command control, the motor assembly is used for driving a prosthetic hand to conduct various movements, and the integrated control unit is embedded into the prosthetic hand in the form of a integrated circuit plate and comprises a wireless receiving and transmitting module, a motor speed detection module, a motor current detection module, a fingertip force detection module, a master controller and a power amplification module. Through the embedded under-actuated prosthetic hand control system, movement control over the prosthetic hand can be conveniently achieved with the compact structure, the detects that an existing prosthetic hand control system is limited to a small number of preset control modes and hardware circuits are excessively huge can be overcome, and meanwhile movement accuracy and applicability in kinds of practical application can be significantly improved.
Description
Technical field
The invention belongs to bio-robot correlative technology field, more specifically, relate to a kind of embedded drive lacking prosthetic hand control system based on CyberGlove data glove.
Background technology
Prosthetic hand obtains vast potential for future development with its advantage such as motion personification and compact conformation.Particularly as the drive lacking prosthetic hand of popular research in the recent period, owing to possessing light profile and controlling simple characteristic, be thus applied widely in multiple fields such as medical prostheses hand, modernization industrial production, high-risk complex jobs.Such as, domestic Harbin Institute of Technology have developed a multiple freedom degrees hand-prosthesis voice controlling apparatus based on Bluetooth wireless communication, and it can be done evil through another person by Voice command and move accordingly, and realizes Embedded multi-freedom degree muscle-electric prosthesis control function.
But, further research shows, above-mentioned existing doing evil through another person still exists following defect or deficiency: first, and its default motor pattern quantity is often limited, cause to perform all kinds of complex operations completely flexibly and accurately, be also difficult to the dynamic coordinate rule of reproduction staff; Secondly, control program at present for drive lacking prosthetic hand generally adopts multiple-axis servo control system, though it can meet general motion control requirement, but its computer grafting card interface volume used is too huge, hardware construction is complicated, result in multiple inconvenience when practical application, and directly have influence on the application flexibility of prosthetic hand.Therefore, need badly in this area and further design is made to the project of motion control of drive lacking prosthetic hand, to meet growing actual condition demand better.
Summary of the invention
For above defect or the Improvement requirement of prior art, the invention provides a kind of embedded drive lacking prosthetic hand control system based on CyberGlove data glove, wherein by designing the physical circuit of its multiple key component structure and control mode, mutually should be able to more compact conformation, be convenient to the motion control that realizes with manipulating the flexible hand of drive lacking, the defect such as overcome its minority control model being confined to set in advance and hardware circuit is too huge, can significantly improve the action accuracy when all kinds of practical application and applicability simultaneously.
For achieving the above object, according to the present invention, provide a kind of embedded drive lacking prosthetic hand control system based on CyberGlove data glove, it is characterized in that, this embedded drive lacking prosthetic hand control system comprises CyberGlove data glove, host computer, prosthetic hand electric machine assembly, fingertip force sensor assembly and integrating control unit, wherein:
Described CyberGlove data glove is worn by user, and exports all kinds of human hand movement real time datas comprising joint angle and joint motions angular speed in real time based on actual condition demand, then sends to described host computer by the mode of wireless transmission;
Described host computer receives the real time data from described CyberGlove data glove, and all kinds of instructions comprised about grasp mode, finger grip/unclamp action and motor position/speed adjustment are provided, then continue to send to described integrating control unit by the mode of wireless transmission;
Described prosthetic hand electric machine assembly is made up of jointly four brush direct current motors, their integrated installations are inner at the palm of the drive lacking prosthetic hand as control object, be respectively the first motor for realizing thumb flip-flop movement, for realize thumb bending motion the second motor, for realizing the 3rd motor of forefinger and middle finger bending motion simultaneously, and for realizing the 4th motor that nameless and streblomicrodactyly moves simultaneously; Described fingertip force sensor assembly is made up of jointly five pressure sensors, they separately integrated installation in five finger tips of drive lacking prosthetic hand, and be respectively used to detect in real time performing perpendicular to the stress data in finger tip face in each finger motion process;
Described integrating control unit is that the form of surface-mounted integrated circuit embeds and is arranged on the inside of drive lacking prosthetic hand, and comprise radio receiving transmitting module, motor speed detection module, current of electric detection module, finger tip power detection module, master controller and power amplifier module, wherein this radio receiving transmitting module receives from the real time information of described host computer and all kinds of instruction, and is delivered to described master controller; This motor speed detection module and current of electric detection module to speed data and the current data execution detection in real time of each brush direct current motor in described prosthetic hand electric machine assembly, then feed back to described master controller respectively separately; The stress data executive signal that described fingertip force sensor assembly detects by this finger tip power detection module in real time amplifies, and same feedback delivers to described master controller; This master controller is according to the above-mentioned data that receive and instruction, and corresponding formation multi-channel PWM ripple exports described power amplifier module to; This power amplifier module then will not perform power amplification to this multi-channel PWM wavelength-division, then for each brush direct current motor in described prosthetic hand electric machine assembly provides corresponding motor drive current respectively, drive lacking prosthetic hand is made in real time, accurately to follow all kinds of human hand movements of user in this way.
