SU1475652A1 - Device for controlling multifunctional prosthesis - Google Patents

Abstract

This invention relates to medicine, prosthetics and prosthetic engineering. The device comprises an actuator switching unit 1 with a contact unit 16 associated with a switching unit 21, an actuator control unit 2 and an information unit 31. By performing a switching unit 1 in the form of a two-contact switch 3 connected with the electric drive 12 through the reverse unit 4 , and the control unit 2 of the actuator in the form of a second two-contact switch 3, connected through the second block 4 of the reverse with the actuators, and the elements of communication between the blocks, as well as the circuit p With the block 4 of the reverse, the device allows to mechanize the selection process and eliminate errors when connecting the actuator to the control system, which increases the reliability of the connection and the efficiency of the prosthesis control. 9 il.

Description

11475652

This invention relates to prosthetics and prosthetic engineering and can be used in multifunctional upper limb prostheses.

The purpose of the invention is to provide control of a multifunctional prosthesis for a short stump and shoulder detachment.

power point 7, made, for example, in the form of a battery of batteries. The gearbox 13 is connected to a contact block 16, made in the form of separate contact elements 17, for example, on a textolite in the form of vertical foil strips, each of which is connected with a corresponding cascade 18 of the block

Figure 1 shows the block diagram of the relay relay keys 19, the load of which is; figure 2 - diagram of the bridge power amplifier; FIG. 3 shows an embodiment of a contact block; figure 4 is a variant of the pulse shaper of a certain duration; 15 in FIG. 3 — a variant of the audio frequency generator circuit; Figures 6 and 7 show embodiments of a step-by-step reverse unit circuit diagram; Figures 8 and 9 are embodiments of a block diagram re, - 20 versa per relay.

The device (Fig. 1) contains an actuator switching unit I and a control unit 2 for them. The input stages of blocks 1 and 2 are similarly executed and include a two-contact switch 3 for three positions and a reverse circuit 4.

The reverse circuit 4 contains the first element EXCLUSIVE OR 5 ,, the first 30 input of which through time specifies the RC-chain 6 is connected to the first contact of the switch 3, the closing contact of which is connected to the + bus of the power source 7, the second element EXCLUSIVE OR 8, the first input which is connected to the first input of the first element 5, and the second input through the divider 9 is connected with the second contact of the switch 3. The outputs of the elements 5 and d () 8 respectively are connected to the R and S inputs of the RS flip-flop 10, the S input of the flip-flop is connected while with the second input of the first element 5, and trigger output

These are the relays 20 from the switching unit 21, the contacts 20 of which in the control unit 2 connect the corresponding actuators 22 from the unit 23 of the actuators. The contact elements 17 of block 16 are also connected to the inputs of the element OR 24.

The output of the OR 24 element is connected to the input of the pulse width imager 25, made, for example, on the OR-NOT elements (Fig. 4). The output of the imaging unit 25 is connected to an audio frequency generator 26, made in the form of a standby multivibrator, for example, on AND-NIC chips (Fig. 5), the load of which is a small-sized telephone capsule 27, for example from a hearing aid, installed in the sleeve of the shoulder girdle.

The power supply bus of the generator 26 is connected to the second contact of the switch 3 of the unit 1.

In block 2 of the control of actuating mechanisms, the power amplifier 11 from the reverse 4 circuit is connected with the common drive of all switching elements of the relay by means of which separate actuators 22 of block 23, made in the form of electric drives:

1 (gripper-open fingers),

2 (hand rotations), 3 (bending and unbending the hand), 4 (bending and bending 50

10 is connected to the input of the power amplifier - no elbow), 5 (lead-down 11 (Fig. 2). In this case, in block 1 block), 6 (bending-shoulder-down), 7 (lead-back-up), connected in series to the power amplifier 11 of the unit 2, the second output of the power amplifier 11 is connected to the common wire of the actuators 22 of the unit 23.

The outputs of the EXCLUSIVE OR elements 5 and 8 of the block 2 are connected respectively to the first and second inputs of the ejector 13 which is fixed to the clamping OR 28, the output of which is connected to the visually insulating strap 14 (Fig. 3), with the input of the key relay cascade of which is installed spring loaded 29, the load of which is contact 15 connected to + bus of relay 30, switching element of switching the actuators + - power supply cable of power amplifier 11 made, for example, according to bridge circuit, is connected to the first contact off 3 bodies.

