CN114681172B - Modularized closed-loop artificial limb control system for upper limb amputee - Google Patents
Modularized closed-loop artificial limb control system for upper limb amputee Download PDFInfo
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- CN114681172B CN114681172B CN202210241767.8A CN202210241767A CN114681172B CN 114681172 B CN114681172 B CN 114681172B CN 202210241767 A CN202210241767 A CN 202210241767A CN 114681172 B CN114681172 B CN 114681172B
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- 210000003414 extremity Anatomy 0.000 title claims abstract description 127
- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 21
- 210000003205 muscle Anatomy 0.000 claims abstract description 137
- 230000000694 effects Effects 0.000 claims abstract description 117
- 210000004243 sweat Anatomy 0.000 claims abstract description 21
- 230000006835 compression Effects 0.000 claims abstract 7
- 238000007906 compression Methods 0.000 claims abstract 7
- 238000004891 communication Methods 0.000 claims description 45
- 210000000707 wrist Anatomy 0.000 claims description 21
- 238000005452 bending Methods 0.000 claims description 17
- 238000001514 detection method Methods 0.000 claims description 8
- 210000000245 forearm Anatomy 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 5
- 238000012545 processing Methods 0.000 claims description 4
- 239000007788 liquid Substances 0.000 claims description 3
- 230000008447 perception Effects 0.000 abstract description 3
- 230000006870 function Effects 0.000 description 7
- 230000003183 myoelectrical effect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 3
- 206010063385 Intellectualisation Diseases 0.000 description 2
- 238000002266 amputation Methods 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 230000004118 muscle contraction Effects 0.000 description 2
- 230000009023 proprioceptive sensation Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000003862 health status Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
- A61F2/72—Bioelectric control, e.g. myoelectric
-
- 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 modularized 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. The upper limb artificial limb system uses a unique muscle activity sensor, the sensor is fused with an electromyographic signal sensor and a pressure sensor, and the muscle activity sensor is fused with a temperature and sweat sensor, so that the influence of temperature and sweat generated by long-time wearing on electromyographic signals is solved to a certain extent. The prosthetic system may enable the wearer's perception of prosthetic motion by placing a number of sliding and compression feedback modules on the wearer's arms. The invention has independent functional modules and is connected with the artificial limb through a wireless device. According to the invention, the intelligent artificial limb system is further improved through the introduction of the mobile phone client and the cloud server.
Description
Technical Field
The invention belongs to the field of modularized intelligent artificial limb control systems, and particularly relates to a modularized 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 amputees. The control signals of the artificial limb mainly originate from the detection of the muscle activity of the upper limb, and the acquisition of the surface electromyographic signals is the main way for detecting the muscle activity at present. However, surface electromyographic signals are susceptible to electromagnetic noise, sweat, and sensor location, making it difficult to obtain long-term stable electromyographic signals during actual use. In addition, the existing artificial limb device often embeds the electromyographic signal sensor 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. Feedback of prosthesis motion to the amputation of the patient can improve prosthesis proprioception, whereas most existing prosthesis systems do not have a feedback link from the prosthesis to the patient. Part of artificial limbs with feedback functions have the problems of single feedback type, poor feedback feeling and the like, and various motion information of the artificial limbs cannot be naturally and efficiently fed back to patients. Upper limb information of amputees has a key role in monitoring the health status of the patient and adjusting the operating parameters of the prosthesis during long-term wear. The state of use of the prosthesis can be further improved by collecting, uploading and analyzing a large amount of patient upper limb information, but the existing prosthesis system does not have the functions.
Disclosure of Invention
In view of the above, in order to solve the above-mentioned technical problems in the background art, the invention provides a modularized closed-loop artificial limb control system for an upper limb amputee, which comprises a unique muscle activity sensor and an artificial limb motion feedback device, is separated from a prosthetic hand in a modularized manner, and has the characteristics of stable detection, flexible configuration, closed-loop feedback, cloud analysis and the like.
In order to achieve the above purpose, the present invention adopts the following technical scheme: the utility model provides a modularization closed-loop artificial limb control system for upper limb amputee, including a plurality of muscle activity sensor, the multiple freedom degree artificial limb, a plurality of slip feedback module, a plurality of pressure feedback module, the cell-phone customer end, high in the clouds server and pressure feedback module, a plurality of muscle activity sensor is fixed on the forearm through elasticity magic tape bandage, a plurality of slip feedback module and pressure feedback module also are fixed on the forearm through elasticity magic tape bandage, the multiple freedom degree artificial limb wears to amputee's incomplete limb terminal, muscle activity sensor, slip feedback module and pressure feedback module communicate with the multiple freedom degree artificial limb through wireless communication device, muscle activity sensor sends the muscle activity data to the multiple freedom degree artificial limb, the multiple freedom degree artificial limb carries out the data processing back control artificial limb motion, the multiple freedom degree artificial limb sends the motion information of artificial limb to slip feedback module and pressure feedback module, slip feedback module and pressure feedback module produce slip and pressure motion respectively according to the information that the multiple freedom degree artificial limb sent, the multiple freedom degree artificial limb is connected with the cell-phone customer end through wireless communication mode, send various motion and parameter information of the multiple freedom degree artificial limb to the cell-phone customer end, the cell-phone customer end sends control information and parameter adjustment information to the multiple freedom degree artificial limb to the cell-phone client through wireless communication device, send the cell-phone client to the service information to the cell-phone client and send the service information to the cell-phone client according to the communication.
Still further, muscle activity sensor includes muscle activity sensor drain pan, muscle activity sensor wireless communication board, muscle activity sensor control panel, muscle activity sensor spring, the fixed magic subsides of muscle activity sensor, pressure sensor, muscle signal sensor, muscle activity sensor battery, temperature sensor, sweat sensor and muscle activity sensor apron, muscle signal sensor passes through the muscle activity sensor spring to be fixed to the muscle activity sensor drain pan, pressure sensor fixes to the muscle activity sensor drain pan, and is located muscle signal sensor's under, muscle signal sensor's electrode stretches out through the through-hole on the muscle activity sensor apron for muscle signal sensor abundant when wearing with the skin contact of wearer, temperature sensor and sweat sensor are fixed to the muscle activity sensor apron, muscle activity sensor battery is fixed to the muscle activity sensor drain pan, provides electric power for whole muscle activity sensor, muscle activity sensor wireless communication board and muscle sensor fold the controller, wherein the muscle signal sensor is fixed at the muscle activity sensor drain pan, the temperature sensor is fixed at the fixed magic sensor drain pan, the muscle sensor is fixed to the muscle signal sensor, and is used for the muscle signal sensor is fixed to the muscle sensor drain pan, and is fixed to the muscle sensor wireless communication board, and is used for the muscle sensor is fixed to the muscle sensor, and is fixed to the muscle sensor pad.
Further, when the electromyographic sensor is pressed, the bottom of the electromyographic signal sensor can 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, an artificial hand, a three-degree-of-freedom wrist module, a multi-degree-of-freedom artificial limb control board, a multi-degree-of-freedom artificial limb battery and an artificial limb receiving cavity, wherein the miniature pressure sensor is fixed on the inner side of each finger knuckle of the artificial hand and the inner side of a palm of the hand, the artificial 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 board 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 board 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 provides power for the whole artificial limb.
Still further, the slip feedback module includes slip feedback module drain pan, slip feedback module radio communication board, slip feedback module control panel, slip feedback module spring, slip feedback module fixed magic subsides, miniature sharp module, sliding block, slip feedback module battery and slip feedback module apron, miniature sharp module is fixed to slip feedback module drain pan through slip feedback module spring, the sliding block is fixed to miniature sharp module on, move along the recess on the slip feedback module apron under the drive of miniature sharp module, slip feedback module battery, slip feedback module radio communication board and slip feedback module control panel are fixed to in the slip feedback module drain pan, slip feedback module radio communication board receives the data from the multiple freedom artificial limb, and send the data of receipt to slip feedback module control panel, slip feedback module control panel produces the motion to the miniature sharp module of control after handling data, slip feedback module battery provides electric power for whole slip feedback module, one of them of slip feedback module fixed magic subsides is fixed on slip feedback module drain pan, another side is used for with elasticity magic subsides fixed.
Still further, press the feedback module including pressing the feedback module drain pan, pressing the feedback module radio communication board, pressing the feedback module control panel, pressing the feedback module spring, pressing the fixed magic subsides of feedback module, miniature expansion joint, pressing the feedback module battery and pressing the feedback module apron, miniature expansion joint is fixed to pressing the feedback module drain pan through pressing the feedback module spring for the top of miniature expansion joint stretches out through pressing the through-hole on the feedback module apron, presses the feedback module battery, press the feedback module radio communication board and press the feedback module control panel and fix to pressing the feedback module drain pan in, press the feedback module radio communication board and receive the data from the multiple freedom artificial limb, and send the data of receipt to pressing the feedback module control panel, press the feedback module control panel and handle the motion of back control miniature expansion joint for whole pressing the feedback module, press the fixed magic of feedback module and paste wherein one side is fixed on pressing the feedback module drain pan, and the another side is used for with elasticity magic to paste the bandage and fix.
Still further, the mobile phone client is connected with the multi-degree-of-freedom artificial limb control board in a wireless manner, the multi-degree-of-freedom artificial limb control board transmits data information comprising a muscle activity sensor, a prosthetic hand, a wrist module with three degrees of freedom, a miniature pressure sensor, a sliding feedback module and a 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 obtained data to a cloud server, the mobile phone client further comprises a calibration function for wearing the artificial limb, and the mobile phone client assists the wearer to finish accurate wearing of the artificial limb system when wearing the artificial limb every time so as to achieve a better artificial limb using effect.
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-degree-of-freedom artificial limb performs the inward bending motion of the wrist, the sliding blocks of the two sliding feedback modules positioned above and below the arm perform the relative motion for feeding back the inward bending motion of the wrist to the amputee, when the multi-degree-of-freedom artificial limb performs the outward bending motion of the wrist, the sliding blocks of the two sliding feedback modules positioned above and below the arm perform the relative motion opposite to the inward bending motion for feeding back the outward bending motion of the wrist to the amputee, when the sliding feedback modules are placed on the left side and the right side of the arm, the sliding feedback modules are placed on the opposite sides of the arm, and when the long axis direction of the sliding blocks is perpendicular to the direction of the arm, the sliding blocks perform the relative motion, the sliding feedback modules can perform the rotary motion for feeding back the opposite sides of the arm, the pressing feedback modules are placed on the opposite sides of the arm, and the micro-type motion of the micro-expander of the pressing feedback modules can press the arm of the amputee to the pressure of the arm with different degrees of freedom, and the micro-type pressure sensor can be used for holding the wrist with a small pressure when the arm of the amputee is pressed.
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 through adjusting pretightening bolts, and better detection and feedback states can be obtained through adjusting pretightening force of the springs while wearing comfort of the muscle activity sensor, the sliding feedback module and the pressing feedback module is ensured.
Compared with the prior art, the modularized closed-loop artificial limb control system for the upper limb amputee has the beneficial effects that:
(1) The modularized intelligent upper limb artificial limb system uses a unique muscle activity sensor, the sensor fuses an electromyographic signal sensor and a pressure sensor, the electromyographic signal sensor is fixed on a sensor shell through a spring, the pressure sensor is arranged below the electromyographic signal sensor, and under the action of the spring, the electromyographic signal sensor can be tightly attached to skin, so that the electromyographic signal sensor is prevented from generating motion artifacts to influence a measurement result. When the electromyographic signal sensor is stressed, the pressure can be transmitted to the pressure sensor below, and the pressure information generated by muscle contraction can be measured through the pressure sensor.
(2) And the muscle activity sensor is fused with a temperature and sweat sensor, so that the temperature and sweat information at the joint of the sensor and the arm can be detected in the use process, and the control parameters of the artificial limb are adjusted through the obtained temperature and sweat information, so that the influence of the temperature and sweat generated by long-time wearing on the electromyographic signals is solved to a certain extent.
(3) The artificial limb system is provided with two feedback modules, namely the sliding feedback module and the pressing feedback module, the perception of the artificial limb motion by a wearer can be realized by placing a certain number of sliding feedback modules and pressing feedback modules on the arm of the wearer, and the body feeling of an amputee to the artificial limb is improved.
(4) The muscle activity sensor, the sliding feedback module and the pressing feedback module are all independent functional modules and are connected with the artificial limb through the wireless device, so that the using quantity 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 functions of wearing calibration, health monitoring, parameter adjustment and the like can be realized by a patient through the mobile phone client, and the data information of the patient can be uploaded to the cloud server in real time, so that the intellectualization of the artificial limb system is further improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:
FIG. 1 is a schematic view of the overall framework of a modular closed-loop prosthetic control system for an upper limb amputee according to the present invention;
FIG. 2 is a schematic overall wear view of a modular closed-loop prosthetic control 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 view of the structure of a multiple degree of freedom prosthesis according to the present invention;
FIG. 5 is a schematic diagram of a sliding feedback module according to the present invention;
FIG. 6 is a schematic diagram of a pressing feedback module according to the present invention;
Fig. 7 is a schematic diagram of a wearing layout of the sliding feedback module and the pressing feedback module according to the present invention.
In the figure, a 1-muscle activity sensor, a 1.1-muscle activity sensor bottom shell, a 1.2-muscle activity sensor wireless communication board, a 1.3-muscle activity sensor control board, a 1.4-muscle activity sensor spring, a 1.5-muscle activity sensor fixing magic tape, a 1.6-pressure sensor, a 1.7-electromyographic signal sensor, a 1.8-muscle activity sensor battery, a 1.9-temperature sensor, a 1.10-sweat sensor, a 1.11-muscle activity sensor cover board, a 2-multi-degree-of-freedom prosthesis, a 2.1-miniature pressure sensor, a 2.2-prosthetic hand, a 2.3-three-degree-of-freedom wrist module, a 2.4-multi-degree-of-freedom prosthesis control board, a 2.5-prosthetic battery, a 2.6-prosthetic socket, a 3-sliding feedback module, 3.1-sliding feedback module bottom shell, 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-miniature straight line module, 3.7-sliding block, 3.8-sliding feedback module battery, 3.9-sliding feedback module cover plate, 4-pressing feedback module, 4.1-pressing feedback module bottom shell, 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-miniature telescopic device, 4.7-pressing feedback module battery, 4.8-pressing feedback module cover plate, 5-mobile phone client, 6-cloud server, 7-elastic magic tape bandage.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It should be noted that, in the case of no conflict, embodiments of the present invention and features of the embodiments may be combined with each other, and the described embodiments are only some embodiments of the present invention, not all embodiments.
1. Referring to fig. 1-7, the present embodiment is described, a modular closed-loop artificial limb control system for an upper limb amputee, which 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 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 artificial limb 2 is worn on the residual limb end of the amputee, 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 wireless communication devices, the muscle activity sensors 1 transmit muscle activity data to the multi-degree-of-freedom artificial limb 2, the multi-degree-of-freedom artificial limb 2 is controlled to move after data processing, the multi-degree-of-freedom artificial limb 2 transmits motion information of the artificial limb to the sliding feedback modules 3 and the pressing feedback modules 4, the sliding feedback modules 3 and the pressing feedback modules 4 generate sliding motion and the multi-degree-of-freedom artificial limb respectively according to the information transmitted by the multi-degree-of-freedom artificial limb 2, the multi-degree-of-freedom artificial limb, the artificial limb 2 is transmitted by the multi-freedom artificial limb client 2 is transmitted by the client 6, the client is connected with the mobile phone client 5 through wireless communication, the client 5 is adjusted by the client 5 and the client is adjusted by the communication parameters, the client is adjusted by the wireless communication, the client information, the client is 5 is connected with the client information, the cloud server 6 will send information to the mobile phone client 5 according to the requirements of the mobile phone client 5.
The artificial limb system is provided with two feedback modules, namely the sliding feedback module and the pressing feedback module, the perception of the artificial limb motion by a wearer can be realized by placing a certain number of sliding feedback modules and pressing feedback modules on the arm of the wearer, and the body feeling of an amputee to the artificial limb is improved.
The muscle activity sensor 1, the sliding feedback module 3 and the pressing feedback module 4 are all independent functional modules and are connected with the artificial limb through wireless devices, so that the using quantity and the using position can be flexibly adjusted. Different numbers of sliding feedback modules 3 and pressing feedback modules 4 can be placed at different positions according to different requirements.
According to the invention, through the introduction of the mobile phone client and the cloud server, the functions of wearing calibration, health monitoring, parameter adjustment and the like can be realized by a patient through the mobile phone client, and the data information of the patient can be uploaded 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, a muscle electric 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 muscle electric 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 muscle electric signal sensor 1.7, and an electrode of the muscle electric signal sensor 1.7 extends out through a through hole on the muscle activity sensor cover board 1.11, so that the muscle electric signal sensor 1.7 is fully contacted with skin of a wearer when the muscle electric signal sensor 1.7 is pressed, and the muscle electric sensor 1.7 can be touched to the bottom of the muscle electric sensor 1.7 when the muscle electric signal sensor 1.7 is pressed. The temperature sensor 1.9 and the sweat sensor 1.10 are fixed on the muscle activity sensor cover plate 1.11, the muscle activity sensor battery 1.8 is fixed on the muscle activity sensor bottom shell 1.1 to provide power for the whole muscle activity sensor 1, the muscle activity sensor wireless communication plate 1.2 and the muscle activity sensor control plate 1.3 are overlapped and fixed in the muscle activity sensor bottom shell 1.1, the muscle activity sensor control plate 1.3 reads data of the electromyographic signal sensor 1.7, the pressure sensor 1.6, the temperature sensor 1.9 and the sweat sensor 1.10 and sends the data to the artificial limb 2 through the muscle activity sensor wireless communication plate 1.2, one surface of the muscle activity sensor fixing magic tape 1.5 is fixed on the muscle activity sensor bottom shell 1.1, and the other surface of the muscle activity sensor fixing magic tape is used for being fixed with the elastic magic tape 7.
This modularization intelligence upper limbs artificial limb system uses unique muscle activity sensor 1, and this sensor has fused myoelectric signal sensor and pressure sensor, fixes myoelectric signal sensor 1.7 to the sensor shell through the spring to place the below of myoelectric signal sensor with pressure sensor 1.6, under the effect of spring, can guarantee that myoelectric signal sensor 1.7 closely laminates with skin, prevent that myoelectric signal sensor 1.7 from producing motion artifact and influencing the measuring 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 can be 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 and sweat sensor, so that the temperature and sweat information at the joint of the sensor and the arm can be detected in the use process, and the control parameters of the artificial limb are adjusted through the obtained temperature and sweat information, so that the influence of the temperature and sweat generated by long-time wearing on the electromyographic signals is solved to a certain extent.
The multi-degree-of-freedom prosthetic 2 comprises a miniature pressure sensor 2.1, a prosthetic hand 2.2, a three-degree-of-freedom wrist module 2.3, a multi-degree-of-freedom prosthetic control board 2.4, a multi-degree-of-freedom prosthetic battery 2.5 and a prosthetic socket 2.6, wherein the miniature pressure sensor 2.1 is fixed on the inner side of each finger knuckle and the palm inner side of the prosthetic hand 2.2, the prosthetic hand 2.2 is connected with the prosthetic socket 2.6 through the three-degree-of-freedom wrist module 2.3, the multi-degree-of-freedom prosthetic control board 2.4 and the multi-degree-of-freedom prosthetic battery 2.5 are fixed in the prosthetic socket 2.6, and the multi-degree-of-freedom prosthetic control board 2.4 is responsible for carrying out data communication with other parts and carrying out related control operation, and the multi-degree-of-freedom prosthetic battery 2.6 provides power for the whole prosthetic.
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 miniature 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 miniature 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 miniature 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 along a groove on the sliding feedback module cover board 3.9 under the driving of the miniature linear module 3.6, the sliding feedback module battery 3.8, the sliding feedback module wireless communication board 3.2 receives data from the artificial limb 2 and sends the received data to the sliding feedback module control board 3.3.3, the sliding feedback module 3.3 controls the miniature linear module 3.6 to generate the miniature linear module 3.6 after the data is processed, and the sliding feedback module 3.3.3 generates the miniature linear module 3.6 and the electric power is fixed on one side of the sliding feedback module bottom shell 3.1, and the whole electric power is fixed on the other side of the magic tape is used for fixing the sliding feedback module 3.7.
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 miniature telescopic device 4.6, a pressing feedback module battery 4.7 and a pressing feedback module cover board 4.8, wherein the miniature telescopic device 4.6 is fixed on the pressing feedback module bottom shell 4.1 through the pressing feedback module spring 4.4, the top end of the miniature telescopic device 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 multiple-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 processes data and then controls the miniature telescopic device 4.6 to move, the pressing feedback module battery 4.7 provides power for the whole pressing feedback module 4, and the pressing feedback module battery 4.7 is fixed on one side of the pressing feedback module control board, and the other side of the pressing feedback module control board is fixed on the pressing feedback module control board 4.5, and the pressing feedback module control board is fixed on the other side of the pressing feedback module control board 1.7.
The mobile phone client 5 is in wireless connection with the multi-degree-of-freedom artificial limb control board 2.4, the multi-degree-of-freedom artificial limb control board 2.4 transmits data information comprising the muscle activity sensor 1, the artificial hand 2.2, the three-degree-of-freedom wrist module 2.3, the miniature 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 an artificial limb system in real time through the mobile phone client 5, the mobile phone client 5 also uploads obtained data to the cloud server 6, the mobile phone client 5 further comprises a calibration function for wearing the artificial limb, and when the artificial limb is worn each time, the mobile phone client assists the wearer to finish accurate wearing of the artificial limb system so as to achieve a better artificial limb using effect.
As shown in fig. 7, as some possible implementation manners, 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 prosthesis 2 performs the wrist inner bending motion, the sliding blocks 3.7 of the two sliding feedback modules 3 located above and below the arm perform the relative motion for feeding back the wrist inner bending motion to the amputee, when the multi-degree-of-freedom prosthesis 2 performs the wrist outer bending motion, the sliding blocks 3.7 of the two sliding feedback modules 3 located above and below the arm perform the relative motion opposite to the inner bending motion for feeding back the wrist outer bending motion to the amputee, and when the sliding feedback modules 3 are placed on the left side and the right side of the arm, the two sliding feedback modules 3 are placed on the opposite sides of the arm, and when the long axis direction of the sliding blocks 3.7 is perpendicular to the direction of the arm, the sliding blocks 3.7 perform the relative motion for feeding back the wrist inner bending motion to the amputee, when the multi-degree-of freedom prosthesis 2 performs the wrist outer bending motion, the sliding blocks 3.7 of the two sliding feedback modules 3 are capable of pressing the opposite to the arm, and the micro force sensor 4 can press the micro-shaped sensor 4 when the micro-shaped prosthesis 2 is placed on the opposite sides of the arm, and the micro-shaped prosthesis 4 is pressed by the micro-shaped sensor 4 when the micro-shaped device is pressed.
After the muscle activity sensor cover plate 1.11, the sliding feedback module cover plate 3.9 and the pressing feedback module cover plate 4.8 are taken down respectively, the pretightening force of the muscle activity sensor spring 1.4, the sliding feedback module spring 3.4 and the pressing feedback module spring 4.4 can be adjusted through adjusting pretightening bolts, and better detection and feedback states can be obtained through adjusting pretightening force of the springs while wearing comfort of the muscle activity sensor 1, the sliding feedback module 3 and the pressing feedback module 4 is ensured.
As shown in fig. 2, in actual use, a wearer should fix a certain number of muscle activity sensors 1, sliding feedback modules 3 and pressing feedback modules 4 to a proper position of an arm through elastic magic tape bandages 7, wear a multi-degree-of-freedom prosthesis 2 to an amputation end of the arm through a prosthetic socket 2.6, properly adjust positions 2, sliding feedback modules 3 and pressing feedback modules 4 of the multi-degree-of-freedom prosthesis through a wearing calibration function of a mobile phone client 5, finally complete accurate wearing of a prosthetic system, normal use can be performed after wearing is completed, the use state of the prosthesis can be checked in real time through the mobile phone client 5 in the use process, proper parameter adjustment can be performed according to the use state, historical data of the prosthesis can be checked at any time through acquiring data of a cloud server 6, and analysis and evaluation information of near-term prosthetic wearing can be acquired.
The embodiments of the invention disclosed above are intended only to help illustrate the invention. The examples are not intended to be exhaustive or to limit the invention to the precise forms disclosed. 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 understand and utilize the invention.
Claims (6)
1. A modular closed loop prosthetic control system for an upper extremity amputee, characterized by: the multifunctional artificial limb compression device 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 compression 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 compression 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 at the residual limb end of an amputee, the muscle activity sensors (1), the sliding feedback modules (3) and the compression feedback modules (4) are communicated with the multi-degree-of-freedom artificial limb (2) through wireless communication devices, the muscle activity sensors (1) transmit muscle activity data to the artificial limb (2), the multi-degree-of-freedom artificial limb (2) is controlled to move after data processing, the artificial limb (2) transmits motion information of the artificial limb to the sliding feedback modules (3) and the compression feedback modules (4), the multi-degree-of-freedom artificial limb (3) and the compression feedback modules (4) generate sliding and motion information of the mobile phone client (5) respectively through wireless communication modes, the method comprises the steps that various motion and parameter information of the multi-degree-of-freedom artificial limb (2) is 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) through wireless communication, 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, and the cloud server (6) sends the information to the mobile phone client (5) according to the requirements of the mobile phone client (5);
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), a muscle electric 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 muscle electric signal sensor (1.7) is fixed on the muscle activity sensor bottom shell (1.1) through a 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 muscle electric signal sensor (1.7), an electrode of the muscle electric signal sensor (1.7) is extended out of the muscle activity sensor bottom shell (1.1.7) through the muscle activity sensor cover plate (1.11), the muscle electric signal sensor (1.7) is fully contacted with the skin (1.1.1) when the muscle activity sensor (1.1) is worn by the muscle electric signal sensor (1.7), the muscle electric signal sensor (1.7) is fully contacted with the skin (1.1) and the skin (1) through the muscle sensor (1.1) and the skin (1) is fully fixed, the muscle activity sensor wireless communication board (1.2) and the muscle activity sensor control board (1.3) are overlapped and fixed in the muscle activity sensor bottom shell (1.1), the muscle activity sensor control board (1.3) reads data of the electromyographic signal sensor (1.7), the pressure sensor (1.6), the temperature sensor (1.9) and the sweat sensor (1.10) and sends the data to the multi-degree-of-freedom artificial limb (2) through the muscle activity sensor wireless communication board (1.2), one surface of the muscle activity sensor fixing magic tape (1.5) is fixed on the muscle activity sensor bottom shell (1.1), and the other surface of the muscle activity sensor fixing magic tape is fixed with the elastic magic tape bandage (7);
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 miniature 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), the miniature 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 miniature 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 (3.3) are fixed in the sliding feedback module bottom shell (3.1) under the driving of the miniature linear module (3.6), the sliding feedback module wireless communication board (3.2) receives data from the sliding feedback module (3.6) and processes the data received by the sliding module wireless communication board (3.2) from the sliding feedback module battery (3.3.6), the whole control board (3.6) is processed by the sliding module control board, one surface of the sliding feedback module fixing magic tape (3.5) is fixed on the sliding feedback module bottom shell (3.1), and the other surface is used for being fixed with the elastic magic tape bandage (7);
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 miniature telescopic device (4.6), a pressing feedback module battery (4.7) and a pressing feedback module cover board (4.8), the miniature telescopic device (4.6) is fixed on the pressing feedback module bottom shell (4.1) through the pressing feedback module spring (4.4), the top end of the miniature telescopic device (4.6) extends out of 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 control board (4.1), the pressing feedback module wireless communication board (4.2) receives data from the artificial limb (2) and sends the received data to the pressing feedback module control board (4.3), the pressing feedback module (4.6) carries out processing on the whole pressing feedback module (4.5) and the whole pressing feedback module (4.6) is fixed on the pressing feedback module control board (4.4.5), the other side is used for being fixed with an elastic magic tape bandage (7);
The sliding feedback modules (3) are fixed above or below the arms of a patient, so that the long axis direction of each sliding block (3.7) is parallel to the direction of the arms, when the multi-degree-of-freedom artificial limb (2) performs the inward bending motion of the arms, the sliding blocks (3.7) of the two sliding feedback modules (3) positioned above and below the arms perform the relative motion, and are used for feeding back the inward bending motion of the arms to the amputees, when the multi-degree-of-freedom artificial limb (2) performs the outward bending motion of the arms, the sliding blocks (3.7) of the two sliding feedback modules (3) positioned above and below the arms perform the relative motion opposite to the inward bending motion, the sliding feedback modules (3) are used for feeding back the outward bending motion of the arms, and simultaneously, when the sliding feedback modules (3) are placed on the left side and the right side of the arms, the left side and the right side of the arms are used for feeding back the left side and the left side of the arms of the amputees, the two sliding feedback modules (3) are placed on the opposite sides of the arms, and when the long axis direction of the sliding blocks (3.7) is perpendicular to the directions of the arms, at the moment, the sliding blocks (3.7) perform the relative motion with the directions of the arms, and the two sliding feedback modules (3.7) perform the opposite motion, and the opposite pressing motion, and the micro-type pressure sensor (4) can press the opposite force sensor (4) to the arms when the arms and the micro-type feedback module (4) and press the opposite to the arm.
2. The modular closed loop prosthetic control system for an upper limb amputee of claim 1, wherein: when the electromyographic signal sensor (1.7) is pressed, the bottom of the electromyographic signal sensor (1.7) is ensured to touch the pressure sensor (1.6).
3. The modular closed loop prosthetic control system for an upper limb amputee of claim 1, wherein: the sweat sensor (1.10) is a liquid detection sensor or a humidity sensor.
4. The modular closed loop prosthetic control system for an upper limb amputee of claim 1, wherein: the multi-degree-of-freedom artificial limb (2) comprises a miniature pressure sensor (2.1), an artificial hand (2.2), a three-degree-of-freedom wrist module (2.3), a multi-degree-of-freedom artificial limb control board (2.4), a multi-degree-of-freedom artificial limb battery (2.5) and an artificial limb receiving cavity (2.6), wherein the miniature pressure sensor (2.1) is fixed on the inner side and the palm inner side of each finger knuckle of the artificial hand (2.2), the artificial 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 board (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 board (2.4) is responsible for carrying out data communication with other parts and carrying out relevant control operation, and the multi-degree-of freedom artificial limb battery (2.5) provides power for the whole artificial limb.
5. The modular closed loop prosthetic control system for an upper limb amputee of claim 1, wherein: the mobile phone client (5) is in wireless connection with the multi-degree-of-freedom artificial limb control board (2.4), the multi-degree-of-freedom artificial limb control board (2.4) comprises 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 data information of the pressing feedback module (4) are sent to the mobile phone client (5), a wearer monitors the running state of an artificial limb system in real time through the mobile phone client (5), the mobile phone client (5) also uploads acquired data to the cloud server (6), the mobile phone client (5) further comprises a calibration function for wearing an artificial limb, and the mobile phone client is assisted to finish accurate wearing of the artificial limb system when the artificial limb is worn every time so as to achieve a better artificial limb using effect.
6. The modular closed loop prosthetic control system for an upper limb amputee of claim 1, wherein: after the muscle activity sensor cover plate (1.11), the sliding feedback module cover plate (3.9) and the pressing feedback module cover plate (4.8) are taken down respectively, the pretightening force of the muscle activity sensor spring (1.4), the sliding feedback module spring (3.4) and the pressing feedback module spring (4.4) is adjusted through adjusting pretightening bolts, and when the wearing comfort of the muscle activity sensor (1), the sliding feedback module (3) and the pressing feedback module (4) is ensured, the pretightening force of the adjusting springs is used for obtaining better detection and feedback states.
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