CN107545831A - The dynamic experiment training device of grasping operation and application are stretched for more gestures in three dimensions - Google Patents
The dynamic experiment training device of grasping operation and application are stretched for more gestures in three dimensions Download PDFInfo
- Publication number
- CN107545831A CN107545831A CN201710866043.1A CN201710866043A CN107545831A CN 107545831 A CN107545831 A CN 107545831A CN 201710866043 A CN201710866043 A CN 201710866043A CN 107545831 A CN107545831 A CN 107545831A
- Authority
- CN
- China
- Prior art keywords
- slide rail
- axis
- data
- unit
- sliding block
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Abstract
Present invention offer is a kind of to stretch the dynamic experiment training device of grasping operation for more gestures in three dimensions, mainly includes three-D electric slide unit, grasping object component, button switch, data collecting card, EEG signals record system, optical motion capture systems and PC.Apparatus of the present invention can realize the flexible grasp motion of more gestures of optional position in three dimensions；EEG signals, the movement locus and experimental state of arm of the subject in task process is performed, and the method for providing these three data of aliging in time can be recorded simultaneously；Training effectiveness can be improved according to the pattern and training parameter of the study schedule of subject real-time adjusting training on PC in the training process；Whole experiment process is all automatically controlled by PC, reduces artificial participate in.The present invention can realize a variety of grasping gestures and any combination of any locus, realize the Automatic Control of experiment, and record three kinds of EEG signals, arm motion track and experimental state data simultaneously.
Description
Technical field
The invention belongs to bioengineering field, it is related to and a kind of be used for more gestures in three dimensions and stretch the dynamic Experiment Training of grasping operation
Device, EEG signals, arm motion track and the experiment shape of animal are recorded while execution available for guiding primate
Three kinds of data of state.
Technical background
People and the flexible and basic motor function of grasping movement of non-human primate upper limbs, and kinesitherapy nerve science
One of hot subject of research.Scientist usually requires record subject (primate) and grasps diverse location with different gestures
Object when brain motor cortex nerve signal, grasp position and grasping gesture information, and then analyze nerve signal with
Corresponding relation between upper extremity exercise.
Currently used laboratory facilities are fixed several grasping objects of different shapes in face of subject, and each grasping is corresponding
Different grasping gestures, subject is prompted to need the handle grasped with LED.This method defines the pass between position and gesture
System, can not realize and be combined between position and gesture.Need laboratory technician manually to observe in experimentation and record grasping
The information of the experimental states such as position, the gesture grasped, the time for starting grasping, experimental result, can not only consume substantial amounts of manpower
Resource, also it is easy to error in judgement occur.Other exercise data records typically discrete position coordinates and gesture numbering, nothing
Method obtains the continuous exercise data of arm motion track.
Therefore complete set experiment and data record platform are needed, grip locations is realized and grasps free group between gesture
Close, automation experiment and judgement, while record the kinds of experiments including neural deta, experimental state and continuous movement locus
Data, and realize alignment of the multiple types of data in time scale.
The content of the invention
The dynamic experiment training device of grasping operation is stretched for more gestures in three dimensions it is an object of the invention to provide a kind of, is one
Kind carries out more gestures in three dimensions for primate and stretches the dynamic experiment porch and data recording equipment of grasping operation.
Device of the present invention, mainly include three-D electric slide unit 1, grasping object component 2, button switch 3, data and adopt
Truck 4, EEG signals record system 5, optical motion capture systems 6 and PC 7, the three-D electric slide unit 1 are that motor 14 drives
The dynamic axle slide rails of XYZ tri-, the corresponding axle slide rails 10 of XYZ tri- are provided with sliding block 16, grasp object component 2 including LED 27, a variety of grab
Object 18 and built-in parting touch sensor 31 are held, object component 2 is grasped and is bolted on X-axis in three-D electric slide unit 1
Corresponding to slide rail on X-axis slide block 16-1, button switch 3 is fixed on the support 8 of three-D electric slide unit 1, data collecting card 4 and electricity
Machine 14, button switch 3, LED 27, parting touch sensor 31 electrically connect, and are electrically connected with PC 7 by USB interface, brain electricity
The electrod-array on the one end of signal recording system 5 connection subject head, the other end by Ethernet access PC 7, catch by optical motion
Obtain system 6 to be connected with PC 7 by Ethernet, there is communication master control device on PC 7.
