CN218451673U

CN218451673U - Artificial limb arm with tactile feedback

Info

Publication number: CN218451673U
Application number: CN202122670805.5U
Authority: CN
Inventors: 帅立国; 阚浩轩; 张文哲
Original assignee: Taizhou Institute Of Biomedicine And Medical Devices Southeast University
Current assignee: Taizhou Institute Of Biomedicine And Medical Devices Southeast University
Priority date: 2021-11-03
Filing date: 2021-11-03
Publication date: 2023-02-07
Anticipated expiration: 2031-11-03

Abstract

The utility model discloses a take artificial limb arm of tactile feedback, this artificial limb arm of its characterized in that includes (1) artificial limb hand, (2) artificial limb forearm, (3) piezoelectric film, (4) vibration feedback module, (5) control module. The utility model discloses utilize piezoelectric film to receive the artificial hand back, the surface of artificial limb forearm, the touch signal on the artificial limb forearm handles via control module, makes the vibration feedback module vibration that corresponds the vibrator on the position again to the realization is to user's feedback function. The utility model discloses will help the incomplete limb patient of upper limbs to obtain more comprehensive perception to the surrounding environment through prosthetic arm.

Description

Artificial limb arm with tactile feedback

Technical Field

The utility model relates to a take artificial limb arm of tactile feedback belongs to intelligent artificial limb and tactile feedback technical field.

Background

Due to natural disasters, accidents, old diseases and other reasons, a large number of stump patients exist in the society of China. Wherein, the patients with upper limb stumps have great influence on normal life due to the lack of arms. Therefore, in order to help the disabled to live as normal, various bionic artificial hands have been developed. Initially, the conventional prosthesis only provided a decorative effect. With the development of science and technology, the novel artificial limb can realize the gripping and even feedback functions, thereby helping people to complete simple tasks in life and obtaining the perception of the surrounding environment.

Most of the current bionic artificial hands are the researches aiming at hands, mainly controlling hand motion and obtaining feedback from the palmar surface which can be touched during grasping. These studies enable the artificial hand to have good effects when the artificial hand completes the functions of grasping, making gestures and the like. However, these studies neglect the study of the forearm and the back of the hand, so that the current prosthetic arm is not bionic enough to acquire the tactile signals given by the forearm and the back of the hand. To solve the situation on the arm, the disabled patients rely mainly on vision, and they cannot sense the situation on the lower arm by means of touch as normal people. So that the user cannot obtain comprehensive perception of the surrounding environment without paying attention to the prosthesis. For this purpose, a prosthetic arm is needed which is able to detect the surroundings from the lower arm and the back of the hand.

SUMMERY OF THE UTILITY MODEL

The technical problem is as follows:

the utility model aims at designing a prosthetic arm with tactile feedback aiming at the problem that the prior prosthetic arm can not obtain the tactile information obtained by the forearm and the back of the hand. A user receives an external touch signal through the piezoelectric film, the external touch signal is processed through the control module, and the vibrator on the corresponding position of the vibration feedback module vibrates, so that the feedback to the surrounding environment is obtained.

The technical scheme is as follows:

in order to obtain an external touch signal, a piezoelectric film is adopted to receive the signal. The piezoelectric film is required to be distributed on three areas, namely the back surface of the artificial hand, the outer surface of the artificial limb small arm and the inner surface of the artificial limb small arm. The piezoelectric film is arranged in each area in a sectional mode. All piezoelectric films need to be communicated with the control module, and received external touch signals are transmitted to the control module to be processed.

To get feedback to the user, a vibration feedback module is used. The vibration feedback module is mainly composed of three vibrators, is arranged on the arm sheath, and can be worn on the large arm. The vibrator is arranged on the outer surface of the large arm far away from the artificial limb end, the outer surface of the large arm is close to the artificial limb end, and the inner surface of the large arm respectively corresponds to the outer surface of the artificial limb small arm, the back of the artificial hand and the piezoelectric film on the inner surface of the artificial limb small arm. When the piezoelectric film receives the signal, the vibrator at the corresponding position vibrates to stimulate the user, thereby realizing the feedback function.

In order to give different feedback according to different tactile signals, a vibrator is designed. The vibrator comprises a plurality of vibrating motors, and the uniform distribution becomes one row. The vibration rule of the vibrator is as follows, when the signal of the piezoelectric film on the same area is more, the more vibration motors vibrate; when the tactile signal of the piezoelectric film is stronger, the vibration frequency of the vibration motor is higher.

In order to complete the control from the touch signal to the vibration feedback module, a control module is adopted, which is characterized in that the control module can not only complete the function of normal movement of the prosthetic arm. The piezoelectric film vibration control device can also receive signals of the piezoelectric film, simultaneously analyze and process the signals, finally send corresponding instructions and control the vibration feedback module to vibrate correspondingly.

Has the beneficial effects that:

the utility model discloses combine piezoelectric film and vibrating device, make the user receive external touching signal through piezoelectric film, make the vibration of the vibrator on the vibration feedback module corresponds the position again to obtain the feedback to the surrounding environment.

Simultaneously under the touch signal of difference, the vibrator can make the vibrating motor vibration of different quantity to adopt different vibration frequency vibration, thereby make the user have more accurate cognition to surrounding environment.

Drawings

In order to more clearly illustrate the technical solution of the present invention, the following description is briefly introduced with reference to the accompanying drawings of the embodiments:

fig. 1 is an overall schematic view of a prosthetic arm with tactile feedback.

Fig. 2 is a schematic view of a piezoelectric film distribution.

