CN114652958A - Replacement type wrist elbow joint proprioception reconstruction method based on nerve electrical stimulation system - Google Patents
Replacement type wrist elbow joint proprioception reconstruction method based on nerve electrical stimulation system Download PDFInfo
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Abstract
The invention discloses an alternative wrist elbow joint proprioception reconstruction method based on a nerve electrical stimulation system, which comprises the following steps: 1) the upper arm of the user is pasted with the discharge stimulation module and wears the artificial limb; an angle sensor is arranged inside the artificial limb; 2) the angle sensor monitors the limb movement posture information of the user and transmits the limb movement posture information to the microcontroller; 3) the microcontroller generates an electrical stimulation mode according to the motion attitude information or the electrical stimulation parameter information; 4) the microcontroller controls the electrical stimulation module to generate electrical stimulation acting on a user according to the electrical stimulation mode, and transmits the electrical stimulation mode to the mobile terminal for display through the data transmission module. The invention combines the proprioception of the user with the motion state of the artificial limb by utilizing the skin shallow sensation mode of the stump of the amputee, so that the induced alternative sensation is closer to the natural sensation.
Description
Technical Field
The invention relates to the field of electrical stimulation, in particular to an alternative wrist-elbow joint proprioception reconstruction method based on a nerve electrical stimulation system.
Background
Amputees face a series of inconveniences in life due to the loss of limbs, and artificial prosthesis technology aims to provide amputees with an experience similar to a real human hand by simulating the shape or function of the real human hand. The appearance simulation type cosmetic artificial limb only aims at providing the experience of complete limb appearance for the amputee, and the functional artificial limb aiming at providing normal hand functions controls the artificial limb to move by collecting input signals so as to realize different functions.
In the research at home and abroad, the technology of the upper limb prosthesis with various degrees of freedom has appeared, and the motion of parts such as fingers, wrists, elbows and the like can be controlled, including the flexion and extension of the fingers, the flexion and extension and rotation of the wrists and the flexion and extension and rotation of the elbows, but the research and application in the field of prosthetic sensory feedback still needs to be deepened.
The existing artificial limb can feed the artificial limb information back to the user through proprioceptive reconstruction. The traditional proprioceptive rehabilitation technology mainly utilizes a proprioceptive receptor or a tablet personal computer of a human body to research the recovery of the bionic proprioceptive function by executing a muscle strength task, or controls the motion of an artificial limb by collecting myoelectric signal codes, and stimulates a user to generate proprioceptive feedback by utilizing somatosensory evoked potential, but still has the following problems:
1) invasive interventions currently employed in most laboratories require the implantation of a neuromuscular-electrode interface device into the residual limb of an amputee to stimulate sensory nerve fibers of the residual limb to restore the amputee's limb sensation, but the implantation of the instrument can cause some damage to the amputee's body.
2) At present, proprioceptive feedback reconstruction technology of the wrist-elbow joint of the artificial limb is not seen. Most artificial limbs adopt vibration stimulation to complete motion information feedback, and can realize action modes with 3 degrees of freedom, such as extension and flexion of fingers, pronation and supination of arms, and extension and flexion of wrists. Commercial prosthetic hand VINCENT evolution 2 uses mechanical vibration stimulation to provide tactile feedback to the user. There are no prostheses that achieve proprioceptive feedback on an athletic basis to provide a richer and more elaborate sensory control experience.
3) The current encoding mode of the proprioceptive reconstruction is only suitable for amputees with phantom limb sensation. However, only about 1/3 amputees retain the sensation of phantom limb, and the sensation of phantom limb does not correspond perfectly to the various parts of the upper limb, making this approach only suitable for amputees with partial sensation of phantom limb. This limits the range of applications of this technology to some extent.
Disclosure of Invention
The invention aims to provide an alternative wrist-elbow joint proprioception reconstruction method based on a nerve electrical stimulation system, aiming at feeding back the motion sensation information of a wrist joint or an elbow joint of an artificial limb for an amputee, wherein the nerve electrical stimulation system comprises an electrical stimulation module, an angle sensor, a data transmission module, a microcontroller and a mobile terminal;
the replacement type wrist elbow joint proprioception reconstruction method comprises the following steps:
1) a user wears the artificial limb, a stimulation electrode is attached to the skin surface of the end of the upper arm with the residual limb, and a portable electrical stimulation module connected with the stimulation electrode is installed in a receiving cavity of the artificial limb; an angle sensor is arranged inside the artificial limb;
2) the angle sensor monitors the motion attitude information of the artificial limb controlled by the user and transmits the motion attitude information to the microcontroller;
3) the microcontroller generates an electrical stimulation mode according to the motion attitude information, wherein the electrical stimulation mode refers to the setting of electrical stimulation parameters; in the electrical stimulation parameters, the electrical stimulation pulse width, the electrical stimulation frequency and the electrical stimulation amplitude are determined according to the sensory function of a specific user, wherein the electrical stimulation amplitude is constant, the specific numerical value is between 0 and 8mA, is higher than the electrical stimulation sensory threshold and lower than the pain sensation threshold, and the specific numerical value is influenced by the sensory sensitivity level of the tested stump of the disabled.
