CN114748224A - Wearable forearm intelligent artificial limb containing elbow joint - Google Patents

Wearable forearm intelligent artificial limb containing elbow joint Download PDF

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Publication number
CN114748224A
CN114748224A CN202210433424.1A CN202210433424A CN114748224A CN 114748224 A CN114748224 A CN 114748224A CN 202210433424 A CN202210433424 A CN 202210433424A CN 114748224 A CN114748224 A CN 114748224A
Authority
CN
China
Prior art keywords
elbow joint
forearm
sensor
wearing
wearable
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.)
Pending
Application number
CN202210433424.1A
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Chinese (zh)
Inventor
赵新刚
赵明
张弼
徐壮
姚杰
李纪桅
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Shenyang Institute of Automation of CAS
Original Assignee
Shenyang Institute of Automation of CAS
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Shenyang Institute of Automation of CAS filed Critical Shenyang Institute of Automation of CAS
Priority to CN202210433424.1A priority Critical patent/CN114748224A/en
Publication of CN114748224A publication Critical patent/CN114748224A/en
Pending legal-status Critical Current

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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
    • A61F2/54—Artificial arms or hands or parts thereof
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • 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
    • A61F2/78—Means for protecting prostheses or for attaching them to the body, e.g. bandages, harnesses, straps, or stockings for the limb stump
    • A61F2/80—Sockets, e.g. of suction type
    • 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

Abstract

The invention relates to the technical field of artificial limbs, in particular to a wearable forearm intelligent artificial limb containing an elbow joint. The lower end of the wearing accepting cavity is provided with an elbow joint, the elbow joint is provided with a myoelectric sensor and a stretching sensor, and the two ends of the forearm part are connected with the elbow joint and the intelligent dexterous hand; the joint flexion and extension mechanism is arranged in the forearm part and is connected with the wearing accepting cavity, and the joint flexion and extension mechanism is used for realizing flexion and extension of the elbow joint; the control system is used for receiving multipoint electromyographic signals and elbow joint movement information respectively output by the electromyographic sensor and the stretching sensor and controlling the joint bending and stretching mechanism and the intelligent dexterous hand to move. The invention is suitable for the disabled with short forearm stump length, judges the movement intention of the user by mixing the myoelectric signal of the user and the signal change of the stretching sensor caused by the elbow joint movement, and assists the user to realize the movement of the intelligent artificial limb hand and the elbow.

Description

Wearable forearm intelligent artificial limb containing elbow joint
Technical Field
The invention relates to the technical field of artificial limbs, in particular to a wearable forearm intelligent artificial limb containing an elbow joint.
Background
With the gradual improvement of the quality of life and the technological level, the situation that the function of the lost part is replaced by the artificial limb of the disabled is common, and various artificial limb products are introduced, so that the learning, working and living abilities of the disabled are improved to a great extent, and especially the intelligent artificial limb product has higher flexibility and operability. In the field of upper limb intelligent prostheses, most of current commercial products can be broadly divided into two types, wherein the first type mainly aims at the disabled with long forearm stump length, and the second type mainly aims at the disabled with upper arm amputation. The disabled with a long forearm stump has enough forearm limb space to wear the artificial limb, muscles for controlling finger movement in the forearm are still remained, and myoelectric signals with enough strength can be generated to trigger finger actions of the intelligent artificial limb after training. The disabled person with the amputated upper arm can wear the intelligent artificial limb through the shoulder, the intelligent artificial limb comprises an electric elbow joint and can reproduce elbow actions, but myoelectric signals for triggering the actions of the elbow and the hand are less, and synchronous actions of the elbow and the hand are difficult to complete at the same time. In addition to the above situation, there is a group of disabled persons with short forearm stump length, for which the current intelligent artificial limb cannot be used, because the short forearm stump length cannot provide effective support, and is insufficient for wearing the intelligent artificial limb of the first type, and the elbow joint still exists, occupies the internal space where the electric elbow joint can be installed, and cannot wear the intelligent artificial limb of the second type. In addition, the residual muscle mass in the stump is insufficient, and it is difficult to generate enough myoelectric signals to trigger the synchronous motion of the elbow and the hand. Therefore, for the disabled with short forearm stump length, a wearable intelligent forearm prosthesis suitable for the disabled needs to be invented, and the problem of poor adaptability of the existing intelligent prosthesis is solved.
Disclosure of Invention
In view of the above problems, the present invention aims to provide a wearable forearm intelligent prosthesis including an elbow joint, so as to adapt to a disabled person with a short forearm stump length, and to assist the disabled person to realize independent and synchronous actions of the elbow and the hand by mixing a self electromyographic signal and a stretching sensor signal for triggering.
In order to achieve the purpose, the invention adopts the following technical scheme:
the embodiment of the invention provides a wearable forearm intelligent artificial limb containing an elbow joint, which comprises
The lower end of the wearable accepting cavity is provided with an elbow joint, the elbow joint is provided with a myoelectric sensor and a stretching sensor, the myoelectric sensor is used for acquiring and outputting multipoint myoelectric signals of the stump of a user, and the stretching sensor is used for acquiring and outputting elbow joint motion information of the user;
the two ends of the forearm part are respectively connected with the elbow joint and the intelligent dexterous hand;
the joint bending and stretching mechanism is arranged in the forearm part and is connected with the wearable receiving cavity, and the joint bending and stretching mechanism is used for realizing the bending and stretching movement of the elbow joint;
and the control system is used for receiving the multi-point electromyographic signals and the elbow joint movement information respectively output by the electromyographic sensor and the stretching sensor and controlling the joint bending and stretching mechanism and the intelligent dexterous hand to act.
The wearable receiving cavity comprises a wearable receiving cavity supporting end and a wearable receiving cavity movable end, and the wearable receiving cavity supporting end and the wearable receiving cavity movable end are rotatably connected to form the elbow joint; the movable end of the wearing accepting cavity is connected with the rear end of the forearm part; myoelectric sensor installs in the inboard of wearing the accepting chamber expansion end, stretch sensor both ends inlay in the downside of wearing the accepting chamber support end and wearing the accepting chamber expansion end.
The joint bending and stretching mechanism comprises a connecting rod, a gear set and a brushless motor, wherein the output end of the brushless motor is connected with the input end of the gear set, one end of the connecting rod is connected with the output end of the gear set, and the other end of the connecting rod is connected with the supporting end of the wearable receiving cavity.
The connecting rod is a toothed rod and is nested in the supporting end of the wearable accepting cavity.
The gear set is disposed within a housing of the forearm portion; the gear train is including gear I, gear II, duplicate gear I, duplicate gear II and the gear III that meshes in proper order, wherein gear I with brushless motor links firmly, gear III with the connecting rod links firmly, gear III's centre of revolution with elbow joint's centre of rotation coaxial line.
The control system comprises a control circuit board and a lithium battery, wherein the lithium battery is connected with the control circuit board and the brushless motor and is used for providing a power supply; the control circuit board is connected with the brushless motor, the myoelectric sensor, the stretching sensor and the intelligent dexterous hand.
The front end of the forearm part is provided with a switching ring, and the intelligent dexterous hand is arranged on the switching ring.
The invention has the advantages and beneficial effects that:
1. the invention comprises the elbow joint driven by the motor, the mounting position of the motor does not interfere with the residual limb of the forearm of a user, and sufficient forearm moving space is reserved, thereby ensuring good wearing property and providing an effective control function for the elbow joint.
2. The invention mixes the myoelectric signal of the user and the stretching sensor signal in the wearing accepting cavity when in operation and control, increases the signal source for triggering the actions of the forearm and the hand, and can realize the independent action and the synchronous action of the elbow and the hand.
3. The invention is suitable for the disabled with short forearm stump length, judges the movement intention of the user by mixing the myoelectric signal of the user and the signal change of the stretching sensor caused by the elbow joint movement, and assists the user to realize the movement of the intelligent artificial limb hand and the elbow.
Drawings
FIG. 1 is a schematic diagram of a wearable forearm smart prosthesis incorporating an elbow joint in accordance with the invention;
FIG. 2 is a schematic view showing the internal structure of a forearm part in the invention;
FIG. 3 is a schematic view of the construction of the wearable socket of the present invention;
FIG. 4 is a schematic structural view of a gear set according to the present invention;
in the figure: 1 is forearm part, 2 is the wearing accepting chamber, 3 is intelligent dexterous hand, 4 is the connecting rod, 5 is the gear train, 6 is brushless motor, 7 is the lithium cell, 8 is control circuit board, 9 is the switching ring, 10 is the wearing accepting chamber support end, 11 is the wearing accepting chamber expansion end, 12 is the flesh electrical sensor, 13 is tensile sensor, 51 is gear I, 52 is gear II, 53 is duplicate gear I, 54 is duplicate gear II, 55 is gear III.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1 to 3, the invention provides a wearable forearm intelligent prosthesis comprising an elbow joint, which comprises a forearm part 1, a wearing receiving cavity 2, an intelligent dexterous hand 3, a joint flexion and extension mechanism and a control system, wherein the wearing receiving cavity 2 is worn on the shoulder and the upper arm of a user and used for supporting the forearm part 1, the lower end of the wearing receiving cavity 2 is provided with the elbow joint, the elbow joint is provided with an electromyographic sensor 12 and a stretching sensor 13, the electromyographic sensor 12 is used for collecting and outputting multipoint electromyographic signals of the stump of the user, and the stretching sensor 13 is used for collecting and outputting elbow joint motion information of the user; the two ends of the forearm part 1 are respectively connected with the elbow joint and the intelligent dexterous hand 3; the joint flexion and extension mechanism is arranged in the forearm part 1 and is connected with the wearable receiving cavity 2, and the joint flexion and extension mechanism is used for realizing flexion and extension of the elbow joint; the control system is used for receiving multipoint electromyographic signals and elbow joint movement information respectively output by the electromyographic sensor 12 and the stretching sensor 13, and controlling the joint bending and stretching mechanism and the intelligent dexterous hand 3 to move according to the received multipoint electromyographic signals and the elbow joint movement information.
In the embodiment of the present invention, as shown in fig. 3, the wearing socket 2 includes a wearing socket support end 10 and a wearing socket movable end 11, and the wearing socket support end 10 and the wearing socket movable end 11 are rotatably connected to form an elbow joint; the wearing socket support end 10 is worn on the shoulders and upper arms of a user and is used for connecting with the user and bearing the weight of equipment; specifically, one end of the wearing receiving cavity movable end 11 is connected with the wearing receiving cavity supporting end 10 through a movable hinge, and the stump of a user is placed in the wearing receiving cavity movable end 11 and can rotate around the movable hinge; the other end of the wearing socket movable end 11 is connected with the rear end of the forearm part 1. The myoelectric sensor 12 is arranged on the inner side of the movable end 11 of the wearing accepting cavity, can collect multi-point myoelectric signals of the stump of a user and is used for controlling the movement of the intelligent dexterous hand 3; two ends of the stretching sensor 13 are embedded at the lower sides of the wearable accepting cavity supporting end 10 and the wearable accepting cavity movable end 11, and can collect elbow joint motion information of a user, so that the stretching sensor is used for controlling the elbow joint of the forearm part 1 to do flexion and extension motion.
As shown in fig. 2, in the embodiment of the present invention, the joint flexion and extension mechanism includes a connecting rod 4, a gear set 5 and a brushless motor 6, wherein an output end of the brushless motor 6 is connected with an input end of the gear set 5, one end of the connecting rod 4 is connected with an output end of the gear set 5, and the other end of the connecting rod 4 is connected with a supporting end 10 of the wearing accepting cavity.
Preferably, the connecting rod 4 is a toothed rod and is nested in the wearing socket support end 10, the connecting rod 4 being used for stably connecting the wearing socket 2 with the forearm portion 1.
Specifically, the gear train 5 is provided in the housing of the forearm portion 1 for transmitting the power of the brushless motor 6 to the elbow joint of the forearm portion 1 and improving the output torque. In this embodiment, the gear set 5 includes a gear i 51, a gear ii 52, a dual gear i 53, a dual gear ii 54, and a gear iii 55 that are sequentially engaged, where the gear i 51 is fixedly connected to the brushless motor 6, the gear iii 55 is fixedly connected to the connecting rod 4, and a rotation center of the gear iii 55 is coaxial with a rotation center of the elbow joint. Specifically, through the meshing transmission relationship of the gear set 5, the power of the brushless motor 6 is transmitted to the elbow joint center through the gear i 51, the gear ii 52, the dual gear i 53, the dual gear ii 54 and the gear iii 55 in sequence, and through transmission, the output rotating speed is reduced, and the output torque is improved.
As shown in fig. 2, in the embodiment of the present invention, the control system includes a control circuit board 8 and a lithium battery 7, wherein the lithium battery 7 is disposed in the center of the forearm portion 1 through a buckle for supplying power to the whole device; specifically, the lithium battery 7 is connected with the control circuit board 8 and the brushless motor 6 for supplying power; the control circuit board 8 is integrated at the wrist joint of the forearm part 1 and is used for processing sensor signals and controlling the operation of equipment; specifically, the control circuit board 8 is connected with the brushless motor 6, the myoelectric sensor 12, the stretching sensor 13 and the intelligent dexterous hand 3.
Furthermore, the front end of the forearm part 1 is provided with a switching ring 9, and the intelligent dexterous hand 3 is arranged on the switching ring 9. The intelligent dexterous hand 3 is controlled by myoelectric signals and used for realizing the hand action of the intelligent artificial limb. In this embodiment, the smart hand 3 is a prior art, and is not described herein again.
The invention is worn on the shoulder and the upper arm of a user through the wearing accepting cavity supporting end 10, and the forearm stump end of the user is arranged inside the wearing accepting cavity movable end 11 and is contacted with the myoelectric sensor 12. When the forearm stump of a user exerts force, the signal of the electromyographic sensor 12 can be caused to change; furthermore, when the user moves his elbow joint, this can lead to an elongation or shortening of the tension sensor 13. The control circuit board 8 collects signals of the myoelectric sensor 12 and the stretching sensor 13, the signals are respectively output to the brushless motor 6 in the intelligent dexterous hand 3 and the forearm part 1, the motion control of the intelligent dexterous hand 3 and the forearm part 1 can be carried out, and the actions of grasping, elbow bending and the like are realized.
The wearable accepting cavity is worn on the shoulders and the upper arm of a user and is used for collecting myoelectric signals and stretching sensor signals; the forearm part comprises an electric elbow joint for realizing the flexion and extension of the elbow joint of the intelligent prosthesis; the intelligent dexterous hand is connected to the front end of the forearm part and is controlled by myoelectric signals to realize the hand action of the intelligent artificial limb. The invention is suitable for the disabled with short forearm stump length, has compact structure, is flexible and light, judges the movement intention by mixing the myoelectric signal of the user and the signal change of the stretching sensor caused by the elbow joint movement, assists the user to realize the movement of the intelligent artificial limb hand and the elbow, and meets the use requirements in daily life.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims (7)

1. A wearable forearm intelligent artificial limb containing elbow joint is characterized by comprising
The wearable accepting cavity (2) is provided with an elbow joint at the lower end of the wearable accepting cavity (2), a myoelectric sensor (12) and a stretching sensor (13) are arranged at the elbow joint, the myoelectric sensor (12) is used for collecting and outputting multipoint myoelectric signals at the stump of a user, and the stretching sensor (13) is used for collecting and outputting elbow joint motion information of the user;
the two ends of the forearm part (1) are respectively connected with the elbow joint and the intelligent dexterous hand (3);
the joint flexion and extension mechanism is arranged in the forearm part (1) and is connected with the wearable accepting cavity (2), and the joint flexion and extension mechanism is used for realizing flexion and extension of the elbow joint;
and the control system is used for receiving the multi-point electromyographic signals and the elbow joint movement information respectively output by the electromyographic sensor (12) and the stretching sensor (13) and controlling the joint bending and stretching mechanism and the intelligent dexterous hand (3) to move.
2. A wearable forearm smart prosthesis containing an elbow joint according to claim 1, characterized in that the wearing socket (2) comprises a wearing socket support end (10) and a wearing socket movable end (11), the wearing socket support end (10) and the wearing socket movable end (11) being rotationally connected to form the elbow joint; the movable end (11) of the wearing accepting cavity is connected with the rear end of the forearm part (1); myoelectric sensor (12) are installed at the inner side of wearing the movable end (11) of the accepting cavity, and two ends of stretching sensor (13) are embedded at the lower sides of wearing the accepting cavity supporting end (10) and wearing the movable end (11) of the accepting cavity.
3. A wearable forearm intelligent prosthesis including elbow joint according to claim 2, characterized in that, the joint flexion and extension mechanism includes connecting rod (4), gear train (5) and brushless motor (6), wherein the output of brushless motor (6) is connected with the input of gear train (5), one end of connecting rod (4) is connected with the output of gear train (5), the other end of connecting rod (4) is connected with the wearing socket support end (10).
4. A wearable forearm smart prosthesis containing an elbow joint according to claim 3, characterized in that the connecting rod (4) is a toothed rod and is nested within the wearing socket support end (10).
5. A wearable forearm smart prosthesis containing an elbow joint according to claim 3 characterized in that the gear set (5) is provided within the housing of the forearm portion (1); gear train (5) are including gear I (51), gear II (52), duplicate gear I (53), duplicate gear II (54) and gear III (55) that mesh in proper order, wherein gear I (51) with brushless motor (6) link firmly, gear III (55) with connecting rod (4) link firmly, the centre of gyration of gear III (55) with elbow joint's rotation center coaxial line.
6. A wearable forearm intelligent prosthesis containing an elbow joint according to claim 3 characterized in that the control system comprises a control circuit board (8) and a lithium battery (7), wherein the lithium battery (7) is connected with control circuit board (8) and the brushless motor (6) for providing power supply; the control circuit board (8) is connected with the brushless motor (6), the myoelectricity sensor (12), the stretching sensor (13) and the intelligent dexterous hand (3).
7. A wearable forearm smart prosthesis containing an elbow joint according to claim 1 characterized in that the front end of the forearm section (1) is provided with an adapter ring (9) and the smart hand (3) is mounted on the adapter ring (9).
CN202210433424.1A 2022-04-24 2022-04-24 Wearable forearm intelligent artificial limb containing elbow joint Pending CN114748224A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210433424.1A CN114748224A (en) 2022-04-24 2022-04-24 Wearable forearm intelligent artificial limb containing elbow joint

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210433424.1A CN114748224A (en) 2022-04-24 2022-04-24 Wearable forearm intelligent artificial limb containing elbow joint

Publications (1)

Publication Number Publication Date
CN114748224A true CN114748224A (en) 2022-07-15

Family

ID=82333598

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210433424.1A Pending CN114748224A (en) 2022-04-24 2022-04-24 Wearable forearm intelligent artificial limb containing elbow joint

Country Status (1)

Country Link
CN (1) CN114748224A (en)

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