The reverse unit 4 of the actuator switching unit 1 is connected to the electric drive with a low-power small-sized engine 12, to the pe55

These are the relays 20 from the switching unit 21, the contacts 20 of which in the control unit 2 connect the corresponding actuators 22 from the unit 23 of the actuators. The contact elements 17 of block 16 are also connected to the inputs of the element OR 24.

The output of the OR 24 element is connected to the input of the pulse width imager 25, made, for example, on the OR-NOT elements (Fig. 4). The output of the imaging unit 25 is connected to an audio frequency generator 26, made in the form of a standby multivibrator, for example, on AND-NIC chips (Fig. 5), the load of which is a small-sized telephone capsule 27, for example from a hearing aid, installed in the sleeve of the shoulder girdle.

The power supply bus of the generator 26 is connected to the second contact of the switch 3 of the unit 1.

In block 2 of the control of actuating mechanisms, the power amplifier 11 from the reverse 4 circuit is connected with the common drive of all switching elements of the relay 20 by means of which separate actuators 22 of the block 23, made in the form of electric drives:

1 (gripper-open fingers),

2 (hand rotations), 3 (bending and unbending the hand), 4 (bending and bending

connects the + power supply bus 7 to the + power buses of all the relay key stages 18 of the block 19

Power amplifiers (figure 2) are built on transistors 32-37 according to the traditional scheme.

Element 24 OR, shaper 25, an audio frequency generator 26 (FIG. 5) and a telephone capsule 27 form an information unit 31. The telephone capsule 27 is connected to the generator 26 through a transistor stage using transistors 38 and 39 (FIG. 5).

Two-contact switches 3 (block 1 and block 2) are installed on the body of the disabled person of his choice in any convenient place to control, for example, on the sleeve of the shoulder or on the upper arm, under the healthy limb, in the inter-shoulder area of the back, on the chest, or even on abdominal at management th

A low-power stepper reversing motor can be used as a low-power small-sized motor of the switching unit 1, the gear of which selects the required actuator, in this case the reverse circuits can be made, as shown in FIG. 6 and 7, and the contact unit 16 can be greatly simplified.

The reverse circuit in block 1 can be executed on two relays according to the circuits shown in FIG. 8 and 9.

The device works as follows.

In the initial state, when the contacts of the switches 3 of the blocks 1 and 2 (Fig. 1) are in the open state, the first inputs of the elements EXCLUDE 1 OR 5 and 8 are O and the second inputs of elements 8 are O, therefore , at the outputs of elements 8, there is also a signal which, arriving at the second inputs of the elements EXCLUSIVE OR 5, block 1 and block 2, sets the potential O at their outputs. The RS flip-flops 10 of both blocks retain their previous state, the power amplifier 11 of block 1 is disconnected from the power source 7, and the diagonal is open in the power amplifier 11 of block 2 because the contact elements 20 of block 21 are open. Thus the electric drive of the engine 12 unit 1 and

0

g -

five

five

0

the drives 22 of block 23 do not work, the gearboxes of the engines are fixed.

When the switch 3 of unit 1 is affected (by a weak pressing of a preserved stump or another organ, or by a weak tension), the first contact of the switch 3 is activated and 1 signal is fed to the first inputs of the EXCLUSIVE OR 5 and 8 elements of the reverse circuit 4. At the second input of the element 8, O is stored, then at the output of this element a potential is established that, arriving at the second input of element 5, sets it to the O state. Thus, at the P input of the RS-flip-flop 10 of block 1 - O, at the S-input of -, the flip-flop is set to 1 state, which corresponds to the bridge diagonal operation on transistors 34-36 of power amplifier 11 (Fig. 2), which causes movement the gearbox 13 of the engine 12 in the direction of the initial state. There is no power supply voltage to the audio frequency generator 26, and there is no audio indication.

