CN105616042B - A kind of Intelligent artificial hand control system - Google Patents
A kind of Intelligent artificial hand control system Download PDFInfo
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- CN105616042B CN105616042B CN201410605676.3A CN201410605676A CN105616042B CN 105616042 B CN105616042 B CN 105616042B CN 201410605676 A CN201410605676 A CN 201410605676A CN 105616042 B CN105616042 B CN 105616042B
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Abstract
The invention discloses a kind of Intelligent artificial hand control system.The Intelligent artificial hand control system, including motor, in addition to：Signal acquisition module, signal processing module, power module, main control module, motor drive module；Signal acquisition module is used for the electromyographic signal for gathering arm surface；Signal processing module is used to be sent to main control module after electromyographic signal is filtered and amplified；Main control module is used to carry out obtaining control signal after classification of motion calculating by the electromyographic signal received and sends control signals to motor drive module；Motor drive module, for controlling motor；Power module is respectively that motor and main control module are powered by secondary voltage conversion, and the voltage conversion of different output voltages is provided by changing the parameter value of electronic component.Realize to being galvanically isolated between motor and main control module, it is to avoid influence of the motor to main control module；Meanwhile, the output of different voltages ensure that control system is controlled to doing evil through another person for different model.
Description
Technical field
The present invention relates to rehabilitation medical instrument field, more particularly to a kind of Intelligent artificial hand control system.
Background technology
For a long time, caused by the reasons such as various diseases, industrial injury, natural calamity, traffic accident physical disabilities patient into
Thousand is up to ten thousand, due to the incompleteness of limbs, and disabled person has inconvenience in work, studying and living, and artificial limb is just to aid in these
One of main method of its limb function is recovered in extremity disabled personses part, therefore the demand of artificial limb is very high.Due to upper limb disability
The significant proportion of physical disabilities is account for, the demand done evil through another person is also growing day by day.Therefore, the control and monitoring done evil through another person are researched and developed
To helping physically disabled to take care of oneself, improving its quality of the life significant.
Existing artificial hand control system mostly includes the modules such as signal acquisition, master control, driving, but a vacation designed
Hand control system can only control specifically to do evil through another person, and model, power, the rated voltage of motor of doing evil through another person are fixed, change false
Hand will change control system, and artificial hand control system does not have versatility.Also, most of artificial hand control system feedback functions are not
Comprehensively, velocity measuring, overcurrent protection, excessively stream warning, communication and display module missing or excalation.Meanwhile, do evil through another person and ran
Monitoring function in journey compares shortage, is mostly to observe the motion done evil through another person by visual observation at present, even if some systems have display
Module, can not effectively show the speed done evil through another person, positional information and its situation of change in real time.
The content of the invention
The present invention proposes a kind of Intelligent artificial hand control system, its by setting signal acquisition module, signal processing module,
Main control module, motor drive module and power module, set secondary voltage to change separated power supply, and be first in power module
Different voltage outputs are realized by changing the parameter of electronic component in step voltage conversion, are realized to motor and master control mould
Being galvanically isolated between block, it is to avoid influence of the motor to main control module；Meanwhile, the output of different voltages ensure that control
System is controlled to doing evil through another person for different model.
To realize above-mentioned design, the present invention uses following technical scheme：
A kind of Intelligent artificial hand control system, including motor, in addition to：Signal acquisition module, signal processing module, electricity
Source module, main control module, motor drive module；
The signal acquisition module, the electromyographic signal for gathering arm surface by electromyographic electrode；
The signal processing module, for being filtered the electromyographic signal and being sent to the master control mould after amplifying
Block；
The main control module, for carrying out the electromyographic signal received to obtain controlling motor after classification of motion calculating
The control signal is simultaneously sent to the motor drive module by the control signal of work；
The motor drive module, for controlling motor motion according to the control signal；
The power module, including secondary voltage conversion, wherein first order voltage conversion and second level voltage conversion difference
It is that motor and main control module are powered, the first order voltage conversion is provides difference by changing the parameter value of electronic component
The voltage conversion of output voltage.
Wherein, in addition to current feedback module, the current feedback module include sample circuit, amplifier, comparator and
Protection circuit；The sample circuit obtains sample rate current from the motor drive module, and the amplifier is electric by the sampling
Stream is amplified；The comparator compares sample rate current and default current value size after amplification, and the protection circuit is in institute
State when the sample rate current after amplification exceeds default current value size and stop motor operating.
