CN117323074B - Wearable prosthetic glove control method and system - Google Patents
Wearable prosthetic glove control method and system Download PDFInfo
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- CN117323074B CN117323074B CN202311629652.7A CN202311629652A CN117323074B CN 117323074 B CN117323074 B CN 117323074B CN 202311629652 A CN202311629652 A CN 202311629652A CN 117323074 B CN117323074 B CN 117323074B
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- 238000005452 bending Methods 0.000 claims abstract description 145
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- 238000013507 mapping Methods 0.000 claims abstract description 43
- 230000009471 action Effects 0.000 claims abstract description 22
- 230000001276 controlling effect Effects 0.000 claims abstract description 16
- 230000000875 corresponding effect Effects 0.000 claims abstract description 7
- 210000003371 toe Anatomy 0.000 claims description 70
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- 238000010606 normalization Methods 0.000 claims description 6
- 230000003993 interaction Effects 0.000 abstract description 9
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- 238000013135 deep learning Methods 0.000 description 5
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- 230000005540 biological transmission Effects 0.000 description 3
- 238000000605 extraction Methods 0.000 description 3
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- 210000004553 finger phalanx Anatomy 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
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- 210000000811 metacarpophalangeal joint Anatomy 0.000 description 1
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- 229910001285 shape-memory alloy Inorganic materials 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/014—Hand-worn input/output arrangements, e.g. data gloves
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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
- A61F2/58—Elbows; Wrists ; Other joints; Hands
- A61F2/583—Hands; Wrist joints
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/017—Gesture based interaction, e.g. based on a set of recognized hand gestures
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/20—Movements or behaviour, e.g. gesture recognition
-
- 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
- A61F2002/704—Operating or control means electrical computer-controlled, e.g. robotic control
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Abstract
The invention discloses a wearable prosthetic glove control method, which comprises the following steps: s1: establishing a mapping relation between the joint bending angle of the body toe/finger part of a user and the joint bending angle of the artificial finger at the missing finger; s2: collecting the actual joint bending angle of a user's body at the toe/finger part of the limb, and generating a prosthesis motion control instruction according to the mapping relation between the joint bending angle of the user's body at the toe/finger part of the limb and the joint bending angle of the prosthesis finger at the missing finger; s3: and controlling the prosthetic finger of the wearable prosthetic glove at the missing finger to complete corresponding actions according to the prosthetic motion control instruction. Correspondingly, the invention also discloses a wearable prosthetic glove control system which is used for implementing the wearable prosthetic glove control method. The wearable prosthetic glove control method can predict the action of the prosthetic finger and control the prosthetic finger, and has the advantages of high man-machine interaction level, low cost and better effect.
Description
Technical Field
The invention relates to the technical field of wearable artificial limbs, in particular to a method and a system for controlling a wearable artificial limb glove.
Background
In recent years, more disabled patients with missing fingers caused by trauma are getting more and more, and hospitals adopt a repairing mode of operations such as toe transplantation or finger reconstruction and the like to cause secondary injury to patients easily, and the patients suffer great pain after the operation, so that the toe functionality after the transplantation is poor. Thus, currently such patients typically employ wearable prosthetic devices to compensate for the missing finger function.
At present, a part of whole-hand amputees wear a whole-hand artificial limb to realize motion control of the artificial limb by utilizing an arm electromyographic signal or an electroencephalogram signal, but the artificial limb is difficult to move according to the intention of the patient due to complex electromyographic and electroencephalogram signal characteristic extraction and analysis.
In addition, some finger amputees often wear passive prostheses, i.e., bending of the wrist drives a pull-cord to bend the finger, however such passive prostheses do not provide precise control of each joint movement and are poorly functional.
In the prior art, few patients adopt and wear active partial prostheses to compensate for the missing finger function, and the main reasons are as follows: when designing active partial artificial limb, real-time control signal (myoelectricity or electroencephalogram signal) of patient is difficult to identify, and the artificial limb is controlled to move by adopting a preprogrammed mode, so that human-computer interaction is poor, human-computer co-fusion cannot be realized, sensing is difficult to integrate, control precision is low, and cost is high.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: the method and the system for controlling the wearable prosthetic glove are provided to solve the problems that the existing active partial prosthetic glove is poor in man-machine interaction, difficult to extract real-time control signals and poor in use effect due to the fact that the man-machine interaction is carried out in a pre-programming mode.