Fig. 3 is a schematic view of a vibration device.

Detailed Description

The technical solution of the present invention is further explained with reference to the accompanying drawings and embodiments.

A prosthetic arm with tactile feedback, see fig. 1. The artificial limb arm comprises an artificial limb hand 1, an artificial limb small arm 2, a piezoelectric film 3, a vibration feedback module 4 and a control module 5. The fingers of the prosthetic hand can be flexed to accomplish a given task. The back of the hand of the prosthetic hand is flat and does not bend, and the piezoelectric film is used for arranging the piezoelectric film so as to acquire a touch signal transmitted from the back of the hand. The artificial limb small arm is used for connecting the artificial hand and the large arm of a user, and helps the small arm stump patient to use the artificial limb arm. The artificial limb small arm is made of light materials, and the inside of the small arm is hollow, so that the wearing burden of a residual limb patient is reduced. The surface of the artificial limb forearm needs to be flat for arranging the piezoelectric film so as to obtain touch signals transmitted from two sides of the forearm.

The piezoelectric film 3 is shown in fig. 2. The upper prosthetic arm has the palm facing upward and the lower prosthetic arm has the back facing upward. The piezoelectric film 3 is distributed on the back surface of the prosthetic hand 1, the outer surface of the prosthetic arm 2 and the inner surface of the prosthetic arm 2 in 3 areas. The piezoelectric film 3 is in a strip shape and is arranged in each area in a sectional mode. And the piezoelectric film 3 is tightly attached to the surface of the artificial limb and is not influenced by the action of the artificial limb. All piezoelectric films 3 can receive tactile signals and are connected to the control module 5. When a certain area of the prosthetic arm is touched in a large area, a plurality of piezoelectric films 3 in the area are touched with touch signals, and conversely, when only a partial area of the prosthetic arm is touched, only one or two piezoelectric films 3 in the area are touched with touch signals, so that the range of the touch signals is identified. Meanwhile, the piezoelectric film 3 can generate electric signals with different intensities according to touch signals with different intensities, so that the intensity of the touch signals can be identified.

The vibration feedback module 4 is shown in fig. 3. The vibration feedback module 4 is composed of three vibrators 41, and is disposed on an arm cuff 42. The arm protective sleeve can be worn on the big arm of the stump patient through adhesive tapes 45 on two sides. These vibrators 41 are arranged on the outer surface of the large arm, which is located far from the prosthetic end, and on the outer surface of the large arm, which is located near the prosthetic end, and on the inner surface of the large arm, which correspond to the piezoelectric film 3 on the outer surface of the prosthetic forearm, the back surface of the prosthetic hand, and the inner surface of the prosthetic forearm, respectively. The vibration feedback module 4 needs to be connected with the control module 5 to receive the instruction transmitted by the control module 5. When the piezoelectric film 3 receives a signal, the vibrator 41 at the corresponding position will vibrate accordingly, thereby implementing the feedback function.

The vibrator 41. One vibrator 41 is constituted by a plurality of vibration motors 43, which are arranged in a row. Meanwhile, each vibrator needs to be provided with a power supply module 44 to ensure that the vibrator 41 has sufficient dynamic vibration. The vibrator 41 vibrates regularly as follows, and when the signal vibration of the piezoelectric film 3 is stronger, the vibration frequency of the vibration motor 43 is higher; as the signal of the piezoelectric film 3 on the same area is more, the more the vibration motor 43 vibrates.

The utility model discloses can make the user receive external touch signal through piezoelectric film 3, handle via control module 5, make vibration feedback module 4 vibration 41 on corresponding the position again to help the incomplete limb patient of upper limbs obtain the perception more comprehensive to the surrounding environment through prosthetic limb.

Claims

1. The artificial limb arm with the tactile feedback is characterized by comprising an artificial hand (1), an artificial limb small arm (2), a piezoelectric film (3), a vibration feedback module (4) and a control module (5).

2. A prosthetic arm with haptic feedback as claimed in claim 1, wherein the membrane is distributed on three areas of the back of the prosthetic hand, the outer surface of the prosthetic arm and the inner surface of the prosthetic arm in a segmented arrangement, the surface of the prosthetic arm is flat to allow the piezoelectric membrane to be stably arranged on the surface of the prosthetic hand, and the piezoelectric membrane is connected to the control module, and the external haptic signals received by the piezoelectric membrane are transmitted to the control module for processing.

3. A prosthetic arm according to claim 1, wherein the prosthetic arm comprises a plurality of vibrators, the vibrators are arranged on the outer surface of the upper arm far from the prosthetic end, the outer surface of the upper arm near the prosthetic end, and the inner surface of the upper arm respectively corresponds to the outer surface of the prosthetic forearm, the back of the prosthetic hand, and the piezoelectric film on the inner surface of the prosthetic forearm, and the vibrators in the corresponding positions vibrate after receiving signals, thereby realizing the feedback function.

4. A prosthetic arm with tactile feedback according to claim 3, wherein one vibrator is composed of a plurality of vibration motors, which are arranged in a row, the vibrator vibrates according to the following rule, and the stronger the signal of the piezoelectric film, the higher the vibration frequency of the vibration motor; when more piezoelectric film signals are transmitted from the same area, more vibration motors vibrate.

5. A prosthetic arm with tactile feedback according to claim 4, wherein the control module is capable of receiving the signal from the piezoelectric film, analyzing and processing the signal, and issuing a command to control the vibration feedback module to vibrate accordingly, and the control module enables the prosthetic arm to perform normal movements.