CN1108520A - Controlling device for grip of artifical hand - Google Patents
Controlling device for grip of artifical hand Download PDFInfo
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- CN1108520A CN1108520A CN 94119656 CN94119656A CN1108520A CN 1108520 A CN1108520 A CN 1108520A CN 94119656 CN94119656 CN 94119656 CN 94119656 A CN94119656 A CN 94119656A CN 1108520 A CN1108520 A CN 1108520A
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- 239000011324 bead Substances 0.000 claims description 13
- 230000035807 sensation Effects 0.000 claims description 12
- 230000005540 biological transmission Effects 0.000 claims description 9
- 230000007246 mechanism Effects 0.000 claims description 7
- 239000000523 sample Substances 0.000 claims description 7
- 230000003044 adaptive effect Effects 0.000 claims description 5
- 238000006243 chemical reaction Methods 0.000 claims description 5
- 239000002184 metal Substances 0.000 claims description 5
- 239000011888 foil Substances 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 3
- 230000007794 irritation Effects 0.000 claims description 3
- 230000003321 amplification Effects 0.000 claims description 2
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 2
- 230000003183 myoelectrical effect Effects 0.000 abstract 2
- 238000000034 method Methods 0.000 description 6
- 230000009471 action Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 4
- 230000000007 visual effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000004913 activation Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 230000004118 muscle contraction Effects 0.000 description 2
- 210000004556 brain Anatomy 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000003340 mental effect Effects 0.000 description 1
- 210000000653 nervous system Anatomy 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 230000001953 sensory effect Effects 0.000 description 1
- 238000004513 sizing Methods 0.000 description 1
- 230000000638 stimulation Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
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Abstract
The present invention relates to a grip self-adaptive control device for artificial hand of making the feedback of gripping feeling. In the control device a touching sensor is used to discriminate the condition of gripping, and a pressure-feeling sensor is used for following and determinating the degree of gripping force, and a sliding-feeling sensor is used for detecting any directional slipping between the fingers and thing gripped, and then the flexor myoelectric signal, extensor myoelectric signal, slipping signal and touching signal from human body together are priority-discriminated, and then a control signal is produced. After having been amplified, said signal is used for controlling forward and backward rotation of forward and backward motor so as to control the movement of the artificial hand.
Description
The present invention relates to a kind of controlling device for grip of artifical hand, belong to rehabilitation engineering field and robotics field.
EMG-controlling prosthetic hand does not generally possess grip of artifical and holds the feedback capability of thing sensation at present, in use, the amputee can only judge the contact condition of doing evil through another person with object by vision, and the size of grip also can't be understood and be controlled when holding thing, cause problems such as holding thing fault rate height, so just bring many inconvenience and mental pressure to user.For example: Belgrade hands is by a pressure feedback system that is made up of three groups of pressure sensitivity elements, because its effect, be triggered in case do evil through another person start after, just automatically hold object with the grip of pre-sizing, this grip does not change because of weight of object and the different of quality, and does not have the control that feeds back to user.
The objective of the invention is to design a kind of controlling device for grip of artifical hand, with grip of artifical control that realizes doing evil through another person and the feedback of holding the thing sensation.In control device, with touch, sense sensor holds the thing state recognition, follows the tracks of the size that detects grip when holding thing with the pressure sensation pick off, detects the slippage that refers to any direction between thing with sliding feeling sensor, realizes the compensation of grip, reach with critical grip and hold thing.Make the amputee when using EMG-controlling prosthetic hand, real acrognosis is arranged.
The controlling device for grip of artifical hand of the present invention's design, form by following several parts:
(1) place sliding feeling sensor and signal processing circuit thereof on the finger mechanism, in order to will point and object between the pulse signal that records when slippage is arranged through U1, become slippage signal Vsl behind U2 level conversion and the gate U3;
(2) place touching on the finger mechanism, pressure sensation pick off and signal processing circuit thereof, in order to will point and object between the contact force signal through U5, the U6 signal obtains pressure signal Vp after amplifying, and behind computing comparator U7, obtains haptic signal Vt again;
(3) decoder U8 and gate U9, in order to will be from musculus flexor electromyographic signal Vg, extensor electromyographic signal Vs and the above-mentioned slippage signal Vsl of human body, haptic signal Vt carries out priority recognition together, and produces control signal S
1And S
2;
(4) feedback device U10, in order to haptic signal Vt is fed back to human body, feedback system can be any in electricity irritation, mechanical stimulus, light feedback, the acoustic feedback;
(5) amplifier U11 is in order to the control signal S that above-mentioned the 3rd step is obtained
1And S
2After the amplification, the control motor positive and inverse;
(6) motor positive and inverse switch U12 and U13 accept control signal S
1And S
2;
(7) clockwise and anticlockwise motor rotates under the control of U12 and U13, and artificial hand controlled grip mechanism.
The sliding feeling sensor that the present invention is used is made up of bead, cylindrical roller, back shaft and probe etc.Have the Y connected in star on the housing of pick off, bead places the groove center, has below the bead three cylindrical roller to support.The housing side has three slotted holes, its axis triangularity.Cylindrical roller is through on the back shaft, and two end framves of back shaft are on aperture.Probe has four, wherein two radial outsides that are contained in two rollers respectively, two axial end one sides that are contained in two rollers respectively in addition; On the external cylindrical surface of roller, be intervally distributed with metal area and non-metallic areas.
The present invention is used touches, the pressure sensation pick off, is made up of load screw, locking and adjusting nut, power transmission bent plate, baffle, spring beam and foil gauge etc.Load screw and locking and the coaxial end that is installed in the power transmission bent plate of adjusting nut, an end relative fixed of the other end of power transmission bent plate and spring beam, the other end of spring beam is fixed on the shell with trip bolt with the end of baffle.The baffle cantilever end places between spring beam and the power transmission bent plate.
Description of drawings:
Fig. 1 is the circuit control block diagram of the control device that designs of the present invention.
Fig. 2 is the circuit diagram of adaptive controller.
Fig. 3 be the present invention used touch, the structural representation of pressure, sense sensor.
Fig. 4 is the structural representation of the used sliding feeling sensor of the present invention.
Fig. 5 is the vertical view of Fig. 4.
Below in conjunction with accompanying drawing, introduce content of the present invention in detail.The grip of artifical hand device is for the grip of artifical control that realizes doing evil through another person and holds the feedback that thing is felt that it relates to the research of control model and artificial feel pick off.This control device is made up of a feedback and the feedback to human body to control system, touches in control device, pressure, sliding feeling sensor place hand.Hold the thing state recognition with touch sensor, the size of grip detects the slippage that refers to any direction between thing with sliding feeling sensor when holding thing with pressure sensation pick off tracking detection, realizes the compensation of grip, reaches with critical grip and holds thing.In control system, designed to detect and referred to contact state and the touch-pressure sensation pick off of power feel and the sliding feeling sensor that detection refers to any direction slippage between thing between thing.
Want to hold when getting object when user, the sports consciousness of brain passes to muscle by nervous system, causes muscle contraction.Muscle contraction produces the electrical activity of muscle, it is electromyographic signal, pick up extensor myoelectricity and musculus flexor electromyographic signal, stretch as artificial hand controlled after treatment and in the control signal of holding, also will place signal that the sliding feeling sensor of the hand of doing evil through another person produces as the control signal of holding in doing evil through another person in addition, by to extensor electromyographic signal (Vs), musculus flexor electromyographic signal (Vg), haptic signal (Vt) with slidingly feel that signal (Vsl) carries out the restriction of priority and identification and moves to doing evil through another person and control.In design, their priority situation is as follows:
| Vs | Vsl | Vg. Vt | Motor status |
| 1 | 0 or 1 | 0 or 1 | Counter-rotating |
| 0 | 1 | 0 or 1 | Just change |
| 0 | 0 | 1 | Just change |
| 0 | 0 | 0 | Stop |
When the extensor myoelectricity be 0 and the musculus flexor myoelectricity when being 1 user desire to make to do evil through another person to hold and get action.At this moment, the switch connection motor that just changeing of control motor is held in drive mechanism drives finger.When referring between thing contact be arranged, produce haptic signal, as system feedback signal, control feedback device, user can carry out next one action by the state (be 1 this moment) of identification feedback device and promptly object be taken up haptic signal after processing and amplifying.If this moment, grip was enough big, then referred to no slippage signal between thing, has promptly finished and held the thing action; If this moment the grip deficiency, then referring to will have slippage between thing, detect this slippage by the sliding feeling sensor that places finger, slippage this moment pick off is output as a pulse signal, through the level transitions circuit it is become a level signal (being output as 1 or 0) and control motor with this signal and continue just to change, do evil through another person to hold until between the finger thing in continuing and do not have slippage.
Hold the size of grip in the thing process for detection and tracking in real time, carry out pressure detecting with pressure transducer.
When the extensor myoelectricity is 1,, other signal all does overhanging action no matter how, doing evil through another person.
Fig. 2 is the circuit diagram of adaptive controller.Among the figure, U0 is the roller in the sliding feeling sensor, and its periphery has the metal and the non-metallic regions of equidistantly alternately arranging along generatrix direction.U4 is the touch-pressure sensation sensor circuit.
Fig. 3 be usedly in the adaptive controller touch, the structural representation of pressure sensation pick off.Among the figure, the 1st, power transmission bent plate, the 2nd, load screw, the 3rd, locking and adjusting nut, the 4th, baffle, the 5th, spring beam, the 6th, shell, the 7th, foil gauge, the 8th, trip bolt.On spring beam 5, post foil gauge 7; when active force P on load screw 2; can obtain the size of power P by the distortion that detects spring beam 5; when P increases gradually; during to a certain value Po, load screw 2 contacts with baffle 4, no matter how many P increases again at this moment; spring beam has been protected in spring beam 5 not redeformations like this.In addition, can realize the variation of the strength journey that detects by the position of regulating load screw.
When finger with after quilt is held object and is contacted, at this moment contact force by sensor to, this power and an adjustable reference force compare, when contact force during greater than benchmark power, high level signal of comparator output, this signal is the signal that contacts between the finger thing, otherwise is low level, show to refer to thing not contact as yet, hold in the continuation of doing evil through another person.Utilize this activation signal to control feedback device, can realize holding the feedback of thing state to human body.User needn't lean on visual determination like this, refers to contact situation between thing, has reduced the burden of user and pressure at heart, has avoided simultaneously because the error that visual determination causes.
Fig. 4 and Fig. 5 are the sliding feeling sensor structural representations.Among Fig. 4 and Fig. 5, the 10th, bead, the 11st, pick off loam cake, the 12nd, sensor outer housing, the 13rd, probe, the 14th, cylindrical roller, the 15th, aperture, the 16th, back shaft, the 17th, Y connected in star.
This control device can have electricity irritation and mechanical stimulus method to the feedback method of human body, also can use audition and method of visual activation.Electrical stimulation method: rely on the pressure converter that is loaded on the suitable position of doing evil through another person to detect the operating state of doing evil through another person, make it to be transformed to the sensible pulse frequency of human body skin, stimulate human body.Mechanical stimulus: rely on the pressure transducer on doing evil through another person that the conversion of signals that obtains is become frequency, and stimulate human body, thereby obtain sensation with mechanical vibrator.The method of audition and visual stimulus is pressure or other pick off that relies on doing evil through another person, and becomes the conversion of signals that obtains human body can lean on the signal of audition and vision explanation, stimulates human body, realizes sensory feedback.
Claims (3)
1, a kind of controlling device for grip of artifical hand is characterized in that this device is made up of following each several part:
(1) place sliding feeling sensor and signal processing circuit thereof on the finger mechanism, in order to will point and object between the pulse signal that records when slippage is arranged through U1, become slippage signal Vsl behind U2 level conversion and the gate U3;
(2) place touching on the finger mechanism, pressure sensation pick off and signal processing circuit thereof, in order to will point and object between the contact force signal, through U5, the U6 signal obtains pressure signal Vp after amplifying, and behind computing comparator U7, obtains haptic signal Vt again;
(3) decoder U8 and gate U9, in order to will be from the musculus flexor electromyographic signal Vg of human body, extensor electromyographic signal Vs and above-mentioned slippage signal Vsl, haptic signal Vt carry out priority recognition together, and produce control signal S
1And S
2
(4) feedback device U10, in order to haptic signal Vt is fed back to human body, feedback system is any in electricity irritation mechanical stimulus, light feedback, the acoustic feedback;
(5) amplifier U11 is in order to the control signal S that above-mentioned the 3rd step is obtained
1And S
2After the amplification, the control motor positive and inverse;
(6) motor positive and inverse switch U12 and U13 accept control signal S
1And S
2
(7) clockwise and anticlockwise motor rotates under the control of U12 and U13, and artificial hand controlled grip mechanism.
2, adaptive controller as claimed in claim 1 is characterized in that wherein saidly touching, the pressure sensation pick off is made up of load screw, locking and adjusting nut, power transmission bent plate, baffle, spring beam and foil gauge; Load screw and locking and the coaxial end that is installed in the power transmission bent plate of adjusting nut; one end relative fixed of the other end of power transmission bent plate and spring beam; the other end of spring beam is with the end of baffle; be fixed on the shell with trip bolt, the baffle cantilever end places between spring beam and the power transmission bent plate.