In order to solve the technical problems, the technical scheme of the invention is as follows: a method of controlling a wearable prosthetic glove, comprising the steps of:
s1: establishing a mapping relation between the joint bending angle of the body toe/finger part of a user and the joint bending angle of the artificial finger at the missing finger;
s2: collecting the actual joint bending angle of a user's body at the toe/finger part of the limb, and generating a prosthesis motion control instruction according to the mapping relation between the joint bending angle of the user's body at the toe/finger part of the limb and the joint bending angle of the prosthesis finger at the missing finger;
s3: and controlling the prosthetic finger of the wearable prosthetic glove at the missing finger to complete corresponding actions according to the prosthetic motion control instruction.
Further, in the method for controlling a wearable prosthetic glove according to the present invention, in step S1, the method specifically includes the following steps:
enabling the healthy side hand of the user to complete a preset action gesture, collecting the bending angle data of each joint when the healthy side hand of the user completes the preset action gesture, and storing the bending angle data into a database;
and establishing a mapping relation between the joint bending angle of the finger of the affected hand of the user and the joint bending angle of the artificial finger at the missing finger according to the database.
Further, in the method for controlling a wearable prosthetic glove according to the present invention, in step S2, the method specifically includes the following steps:
and acquiring the actual joint bending angle of each healthy finger of the patient side hand of the user, so as to generate an artificial limb motion control instruction according to the mapping relation between the joint bending angle of the healthy finger of the patient side hand of the user and the joint bending angle of the artificial limb finger at the missing finger.
Further, in the wearable prosthetic glove control method according to the present invention, in step S1, the preset motion gesture includes a usual motion gesture of a user.
Further, in the wearable prosthetic glove control method of the present invention, in step S1, the mapping relationship between the joint bending angle of the finger of the affected hand of the user and the joint bending angle of the prosthetic finger at the missing finger is specifically:
and classifying the gestures by using a deep learning algorithm and establishing a mapping relation between the joint bending angle of the finger of the affected side hand of the user and the joint bending angle of the artificial finger at the missing finger.
Furthermore, in the wearable prosthetic glove control method of the invention, the deep learning algorithm is an RNN algorithm.
Further, in the method for controlling a wearable prosthetic glove according to the present invention, in step S1, the method specifically includes the following steps:
establishing a mapping relation between the toe bending angle of a user's key at the toe and the joint bending angle of the tail end knuckle of the prosthetic finger at the missing finger;
and acquiring an actual toe bending angle of the body building of the user on the toe so as to generate an artificial limb motion control instruction according to the mapping relation between the joint bending angle of the body building of the user on the toe and the joint bending angle of the tail end knuckle of the artificial limb finger at the missing finger.
Further, in the wearable prosthetic glove control method of the present invention, the mapping relationship between the toe bending angle of the toe of the user and the joint bending angle of the distal knuckle of the prosthetic finger at the missing finger is specifically:
according to the normalization algorithm, a mapping relation between the toe bending angle of the user's key at the toe and the joint bending angle of the end knuckle of the prosthetic finger at the missing finger is established.
Accordingly, another object of the present invention is to disclose a wearable prosthetic glove control system for implementing the above-mentioned wearable prosthetic glove control method of the present invention, comprising: data acquisition gloves, prosthetic gloves, curvature sensors, stay wires, drivers and controllers;
the prosthetic glove comprises a prosthetic finger arranged at the position of the missing finger of a user, and the data acquisition glove and the prosthetic glove both comprise a first angle sensor for acquiring the bending angle of the tail end knuckle of the finger and a second angle sensor for acquiring the bending angles of other knuckles of the finger; the controller is respectively connected with the first angle sensor, the second angle sensor, the bending sensor and the driver, the bending sensor is used for collecting toe bending angles of toes, one end of the stay wire is connected with a prosthetic finger, and the other end of the stay wire is connected with the driver.
Further, in the wearable prosthetic glove control system of the present invention, the prosthetic finger includes a first phalange and a second phalange connected to each other, a radially magnetized magnetic ring and a magnetic encoder are integrated at a joint between the first phalange and the second phalange, the magnetic ring rotates synchronously with the first phalange, the magnetic encoder rotates synchronously with the second phalange, and the magnetic ring rotates concentrically with the magnetic encoder.
