CN114681172A - Modular closed-loop artificial limb control system for upper limb amputation patient - Google Patents
Modular closed-loop artificial limb control system for upper limb amputation patient Download PDFInfo
- Publication number
- CN114681172A CN114681172A CN202210241767.8A CN202210241767A CN114681172A CN 114681172 A CN114681172 A CN 114681172A CN 202210241767 A CN202210241767 A CN 202210241767A CN 114681172 A CN114681172 A CN 114681172A
- Authority
- CN
- China
- Prior art keywords
- feedback module
- artificial limb
- muscle activity
- sensor
- sliding
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 210000003414 extremity Anatomy 0.000 title claims abstract description 144
- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 25
- 238000011542 limb amputation Methods 0.000 title description 4
- 230000000694 effects Effects 0.000 claims abstract description 131
- 210000003205 muscle Anatomy 0.000 claims abstract description 120
- 210000004243 sweat Anatomy 0.000 claims abstract description 23
- 230000003183 myoelectrical effect Effects 0.000 claims abstract description 9
- 238000004891 communication Methods 0.000 claims description 41
- 210000000707 wrist Anatomy 0.000 claims description 29
- 238000002266 amputation Methods 0.000 claims description 12
- 238000001514 detection method Methods 0.000 claims description 7
- 238000012545 processing Methods 0.000 claims description 5
- 210000000245 forearm Anatomy 0.000 claims description 4
- 239000007788 liquid Substances 0.000 claims description 3
- 230000001105 regulatory effect Effects 0.000 claims 1
- 206010063385 Intellectualisation Diseases 0.000 abstract description 2
- 230000008447 perception Effects 0.000 abstract description 2
- 230000006870 function Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000004118 muscle contraction Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 1
- 230000003862 health status Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000009023 proprioceptive sensation Effects 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
- A61F2/72—Bioelectric control, e.g. myoelectric
-
- 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
- A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment 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
- A61F2002/543—Lower arms or forearms
-
- 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
- A61F2002/701—Operating or control means electrical operated by electrically controlled means, e.g. solenoids or torque motors
-
- 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
- A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
- A61F2002/7615—Measuring means
- A61F2002/7635—Measuring means for measuring force, pressure or mechanical tension
Landscapes
- Health & Medical Sciences (AREA)
- Cardiology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Transplantation (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Prostheses (AREA)
Abstract
The invention provides a modular intelligent artificial limb control system, and belongs to the field of electromechanical control. The control system comprises a muscle activity sensor, a multi-degree-of-freedom artificial limb, a sliding feedback module, a pressing feedback module, a mobile phone client, a cloud server and an elastic magic tape bandage. The upper limb prosthesis system uses a unique muscle activity sensor, the muscle activity sensor is fused with a myoelectric signal sensor and a pressure sensor, and the muscle activity sensor is fused with a temperature sensor and a sweat sensor, so that the influence of the temperature and the sweat on the myoelectric signal, which are generated by long-time wearing, is solved to a certain extent. The prosthesis system may enable the wearer's perception of prosthesis motion by placing a number of sliding and pressing feedback modules on the wearer's arm. Each part of the invention is an independent functional module which is connected with the artificial limb through a wireless device. The invention further improves the intellectualization of the artificial limb system by introducing the mobile phone client and the cloud server.
Description
Technical Field
The invention belongs to the field of modular intelligent artificial limb control systems, and particularly relates to a modular closed-loop artificial limb control system for an upper limb amputee.
Background
The multi-degree-of-freedom dynamic artificial limb assists and improves the behavior ability of the amputee. The control signal of the artificial limb mainly comes from the detection of the muscle activity of the upper limb, and the acquisition of the surface electromyographic signal is the main way of detecting the muscle activity at present. However, the surface electromyogram signal is susceptible to electromagnetic noise, sweat, and sensor location, making it difficult to obtain a long-term stable electromyogram signal during actual use. In the existing artificial limb device, the electromyographic signal sensor is usually embedded into the receiving cavity of the artificial limb, the wearing position of the sensor is fixed, and the position and the number of the sensor cannot be adjusted according to the actual conditions of different patients.
Most prostheses are abandoned by amputees due to their poor proprioception. The body feeling of the prosthesis can be improved by feeding the motion of the prosthesis back to the amputation end of the patient, and most of the existing prosthesis systems do not have a feedback link from the prosthesis to the patient. Some artificial limbs with feedback function have the problems of single feedback type, poor feedback feeling and the like, and can not naturally and efficiently feed back various motion information of the artificial limbs to patients. During long-term wear, the upper limb information of the amputee plays a key role in monitoring the health status of the patient and adjusting the working parameters of the prosthesis. The use state of the artificial limb can be further improved by collecting, uploading and analyzing a large amount of upper limb information of the patient, and the existing artificial limb system does not have the functions.
Disclosure of Invention
In view of this, in order to solve the above-mentioned technical problems in the background art, the present invention provides a modular closed-loop prosthesis control system for an upper limb amputee, which includes a unique muscle activity sensor and a prosthesis motion feedback device, and is separated from a prosthetic hand by a modular form, and has the characteristics of stable detection, flexible configuration, closed-loop feedback, cloud analysis, and the like.
In order to achieve the purpose, the invention adopts the following technical scheme: a modularized closed-loop artificial limb control system for an upper limb amputation patient comprises a plurality of muscle activity sensors, a multi-degree-of-freedom artificial limb, a plurality of sliding feedback modules, a plurality of pressing feedback modules, a mobile phone client, a cloud server and an elastic magic tape bandage, wherein the muscle activity sensors are fixed on a small arm through the elastic magic tape bandage, the sliding feedback modules and the pressing feedback modules are also fixed on the small arm through the elastic magic tape bandage, the multi-degree-of-freedom artificial limb is worn at the tail end of the residual limb of the amputation patient, the muscle activity sensors, the sliding feedback modules and the pressing feedback modules are communicated with the multi-degree-of-freedom artificial limb through a wireless communication device, the muscle activity sensors send muscle activity data to the multi-degree-of-freedom artificial limb, the multi-degree-freedom artificial limb controls the artificial limb to move after data processing, and the multi-degree-of-freedom artificial limb sends the motion information of the artificial limb to the sliding feedback modules and the pressing feedback modules, the mobile phone client side is connected with the cloud server through wireless communication, uploads the information of the multi-degree-of-freedom artificial limb to the cloud server for storage and calculation, and the cloud server sends the information to the mobile phone client side according to the requirements of the mobile phone client side.
Furthermore, the muscle activity sensor comprises a muscle activity sensor bottom shell, a muscle activity sensor wireless communication board, a muscle activity sensor control board, a muscle activity sensor spring, a muscle activity sensor fixing magic tape, a pressure sensor, an electromyographic signal sensor, a muscle activity sensor battery, a temperature sensor, a sweat sensor and a muscle activity sensor cover plate, wherein the electromyographic signal sensor is fixed on the muscle activity sensor bottom shell through the muscle activity sensor spring, the pressure sensor is fixed on the muscle activity sensor bottom shell and is positioned right below the electromyographic signal sensor, an electrode of the electromyographic signal sensor extends out through a through hole on the muscle activity sensor cover plate, so that the electromyographic signal sensor is fully contacted with the skin of a wearer when the electromyographic signal sensor is worn, and the temperature sensor and the sweat sensor are fixed on the muscle activity sensor cover plate, muscle activity sensor battery is fixed on the muscle activity sensor drain pan, provides electric power for whole muscle activity sensor, muscle activity sensor wireless communication board and muscle activity sensor control panel stack are fixed in muscle activity sensor drain pan, muscle activity sensor control panel reads the data of flesh electric signal sensor, pressure sensor, temperature sensor and sweat sensor to send for the multi freedom artificial limb through muscle activity sensor wireless communication board, wherein one side of the fixed magic subsides of muscle activity sensor is fixed on muscle activity sensor drain pan, and the another side is used for pasting the bandage with elasticity magic and fixes.
Further, when the electromyogram sensor is pressed, the bottom of the electromyogram signal sensor is allowed to touch the pressure sensor.
Still further, the sweat sensor is a liquid detection sensor or a humidity sensor.
Furthermore, the multi-degree-of-freedom artificial limb comprises a miniature pressure sensor, a prosthetic hand, a three-degree-of-freedom wrist module, a multi-degree-of-freedom artificial limb control plate, a multi-degree-of-freedom artificial limb battery and an artificial limb receiving cavity, wherein the miniature pressure sensor is fixed to the inner side of each finger knuckle and the inner side of a palm of the prosthetic hand, the prosthetic hand is connected with the artificial limb receiving cavity through the three-degree-of-freedom wrist module, the multi-degree-of-freedom artificial limb control plate and the multi-degree-of-freedom artificial limb battery are fixed in the artificial limb receiving cavity, the multi-degree-of-freedom artificial limb control plate is responsible for data communication with other parts and carrying out related control operation, and the multi-degree-of freedom artificial limb battery provides electric power for the whole artificial limb.
Further, the sliding feedback module comprises a sliding feedback module bottom shell, a sliding feedback module wireless communication board, a sliding feedback module control board, a sliding feedback module spring, a sliding feedback module fixing magic tape, a micro linear module, a sliding block, a sliding feedback module battery and a sliding feedback module cover board, wherein the micro linear module is fixed on the sliding feedback module bottom shell through the sliding feedback module spring, the sliding block is fixed on the micro linear module and moves along a groove on the sliding feedback module cover board under the driving of the micro linear module, the sliding feedback module battery, the sliding feedback module wireless communication board and the sliding feedback module control board are fixed in the sliding feedback module bottom shell, the sliding feedback module wireless communication board receives data from the multi-degree-of-freedom artificial limb and sends the received data to the sliding feedback module control board, the miniature straight line module of slip feedback module control panel control after handling data produces the motion, and the slip feedback module battery provides electric power for whole slip feedback module, and one of them one side of the fixed magic subsides of slip feedback module is fixed on slip feedback module drain pan, and the another side is used for pasting the bandage fixedly with elasticity magic.
Furthermore, the pressing feedback module comprises a pressing feedback module bottom shell, a pressing feedback module wireless communication board, a pressing feedback module control board, a pressing feedback module spring, a pressing feedback module fixing magic tape, a micro-expansion piece, a pressing feedback module battery and a pressing feedback module cover board, wherein the micro-expansion piece is fixed on the pressing feedback module bottom shell through the pressing feedback module spring, so that the top end of the micro-expansion piece extends out through a through hole on the pressing feedback module cover board, the pressing feedback module battery, the pressing feedback module wireless communication board and the pressing feedback module control board are fixed in the pressing feedback module bottom shell, the pressing feedback module wireless communication board receives data from the multi-degree-of-freedom artificial limb and sends the received data to the pressing feedback module control board, and the pressing feedback module control board controls the micro-expansion piece to move after processing the data, the battery of the pressing feedback module provides power for the whole pressing feedback module, one surface of the fixing magic tape of the pressing feedback module is fixed on the bottom shell of the pressing feedback module, and the other surface of the fixing magic tape of the pressing feedback module is used for fixing the elastic magic tape bandage.
Furthermore, the mobile phone client is wirelessly connected with the multi-degree-of-freedom artificial limb control board, the multi-degree-of-freedom artificial limb control board sends data information including the muscle activity sensor, the artificial hand, the three-degree-of-freedom wrist module, the micro pressure sensor, the sliding feedback module and the pressing feedback module to the mobile phone client, a wearer monitors the running state of the artificial limb system in real time through the mobile phone client, the mobile phone client also uploads the obtained data to the cloud server, the mobile phone client further comprises a calibration function of artificial limb wearing, and when the artificial limb is worn each time, the wearer is assisted to finish accurate wearing of the artificial limb system, so that a better artificial limb using effect is achieved.
Furthermore, the sliding feedback module is fixed above or below the arm of the patient, so that the long axis direction of the sliding block is parallel to the direction of the arm, when the multi-freedom artificial limb performs the wrist flexion movement, the sliding blocks of the two sliding feedback modules positioned above and below the arm perform relative movement for feeding back the wrist flexion movement to the amputation patient, when the multi-freedom artificial limb performs the wrist eversion movement, the sliding blocks of the two sliding feedback modules positioned above and below the arm perform relative movement opposite to the flexion movement for feeding back the wrist eversion movement to the amputation patient, and when the sliding feedback modules are also arranged on the left side and the right side of the arm, the sliding feedback modules are used for feeding back the wrist left-right side sway movement of the amputation patient, the two sliding feedback modules are arranged on the opposite sides of the arm, and the long axis direction of the sliding blocks is perpendicular to the direction of the arm, at the moment, when the sliding blocks of the two sliding feedback modules perform relative motion, the rotary motion of the wrist can be fed back, the pressing feedback modules are placed on the two opposite sides of the arm, the arm of the amputee can be pressed to different degrees through the motion of the miniature expansion pieces of the pressing feedback modules, and the pressure of the miniature pressure sensor on the multi-degree-of-freedom artificial limb during grasping is fed back.
Furthermore, after the muscle activity sensor cover plate, the sliding feedback module cover plate and the pressing feedback module cover plate are taken down respectively, the pretightening force of the muscle activity sensor spring, the sliding feedback module spring and the pressing feedback module spring can be adjusted by adjusting the pretightening bolts, and the pretightening force of the spring can be better detected and fed back while the wearing comfort of the muscle activity sensor, the sliding feedback module and the pressing feedback module is ensured.
Compared with the prior art, the modular closed-loop prosthesis control system for the upper limb amputee has the advantages that:
(1) the modular intelligent upper limb prosthesis system uses a unique muscle activity sensor, the myoelectric signal sensor and the pressure sensor are fused with the sensor, the myoelectric signal sensor is fixed on a sensor shell through a spring, the pressure sensor is arranged below the myoelectric signal sensor, and under the action of the spring, the myoelectric signal sensor can be ensured to be tightly attached to the skin, so that the myoelectric signal sensor is prevented from generating motion artifacts to influence the measurement result. When the electromyographic signal sensor is stressed, the pressure can be transmitted to the pressure sensor below, and the pressure sensor is used for simultaneously measuring the pressure information generated by muscle contraction.
(2) And the muscle activity sensor is fused with the temperature and sweat sensor, so that the temperature and sweat information of the joint of the sensor and the arm can be detected in the using process, the control parameters of the artificial limb are adjusted through the obtained temperature and sweat information, and the influence of the temperature and sweat on the electromyographic signals caused by long-time wearing is solved to a certain extent.
(3) The prosthesis system is provided with two feedback modules of sliding and pressing, the wearer can perceive the prosthesis movement through placing a certain number of the feedback modules of sliding and pressing on the arm of the wearer, and the body feeling of the amputee to the prosthesis is improved.
(4) The muscle activity sensor, the sliding feedback module and the pressing feedback module are independent functional modules and are connected with the artificial limb through a wireless device, so that the using number and the using position can be flexibly adjusted.
(5) According to the invention, through the introduction of the mobile phone client and the cloud server, the patient can realize the wearing calibration, health monitoring, parameter adjustment and other functions through the mobile phone client, and can upload the data information of the patient to the cloud server in real time, so that the intelligence of the artificial limb system is further improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic overall frame diagram of a modular closed-loop prosthesis steering system for an upper limb amputee in accordance with the present invention;
fig. 2 is a schematic overall wearing diagram of a modular closed-loop prosthesis steering system for an upper limb amputee according to the present invention;
FIG. 3 is a schematic diagram of a muscle activity sensor according to the present invention;
FIG. 4 is a schematic structural diagram of a multiple degree of freedom prosthesis according to the present invention;
FIG. 5 is a schematic structural diagram of a sliding feedback module according to the present invention;
FIG. 6 is a schematic structural diagram of a press feedback module according to the present invention;
fig. 7 is a schematic view of a wearing layout of the sliding feedback module and the pressing feedback module according to the present invention.
In the figure, 1-muscle activity sensor, 1.1-muscle activity sensor bottom shell, 1.2-muscle activity sensor wireless communication board, 1.3-muscle activity sensor control board, 1.4-muscle activity sensor spring, 1.5-muscle activity sensor fixing magic tape, 1.6-pressure sensor, 1.7-electromyographic signal sensor, 1.8-muscle activity sensor battery, 1.9-temperature sensor, 1.10-sweat sensor, 1.11-muscle activity sensor cover board, 2-multi-freedom artificial limb, 2.1-minitype pressure sensor, 2.2-artificial hand, 2.3-three freedom wrist module, 2.4-multi-freedom artificial limb control board, 2.5-multi-freedom artificial limb battery, 2.6-artificial limb receiving cavity, 3-sliding feedback module, 3.1-sliding feedback module, 3.2-sliding feedback module wireless communication board, 3.3-sliding feedback module control board, 3.4-sliding feedback module spring, 3.5-sliding feedback module fixed magic tape, 3.6-micro linear module, 3.7-sliding block, 3.8-sliding feedback module battery, 3.9-sliding feedback module cover board, 4-pressing feedback module, 4.1-pressing feedback module bottom case, 4.2-pressing feedback module wireless communication board, 4.3-pressing feedback module control board, 4.4-pressing feedback module spring, 4.5-pressing feedback module fixed magic tape, 4.6-micro expansion device, 4.7-pressing feedback module battery, 4.8-pressing feedback module cover board, 5-mobile phone client, 6-cloud server, 7-elastic magic tape.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely explained below with reference to the drawings in the embodiments of the present invention. It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict, and the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments.
One specific embodiment, the first embodiment is described with reference to fig. 1 to 7, and a modular closed-loop prosthesis control system for an upper limb amputation patient comprises a plurality of muscle activity sensors 1, a multi-degree-of-freedom prosthesis 2, a plurality of sliding feedback modules 3, a plurality of pressing feedback modules 4, a mobile phone client 5, a cloud server 6 and an elastic magic tape 7, wherein the plurality of muscle activity sensors 1 are fixed on a forearm through the elastic magic tape 7, the plurality of sliding feedback modules 3 and the pressing feedback modules 4 are also fixed on the forearm through the elastic magic tape 7, the multi-degree-of-freedom prosthesis 2 is worn at the tail end of the stump of the amputation patient, the muscle activity sensors 1, the sliding feedback modules 3 and the pressing feedback modules 4 are communicated with the prosthesis 2 through a wireless communication device, the muscle activity sensors 1 transmit muscle activity data to the multi-degree-of-freedom prosthesis 2, the multi-degree-of-freedom artificial limb 2 controls the artificial limb to move after data processing, the multi-degree-of-freedom artificial limb 2 sends motion information of the artificial limb to a sliding feedback module 3 and a pressing feedback module 4, the sliding feedback module 3 and the pressing feedback module 4 respectively generate sliding motion and pressing motion according to the information sent by the multi-degree-of-freedom artificial limb 2, the multi-degree-of-freedom artificial limb 2 is connected with a mobile phone client 5 in a wireless communication mode, various motion and parameter information of the multi-degree-of-freedom artificial limb 2 are sent to a mobile phone client 5, the mobile phone client 5 sends control information and parameter adjustment information to the artificial limb 2, the mobile phone client 5 is connected with a cloud server 6 in a wireless communication mode, the mobile phone client 5 uploads the information of the multi-degree-of-freedom artificial limb 2 to the cloud server 6 to be stored and calculated, and the cloud server 6 sends the information to the mobile phone client 5 according to requirements of the mobile phone client 5.
The artificial limb system is provided with two feedback modules of sliding and pressing, the perception of the wearer on the artificial limb movement can be realized by placing a certain number of the feedback modules of sliding and pressing on the arm of the wearer, and the body feeling of the amputee on the artificial limb is improved.
The muscle activity sensor 1, the sliding feedback module 3 and the pressing feedback module 4 are independent functional modules and are connected with the artificial limb through wireless devices, and the using number and the using position can be flexibly adjusted. Different numbers of sliding feedback modules 3 and pressing feedback modules 4 may be placed at different positions according to different requirements.
By introducing the mobile phone client and the cloud server, the system and the method enable the patient to realize wearing calibration, health monitoring, parameter adjustment and other functions through the mobile phone client, and can upload own data information to the cloud server in real time, so that the intellectualization of the artificial limb system is further improved.
The muscle activity sensor 1 comprises a muscle activity sensor bottom shell 1.1, a muscle activity sensor wireless communication board 1.2, a muscle activity sensor control board 1.3, a muscle activity sensor spring 1.4, a muscle activity sensor fixing magic tape 1.5, a pressure sensor 1.6, an electromyographic signal sensor 1.7, a muscle activity sensor battery 1.8, a temperature sensor 1.9, a sweat sensor 1.10 and a muscle activity sensor cover board 1.11, wherein the electromyographic signal sensor 1.7 is fixed on the muscle activity sensor bottom shell 1.1 through the muscle activity sensor spring 1.4, the pressure sensor 1.6 is fixed on the muscle activity sensor bottom shell 1.1 and is positioned right below the electromyographic signal sensor 1.7, an electrode of the electromyographic signal sensor 1.7 extends out through a through hole on the muscle activity sensor cover board 1.11, so that the electromyographic signal sensor 1.7 is fully contacted with the skin of a wearer when the muscle activity sensor is worn, when the shown electromyographic sensor 1.7 is pressed, the bottom of the electromyographic signal sensor 1.7 is made to touch the pressure sensor 1.6. Temperature sensor 1.9 and sweat sensor 1.10 are fixed to muscle activity sensor apron 1.11 on, muscle activity sensor battery 1.8 is fixed to muscle activity sensor drain pan 1.1, provides electric power for whole muscle activity sensor 1, muscle activity sensor wireless communication board 1.2 and muscle activity sensor control panel 1.3 stack are fixed in muscle activity sensor drain pan 1.1, muscle activity sensor control panel 1.3 reads the data of flesh electric signal sensor 1.7, pressure sensor 1.6, temperature sensor 1.9 and sweat sensor 1.10 to send for artificial limb 2 through muscle activity sensor wireless communication board 1.2, wherein one side of the fixed magic subsides of muscle activity sensor 1.5 is fixed on muscle activity sensor drain pan 1.1, and the another side is used for with elasticity magic subsides bandage 7 fixed.
The modular intelligent upper limb prosthesis system uses the unique muscle activity sensor 1, the muscle activity sensor integrates an electromyographic signal sensor and a pressure sensor, the electromyographic signal sensor 1.7 is fixed on a sensor shell through a spring, the pressure sensor 1.6 is arranged below the electromyographic signal sensor, and under the action of the spring, the electromyographic signal sensor 1.7 can be ensured to be tightly attached to the skin, so that the electromyographic signal sensor 1.7 is prevented from generating motion artifacts to influence the measurement result. When the electromyographic signal sensor 1.7 is stressed, the pressure can be transmitted to the pressure sensor 1.6 below, and the pressure information generated by muscle contraction is measured through the pressure sensor 1.6.
The sweat sensor 1.10 is a liquid detection sensor or a humidity sensor. The muscle activity sensor 1 is fused with a temperature sensor and a sweat sensor, the temperature and sweat information of the joint of the sensor and the arm can be detected in the using process, the control parameters of the artificial limb are adjusted through the obtained temperature and sweat information, and the influence of the temperature and sweat on the electromyographic signals due to long-time wearing is solved to a certain extent.
The multi-degree-of-freedom artificial limb 2 comprises a micro pressure sensor 2.1, a prosthetic hand 2.2, a three-degree-of-freedom wrist module 2.3, a multi-degree-of-freedom artificial limb control plate 2.4, a multi-degree-of-freedom artificial limb battery 2.5 and an artificial limb receiving cavity 2.6, wherein the micro pressure sensor 2.1 is fixed to the inner side of each finger knuckle and the inner side of a palm of the prosthetic hand 2.2, the prosthetic hand 2.2 is connected with the artificial limb receiving cavity 2.6 through the three-degree-of-freedom wrist module 2.3, the multi-degree-of-freedom artificial limb control plate 2.4 and the multi-degree-of-freedom artificial limb battery 2.5 are fixed in the artificial limb receiving cavity 2.6, the multi-degree-of-freedom artificial limb control plate 2.4 is responsible for data communication with other parts and carrying out related control operation, and the multi-degree-of-freedom artificial limb battery 2.6 provides electric power for the whole artificial limb.
The sliding feedback module 3 comprises a sliding feedback module bottom shell 3.1, a sliding feedback module wireless communication board 3.2, a sliding feedback module control board 3.3, a sliding feedback module spring 3.4, a sliding feedback module fixing magic tape 3.5, a micro linear module 3.6, a sliding block 3.7, a sliding feedback module battery 3.8 and a sliding feedback module cover board 3.9, wherein the micro linear module 3.6 is fixed on the sliding feedback module bottom shell 3.1 through the sliding feedback module spring 3.4, the sliding block 3.7 is fixed on the micro linear module 3.6 and moves along a groove on the sliding feedback module cover board 3.9 under the driving of the micro linear module 3.6, the sliding feedback module battery 3.8, the sliding feedback module wireless communication board 3.2 and the sliding multi-degree of freedom feedback module control board 3.3 are fixed in the sliding feedback module 3.1, the sliding feedback module bottom shell wireless communication board 3.2 receives data from the artificial limb 2, and send the data received to slip feedback module control panel 3.3, slip feedback module control panel 3.3 controls miniature straight line module 3.6 and produces the motion after handling data, and slip feedback module battery 3.8 provides electric power for whole slip feedback module 3, and one of them face of the fixed magic subsides of slip feedback module 3.5 is fixed on slip feedback module drain pan 3.1, and the another face is used for pasting the bandage 7 fixedly with elasticity magic.
The pressing feedback module 4 comprises a pressing feedback module bottom shell 4.1, a pressing feedback module wireless communication board 4.2, a pressing feedback module control board 4.3, a pressing feedback module spring 4.4, a pressing feedback module fixing magic tape 4.5, a micro-expansion piece 4.6, a pressing feedback module battery 4.7 and a pressing feedback module cover board 4.8, the micro-expansion piece 4.6 is fixed on the pressing feedback module bottom shell 4.1 through the pressing feedback module spring 4.4, so that the top end of the micro-expansion piece 4.6 extends out through a through hole on the pressing feedback module cover board 1.8, the pressing feedback module battery 4.7, the pressing feedback module wireless communication board 4.2 and the pressing feedback module control board 4.3 are fixed in the pressing feedback module bottom shell 4.1, the pressing feedback module wireless communication board 4.2 receives data from the multi-degree-of freedom artificial limb 2 and sends the received data to the pressing feedback module control board 4.3, the pressing feedback module 4.3 controls the micro-expansion piece 4.6 to move after processing the data, press feedback module battery 4.7 and provide electric power for whole feedback module 4 that press, press one of them face of the fixed magic subsides 4.5 of feedback module and fix on pressing feedback module drain pan 4.1, the another side is used for pasting 7 fixedly with elasticity magic.
The mobile phone client 5 is wirelessly connected with the multi-degree-of-freedom artificial limb control plate 2.4, the multi-degree-of-freedom artificial limb control plate 2.4 sends data information including the muscle activity sensor 1, the artificial hand 2.2, the three-degree-of-freedom wrist module 2.3, the micro pressure sensor 2.1, the sliding feedback module 3 and the pressing feedback module 4 to the mobile phone client 5, a wearer monitors the running state of the artificial limb system in real time through the mobile phone client 5, the mobile phone client 5 also uploads the obtained data to the cloud server 6, the mobile phone client 5 further comprises a calibration function worn by the artificial limb, and when the artificial limb is worn each time, the wearer is assisted to accurately wear the artificial limb system, so that a better artificial limb using effect is achieved.
As shown in figure 7, as some possible realization ways, the sliding feedback module 3 is fixed above or below the arm of the patient, so that the long axis direction of the sliding block 3.7 is parallel to the direction of the arm, when the multi-degree-of-freedom artificial limb 2 carries out the wrist flexion movement, the sliding blocks 3.7 of the two sliding feedback modules 3 positioned above and below the arm carry out the relative movement for feeding back the wrist flexion movement to the amputation patient, when the multi-degree-of-freedom artificial limb 2 carries out the wrist flexion movement, the sliding blocks 3.7 of the two sliding feedback modules 3 positioned above and below the arm carry out the relative movement opposite to the flexion movement for feeding back the wrist eversion movement to the amputation patient, when the sliding feedback modules 3 are also placed at the left side and the right side of the arm, the two sliding feedback modules 3 are placed at the opposite sides of the arm, when the long axis direction of the sliding blocks 3.7 is perpendicular to the direction of the arm, the sliding blocks 3.7 of the two sliding feedback modules 3 can feed back the rotation motion of the wrist when moving relatively, the pressing feedback module 4 is placed on the two opposite sides of the arm, the arm of the amputee can be pressed to different degrees by the motion of the micro-expansion device 4.6 of the pressing feedback module 4, and the pressure of the micro-pressure sensor 2.1 on the multi-degree-of-freedom artificial limb 2 can be fed back when the amputee is gripped.
After muscle activity sensor apron 1.11, slip feedback module apron 3.9 and press feedback module apron 4.8 and take off respectively, can adjust muscle activity sensor spring 1.4, slip feedback module spring 3.4 and the pretightning force of pressing feedback module spring 4.4 through adjusting the pretension bolt, when guaranteeing muscle activity sensor 1, slip feedback module 3 and the wearing travelling comfort of pressing feedback module 4, can obtain better detection and feedback state through the pretightning force of adjusting spring.
As shown in fig. 2, in actual use, a wearer should fix a certain number of muscle activity sensors 1, a sliding feedback module 3 and a pressing feedback module 4 at a proper position of an arm through an elastic magic tape bandage 7, wear a multi-degree-of-freedom artificial limb 2 at an amputation end of the arm through an artificial limb receiving cavity 2.6, properly adjust the muscle activity sensors 1, the position 2 of the multi-degree-of-freedom artificial limb, the sliding feedback module 3 and the pressing feedback module 4 through a wearing calibration function of a mobile phone client 5, finally complete accurate wearing of an artificial limb system, and perform normal use after wearing, check the using state of the artificial limb in real time through the mobile phone client 5 during use, perform proper parameter adjustment according to the using state, and also check historical data of the artificial limb at any time through acquiring data of a cloud server 6, and obtains analysis and evaluation information of recent artificial limb wearing.
The embodiments of the invention disclosed above are intended merely to aid in the explanation of the invention. The examples are not intended to be exhaustive or to limit the invention to the precise embodiments described. Many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention.
Claims (10)
1. A modular closed-loop prosthesis steering system for an upper extremity amputee, characterized by: the multifunctional artificial limb comprises a plurality of muscle activity sensors (1), a multi-degree-of-freedom artificial limb (2), a plurality of sliding feedback modules (3), a plurality of pressing feedback modules (4), a mobile phone client (5), a cloud server (6) and an elastic magic tape bandage (7), wherein the plurality of muscle activity sensors (1) are fixed on a forearm through the elastic magic tape bandage (7), the plurality of sliding feedback modules (3) and the pressing feedback modules (4) are also fixed on the forearm through the elastic magic tape bandage (7), the multi-degree-of-freedom artificial limb (2) is worn on the tail end of the stump of an amputee patient, the muscle activity sensors (1), the sliding feedback modules (3) and the pressing feedback modules (4) are communicated with the multi-degree-of-freedom artificial limb (2) through a wireless communication device, and the muscle activity sensors (1) send muscle activity data to the multi-degree-of freedom artificial limb (2), the multi-degree-of-freedom artificial limb (2) controls the artificial limb to move after performing data processing, the multi-degree-of-freedom artificial limb (2) sends the movement information of the artificial limb to a sliding feedback module (3) and a pressing feedback module (4), the sliding feedback module (3) and the pressing feedback module (4) respectively generate sliding movement and pressing movement according to the information sent by the multi-degree-of-freedom artificial limb (2), the multi-degree-of-freedom artificial limb (2) is connected with a mobile phone client (5) in a wireless communication mode, various movement and parameter information of the multi-degree-of-freedom artificial limb (2) are sent to a mobile phone client (5), the mobile phone client (5) sends control information and parameter adjustment information to the multi-degree-of freedom artificial limb (2), the mobile phone client (5) is connected with a cloud server (6) in a wireless communication mode, and the mobile phone client (5) uploads the information of the multi-degree-of freedom artificial limb (2) to the cloud server (6) for storage and calculation, the cloud server (6) sends the information to the mobile phone client (5) according to the requirements of the mobile phone client (5).
2. The modular closed-loop prosthesis steering system for upper extremity amputees of claim 1, wherein: the muscle activity sensor (1) comprises a muscle activity sensor bottom shell (1.1), a muscle activity sensor wireless communication board (1.2), a muscle activity sensor control board (1.3), a muscle activity sensor spring (1.4), a muscle activity sensor fixing magic tape (1.5), a pressure sensor (1.6), an electromyographic signal sensor (1.7), a muscle activity sensor battery (1.8), a temperature sensor (1.9), a sweat sensor (1.10) and a muscle activity sensor cover plate (1.11), wherein the electromyographic signal sensor (1.7) is fixed on the muscle activity sensor bottom shell (1.1) through the muscle activity sensor spring (1.4), the pressure sensor (1.6) is fixed on the muscle activity sensor bottom shell (1.1) and is positioned right below the electromyographic signal sensor (1.7), an electrode of the electromyographic signal sensor (1.7) extends out through a through hole on the muscle activity sensor cover plate (1.11), the myoelectric activity sensor fixing magic sticker comprises an electromyographic signal sensor (1.7), a temperature sensor (1.9) and a sweat sensor (1.10), a muscle activity sensor battery (1.8), a muscle activity sensor cover plate (1.11), a muscle activity sensor battery (1.1), a muscle activity sensor base shell (1.1), a muscle activity sensor battery (1.3), a muscle activity sensor wireless communication board (1.2) and a muscle activity sensor control board (1.3), wherein the myoelectric activity sensor battery (1.9) and the muscle activity sensor battery are fixed on the muscle activity sensor base shell (1.1) and provide power for the whole muscle activity sensor (1), the muscle activity sensor battery (1.3) is superposed and fixed in the muscle activity sensor base shell (1.1), the muscle activity sensor control board (1.3) reads data of the electromyographic signal sensor (1.7), a pressure sensor (1.6), the temperature sensor (1.9) and the sweat sensor battery (1.10) and sends the data to a multi-degree-of-freedom artificial limb (2) through the muscle activity sensor wireless communication board (1.2), and one side of the muscle activity sensor fixing magic sticker (1.5) is fixed on the muscle activity sensor base shell (1.1.1.1) ) The other surface of the upper part is used for being fixed with an elastic magic tape bandage (7).
3. The modular closed-loop prosthesis steering system for upper limb amputees of claim 2, wherein: when the electromyographic signal sensor (1.7) is pressed, the bottom of the electromyographic signal sensor (1.7) can be ensured to touch the pressure sensor (1.6).
4. The modular closed-loop prosthesis steering system for upper limb amputees of claim 2, wherein: the sweat sensor (1.10) is a liquid detection sensor or a humidity sensor.
5. The modular closed-loop prosthesis steering system for upper extremity amputees of claim 1, wherein: the multi-degree-of-freedom artificial limb (2) comprises a micro pressure sensor (2.1), a prosthetic hand (2.2), a three-degree-of-freedom wrist module (2.3), a multi-degree-of-freedom artificial limb control plate (2.4), a multi-degree-of-freedom artificial limb battery (2.5) and an artificial limb receiving cavity (2.6), wherein the micro pressure sensor (2.1) is fixed to the inner side of each finger knuckle and the inner side of a palm of the prosthetic hand (2.2), the prosthetic hand (2.2) is connected with the artificial limb receiving cavity (2.6) through the three-degree-of-freedom wrist module (2.3), the multi-degree-of-freedom artificial limb control plate (2.4) and the multi-degree-of-freedom artificial limb battery (2.5) are fixed into the artificial limb receiving cavity (2.6), the artificial limb control plate (2.4) is responsible for carrying out data communication with other parts and carrying out related control operation, and the multi-degree-of-freedom artificial limb battery (2.5) provides electric power for the whole artificial limb.
6. The modular closed-loop prosthesis steering system for upper extremity amputees of claim 1, wherein: the sliding feedback module (3) comprises a sliding feedback module bottom shell (3.1), a sliding feedback module wireless communication board (3.2), a sliding feedback module control board (3.3), a sliding feedback module spring (3.4), a sliding feedback module fixing magic tape (3.5), a micro linear module (3.6), a sliding block (3.7), a sliding feedback module battery (3.8) and a sliding feedback module cover board (3.9), wherein the micro linear module (3.6) is fixed on the sliding feedback module bottom shell (3.1) through the sliding feedback module spring (3.4), the sliding block (3.7) is fixed on the micro linear module (3.6) and moves along a groove on the sliding feedback module cover board (3.9) under the driving of the micro linear module (3.6), the sliding feedback module battery (3.8), the sliding feedback module wireless communication board (3.2) and the sliding feedback module control board (3.3) are fixed in the sliding feedback module bottom shell (3.1), slip feedback module wireless communication board (3.2) receive the data that come from multi freedom artificial limb (2), and send the data received to slip feedback module control panel (3.3), slip feedback module control panel (3.3) control miniature straight line module (3.6) and produce the motion after handling data, slip feedback module battery (3.8) provide electric power for whole slip feedback module (3), wherein one side of the fixed magic subsides of slip feedback module (3.5) is fixed on slip feedback module drain pan (3.1), the another side is used for pasting the bandage (7) fixedly with elasticity magic.
7. The modular closed-loop prosthesis steering system for upper extremity amputees of claim 1, wherein: the pressing feedback module (4) comprises a pressing feedback module bottom shell (4.1), a pressing feedback module wireless communication board (4.2), a pressing feedback module control board (4.3), a pressing feedback module spring (4.4), a pressing feedback module fixing magic tape (4.5), a micro-expansion piece (4.6), a pressing feedback module battery (4.7) and a pressing feedback module cover board (4.8), wherein the micro-expansion piece (4.6) is fixed on the pressing feedback module bottom shell (4.1) through the pressing feedback module spring (4.4), so that the top end of the micro-expansion piece (4.6) extends out through a through hole on the pressing feedback module cover board (4.8), the pressing feedback module battery (4.7), the pressing feedback module wireless communication board (4.2) and the pressing feedback module control board (4.3) are fixed in the pressing feedback module bottom shell (4.1), and the pressing feedback module wireless communication board (4.2) receives data from the artificial limb (2), and send the data of receiving to pressing feedback module control panel (4.3), press feedback module control panel (4.3) and handle back control miniature expansion bend (4.6) motion to data, press feedback module battery (4.7) and provide electric power for whole feedback module (4) of pressing, press wherein one side of the fixed magic subsides of feedback module (4.5) and fix on pressing feedback module drain pan (4.1), the another side is used for pasting bandage (7) fixedly with elasticity magic.
8. The modular closed-loop prosthesis steering system for upper extremity amputees of claim 1, wherein: the artificial limb system comprises a mobile phone client (5), a multi-degree-of-freedom artificial limb control board (2.4), a muscle activity sensor (1), a prosthetic hand (2.2), a three-degree-of-freedom wrist module (2.3), a micro pressure sensor (2.1), a sliding feedback module (3) and a pressing feedback module (4), wherein the mobile phone client (5) is in wireless connection with the multi-degree-of-freedom artificial limb control board (2.4), data information including the muscle activity sensor (1), the prosthetic hand (2.2), the three-degree-of-freedom wrist module (2.3), the micro pressure sensor (2.1), the sliding feedback module (3) and the pressing feedback module (4) is sent to the mobile phone client (5), a wearer monitors the running state of the artificial limb system in real time through the mobile phone client (5), the mobile phone client (5) uploads obtained data to a cloud server (6), the mobile phone client (5) further comprises a calibration function of artificial limb wearing, and when the artificial limb is worn, the artificial limb system is accurately worn by the wearer, so that the artificial limb system can be worn in an improved artificial limb using effect can be realized.
9. The modular closed-loop prosthesis steering system for upper extremity amputees of claim 1, wherein: the sliding feedback modules (3) are fixed above or below the arm of a patient, so that the long axis direction of the sliding blocks (3.7) is parallel to the direction of the arm, when the multi-degree-of-freedom artificial limb (2) carries out wrist flexion movement, the sliding blocks (3.7) of the two sliding feedback modules (3) positioned above and below the arm carry out relative movement and are used for feeding back wrist flexion movement to an amputation patient, when the multi-degree-of-freedom artificial limb (2) carries out wrist eversion movement, the sliding blocks (3.7) of the two sliding feedback modules (3) positioned above and below the arm carry out relative movement opposite to the inflexion movement and are used for feeding back wrist eversion movement to the amputation patient, when the sliding feedback modules (3) are also arranged on the left side and the right side of the arm, the sliding feedback modules (3) are used for feeding back the side-swing movement of the left wrist and the right wrist of the amputation patient, and the two sliding feedback modules (3) are arranged on the two opposite sides of the arm, when the long axis direction of the sliding blocks (3.7) is perpendicular to the direction of the arm, the sliding blocks (3.7) of the two sliding feedback modules (3) can feed back the rotation motion of the wrist when moving relatively, the pressing feedback modules (4) are placed on the two opposite sides of the arm, the arm of the amputee can be pressed to different degrees through the motion of the micro expanders (4.6) of the pressing feedback modules (4), and the pressure of the micro pressure sensor (2.1) on the multi-degree-of-freedom artificial limb (2) during grasping can be fed back.
10. The modular closed-loop prosthesis steering system for upper extremity amputees of claim 1, wherein: after muscle activity sensor apron (1.11), slip feedback module apron (3.9) and press feedback module apron (4.8) and take off respectively, adjust muscle activity sensor spring (1.4) through adjusting pretightening bolt, slip feedback module spring (3.4) and the pretightening force of pressing feedback module spring (4.4), when guaranteeing muscle activity sensor (1), slip feedback module (3) and the wearing travelling comfort of pressing feedback module (4), obtain better detection and feedback state through the pretightening force of regulating spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210241767.8A CN114681172B (en) | 2022-03-11 | 2022-03-11 | Modularized closed-loop artificial limb control system for upper limb amputee |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210241767.8A CN114681172B (en) | 2022-03-11 | 2022-03-11 | Modularized closed-loop artificial limb control system for upper limb amputee |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114681172A true CN114681172A (en) | 2022-07-01 |
| CN114681172B CN114681172B (en) | 2024-05-14 |
Family
ID=82138886
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210241767.8A Active CN114681172B (en) | 2022-03-11 | 2022-03-11 | Modularized closed-loop artificial limb control system for upper limb amputee |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114681172B (en) |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08294503A (en) * | 1995-04-25 | 1996-11-12 | Kenzo Akazawa | Motor-driven artificial hand |
| EP1043003A1 (en) * | 1999-03-22 | 2000-10-11 | Advanced Control Research Ltd. | Prosthetic limbs |
| CN101836909A (en) * | 2010-04-23 | 2010-09-22 | 上海科生假肢有限公司 | Multipath control signal source for multi-freedom upper artificial limb and related control method and device |
| DE102010012132A1 (en) * | 2010-03-20 | 2011-09-22 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Method for return of sensing forces or moments in hand amputate, involves detecting sensing forces or moments which develop during movement of hand prosthesis of hand amputee through sensor at prosthesis |
| US20110257765A1 (en) * | 2007-02-06 | 2011-10-20 | Deka Products Limited Partnership | Arm prosthetic device |
| CN202223388U (en) * | 2011-08-30 | 2012-05-23 | 西安交通大学苏州研究院 | Wearable brain-controlled intelligent prosthesis |
| KR20160006279A (en) * | 2014-07-08 | 2016-01-19 | 근로복지공단 | Diagnostic system for the myoelectic hand |
| WO2017120484A1 (en) * | 2016-01-08 | 2017-07-13 | Massachusetts Institute Of Technology | Method and system for providing proprioceptive feedback and functionality mitigating limb pathology |
| CN106943217A (en) * | 2017-05-03 | 2017-07-14 | 广东工业大学 | A kind of reaction type human body artificial limb control method and system |
| US9848822B1 (en) * | 2012-11-16 | 2017-12-26 | University Of South Florida | Prosthesis and orthosis slip detection sensor and method of use |
| CN108261274A (en) * | 2018-03-16 | 2018-07-10 | 郭伟超 | A kind of two-way deformed limb interface system controlled for prosthetic hand with perceiving |
| DE102017217905A1 (en) * | 2017-10-09 | 2019-04-11 | Fachhochschule Lübeck | Orthosis or prosthesis system and method for orthosis or prosthesis control or regulation |
| CN109998742A (en) * | 2019-05-07 | 2019-07-12 | 北京通和营润智能科技发展有限公司 | A kind of bionical artificial limb control system of multi-freedom degree muscle-electric |
| CN111449813A (en) * | 2020-04-14 | 2020-07-28 | 重庆大学 | Wearable electrical stimulation system for artificial hand motion posture sensory feedback |
| CN113952091A (en) * | 2021-12-06 | 2022-01-21 | 福州大学 | Multi-sensor fusion type artificial hand gripping force feedback control method |
-
2022
- 2022-03-11 CN CN202210241767.8A patent/CN114681172B/en active Active
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08294503A (en) * | 1995-04-25 | 1996-11-12 | Kenzo Akazawa | Motor-driven artificial hand |
| EP1043003A1 (en) * | 1999-03-22 | 2000-10-11 | Advanced Control Research Ltd. | Prosthetic limbs |
| US20110257765A1 (en) * | 2007-02-06 | 2011-10-20 | Deka Products Limited Partnership | Arm prosthetic device |
| DE102010012132A1 (en) * | 2010-03-20 | 2011-09-22 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Method for return of sensing forces or moments in hand amputate, involves detecting sensing forces or moments which develop during movement of hand prosthesis of hand amputee through sensor at prosthesis |
| CN101836909A (en) * | 2010-04-23 | 2010-09-22 | 上海科生假肢有限公司 | Multipath control signal source for multi-freedom upper artificial limb and related control method and device |
| CN202223388U (en) * | 2011-08-30 | 2012-05-23 | 西安交通大学苏州研究院 | Wearable brain-controlled intelligent prosthesis |
| US9848822B1 (en) * | 2012-11-16 | 2017-12-26 | University Of South Florida | Prosthesis and orthosis slip detection sensor and method of use |
| KR20160006279A (en) * | 2014-07-08 | 2016-01-19 | 근로복지공단 | Diagnostic system for the myoelectic hand |
| WO2017120484A1 (en) * | 2016-01-08 | 2017-07-13 | Massachusetts Institute Of Technology | Method and system for providing proprioceptive feedback and functionality mitigating limb pathology |
| CN106943217A (en) * | 2017-05-03 | 2017-07-14 | 广东工业大学 | A kind of reaction type human body artificial limb control method and system |
| DE102017217905A1 (en) * | 2017-10-09 | 2019-04-11 | Fachhochschule Lübeck | Orthosis or prosthesis system and method for orthosis or prosthesis control or regulation |
| CN108261274A (en) * | 2018-03-16 | 2018-07-10 | 郭伟超 | A kind of two-way deformed limb interface system controlled for prosthetic hand with perceiving |
| CN109998742A (en) * | 2019-05-07 | 2019-07-12 | 北京通和营润智能科技发展有限公司 | A kind of bionical artificial limb control system of multi-freedom degree muscle-electric |
| CN111449813A (en) * | 2020-04-14 | 2020-07-28 | 重庆大学 | Wearable electrical stimulation system for artificial hand motion posture sensory feedback |
| CN113952091A (en) * | 2021-12-06 | 2022-01-21 | 福州大学 | Multi-sensor fusion type artificial hand gripping force feedback control method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114681172B (en) | 2024-05-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Farina et al. | Toward higher-performance bionic limbs for wider clinical use | |
| CN111659006B (en) | Gait acquisition and neuromuscular electrical stimulation system based on multi-sensing fusion | |
| Sup et al. | Self-contained powered knee and ankle prosthesis: Initial evaluation on a transfemoral amputee | |
| Au et al. | Powered ankle-foot prosthesis to assist level-ground and stair-descent gaits | |
| EP1542627B1 (en) | Positioning of lower extremities artificial proprioceptors | |
| Micera et al. | Hybrid bionic systems for the replacement of hand function | |
| US8623098B2 (en) | Systems and method for volitional control of jointed mechanical devices based on surface electromyography | |
| AU2010200238B2 (en) | Instrumented Prosthetic Foot | |
| US20080058959A1 (en) | Instrumented prosthetic foot | |
| JP6793203B2 (en) | Artificial limb movement assisting device and artificial limb movement assisting method | |
| WO2004017871A2 (en) | Positioning of lower extremities artificial proprioceptors | |
| CN107278145B (en) | System and method for electrotactile feedback | |
| Rehbaum et al. | Real time simultaneous and proportional control of multiple degrees of freedom from surface EMG: preliminary results on subjects with limb deficiency | |
| CN109646156B (en) | Exoskeleton rehabilitation glove | |
| Carrozza et al. | A wearable biomechatronic interface for controlling robots with voluntary foot movements | |
| Bandara et al. | Upper extremity prosthetics: current status, challenges and future directions | |
| Herr et al. | Cyborg technology--biomimetic orthotic and prosthetic technology | |
| CN107440887A (en) | Complete bionical class brain intelligent hand electric mechanical ectoskeleton and its complex control system | |
| CN213250102U (en) | Gait acquisition and neuromuscular electrical stimulation powered ankle-foot orthosis | |
| Weerasingha et al. | Powered ankle exoskeletons: existent designs and control systems | |
| CN114681172A (en) | Modular closed-loop artificial limb control system for upper limb amputation patient | |
| Graimann et al. | Introduction to upper limb prosthetics | |
| WO2012107096A1 (en) | Method for determining an artificial periodic patterned signal | |
| CN110037891A (en) | Lower limb knee ankle recovery training appliance for recovery based on plantar pressure Gait Recognition | |
| RU192741U1 (en) | Two-channel tactile device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |