CN111568615A - Electric artificial limb system and electric artificial limb control method - Google Patents

Electric artificial limb system and electric artificial limb control method Download PDF

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Publication number
CN111568615A
CN111568615A CN202010298361.4A CN202010298361A CN111568615A CN 111568615 A CN111568615 A CN 111568615A CN 202010298361 A CN202010298361 A CN 202010298361A CN 111568615 A CN111568615 A CN 111568615A
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China
Prior art keywords
control module
layer control
artificial limb
bottom layer
road condition
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CN202010298361.4A
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Chinese (zh)
Inventor
付成龙
张稳
肖文涛
冷雨泉
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Southwest University of Science and Technology
Southern University of Science and Technology
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Southwest University of Science and Technology
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Priority to CN202010298361.4A priority Critical patent/CN111568615A/en
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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
    • A61F2/60—Artificial legs or feet or parts thereof
    • 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
    • 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

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

Abstract

The invention discloses an electric artificial limb system and an electric artificial limb control method, wherein the system comprises: the artificial limb posture estimation device comprises a bottom layer control module, a middle layer control module and a high layer control module, wherein the bottom layer control module is used for controlling the body, the middle layer control module is used for estimating the artificial limb posture and outputting gait control signals according to the intention decision and road condition information of the high layer control module, and the high layer control module is used for intention prediction and road condition identification. According to the invention, the control system is divided into the bottom layer control module, the middle layer control module and the high layer control module, so that the electric artificial limb can perform time-sharing and layering processing aiming at different tasks, and the efficient deployment of the control system is facilitated.

Description

Electric artificial limb system and electric artificial limb control method
Technical Field
The invention relates to a prosthesis, in particular to an electric prosthesis system and an electric prosthesis control method.
Background
The limb disabilities affect the work and life of the disabled, so that the intelligent power prosthesis capable of solving the problem of the mobility disorder of the disabled is becoming one of the research hotspots in the robot field. With the development of robotics, intelligent electric artificial limbs are rapidly developed. The control of the electric artificial limb is one of the key problems of the practical application of the artificial limb, however, the performance of the main control module of the existing electric artificial limb is lower and the main control module can not bear too many functions.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides an electric artificial limb system which can carry out layering and time-sharing processing on various processing requirements of an artificial limb, disperses the calculation burden of a single processor, carries out layering and time-sharing processing on different tasks and is beneficial to efficient deployment of the system.
The invention also provides a control method of the electric artificial limb.
In a first aspect, an embodiment of the present invention provides an electrically powered prosthesis system, comprising: the artificial limb body comprises a body, an acquisition module, a bottom layer control module, a middle layer control module and a high layer control module, wherein the output end of the acquisition module is respectively connected with the input end of the high layer control module, the input end of the middle layer control module and the input end of the bottom layer control unit;
the acquisition module is used for acquiring the information required by the bottom layer control module, the middle layer control module and the high layer control module,
the bottom layer control module is used for controlling the body,
the middle layer control module is used for estimating the posture of the artificial limb, outputting a gait control signal according to the intention decision and road condition information of the high layer control module,
the high-level control module is used for intention prediction and road condition identification.
Further, the body includes electronic joint, electronic joint includes electronic joint and connection structure spare, including ankle joint and/or knee joint.
Further, the high-level control module includes a processor for road condition identification and intent prediction.
Further, the middle layer control module comprises a processor for gait control.
Further, the bottom control module comprises a driver and a motor, the input end of the driver is connected with the output end of the middle control module, the output end of the driving motor is connected with the input end of the motor, and the input end of the motor is connected with the input end of the body.
Further, the acquisition module comprises one or more of: a position sensor unit, a force sensor unit, an inertial sensor unit, a myoelectric sensor unit, a camera unit.
The invention also provides a control method of the electric artificial limb, which comprises the following steps:
a bottom layer control module, a middle layer control module and a high layer control module are arranged,
the bottom layer control module is used for controlling the prosthesis body,
the middle layer control module is used for estimating the posture of the artificial limb, outputting a gait control signal according to the intention decision and road condition information of the high layer control module,
the high-level control module is used for intention prediction and road condition identification.
The electric artificial limb system provided by the embodiment of the invention at least has the following beneficial effects: the control system is divided into the bottom layer control module, the middle layer control module and the high layer control module, so that the electric artificial limb can perform time-sharing and layering processing aiming at different tasks, and the efficient deployment of the control system is facilitated.
Drawings
FIG. 1 is a block diagram of an embodiment of an electric prosthesis system according to an embodiment of the present invention;
fig. 2 is a schematic view of an embodiment of an electric prosthesis system according to the present invention.
Detailed Description
The concept and technical effects of the present invention will be clearly and completely described below in conjunction with the embodiments to fully understand the objects, features and effects of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and those skilled in the art can obtain other embodiments without inventive effort based on the embodiments of the present invention, and all embodiments are within the protection scope of the present invention.
In the description of the present invention, if an orientation description is referred to, for example, the orientations or positional relationships indicated by "upper", "lower", "front", "rear", "left", "right", etc. are based on the orientations or positional relationships shown in the drawings, only for convenience of describing the present invention and simplifying the description, but not for indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. If a feature is referred to as being "disposed," "secured," "connected," or "mounted" to another feature, it can be directly disposed, secured, or connected to the other feature or indirectly disposed, secured, connected, or mounted to the other feature.
In the description of the embodiments of the present invention, if "a number" is referred to, it means one or more, if "a plurality" is referred to, it means two or more, if "greater than", "less than" or "more than" is referred to, it is understood that the number is not included, and if "greater than", "lower" or "inner" is referred to, it is understood that the number is included. If reference is made to "first" or "second", this should be understood to distinguish between features and not to indicate or imply relative importance or to implicitly indicate the number of indicated features or to implicitly indicate the precedence of the indicated features.
Referring to fig. 1, a block diagram of an embodiment of a motorized prosthesis system according to an embodiment of the present invention is shown. The method comprises the following steps: the artificial limb body comprises a body, an acquisition module, a bottom layer control module, a middle layer control module and a high layer control module, wherein the output end of the acquisition module is respectively connected with the input end of the high layer control module, the input end of the middle layer control module and the input end of the bottom layer control unit;
the acquisition module is used for acquiring the information required by the bottom layer control module, the middle layer control module and the high layer control module,
the bottom layer control module is used for controlling the body,
the middle layer control module is used for estimating the posture of the artificial limb, outputting a gait control signal according to the intention decision and road condition information of the high layer control module,
the high-level control module is used for intention prediction and road condition identification.
In the embodiment, the tasks required to be processed by the electric artificial limb are divided according to the performance requirement of the processor, the tasks required to be calculated in a complex way and with large calculation amount are realized by the high-level control module, the simple tasks controlled by the motor of the body are realized by the bottom-level control module, and other tasks are realized by the middle-level control module, so that the layered and time-sharing processing of different task requirements is realized, the efficient deployment of the system is facilitated, the response speed of the system is higher, the performance is higher, and the more complex processing tasks can be borne.
In another embodiment, the body comprises a motorized joint that is actively controllable, the motorized joint comprising an ankle joint and/or a knee joint. The bottom control module comprises a driver and a motor, the input end of the driver is connected with the output end of the middle control module, the output end of the driving motor is connected with the input end of the motor, and the input end of the motor is connected with the input end of the body. The bottom layer control module comprises a position sensor unit, a force sensor unit, an inertial sensor unit, a myoelectric sensor unit and a camera unit. The middle-level control modules each include a processor for gait control, and the high-level control modules generally include a higher-performance processor for operating an operating system, road condition recognition, and intent prediction.
Referring to fig. 2, fig. 2 is a schematic view of an embodiment of an electric prosthesis system according to the embodiment, including: the body receives chamber 1 (body), electronic knee joint 2, shank 3 (body), electronic ankle joint 4, podotheca 5 (body), sole 6 (body), flesh electric sensor 7, inertial sensor 8, knee joint position sensor 9, camera 10, knee joint driver 11, middle level control module 12, high-rise control module 13, sensor collection card 14, ankle joint driver 15, ankle joint position sensor 16 and force transducer 17.
The acquisition module mainly comprises an inertial sensor 8, a knee joint position sensor 9, an ankle joint position sensor 16 and a force sensor 17. The force sensor is arranged at the lower end of the ankle joint and used for measuring the interaction force between the artificial limb and the ground. The inertial sensor 8 may be mounted on the upper or lower leg of the prosthesis. The knee joint position sensor 9 and the ankle joint position sensor 16 are installed at the knee joint and the ankle joint for measuring joint angle or velocity information. The myoelectric sensor 7 is arranged on the surface of the muscle of the end of the prosthetic limb, and the inertial sensor 8 can be arranged on the upper leg or the lower leg of the prosthetic limb. The camera 10 is typically mounted on the lower leg near the knee joint. The electromyographic sensor 7, inertial sensor 8, and camera 10 send information to the high-level control module.
The high-rise control module generally operates an operating system, and performs intention prediction and road condition judgment by collecting signals of a surface electromyography sensor 7 and signals of an inertia sensor 8 and according to the latest artificial intelligence technology such as deep learning. And finishing the intention prediction function and the artificial limb road condition identification function.
The middle-layer control module 12 determines the current motion state of the artificial limb and performs gait control by a sensor fusion algorithm according to the intention information and road condition information of the high-layer control module and the artificial limb state information acquired by combining a sensor, and the requirement on real-time performance is high.
The bottom layer control module comprises a knee joint driver 11, an ankle joint driver 15 and a corresponding joint motor, and is used for controlling the artificial limb joint motor, realizing servo control on the motor layer, realizing artificial limb force control or position control, and having the highest control real-time performance and short period.
The acquisition module acquires the sensor information using an acquisition card 14, and the force sensors are of the type including a thin film pressure sensor and a single or multi-axis tension pressure sensor. The position sensor types include an encoder, a rotation angle sensor, an inertial sensor, and the like
The electric artificial limb system in the embodiment carries out layered time-sharing processing on different task requirements such as artificial limb control decision, track generation, servo bottom layer control and the like, is beneficial to efficient deployment of the control system, and enables the control effect to be maximized.
The electric artificial limb layered control system has system redundancy and can be used for any active control artificial limbs such as a lower leg artificial limb, a thigh artificial limb and the like. By combining the high-level control module and the middle-level control module, the decision information of the upper level such as the realization intention or the environment can be increased, and the intelligent power artificial limb is beneficial to the real outdoor use.
The invention also discloses a control method of the electric artificial limb, which comprises the following steps: a bottom layer control module, a middle layer control module and a high layer control module are arranged,
the bottom layer control module is used for controlling the prosthesis body,
the middle layer control module is used for estimating the posture of the artificial limb, outputting a gait control signal according to the intention decision and road condition information of the high layer control module,
the high-level control module is used for intention prediction and road condition identification.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention. Furthermore, the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict.

Claims (7)

1. An electrically powered prosthetic system, comprising: the artificial limb body comprises a body, an acquisition module, a bottom layer control module, a middle layer control module and a high layer control module, wherein the output end of the acquisition module is respectively connected with the input end of the high layer control module, the input end of the middle layer control module and the input end of the bottom layer control unit;
the acquisition module is used for acquiring the information required by the bottom layer control module, the middle layer control module and the high layer control module,
the bottom layer control module is used for controlling the body,
the middle layer control module is used for estimating the posture of the artificial limb, outputting a gait control signal according to the intention decision and road condition information of the high layer control module,
the high-level control module is used for intention prediction and road condition identification.
2. The powered prosthetic system of claim 1, wherein the body includes a powered joint including an ankle joint and/or a knee joint and a connecting structure.
3. The motorized prosthesis system of claim 1, wherein the high-level control module includes a processor for road condition identification and intent prediction.
4. The powered prosthetic system of claim 1, wherein the medial control module includes a processor for gait control.
5. The motorized prosthetic system of claim 1, wherein the bottom layer control module includes a driver and a motor, an input of the driver is connected to an output of the middle layer control module, an output of the drive motor is connected to an input of the motor, and an input of the motor is connected to an input of the body.
6. The powered prosthetic system of claim 1, wherein the harvesting module comprises one or more of: a position sensor unit, a force sensor unit, an inertial sensor unit, a myoelectric sensor unit, a camera unit.
7. A control method of an electric artificial limb is characterized in that a bottom layer control module, a middle layer control module and a high layer control module are arranged,
the bottom layer control module is used for controlling the prosthesis body,
the middle layer control module is used for estimating the posture of the artificial limb, outputting a gait control signal according to the intention decision and road condition information of the high layer control module,
the high-level control module is used for intention prediction and road condition identification.
CN202010298361.4A 2020-04-16 2020-04-16 Electric artificial limb system and electric artificial limb control method Pending CN111568615A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113730053A (en) * 2021-09-26 2021-12-03 上海交通大学 Lower limb prosthesis layered control system and method based on side-leg-strengthening multi-source information

Citations (5)

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Publication number Priority date Publication date Assignee Title
CN103860298A (en) * 2014-03-31 2014-06-18 北京大学 Non-contact capacitance sensing system for intelligent artificial limb
CN105722479A (en) * 2013-11-13 2016-06-29 赫尔实验室有限公司 System for controlling brain machine interfaces and neural prosthetic systems
CN106863309A (en) * 2015-12-14 2017-06-20 姚秋丽 A kind of under-actuated delicacy hand control system based on DSP and FPGA
CN107918492A (en) * 2017-12-22 2018-04-17 安庆师范大学 A kind of human motion in face of Intelligent lower limb artificial limb is intended to precognition recognition methods
CN110974497A (en) * 2019-12-30 2020-04-10 南方科技大学 Electric artificial limb control system and control method

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105722479A (en) * 2013-11-13 2016-06-29 赫尔实验室有限公司 System for controlling brain machine interfaces and neural prosthetic systems
CN103860298A (en) * 2014-03-31 2014-06-18 北京大学 Non-contact capacitance sensing system for intelligent artificial limb
CN106863309A (en) * 2015-12-14 2017-06-20 姚秋丽 A kind of under-actuated delicacy hand control system based on DSP and FPGA
CN107918492A (en) * 2017-12-22 2018-04-17 安庆师范大学 A kind of human motion in face of Intelligent lower limb artificial limb is intended to precognition recognition methods
CN110974497A (en) * 2019-12-30 2020-04-10 南方科技大学 Electric artificial limb control system and control method

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113730053A (en) * 2021-09-26 2021-12-03 上海交通大学 Lower limb prosthesis layered control system and method based on side-leg-strengthening multi-source information

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