The invention has the beneficial effects that: in order to solve the problem that the existing active partial artificial limb adopts a pre-programming mode to perform man-machine interaction and the extraction of real-time control signals is difficult, the inventor optimally designs a wearable artificial limb glove control method, by collecting the joint bending angle of a patient's body at the toe/finger part of a limb, so as to construct the mapping relation between the joint bending angle of the user's body at the toe/finger part of the limb and the joint bending angle of the artificial limb finger at the position of the missing finger, thereby effectively predicting the action of the artificial limb finger and performing real-time control on the artificial limb finger when the motion state of the healthy finger of the patient's affected side hand or the bending degree of the user's body at the toe is collected, greatly improving the man-machine interaction level, reducing the cost of the wearable artificial limb glove and realizing the effective control on the artificial limb finger of the wearable artificial limb glove, and having good popularization prospect and application value.
Accordingly, in the present invention, a wearable prosthetic glove control system is also designed, which is used to implement the above-mentioned wearable prosthetic glove control method of the present invention, which also has the above-mentioned advantages and beneficial effects.
Drawings
Fig. 1 is a schematic flow chart of steps of a wearable prosthetic glove control method according to an embodiment of the invention.
Fig. 2 schematically shows a schematic flow chart of the steps of the method for controlling a wearable prosthetic glove according to the invention in another embodiment.
Fig. 3 schematically shows a schematic flow chart of the steps of a method for wearing prosthetic gloves according to the invention in a further embodiment.
Fig. 4 schematically shows a schematic view of the structure of a prosthetic glove according to an embodiment of the wearable prosthetic glove system of the invention, worn on a patient's side hand.
Fig. 5 schematically shows a schematic view of the structure of a prosthetic glove of the wearable prosthetic glove system according to the invention in one embodiment worn on another affected hand.
Fig. 6 schematically shows a schematic diagram of a prosthetic glove of the wearable prosthetic glove system of the invention in an embodiment worn on a patient's side hand.
Fig. 7 schematically shows a schematic diagram of the structure of a wearable prosthetic glove system of the invention with a data acquisition glove in one embodiment worn on a healthy side hand.
Figure 8 schematically shows a schematic view of the configuration of a wearable prosthetic glove system of the invention with a toe-mounted flexion sensor in one embodiment.
Fig. 9 is a schematic view of the structure of a prosthetic finger of a wearable prosthetic glove system according to the invention in one embodiment.
Fig. 10 is a schematic exploded view of the structure at the distal joint of the prosthetic finger of fig. 9.
Fig. 11 is a schematic exploded view of the structure at the other joints of the prosthetic glove of fig. 9.
Description of the reference numerals:
1. the hands are protected;
2. a patient side hand;
3. a data acquisition glove;
4. prosthetic gloves;
5. a first angle sensor;
6. a second angle sensor;
7. a curvature sensor;
8. a pull wire;
9. a driver;
10. a controller;
11. a data acquisition and transmission unit;
12. a prosthetic finger; 121. distal phalangeal bones; 122. middle phalanx; 123. proximal phalanx; 124. metacarpal bones; 125. a cross axis; 126. a rotating shaft; 127. a magnetic ring; 128. a magnetic encoder.
Detailed Description
In order to describe the technical contents, the achieved objects and effects of the present invention in detail, the following description will be made with reference to the embodiments in conjunction with the accompanying drawings.
Research finds that in the current prior art, the existing passive partial finger prosthesis cannot realize independent control on the movement of each joint of the finger, and has poor functionality; the existing active partial artificial limb adopts pre-control, has poor man-machine interaction, low control precision and higher cost; in addition, although some active partial artificial limbs adopt real-time electromyographic signals or electroencephalogram signals to control the motion of the artificial limbs, the signal characteristics are complex to identify and extract, the equipment is large, the integration level is low, and the artificial limbs are inconvenient to wear.