The electrical stimulation mode comprises an electrical stimulation channel number, an electrical stimulation time sequence, an electrical stimulation amplitude, an electrical stimulation pulse width and an electrical stimulation frequency; the electrical stimulation parameter information is transmitted to the microcontroller by the mobile terminal through the data transmission module; the electrical stimulation timing sequence comprises the sequence of generating stimulation signals by the electrical stimulation channels;
the electrical stimulation parameter information can also be set by a user at the mobile terminal, individualized adjustment is carried out according to individual differences of different users, and the electrical stimulation parameter information is transmitted to the microcontroller by the mobile terminal through the data transmission module;
4) the microcontroller controls the electrical stimulation module to generate electrical stimulation acting on a user according to the electrical stimulation mode, and transmits the electrical stimulation mode to the mobile terminal for display through the data transmission module;
further, the electrostimulation module comprises n electrostimulation generating circuits and annular electrodes; n is a natural number;
the ring electrode comprises n channels which are respectively marked as CH1, CH2, … and CHn; one channel of the annular electrode is connected with an electric stimulation generating circuit;
the electric stimulation generating circuit comprises a unipolar to bipolar circuit and a voltage-controlled constant current source circuit;
the unipolar to bipolar circuit converts the received single-phase constant current pulse signal into a biphasic constant pulse current signal,
and the voltage-controlled constant current source circuit is used for processing, isolating the influence of human body impedance on a current signal and transmitting an electrical stimulation signal to the annular electrode, so that the annular electrode electrically stimulates a user.
Further, the two-phase constant pulse current signal is a negative-first positive-second two-phase current pulse signal.
Further, the motion posture information includes wrist flexion, wrist extension, wrist pronation, wrist supination, elbow flexion and elbow extension.
Furthermore, the determining factors of the number of the electrical stimulation channel and the electrical stimulation intensity parameter comprise the wrist joint flexion and extension movement angle, the wrist joint rotation angle and the elbow joint flexion and extension movement angle.
Further, the ring electrode includes 8 channels, which are denoted as CH1, CH2, …, and CH8, respectively.
Further, when the artificial limb is in a straight state, the direction perpendicular to the palm center is taken as the positive direction of the Y axis, the middle axis of the upper arm is taken as the Z axis, the direction pointing to the finger tip is taken as the positive direction of the Z axis, the direction perpendicular to the Y, Z axis is taken as the X axis, and the direction perpendicular to the thumb is taken as the positive direction of the X axis, and the bending and extending angle theta 1 of the artificial limb wrist is defined as follows: the palm controlled by the artificial wrist flexion and extension motor deviates from the Z axis in the plane of the X axis, the flexion is positive, and the extension is negative;
when the motion posture information is in a wrist straight state (theta 1 ═ 0 °), the selected electrostimulation channel numbers include a channel CH1 and a channel CH 5; the channel CH1 and the channel CH5 output electrical stimulation simultaneously;
when the motion posture information is in a wrist flexion state and the angle theta 1 is 0-30 degrees, the number of the selected electrostimulation channel comprises a channel CH2 and a channel CH4, and the channel CH2 and the channel CH4 output electrostimulation simultaneously;
when the motion posture information is in a wrist bending state and the angle theta 1 is 31-60 degrees, the number of the selected electrostimulation channel comprises a channel CH 3;
when the motion posture information is in a wrist extension state and the angle theta 1 is between 0 degrees and-30 degrees, the number of the selected electrostimulation channel comprises a channel CH6 and a channel CH8, and the channel CH6 and the channel CH8 output electrostimulation simultaneously;
when the motion posture information is in a wrist extension state and the angle theta 1 is between-31 degrees and-60 degrees, the selected electrostimulation channel number comprises a channel CH 7.
Further, when the artificial limb is in a straight state, the direction perpendicular to the palm center is taken as the positive direction of a Y axis, the middle axis of the upper arm is taken as a Z axis, the direction pointing to the finger tips is taken as the positive direction of the Z axis, the direction perpendicular to the Y, Z axis is taken as an X axis, the direction perpendicular to the thumb is taken as the positive direction of the X axis, the forward rotation of the thumb is taken as the forward rotation, the backward rotation of the thumb is taken as the backward rotation, and the angle theta 2 of the rotation of the artificial limb wrist is defined as follows: when the artificial limb rotates around the central axis (Z axis) of the forearm, the included angle between the vector vertical to the outside of the palm center and the y axis;
when the wrist joint is in a flat state (θ 2 ═ 0 °), the selected electrostimulation channel number includes channel CH 1;
when the wrist joint does pronation movement, the numbers of the selected electrostimulation channels comprise a channel CH1, a channel CH2, a channel CH3, a channel CH4 and a channel CH 5; the channel CH1, the channel CH2, the channel CH3, the channel CH4 and the channel CH5 output electric stimulation in sequence;
when the wrist joint does supination movement, the numbers of the selected electrical stimulation channels comprise a channel CH1, a channel CH2, a channel CH3, a channel CH4 and a channel CH 5; the channel CH5, the channel CH4, the channel CH3, the channel CH2, and the channel CH1 output electrical stimuli in order.
