CN202365968U - Grip-speed-controllable intelligent electromyographic prosthetic hand control circuit - Google Patents
Grip-speed-controllable intelligent electromyographic prosthetic hand control circuit Download PDFInfo
- Publication number
- CN202365968U CN202365968U CN2011204901969U CN201120490196U CN202365968U CN 202365968 U CN202365968 U CN 202365968U CN 2011204901969 U CN2011204901969 U CN 2011204901969U CN 201120490196 U CN201120490196 U CN 201120490196U CN 202365968 U CN202365968 U CN 202365968U
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- prosthetic hand
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Abstract
The utility model relates to a grip-speed-controllable intelligent electromyographic prosthetic hand control circuit. After high-impedance electromyographic signals introduced by an electrode is preliminarily amplified and processed through an electrode circuit, the high-impedance electromyographic signals are sent to an amplifying circuit to be further amplified and then sent to a control driving circuit, and control signals are output by a single chip microcomputer to the driving circuit, so as to control a DC micromotor of a prosthetic hand. The grip speed of the prosthetic hand can be proportionally controlled, and a patient can change the grip speed of the prosthetic hand through changing the strength of the electromyographic signals according to own will, so that great convenience is brought to a prosthetic hand user and the controllability of the prosthetic hand is improved.
Description
Technical field
This utility model relates to a kind of doing evil through another person, particularly a kind of intelligent EMG-controlling prosthetic hand control circuit of holding fast controllable type.
Background technology
Electromyographic signal (Electromyogram, the electro-physiological signals that produces when EMG) being exactly muscular movement.(Surface Electromyogram SEMG) is meant the electromyographic signal that collects at skin surface to surface electromyogram signal, is human body shallow-layer muscle and neuromotor synthesis result.Its main feature has: the one, and signal amplitude is little.Usually at tens microvolts.The 2nd, signal frequency is positioned at low-frequency range (10Hz-500Hz).Though the amplitude of electromyographic signal is very little, the abundant information that it comprises, these information comprise action pattern that staff sends, speed of action size etc.Show that through expert of the art's years of researches electromyographic signal is the current optimal control information source of doing evil through another person.
At present, homemade electromyographic signal is done evil through another person, and great majority exist opening of doing evil through another person to hold the uncontrollable shortcoming of speed.Be embodied in, give when doing evil through another person user, do evil through another person to hold fast according to the demand of user and hold together to catch object when others throws an object; On the contrary, the prosthetic wearing person to grab one soft when grabbing bad object (egg, steamed bread) easily, do evil through another person and can not slowly hold and hold together to pick up object according to the wish of user.
Summary of the invention
This utility model is can't be by the problem of patient's wish control rate to doing evil through another person now; A kind of intelligent EMG-controlling prosthetic hand control circuit of holding fast controllable type has been proposed; The patient can come to change the speed of holding of doing evil through another person through the power that changes electromyographic signal according to the wish of oneself, brings great convenience for the user of doing evil through another person.
The technical scheme of this utility model is: a kind of intelligent EMG-controlling prosthetic hand control circuit of holding fast controllable type; Comprise telegraph circuit, amplifying circuit and control drive circuit; Electrode signal is the telegraph circuit through being made up of high input impedance buffer amplifier, difference amplifier, first amplifier, 50Hz wave trap and second buffer amplifier successively at first, obtains preliminary electromyographic signal; Electromyographic signal gets into the amplifying circuit of being made up of low pass filter, second amplifier, absolute value circuit, integrating circuit, the 3rd amplifier and the 3rd buffer amplifier successively once more, obtains and the linear dc signal of muscle bioelectrical signals meansigma methods; The dc signal of amplifying circuit output send the speed of holding of opening of control drive circuit output artificial hand controlled.