Therefore, in order to solve the above-mentioned problems in the prior art, as shown in fig. 1, the present invention provides a wearable prosthetic glove control method, which includes the steps of:
s1: establishing a mapping relationship between the joint bending angle of the body toe/finger of the user and the joint bending angle of the prosthetic finger 12 at the missing finger;
s2: collecting the actual joint bending angle of a user's body in the limb toe/finger part, and generating a prosthesis motion control instruction according to the mapping relation between the joint bending angle of the user's body in the limb toe/finger part and the joint bending angle of the prosthesis finger 12 at the missing finger;
s3: and controlling the prosthetic finger 12 of the wearable prosthetic glove at the missing finger to complete corresponding actions according to the prosthetic motion control instruction.
As can be seen from the above description, in the present invention, the inventor optimally designs a wearable prosthetic glove control method to effectively predict the motion of the prosthetic finger 12 by constructing a mapping relationship between the joint bending angle of the toe/finger of the user and the joint bending angle of the prosthetic finger 12 at the missing finger, thereby utilizing the actually collected joint bending angle of the toe/finger of the user, and performing real-time control on the motion of the prosthetic finger 12, which can greatly improve the man-machine interaction level and improve the user experience.
It should be noted that, when the wearable prosthetic glove method is actually applied, the prosthetic finger 12 of the wearable prosthetic glove can be effectively controlled without collecting an electromyographic signal or an electroencephalogram signal to control the motion of the prosthetic, and the production cost of the wearable prosthetic glove can be effectively reduced. In addition, in practical application, the joint bending angle of the prosthetic finger 12 can be effectively predicted and controlled due to the fact that the mapping relation is constructed, so that man-machine interaction experience is improved, control accuracy of the prosthetic finger 12 is improved, and the method has good popularization prospect and application value.
Further, in the method for controlling a wearable prosthetic glove according to the present invention, in step S1, the method specifically includes the following steps:
enabling the healthy side hand 1 of the user to complete a preset action gesture, collecting the bending angle data of each joint of the healthy side hand 1 of the user when the preset action gesture is completed, and storing the bending angle data into a database;
according to the database, a mapping relation between the joint bending angle of the finger of the affected side hand 2 of the user and the joint bending angle of the artificial finger 12 at the missing finger is established.
Further, in the wearable prosthetic glove control method according to the present invention, in step S2, the method specifically includes the following steps:
the actual joint bending angle of each healthy finger of the patient side hand 2 of the user is acquired to generate a prosthesis motion control instruction according to the mapping relation between the joint bending angle of the healthy finger of the patient side hand 2 of the user and the joint bending angle of the prosthesis finger 12 at the missing finger.
As shown in fig. 2, in the above technical solution of the present invention, in practical application, a wearable prosthetic glove may be designed to include a data acquisition glove 3 and a prosthetic glove 4, where the data acquisition glove 3 is capable of acquiring the respective joint bending angle data of all the fingers of the user's healthy side hand 1 when completing the gesture of the preset motion, and storing the joint bending angle data together in a database to form a gesture library.
In the present invention, the inventor considers that the operations of the fingers are generally the same or similar when the left hand and the right hand of the user perform the same gesture, so that the mapping relationship between the joint bending angle of the finger of the other affected hand 2 and the joint bending angle of the prosthetic finger 12 at the missing finger can be equivalently replaced and correspondingly established according to the obtained database composed of the joint bending angle data of all the fingers when the healthy side hand 1 of the user completes the preset action gesture.
In this case, when the user wears the prosthetic glove 4 and makes a gesture on the affected side hand 2, the prosthetic glove 4 can correspondingly collect the actual joint bending angle of each finger of the affected side hand 2 of the user, so as to predict the motion of the prosthetic finger 12 according to the mapping relationship between the joint bending angle of the finger of the affected side hand 2 of the user and the joint bending angle of the prosthetic finger 12 at the missing finger, and generate a prosthetic motion control command, so as to control the motion of the prosthetic finger 12, as shown in fig. 2.
Further, in the wearable prosthetic glove control method according to the present invention, in step S1, the preset motion gesture includes a usual motion gesture of a user.
In the above technical solution of the present invention, a designer may set preset motion gestures in advance, and in order to facilitate a user to complete a usual motion in life by using the prosthetic finger 12 in the prosthetic glove 4 after wearing the prosthetic glove 4, the preset motion gestures may specifically include a usual motion gesture of the user.
Of course, in practical application, the present invention does not put special restrictions and special requirements on the preset motion gestures, and when the designer customizes the personalized prosthetic glove 4 for the user, the designer can set the required preset motion gestures according to the specific requirements of the user.
And, after the preset action gestures are designed, the preset action gestures may be sequenced in advance to form a preset action gesture sequence, so that when the healthy side hand 1 of the user completes each preset action gesture in turn according to the preset action gesture sequence, the action gestures can be classified and stored according to the collected bending angle data of each joint.
Further, in the wearable prosthetic glove control method of the present invention, in step S1, the mapping relationship between the joint bending angle of the finger of the affected hand 2 of the user and the joint bending angle of the prosthetic finger 12 at the missing finger is established, specifically:
the gesture is classified by a deep learning algorithm and a mapping relation between the joint bending angle of the finger of the affected side hand 2 of the user and the joint bending angle of the artificial finger 12 at the missing finger is established.
Furthermore, in the wearable prosthetic glove control method of the invention, the deep learning algorithm is an RNN algorithm.
Further, in the method for controlling a wearable prosthetic glove according to the present invention, in step S1, the method specifically includes the following steps:
establishing a mapping relationship between the toe bending angle of a user's key at the toe and the joint bending angle of the distal knuckle of the prosthetic finger 12 at the missing finger;
the actual toe bending angle of the user's healthy toe is collected to generate a prosthesis motion control command according to the mapping relationship between the joint bending angle of the user's healthy toe and the joint bending angle of the distal knuckle of the prosthetic finger 12 at the missing finger.
As shown in fig. 3, in the above-mentioned technical solution of the present invention, the inventor further improves the wearable prosthetic glove control method considering that in some specific embodiments, the user may need to implement the health of the affected hand 2 without moving the fingers, but only with the movement of the prosthetic finger 12.
At this time, when the wearable prosthetic glove control method is applied, the bending sensor 7 may be further placed on the healthy toe of the user, and the bending sensor 7 may be used to detect the toe bending angle, so as to establish a mapping relationship between the toe bending angle of the user's toe and the joint bending angle of the distal knuckle of the prosthetic finger 12 at the missing finger by using the toe bending angle of the user's toe, and accurately control the prosthetic finger 12 to work by using the mapping relationship and matching with the actually collected toe bending angle.
Further, in the wearable prosthetic glove control method of the present invention, the mapping relationship between the toe bending angle of the toe of the user and the joint bending angle of the distal knuckle of the prosthetic finger 12 at the missing finger is specifically:
according to the normalization algorithm, a mapping relationship of the toe bending angle of the user's key at the toe and the joint bending angle of the distal knuckle of the prosthetic finger 12 at the missing finger is established.
In the above technical solution of the present invention, a designer may pre-establish a mapping relationship between the toe bending angle of the toe of the user and the joint bending angle of the distal knuckle of the prosthetic finger 12 at the missing finger according to a normalization algorithm, so as to facilitate the subsequent motion control of the prosthetic finger 12. The normalization algorithm is an algorithm content well known to those skilled in the art, and will not be described in detail herein.
Correspondingly, the invention also discloses a wearable prosthetic glove control system, which is used for implementing the wearable prosthetic glove method, and specifically comprises the following steps: the data acquisition glove 3, the prosthetic glove 4, the bending sensor 7, the stay wire 8, the driver 9 and the controller 10;
wherein the prosthetic glove 4 comprises a prosthetic finger 12 arranged at the position of the missing finger of the user, and the data acquisition glove 3 and the prosthetic glove 4 comprise a first angle sensor 5 for acquiring the bending angle of the tail end knuckle of the finger and a second angle sensor 6 for acquiring the bending angles of other knuckles of the finger; the controller 10 is respectively connected with the first angle sensor 5, the second angle sensor 6, the bending sensor 7 and the driver 9, the bending sensor 7 is used for collecting toe bending angles of toes, one end of the pull wire 8 is connected with the prosthetic finger 12, and the other end of the pull wire 8 is connected with the driver 9.
As can be seen by referring to fig. 4 to 11, in the above technical solutions of the present invention, the wearable prosthetic glove control system may include both the data acquisition glove 3 and the prosthetic glove 4, and the data acquisition glove 3 and the prosthetic glove 4 each include the first angle sensor 5 and the second angle sensor 6, and both the first angle sensor 5 and the second angle sensor 6 may be used to detect the bending angle of the finger joint.
As shown in fig. 4, 5 and 6, in practical application, the data acquisition glove 3 and the prosthetic glove 4 are provided with three joint angle sensors corresponding to the healthy fingers of each finger, that is, two second angle sensors 6 and one first angle sensor 5, and the first angle sensor 5 may be a two-dimensional joint angle sensor, which may detect metacarpophalangeal joint bending and swinging.
It should be noted that in the present invention, a highly integrated prosthetic finger 12 is provided on the wearable prosthetic glove to replace the finger function of the user where the finger is missing. It should be emphasized here that the prosthetic finger 12 is not limited to a single finger, but may be a single finger or a combination of two adjacent finger bones. In addition, a plurality of prosthetic fingers 12 may be integrated into the wearable prosthetic glove.
Further, in the wearable prosthetic glove control system according to the present invention, the prosthetic finger 12 includes a first phalange and a second phalange connected to each other, a radially magnetized magnetic ring 127 and a magnetic encoder 128 are integrated at a joint between the first phalange and the second phalange, the magnetic ring 127 rotates synchronously with the first phalange, the magnetic encoder 128 rotates synchronously with the second phalange, and the magnetic ring 127 rotates concentrically with the magnetic encoder 128.
In the wearable prosthetic glove control system designed by the invention, in order to solve the problems of poor integration and inconvenient wearing of the existing active partial prosthetic limb, a radial magnetizing magnetic ring 127 and a magnetic encoder 128 can be integrated at the joint between a first phalange and a second phalange of the wearable prosthetic glove, the magnetic ring 127 can rotate along with the phalange and generate a regularly-changed magnetic field, and the magnetic encoding output voltage value is changed, so that the corresponding joint bending angle is judged according to the output voltage value.
Embodiment one:
as can be seen in fig. 1, 2 and 4-11, a first embodiment of the present invention is: a wearable prosthetic glove control system, the wearable prosthetic glove control system comprising: data acquisition glove 3, prosthetic glove 4, flexion sensor 7, pull wire 8, driver 9, and controller 10.
Wherein the prosthetic glove 4 comprises a prosthetic finger 12 arranged at the position of the missing finger of the user, and the data acquisition glove 3 and the prosthetic glove 4 comprise a first angle sensor 5 for acquiring the bending angle of the tail end knuckle of the finger and a second angle sensor 6 for acquiring the bending angles of other knuckles of the finger; wherein, the first angle sensor 5 is a two-dimensional joint angle sensor, one first angle sensor 5 is provided, and two second angle sensors 6 are provided.
In actual operation, as shown in fig. 9, 10 and 11, including the prosthetic finger 12 and the healthy finger, all the fingers include a distal phalanx 121, a middle phalanx 122, a proximal phalanx 123 and a metacarpal bone 124, which are sequentially connected, and a radially magnetized magnetic ring 127 and a magnetic encoder 128 are integrated between two bones adjacent to each other. As shown in fig. 10, the distal phalanx 121 is integrated with a magnetic ring 127, which can simultaneously and synchronously rotate; the front end of the middle phalanx 122 is integrated with a magnetic encoder 128, and the two can synchronously rotate; the rotating shaft 126 passes through the middle phalangeal 122 and the magnetic ring 127, ensuring that the magnetic ring 127 rotates concentrically with the magnetic encoder 128. The magnetic encoder 128 can detect the rotation of the magnetic ring 127 and output a corresponding voltage signal for the controller 10 to acquire the joint angle information. In the same way, the joint detection design method between the middle phalanx 122 and the proximal phalanx 123, and the joint detection design method between the proximal phalanx 123 and the metacarpal bone 124 can be realized. In this way, the first angle sensor 5 and the second angle sensor 6 can detect the bending angles of the joints of the fingers (including the healthy finger and the artificial finger 12).
In addition, in the wearable prosthetic glove control system designed by the invention, the controller 10 is also arranged on an arm, the controller 10 is respectively connected with the first angle sensor 5, the second angle sensor 6, the bending sensor 7 and the driver 9, the bending sensor 7 is used for collecting the toe bending angle of toes, one end of the control stay wire 8 is connected with the prosthetic finger 12, and the other end of the stay wire 8 is connected with the driver 9, so that the controller 10 controls the driver 9 to drive the stay wire 8, and the prosthetic finger 12 is pulled to act.
Accordingly, as can be seen further from fig. 9, in this embodiment, the distal phalanx 121 is provided with a stay fixing point a/a, and the stay 8 connected to the point a sequentially passes through the through holes in the middle phalanx 122, the proximal phalanx 123, the cross shaft 125, and the metacarpal 124, and is connected to the rear end driver 9, and the driver 9 may be a device capable of generating displacement, such as a motor, a shape memory alloy, or the like. The pull wire 8 connected with the point A can be connected with a spring fixedly arranged on the middle phalanx 122, and when the driver 9 pulls the point a to move, the joint between the middle phalanx 122 and the far phalanx 121 can rotate, and the spring is stretched to generate elastic force. When the driver 9 moves in the opposite direction, the joint between the middle phalanx 122 and the distal phalanx 121 is restored by the elastic force, which can effectively save one driving unit. Accordingly, the movement of the two joints of the rest stay fixing point B/B and the stay fixing point C/C is basically identical to the movement. Wherein the C/C-connected pull wire 8 drives the metacarpal 124 and proximal phalangeal 123 to swing.
In the first embodiment, as shown in fig. 2, the user's health side hand 1 may wear the data acquisition glove 3, and connect the data sensing glove with the computer terminal, so that the user controls the user's health side hand 1 to complete a preset action gesture, that is, a usual action gesture in life, and uses the data acquisition glove 3 to acquire the bending angle data of each joint of the user's health side hand 1 when completing the preset action gesture, and send the bending angle data to the computer terminal for storage in the database.
Accordingly, a deep learning method is utilized, including, but not limited to, RNN algorithm, classifying actions on gestures and establishing a mapping relationship between the joint bending angle of the finger of the affected hand 2 of the user and the joint bending angle of the prosthetic finger 12 at the missing finger, and writing the mapping relationship into the controller 10 of the prosthetic glove 4.
After the above steps are completed, the user can wear the customized prosthetic glove 4 and complete the usual actions in life, and the prosthetic glove 4 can effectively use the actual joint bending angle of each finger of the affected side hand 2 of the user, so as to generate a prosthetic motion control instruction according to the mapping relationship between the joint bending angle of the finger of the affected side hand 2 of the user and the joint bending angle of the prosthetic finger 12 at the missing finger by using the controller 10. The controller 10 sends a prosthesis motion control instruction to the driver 9, and the driver 9 drives the stay wire 8 to realize accurate closed-loop control on the prosthesis finger 12.
In addition, in some other cases, the user may need to achieve a healthy finger immobilization of the affected side hand 2, but only the movement of the prosthetic finger 12. For this reason, in the present embodiment, the above-mentioned bending sensor 7 is also placed on the healthy toe of the user to detect the toe bending angle of the healthy toe by using the bending sensor 7, and the above-mentioned toe bending angle data is transmitted to the controller 10 of the prosthetic glove 4 by using the data acquisition and transmission unit 11 provided at the ankle part (transmission manner is optionally wireless or wired).
After receiving the toe bending angle data of the toe, the controller 10 first needs to use a normalization algorithm to establish a mapping relationship between the toe bending angle of the toe and the joint bending angle of the distal knuckle of the prosthetic finger 12 at the missing finger, and encapsulates the mapping relationship into the controller 10.
When the user wears the prosthetic glove 4, the user's healthy toe bends, the bending sensor 7 can collect the actual toe bending angle of the user's healthy toe, and send the actual toe bending angle to the controller 10 through the data collecting and sending unit 11, and the controller 10 can correspondingly generate a prosthetic motion control instruction according to the actual toe bending angle and the mapping relationship between the joint bending angle of the user's healthy toe and the joint bending angle of the end knuckle of the prosthetic finger 12 at the missing finger, and send the prosthetic motion control instruction to the driver 9, and the driver 9 drives the stay wire 8 to realize accurate closed loop control on the finger. The aim of controlling the movement of the prosthetic finger 12 on the toes is achieved through the above steps.