Be made up of the agent structure of three-D electric slide unit 1 five slide rails 10, three-D electric slide unit 1 include support 8, base 9,
Slide rail 10, connecting shaft 11, connecting plate 12, tripod 13, motor 14, reductor 15, sliding block 16.Slide rail 10 includes an X-axis and slided
Rail 10-1, two Y-axis slide rails：Right Y-axis slide rail 10-2, left Y-axis slide rail 10-3 and two Z axis slide rails：Right Z axis slide rail 10-4, left Z
Axle slide rail 10-5.Sliding block 16 includes an X-axis slide block 16-1, two Y-axis sliding blocks：Right Y-axis sliding block 16-2 and left Y-axis sliding block 16-
3, two Z axis sliding blocks：Right Z axis sliding block 16-4 and left Z axis sliding block 16-5.Right Y-axis slide rail 10-2 and left Y-axis slide rail 10-3 lead to respectively
Cross base 9 to be fixed on support 8, right Z axis slide rail 10-4 and left Z axis slide rail 10-5 are separately fixed at right Y-axis by tripod 13
On sliding block 16-2 and left Y-axis sliding block 16-3, X-axis slide rail 10-1 both ends are separately fixed at right Z axis sliding block 16-4 by connecting plate 12
On left Z axis sliding block 16-5.X-axis slide rail 10-1, right Y-axis slide rail 10-2 and right Z axis slide rail 10-4 are active slide rails, its end according to
Secondary mechanical connection reductor 15 and motor 14, left Y-axis slide rail 10-3 and left Z axis slide rail 10-5 be driven slide rail, active slide rail with
It is connected between driven slide rail by connecting shaft 11.
The communication master control device of the PC 7 includes：
For setting the parameter set unit of experiment parameter；
For receiving the port information of data collecting card and to the communication unit of data collecting card sending port control command；
For sending the data write unit of digital label to EEG signals record system；
For controlling experiment flow, judgment experiment state and sending experimental state to the logic control of data write unit
Unit；
For statistical experiment number, number of success, experimental period data statistic unit；
For controlling optical motion capture systems start and stop record exercise data and sending recording status to data
The motion recording unit of writing unit.
Remember it is a further object to provide described experiment training device in EEG signals full experiment and data
Application in record, more gestures, multiposition stretch grasping operation and move and record subject especially in guiding primate carries out three dimensions
Application in three kinds of EEG signals, arm motion track and experimental state data, is realized especially by following steps：
The method that experiment parameter is set in the parameter set unit of PC；
The method of start recording EEG signals in EEG signals record system；
The communication control system control optical motion capture systems start recording arm motion track of PC, and " will start
Record " label is sent to the method for EEG signals record system；
The communication master control device controlled motor of PC is moved to specified location by object is grasped；
The communication master control device of PC receives the message that button switch is pressed, and starts the method once tested；
The communication master control device lightening LED lamp of PC, prompt to start the method grasped；
The communication master control device of PC receives parting touch sensor information, judges experimental state and writes experimental state
The method of EEG signals record system；
The statistic unit of PC receives the information and statistical experiment number, number of success, experimental period of logic control element
The method of data.
Relative to prior art, the present invention has advantages below：(1) experimental provision can be realized any in three dimensions
The flexible grasp motion of more gestures of position；(2) experimental provision can record brain electricity of the subject in task process is performed simultaneously
The movement locus and experimental state of signal, arm, and the method for providing these three data of aliging in time.(3) train
During can according to the pattern and training parameter of the study schedule of subject real-time adjusting training on PC, improve training effect
Rate.(4) whole experiment process is all automatically controlled by PC, reduces artificial participate in.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the structural representation of three-D electric slide unit 1 of the present invention.
Fig. 3 is the structural representation of rotating disk of the present invention.
Fig. 4 is the structural representation that the present invention grasps hand on object.
Fig. 5 is the structural representation that hole shape of the present invention grasps object.
Fig. 6 is the structural representation that handle type of the present invention grasps object.
Fig. 7 is the structural representation and circuit diagram of button switch of the present invention.
Fig. 8 is the structural representation of present invention communication master control device.
Fig. 9 is the time unifying schematic diagram of neural deta, motion trace data and movement state information.
