CN112155812A - Intelligent artificial hand tactile feedback system based on electrical stimulation - Google Patents
Intelligent artificial hand tactile feedback system based on electrical stimulation Download PDFInfo
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- CN112155812A CN112155812A CN202011142085.9A CN202011142085A CN112155812A CN 112155812 A CN112155812 A CN 112155812A CN 202011142085 A CN202011142085 A CN 202011142085A CN 112155812 A CN112155812 A CN 112155812A
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- 230000000638 stimulation Effects 0.000 title claims abstract description 46
- 238000013507 mapping Methods 0.000 claims abstract description 11
- 238000000034 method Methods 0.000 claims description 13
- 230000035807 sensation Effects 0.000 claims description 12
- 230000008569 process Effects 0.000 claims description 10
- 238000004364 calculation method Methods 0.000 claims description 4
- 238000013461 design Methods 0.000 abstract description 5
- 238000002266 amputation Methods 0.000 abstract description 3
- 230000007547 defect Effects 0.000 abstract 1
- 210000003414 extremity Anatomy 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 230000035882 stress Effects 0.000 description 2
- 210000001364 upper extremity Anatomy 0.000 description 2
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 210000003710 cerebral cortex Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000011542 limb amputation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 210000000653 nervous system Anatomy 0.000 description 1
- 230000001537 neural effect Effects 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
- 230000004936 stimulating effect Effects 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
-
- 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
- A61F2002/6827—Feedback system for providing user sensation, e.g. by force, contact or position
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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)
- User Interface Of Digital Computer (AREA)
Abstract
The invention discloses an intelligent artificial hand tactile feedback system based on electrical stimulation, which is characterized by comprising a hardware part: (1) the touch sensor array, (2) the touch signal acquisition unit, (3) the main control chip, (4) the electro-stimulation computational unit, (5) the electro-stimulation electrode array, the software part: (6) a haptic information parsing algorithm, and (7) an electrical stimulation and haptic mapping algorithm. The main technical problems of the invention are the analysis of the information of the touch sensor, the mapping of the electric stimulation and the touch, and the layout design of the electric stimulation electrode array. The invention collects the information of the touch sensor on the intelligent artificial hand, generates electric stimulation information with certain intensity after analysis, stimulates the skin surface of the human body through the electric stimulation electrode array to simulate the real control feeling of the artificial hand, realizes the closed loop of the control of the intelligent artificial hand, can be used for the hand touch reappearance of amputation patients, overcomes the defect that the artificial hand in the market lacks control feedback, and has wide market prospect.
Description
Technical Field
The invention relates to an intelligent artificial hand tactile feedback system based on electrical stimulation, and belongs to the technical field of intelligent wearable equipment and tactile feedback.
Background
At present, a large number of upper limb amputation patients caused by natural disasters, accidents and the like exist in China, and due to the aggravation of the aging problem of the population of the society in China, part of old people can also cause amputation due to some diseases. As an intelligent wearable device, the intelligent artificial hand can play a role in repairing the appearance of the disabled and realizing daily basic grasping function. In addition to the bionic appearance, the intelligent control of the intelligent artificial hand is also the key point in the design of the artificial hand. Accordingly, haptic feedback is introduced into the design of the intelligent prosthetic hand, thereby achieving stable control of the intelligent prosthetic hand and realistic sensation of the user.
The common tactile feedback methods at present include visual feedback, invasive neural feedback, vibration feedback and the like. Among these, electrotactile feedback is the application of a stimulation current to the skin surface, where the skin can feel the tactile sensation generated by currents of different frequencies, assignments, and waveforms. The electric stimulation feedback mode has high response speed and low equipment power consumption, and the time and space-based two-dimensional electric stimulation tactile telepresence can be established by designing current parameters. However, current research lacks efficient processing of the extracted haptic information, and focuses only on the current stimulus itself. Aiming at the problem, the invention adopts an electrical stimulation method to build a set of touch feedback system of the intelligent artificial hand, and a user can sense the current pose state of the artificial hand through the experience of the user through a period of use training.
Disclosure of Invention
The technical problem is as follows:
most of the current electro-tactile feedback researches only focus on the current stimulation process, but do not effectively process the extracted tactile information, that is, do not research the relationship between the current stimulation intensity and the tactile information. However, a good mapping approach can improve the overall system recognition rate and better restore the real haptic experience.
The technical scheme is as follows:
in order to establish an electrotactile feedback system with good mapping between the electrical stimulation intensity and the tactile information, three steps are required: the method comprises the steps of collecting and processing touch information, freely setting electric stimulation intensity, and coordinating and designating the touch information and the electric stimulation intensity mapping rule.
In the tactile information acquisition process, the tactile sensors FSR piezoresistive sensors are arranged at 14 joints of the manipulator in an array mode, and the tactile information in the grabbing process is acquired. When the manipulator snatchs, the sensor receives external force to influence will change resistance, changes the resistance that changes into both ends ground voltage through bleeder circuit and changes to become the voltage digital quantity via two touch signal acquisition unit AD7606, be gathered by main control unit through SPI communication interface.
In the free setting process of the electric stimulation intensity, the electric stimulator is communicated with a main controller serial port (UART) through a formulated downlink protocol to receive stimulation waveforms transmitted by the main controller. Because the transmitted waveform voltage is small, a Boost circuit and an H bridge are adopted in the electric stimulator for boosting and bipolar output, a current control circuit built by an amplifier voltage following principle is adjusted through a D \ A chip, the output size of current is controlled, and therefore the free setting of the electric stimulation intensity within a certain range is completed. And finally, outputting to an electric stimulation electrode array, wherein the electric stimulation array adopts self-adhesive silica gel electrodes, the arrangement mode refers to the joint position of the manipulator, and the total number of 14 electrode patches are arranged on the outer side of the large arm of the amputation patient and used for stimulating the skin of the large arm of the human body.
In the mapping process of the tactile information and the electric stimulation intensity, the main controller plays a key role. The main controller distinguishes the pressure sensation signals and the slip sensation signals in the sensor signals by using a discrete wavelet transform algorithm, simultaneously considers the comprehensive level of single-finger stress measurement and balances the extreme phenomenon of single-point stress, correspondingly gives corresponding stimulation instructions to the electrical stimulation array, and completes the mapping process. The main control chip relates to a more complex calculation process, adopts a Cortex-A8 kernel processing chip, has a main frequency as high as 1GHz, and completes algorithm numerical calculation.
Has the advantages that:
aiming at the current situation that the existing upper limb artificial limb is single in feedback design form, an amputee can only perceive the artificial limb to interact with the external environment through self vision and lacks effective tactile feedback, the invention designs a set of tactile feedback system realized by means of electric tactile sensation by introducing an electric tactile sensation technology, establishes the mapping relation between the stimulation intensity of current and the tactile sensation and better restores the tactile sensation. The system can well finish the reproduction of the artificial limb touch scene in the grabbing process and finally assist the use of the upper artificial limb.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced as follows:
FIG. 1 is an overall architecture diagram of a haptic feedback system
FIG. 2 is a wearing schematic diagram of the intelligent artificial hand tactile feedback system
Detailed Description
The technical solution of the present invention is further explained with reference to the drawings and the embodiments.
An intelligent artificial hand tactile feedback system based on electric stimulation is shown in figure 1. The electric tactile feedback system transmits tactile information during input through electric stimulation, and the tactile information is collected by a tactile sensor. After the tactile sensor collects the tactile information, the data is processed and analyzed to extract useful information as a basis for resolving and adjusting the electrical stimulation intensity level. The extracted tactile information is significantly different due to the difference in the gripping posture of the prosthetic hand and the volume and weight of the gripped object. And calculating the distribution of the pressure state according to the established mapping rule and the tactile information, and the electric stimulator sends an electric stimulation waveform with certain intensity to directly stimulate the skin surface of the human body through the electric stimulation electrode. Because of the many tactile receptors in human skin, the sensed electrical stimulation signals are transmitted through the nervous system to the cerebral cortex. The brain determines the type of signal detected and then autonomously issues control commands to control the grasping and other operations of the prosthesis. Throughout the entire operation, the amputee uses electrical signals instead of real tactile sensations to achieve tactile reproduction and control of the motion of the prosthesis, thereby achieving closed-loop tactile control.
Fig. 2 is a wearing schematic diagram of the intelligent artificial hand tactile feedback system based on electrical stimulation, wherein a red part is a tactile sensor array on an intelligent artificial hand, a green part is an electrical stimulation electrode array attached to an arm, and hardware circuits such as a tactile signal acquisition unit and a main control chip are embedded into the intelligent artificial hand.
Claims (4)
1. An intelligent artificial hand tactile feedback system based on electric stimulation, which is characterized by comprising a hardware part: (1) the touch sensor array, (2) the touch signal acquisition unit, (3) the main control chip, (4) the electro-stimulation computational unit, (5) the electro-stimulation electrode array, the software part: (6) a haptic information parsing algorithm, and (7) an electrical stimulation and haptic mapping algorithm.
2. An intelligent artificial hand haptic feedback system based on electrical stimulation according to claim 1, wherein: the system inputs analog signals acquired by the touch sensor array (1) on the intelligent artificial hand into the touch signal acquisition unit (2), processes the analog signals to obtain digital signals, and analyzes the digital signals to obtain state information of grasping, sliding and the like of the intelligent artificial hand through a touch information analysis algorithm (6) operated on the main control chip (3).
3. An intelligent artificial hand haptic feedback system based on electrical stimulation according to claim 1, wherein: and (3) inputting the state information of the intelligent artificial hand into (7) an electrical stimulation and tactile mapping algorithm operated in the (3) main control chip, analyzing to obtain a parameter instruction of the electrical stimulation, and inputting the parameter instruction into (4) an electrical stimulation calculation unit.
4. An intelligent artificial hand haptic feedback system based on electrical stimulation according to claim 1, wherein: (4) and the electrical stimulation calculation unit controls (5) the electrical stimulation electrode array to send electrical stimulation signals with corresponding intensity to stimulate the skin of the human body through the internal circuit according to the input parameter instruction so as to simulate real tactile sensation, and further realize that the electric tactile sensation replaces the real tactile sensation.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011142085.9A CN112155812A (en) | 2020-10-22 | 2020-10-22 | Intelligent artificial hand tactile feedback system based on electrical stimulation |
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| CN202011142085.9A CN112155812A (en) | 2020-10-22 | 2020-10-22 | Intelligent artificial hand tactile feedback system based on electrical stimulation |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1582866A (en) * | 2004-06-02 | 2005-02-23 | 杭州电子科技大学 | Myoelectric bionic artificial hand with thigmesthesia and its control |
| CN103519924A (en) * | 2013-10-22 | 2014-01-22 | 深圳先进技术研究院 | Intelligent artificial hand system |
| CN105640677A (en) * | 2015-12-25 | 2016-06-08 | 上海交通大学 | Electrical-stimulation perception feedback system for perception feedback of artificial limb hand |
| CN109846582A (en) * | 2019-03-20 | 2019-06-07 | 上海交通大学 | A kind of electric stimulation based on multi-modal perceptible feedback |
-
2020
- 2020-10-22 CN CN202011142085.9A patent/CN112155812A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1582866A (en) * | 2004-06-02 | 2005-02-23 | 杭州电子科技大学 | Myoelectric bionic artificial hand with thigmesthesia and its control |
| CN103519924A (en) * | 2013-10-22 | 2014-01-22 | 深圳先进技术研究院 | Intelligent artificial hand system |
| CN105640677A (en) * | 2015-12-25 | 2016-06-08 | 上海交通大学 | Electrical-stimulation perception feedback system for perception feedback of artificial limb hand |
| CN109846582A (en) * | 2019-03-20 | 2019-06-07 | 上海交通大学 | A kind of electric stimulation based on multi-modal perceptible feedback |
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