3, adaptive controller as claimed in claim 1, it is characterized in that wherein said sliding feeling sensor is made up of bead, cylindrical roller, back shaft and probe, have the Y connected in star on the housing of pick off, bead places the groove center, has below the bead three cylindrical roller to support; The housing side has three slotted holes, its axis triangularity, and cylindrical roller is through on the back shaft, and two end framves of back shaft are on aperture; Probe has four, wherein two radial outsides that are contained in two rollers respectively, two axial end one sides that are contained in two rollers respectively in addition; On the external cylindrical surface of roller, be intervally distributed with metal area and non-metallic areas.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 94119656 CN1065123C (en) | 1994-12-16 | 1994-12-16 | Controlling device for grip of artifical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 94119656 CN1065123C (en) | 1994-12-16 | 1994-12-16 | Controlling device for grip of artifical hand |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1108520A true CN1108520A (en) | 1995-09-20 |
| CN1065123C CN1065123C (en) | 2001-05-02 |
Family
ID=5039314
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 94119656 Expired - Fee Related CN1065123C (en) | 1994-12-16 | 1994-12-16 | Controlling device for grip of artifical hand |
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| Country | Link |
|---|---|
| CN (1) | CN1065123C (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101305939B (en) * | 2008-05-26 | 2010-06-02 | 哈尔滨工业大学 | Electrical stimulator for sensation feedback of human-emulated myoelectric artificial hand |
| CN102729254A (en) * | 2012-07-04 | 2012-10-17 | 杭州电子科技大学 | Myoelectricity control method for remote-control robot based on touch presence feeling |
| CN103385772A (en) * | 2013-08-01 | 2013-11-13 | 金华市德仁假肢矫形康复器材有限公司 | Myoelectricity artificial hand |
| CN104306088A (en) * | 2014-10-30 | 2015-01-28 | 上海交通大学 | Upper arm prosthesis module with initiative shoulder joint |
| CN104398326A (en) * | 2014-12-10 | 2015-03-11 | 重庆大学 | Electrical stimulation muscle electric inducing feedback control method and device for stabilizing output of muscle electric prosthetic hand strength |
| CN105771114A (en) * | 2016-04-26 | 2016-07-20 | 河南师范大学 | Deep well rescue device |
| 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 |
| CN108742957A (en) * | 2018-06-22 | 2018-11-06 | 上海交通大学 | A kind of artificial limb control method of multi-sensor fusion |
| CN109419575A (en) * | 2017-08-29 | 2019-03-05 | 上海科生假肢有限公司 | The innovation control method of myoelectrically controlled hand |
| US20220314438A1 (en) * | 2021-03-31 | 2022-10-06 | Honda Motor Co., Ltd. | Touch sensation sensor, sensitivity switching circuit, and sensitivity switching method |
| WO2024109858A1 (en) * | 2022-11-24 | 2024-05-30 | 中国科学院深圳先进技术研究院 | Forearm prosthesis control method and apparatus, device, and medium |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101766510B (en) * | 2009-12-18 | 2012-02-01 | 东南大学 | Force touch sensation feedback and force intensity control method of mechanical artificial hand based on myoelectric control |
-
1994
- 1994-12-16 CN CN 94119656 patent/CN1065123C/en not_active Expired - Fee Related
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101305939B (en) * | 2008-05-26 | 2010-06-02 | 哈尔滨工业大学 | Electrical stimulator for sensation feedback of human-emulated myoelectric artificial hand |
| CN102729254A (en) * | 2012-07-04 | 2012-10-17 | 杭州电子科技大学 | Myoelectricity control method for remote-control robot based on touch presence feeling |
| CN103385772B (en) * | 2013-08-01 | 2015-10-07 | 金华市德仁假肢矫形康复器材有限公司 | A kind of EMG-controlling prosthetic hand |
| CN103385772A (en) * | 2013-08-01 | 2013-11-13 | 金华市德仁假肢矫形康复器材有限公司 | Myoelectricity artificial hand |
| CN104306088B (en) * | 2014-10-30 | 2016-07-06 | 上海交通大学 | There is the above elbow prosthesis module of active shoulder joint |
| CN104306088A (en) * | 2014-10-30 | 2015-01-28 | 上海交通大学 | Upper arm prosthesis module with initiative shoulder joint |
| CN104398326A (en) * | 2014-12-10 | 2015-03-11 | 重庆大学 | Electrical stimulation muscle electric inducing feedback control method and device for stabilizing output of muscle electric prosthetic hand strength |
| CN104398326B (en) * | 2014-12-10 | 2017-01-25 | 重庆大学 | Electrical stimulation muscle electric inducing feedback control method and device for stabilizing output of muscle electric prosthetic hand strength |
| CN105771114A (en) * | 2016-04-26 | 2016-07-20 | 河南师范大学 | Deep well rescue device |
| 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 |
| CN109419575A (en) * | 2017-08-29 | 2019-03-05 | 上海科生假肢有限公司 | The innovation control method of myoelectrically controlled hand |
| CN108742957A (en) * | 2018-06-22 | 2018-11-06 | 上海交通大学 | A kind of artificial limb control method of multi-sensor fusion |
| US20220314438A1 (en) * | 2021-03-31 | 2022-10-06 | Honda Motor Co., Ltd. | Touch sensation sensor, sensitivity switching circuit, and sensitivity switching method |
| WO2024109858A1 (en) * | 2022-11-24 | 2024-05-30 | 中国科学院深圳先进技术研究院 | Forearm prosthesis control method and apparatus, device, and medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1065123C (en) | 2001-05-02 |
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