Figure 10 is the operational flowchart of one embodiment of the present invention.
Embodiment
The present invention is described further in conjunction with the accompanying drawings and embodiments.
Embodiment 1
Referring to Fig. 1, of the invention is a kind of for guiding more gestures in three dimensions to stretch the dynamic experimental provision of grasping operation, main bag
Include three-D electric slide unit 1, grasp object component 2, button switch 3, data collecting card 4, EEG signals record system 5, optics fortune
Dynamic capture systems 6 and PC 7.The three-D electric slide unit 1 is the axle slide rails 10 of XYZ tri- that motor 14 drives, by five slide rails 10
The agent structure of three-D electric slide unit 1 is formed, the corresponding axle slide rails 10 of XYZ tri- are provided with sliding block 16, and grasping object component 2 includes
LED 27, a variety of grasping objects 18 and built-in parting touch sensor 31, grasp object component 2 and be bolted on three-dimensional
In electronic slide unit 1 on X-axis slide rail 10-1 X-axis slide block 16-1, button switch 3 is fixed on the support 8 of three-D electric slide unit 1,
Data collecting card 4 electrically connects with motor 14, button switch 3, LED 27, parting touch sensor 31, and passes through USB with PC 7
Interface electrically connects, and the electrod-array on the one end of EEG signals record system 5 connection subject head, the other end passes through Ethernet access PC
Machine 7, optical motion capture systems 6 are connected by Ethernet with PC 7, there is communication master control device on PC 7.
The communication master control device of the PC 7 includes：
For setting the parameter set unit of experiment parameter；
For receiving the port information of data collecting card and to the communication unit of data collecting card sending port control command；
For sending the data write unit of digital label to EEG signals record system；
For controlling experiment flow, judgment experiment state and sending experimental state to the logic control of data write unit
Unit；
For statistical experiment number, number of success, experimental period data statistic unit；
For controlling optical motion capture systems start and stop record exercise data and sending recording status to data
The motion recording unit of writing unit.
Referring to Fig. 2, the one kind for giving three-D electric slide unit 1 builds mode, and forming three-D electric by five slide rails 10 slides
The agent structure of platform 1, it is specially：Three-D electric slide unit 1 includes support 8, base 9, slide rail 10, connecting shaft 11, connecting plate 12, three
Corner bracket 13, motor 14, reductor 15, sliding block 16.Slide rail 10 includes an X-axis slide rail 10-1, two Y-axis slide rails：Right Y-axis slide rail
10-2, left Y-axis slide rail 10-3 and two Z axis slide rails：Right Z axis slide rail 10-4, left Z axis slide rail 10-5.Sliding block 16 includes an X-axis
Sliding block 16-1, two Y-axis sliding blocks：Right Y-axis sliding block 16-2 and left Y-axis sliding block 16-3, two Z axis sliding blocks：Right Z axis sliding block 16-4 and
Left Z axis sliding block 16-5.Right Y-axis slide rail 10-2 and left Y-axis slide rail 10-3 are fixed on support 8 by base 9, right Z axis slide rail 10-
4 and left Z axis slide rail 10-5 is fixed on right Y-axis sliding block 16-2 and left Y-axis sliding block 16-3 by tripod 13, X-axis slide rail 10-1
Both ends are separately fixed on right Z axis sliding block 16-4 and left Z axis sliding block 16-5 by connecting plate 12.X-axis slide rail 10-1, right Y-axis are slided
Rail 10-2 and right Z axis slide rail 10-4 is active slide rail, and its end mechanically connects reductor 15 and motor 14 successively；Left Y-axis slide rail
10-3 and left Z axis slide rail 10-5 is driven slide rail, is connected between active slide rail and driven slide rail by connecting shaft 11.Three motors
14 respectively drive a dimension, finally realize that X-axis slide block 16-1 is moved in three dimensions.Reductor 15 is used to increase motor 14
Self-lock force is to ensure that the sliding block of inactive state glidepath will not move in the presence of external force.
A kind of embodiment for grasping object component 2 is rotating disk 17 and the combination for grasping object 18, and rotating disk 17 is used to switch
A variety of grasping objects 18, grasp object 18 and be used to prompt and detect different grasping gestures.