Wherein, in addition to alarm module, sample rate current of the alarm module after the amplification exceeds default electric current
Alarm is sent during value size.
Wherein, in addition to communication module, velocity measuring module and real-time monitoring device, the real-time monitoring device passes through logical
Letter module is connected with the main control module；The velocity measuring module is used for speed, steering and the position for detecting the motor
Described information is simultaneously sent to real-time monitoring device by the information put by main control module, communication module；The real-time monitoring device
For showing described information, the linkage model done evil through another person being set up according to described information and by the linkage model real-time
Shown in monitoring device；The real-time monitoring device is additionally operable to set the position done evil through another person, the speed of service, according to the computation of inverse- kinematics
Go out to realize the corresponding position of each motor in the position, velocity information and control each motor to transport according to the information calculated
OK, while contrasting the information of rotating speed, steering and position detected in running, information realization speed that Adjustable calculation goes out,
The closed-loop control of position.
Wherein, the velocity measuring module is provided with the incremental encoder for encoding speed, steering and positional information；Institute
State the MCU of main control module model TMS320F28335.
Wherein, the chip model of the signal acquisition module is ADS1198.
Wherein, the chip of the motor drive module is H bridge chips.
Wherein, the power module includes model LMZ14203H chip U4, model LM7805 chip U7, electricity
Hold C16, electric capacity C17, electric capacity C20, electric capacity C5, electric capacity C6, electric capacity C7, electric capacity C10, electric capacity C11, electric capacity Cout, resistance R3, electricity
Hinder R4, resistance Ron, resistance Rfbb, resistance Rfbt；The pin 1 of the chip U7 and electric capacity C16 one end, electric capacity C17 one end
It is connected；The electric capacity C16 other end is connected with the electric capacity C17 other end, electric capacity C20 one end；The pin 2 of the chip U7 connects
Ground；The pin 3 of the chip U7 is connected with the electric capacity C20 other end；The pin 1 of the chip U4 and resistance R3 one end, electricity
The one end for hindering Ron one end, electric capacity C5 one end, electric capacity C6 is connected；The pin 2 of the chip U4 and the resistance Ron other end
It is connected；The pin 3 of the chip U4 is connected with the resistance R3 other end, resistance R4 one end；The pin 5 and electricity of the chip U4
The one end for holding C7 is connected；The pin 6 of the chip U4 and electric capacity C10 one end, resistance Rfbt one end, resistance Rfbb one end
It is connected；The pin 7 of the chip U4 and the electric capacity C10 other end, the resistance Rfbt1 other end, electric capacity C11 one end, electric capacity
Cout one end is connected；The other end, the electric capacity C5 other end, the electric capacity C6 other end, the chip U4 pin of the resistance R4
4th, the electric capacity C7 other end, the resistance Rfbb other end, the electric capacity C11 other end, the electric capacity Cout other end are grounded.
Wherein, the parameter of the electric capacity C16 is 100uf；The parameter of the electric capacity C17 is 0.33uf；The electric capacity C20's
Parameter is 1.0uf；The parameter of the electric capacity C5 is 10uf；The parameter of the electric capacity C6 is 1uf；The parameter of the electric capacity C7 is
4.7nf；The parameter of the electric capacity C10 is 22nf；The parameter of the electric capacity C11 is 1uf；The resistance of the resistance R3 is 68.1K
Ω；The resistance of the resistance R4 is 7.5K Ω；The resistance of the resistance Rfbb is 34K Ω.
Wherein, the communication module is serial communication modular, usb communication module or SPI communication module.
The beneficial effects of the present invention are：Pass through setting signal acquisition module, signal processing module, main control module, motor
Drive module and power module, set secondary voltage to change separated power supply in power module, and in first order voltage conversion
Different voltage outputs are realized by changing the parameter of electronic component, are realized to the electric current between motor and main control module
Isolation, it is to avoid influence of the motor to main control module；Meanwhile, the output of different voltages ensure that control system to different shaped
Number do evil through another person and be controlled.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, institute in being described below to the embodiment of the present invention
The accompanying drawing needed to use is briefly described, it should be apparent that, drawings in the following description are only some implementations of the present invention
Example, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to present invention implementation
The content and these accompanying drawings of example obtain other accompanying drawings.
Fig. 1 is a kind of structure square frame of one embodiment of Intelligent artificial hand control system provided in an embodiment of the present invention
Figure.
Fig. 2 is a kind of structure square frame of second embodiment of Intelligent artificial hand control system provided in an embodiment of the present invention
Figure.
Fig. 3 is a kind of circuit diagram of the first order voltage conversion of Intelligent artificial hand control system provided in an embodiment of the present invention.
Fig. 4 is a kind of circuit diagram of the second level voltage conversion of Intelligent artificial hand control system provided in an embodiment of the present invention.
Fig. 5 be a kind of Intelligent artificial hand control system provided in an embodiment of the present invention power module in wiring cross-talk circuit
Figure.
Fig. 6 is the position done evil through another person in a kind of real-time monitoring device of Intelligent artificial hand control system provided in an embodiment of the present invention
Schematic diagram.
Fig. 7 is a kind of monitoring interface of the real-time monitoring device of Intelligent artificial hand control system provided in an embodiment of the present invention
Schematic diagram.
Embodiment
For make present invention solves the technical problem that, the technical scheme that uses and the technique effect that reaches it is clearer, below
The technical scheme of the embodiment of the present invention will be described in further detail with reference to accompanying drawing, it is clear that described embodiment is only
It is a part of embodiment of the invention, rather than whole embodiments.Based on the embodiment in the present invention, those skilled in the art exist
The every other embodiment obtained under the premise of creative work is not made, the scope of protection of the invention is belonged to.
Fig. 1 is refer to, it is a kind of one embodiment of Intelligent artificial hand control system provided in an embodiment of the present invention
Block diagram.The Intelligent artificial hand control system of the present embodiment is mainly used in upper limb disabled person and controls it to recover limb function
Artificial limb, helps extremity disabled personses to take care of oneself, improves the quality of living, and reduces family burden.
As illustrated, the Intelligent artificial hand control system, including motor 101, in addition to：Signal acquisition module 102, letter
Number processing module 103, power module 104, main control module 105, motor drive module 106；
The signal acquisition module 102, the electromyographic signal for gathering arm surface by electromyographic electrode；
The signal processing module 103, for being filtered the electromyographic signal and being sent to the master control after amplifying
Module 105；
The main control module 105, for carrying out the electromyographic signal received to obtain control driving after classification of motion calculating
The control signal is simultaneously sent to the motor drive module 106 by the control signal of the work of motor 101；
The motor drive module 106, for controlling motor 101 to move according to the control signal；
The power module 104, including secondary voltage conversion, wherein first order voltage conversion and second level voltage conversion point
Not Wei motor 101 and main control module 105 power, the first order voltage conversion is the parameter value by changing electronic component
The voltage conversion of different output voltages is provided.
Signal acquisition module 102 gathers the myoelectric information of disabled person's arm surface by electromyographic electrode, by signal transacting
Main control module 105 is transmitted to after the processing of module 103 and carries out classification of motion calculating, and the result after calculating is transmitted to motor as control signal
Drive module 106, to control action of doing evil through another person.
Power module 104 can be by switching one kind in two kinds of powering modes of selection：Power supply adaptor is powered or electricity
Pond powers.Power module 104 is changed comprising secondary voltage, and the output voltage after first order voltage conversion is motor of doing evil through another person
101 power supplies, by changing corresponding resistance value in power module 104, it is ensured that one-level output voltage can be between 5V-28V
Arbitrary value, so as to drive based on the output voltage after rated voltage doing evil through another person between 5V-28V, second level voltage conversion
Control module 105 is powered.By the way of secondary voltage is exported, motor 101 and main control module 105 can be produced certain
Buffer action, it is to avoid influence of the motor 101 to main control module 105.
In summary, driven by setting signal acquisition module 102, signal processing module 103, main control module 105, motor
Module 106 and power module 104, set secondary voltage to change separated power supply, and turn for the first step voltage in power module 104
Different voltage outputs are realized by changing the parameter of electronic component in changing, are realized to motor 101 and main control module 105
Between be galvanically isolated, it is to avoid influence of the motor 101 to main control module 105；Meanwhile, the output of different voltages ensure that
Control system is controlled to doing evil through another person for different model.