In summary, in the invention, the wearable prosthetic glove control method and system designed by the inventor can effectively utilize the wearable prosthetic glove to make up the function of missing fingers of a user, reduce the manual planning cost of the prosthetic hand, have high man-machine co-melting level, are convenient to use, and can effectively solve the problems of difficult extraction of electromyographic signals or electroencephalogram signals and large equipment of the existing active partial prosthetic hand.
In addition, in the invention, the inventor also utilizes the pull wire 8 to simulate tendons, thereby realizing the high-degree bionic of the prosthetic glove 4 and compensating the function of missing fingers; in addition, in some preferred embodiments, the invention also provides a brand new design for the prosthetic finger 12, and the angle sensing mode of the magnetic ring 127 and the magnetic encoder 128 is utilized to realize the bending angle sensing integration of the prosthetic finger 12, so that the prosthetic finger 12 can realize accurate closed-loop motion control.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent changes made by the specification and drawings of the present invention, or direct or indirect application in the relevant art, are included in the scope of the present invention.
Claims (3)
1. A method of wearable prosthetic glove control, characterized by being applied to a wearable prosthetic glove control system, the system comprising:
data acquisition gloves, prosthetic gloves, curvature sensors, stay wires, drivers and controllers;
the prosthetic glove comprises prosthetic fingers arranged at the position of missing fingers of a user, the data acquisition glove and the prosthetic glove both comprise a first angle sensor for acquiring the bending angle of the tail end knuckle of the finger and a second angle sensor for acquiring the bending angles of other knuckles of the finger, the number of the first angle sensors on each finger is one, and the number of the second angle sensors is two; the controller is respectively connected with the first angle sensor, the second angle sensor, the bending sensor and the driver, the bending sensor is used for collecting toe bending angles of toes, one end of the stay wire is connected with a prosthetic finger, and the other end of the stay wire is connected with the driver;
the artificial finger comprises a first phalange and a second phalange which are connected with each other, wherein a radial magnetizing magnetic ring and a magnetic encoder are integrated at the joint between the first phalange and the second phalange, the magnetic ring synchronously rotates along with the first phalange, the magnetic encoder synchronously rotates along with the second phalange, and the magnetic ring and the magnetic encoder concentrically rotate;
the method comprises the steps of:
s1: respectively establishing the mapping relation between the joint bending angles of the body toe and the finger part of a user and the joint bending angle of the artificial finger at the missing finger, wherein the mapping relation specifically comprises the following steps:
enabling the healthy side hand of the user to complete a preset action gesture, collecting the bending angle data of each joint when the healthy side hand of the user completes the preset action gesture, and storing the bending angle data into a database; according to the database, classifying the gestures by using an RNN algorithm and establishing a mapping relation between the joint bending angle of a finger of a patient side hand of a user and the joint bending angle of a prosthetic finger at the missing finger; the preset action gestures comprise common action gestures of a user;
according to a normalization algorithm, establishing a mapping relation between the toe bending angle of a user's finger and the joint bending angle of the tail end knuckle of the prosthetic finger at the missing finger;
s2: respectively acquiring actual joint bending angles of a user body at the limb toe and the finger part, and generating an artificial limb motion control instruction according to the mapping relation between the joint bending angles of the user body at the limb toe and the finger part and the joint bending angles of the artificial limb fingers at the missing finger part;
s3: and controlling the prosthetic finger of the wearable prosthetic glove at the missing finger to complete corresponding actions according to the prosthetic motion control instruction.
2. The method for controlling a wearable prosthetic glove according to claim 1, characterized in that in step S2, it specifically comprises the steps of:
and acquiring the actual joint bending angle of each healthy finger of the patient side hand of the user, so as to generate an artificial limb motion control instruction according to the mapping relation between the joint bending angle of the healthy finger of the patient side hand of the user and the joint bending angle of the artificial limb finger at the missing finger.
3. The method for controlling a wearable prosthetic glove according to claim 1, characterized in that in step S2, it specifically comprises the steps of:
and acquiring an actual toe bending angle of the body building of the user on the toe so as to generate an artificial limb motion control instruction according to the mapping relation between the joint bending angle of the body building of the user on the toe and the joint bending angle of the tail end knuckle of the artificial limb finger at the missing finger.
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