Referring to Fig. 3, a kind of structure chart of rotating disk 17 is given.The forward and backward of rotating disk casing, upper and lower panel are by acrylic board
Bonding is formed, and front panel center is provided with circular hole, and so that subject stretches out one's hand the grasping object 18 grasped in rotary disc box body, rear board is provided with
4 through holes, casing can be fixed on three-D electric slide unit X-axis slide rail 10-1 sliding block 16 by screw.Eight angles in casing
Fixed triangle block 19, casing or so panel are screwed on corner block 19, can carry out dismounting assembling.Rotating disk main body is by Asia
Gram force plate is bonded and formed, and is made up of upper and lower cover plates 20, side panel 21, dividing plate 22 and key set 23.Be provided with side panel 21 string holes and
Screwed hole, string holes is for grasping the wire of parting touch sensor 31 on object 18 by the way that screwed hole is used for fixed grasping object 18.
Key set 23 is bonded on the lower cover 20 of rotating disk, is coordinated with the axle key of rotating shaft 24.The bottom of rotating shaft 24 is fixed by bearing 25, and rotating shaft 24 is pushed up
End is provided with keyway, and the rotating shaft with motor 14-4 coordinates.The inner ring of via hole type conducting slip ring 26 is solid by screw and rotating shaft 24
Fixed, outer ring is fixed with plate above rotating disk casing.The wire grasped on object 18 accesses casing by via hole type conducting slip ring 26
Outside, the wire of the external side of guard box will not be with turntable rotation.The front panel of casing, the upper end of circular hole are provided with small sircle hole, are used for
Place LED 27.LED is used for the state to subject prompting task.
Referring to Fig. 4, the structure chart for hand being grasped object 18-1 is given.The object is by main body 36, cover plate 37 and backboard
38 three parts form.U-shaped groove is provided with main body 36, for placing parting touch sensor 31 and wire.Main body 36 is fixed on
On backboard 38, string holes and through hole are provided with backboard 38, string holes passes through for wire, and through hole is used for fixed grasping object 18-1.Parting
Touch sensor 31 is attached in groove on front and rear two walls, for detecting the grasping gesture of subject.Under without triggering state, parting touches
It is high level to touch the output end of sensor 31；When the hand of subject touches the outer wall for grasping object, corresponding parting touch sensing
The output end of device 31 is changed into low level.When two sensors are changed into low level simultaneously, judge that subject has held the object；
Referring to Fig. 5, the structure chart for hole shape being grasped object 18-2 is given.The gesture of the object corresponding " hook ", by main body
39th, cover plate 40 and the three parts of backboard 41 composition.There is square opening in main body 39, the hole only allows the forefinger of subject to pass through；Main body 39
Inside is provided with L-shaped groove, for placing parting touch sensor 31 and wire.Main body 39 is fixed on backboard 41, on backboard 41
String holes and through hole are provided with, string holes passes through for wire, and through hole is used for fixed grasping object 18-2.Parting touch sensor 31 is attached to recessed
In groove on rear wall, for detecting the grasping gesture of subject.Subject need to pass through square hole with forefinger, catch on main body 39.When sensor becomes
For low level when, judge subject caught on B objects；
Referring to Fig. 6, the structure chart for handle type being grasped object 18-3 is given.Corresponding " pinching " gesture of the object, by main body 42,
Cover plate 43 and the three parts of backboard 44 composition.Square groove is provided with inside main body 42, for placing parting touch sensor 31 and leading
Line.Main body 42 is fixed on backboard 44, and string holes and through hole are provided with backboard 44, and string holes passes through for wire, and through hole is used for fixation and grabbed
Hold object 18-3.Parting touch sensor 31 1 is attached to the right flank in the groove of main body 42, and another is attached to the right side of cover plate 44
Face.Subject need to pinch the left and right two sides for grasping object 18-3 simultaneously with forefinger and thumb.When two parting touch sensors 31 are defeated
When going out end while being changed into low level, judge that subject has pinched the object.
Referring to Fig. 7, the structure chart and circuit diagram of button switch 3 are given.Button switch 3 is by button body 32 and fine motion
The composition of switch 33.The bottom of button body 32 has two to keep a foothold 34, is kept a foothold with two on microswitch 33 35 relative.Button body
It is mechanically fixed between 32 and microswitch 33.33 two pins one of microswitch terminate the 5V control voltages of data collecting card, separately
One end is grounded by resistance R1, and output end is connected to the digital defeated of data collecting card 4 between resistance R1 and microswitch 33
Enter end.When a button is pressed, microswitch, which is kept a foothold, 35 is depressed, and two pins conducting of microswitch 33, output end is height
Level；When button is released, microswitch is kept a foothold bullet on 35, and two pins of microswitch 33 disconnect, and output end is low electricity
It is flat.Button switch 3 is fixed on three-D electric slide unit support 8 by aluminium alloy extrusions.
Experiment flow control is controlled by data collecting card 4 performs equipment realization.Data collecting card 4 has two effects, when
The port status of collection button switch 3 and parting touch sensor 31 is simultaneously sent to the communication master control device of PC 7；Second,
Receiving the control command of communication master control device and being converted into port voltage signal controls LED 27 and motor 14 to run.Data are adopted
A kind of implementation of truck 4 is NI USB-6341 type data collecting cards, and it can provide the 5V control voltages of standard, comprising
Four kinds of numeral input, numeral output, simulation input, simulation output ports.In the present invention, the control of LED 27 and motor 14
The digital output end of terminating data capture card 4, the output termination data collecting card 4 of parting touch sensor 31 and button switch 3
Digital input end.
The control instruction of data collecting card 4 is provided by the communication master control device on PC 7.As shown in figure 8, communication master control dress
Put by parameter set unit, data communication units, logic control element, statistic unit, data write unit and motion recording list
Member composition.Parameter set unit sets experiment control parameter for experimenter, and parameter is sent into logic control element；Data
Communication unit is used for the bidirectional data communication with data collecting card 4, can receive the port status of data collecting card and be sent to
Logic control element, while receive the control instruction of logic control element and to data collecting card sending port control command；Patrol
Collect control unit and control command is produced according to control parameter, according to button switch 3 and the port status of parting touch sensor 31
Judge experimental state, and experimental state information is sent to data write unit and statistic unit；Motion recording unit can be controlled
The start and stop record exercise data of optical motion capture systems 6 processed, and both status informations are sent to data write-in list
Member；Data write unit receives the status information from motion recording unit and logic control element, is encoded to certain number
Word label is sent to EEG signals record system.Statistic unit receives the experimental state information of logic control element, counts and shows
Show the data such as experimental period, experiment number, number of success, success rate；
A kind of implementation of optical motion capture systems 6 is the capturing movement system of Motion Analysis companies of the U.S.
System, for capturing and recording by the motion trace data of test arm.The system is by reflective marker point, digital capture camera and figure
Shape work station forms.Digital capture camera shares 8, can produce bright, uniform light source.Reflective marker point is attached to subject
On the arm of motion, the light of reflection is captured to obtain gray level image by camera, is sent to graphics workstation, then pass through Ethernet
PC 7 is sent to preserve exercise data.
A kind of implementation of EEG signals record system 5 is the Cerebus systems of BlockRock companies of U.S. manufacture,
The system includes preamplifier and nerve signal process device.Array electrode is implanted in subject cerebral cortex, the brain collected
Amplification of the electric signal through preamplifier, filtering and analog-to-digital conversion, afferent nerve signals processor.Nerve signal process device can
To receive the experimental state label that PC 7 communicates master control device and sent, and they and eeg data are packaged into packet, finally
The keeping records of PC 7 is sent to by Ethernet.
Referring to Fig. 9, eeg data, the time synchronized side of three kinds of experimental datas of motion trace data and experimental state are given
Method.In the file of PC record, the start recording label of eeg data, experimental state label and motion trace data is recorded
In same file, and motion trace data is preserved into individual files., it is necessary to by exercise data in off-line data processing
Sampling for the first time and exercise data start recording label registration, you can realize eeg data, motion trace data and experimental state
Time scale alignment.
Embodiment 2
Referring to Figure 10, operation of the invention and experiment flow, comprise the following steps that：Subject is sitting in motion with comfortable posture
20-30cm position before platform, move and reflective marker point is pasted on arm.Experimenter sets in the parameter set unit of PC 7
Experiment parameter, the start recording EEG signals in EEG signals record system 5, start to remember on the motion recording unit of PC 7
Motor message is recorded, now the digital label corresponding to " start recording " is sent to EEG signals and remembered by the data write unit of PC
Recording system 6, and when EEG signals synchronous recording.In once complete experimentation, the logic control element control three of PC 7
Tie up electronic slide unit 1 and rotating disk 17 is moved to specified coordinate point, and control the motor 14 on rotating disk 17 to rotate, make to specify grasping object
The circular hole of 18 alignment rotating disk casing front panels.When the logic control element of PC detect button switch 3 be pressed and held within to
After specified time, LED 27 is bright, prompts subject release button switch 3 and grasps the grasping object 18 in rotating disk 17.Work as logic
After control unit detects that the parting touch sensor 31 in the grasping object 18 is all changed into low level, judge subject with correct
Gesture grasped handle；After logic control element detects that low level state continues to specified time, this reality is judged
Success is tested, this experiment terminates.If subject fails after LED 27 is bright, release button switchs 3 or release button in specified time
Fail to do sth. in advance to loose one's grip be determined as reality after within a specified time grasping object or correct grasping object with correct gesture after switch 3
Test failure and terminate this experiment.In experimentation, logic control element is by experimental state (LED, button switch, motor
With parting touch sensor) each change be sent to data write unit in real time, experimental state is encoded into digital mark by the latter
Sign and issue and deliver to EEG signals record system 6, with EEG signals synchronous recording.
Claims (4)
1. a kind of stretch the dynamic experiment training device of grasping operation for more gestures in three dimensions, it is characterised in that：It is main to include three-dimensional
Electronic slide unit (1), grasp object component (2), button switch (3), data collecting card (4), EEG signals record system (5), light
Motion capture system (6) and PC (7) are learned, the three-D electric slide unit (1) is the axle slide rails of XYZ tri- of motor (14) driving
(10), the corresponding axle slide rails (10) of XYZ tri- are provided with sliding block (16), and grasping object component (2) includes LED (27), a variety of grasping
Object (18) and built-in parting touch sensor (31), grasp object component (2) and be bolted on three-D electric slide unit
(1) on the sliding block (16-1) of X-axis slide rail (10-1), button switch (3) is fixed on the support (8) of three-D electric slide unit (1),
Data collecting card (4) electrically connects with motor (14), button switch (3), LED (27), parting touch sensor (31), and and PC
Machine (7) is electrically connected by USB interface, and the electrod-array on EEG signals record system (5) one end connection subject head, the other end leads to
Ethernet access PC (7) is crossed, optical motion capture systems (6) are connected with PC (7) by Ethernet, had on PC (7) logical
Interrogate master control device.
2. it is according to claim 1 it is a kind of be used for more gestures in three dimensions and stretch the dynamic experiment training device of grasping operation, it is special
Sign is：Three-D electric slide unit (1) includes support (8), base (9), slide rail (10), connecting shaft (11), connecting plate (12), triangle
Frame (13), motor (14), reductor (15), sliding block (16), slide rail (10) include an X-axis slide rail (10-1), and two Y-axis are slided
Rail：Right Y-axis slide rail (10-2), left Y-axis slide rail (10-3) and two Z axis slide rails：Right Z axis slide rail (10-4), left Z axis slide rail (10-
5), sliding block (16) includes an X-axis slide block (16-1), two Y-axis sliding blocks：Right Y-axis sliding block (16-2) and left Y-axis sliding block (16-
3), two Z axis sliding blocks：Right Z axis sliding block (16-4) and left Z axis sliding block (16-5), right Y-axis slide rail (10-2) and left Y-axis slide rail
(10-3) is fixed on support (8) by base (9), and right Z axis slide rail (10-4) and left Z axis slide rail (10-5) pass through tripod
(13) it is separately fixed on right Y-axis sliding block (16-2) and left Y-axis sliding block (16-3), X-axis slide rail (10-1) both ends pass through connecting plate
12 are separately fixed on right Z axis sliding block (16-4) and left Z axis sliding block (16-5), X-axis slide rail (10-1), right Y-axis slide rail (10-2)
It is active slide rail with right Z axis slide rail (10-4), its end mechanically connects reductor (15) and motor (14), left Y-axis slide rail successively
(10-3) and left Z axis slide rail (10-5) are driven slide rail, are connected between active slide rail and driven slide rail by connecting shaft (11).
3. it is according to claim 1 it is a kind of be used for more gestures in three dimensions and stretch the dynamic experiment training device of grasping operation, it is special
Sign is：The communication master control device of the PC 7 includes：
For setting the parameter set unit of experiment parameter；
For receiving the port information of data collecting card and to the communication unit of data collecting card sending port control command；
For sending the data write unit of digital label to EEG signals record system；
For controlling experiment flow, judgment experiment state and sending experimental state to the logic control list of data write unit
Member；
For statistical experiment number, number of success, experimental period data statistic unit；
Write for controlling optical motion capture systems start and stop record exercise data and sending recording status to data
The motion recording unit of unit.
4. a kind of stretch the dynamic experiment training device of grasping operation in EEG signals full experiment and data for more gestures in three dimensions
Application in record, it is characterised in that more gestures, multiposition are stretched grasping operation and moved simultaneously in guiding primate carries out three dimensions
Application in three kinds of record subject EEG signals, arm motion track and experimental state data, is realized by following steps：
The method that experiment parameter is set in the parameter set unit of PC；
The method of start recording EEG signals in EEG signals record system；
The communication control system control optical motion capture systems start recording arm motion track of PC, and by " start recording "
Label is sent to the method for EEG signals record system；
The communication master control device controlled motor of PC is moved to specified location by object is grasped；
The communication master control device of PC receives the message that button switch is pressed, and starts the method once tested；
The communication master control device lightening LED lamp of PC, prompt to start the method grasped；
The communication master control device of PC receives parting touch sensor information, judges experimental state and experimental state is write into brain electricity
The method of signal recording system；
The statistic unit of PC receives the information and statistical experiment number, number of success, experimental period data of logic control element
Method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710866043.1A CN107545831A (en) | 2017-09-22 | 2017-09-22 | The dynamic experiment training device of grasping operation and application are stretched for more gestures in three dimensions |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710866043.1A CN107545831A (en) | 2017-09-22 | 2017-09-22 | The dynamic experiment training device of grasping operation and application are stretched for more gestures in three dimensions |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107545831A true CN107545831A (en) | 2018-01-05 |
Family
ID=60964227
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710866043.1A Pending CN107545831A (en) | 2017-09-22 | 2017-09-22 | The dynamic experiment training device of grasping operation and application are stretched for more gestures in three dimensions |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107545831A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108849606A (en) * | 2018-06-15 | 2018-11-23 | 浙江大学 | For training non-human primate control mechanical arm to stretch the automation training auxiliary device of grasping |
| CN109542221A (en) * | 2018-11-09 | 2019-03-29 | 北京航空航天大学 | Marking system near infrared spectrum upper extremity exercise state brain signal precise acquisition |
| CN109566446A (en) * | 2018-12-07 | 2019-04-05 | 中国人民解放军军事科学院军事医学研究院 | The training device and method grasped for primate moving target object |
| CN109743664A (en) * | 2018-11-30 | 2019-05-10 | 泸州威恩德科技有限公司 | Test bracket and loudness test macro |
| CN117404405A (en) * | 2023-12-15 | 2024-01-16 | 成都乐创自动化技术股份有限公司 | Independent motion controller and use method thereof |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1438600A (en) * | 2002-02-10 | 2003-08-27 | 中国科学院昆明动物研究所 | Monitoring analysis system for animal sport, behaviour and electrophysiological quota in free activity experiment |
| CN104784892A (en) * | 2015-03-26 | 2015-07-22 | 浙江大学 | Three-dimensional stretching and grabbing motion training device and method |
| CN105028232A (en) * | 2015-08-12 | 2015-11-11 | 浙江大学 | Automatic grabbing training and recording device for non-human primates |
| CN106142063A (en) * | 2016-08-26 | 2016-11-23 | 新疆玉昆仑天然食品工程有限公司 | The three-dimensional automation hand system of conveying picked up by a kind of material that is applicable to |
| CN205827785U (en) * | 2016-04-20 | 2016-12-21 | 中国民航大学 | Three-dimensional coordinate robot teaching's instrument |
| CN106952558A (en) * | 2017-04-11 | 2017-07-14 | 广西职业技术学院 | A kind of multifunction three-dimensional moves teaching demonstration device |
-
2017
- 2017-09-22 CN CN201710866043.1A patent/CN107545831A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1438600A (en) * | 2002-02-10 | 2003-08-27 | 中国科学院昆明动物研究所 | Monitoring analysis system for animal sport, behaviour and electrophysiological quota in free activity experiment |
| CN104784892A (en) * | 2015-03-26 | 2015-07-22 | 浙江大学 | Three-dimensional stretching and grabbing motion training device and method |
| CN105028232A (en) * | 2015-08-12 | 2015-11-11 | 浙江大学 | Automatic grabbing training and recording device for non-human primates |
| CN205827785U (en) * | 2016-04-20 | 2016-12-21 | 中国民航大学 | Three-dimensional coordinate robot teaching's instrument |
| CN106142063A (en) * | 2016-08-26 | 2016-11-23 | 新疆玉昆仑天然食品工程有限公司 | The three-dimensional automation hand system of conveying picked up by a kind of material that is applicable to |
| CN106952558A (en) * | 2017-04-11 | 2017-07-14 | 广西职业技术学院 | A kind of multifunction three-dimensional moves teaching demonstration device |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108849606A (en) * | 2018-06-15 | 2018-11-23 | 浙江大学 | For training non-human primate control mechanical arm to stretch the automation training auxiliary device of grasping |
| CN109542221A (en) * | 2018-11-09 | 2019-03-29 | 北京航空航天大学 | Marking system near infrared spectrum upper extremity exercise state brain signal precise acquisition |
| CN109542221B (en) * | 2018-11-09 | 2020-07-24 | 北京航空航天大学 | Marking system for accurately acquiring brain signals of near infrared spectrum upper limb movement state |
| CN109743664A (en) * | 2018-11-30 | 2019-05-10 | 泸州威恩德科技有限公司 | Test bracket and loudness test macro |
| CN109566446A (en) * | 2018-12-07 | 2019-04-05 | 中国人民解放军军事科学院军事医学研究院 | The training device and method grasped for primate moving target object |
| CN117404405A (en) * | 2023-12-15 | 2024-01-16 | 成都乐创自动化技术股份有限公司 | Independent motion controller and use method thereof |
| CN117404405B (en) * | 2023-12-15 | 2024-03-19 | 成都乐创自动化技术股份有限公司 | Independent motion controller and use method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107545831A (en) | The dynamic experiment training device of grasping operation and application are stretched for more gestures in three dimensions | |
| CN101632582B (en) | Acupuncture point detection device | |
| CN202002987U (en) | System for detecting remote controller | |
| CN105028232B (en) | A kind of non-human primate automation grasps training and tape deck | |
| CN109947233A (en) | A kind of laboratory apparatus operation behavior record system | |
| CN101739879B (en) | method of real-time pose capture-based surgery simulation system, and graph rendering module | |
| CN105082141A (en) | Execution modules, magic cube resolving robot and use method for magic cube resolving robot | |
| CN201823273U (en) | Portable golf motion analyzer device | |
| CN207676558U (en) | The dynamic experiment training device of grasping operation is stretched for more gestures in three dimensions | |
| CN207573533U (en) | A kind of computer glitch detection device | |
| CN109272829A (en) | A kind of College Mathematics Teaching probability event entertaining intelligent interaction device | |
| CN205786887U (en) | A kind of liquid crystal touch screen detection device of pressure controllable | |
| CN104296999B (en) | One kind two multiplies two and takes two vehicle-mounted second-line maintenances and test platform | |
| CN106652641A (en) | Electric simulation pallet truck teaching machine control system | |
| CN205105982U (en) | Automatic gripping training of inhuman primate and recorder | |
| CN110750068A (en) | Hierarchical management intelligent tool cabinet | |
| CN110058723A (en) | A kind of Writing method, apparatus and system | |
| CN104784892A (en) | Three-dimensional stretching and grabbing motion training device and method | |
| CN203070583U (en) | Special driving revelation simulation system | |
| TWI566131B (en) | Mouse test equipment and its test method | |
| CN208223533U (en) | A kind of image procossing simulated environment laboratory | |
| CN211292024U (en) | Intelligent door lock service life durability test system | |
| CN209543191U (en) | A kind of multifunctional application remote training all-in-one machine | |
| CN2499917Y (en) | Flat throw test instrument | |
| CN206773726U (en) | Product identification device in a kind of machining apparatus machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |