CN108742957A - A kind of artificial limb control method of multi-sensor fusion - Google Patents
A kind of artificial limb control method of multi-sensor fusion Download PDFInfo
- Publication number
- CN108742957A CN108742957A CN201810651722.1A CN201810651722A CN108742957A CN 108742957 A CN108742957 A CN 108742957A CN 201810651722 A CN201810651722 A CN 201810651722A CN 108742957 A CN108742957 A CN 108742957A
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- China
- Prior art keywords
- sensor
- artificial limb
- control method
- prosthetic hand
- amputation
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
- A61F2/72—Bioelectric control, e.g. myoelectric
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2/58—Elbows; Wrists ; Other joints; Hands
- A61F2/583—Hands; Wrist joints
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
- A61F2002/704—Operating or control means electrical computer-controlled, e.g. robotic control
Abstract
The invention discloses a kind of artificial limb control methods of multi-sensor fusion, are related to prosthesis technique field, include the following steps：First sensor acquires the electromyography signal when spontaneous contractions of the forearm muscle of patients with amputation；The information of the first sensor detection second sensor, judges the wrist direction of the prosthetic hand of the patients with amputation；The wrist of the prosthetic hand is adjusted to the posture of suitable crawl, triggers photographic device by contraction of muscle, the photographic device shoots the object being crawled；The object being crawled that 3rd sensor is shot according to the photographic device, determines the grasp mode of the prosthetic hand, and the grip that the prosthetic hand captures the object is controlled by the contraction of muscle ratio of the patients with amputation；The patients with amputation can decontrol the object of crawl by contraction of muscle.This method can make patients with amputation autonomous control prosthetic hand, and operation is more natural, be not necessarily to training process, experience is more friendly, and use is more convenient.
Description
Technical field
The present invention relates to prosthesis technique field more particularly to a kind of artificial limb control methods of multi-sensor fusion.
Background technology
It is residual according to the 6th national census China total number of people and the Second China National Sample Survey on Disability China
Disease people accounts for the ratio of country's total population and all kinds of disabled persons account for the ratio of disabled person's total number of persons, calculates 2010 year end China disabled persons
Total number of persons is 85,020,000 people, wherein 24,720,000 people of physical disabilities.Compared to the extremity disabled persons of State Statistics Bureau's estimation in 2006
Mouth 24,120,000, has increased 600,000 physical disabilities populations newly.For physically disabled, functional prostheses are worn, remold them in day
Often life and the locomitivity in work and confidence have important social effect.
The main control mode of business artificial limb can be divided into both at home and abroad at present：Mechanical cable-operated prosthesis, myoelectric limb and myoelectricity
Rope control mixing artificial limb.Mechanical cable-operated prosthesis is since it has a single function, the inherent shortcomings such as inconvenient, in control multi-finger clever artificial limb
There are limitations for aspect.The muscle electric signal for having discrimination that different contraction states by recording patients with amputation stump generate is made
Source in order to control is widely used in the control of artificial upper extremity's artificial limb.Current upper extremity prosthesis utilizes the two-way myoelectricity of a pair of of Opposing muscle
Signal controls multiple degree of freedom, such as：Side muscle contraction strength is more than other side muscle contraction strength as a kind of mould
Formula, a pair of of Opposing muscle shrink alternatively pattern etc. simultaneously, and this operation mode is that patients with amputation is increased using burden.
According to statistics, the rate of abandoning of this kind of myoelectricity control mode artificial limb is up to 50% or more at present.It is proposed in CN101987048B a kind of
Artificial limb control system based on mode identification method.The basic assumption of mode identification method is the flesh of same action in multiple or more day
Electric signal has similitude, however since electromyography signal is a kind of random signal, is easy to be perspired, the shadows such as electrode position changes
It rings, so that being failed using pattern-recognition mode training pattern early period, patients with amputation needs continuous re -training, increases and cuts
Limb patient trains burden.
The technical problem to be solved by the present invention is to how provide a kind of artificial limb control method so that prosthesis control is easy to use
And realize multivariant dexterous control.
Therefore, those skilled in the art is dedicated to developing a kind of artificial limb control method of multi-sensor fusion, and this method can
Making patients with amputation autonomous control prosthetic hand, operation is more natural, and determines grasp mode using vision auxiliary, is not necessarily to training process,
Experience is more friendly, and use is more convenient.
Invention content
In view of the drawbacks described above of the prior art, the technical problem to be solved by the present invention is to how make prosthesis control simple
The multivariant dexterous control of easy-to-use and realization.
To achieve the above object, the present invention provides a kind of artificial limb control method of multi-sensor fusion, include the following steps：
First sensor acquires the electromyography signal when spontaneous contractions of the forearm muscle of patients with amputation；The first sensor detection second
The information of sensor judges the wrist direction of the prosthetic hand of the patients with amputation；The wrist of the prosthetic hand is adjusted to suitable
After the posture for closing crawl, photographic device is triggered by contraction of muscle, the photographic device shoots the object being crawled；Third senses
The object being crawled that device is shot according to the photographic device, determines the grasp mode of the prosthetic hand, passes through described section
The contraction of muscle ratio of limb patient controls the grip that the prosthetic hand captures the object；The patients with amputation can pass through muscle
Shrink the object for decontroling crawl.
Further, the palmar hand in the prosthetic hand is arranged in the photographic device.
Further, the first sensor is single channel myoelectric sensor.
Further, the single channel myoelectric sensor includes differential electrode, filter circuit and amplifying circuit.
Further, the single channel myoelectric sensor is arranged in the inside of the receptive cavity of the prosthetic hand.
Further, the second sensor is multiaxial motion sensor.
Further, the multiaxial motion sensor includes three axis accelerometer, three axis angular rate meters and three axle magnetometer.
Further, the multiaxial motion sensor is arranged in the inside of the receptive cavity of the prosthetic hand.
Further, the 3rd sensor is visual sensor.
Further, the visual sensor is two-dimensional digital camera.
This method can make patients with amputation autonomous control prosthetic hand, and operation is more natural, and determine crawl mould using vision auxiliary
Formula is not necessarily to training process, and experience is more friendly, and use is more convenient.
The technique effect of the design of the present invention, concrete structure and generation is described further below with reference to attached drawing, with
It is fully understood from the purpose of the present invention, feature and effect.
Description of the drawings
Fig. 1 is the schematic diagram of the multi-sensor fusion artificial limb control method of the preferred embodiment of the present invention；
Fig. 2 is the flow chart of the multi-sensor fusion artificial limb control method of the present invention.
Specific implementation mode
Multiple preferred embodiments that the present invention is introduced below with reference to Figure of description, keep its technology contents more clear and just
In understanding.The present invention can be emerged from by many various forms of embodiments, and protection scope of the present invention not only limits
The embodiment that Yu Wenzhong is mentioned.
In the accompanying drawings, the identical component of structure is indicated with same numbers label, everywhere the similar component of structure or function with
Like numeral label indicates.The size and thickness of each component shown in the drawings are to be arbitrarily shown, and there is no limit by the present invention
The size and thickness of each component.In order to keep diagram apparent, some places suitably exaggerate the thickness of component in attached drawing.
As shown in Figure 1, in multi-sensor fusion artificial limb control method, including multi-finger clever prosthetic hand 101, single-degree-of-freedom artificial limb
Wrist portion 102, prosthetic socket 103 are built in the single channel differential electrode and multiaxial motion Sensor Integration Module of receptive cavity
104, it is placed in the camera 105 of palm root, object 106 to be captured.
Patients with amputation is worn on Stump of forearm when in use, by prosthetic socket 103, by single channel differential electrode and multiaxis
Motion sensor integration module 104, which is placed in any one piece of motion process, shrinks apparent muscle surface, ensure electromyographic electrode and
Skin surface well contacts.
As shown in Fig. 2, after patients with amputation wears prosthetic hand, start prosthetic hand physical switch, prosthetic hand power supply is connected multiple
Position 201, is reset to nature.When patients with amputation wants crawl object, upper arm drives prosthetic hand to object 202 to be captured.
Patients with amputation judges whether the wrist of prosthetic hand adjusts to suitable position 203.If the wrist of prosthetic hand is not met
It is expected that crawl position, patients with amputation forearm muscle is shunk in short-term, while slightly full wind-up stump 204, while judging single channel
Whether electromyography signal is more than threshold value 205 and whether acceleration signal is more than threshold value 206, if having any one to be less than threshold in the two
Value, prosthetic hand wrist will not execute any action, and patients with amputation needs to re-start a muscle to be shunk while rotating hand in short-term
Arm 204；If the two is more than threshold value, wrist will be rotated by 90 ° 207.
The wrist of prosthetic hand presets three kinds of states：The neutral nature of the palm, the centre of the palm being rotated by 90 ° to human body outside are upward
State and to the centre of the palm being rotated by 90 ° on the inside of human body state downward.Patients with amputation can be determined by slightly rotating Stump of forearm direction
The direction of rotation of prosthetic hand wrist, while prosthetic hand pose adjustment can be by rotating Stump of forearm, receptive cavity drives prosthetic hand
Further subtle adjustment.
The wrist of prosthetic hand is adjusted to suitable position 203, and patients with amputation is shunk in short-term by muscle, shoots object to be captured
Body 208.Grasp mode (hold, pinch) 209 is determined using machine vision method.The finger of prosthetic hand can rotate the angle of a very little
Degree executes an action captured in advance, and patients with amputation is confirmed whether it is desired grasp mode.If so, contraction of muscle, ratio
Grasp force 210 is controlled, crawl 211 is completed；If it is not, then patients with amputation can in short-term be shunk by muscle, object to be captured is shot
Body 208 reaches expected grasp mode.