Fig. 2 is refer to, it is a kind of second embodiment of Intelligent artificial hand control system provided in an embodiment of the present invention
Block diagram.
As illustrated, the Intelligent artificial hand control system, including motor 101, in addition to：Signal acquisition module 102, letter
Number processing module 103, power module 104, main control module 105, motor drive module 106；
The signal acquisition module 102, the electromyographic signal for gathering arm surface by electromyographic electrode；
The signal processing module 103, for being filtered the electromyographic signal and being sent to the master control after amplifying
Module 105；
The main control module 105, for carrying out the electromyographic signal received to obtain control driving after classification of motion calculating
The control signal is simultaneously sent to the motor drive module 106 by the control signal of the work of motor 101；
The motor drive module 106, for controlling motor 101 to move according to the control signal；
The power module 104, including secondary voltage conversion, wherein first order voltage conversion and second level voltage conversion point
Not Wei motor 101 and main control module 105 power, the first order voltage conversion is the parameter value by changing electronic component
The voltage conversion of different output voltages is provided.
Signal acquisition module 102 gathers the myoelectric information of disabled person's arm surface by electromyographic electrode, by signal transacting
Main control module 105 is transmitted to after the processing of module 103 and carries out classification of motion calculating, and the result after calculating is transmitted to motor as control signal
Drive module 106, to control action of doing evil through another person.
Preferably, in addition to current feedback module 107, the current feedback module 107 include sample circuit, amplifier,
Comparator and protection circuit；The sample circuit obtains sample rate current from the motor drive module 106, and the amplifier will
The sample rate current is amplified；The comparator compares sample rate current and default current value size after amplification, the guarantor
Stop motor 101 when sample rate current of the protection circuit after the amplification exceeds default current value size to operate.
When determining sample rate current beyond default current value size, stop motor operating, play the mesh of overcurrent protection
, the stall of motor 101 of doing evil through another person is prevented, motor damage is caused.
Further, in addition to alarm module 108, sample rate current of the alarm module 108 after the amplification exceeds
Alarm is sent during default current value size.
Specific type of alarm can select the modes such as buzzing, warning lamp.
Preferably, in addition to communication module 109, velocity measuring module 110 and real-time monitoring device 111, the real-time prison
Device 111 is surveyed by communication module 109 with the main control module 105 to be connected；The velocity measuring module 110 is used to detect described
Speed, steering and the information of position of motor 101 are simultaneously sent described information by main control module 105, communication module 109
To real-time monitoring device 111；The real-time monitoring device 111 is used to show described information, sets up what is done evil through another person according to described information
Linkage model simultaneously shows the linkage model in real-time monitoring device 111；The real-time monitoring device 111 is also
For setting the position done evil through another person, the speed of service, go out to realize the position corresponding position of each motor 101 according to the computation of inverse- kinematics
Put, velocity information and control each motor 101 to run according to the information that calculates, while contrasting what is detected in running
Rotating speed, steering and the information of position, information realization speed that Adjustable calculation goes out, the closed-loop control of position.
The specific interface monitored in real time refers to Fig. 7.Real-time monitoring device 111 can be considered as a computer, calculate
The information of speed, steering and the position of motor 101 is shown on machine, and shows by curve each motor speed, position respectively
Real-time change situation.It is specific to set up a linkage model of doing evil through another person with three rotary freedoms, show the fortune done evil through another person
Dynamic state.Specific modeling method is as follows：
A, determination are done evil through another person the free degree, in this example by it is existing there is the doing evil through another person of three rotary freedoms exemplified by.
B, according to existing the do evil through another person length for setting each connecting rod, adjacent diarticular torsional angle, it is biasing between adjacent links, adjacent
Angle, kinematic pair type information between connecting rod.Done evil through another person connecting rod by the link order foundation in matlab.
C, determination do evil through another person the reference axis type of model.Standard DH coordinate systems are selected in this example.
D, foundation are done evil through another person connecting rod model.Pass through the connecting rod formation mould established before the robot orders connection in matlab
Type.
E, speed, the position for associating do evil through another person each movable joint and corresponding motor 101.
F, the positive kinematics calculating by linkage, calculate speed and the position for end of doing evil through another person.By in matlab
Fkine orders.
Real-time monitoring device 111 can show run time, and preserve run time and corresponding driving electricity
Speed, the positional information of machine 101, foundation is provided for next step data analysis.