With a stronger effect on the switch 3 of the block 1 (or a stronger tension of the corresponding grip), the second contact of the switch 3 operates, applying a voltage to the generator 26 and 1 signal -.the second input of the element EXCLUSIVE OR 8 of the reverse circuit 4 block 1. The state of the element EXCLUSIVE OR 8 is changed from 1 to O. At the output of the element

5 appears

in this way on

Q with

0

five

The R-input of the trigger 10 receives 1 signal, the S-input - O signal. The trigger 10 is set to the O state, which corresponds to the operation of the transistors 32, 33, 37 of the diagonal of the bridge - amplifier 11, which induces the movement of the gear 13 in the opposite direction. The gearbox 13 moves the bar 14 (Fig. 2) with contact 15, alternately transmitting + the potential of the power source 7 to the contact elements 17 of the contact block 16. The positive polarity impulses generated through the PLI 24 element arrive at the input of the imaging unit 25, which is on the leading edge the input signal generates a positive polarity pulse of a strictly defined duration. This pulse is fed to the input of the generator 26, which determines the duration of the sound

51475652

signal. In the telephone capsule 27, a beep or signals are heard, the number of which corresponds to the number of 13 contact elements traveled by the gearbox. For example, when choosing the flexure-elbow electric drive, the disabled person, hearing the fourth beep, should stop affecting the switch 3 of the block, while the gearbox 13 will stop at the fourth contact element 17 and through the contact 15 + the potential from the power source 7 through the divider will be fed to the input of the corresponding fourth key stage 18 from block 19.

To control the selected actuator 22 from block 23, the disabled person acts on switch 3 of block 2 by weak pressing (or by pulling the switch), to activate the first contact, the signal from which sets the RS-flip-flop 10 of block 2 to 1 state, similarly the operation of block 1 turns off the diagonal of the bridge - amplifier 11 on transistors behind, 35 and 36, and at the same time there appears 1 signal at the output of the element OR 28, which opens the key stage 29. Through the contact 31, the relay 30 + of the power supply goes to the + buses of all relays x cascades 18 block 19.

Relay 20 is triggered only in the fourth stage 18, to the input of which is fed + power supply 7 via contact element 17 and contact 15 (by stopping gearbox 13) connecting its contact 20 from block 21 to the corresponding electric drive 22 (in this example, electric flexion-elbow) ).

To change the direction of movement of the actuator 22, a disabled person needs, similarly to block 1, to increase the pressure on the switch 3 of block 2 (or increase the tension of the pull switch of this switch) so that the second contacts of switch 3 are activated.

The selection of the next actuator begins with a weak effect on the switch 3 of unit 1, in which the gearbox 13 of the engine 12 is reset

6

ten

The device allows to increase the reliability of the connection of the actuators and the efficiency of the prosthesis control due to the mechanization of the process of selecting the actuator, as well as to increase the functionality of the prosthesis by increasing the number of actuators.

Claims (1)

1. A device for controlling a multi-functional prosthesis, comprising an actuator switching unit with a contact unit associated with a switching unit, an actuator control unit, an information unit including a generator and a feedback sensor, and an actuator unit, characterized in , in order to provide control of the multifunctional prosthesis to a short stump and shoulder articulation, in it the switching unit is designed as a two-contact switch, which through connected with an actuator selection actuator, the gearbox of which is connected to a contact unit connected via an OR or driver connected to the information unit generator, and the actuator control unit is designed as a second two-contact switch connected to the second reverse unit, the first output of which is connected to the switching elements of the switching unit, the second output to the actuators, and the third and fourth outputs are connected via the OR element to the relay A key cascade whose contacts are connected to a switching unit. 2. The device according to claim 1, characterized in that its reverse unit is made in the form of an RC chain connected to the first and second elements EXCLUSIVE OR, whose outputs are connected to the RS-trigger inputs connected to the power amplifier, the second input of the second element EXCLUSIVE OR is connected to the voltage divider, and its output is with the second input of the first 5 elements EXCLUSIVE OR. five 0 five 0 ft first contact 4Wdjf vbZc r - 7 b switches I s c 1TL te.z eight H s.5 Fig.d Editor N.Gorvat Compiled by A.Novikov Tehred M. Khodanych 7 about five -3 + P2 FIG. 9 Proofreader N.Korol j