CN111134917B

CN111134917B - Multi-sensing closed-chain cascade type hand prosthesis based on myoelectric control

Info

Publication number: CN111134917B
Application number: CN201911067638.6A
Authority: CN
Inventors: 杜义浩; 于金须
Original assignee: Suzhou Ruimai Health Medical Technology Co ltd
Current assignee: Suzhou Ruimai Health Medical Technology Co ltd
Priority date: 2019-11-04
Filing date: 2019-11-04
Publication date: 2023-01-06
Anticipated expiration: 2039-11-04
Also published as: CN111134917A

Abstract

The invention relates to the field of wearable intelligent substitutes for human limbs and medical appliances, in particular to a multi-sensing closed-chain cascade type hand prosthesis based on myoelectric control, which comprises: the four-finger mechanism comprises a fake finger group, a rocker group and a connecting rod group, the thumb mechanism comprises a thumb fake finger group, a thumb rocker group and a thumb connecting rod group, the electric part comprises a sensor group, an electric control group, a display and a myoelectricity acquisition module, the sensor group comprises various sensor modules, the sensor group is embedded in a far finger section of the fake finger, the electric control group comprises a core PCB (printed circuit board), a motor driving module and a battery, and the myoelectricity acquisition module is embedded in the contact position of the inner side of the motor supporting plate and the forearm and is attached to extensor muscles and superficial flexor muscles of the forearm. The invention adopts myoelectricity control, motor drive, closed chain cascade structure transmission and multi-sensor feedback control, can be modularly disassembled to adapt to different hand signs, and reappears and enriches the original functions of hands.

Description

Multi-sensing closed-chain cascade type hand prosthesis based on myoelectric control

Technical Field

The invention relates to the field of wearable intelligent substitutes for human limbs and medical appliances, in particular to a multi-sensor closed-chain cascade type hand prosthesis based on myoelectric control.

Background

The hand is one of the most important organs in the daily life and production operation process of people, and has multiple functions: the object is held in the gripping, the object sense of touch is experienced, perception object temperature, the approximate size of measuring the object etc. people also can use the hand to accomplish some comparatively dangerous activities simultaneously, cause the hand damage often and even hand limbs are incomplete or hand functional loss, seriously influence people's quality of life. According to the statistics of the number of the disabled people in China, the total number and the proportion of the disabled people in the total population are increased, wherein 2412 thousands of people with physical disabilities account for 29.07 percent of the total number of the disabled people. In conclusion, how to replace the disabled limbs of the hands and assist the injured limbs to complete the hand functions and restore the normal production and living abilities is very important.

With the development of economy in China, the social welfare for the disabled is higher and higher, the disabled is helped to recover normal production and life, the social pressure can be reduced, the family burden is relieved, the intelligent artificial limb becomes a research hotspot more and more, a large number of artificial limb products are shown, but most of the existing artificial limb products aim at large joints of limbs, such as forearms, shanks, the whole upper limbs, the whole lower limbs and the like, and the research and development of artificial limbs specially used for hands are less. The Chinese patent application numbers are: the invention patent of CN201810943869.8 discloses an intelligent artificial hand based on voice control and visual recognition and a system and a method thereof, wherein the artificial hand has 3 degrees of freedom and adopts the comprehensive control of myoelectricity, voice and visual recognition. The following problems still remain:

(1) The artificial limb of the hand has too little freedom degree, can only complete the bending of the whole finger, can not realize the respective bending and stretching of three joints simulating the real finger of a human, and has poor finger flexibility;

(2) The hand prosthesis does not have a feedback link, can only complete physical actions such as hand grasping and the like, cannot feed back the temperature of an object and the pressure during grasping, does not have other additional auxiliary functions, and has poor practicability and functionality;

in order to solve the problems, the design of the multifunctional hand prosthesis which has high degree of freedom, can move each joint of the hand and has multi-sensor feedback is significant.

Disclosure of Invention

Aiming at the defects in the prior art, the invention designs a multi-sensor closed-chain cascade type hand prosthesis based on myoelectric control.