Further, the elbow straight state is defined as: when the axis of the forearm and the axis of the upper arm are on the same straight line; the angle theta 3 for defining the flexion and extension of the artificial limb elbow is as follows: the included angle between the axis of the forearm and the axis of the upper arm;
when the motion posture information is in an elbow flat state (θ 3 ═ 0 °), the selected electrostimulation channel number includes a channel CH 7;
when the motion posture information is elbow flexion and the angle theta 3 is 0-45 degrees, the number of the selected electrostimulation channel comprises a channel CH6 and a channel CH8, and the channel CH6 and the channel CH8 output electrostimulation simultaneously;
when the motion posture information is elbow flexion and the angle theta 3 is between 46 and 90 degrees, the number of the selected electrostimulation channel comprises a channel CH1 and a channel CH5, and the channel CH1 and the channel CH5 output electrostimulation simultaneously;
when the motion posture information is elbow flexion and the angle theta 3 is 91-135 degrees, the number of the selected electrostimulation channel comprises a channel CH2 and a channel CH4, and the channel CH2 and the channel CH4 output electrostimulation simultaneously;
when the motion posture information is elbow extension and the angle theta 3 is 0-45 degrees, the number of the selected electrostimulation channel comprises a channel CH8 and a channel CH6, and the channel CH8 and the channel CH6 output electrostimulation simultaneously;
when the motion posture information is elbow extension and the angle theta 3 is 46-90 degrees, the number of the selected electrostimulation channel comprises a channel CH5 and a channel CH1, and the channel CH5 and the channel CH1 output electrostimulation simultaneously;
when the motion posture information is elbow extension and the angle theta 3 is 91-135 degrees, the number of the selected electrostimulation channel comprises a channel CH4 and a channel CH2, and the channel CH4 and the channel CH2 output electrostimulation simultaneously.
The technical effects of the present invention are undoubted, and the present invention has the following effects:
1) the invention adopts the percutaneous nerve electrical stimulation method to induce the sensation, and compared with the implanted stimulation method, the invention can reduce the damage to the experimental subject.
2) The present invention utilizes the skin light sensation mode of amputee stump and uses the position of stimulating electrode to code the motion state of artificial limb so as to make the induced alternative sensation more close to natural sensation.
3) The target population of the invention is artificial limb users without phantom limb sensation, and compared with a method based on finger-inducing and bionic coding, the invention enlarges the applicable population of the artificial limb sensation reconstruction technology.
Drawings
FIG. 1 is a schematic view of a nerve electrical stimulation system for regulating and controlling the motion angle of an artificial wrist-elbow joint;
FIG. 2 is a block diagram of the hardware configuration of the electrical nerve stimulation system according to the present invention;
FIG. 3 illustrates positioning of the ring electrode on the upper arm stump;
fig. 4 is a schematic diagram of an included angle between a wrist joint space rectangular coordinate system and an axis of a forearm and an upper arm, fig. 4(a) is a left-hand space rectangular coordinate system, fig. 4(b) is a right-hand space rectangular coordinate system, and fig. 4(c) is an included angle between the forearm and the upper arm;
FIG. 5 is a schematic view of the wrist-elbow joint in a motion mode; FIG. 5(a) is a schematic view of the wrist extending and flexing; FIG. 5(b) is a schematic view of the wrist before and after pronation; FIG. 5(c) is a schematic view of elbow flexion and extension;
FIG. 6 is a wrist angle encoding scheme;
FIG. 7 is an elbow joint angle encoding scheme;
fig. 8 is a waveform diagram of an electrical stimulation pulse.
Detailed Description
The present invention is further illustrated by the following examples, but it should not be construed that the scope of the above-described subject matter is limited to the following examples. Various substitutions and alterations can be made without departing from the technical idea of the invention and the scope of the invention is covered by the present invention according to the common technical knowledge and the conventional means in the field.
Example 1:
referring to fig. 1 to 7, an alternative wrist elbow joint proprioception reconstruction method based on a neuro-electrical stimulation system including an electrical stimulation module, an angle sensor, a data transmission module, a microcontroller, and a mobile terminal;
the replacement type wrist elbow joint proprioception reconstruction method comprises the following steps:
1) the upper arm of the user is pasted with the discharge stimulation module and wears the artificial limb; an angle sensor is arranged inside the artificial limb;
2) the angle sensor monitors the limb movement posture information of the user and transmits the limb movement posture information to the microcontroller;
3) the microcontroller generates an electrical stimulation mode according to the motion attitude information or the electrical stimulation parameter information;
the electrical stimulation mode comprises an electrical stimulation channel number, an electrical stimulation time sequence, an electrical stimulation amplitude, an electrical stimulation pulse width and an electrical stimulation frequency; the electrical stimulation timing sequence comprises the sequence of the electrical stimulation channels generating stimulation signals; in the electrical stimulation parameters, the electrical stimulation pulse width and the electrical stimulation frequency are determined according to the sensory function of a specific user, the electrical stimulation amplitude is constant, the specific value is kept between 0 and 8mA, is higher than the electrical stimulation sensory threshold of the user and is lower than the pain threshold, and the specific value is influenced by the sensory sensitivity level of the tested stump of the disabled person.
The electrical stimulation parameter information can also be set by a user at the mobile terminal, personalized adjustment is carried out according to individual differences of different users, and the information is transmitted to the microcontroller by the mobile terminal through the data transmission module;
4) the microcontroller controls the electrical stimulation module to generate electrical stimulation acting on a user according to the electrical stimulation mode, and transmits the electrical stimulation mode to the mobile terminal for display through the data transmission module.
