CN111297526B - Multi-joint upper limb myoelectric artificial limb control device - Google Patents

Multi-joint upper limb myoelectric artificial limb control device Download PDF

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CN111297526B
CN111297526B CN202010135424.4A CN202010135424A CN111297526B CN 111297526 B CN111297526 B CN 111297526B CN 202010135424 A CN202010135424 A CN 202010135424A CN 111297526 B CN111297526 B CN 111297526B
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mode
channel
hand
switching
myoelectric
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CN111297526A (en
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郭伟超
冯亚岗
李钦
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Suzhou Tonghe Jingrun Rehabilitation Technology Co ltd
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Suzhou Tonghe Jingrun Rehabilitation Technology Co ltd
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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

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  • Health & Medical Sciences (AREA)
  • Cardiology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Transplantation (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Vascular Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Prostheses (AREA)

Abstract

The invention provides a control method of a multi-joint upper limb myoelectric artificial limb, which collects myoelectric signals of a channel 1 and a channel 2, and presets three modes: hand mode, wrist mode, elbow mode; in the hand mode, three states are further defined: open in place, hold in place, intermediate state. And determining the output action and mode switching according to the current mode and state of the artificial limb and the input of the electromyographic signals. The invention has the advantages that the switching among the actions of each mode can be conveniently and stably carried out, and the aim of freely controlling the upper artificial limb by a patient is achieved.

Description

Multi-joint upper limb myoelectric artificial limb control device
Technical Field
The application relates to the field of artificial limb control, in particular to a control device of a multi-joint upper limb myoelectric artificial limb.
Background
The existing mainstream functional artificial limb mainly controls myoelectricity, the myoelectricity artificial limb in the market mostly adopts a pair of residual limb muscles to control the action of an artificial hand, and with the increase of the action mode of the artificial hand, particularly after the action mode of a wrist joint or an elbow joint is added, the problem of how to conveniently and reliably control becomes a real problem.
Content of application
In view of the above problems, the present application provides a control device and method for a multi-joint upper limb myoelectric prosthetic limb, which can conveniently and stably switch between various modes of actions, so as to achieve the purpose that a patient can freely control the upper limb prosthetic limb.
In order to solve the problems, the application provides a control device of a multi-joint upper limb myoelectric artificial limb, which comprises an artificial limb controller, a myoelectric electrode interface, a feedback output interface, a power supply interface, a function button interface and a multi-joint artificial limb mechanical system interface, wherein the myoelectric electrode interface, the feedback output interface, the power supply interface, the function button interface and the multi-joint artificial limb mechanical system interface are connected with the artificial limb controller; the myoelectric electrode comprises a myoelectric electrode, and the myoelectric electrode is connected with a myoelectric electrode interface.
Further, the feedback output interface is connected with a stimulator; the power interface is connected with a battery for providing power, and the function button interface is connected with a function button; the multi-joint artificial limb mechanical system interface is connected with an artificial hand, a wrist joint and an elbow joint.
Furthermore, the artificial limb controller comprises a myoelectricity acquisition unit, a mode switching unit and a decision output unit.
Furthermore, the artificial limb controller comprises a high-performance operation processor and a peripheral circuit thereof, acquires and processes the electromyographic signals, and is connected with an artificial limb motor driving circuit to control the movement of the artificial limb.
Furthermore, an amplifying and filtering circuit is integrated in the myoelectric electrode.
Furthermore, one myoelectric electrode and one myoelectric electrode interface are connected to form a myoelectric signal acquisition channel, and the control device comprises 2 myoelectric signal acquisition channels.
Furthermore, the two myoelectric electrodes are respectively arranged on the surfaces of a pair of antagonistic muscles of the stump of the patient.
Further, the control device comprises a power management module; the power management module comprises a low-power consumption power management chip and a peripheral circuit thereof and is used for generating a voltage source required by each module.
Further, the control device comprises a storage module; the memory module comprises a micro-packaged memory chip and a peripheral circuit thereof and is used for storing preset or user-defined configuration information.
Further, the control device comprises a function button module for some auxiliary control of the prosthesis.
A control method of a multi-joint upper limb myoelectric artificial limb collects myoelectric signals of a channel 1 and a channel 2, and performs action control and mode switching control of the artificial limb according to the myoelectric signal of one channel.
Further, three modes are preset: hand mode, wrist mode, elbow mode; when in the hand mode, the artificial limb hand is unfolded and grasped; performing internal rotation and external rotation of the wrist in the wrist mode; when the elbow joint mode is adopted, the elbow joint is stretched and bent; in the hand mode, three states are further defined: in-place stretching, in-place holding and intermediate state; the stretching in place means that the hand is stretched to the maximum degree and can not be stretched any more; the holding position means that the hand is already held to the minimum state and can not be held any more; the intermediate state refers to a state that the fabric can be further stretched or held; the specific parameters of the in-place stretching and the in-place holding are set in the storage chip.
Furthermore, the output action and mode switching are determined according to the current mode and state of the artificial limb and the input of the electromyographic signal.
Further, in the intermediate state of the hand mode, outputting a prosthetic hand spreading motion with the channel 1 electromyographic signal being active; outputting a gripping movement of the prosthetic hand under the condition that the electromyographic signals of the channel 2 are effective; the effective means that the amplitude and the time of the channel signal exceed the preset threshold;
further, in the open-to-position state of the hand mode, if a valid short pulse exists in the channel 1 and the intensity of a valid short pulse finger signal exceeds a preset threshold value in a short time, performing action switching of the hand mode;
further, in the grip-in state of the hand mode, if it is detected that there is a valid short pulse in the channel 2, switching to the wrist mode or the elbow mode;
further, switching to the hand mode if a valid short pulse is detected for the channel 2 in the wrist mode or elbow mode.
Further, parameters in the motion control and mode switching control may set adjustments including myoelectric signal strength, threshold value of duration, signal of whether to use the channel 1 or the channel 2 in a certain mode; the parameter values are stored in a memory chip.
Further, a function button module is used for interacting with some functions of the patient, including single-click hand mode switching, double-click switching to elbow joint mode or wrist joint mode, and long-time pressing to restore factory settings;
furthermore, the corresponding relation between the button operation and the function is adjustable, and the adjusted parameter value is stored in the storage chip.
The device has the advantages that switching among modes can be conveniently and stably carried out, and the purpose that a patient freely controls the upper artificial limb is achieved.
Drawings
FIG. 1 is a schematic circuit diagram of a prosthesis control device according to a preferred embodiment of the present application;
FIG. 2 is a flow chart of the prosthesis actuation and mode switching control of a preferred embodiment of the present application;
FIG. 3 is an external view of the structure of a preferred embodiment of the present application;
figure 4 is an external view of a multi-joint upper prosthesis according to a preferred embodiment of the present application.
Detailed Description
The preferred embodiments of the present application will be described below with reference to the accompanying drawings for clarity and understanding of the technical contents thereof. The present application may be embodied in many different forms of embodiments and the scope of the present application is not limited to only the embodiments set forth herein.
In the drawings, structurally identical elements are represented by like reference numerals, and structurally or functionally similar elements are represented by like reference numerals throughout the several views. The size and thickness of each component shown in the drawings are arbitrarily illustrated, and the size and thickness of each component are not limited in the present application. The thickness of the components may be exaggerated where appropriate in the figures to improve clarity.
Figure 4 shows the appearance of a multijoint upper prosthesis according to an embodiment of the present application:
401 is a prosthetic hand head part, 402 is a wrist part, 403 is an elbow joint part; the hand mode refers to the motion mode of the head part of the artificial limb 401, the wrist mode refers to the inward rotation and outward rotation of the wrist 402, and the elbow joint mode refers to the extension and flexion of the elbow joint 403.
Fig. 3 is an external view of a control device according to an embodiment of the present application:
the device comprises 301 and 302 double-channel electromyographic electrodes, 303 electromyographic electrode interfaces, 304 prosthesis controllers, 305 feedback output interfaces, 306 power interfaces, 307 function button interfaces and 308 multi-joint prosthesis mechanical system interfaces;
the 304 artificial limb controller is connected with 303 myoelectric electrode interface, 305 feedback output interface, 306 power interface, 307 function button interface and 308 multi-joint artificial limb mechanical system interface; 301. the 302 double-channel electromyographic electrode is connected with the 303 electromyographic electrode interface; 305 feedback output interface connected to a stimulator providing appropriate sensory feedback to the patient; 307, connecting a function button interface with a function button module, wherein the function button module is used for interacting with some functions of a patient, and comprises clicking to switch a hand mode, double clicking to switch an elbow joint mode or a wrist joint mode, and long pressing to restore factory settings; 306 a power interface connected to a battery for providing power; the 308 multi-joint prosthetic mechanical system interfaces the 401 prosthetic hand head, 402 wrist joint, 403 elbow joint shown in fig. 4.
The schematic circuit diagram of the multijoint upper limb prosthesis control device of the embodiment of the present application as shown in figure 1:
100 is an electromyographic electrode used for sensing the electromyographic signal of the stump of the patient; 101 is a prosthesis controller, comprising 102 a signal acquisition unit of the prosthesis controller, 103 a mode switching management unit of the prosthesis controller, and 104 a decision output unit of the prosthesis controller; 105 is a multi-joint upper limb prosthesis which is connected with a prosthesis controller and driven by the controller;
the 100 myoelectricity electrode part comprises two myoelectricity electrodes which are respectively arranged on the surfaces of a pair of antagonistic muscles of the stump of a patient, and an amplification filter circuit is integrated in the myoelectricity electrodes; 101 the artificial limb controller comprises a high-performance arithmetic processor and a peripheral circuit thereof, collects and processes electromyographic signals, and is connected with an artificial limb motor driving circuit to control the movement of the artificial limb;
the artificial limb controller part also comprises a power supply management module, a storage module and a button module; the power management module comprises a low-power consumption power management chip and a peripheral circuit thereof and is used for generating a voltage source required by each module; the memory module comprises a micro-packaged memory chip and a peripheral circuit thereof and is used for storing preset or user-defined configuration information.
The prosthesis controller motion control and mode control flow diagram of the embodiment of the present application as shown in fig. 2:
the artificial limb controller processes the two-channel myoelectric signals and determines action control and mode switching control according to the signal state and the artificial limb motion state;
three modes are preset: hand mode, wrist mode, elbow mode; when in the hand mode, the artificial hand part is unfolded and grasped; performing internal rotation and external rotation of the wrist in the wrist mode; when in the elbow joint mode, the elbow joint is stretched and flexed.
In the hand mode, three states are further defined: in-place stretching, in-place holding and intermediate state; the stretching in place means that the hand is stretched to the maximum degree and can not be stretched any more; the holding in place means that the hand is already held to the minimum tight state and can not be held any more; the intermediate state is a state that can be further opened or further held; the specific parameters of the in-place stretching and holding are set in the memory chip.
The prosthesis must be in a certain mode and state, and as with the principle of a state machine, the output action and mode switching are determined according to the mode and state of the prosthesis at present and the input of the electromyographic signals, which are specifically listed and described as follows:
in the intermediate state of the hand mode, the artificial hand is output to unfold under the condition that the electromyographic signals of the channel 1 are effective; outputting the gripping movement of the artificial hand under the condition that the electromyographic signals of the channel 2 are effective; the effective means that the amplitude and the time of the channel signal exceed the preset threshold;
in the open-in-place state of the hand mode, if the channel 1 is detected to have effective short pulses and the strength of the short pulse finger signal exceeds a preset threshold value in a short time, the action switching of the hand mode is carried out;
in the holding-in-place state of the hand mode, if the channel 2 is detected to have a valid short pulse, switching to the wrist joint or elbow joint mode;
in wrist or elbow mode, if a valid short pulse is detected for channel 2, hand mode is switched.
The parameters in the motion control and mode switching control may be set and adjusted, including myoelectric signal strength, threshold value of duration, signal of using channel 1 or channel 2 in a certain mode; the parameter values are stored in a memory chip.
The time length of clicking, double-clicking and long-pressing of the external button can also be set and adjusted, and the operation corresponding to the operation of different buttons can also be set and adjusted, for example, double-clicking is redefined for switching the hand mode, and clicking is switched to the elbow joint mode or the wrist joint mode; the above settings are stored in the memory chip.
In the above embodiment, for the problem that the electromyographic signals of the residual limbs of some patients are weak and it is difficult to simultaneously activate the electromyographic signals of two channels, the signals of the two channels are not required to be simultaneously activated, the electromyographic signals of a certain channel are selected and identified to switch the modes by combining the states of the artificial limbs, and the threshold values of the intensity and the duration of the signals can be adjusted to adapt to the conditions of different patients, so that the requirements on the intensity and the duration of the electromyographic signals of the patients are reduced, and the convenient and stable switching among the mode actions is ensured, thereby achieving the purpose that the patients can freely control the artificial limbs of the upper limbs.
When the electromyographic signals of the patient are stronger, the electromyographic signals of the two channels can still be selected to be activated simultaneously. This selection may be arranged such that the setting information is stored in the memory chip.
The information stored in the memory chip is not lost due to power failure.
The foregoing detailed description of the preferred embodiments of the present application. It should be understood that numerous modifications and variations can be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the concepts of the present application should be within the scope of protection defined by the claims.

Claims (4)

1. A control method of a multi-joint upper limb myoelectric artificial limb is characterized in that myoelectric signals of a channel 1 and a channel 2 are collected, action control and mode switching control of the artificial limb are carried out according to the myoelectric signal of one channel, and three modes are preset: hand mode, wrist mode, elbow mode; in the hand mode, three states are further defined: the method comprises the following steps of in-place opening, in-place holding and intermediate state, determining output action and mode switching according to the current mode and state of the artificial limb and the input of an electromyographic signal, wherein the specific action and mode switching is as follows: in the intermediate state of the hand mode, outputting the unfolding motion of the prosthetic hand under the condition that the electromyographic signal of the channel 1 is effective; outputting a gripping movement of the prosthetic hand under the condition that the electromyographic signals of the channel 2 are effective; the effective means that the amplitude and the time of the channel signal exceed the preset threshold;
in the open-to-place state of the hand mode, if the channel 1 is detected to have effective short pulses, and the strength of the effective short pulse finger signal exceeds a preset threshold value in a short time, the action switching of the hand mode is carried out;
in the grip-in state of the hand mode, switching to the wrist mode or the elbow mode if a valid short pulse is detected for the channel 2;
switching to the hand mode if a valid short pulse is detected for the channel 2 in the wrist mode or the elbow mode.
2. A control method of a multi-joint upper limb myoelectric prosthesis according to claim 1, characterized in that parameters in the action control and the mode switching control can be set and adjusted, including myoelectric signal intensity, threshold value of duration, signal of using the channel 1 or the channel 2 in a certain mode; the parameter values are stored in a memory chip.
3. A control method for a multi-jointed electromyographic upper extremity prosthesis according to claim 1, wherein function buttons are used for interacting with functions of the patient, including single click hand mode switching, double click switching to elbow or wrist mode, long press to restore factory settings.
4. A control method of a multi-jointed electromyographic upper extremity prosthetic of claim 3, wherein the correspondence between button operation and function is adjustable, and the adjusted parameter values are stored in a memory chip.
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CN111743667A (en) * 2020-06-29 2020-10-09 北京海益同展信息科技有限公司 Artificial limb control method, device, system and storage medium
CN115204242B (en) * 2022-09-09 2022-12-09 深圳市心流科技有限公司 Method and device for adjusting action template comparison threshold and storage medium

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US5336269A (en) * 1992-06-09 1994-08-09 Liberty Mutual Insurance Co. Method and apparatus for switching degrees of freedom in a prosthetic limb
US5888213A (en) * 1997-06-06 1999-03-30 Motion Control, Inc. Method and apparatus for controlling an externally powered prosthesis
CN106965190A (en) * 2017-03-13 2017-07-21 日照若比邻机器人科技有限公司 Manipulator control system
CN107553499A (en) * 2017-10-23 2018-01-09 上海交通大学 Natural the gesture motion control system and method for a kind of Multi-shaft mechanical arm
CN108814778A (en) * 2018-07-19 2018-11-16 郭伟超 A kind of myoelectricity humanoid dexterous prosthetic hand cascade Mach-Zehnder interferometer method and system

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CN109998742B (en) * 2019-05-07 2023-07-11 北京通和营润智能科技发展有限公司 Multi-degree-of-freedom myoelectric bionic artificial limb control system

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Publication number Priority date Publication date Assignee Title
US5336269A (en) * 1992-06-09 1994-08-09 Liberty Mutual Insurance Co. Method and apparatus for switching degrees of freedom in a prosthetic limb
US5888213A (en) * 1997-06-06 1999-03-30 Motion Control, Inc. Method and apparatus for controlling an externally powered prosthesis
CN106965190A (en) * 2017-03-13 2017-07-21 日照若比邻机器人科技有限公司 Manipulator control system
CN107553499A (en) * 2017-10-23 2018-01-09 上海交通大学 Natural the gesture motion control system and method for a kind of Multi-shaft mechanical arm
CN108814778A (en) * 2018-07-19 2018-11-16 郭伟超 A kind of myoelectricity humanoid dexterous prosthetic hand cascade Mach-Zehnder interferometer method and system

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