The invention is realized by the following technical scheme:

a multi-sensing closed-chain cascade type hand prosthesis based on myoelectric control comprises a four-finger mechanism, a thumb mechanism, a hand back plate, a motor supporting plate, a motor and an electric part;

the four-finger mechanism comprises: the four-finger mechanism comprises four artificial fingers, namely an index finger, a middle finger, a ring finger and a little finger, the lengths of all parts of each artificial finger in the four-finger mechanism are in corresponding proportion according to the length proportion of the index finger, the middle finger, the ring finger and the little finger of a hand of a human body, and all the artificial fingers have the same mechanical structure;

further, the set of artificial fingers includes: the finger palm connecting rod is hinged with the hand back plate, and the proximal finger section, the middle finger section and the distal finger section respectively correspond to the proximal finger end, the middle finger end and the distal finger end of four fingers of a real hand of a human body;

further, the rocker group includes: the first rocker, the second rocker, the third rocker, the fourth rocker and the fifth rocker are respectively hinged with each fake finger of the fake finger group, and the fifth rocker is an input rod of the four-finger mechanism and is hinged with the hand back plate;

further, the linkage includes: the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod are respectively hinged with the rocker group;

the thumb mechanism includes: the thumb false finger group, the thumb rocker group and the thumb connecting rod group;

further, the set of thumb fingers includes: the finger palm connecting rod is hinged with the hand back plate, and the thumb near finger section and the thumb far finger section respectively correspond to the near finger end and the far finger end of the thumb of the real hand part of the human body;

further, the thumb rocker set includes: the first thumb rocker, the second thumb rocker, the third thumb rocker and the fourth thumb rocker are respectively hinged with each artificial finger of the artificial finger group, and the fourth thumb rocker is an input rod of the thumb mechanism and is hinged with the hand back plate;

further, the thumb linkage includes: the first thumb connecting rod, the second thumb connecting rod and the third thumb connecting rod are respectively hinged with the thumb rocker group;

the hand back plate comprises: the artificial finger hinge holes are distributed in five rows on the hand back plate according to the positions of human fingers, each row is provided with two artificial finger hinge holes which are arranged in a collinear manner, the artificial finger hinge hole close to one side of a wrist is hinged with middle holes of a fifth rocker and a fourth thumb rocker, the artificial finger hinge hole close to one side of a finger is hinged with the fourth rocker and the third thumb rocker, the lower end cover is connected with the hand back plate through the lower end cover connecting hole, the motor support plate connecting hole is used for being connected with the motor support plate, and the palm hinge hole is hinged with the palm connecting rod and the thumb palm connecting rod so as to provide main support for the four-finger mechanism and the thumb mechanism through the rear back plate;

the whole motor supporting plate is a curved surface conforming to ergonomics, can be comfortably clamped on the wrist part of a human body and the front arm of the wrist part of the human body, and is fixed by a tying binding band penetrating through a binding band hole, five groups of motor hinging seats are arranged at the rear end of the motor supporting plate, and the motor hinging seats are collinear with the artificial limb hinging holes and are used for being hinged and connected with a motor;

the motor is a linear push rod motor, the motor comprises a front end hinge hole and a tail end hinge hole, the front end hinge hole is hinged with the tail end hole of the fifth rocker or the fourth thumb rocker, and the tail end hinge hole is connected with the motor hinge seat;

the electric part comprises a sensor group, an electric control group, a display and a myoelectricity acquisition module, wherein the sensor group comprises a pressure sensor, a receiver, a temperature sensor, an infrared distance measuring sensor, a voice module and a microphone module, the sensor group is embedded in the far finger section, the electric control group comprises a core PCB (printed circuit board), a motor driving module and a battery, the core PCB is integrated with a module for processing various functions of the sensor group, the electric control group is embedded in the hand back plate, the display is embedded in the rear part of the motor supporting plate, the myoelectricity acquisition module is embedded in the contact part of the inner side of the motor supporting plate and the forearm, and the myoelectricity acquisition module is attached to the extensor muscle and the superficial flexor muscle of the forearm when the motor supporting plate is worn correctly;