212 are shunk after patients with amputation completes crawl, when can be long by muscle, single channel electromyography signal is more than threshold value 213
Afterwards, prosthetic hand decontrols crawl object 214.Prosthetic hand wrist still keeps current state, waiting to capture next time simultaneously, to real
Prosthetic hand under present patients with amputation participates in controls.
The preferred embodiment of the present invention has been described in detail above.It should be appreciated that the ordinary skill of this field is without wound
The property made labour, which according to the present invention can conceive, makes many modifications and variations.Therefore, all technician in the art
Pass through the available technology of logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Scheme, all should be in the protection domain being defined in the patent claims.
Claims (10)
1. a kind of artificial limb control method of multi-sensor fusion, which is characterized in that include the following steps：
First sensor acquires the electromyography signal when spontaneous contractions of patients with amputation forearm muscle；
The information of the first sensor detection second sensor, judges the wrist direction of the prosthetic hand of the patients with amputation；
The wrist of the prosthetic hand is adjusted to the posture of suitable crawl, and photographic device is triggered by contraction of muscle, described
Photographic device shoots the object being crawled；
The object being crawled that 3rd sensor is shot according to the photographic device, determines the crawl mould of the prosthetic hand
Formula controls the grip that the prosthetic hand captures the object by the contraction of muscle ratio of the patients with amputation；
The patients with amputation can decontrol the object of crawl by contraction of muscle.
2. the artificial limb control method of multi-sensor fusion as described in claim 1, which is characterized in that the photographic device setting exists
The palmar hand of the prosthetic hand.
3. the artificial limb control method of multi-sensor fusion as described in claim 1, which is characterized in that the first sensor is single
Channel myoelectric sensor.
4. the artificial limb control method of multi-sensor fusion as claimed in claim 3, which is characterized in that the single channel myoelectricity sensing
Device includes differential electrode, filter circuit and amplifying circuit.
5. the artificial limb control method of multi-sensor fusion as claimed in claim 3, which is characterized in that the single channel myoelectricity sensing
Device is arranged in the inside of the receptive cavity of the prosthetic hand.
6. the artificial limb control method of multi-sensor fusion as described in claim 1, which is characterized in that the second sensor is more
Axis movement sensor.
7. the artificial limb control method of multi-sensor fusion as claimed in claim 6, which is characterized in that the multiaxial motion sensor
Including three axis accelerometer, three axis angular rate meters and three axle magnetometer.
8. the artificial limb control method of multi-sensor fusion as claimed in claim 6, which is characterized in that the multiaxial motion sensor
It is arranged in the inside of the receptive cavity of the prosthetic hand.
9. the artificial limb control method of multi-sensor fusion as described in claim 1, which is characterized in that the 3rd sensor is to regard
Feel sensor.
10. the artificial limb control method of multi-sensor fusion as claimed in claim 9, which is characterized in that the visual sensor is
Two-dimensional digital camera.
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| CN201810651722.1A CN108742957B (en) | 2018-06-22 | 2018-06-22 | Multi-sensor fusion artificial limb control method |
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|---|---|---|---|
| CN201810651722.1A CN108742957B (en) | 2018-06-22 | 2018-06-22 | Multi-sensor fusion artificial limb control method |
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| CN108742957A true CN108742957A (en) | 2018-11-06 |
| CN108742957B CN108742957B (en) | 2021-02-09 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112587285A (en) * | 2020-12-10 | 2021-04-02 | 东南大学 | Multi-mode information guide environment perception myoelectricity artificial limb system and environment perception method |
| CN113329720A (en) * | 2019-01-17 | 2021-08-31 | 奥托·博克保健产品有限公司 | Method for controlling an orthopaedic or prosthetic device and orthopaedic or prosthetic device |
| CN114053007A (en) * | 2021-10-29 | 2022-02-18 | 哈尔滨工业大学 | Multi-degree-of-freedom artificial limb experimental device for health test |
| CN114931456A (en) * | 2022-05-13 | 2022-08-23 | 哈尔滨工业大学 | Variable stiffness unit for artificial limb man-machine physical interface and adjusting method thereof |
| EP3930635A4 (en) * | 2019-02-28 | 2023-02-22 | Boonyasurakul, Boonyawee | Device for grasping an object and method for controlling the device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114931456B (en) * | 2022-05-13 | 2024-04-12 | 哈尔滨工业大学 | Variable stiffness unit for artificial limb man-machine physical interface and adjusting method thereof |
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| CN108742957B (en) | 2021-02-09 |
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