As further preferably, the quantity of described motor speed detection module is preferably 2, and they are separately for being converted to the differential receiver of single-ended signal by differential signal; The quantity of described current of electric detection module is preferably 4, and they comprise the inspection leakage resistance for by the current sense amplifier of common-mode differential voltage signal method 20 times and resistance being 0.15 ohm separately.
As further preferably, five pressure sensors of described fingertip force sensor assembly are preferably bridge-type foil gauge, and the corresponding common-mode differential voltage signal be preferably for bridge-type foil gauge of described finger tip power detection module performs the unit amplified.
As further preferably, described master controller preferably adopts the dsp controller of monolithic; The quantity of described power amplifier module is 2, and they perform power amplification to 12 volt for the PWM ripple that exported by described master controller separately, and provides the motor drive current that at least single channel 1.4 is pacified.
In general, the above technical scheme conceived by the present invention compared with prior art, mainly possesses following technological merit:
1, by adopting data glove to carry out Real-time Collection human hand movement information, and control prosthetic hand by the integrating control unit being highly integrated in drive lacking prosthetic hand inside and follow the information that data glove sends in real time, prosthetic hand should be able to be made to follow the action of staff completely mutually, and possessing compact conformation, without the need to using the annexes such as computer grafting card, manipulating the advantages such as flexible;
2, especially, by to as the design in internal structure and set-up mode of the integrating control unit of key building block and corresponding assembly thereof and improvement in the present invention, one piece of 80mm × 65mm × 7mm can not only be adopted can be embedded into drive lacking prosthetic hand completely inner, reduce circuit complexity and hardware requirement, but also when meeting Systematical control requirement, effectively can overcome the shortcoming that prosthetic hand action is only confined to a few pattern of setting in advance, reappear the dynamic coordinate rule of staff well, significantly improve accuracy and the applicability of all kinds of compound action,
3, also targeted design has been carried out to some critical performance parameters of control system, type and arrangements of elements position in the present invention, test shows the application demand that effectively can meet all kinds of field, and the connection between data glove and host computer and the connection between host computer and prosthetic hand integral control circuit all have employed wireless mode, thus make the range of application of prosthetic hand more extensive, operate more convenient.
Accompanying drawing explanation
Fig. 1 is the entirety composition structural representation according to the embedded drive lacking prosthetic hand control system constructed by the present invention;
Fig. 2 is the position scheme of installation of each prosthetic hand drive motors according to the preferred embodiment of the present invention and fingertip force sensor;
In all of the figs, identical Reference numeral is used for representing identical element or structure, wherein:
1:CyberGlove data glove 2: host computer 3: integrating control unit 4: prosthetic hand electric machine assembly 5: fingertip force sensor assembly 3-1: radio receiving transmitting module 3-2: master controller 3-3: power amplifier module 3-4: motor speed detection module 3-5: current of electric detection module 3-6: finger tip power detection module 3-7: power module 3-8: state indicator module 3-9: monitoring cell electricity quantity module 4-1: the first motor 4-2: the second motor 4-3: the three motor 4-4: the four motor 5-1: thumb tip pressure sensor 5-2: index finger tip pressure sensor 5-3: middle fingertip pressure sensor 5-4: nameless fingertip pressure sensor 5-5: little finger of toe fingertip pressure sensor
Detailed description of the invention
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.In addition, if below in described each embodiment of the present invention involved technical characteristic do not form conflict each other and just can mutually combine.
Fig. 1 is the entirety composition structural representation according to the embedded drive lacking prosthetic hand control system constructed by the present invention.As shown in fig. 1, this embedded drive lacking prosthetic hand control system mainly comprises CyberGlove data glove 1, host computer 2, prosthetic hand electric machine assembly 4, fingertip force sensor assembly 5 and integrating control unit 3, and by forming the internal circuit of some of them key component, be connected to each other mode, the research of the many aspects such as installation site setting and important performance characteristic and design, corresponding expectation reaches and realizes the motion that prosthetic hand follows staff completely, the control overcome for prosthetic hand is confined to the shortcoming of a few pattern set in advance, expand the technical purposes such as the application of prosthetic hand.
Specifically, CyberGlove data glove 1 for example can adopt CyberGlove system house third generation product, it is worn by user, and all kinds of human hand movement real time datas comprising joint angle and joint motions angular speed are exported in real time based on actual condition demand, then send to described host computer 2 by the mode of wireless transmission; In the process, between host computer and data glove, keep interprocess communication, and the mode continuing through wireless transmission sends to integrating control unit 3, for the motion of prosthetic hand provides initial trace.
Host computer 2 coordinates and receives from the real time data of described CyberGlove data glove 1, and is continued through wireless mode and flow to integrating control unit 3.In addition, occur unexpected or when not needing prosthetic hand to follow human hand movement in real time, this host computer also can depart from the independent sending controling instruction of data glove in system; Use procedure comprise select grasp mode, send capture instruction, send unclamp instruction, position command when sending single motor self-movement or speed command etc.When user puts on data glove at every turn, the sensor initial position of each joint angle is not quite similar, and host computer can provide the calibration function of data glove for this reason.
See Fig. 2, prosthetic hand electric machine assembly 4 is made up of jointly four brush direct current motors, diameter for example can be adopted to be the brush direct current motor of 10mm, their integrated installations are inner at the palm of the drive lacking prosthetic hand as control object, be respectively the first motor 4-1 for realizing thumb flip-flop movement, for realize thumb bending motion the second motor 4-2, for realizing the 3rd motor 4-3 of forefinger and middle finger bending motion simultaneously, and for realizing the 4th motor 4-4 that nameless and streblomicrodactyly moves simultaneously; Described fingertip force sensor assembly 5 for example can adopt Honeywell company FSS-SMT series pressure sensor, and be jointly made up of five pressure sensors, they separately integrated installation in five finger tips of drive lacking prosthetic hand, specifically comprising thumb tip pressure sensor 5-1, index finger tip pressure sensor 5-2, middle fingertip pressure sensor 5-3, nameless fingertip pressure sensor 5-4, little finger of toe fingertip pressure sensor 5-5, being respectively used to thus detect in real time performing perpendicular to the stress data in finger tip face in each finger motion process.
More specifically, according to a preferred embodiment of the present invention, the speed reducing ratio of above-mentioned first motor 4-1 is set to 256:1, and the speed reducing ratio of the second motor 4-2 is 64:1, and the speed reducing ratio of the 3rd motor 4-3 and the 4th motor 4-4 is 16:1, and power is 2.81W.
Integrating control unit 3 is designed to the form in surface-mounted integrated circuit in the present invention, and embed the inside being arranged on drive lacking prosthetic hand, while solution existing equipment hardware circuit is too huge, the model-following control of all kinds of compound action can also be performed more efficiently, accurately and neatly.It comprises radio receiving transmitting module 3-1, motor speed detection module 3-4, current of electric detection module 3-5, finger tip power detection module 3-6, master controller 3-2 and power amplifier module 3-3, will be described its functional unit one by one below.
This radio receiving transmitting module 3-1 for example can adopt TI company CC2541 chip, and work at 2.4 ghz, can receive data and the instruction of host computer transmission, also the actual motion state of prosthetic hand can be sent to host computer.
This motor speed detection module 3-4 for example can adopt two identical modules, each module can process the encoder pulse signal of two drive motors, and preferably differential signal can be changed into the differential receiver AM26LV32E chip of single-ended signal, the differential signal of motor encoder is changed into single-ended signal, be convenient to master controller use 2 QEP circuit and 4 to catch speed that pin detects motor, realize the highly sensitive detection of the speed data to each brush direct current motor in prosthetic hand electric machine assembly 4 thus, then feed back to master controller 3-2 separately.
This current of electric detection module 3-5 for example can adopt four identical modules, each module preferably use one can by the inspection leakage resistance of the current sense amplifier of faint common-mode differential voltage signal magnify 20 (the AD8418 chip as ADI company) and 1 0.15 Ω, inspection leakage resistance can convert current signal to voltage signal, AD8418 itself has filtering, 20 times of amplifications and common mode inhibition function, in this way, current of electric is transformed into the voltage signal that master controller 3-2 can accurately detect after current of electric detection module 3-5.
This finger tip power detection module (3-6) can adopt four identical modules, amplifies for the stress data executive signal described fingertip force sensor assembly (5) detected in real time, and same feedback delivers to master controller 3-2.Exemplarily, it can adopt the precision instrument amplifier (master chip is AD8226 and AD8426 of ADI company) that the common-mode differential voltage signal of bridge-type foil gauge can be amplified 19.3 times, effective voltage is dropped within 0-3.3V scope, thus is convenient to detect for master controller 3-2.
This master controller 3-2 is according to the above-mentioned data that receive and instruction, and corresponding formation multi-channel PWM ripple exports power amplifier module 3-3 to; As a preference, it can adopt TI company model to be the monolithic dsp controller of TMS320F28069, only have 100 pins, small volume, can reduce PCB surface amass, and comprise at least 2 QEP input interfaces, 4 catch pin, 4 road PWM ripple outputs, a CPU timer, a serial ports peripheral hardware, 9 AD interfaces, 9 road I/O.More specifically, wherein 2 QEP interface circuits are caught pin be connected with the output of motor speed detection module 3-4 with 4.4 road PWM ripples export and are connected with the input of power amplifier module 3-3.Serial ports peripheral hardware is connected with wireless transport module 3-1.9 AD interfaces are connected with the output of current of electric detection module 3-5, finger tip power detection module 3-6, monitoring cell electricity quantity module 3-9 respectively.9 road I/O are connected with the input of power amplifier module 3-3, state indicator module 3-8 respectively.
This power amplifier module 3-3 is preferably two identical modules, and the master chip of use is ST company L6227Q, and each chip has the interface of two brush direct current motors, has four PWM ripple input interfaces; Correspondingly, will not perform power amplification to this multi-channel PWM wavelength-division, then for each brush direct current motor in prosthetic hand electric machine assembly 4 provides corresponding motor drive current respectively.In a preference, PWM ripple carries out power amplification to 12V, and provides the motor drive current of at least single channel 1.4A.
In addition, above-mentioned integrating control unit also includes the power module 3-7 for providing working power for every other comprising modules.It for example can use LM4132-3.3V chip and LM4132-5.0V chip, converts the supply voltage of 12V to 3.3V and 5.0V respectively, is other all module for power supply of integrated circuit, respectively can provides 500mA electric current.
According to the preferred embodiments of the present invention, above-mentioned integrating control unit can also be equipped with the state indicator module 3-8 be such as made up of 3 blue leds, 1 red LED, a green LED; For input master controller after cell voltage dividing potential drop buffering is carried out the monitoring cell electricity quantity module 3-9 etc. detected; These module concrete structures that can match do not repeat them here.
Below by the operation principle of specific explanations according to kinetic control system of the present invention.
First open data glove 1, and set up news network; The calibration that host computer carries out data glove can be opened after operator dresses data glove 1; Power on integrating control unit, and prosthetic hand carries out initialization operation; Then, can select real-time follow the mode, operator starts to capture object, and prosthetic hand follows the human hand movement information scratching object that data glove sends in real time; Once fingertip force sensor module 3-6 detects that prosthetic hand touches object, it is force control mode that integrating control unit just can switch follow the mode, realizes the stable crawl of prosthetic hand.
To sum up, embedded drive lacking prosthetic hand control system provided by the present invention, the whole-process automatic human hand movement of following of prosthetic hand can be made to capture various object, make it move not by the restriction of the pattern of setting in advance, possess compact conformation simultaneously, be convenient to the advantages such as manipulation.In addition, control unit can be integrated on the circuit board of one piece of 80mm × 65mm × 7mm, highly integrated and to be embedded into drive lacking prosthetic hand completely inner; Making when meeting Systematical control requirement DSP resource be fully used, reducing circuit complexity and hardware cost, be convenient to the popularization of prosthetic hand.
Those skilled in the art will readily understand; the foregoing is only preferred embodiment of the present invention; not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (4)
1. the embedded drive lacking prosthetic hand control system based on CyberGlove data glove, it is characterized in that, this embedded drive lacking prosthetic hand control system comprises CyberGlove data glove (1), host computer (2), prosthetic hand electric machine assembly (4), fingertip force sensor assembly (5) and integrating control unit (3), wherein:
Described CyberGlove data glove (1) is worn by user, and all kinds of human hand movement real time datas comprising joint angle and joint motions angular speed are exported in real time based on actual condition demand, then send to described host computer (2) by the mode of wireless transmission;
Described host computer (2) receives the real time data from described CyberGlove data glove (1), and all kinds of instructions comprised about grasp mode, finger grip/unclamp action, motor position/speed adjustment are provided, then continue to send to described integrating control unit (3) by the mode of wireless transmission;
Described prosthetic hand electric machine assembly (4) is made up of jointly four brush direct current motors, their integrated installations are inner at the palm of the drive lacking prosthetic hand as control object, be respectively the first motor (4-1) for realizing thumb flip-flop movement, for realize thumb bending motion the second motor (4-2), for realizing the 3rd motor (4-3) of forefinger and middle finger bending motion simultaneously, and for realizing the 4th motor (4-4) that nameless and streblomicrodactyly moves simultaneously; Described fingertip force sensor assembly (5) is by five pressure sensor (5-1,5-2,5-3,5-4,5-5) jointly form, they separately integrated installation in five finger tips of drive lacking prosthetic hand, and be respectively used to detect in real time performing perpendicular to the stress data in finger tip face in each finger motion process;
The form of described integrating control unit (3) in surface-mounted integrated circuit embeds the inside being arranged on drive lacking prosthetic hand, and comprise radio receiving transmitting module (3-1), motor speed detection module (3-4), current of electric detection module (3-5), finger tip power detection module (3-6), master controller (3-2) and power amplifier module (3-3), wherein this radio receiving transmitting module (3-1) receives from the real time information of described host computer (2) and all kinds of instruction, and is delivered to described master controller (3-2); This motor speed detection module (3-4) and current of electric detection module (3-5) to speed data and the current data execution detection in real time of each brush direct current motor in described prosthetic hand electric machine assembly (4), then feed back to described master controller (3-2) respectively separately; The stress data executive signal that described fingertip force sensor assembly (5) is detected by this finger tip power detection module (3-6) in real time amplifies, and same feedback delivers to described master controller (3-2); This master controller (3-2) is according to the above-mentioned data that receive and instruction, and corresponding formation multi-channel PWM ripple exports described power amplifier module (3-3) to; This power amplifier module (3-3) then will not perform power amplification to this multi-channel PWM wavelength-division, then for each brush direct current motor in described prosthetic hand electric machine assembly (4) provides corresponding motor drive current respectively, drive lacking prosthetic hand is made in real time, accurately to follow all kinds of human hand movements of user in this way.
2. embedded drive lacking prosthetic hand control system as claimed in claim 1, is characterized in that, the quantity of described motor speed detection module (3-4) is preferably 2, and they are separately for being converted to the differential receiver of single-ended signal by differential signal; The quantity of described current of electric detection module (3-5) is preferably 4, and they comprise the inspection leakage resistance for by the current sense amplifier of common-mode differential voltage signal method 20 times and resistance being 0.15 ohm separately.
3. embedded drive lacking prosthetic hand control system as claimed in claim 1 or 2, it is characterized in that, five pressure sensors of described fingertip force sensor assembly (5) are preferably bridge-type foil gauge, and the corresponding common-mode differential voltage signal be preferably for bridge-type foil gauge of described finger tip power detection module (3-6) performs the unit amplified.
4. the embedded drive lacking prosthetic hand control system as described in claim 1-3 any one, is characterized in that, described master controller (3-2) preferably adopts the dsp controller of monolithic; The quantity of described power amplifier module (3-3) is 2, and they perform power amplification to 12 volt for the PWM ripple that exported by described master controller separately, and provides the motor drive current that at least single channel 1.4 is pacified.
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| CN105818129A (en) * | 2016-04-12 | 2016-08-03 | 华南理工大学 | Humanoid hand control system based on data glove |
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| CN109514521A (en) * | 2018-12-18 | 2019-03-26 | 合肥工业大学 | The servo operation and its method of manpower collaboration Dextrous Hand based on multi-information fusion |
| CN114636489A (en) * | 2022-05-18 | 2022-06-17 | 湖南大学 | Curved array type touch sensor and working method and manipulator thereof |
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| CN109514521A (en) * | 2018-12-18 | 2019-03-26 | 合肥工业大学 | The servo operation and its method of manpower collaboration Dextrous Hand based on multi-information fusion |
| CN114636489A (en) * | 2022-05-18 | 2022-06-17 | 湖南大学 | Curved array type touch sensor and working method and manipulator thereof |
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