the invention provides a multi-sensing closed chain cascade type hand prosthesis based on myoelectricity control, wherein a fake finger group in a four-finger mechanism is hinged with one end of a rocker group, the other end of the rocker group is hinged with a connecting rod group, the connecting rod groups are hinged with each other, a thumb fake finger group in a thumb mechanism is hinged with one end of the thumb rocker group, the other end of the thumb rocker group is hinged with the thumb connecting rod group, the thumb connecting rod groups are hinged with each other to form a closed chain cascade type structure, the four-finger mechanism and the thumb mechanism are respectively hinged with a hand back plate, the hand back plate is connected with a motor supporting plate, the tail end of a motor is hinged with a motor hinged seat and is respectively hinged with the motor supporting plate, the four-finger mechanism and the thumb mechanism to form a prosthesis whole, the myoelectric control-based multi-sensing closed-chain cascade hand prosthesis is driven by a linear push rod motor and driven by a closed-chain cascade connecting rod structure, when the motor extends, the four-finger mechanism and the thumb mechanism are pushed, after transmission, the artificial finger can simulate real fingers of a human body to finish corresponding bending and extending actions, in conclusion, the myoelectric control-based multi-sensing closed-chain cascade hand prosthesis can replace human hands to finish daily activities of hands, in the aspect of control, the myoelectric control-based multi-sensing closed-chain cascade hand prosthesis collects forearm myoelectric signals for controlling finger actions through the myoelectric collection module embedded in the inner side of the motor supporting plate, finishes motion mode identification through myoelectric signal processing and classification, transmits instructions to the core PCB, and controls the motor driving module to finish extension and retraction control of the motor through the core PCB, on the other hand, because the far finger section of each artificial finger is embedded with the pressure sensor, the receiver, the temperature sensor, the infrared distance measuring sensor, the voice module and the microphone module, the artificial finger can feed back the current gripping pressure, the temperature of a gripping object and the distance between the gripping object and the object in real time in the use process, and can carry out voice call after dialing through the display, so that the original functions of hands are reproduced or enriched, and the production and the life of a user are facilitated;

furthermore, the feedback information of the sensor group and the control information of the current artificial hand can be displayed by the display in real time, and the voice module can be selected for voice interaction;

furthermore, a receiver and a microphone module are embedded in the far finger section of the thumb artificial finger and the little finger artificial finger of the artificial limb, so that the function of voice communication can be provided, and the problem that hand disabled people are inconvenient to use a PDA (palm intelligent terminal) such as a mobile phone is solved;

furthermore, the myoelectricity control-based multi-sensor closed-chain cascade hand prosthesis adopts a modular structure, can be adjusted according to the hand condition of a user, adapts to the actual hand physical signs of the user, can only reserve part of artificial fingers if only part of fingers of the user are missing, can disassemble the four-finger mechanism or part of artificial fingers in the thumb structure, removes the lower end cover of the hand back plate, and is worn after covering the electric part with an insulating layer;

due to the adoption of the technical scheme, the invention provides the multi-sensing closed-chain cascade type hand prosthesis based on myoelectric control, which has the following beneficial effects compared with the prior art:

(1) The hand prosthesis adopts a closed-chain cascade type artificial finger structure, so that the degree of freedom of the artificial finger is increased, the motion amplitude is increased, the hand prosthesis can better simulate the normal hand motion, the use effect of the prosthesis is enhanced, and the daily production and life are more convenient.

(2) The hand prosthesis adopts myoelectricity feedback control, additionally sets a plurality of sensors for using feedback, comprises a pressure sensor, a receiver, a temperature sensor, an infrared distance measuring sensor, a voice module, a microphone module and the like, and greatly enriches the additional functions of the hand on the basis of reproducing the original physiological functions of the hand.

Drawings

In order to more clearly illustrate the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is obvious that the drawings in the following description are some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.

FIG. 1 is a schematic view of the overall structure of a multi-sensor closed-chain cascade type hand prosthesis based on myoelectric control according to the present invention;

FIG. 2 is a schematic diagram of the four-finger mechanism, thumb mechanism, backboard and electrical components of the present invention;

FIG. 3 is a schematic diagram of a specific structure of a four-finger mechanism provided by the present invention;

FIG. 4 is a schematic view of a thumb mechanism according to the present invention;

FIG. 5 is a schematic diagram of a sensor group and five distal finger segments of a finger prosthesis according to the present invention;

FIG. 6 is a schematic view of a hand backboard structure according to the present invention;

FIG. 7 is a schematic view of an inner side structure and an electric control unit of the backboard according to the present invention;

FIG. 8 is a schematic view of the motor, motor support plate and display provided by the present invention;

fig. 9 is a schematic view of an inner side structure of the motor supporting plate provided by the invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings. It is to be understood that the embodiments described are only some embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without any inventive step, are within the scope of the present invention.

The invention provides a multi-sensing closed-chain cascade type hand prosthesis based on myoelectric control, which has a specific structure as shown in figures 1 and 2 and comprises a four-finger mechanism 1, a thumb mechanism 2, a hand back plate 3, a motor supporting plate 4, a motor 5 and an electric part 6.

Specifically, the structure and principle of the myoelectricity control based multi-sensing closed-chain cascade type hand prosthesis will be described with reference to the accompanying drawings.

Fig. 3 shows a schematic structural diagram of a four-finger mechanism 1, wherein the four-finger mechanism 1 comprises: the four-finger mechanism 1 comprises four artificial fingers, namely a forefinger, a middle finger, a ring finger and a little finger, and the lengths of all parts of each artificial finger in the four-finger mechanism 1 are in corresponding proportion according to the length proportion of the forefinger, the middle finger, the ring finger and the little finger of a hand of a human body, but all the artificial fingers have the same mechanical structure; the artificial finger set 11 includes: the finger palm connecting rod 114, the proximal finger section 113, the middle finger section 112 and the distal finger section 111, wherein the finger palm connecting rod 114 is hinged with the hand back plate 3, and the proximal finger section 113, the middle finger section 112 and the distal finger section 111 respectively correspond to the proximal finger end, the middle finger end and the distal finger end of four fingers of a real hand of a human body; the rocker group 12 includes: the first rocker 121, the second rocker 122, the third rocker 123, the fourth rocker 124 and the fifth rocker 125, one end of the first rocker 121 is hinged with the far finger section 111, the other end of the first rocker is hinged with the second rocker 122 and the first connecting rod 131, one end of the second rocker 122 is hinged with the middle finger section 112, the other end of the second rocker is hinged with the first rocker 121 and the first connecting rod 131, one end of the third rocker 123 is hinged with the near finger section 113, the other end of the third rocker 123 is hinged with the first connecting rod 131 and the second connecting rod 132, the fourth rocker 124 is two in number, the two are hinged with each other, the other end of one is hinged with the near finger section 113, the other end of the other is hinged with the transmission mechanism hinge hole 32 of the hand back plate 3, the fifth rocker 125 is an input rod of the four-finger mechanism 1, the middle hole is hinged with the hand back plate 3, the front end is hinged with the fourth connecting rod 134, and the rear end is hinged with the motor front end hinge hole 51; the linkage includes: the first connecting rod 131, the second connecting rod 132, the third connecting rod 133 and the fourth connecting rod 134 are respectively hinged with the rocker group in the above manner;

fig. 4 shows a schematic structural diagram of the thumb mechanism 2, and the thumb mechanism 2 includes: a thumb fake finger group 21, a thumb rocker group 22 and a thumb connecting rod group 23; the thumb and artificial finger set includes: the hand-shaped connecting rod 213, the thumb proximal finger section 212 and the thumb distal finger section 211, wherein the hand-shaped connecting rod 213 is hinged with the backboard 3, and the thumb proximal finger section 212 and the thumb distal finger section 213 correspond to the proximal finger end and the distal finger end of the thumb of the real hand of the human body respectively; the thumb rocker group 21 includes: the first thumb rocker 221, the second thumb rocker 222, the third thumb rocker 223 and the fourth thumb rocker 224, one end of the first thumb rocker 221 is hinged with the far finger section 211 of the thumb, the other end of the first thumb rocker 221 is hinged with the second thumb rocker 212 and the first thumb connecting rod 231, one end of the second thumb rocker 222 is hinged with the near finger section 212 of the thumb, the other end of the second thumb rocker 221 is hinged with the first thumb rocker 221 and the first thumb connecting rod 231, the third thumb rockers 223 are two in number and hinged with each other, the other end of one of the third thumb rockers is hinged with the near finger section of the thumb, the other end of the other one of the third thumb rockers is hinged with the transmission mechanism hinge hole 32 of the hand back plate 3, the fourth thumb rocker 224 is an input rod of the thumb mechanism 2, the middle hole of the fourth thumb rocker is hinged with the hand back plate 3, the front end of the fourth thumb rocker 233 is hinged with the front end hinge hole 51 of the motor; the thumb linkage 23 includes: the first thumb connecting rod 231, the second thumb connecting rod 232 and the third thumb connecting rod 233 are respectively hinged with the thumb rocker group 22 in the above manner;

fig. 5 shows a far finger segment and a sensor group 61 of five artificial fingers, wherein a pressure sensor 611 is embedded in the center of the far finger segment of each artificial finger for collecting real-time pressure during grasping, a receiver 612 is embedded in the front end of the far finger segment 211 of the thumb for receiving voice of the other party during voice communication, a temperature sensor 613 is embedded in the front end of the far finger segment 1111 of the index finger for feeding back the temperature of an object when the far finger segment 1111 of the index finger touches the object, an infrared ranging sensor 614 is embedded in the front end of the far finger segment 1112 of the middle finger for measuring the distance to the object, voice modules 615 are embedded in the two sides of the far finger segment 1113 of the ring finger for voice interaction and completing real-time voice control of a prosthesis or feedback of control parameters of the prosthesis, a microphone module is embedded in the front end of the far finger segment 1114 of the little finger for transmitting voice to the other party during voice communication, and power supply and control circuits of the sensor group 61 are connected to an electronic control group 62 through the internal cavity of the artificial fingers;

fig. 6 and 7 show the backboard 3 and the electric part 6, the backboard 3 comprising: the electric part 6 comprises a sensor group 61, an electric control group 62, a display 63 and a myoelectric acquisition module 64, the sensor group 61 comprises a pressure sensor 611, a receiver 612, a temperature sensor, an infrared voice sensor 613, a microphone group 615, a microphone group core module 621, a battery module and a microphone group core module 621, a remote control module PCB (printed circuit board) and a microphone module core 614 are embedded in the phone module, the phone module core 621 comprises a short-distance communication module PCB 614 and a remote control module PCB 614, the phone module core 621 is embedded in the phone module PCB 621, the phone module core 621, the phone module PCB 614 and the microphone group core module 23 are integrated on the phone module PCB, the phone module core 621, the phone module PCB 614 is embedded in the phone module PCB 614, the phone module core 621 and the phone module PCB 622, and the phone module core module are integrated on the phone module PCB 614, the phone module PCB 621 is embedded in the phone module PCB 614 and the phone module PCB 614;

fig. 8 and 9 show the structure of the motor supporting plate 4 and the matching mode of the motor supporting plate 4 and the motor 5, the whole motor supporting plate 4 is a curved surface conforming to human engineering, and can be comfortably clamped on the front arm of the wrist of a human body, and then a binding band is threaded through the binding band hole 42 for fixing, five groups of motor hinging seats 41 are arranged at the rear end of the motor supporting plate 4, and the motor hinging seats 41 are collinear with the artificial limb hinging hole and are used for being hinged and connected with the motor 5; the motor 5 is a linear push rod motor, the motor comprises a front end hinge hole 52 and a tail end hinge hole 51, the front end hinge hole 52 is hinged with a tail end hole of a fifth rocker 125 or a fourth thumb rocker 224, the tail end hinge hole 51 is connected with a motor hinge seat 41, the display 63 is embedded in the rear part of the motor supporting plate 4, the myoelectric acquisition module 64 is embedded in the contact part of the inner side of the motor supporting plate 4 and the forearm, and when the motor supporting plate 4 is worn correctly, the myoelectric acquisition module 64 is attached to the extensor digitorum muscle and the superficial flexor digitorum muscle of the forearm;

finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions.

Claims

1. A multi-sensing closed-chain cascade type hand prosthesis based on myoelectric control is characterized by comprising:

the four-finger mechanism (1) adopts a closed chain multi-rod transmission structure, can simulate the three-joint action of four fingers except the thumb of a human body, and can reach the motion range of the four fingers;

the thumb mechanism (2) adopts a closed-chain multi-rod transmission structure, can simulate the actions of two joints of a human thumb, and can reach the motion range of the thumb;

the hand back plate (3) is used as a palm main body, can be used as a hand palm prosthesis for people with palm loss and can also be worn by people with only finger loss, and the hand back plate (3) is used as a rack of the four-finger mechanism (1) and the thumb mechanism (2);

the motor supporting plate (4) is integrally an ergonomic curved surface, can be comfortably clamped on the forearm of the wrist of a human body and serves as a frame of the motor (5) and the hand back plate (3);

the motor (5), the motor (5) is a linear push rod motor, and the front end and the rear end are respectively provided with a hinge hole;

and the electric part (6) receives and processes the feedback information of each device, and controls the whole artificial hand limb.

2. The myoelectricity control-based multi-sensing closed-chain tandem hand prosthesis according to claim 1 is characterized in that the four-finger mechanism (1) comprises four artificial fingers including an index finger, a middle finger, a ring finger and a little finger, each artificial finger comprises a palm connecting rod (114), a proximal finger section (113), a middle finger section (112) and a distal finger section (111), wherein the palm connecting rod (114) is hinged with the hand back plate (3), and the proximal finger section (113), the middle finger section (112) and the distal finger section (111) respectively correspond to the proximal finger end, the middle finger end and the distal finger end of the four fingers of a human body real hand.

3. The myoelectric control-based multi-sensing closed-chain cascade hand prosthesis according to claim 1, wherein the thumb mechanism (2) comprises a thumb artificial finger, the thumb artificial finger comprises a palm connecting rod (213), a proximal finger section (212) and a distal finger section (211), the palm connecting rod (213) is hinged with the backboard (3), and the proximal finger section (212) and the distal finger section (211) respectively correspond to the proximal finger end and the distal finger end of the thumb of the real hand of the human body.

4. The myoelectric control-based multi-sensing closed-chain cascade type hand prosthesis is characterized in that the four-finger mechanism (1) and the thumb mechanism (2) can disassemble a part of the artificial fingers or the thumb mechanism (2) in the four-finger mechanism (1) according to the specific missing condition of the fingers of a user, the lower end cover (32) of the hand back plate (3) is removed, and the hand back plate is worn after covering the electric part (6) with an insulating layer.

5. The myoelectricity control-based multi-sensor closed-chain cascading hand prosthesis according to claim 1 is characterized in that the electric part (6) comprises a sensor group (61), an electric control group (62), a display (63) and a myoelectricity acquisition module (64), the sensor group (61) comprises a pressure sensor (611), a receiver (612), a temperature sensor (613), an infrared distance measurement sensor (614), a voice module (615) and a microphone module (616), the sensor group (61) is embedded in a far finger section, the electric control group (62) comprises a core PCB (621), a motor driving module (623) and a battery (622), the core PCB (621) is integrated with a module for processing functions of the sensor group (61), the GPRS module is included to realize functions of voice communication and short message receiving and sending, and the electric control group (62) is embedded in the hand backboard (3).