Said control drive circuit comprises that A/D change-over circuit, single-chip microcomputer, status display unit, drive circuit, direct current micromotor, power circuit and power supply detect holding circuit; The dc signal of amplifying circuit output outputs to single-chip microcomputer through the A/D change-over circuit with digital signal; The direct current micromotor that send drive circuit that driving is done evil through another person after the single-chip microcomputer processing signals is controlled; Power circuit provides required power supply for each unit; Power supply detects holding circuit and comprises the voltage and current testing circuit, and microcontroller power supply is detected, and single-chip microcomputer output signal shows the state of holding of opening of doing evil through another person to status display unit.
The beneficial effect of this utility model is: this utility model is held the intelligent EMG-controlling prosthetic hand control circuit of fast controllable type; The ratio adjusting that realization is done evil through another person and held speed; The patient can come to change the speed of holding of doing evil through another person through the power that changes electromyographic signal according to the wish of oneself; Bring great convenience for the user of doing evil through another person, improved the controllability of doing evil through another person.
Description of drawings
Fig. 1 is that this utility model is held telegraph circuit theory diagram in the intelligent EMG-controlling prosthetic hand control circuit of fast controllable type;
Fig. 2 is that this utility model is held signal amplification circuit theory diagram in the intelligent EMG-controlling prosthetic hand control circuit of fast controllable type;
Fig. 3 is that this utility model is held control in the intelligent EMG-controlling prosthetic hand control circuit of fast controllable type, driving and power circuit principle block diagram.
The specific embodiment
The introducing of good electromyographic signal is the primary prerequisite of myoelectrically controlled hand, is illustrated in figure 1 as the theory diagram of electrode part.The effect of high input impedance buffer amplifier 1 is the decay of the high impedance muscle bioelectrical signals that reduces to be induced one by electrode.Difference amplifier has high cmrr, the differential signal from the output of high input impedance buffer amplifier is amplified obtain single-ended output signal.Amplifier 1 is used for the adjustment of muscle bioelectrical signals amplification quantity for variable gain amplifier.The 50Hz wave trap is used to suppress power frequency interference signals.Buffer amplifier 2 is set between 50Hz wave trap and the late-class circuit to be reduced to influence to each other.Through this link, electromyographic signal obtains preliminary amplification and processing.
Be nowhere near through above-mentioned amplification, need further amplify and handle electromyographic signal.Signal amplifying part parallel circuit theory diagram as shown in Figure 2, signal amplification circuit is to carrying out LPF from the muscle bioelectrical signals after the telegraph circuit processing and amplifying, the spuious high-frequency signal of elimination.2 pairs of muscle bioelectrical signals behind LPF of amplifier amplify.The signal of absolute value circuit pair amplifier 2 outputs carries out biphase rectification.Integrating circuit to biphase rectification after the muscle bioelectrical signals carry out integration and obtain and the corresponding dc signal of muscle bioelectrical signals meansigma methods.The dc signal of 3 pairs of integrating circuit outputs of amplifier amplifies.Buffer amplifier 3 is accepted amplifier 3 output signals and zeroing signal; At electrode muscle bioelectrical signals is 0 o'clock; Buffer amplifier 3 is output as 0, when electrode has the muscle bioelectrical signals, and buffer amplifier 3 outputs and the linear dc signal of muscle bioelectrical signals meansigma methods.