The electrical stimulation module comprises n electrical stimulation generating circuits and annular electrodes; n is a natural number;
the ring electrode comprises n channels, which are respectively marked as CH1, CH2, … and CHn; one channel of the annular electrode is connected with an electric stimulation generating circuit;
the ring electrode comprises n channels, which are respectively marked as CH1, CH2, … and CHn; one channel of the annular electrode is connected with an electric stimulation generating circuit;
the electric stimulation generating circuit comprises a unipolar to bipolar circuit and a voltage-controlled constant current source circuit;
the unipolar to bipolar circuit converts the received single-phase constant current pulse signal into a two-phase constant pulse current signal;
and the voltage-controlled constant current source circuit is used for processing, isolating the influence of human body impedance on a current signal and transmitting an electrical stimulation signal to the annular electrode, so that the annular electrode electrically stimulates a user.
The two-phase constant pulse current signal is a first negative and then positive two-phase current pulse signal.
The motion posture information comprises wrist bending, wrist stretching, wrist pronating, wrist supinating, elbow bending and elbow stretching.
The number of the electrical stimulation channel and the determining factors of the electrical stimulation intensity parameters comprise the wrist joint flexion and extension movement angle, the wrist joint rotation angle and the elbow joint flexion and extension movement angle.
The ring electrode includes 8 channels, denoted as CH1, CH2, …, CH8, respectively.
When the artificial limb is in a straight state, a space rectangular coordinate system is established by taking the direction perpendicular to the palm center as the positive direction of a Y axis, the middle axis of the upper arm as a Z axis, the direction pointing to the fingertip as the positive direction of the Z axis, the direction perpendicular to the Y, Z axis as an X axis and the direction perpendicular to the thumb as the positive direction of the X axis, and the bending and extending angle theta 1 of the artificial limb wrist is defined as: the palm controlled by the artificial wrist flexion and extension motor deviates from the Z axis in the plane of the X axis, the flexion is positive, and the extension is negative;
when the motion posture information is in a wrist straight state (theta 1 ═ 0 °), the selected electrostimulation channel numbers include a channel CH1 and a channel CH 5; the channel CH1 and the channel CH5 output electrical stimulation simultaneously;
when the motion posture information is in a wrist flexion state and the angle theta 1 is 0-30 degrees, the number of the selected electrostimulation channel comprises a channel CH2 and a channel CH4, and the channel CH2 and the channel CH4 output electrostimulation simultaneously;
when the motion posture information is in a wrist bending state and the angle theta 1 is 31-60 degrees, the number of the selected electrostimulation channel comprises a channel CH 3;
when the motion posture information is in a wrist extension state and the angle theta 1 is between 0 degrees and-30 degrees, the number of the selected electrostimulation channel comprises a channel CH6 and a channel CH8, and the channel CH6 and the channel CH8 output electrostimulation simultaneously;
when the motion posture information is in a wrist extension state and the angle theta 1 is between-31 degrees and-60 degrees, the selected electrostimulation channel number comprises a channel CH 7.
Further, when the artificial limb is in a straight state, the direction perpendicular to the palm center is taken as the positive direction of a Y axis, the middle axis of the upper arm is taken as a Z axis, the direction pointing to the finger tips is taken as the positive direction of the Z axis, the direction perpendicular to the Y, Z axes is taken as an X axis, the direction perpendicular to the thumb is taken as the positive direction of the X axis, a space rectangular coordinate system is established, the forward rotation of the thumb is the forward rotation, the backward rotation of the thumb is the backward rotation, and the rotation angle theta 2 of the artificial limb wrist is defined as: when the artificial limb rotates around the central axis (Z axis) of the forearm, the angle between the outward vector vertical to the palm center and the y axis is formed;
when the wrist joint is in the neutral position, the selected electrostimulation channel number comprises a channel CH 1;
when the wrist joint does pronation movement, the numbers of the selected electrical stimulation channels comprise a channel CH1, a channel CH2, a channel CH3, a channel CH4 and a channel CH 5; the channel CH1, the channel CH2, the channel CH3, the channel CH4 and the channel CH5 output electric stimulation in sequence;
when the wrist joint does supination movement, the numbers of the selected electrical stimulation channels comprise a channel CH1, a channel CH2, a channel CH3, a channel CH4 and a channel CH 5; the channel CH5, the channel CH4, the channel CH3, the channel CH2, and the channel CH1 output electrical stimuli in order.
Elbow straight state is defined as: when the axis of the forearm and the axis of the upper arm are on the same straight line; the angle theta 3 for defining the flexion and extension of the artificial limb elbow is as follows: the included angle between the axis of the forearm and the axis of the upper arm;
when the motion posture information is in an elbow flat state (θ 3 ═ 0 °), the selected electrostimulation channel number includes a channel CH 7;
when the motion posture information is elbow flexion and the angle is 0-45 degrees, the number of the selected electrostimulation channel comprises a channel CH6 and a channel CH8, and the channel CH6 and the channel CH8 output electrostimulation simultaneously;
when the motion posture information is elbow flexion and the angle is 46-90 degrees, the number of the selected electrostimulation channel comprises a channel CH1 and a channel CH5, and the channel CH1 and the channel CH5 output electrostimulation simultaneously;
when the motion posture information is elbow flexion and the angle is 91-135 degrees, the number of the selected electrostimulation channel comprises a channel CH2 and a channel CH4, and the channel CH2 and the channel CH4 output electrostimulation simultaneously;
when the motion posture information is elbow extension and the angle is 0-45 degrees, the number of the selected electrostimulation channel comprises a channel CH8 and a channel CH6, and the channel CH8 and the channel CH6 output electrostimulation simultaneously;
when the motion posture information is elbow extension and the angle is 46-90 degrees, the number of the selected electrostimulation channel comprises a channel CH5 and a channel CH1, and the channel CH5 and the channel CH1 output electrostimulation simultaneously;
when the motion posture information is elbow extension and the angle is 91-135 degrees, the number of the selected electrostimulation channel comprises a channel CH4 and a channel CH2, and the channel CH4 and the channel CH2 output electrostimulation simultaneously.
Example 2:
referring to fig. 1 to 7, the method for reconstructing proprioception of an alternate wrist-elbow joint is applied to a nerve electrical stimulation system for regulating and controlling the motion angle of an artificial wrist-elbow joint, and the system comprises an angle sensor module, a microcontroller, a multi-channel electrical stimulation module and a WIFI module (WIFI-1, WIFI-2). The multi-channel electrical stimulation module comprises an electrical stimulation generating circuit and a stimulation electrode plate annular queue.
The angle sensor module comprises angle sensors 1 and 2 and an angle sensor 3, is respectively arranged at a wrist joint and an elbow joint and is used for acquiring motion posture information of the wrist joint and the elbow joint of the artificial limb in real time and sending the motion posture information to the microprocessor.
The microcontroller reads the motion posture information of the artificial limb, converts the motion posture information into a corresponding electrical stimulation mode according to the alternative wrist-elbow joint proprioception reconstruction method, and sends the corresponding electrical stimulation mode to the corresponding electrical stimulation module 3.
The electrical stimulation pattern includes: the selection of the number of the electrostimulation channel, the electrostimulation time sequence, the electrostimulation amplitude, the electrostimulation pulse width and the electrostimulation frequency.
As shown in fig. 4, the motion gesture information includes: the wrist flexion, wrist extension, wrist pronation and wrist supination monitored by the angle sensors 1 and 2, and the elbow flexion and elbow extension monitored by the angle sensor 3.
The electrostimulation module 3 comprises 8 electrostimulation generating circuits and a ring electrode. The electric stimulation generating circuit comprises a unipolar-to-bipolar circuit and a voltage-controlled constant current source circuit, the annular electrode comprises 8 channels (with serial numbers of CH 1-CH 8), and the circuit is correspondingly connected with the 8 channels contained in the annular stimulating electrode. The amplitude, the pulse width, the frequency and the time sequence of the biphase constant pulse current signal can be adjusted through the WIFI module through the mobile equipment.
The WIFI module can transmit the electrical stimulation parameters and the joint angles of the electrical stimulation module to the mobile device in a wireless mode to be displayed. The user of the electrical nerve stimulation system can also set the output electrical stimulation parameters from the mobile device and transmit the electrical stimulation parameters to the microcontroller through the WIFI module.
The process of encoding the motion attitude information based on the alternative wrist elbow joint proprioception reconstruction method comprises the following steps:
1) the corresponding relation between the wrist flexion or extension and the electrical stimulation mode in the motion posture information comprises the following steps:
as shown in fig. 5, when the prosthesis is in a flat state, a spatial rectangular coordinate system is established with the outward direction perpendicular to the palm center as the positive direction of the Y axis, the middle axis of the upper arm as the positive direction of the Z axis, the direction pointing to the fingertip as the positive direction of the Z axis, the direction perpendicular to the Y, Z axis as the X axis, and the direction perpendicular to the thumb as the positive direction of the X axis, and an angle θ 1 of flexion and extension of the prosthesis wrist is defined as: the palm surface controlled by the artificial wrist bending and extending motor deviates from the Z axis in the plane of the X axis, the bending is positive, and the extending is negative; the wrist joint flexion and extension movement angle theta 1 of the wrist joint is divided into 5 parts respectively: 60 degrees to 31 degrees, 30 degrees to 0 degrees, 0 degrees to 30 degrees, 31 degrees to 60 degrees. When the motion posture information is in a straight wrist state, selecting a channel CH1 and a channel CH5 to output simultaneously; when the motion posture information is in a wrist bending state, the channels CH2 and CH4 are selected to output within 0-30 degrees of the angle theta 1, and the channel CH3 is selected to output within 31-60 degrees of the angle theta 1; when the motion attitude information is in a wrist extension state, the channels CH6 and CH8 are selected to output within the angle theta 1 of 0-minus 30 degrees, and the channel CH7 is selected to output within the angle theta 1 of-31-minus 60 degrees; the stimulation current amplitude is constant, and specific values are determined and set in advance according to the previously measured sensory threshold value of the disabled person to be tested, the pain threshold result and the sensory sensitivity level of the disabled person to be tested. The wrist joint starts to do flexion/extension movement from a certain angle, and then a channel corresponding to the angle is selected to start to output electrical stimulation. For example, when the wrist joint is bent and extended at a small angle (starting from a straight state), the channels corresponding to the angle range start to output electrical stimulation sequentially. When the wrist bends, the output sequence is in the directions of CH1 and CH5, CH2 and CH4, CH 3; when the wrist is stretched, the output sequence is in the directions of CH1 and CH5, CH6 and CH8, CH 7.
For example, when the wrist joint is bent and extended at a large angle (after the wrist joint is bent and extended first, the wrist joint continues to be bent and extended from this state), electrical stimulation is sequentially output from the channels in the corresponding angle range. When the wrist bends, the output sequence is in the directions of CH7, CH6 and CH8, CH1 and CH5, CH2 and CH4, and CH 3; when the wrist is stretched, the output sequence is opposite to that when the wrist is bent.
2) The corresponding relation between the wrist pronation and the wrist supination and the electrical stimulation mode in the motion posture information comprises the following steps:
when the artificial limb is in a straight state, the direction perpendicular to the palm center is taken as the positive direction of a Y axis, the middle axis of the upper arm is taken as a Z axis, the direction pointing to the fingertip is taken as the positive direction of the Z axis, the direction perpendicular to an Y, Z axis is taken as an X axis, the direction perpendicular to the thumb is taken as the positive direction of the X axis, a space rectangular coordinate system is established, the forward rotation of the thumb is the forward rotation, the backward rotation of the thumb is the backward rotation, and the rotation angle theta 2 of the artificial limb wrist is defined as: when the artificial limb rotates around the central axis (Z axis) of the forearm, the angle between the outward vector vertical to the palm center and the y axis is formed; the angle theta 2 of the front and back rotation is divided into 5 parts: 0 degree to 45 degrees, 46 degrees to 90 degrees, 91 degrees to 135 degrees and 135 degrees to 180 degrees. When the wrist joint is in the neutral position, recording as 0 degree at this time, selecting CH1 to output electric stimulation; when the wrist joint does pronation movement, the left wrist outputs in the anticlockwise direction, electrical stimulation is output from CH1 to CH5 according to channels corresponding to the angle in sequence, and the right wrist outputs in the clockwise direction; when the wrist joint does supination movement, electrical stimulation is sequentially output to the rotation direction of the wrist joint from CH5 to CH1, the left wrist is output in the clockwise direction, and the right wrist is output in the anticlockwise direction.
For example, when the left wrist joint rotates at a large angle (starting from a flat state), electrical stimulation is output by channels in a corresponding angle range in sequence. When the wrist is rotated forwards, the output sequence is in the directions of CH1, CH2, CH3, CH4 and CH 5; when the rotation is performed, the output sequence is in the directions of CH5, CH4, CH3, CH2, and CH 1. The right wrist joint is in reverse order to the left hand and will not be described here.
For example, when the left wrist joint rotates at a small angle (after the rotation is performed to 90 °, the corresponding output channel is CH3, and the rotation is continued from this state), the electrical stimulation is sequentially output by the channels in the corresponding angle range. When the wrist rotates forwards, the output sequence is CH3, CH4 and CH 5; when the wrist rotates backwards, the output sequence is in the directions of CH3, CH2 and CH 1; the right hand output sequence is opposite to the left hand, and when the wrist joint is at any angle, the rotation mode is the same as in this example.
3) The corresponding relation between the elbow flexion and extension and the electrical stimulation mode in the motion posture information comprises the following steps:
elbow straight state is defined as: when the axis of the forearm and the axis of the upper arm are on the same straight line; the angle theta 3 for defining the flexion and extension of the artificial limb elbow is as follows: the included angle between the axis of the forearm and the axis of the upper arm;
as shown in fig. 6, the flexion-extension angle θ 3 of the elbow joint is divided into 4 parts: 0 degrees, 45 degrees, 46 degrees, 90 degrees, 91 degrees, 135 degrees, respectively corresponding to the output channels: CH7, CH6 and CH8, CH1 and CH5, CH2 and CH 4. When the motion posture information is in an elbow straight state, outputting through a CH7 channel; when the elbow bends, corresponding channels are sequentially selected according to the motion angles from 0 degree to 135 degrees to output electrical stimulation; when the elbow is stretched, the sequential direction of stimulation channels is opposite to that of the elbow when the elbow is bent, the amplitude of the stimulation current is constant, the range of specific numerical values is 0-8 mA, and the stimulation current is determined and set in advance according to the pre-measured sensory threshold value and the pain threshold result of the disabled person to be tested and the sensory sensitivity level of the disabled person to be tested.
As shown in fig. 2, the application process of the nerve electrical stimulation system for artificial wrist elbow joint angle feedback in the embodiment of the invention comprises the following steps:
the user wears the nerve electrical stimulation system for the artificial wrist elbow joint angle feedback, and the limb of the nerve electrical stimulation system is pasted with a ring-shaped electrode containing 8 electrode stimulation channels, as shown in figure 3, wherein CH1 is placed on the abdomen of the biceps brachii muscle of the upper arm, and CH5 is placed on the abdomen of the triceps brachii muscle of the upper arm. The user selects a wrist or elbow feedback mode of prosthetic motion.
The artificial limb wrist and the elbow are provided with angle sensors. The angle sensor monitors the motion attitude information of the artificial limb in real time and sends the attitude information in the corresponding mode to the microcontroller.
The microcontroller reads and analyzes the motion posture information, codes the motion posture information according to the substitution type wrist elbow joint proprioception reconstruction method, selectively activates corresponding pulse channels, and outputs voltage pulse signals obtained by code conversion to corresponding electrical stimulation modules.
After receiving the voltage pulse signal, the pulse channel is processed by the voltage-controlled constant current source circuit, converted into a single-phase constant current pulse signal, and then processed by the unipolar-to-bipolar circuit, and a two-phase constant pulse current signal is output.
The electrode slice acts on the skin surface of the user to generate a corresponding alternative type feeling mode.
In the example, the waveform of the signal stimulus is as shown in fig. 6, and a bidirectional square wave with the pulse width of 400us is output, the negative wave is advanced, and the time delay between the positive wave and the negative wave is 100 mus.
Claims (10)
1. The neural electrical stimulation system-based replacement type wrist-elbow joint proprioception reconstruction method is characterized by comprising an electrical stimulation module, an angle sensor, a data transmission module, a microcontroller and a mobile terminal.
The replacement type wrist elbow joint proprioception reconstruction method comprises the following steps:
1) the upper arm of the user is pasted with the discharge stimulation module and wears the artificial limb; an angle sensor is arranged inside the artificial limb;
2) the angle sensor monitors the limb movement posture information of the user and transmits the limb movement posture information to the microcontroller;
3) the microcontroller generates an electrical stimulation mode according to the motion attitude information or the electrical stimulation parameter information;
the electrical stimulation mode comprises an electrical stimulation channel number, an electrical stimulation time sequence, an electrical stimulation amplitude, an electrical stimulation pulse width and an electrical stimulation frequency; the electrical stimulation timing sequence comprises the sequence of the electrical stimulation channels generating stimulation signals;
in the electrical stimulation parameters, the electrical stimulation pulse width and the electrical stimulation frequency are adjusted according to the sensory function of a user;
4) the microcontroller controls the electrical stimulation module to generate electrical stimulation acting on a user according to the electrical stimulation mode, and transmits the electrical stimulation mode to the mobile terminal for display through the data transmission module.
2. The replacement type wrist elbow joint proprioception reconstruction method based on the neural electric stimulation system is characterized in that the electric stimulation parameter information is set by a user at a mobile terminal and is transmitted to a microcontroller by the mobile terminal through a data transmission module.
3. The method for reconstructing proprioception of an alternate wrist-elbow joint based on a neurostimulation system of claim 1, wherein the motion posture information comprises wrist flexion, wrist extension, wrist pronation, wrist supination, elbow flexion and elbow extension.
4. The method for reconstruction of proprioception of the wrist elbow joint on the replacement basis of the neurostimulation system according to claim 1, wherein said electrostimulation module comprises n electrostimulation generating circuits and ring-shaped electrodes; n is a natural number;
the ring electrode comprises n electrodes, and channels of the electrode output signals are respectively marked as CH1, CH2, … and CHn; one electrode is connected with one electric stimulation generating circuit;
the electric stimulation generating circuit comprises a unipolar to bipolar circuit and a voltage-controlled constant current source circuit;
the unipolar to bipolar circuit converts the received single-phase constant current pulse signal into a two-phase constant pulse current signal and outputs the two-phase constant pulse current signal to the voltage-controlled constant current source circuit;
and the voltage-controlled constant current source circuit is used for processing, isolating the influence of human body impedance on a current signal, transmitting an electrical stimulation signal to the annular electrode, and electrically stimulating a user by using the annular electrode.
The two-phase constant pulse current signal is a first negative and then positive two-phase current pulse signal.
5. The method for the alternate wrist elbow joint proprioception reconstruction based on a neurostimulation system of claim 4, wherein the biphasic constant pulse current signal is a first negative and then positive biphasic current pulse signal;
the amplitude, the pulse width and the frequency of the voltage pulse signal and the biphase constant pulse current signal are adjustable;
the current range stimulated by the two-phase constant pulse current signal is 0-8 mA, the frequency range is 100-500 Hz, and the pulse width range is 100-500 us.
6. The method for reconstructing proprioception of an alternate wrist-elbow joint based on a neurostimulation system according to claim 4, wherein said ring-shaped electrode comprises 8 channels, denoted as CH1, CH2, … and CH 8.
7. The method for reconstructing proprioception of an alternate wrist and elbow joint based on a neural electrical stimulation system according to claim 6, wherein the determinants of the number of electrical stimulation channels and the parameters of electrical stimulation intensity comprise the flexion and extension movement angle of the wrist joint, the rotation angle of the wrist joint and the flexion and extension movement angle of the elbow joint.
8. The replacement type wrist elbow joint proprioception reconstruction method based on the electrical nerve stimulation system as claimed in claim 7, wherein when the artificial limb is in a flat state, a spatial rectangular coordinate system is established by taking the direction perpendicular to the centre of the palm as the positive direction of a Y axis, taking the middle axis of the upper arm as a Z axis, pointing to a fingertip direction as the positive direction of the Z axis, taking the direction perpendicular to an Y, Z axis as an X axis, and taking the direction perpendicular to a thumb as the positive direction of the X axis, and the angle θ 1 of flexion and extension of the artificial limb is defined as: the palm controlled by the artificial wrist flexion and extension motor deviates from the Z axis in the plane of the X axis, the flexion is positive, and the extension is negative;
when the motion posture information is in a wrist flat state, namely theta 1 is equal to 0 degrees, the selected electrical stimulation channel number comprises a channel CH1 and a channel CH 5; the channel CH1 and the channel CH5 output electrical stimulation simultaneously;
when the motion posture information is in a wrist flexion state and the angle theta 1 is 0-30 degrees, the number of the selected electrostimulation channel comprises a channel CH2 and a channel CH4, and the channel CH2 and the channel CH4 output electrostimulation simultaneously;
when the motion posture information is in a wrist bending state and the angle theta 1 is 31-60 degrees, the number of the selected electrostimulation channel comprises a channel CH 3;
when the motion posture information is in a wrist extension state and the angle theta 1 is between 0 degrees and-30 degrees, the number of the selected electrostimulation channel comprises a channel CH6 and a channel CH8, and the channel CH6 and the channel CH8 output electrostimulation simultaneously;
when the motion posture information is in a wrist extension state and the angle theta 1 is between-31 degrees and-60 degrees, the number of the selected electrostimulation channel comprises a channel CH 7.
9. The replacement type wrist-elbow joint proprioception reconstruction method based on the electrical nerve stimulation system as claimed in claim 7, wherein when the artificial limb is in a flat state, a spatial rectangular coordinate system is established with the direction perpendicular to the metacarpal center as the positive direction of the Y axis, the middle axis of the upper arm as the Z axis, the direction pointing to the fingertip as the positive direction of the Z axis, the direction perpendicular to the Y, Z axis as the X axis, and the direction perpendicular to the thumb as the positive direction of the X axis, the forward rotation of the thumb is the forward rotation, the backward rotation of the thumb is the backward rotation, and the angle θ 2 of the rotation of the artificial limb is defined as: the artificial limb rotates around the central axis of the forearm, namely the included angle between the outward vector vertical to the palm center and the y axis when rotating around the Z axis;
when the wrist joint is in a wrist straight state, namely theta 2 is equal to 0 degrees, the selected electrostimulation channel number comprises a channel CH 1;
when the wrist joint does pronation movement, the numbers of the selected electrical stimulation channels comprise a channel CH1, a channel CH2, a channel CH3, a channel CH4 and a channel CH 5; the channel CH1, the channel CH2, the channel CH3, the channel CH4 and the channel CH5 output electric stimulation in sequence;
when the wrist joint does supination movement, the numbers of the selected electrical stimulation channels comprise a channel CH1, a channel CH2, a channel CH3, a channel CH4 and a channel CH 5; the channel CH5, the channel CH4, the channel CH3, the channel CH2, and the channel CH1 output electrical stimuli in order.
10. The method for reconstructing proprioception of an alternate wrist elbow joint based on a neurostimulation system of claim 7, wherein the elbow flatness state is defined as: when the axis of the forearm and the axis of the upper arm are on the same straight line;
the angle theta 3 for defining the flexion and extension of the artificial limb elbow is as follows: the included angle between the axis of the forearm and the axis of the upper arm;
when the motion posture information is in an elbow flat state, namely theta 3 is equal to 0 degrees, the selected electrostimulation channel number comprises a channel CH 7;
when the motion posture information is elbow flexion and the angle theta 3 is 0-45 degrees, the number of the selected electrostimulation channel comprises a channel CH6 and a channel CH8, and the channel CH6 and the channel CH8 output electrostimulation simultaneously;
when the motion posture information is elbow flexion and the angle theta 3 is between 46 and 90 degrees, the number of the selected electrostimulation channel comprises a channel CH1 and a channel CH5, and the channel CH1 and the channel CH5 output electrostimulation simultaneously;
when the motion posture information is elbow flexion and the angle theta 3 is 91-135 degrees, the number of the selected electrostimulation channel comprises a channel CH2 and a channel CH4, and the channel CH2 and the channel CH4 output electrostimulation simultaneously;
when the motion posture information is elbow extension and the angle theta 3 is 0-45 degrees, the number of the selected electrostimulation channel comprises a channel CH8 and a channel CH6, and the channel CH8 and the channel CH6 output electrostimulation simultaneously;
when the motion posture information is elbow extension and the angle theta 3 is 46-90 degrees, the number of the selected electrostimulation channel comprises a channel CH5 and a channel CH1, and the channel CH5 and the channel CH1 output electrostimulation simultaneously;
when the motion posture information is elbow extension and the angle theta 3 is 91-135 degrees, the number of the selected electrostimulation channel comprises a channel CH4 and a channel CH2, and the channel CH4 and the channel CH2 output electrostimulation simultaneously.
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| CN116269956A (en) * | 2023-02-23 | 2023-06-23 | 重庆大学 | High-universality wearable multi-channel electric stimulation bracelet for manual feedback of myoelectric prosthetic hand |
| CN116269956B (en) * | 2023-02-23 | 2024-05-31 | 重庆大学 | High-universality wearable multi-channel electric stimulation bracelet for manual feedback of myoelectric prosthetic hand |
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