The do evil through another person position and wanting of end of input is done evil through another person the speed of operation, point in the interface of the real-time monitoring shown in Fig. 7
The settings button of real-time monitoring device 111 is hit, the control information that the position of setting and speed go out according to the computation of inverse- kinematics is led to
Cross communication module 109 be sent to main control module 105 again by motor drive module 106 control motor 101 complete response, by vacation
Hands movement to set position.This control process is considered as the reciprocal process of monitoring.
Specifically as shown in fig. 6, wherein a and b are respectively the initial position and the position signal after operation one end time done evil through another person
Figure.
Further, the velocity measuring module 110 is provided with the increment type for encoding speed, steering and positional information and compiled
Code device；The MCU of the main control module 105 model TMS320F28335.
Velocity measuring module 110 uses incremental encoder, speed, steering, the information of position of motor 101 of sampling
(being counterclockwise positive direction), will be connected to the respective pins in main control module 105 after information encoding by buffer.Main control module
105 MCU model TMS320F28335, itself carries encoder decoding function, can decode the speed of motor, steering,
The information of position.
Further, the chip model of the signal acquisition module 102 is ADS1198.
ADS1198 can gather 8 tunnel electromyographic signals simultaneously, per se with filtering and enlarging function.103 pairs of signal processing module
The signal collected carries out secondary filtering, enhanced processing.
Further, the chip of the motor drive module 106 is H bridge chips.
The chip volume of H bridge chips is small, and integrated level is high, and chip is per se with overheat, short-circuit protection function, compatible
TTL/CMOS level, it is possible to 0.24% running current in the running of motor 101 of sampling.
Preferably, the power module 104 includes model LMZ14203H chip U4, model LM7805 chip
U7, electric capacity C16, electric capacity C17, electric capacity C20, electric capacity C5, electric capacity C6, electric capacity C7, electric capacity C10, electric capacity C11, electric capacity Cout, resistance
R3, resistance R4, resistance Ron, resistance Rfbb, resistance Rfbt；The pin 1 of the chip U7 and electric capacity C16 one end, electric capacity C17
One end be connected；The electric capacity C16 other end is connected with the electric capacity C17 other end, electric capacity C20 one end；The chip U7's draws
Pin 2 is grounded；The pin 3 of the chip U7 is connected with the electric capacity C20 other end；The pin 1 of the chip U4 and the one of resistance R3
End, resistance Ron one end, electric capacity C5 one end, electric capacity C6 one end are connected；The pin 2 of the chip U4 and resistance Ron's is another
One end is connected；The pin 3 of the chip U4 is connected with the resistance R3 other end, resistance R4 one end；The pin 5 of the chip U4
It is connected with electric capacity C7 one end；The pin 6 of the chip U4 and electric capacity C10 one end, resistance Rfbt one end, resistance Rfbb
One end is connected；The pin 7 of the chip U4 and the electric capacity C10 other end, the resistance Rfbt1 other end, electric capacity C11 one end,
Electric capacity Cout one end is connected；The other end of the resistance R4, the electric capacity C5 other end, the electric capacity C6 other end, chip U4
Pin 4, the electric capacity C7 other end, the resistance Rfbb other end, the electric capacity C11 other end, the electric capacity Cout other end are grounded.
Further, the parameter of the electric capacity C16 is 100uf；The parameter of the electric capacity C17 is 0.33uf；The electric capacity
C20 parameter is 1.0uf；The parameter of the electric capacity C5 is 10uf；The parameter of the electric capacity C6 is 1uf；The ginseng of the electric capacity C7
Number is 4.7nf；The parameter of the electric capacity C10 is 22nf；The parameter of the electric capacity C11 is 1uf；The resistance of the resistance R3 is
68.1KΩ；The resistance of the resistance R4 is 7.5K Ω；The resistance of the resistance Rfbb is 34K Ω.
The voltage of motor drive ic and the voltage of motor are different in circuit.Motor drive ic needs 5V electricity
Pressure, and the voltage of motor is determined by middle motor 101 of doing evil through another person, can be between 5V-28V.First order electricity shown in Fig. 3
Circuit diagram when output voltage is 5V during pressure is changed.Now resistance Ron resistance is 100K Ω；Resistance Rfbb resistance is
6.49KΩ；Electric capacity Cout parameter is 100uf.If the rated voltage for the motor 101 done evil through another person is 9V, if thinking output electricity
Pressure be changed into 9V from 5V, it is only necessary to change resistance Ron, resistance Rfbb and electric capacity Cout parameter, be respectively modified as 162K Ω,
3.32K Ω and 47uf can realize 9V voltage output in the VCC from Fig. 3.
Fig. 4 be the circuit diagram of second level voltage conversion, Fig. 5 be the binding post in power module 104 circuit diagram, wherein
VCC is connected with model SS24 diode D1 negative pole, diode D1 plus earth.It is in LMZ14203H output voltages
When 9V, to be powered to motor drive ic, it is necessary to 9V is converted into 5V, with jump cap connect VCC and tra_to_5V, VCC and
LMZ14203H output voltage is to be electrically connected with, i.e., output voltage is connected to LM7805 chips, is converted into 5V voltages.When
It when LMZ14203H output voltages are 5V, can be powered directly to driving chip, now, connect VCC and+5V with jump cap, directly
It assign LMZ14203H output voltage as motor and the supply voltage of driving chip.
Further, the communication module 109 is serial communication modular, usb communication module or SPI communication module.
The implementation of a variety of communications ensure that selects suitable design for different real-time monitoring devices 111.
Above content is only presently preferred embodiments of the present invention, for one of ordinary skill in the art, according to the present invention's
Thought, will change in specific embodiments and applications, and this specification content should not be construed as to the present invention
Limitation.
Claims (9)
1. a kind of Intelligent artificial hand control system, including motor, it is characterised in that also include：At signal acquisition module, signal
Manage module, power module, main control module, motor drive module；
The signal acquisition module, the electromyographic signal for gathering arm surface by electromyographic electrode；
The signal processing module, for being filtered the electromyographic signal and being sent to the main control module after amplifying；
The main control module, for carrying out the electromyographic signal received to obtain control motor work after classification of motion calculating
Control signal and the control signal is sent to the motor drive module；
The motor drive module, for controlling motor motion according to the control signal；
The power module, including secondary voltage conversion, wherein first order voltage conversion and second level voltage conversion are respectively to drive
Dynamic motor and main control module are powered, and the first order voltage conversion is provides different outputs by changing the parameter value of electronic component
The voltage conversion of voltage；
Also include communication module, velocity measuring module and real-time monitoring device, the real-time monitoring device by communication module with
The main control module is connected；The velocity measuring module is used for the information for detecting speed, steering and the position of the motor
And described information is sent to real-time monitoring device by main control module, communication module；The real-time monitoring device is used to show
Described information, set up according to described information the linkage model done evil through another person and by the linkage model in real-time monitoring device
Middle display；The real-time monitoring device is additionally operable to set the position done evil through another person, the speed of service, and being gone out to realize according to the computation of inverse- kinematics should
The corresponding position of each motor in position, velocity information simultaneously control each motor to run according to the information calculated, while right
Than the rotating speed detected in running, steering and the information of position, information realization speed that Adjustable calculation goes out, the closed loop of position
Control.
2. a kind of Intelligent artificial hand control system according to claim 1, it is characterised in that also including current feedback module,
The current feedback module includes sample circuit, amplifier, comparator and protection circuit；The sample circuit drives from the motor
Sample rate current is obtained in dynamic model block, the sample rate current is amplified by the amplifier；The comparator compares after amplification
Sample rate current and default current value size, sample rate current of the protection circuit after the amplification exceed default current value
Stop motor operating during size.
3. a kind of Intelligent artificial hand control system according to claim 2, it is characterised in that described also including alarm module
Sample rate current of the alarm module after the amplification sends alarm when exceeding default current value size.
4. a kind of Intelligent artificial hand control system according to claim 1, it is characterised in that the velocity measuring module is set
There is the incremental encoder for encoding speed, steering and positional information；The MCU of main control module model
TMS320F28335。
5. a kind of Intelligent artificial hand control system according to claim 1, it is characterised in that the core of the signal acquisition module
Piece model ADS1198.
6. a kind of Intelligent artificial hand control system according to claim 1, it is characterised in that the core of the motor drive module
Piece is H bridge chips.
7. a kind of Intelligent artificial hand control system according to claim 1, it is characterised in that the power module includes model
For LMZ14203H chip U4, model LM7805 chip U7, electric capacity C16, electric capacity C17, electric capacity C20, electric capacity C5, electric capacity
C6, electric capacity C7, electric capacity C10, electric capacity C11, electric capacity Cout, resistance R3, resistance R4, resistance Ron, resistance Rfbb, resistance Rfbt；Institute
State chip U7 pin 1 and electric capacity C16 one end, electric capacity C17 one end are connected；The electric capacity C16 other end and electric capacity C17's is another
One end, electric capacity C20 one end are connected；The pin 2 of the chip U7 is grounded；The pin 3 of the chip U7 and electric capacity C20's is another
End is connected；The pin 1 of the chip U4 and resistance R3 one end, resistance Ron one end, electric capacity C5 one end, the one of electric capacity C6
End is connected；The pin 2 of the chip U4 is connected with the resistance Ron other end；The pin 3 of the chip U4 and resistance R3's is another
End, resistance R4 one end are connected；The pin 5 of the chip U4 is connected with electric capacity C7 one end；The pin 6 and electricity of the chip U4
The one end for holding C10 one end, resistance Rfbt one end, resistance Rfbb is connected；The pin 7 of the chip U4 and electric capacity C10's is another
One end, the resistance Rfbt1 other end, electric capacity C11 one end, electric capacity Cout one end are connected；The other end, the electricity of the resistance R4
Hold the C5 other end, the electric capacity C6 other end, chip U4 pin 4, the electric capacity C7 other end, the resistance Rfbb other end, electricity
The other end, the electric capacity Cout other end for holding C11 are grounded.
8. a kind of Intelligent artificial hand control system according to claim 7, it is characterised in that the parameter of the electric capacity C16 is
100uf；The parameter of the electric capacity C17 is 0.33uf；The parameter of the electric capacity C20 is 1.0uf；The parameter of the electric capacity C5 is
10uf；The parameter of the electric capacity C6 is 1uf；The parameter of the electric capacity C7 is 4.7nf；The parameter of the electric capacity C10 is 22nf；Institute
The parameter for stating electric capacity C11 is 1uf；The resistance of the resistance R3 is 68.1K Ω；The resistance of the resistance R4 is 7.5K Ω；It is described
Resistance Rfbb resistance is 34K Ω.
9. a kind of Intelligent artificial hand control system according to claim 1, it is characterised in that the communication module is logical for serial ports
Believe module, usb communication module or SPI communication module.
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| CN106956255A (en) * | 2017-03-13 | 2017-07-18 | 日照若比邻机器人科技有限公司 | Manipulator control system |
| CN106965190B (en) * | 2017-03-13 | 2020-06-26 | 山东若比邻机器人股份有限公司 | Manipulator control system |
| CN107049570A (en) * | 2017-03-13 | 2017-08-18 | 日照若比邻机器人科技有限公司 | Manipulator control system |
| CN107242921A (en) * | 2017-06-22 | 2017-10-13 | 菏泽学院 | A kind of control system of intelligent artifucial limb |
| CN109419575B (en) * | 2017-08-29 | 2023-06-16 | 上海科生假肢有限公司 | Innovative control method of myoelectric control artificial hand |
| CN109991890A (en) * | 2017-12-29 | 2019-07-09 | 深圳市优必选科技有限公司 | A kind of circuit and robot for preventing steering gear system from discharging |
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| JP4178186B2 (en) * | 2003-08-21 | 2008-11-12 | 国立大学法人 筑波大学 | Wearable motion assist device, control method for wearable motion assist device, and control program |
| JP5642534B2 (en) * | 2010-12-27 | 2014-12-17 | Cyberdyne株式会社 | Wearable motion assist device, its interface device and program |
| CN202365968U (en) * | 2011-12-01 | 2012-08-08 | 上海理工大学 | Grip-speed-controllable intelligent electromyographic prosthetic hand control circuit |
| CN102429748B (en) * | 2011-12-01 | 2014-06-18 | 上海理工大学 | Holding speed controllable intelligent myoelectric prosthetic hand control circuit |
| CN103006358B (en) * | 2012-12-27 | 2014-11-12 | 东南大学 | Control method of myoelectric artificial hand |
| CN103892945B (en) * | 2012-12-27 | 2017-03-08 | 中国科学院深圳先进技术研究院 | Myoelectric limb control system |
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