Electromyographic signal has reached the requirement of control through the processing and amplifying in two steps, can import the signal that the output of monolithic machine is used for driving the work of doing evil through another person.Structured flowchart shown in Figure 3; The signal of telecommunication that the acceptance of A/D change-over circuit is held with a firm grip, relaxed from signal amplification circuit, to single-chip microcomputer, single-chip microcomputer carries out digital filtering, threshold value differentiation, equivalent differentiation, difference differentiation etc. to signal after analog digital conversion; Obtain and hold with a firm grip or lax motivation value; This motivation value calculates PWM corresponding with it and F/R value, and PWM and F/R value are exported with pulse and current potential form through control unit in the single-chip microcomputer and output unit, comes the speed of holding of opening of artificial hand controlled; The power of the electromyographic signal that user produced directly affects deserved PWM output, thereby has controlled the speed of doing evil through another person.Motor-drive circuit is accepted the pulse and the electric potential signal of the output of single-chip microcomputer and is exported corresponding direct voltage drive direct current micromotor.Direct current micromotor makes mechanical finger hold with a firm grip or relax through mechanical transmission mechanism.The electric current of direct current micromotor send single-chip microcomputer through current detection circuit, mechanical finger hold with a firm grip overload or hold with a firm grip, during lax transfiniting, single-chip microcomputer will cut out PWM and F/R output.Transship, hold with a firm grip, relaxed state shows by corresponding LED.Battery voltage detection part detects cell voltage, and when cell voltage is lower than setting, single-chip microcomputer will cut out PWM and F/R output.Power circuit provides required power supply to each circuit part.
Claims (2)
1. intelligent EMG-controlling prosthetic hand control circuit of holding fast controllable type; It is characterized in that; Comprise telegraph circuit, amplifying circuit and control drive circuit; Electrode signal is the telegraph circuit through being made up of high input impedance buffer amplifier, difference amplifier, first amplifier, 50Hz wave trap and second buffer amplifier successively at first, obtains preliminary electromyographic signal; Electromyographic signal gets into the amplifying circuit of being made up of low pass filter, second amplifier, absolute value circuit, integrating circuit, the 3rd amplifier and the 3rd buffer amplifier successively once more, obtains and the linear dc signal of muscle bioelectrical signals meansigma methods; The dc signal of amplifying circuit output send the speed of holding of opening of control drive circuit output artificial hand controlled.
2. according to the said intelligent EMG-controlling prosthetic hand control circuit of holding fast controllable type of claim 1; It is characterized in that; Said control drive circuit comprises that A/D change-over circuit, single-chip microcomputer, status display unit, drive circuit, direct current micromotor, power circuit and power supply detect holding circuit; The dc signal of amplifying circuit output outputs to single-chip microcomputer through the A/D change-over circuit with digital signal; The direct current micromotor that send drive circuit that driving is done evil through another person after the single-chip microcomputer processing signals is controlled, and power circuit provides required power supply for each unit, and power supply detects holding circuit and comprises the voltage and current testing circuit; Microcontroller power supply is detected, and single-chip microcomputer output signal shows the state of holding of opening of doing evil through another person to status display unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011204901969U CN202365968U (en) | 2011-12-01 | 2011-12-01 | Grip-speed-controllable intelligent electromyographic prosthetic hand control circuit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011204901969U CN202365968U (en) | 2011-12-01 | 2011-12-01 | Grip-speed-controllable intelligent electromyographic prosthetic hand control circuit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202365968U true CN202365968U (en) | 2012-08-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011204901969U Expired - Fee Related CN202365968U (en) | 2011-12-01 | 2011-12-01 | Grip-speed-controllable intelligent electromyographic prosthetic hand control circuit |
Country Status (1)
| Country | Link |
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| CN (1) | CN202365968U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102429748A (en) * | 2011-12-01 | 2012-05-02 | 上海理工大学 | Holding speed controllable intelligent myoelectric prosthetic hand control circuit |
| CN105616042A (en) * | 2014-10-30 | 2016-06-01 | 中国科学院深圳先进技术研究院 | Intelligent artificial hand control system |
-
2011
- 2011-12-01 CN CN2011204901969U patent/CN202365968U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102429748A (en) * | 2011-12-01 | 2012-05-02 | 上海理工大学 | Holding speed controllable intelligent myoelectric prosthetic hand control circuit |
| CN102429748B (en) * | 2011-12-01 | 2014-06-18 | 上海理工大学 | Holding speed controllable intelligent myoelectric prosthetic hand control circuit |
| CN105616042A (en) * | 2014-10-30 | 2016-06-01 | 中国科学院深圳先进技术研究院 | Intelligent artificial hand control system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120808 Termination date: 20121201 |