WO2021090979A1

WO2021090979A1 - Thumb and index finger-based hand motion control system of myoelectric hand, and control method therefor

Info

Publication number: WO2021090979A1
Application number: PCT/KR2019/014991
Authority: WO
Inventors: 박세훈; 김신기; 최종문; 정성윤; 이희태; 김승기; 류제청
Original assignee: 근로복지공단
Priority date: 2019-11-05
Filing date: 2019-11-06
Publication date: 2021-05-14
Also published as: KR102326552B1; KR20210054264A

Abstract

The present invention relates to a thumb and index finger-based hand motion control system of a myoelectric hand, and a control method therefor and, more specifically, to a thumb and index finger-based hand motion control system of a myoelectric hand, and a control method therefor, the system enabling the expression of both grabbing motions for grabbing an object by means of limited electromyogram signals transmitted from two electromyogram sensors provided in a myoelectric hand, and hand gestures expressing emotions or intent, and enabling diversification of the shape of hand gestures and grabbing types according to the position of the thumb, which can be changed by a user, and the position of the index finger when expressing a motion, and thus easily and conveniently expands the range of applications of the myoelectric hand.

Description

Thumb and index finger-based hand motion control system and control method for myoelectric electric prosthesis

The present invention relates to a thumb and index finger-based hand gesture control system and a control method of an electromyoelectric prosthesis, and more particularly, to grip an object by limited EMG signals transmitted from two EMG sensors provided in the electromyoelectric prosthesis. By allowing the user to express not only the gripping motion, but also the hand motion that expresses emotions and intentions, the shape of the hand motion and the shape of the grip can be diversified according to the position of the thumb that the user can change and the index finger when expressing the motion. , The present invention relates to a thumb and index finger-based hand motion control system of an electromyoelectric prosthesis, which enables easy and simple expansion of the application range of the electromyoelectric prosthesis, and a control method thereof.

In order to contribute to improving the quality of life by resolving the discomfort in daily life experienced by many disabled people, research and development on various types of medical devices and rehabilitation aids have been actively conducted.

In particular, in the case of the myoelectric hand for amputated upper limb patients, the handicapped's independent social activity by using the EMG signal, which is an electrical signal from the arm muscles, to move the artificial hand to hold objects, etc. It is a representative rehabilitation assistance device that enables you to live a lifelong life.

In the case of such an electric prosthesis, in recent years, five-finger-type products that not only can stably hold various types of objects, but also express various opinions such as OK sign and English letter'V' with hand gestures, have expanded the market. Going out.

However, these five-finger type myoelectric electric prostheses have not completely replaced the conventional three-finger type myoelectric electric prostheses, as well as durability, price, and maintenance until about 12 years have passed since they were first developed in 2006. Many disadvantages such as cost and convenience are constantly being exposed.

In particular, since it is difficult to easily change hand motions in implementing various hand motions using these five-finger-type myoelectric prosthetics, 10 to 30 different hand motions are implemented compared to the hand motions implemented to perform the existing simple gripping function. There was a problem in that many difficulties exist in utilizing all of these possible advantages.

In other words, the conventional 5-finger type myoelectric prosthesis can implement various hand and gripping motions, but in order to change the motion, an additional control signal beyond the control signal consisting of only the EMG signals that the user can apply to the residual muscles for the gripping motion. A control signal is required, or a device such as an APP or a dongle (wireless chip) is additionally required, and thus, there is a problem in that the complexity of the operation is greatly increased.

As such, the addition of a device or an increase in the complexity of operation weakens the durability, lowers the usability, and increases the manufacturing price and maintenance cost. There was no choice but to.

The present invention allows the user to change not only the gripping motion of holding an object by the limited EMG signals transmitted from the two EMG sensors provided in the electromyography, but also the hand motions expressing emotions and intentions. The thumb and thumb of the myoelectric electric prosthesis that allows the use of the myoelectric electric prosthesis to be easily and conveniently expanded by allowing the shape of the hand movement and the shape of the grip to be diversified according to the position of the thumb and the index finger at the time of motion expression. A task is to provide a detection-based hand motion control system and a control method thereof.

The thumb and index finger-based hand motion control system of an electromyoelectric prosthesis for solving the above problem includes: a first electromyogram sensor connected to the electromyoelectric prosthesis and attached to a user's body; A second EMG sensor connected to the electromyoelectric prosthesis and attached to the user's body; A thumb detection sensor that determines whether a thumb provided in the myoelectric prosthesis is placed in a horizontal position or a vertical position; To change the control unit to be activated by switching between the hand motion mode for expressing intentions or emotions and the gripping motion mode for grabbing an object through signals simultaneously received from the first and second EMG sensors. An operation mode switching unit; In the hand motion mode activated by the operation mode switching unit, when a detailed mode corresponding to a horizontal position and a vertical position is selected according to the position of the thumb, transmission from at least one of the first and second EMG sensors A hand motion control unit for receiving the EMG signal and activating a control signal for driving the myoelectric electric prosthesis to implement a hand motion matched to each detailed mode and transmitting it to the driving unit of the myoelectric electric prosthesis; And in the gripping operation mode activated by the operation mode switching unit, when a detailed mode corresponding to a horizontal position and a vertical position is selected according to the position of the thumb, at least one of the first and second EMG sensors. Including; a gripping operation control unit for receiving the EMG signal transmitted from and activating a control signal for driving the electromyoelectric prosthesis to implement a gripping operation matched to each detailed mode and transmitting it to the driving unit of the electromyography prosthesis; and When one of the first EMG sensor and the second EMG sensor has a HIGH value and the other sensor has a LOW value, when the first activation signal is input, a hand motion or a gripping motion in a state with the index finger open Is implemented, and when one of the first EMG sensor and the second EMG sensor has a LOW value and the other sensor has a HIGH value, when a second activation signal is input, the index finger is bent. It is characterized in that the hand motion or the gripping motion of the state is implemented.

In this case, the operation mode switching unit is characterized in that the control unit that is activated whenever a simultaneous activation signal to which a HIGH value is applied from both the first and second EMG sensors is input is switched between the hand motion control unit and the gripping operation control unit. do.

In addition, the operation mode switching unit includes a control unit that is activated whenever a simultaneous activation signal to which a HIGH value is applied from both the first and second EMG sensors is input at least twice in succession at a preset time interval. The gripping operation control unit is switched between each other, and each time the simultaneous activation signal is input, the horizontal position and the vertical position of the thumb are switched between each other.

On the other hand, the hand motion control unit, in each sub-mode of the hand motion mode, the myoelectric force to spread or bend fingers by the first activation signal and the second activation signal consisting of an EMG signal transmitted from the first or second EMG sensor. A hand motion setting unit for storing a control signal in which a driving signal for operating the driving unit of the electric prosthesis is matched; A thumb sensing unit that selects and activates a detailed mode that matches the location information of the thumb transmitted from the thumb sensing sensor while the hand motion mode is activated; And a hand motion execution unit that derives a preset control signal from the first activation signal and the second activation signal and transmits it to a driving unit in a state in which the detailed mode selected by the thumb sensing unit is activated. do.

Here, the hand motion setting unit is in the first activation signal state in which a high value is input from the first EMG sensor and a LOW value is input from the second EMG sensor in the detailed mode of the hand motion mode in which the thumb is in a vertical position. In order to represent the first hand motion to be expressed in the second activation signal state in which a LOW value is input from the first EMG sensor and a HIGH value is input from the second EMG sensor, It is characterized in that it is configured to generate and store a control signal matching the first activation signal and the second activation signal with a driving signal for bending or extending finger joints.

In addition, in the detailed mode in which the thumb is in the vertical position, the hand motion setting unit sets the first first activation signal state to indicate a'scissors' hand motion, and the first second activation signal state to indicate a'thumbs up' hand motion. In the detailed mode where the thumb is in a horizontal position, the first activation signal state is set to express'indexing' hand gestures, and the first second activation signal state is set to express hand gestures indicating'OK'. It is characterized.

In addition, the hand motion setting unit is set to indicate a'bo' hand motion when the first activation signal is input again in the'scissors' hand motion state or the'thumbs up' hand motion state, and again in the'indexing' hand motion state When the activation signal is input, it is set to express the English'V' hand motion indicating victory, and when the first activation signal is input again in the hand motion state indicating'OK', the thumb is set to express the grip state hand motion in the horizontal position. It is characterized.

In addition, the hand motion setting unit indicates a'fist' hand motion state when a second activation signal is input again in the'scissors' hand motion state, and indicates a'bow' hand motion when the first activation signal is input again in the'fist' hand motion state. And when the first activation signal is input again in the'V' hand motion state, the thumb is set to express the gripping hand motion in the horizontal position.

In addition, the hand motion setting unit is in the first activation signal state in which a high value is input from the first EMG sensor and a LOW value is input from the second EMG sensor in the detailed mode of the hand motion mode in which the thumb is in a horizontal position. In order to represent the third hand motion to be expressed in and the fourth hand motion to be expressed in the second activation signal state in which a LOW value is input from the first EMG sensor and a HIGH value is input from the second EMG sensor, It is characterized in that it is configured to generate and store a control signal matching the first activation signal and the second activation signal with a driving signal for bending or extending finger joints.

On the other hand, the gripping operation control unit, while spreading or bending fingers by the first activation signal and the second activation signal consisting of an EMG signal transmitted from the first or second EMG sensor in each detailed mode of the gripping operation mode. A gripping operation setting unit for storing a control signal matched with a driving signal for operating the driving unit of the near electric prosthesis so as to grip an object; A thumb sensing unit for selecting and activating a detailed mode matching the position information of the thumb transmitted from the thumb sensing sensor while the gripping operation mode is activated; And a gripping operation execution unit that derives a control signal preset by the first activation signal and the second activation signal and transmits it to a driving unit in a state in which the detailed mode selected by the thumb detection unit is activated. It is done.

Here, the gripping operation setting unit is the second activation in which a LOW value is input from the first EMG sensor and a HIGH value is input from the second EMG sensor in a detailed mode of the gripping operation mode in which the thumb is in a vertical position. In order to indicate the first gripping action to be taken in the signal state, a control signal in which a driving signal for bending or extending finger joints is matched with the second activation signal is generated and stored.

In addition, the gripping operation setting unit is set to take a'cylinder grip' gripping operation with the thumb flattened in the first second activation signal state in the detailed mode in which the thumb is in a vertical position, and the thumb is in a horizontal position. In the mode, in the first activation signal state, a'first power grip' holding operation is performed with all fingers open, and in the first second activation signal state, a'tip (precision) grip' is set to be taken. do.

In addition, the gripping operation setting unit is configured to perform a gripping operation of the'cylinder grip' with the thumb bent when the second activation signal is input again in the'cylinder grip' state, and the gripping operation is set again in the'first power grip' state. 2 When the activation signal is input, the'second power grip' gripping action is performed with all fingers bent, and when the first activation signal is input again in the'tip (precision) grip' state, the'first power grip' with all fingers open. 'It is characterized in that it is set to take a gripping operation.

In addition, the gripping operation setting unit is configured to take a gripping operation in a'beam' state when the first activation signal is input again in a gripping operation state of the'cylinder grip' in which the thumb is bent, and the'second power grip' state When the first activation signal is input again, a gripping operation in a'first power grip' state in which all fingers are opened is set to be performed.

In addition, the gripping operation setting unit, in the detailed mode of the gripping operation mode in which the thumb is in a horizontal position, the first activation in which a HIGH value is input from the first EMG sensor and a LOW value is input from the second EMG sensor. A second gripping operation to be expressed in a signal state and a third gripping operation to be expressed in the second activation signal state in which a LOW value is input from the first EMG sensor and a HIGH value is input from the second EMG sensor. In order to indicate, it is configured to generate and store a control signal in which a driving signal for bending or spreading finger joints is matched with the first activation signal and the second activation signal.

In addition, the gripping operation setting unit is configured to perform a gripping operation of the'cylinder grip' with the thumb bent when the second activation signal is input again in the'cylinder grip' state, and the gripping operation is set again in the'first power grip' state. 2 When the activation signal is input, the'second power grip' gripping action is performed with all fingers bent, and when the first activation signal is input again in the'tip (precision) grip' state, the'first power grip' with all fingers open. 'It is characterized in that it is set for a gripping operation.

The present invention enables the user to change not only the gripping motion of holding an object by the limited EMG signals transmitted from the two EMG sensors provided in the electromyography, but also the hand motions expressing emotions and intentions. There is an effect of being able to diversify the shape of the hand motion and the shape of the grip according to the position of the thumb and index finger when expressing the motion.

In addition, the present invention enables not only the gripping of an object but also the expression of various hand gestures without the addition of additional equipment such as an app or a dongle, and thus there is an effect that the range of use of the near-front electric prosthesis can be easily expanded.

In addition, the user can easily use it by configuring to express the motion through a unified signal according to the open or bent state of the index finger when expressing motion such as a hand motion or a gripping motion.

1 is a block diagram of a thumb and index finger-based hand motion control system of a near electric prosthesis according to the present invention.

2 is an exemplary photograph showing a hand motion and a gripping motion according to an embodiment of the thumb and index finger-based hand motion control system of the present inventors myoelectric prosthesis;

3 is an exemplary photograph showing a hand motion and a gripping motion according to another embodiment of the thumb and index finger-based hand motion control system of the present inventors near-front electric prosthesis;

Figure 4 is a configuration diagram of a thumb and index finger-based hand motion control method of a near electric prosthesis showing hand motion or gripping motion according to the present invention.

Hereinafter, specific embodiments of the present invention will be described in detail with reference to the drawings.

1 is a block diagram of a thumb and index finger-based hand motion control system of an electromyoelectric prosthesis according to the present invention, and FIG. 2 is a hand motion according to an embodiment of the thumb and index finger-based hand motion control system of an electromyoelectric prosthesis according to the present invention. It is an exemplary photograph showing a gripping motion, and FIG. 3 is an exemplary photograph showing a hand motion and a gripping motion according to another embodiment of the thumb and index finger-based hand motion control system of the present inventors.

First, referring to FIGS. 1 and 2, the thumb and index finger-based hand motion control system of an electromyoelectric prosthesis according to the present invention includes two EMG sensors ( When the EMG signal is applied together (simultaneous activation signal) in 10), the motion performed by the EMG electric prosthesis (1) is activated by switching between the hand motion mode for expressing intentions or emotions and the gripping motion mode for grasping an object. Whether the rotated thumb is in a horizontal position or a vertical position when the user manually rotates the operation mode switching unit 100 for changing the operation control unit and the thumb provided in the myoelectric prosthesis 1 In the hand motion mode activated by the thumb detection sensor 200 that determines the value and the detailed mode that matches the horizontal position and the vertical position respectively according to the position of the thumb in the hand motion mode activated by the operation mode switching unit 100, any one The driving part of the EMG motor 1 by activating a control signal that drives the EMG electric prosthesis 1 in order to implement the hand motion matched to each detailed mode by receiving the EMG signal transmitted from the EMG sensor 10 of the In the gripping operation mode activated by the hand motion control unit 300 transmitted to (20) and the operation mode switching unit 100, a detailed mode that matches the horizontal position and the vertical position respectively according to the position of the thumb is selected, In order to receive an EMG signal transmitted from any one EMG sensor 10 and implement a gripping operation matched to each detailed mode, a control signal that drives the EMG motor 1 is activated to activate the EMG electric prosthesis (1). ), by including the gripping operation control unit 400 that is transmitted to the driving unit 20 of), it is configured to implement both the hand movement and the gripping operation only with the same EMG signal.

That is, the present invention generates a new driving signal in that it is possible to express not only the grip of an object, but also a simple hand motion representing the user's expression of intention or emotion by using the 5-finger type multi-joint myoelectric prosthesis (1). It is possible to implement using only the EMG signal used to control the conventional gripping motion without having an additional device such as an APP or a dongle that can be performed.

Accordingly, in the present invention, a signal applied by a user wearing a myoelectric prosthesis 1 in order to implement a hand motion for expression of intention or emotion is attached to the body in order to perform a gripping operation of an object in the prior art. Since it is only an EMG signal that can be obtained from the two EMG sensors 10 that have existed, it is possible to more conveniently express simple hand movements without learning a complicated and new operation method.

In this way, in order to implement both the gripping motion and the hand motion by the limited EMG signals transmitted from the two EMG sensors 10, the EMG motorized prosthesis 1 is attached to the user's skin to obtain an EMG signal. It includes a dog EMG sensor 10 and a driving unit 20 that is driven by an EMG signal obtained from the EMG sensor 10 to bend or expand a joint of a finger.

In this way, the combination of the EMG signals that may be generated from the two EMG sensors 10 is when the activation signals are detected by both EMG sensors 10, and the activation signal is detected only in either EMG sensor 10 of the two. In some cases, in the present invention, not only the gripping of an object but also a simple hand gesture can be expressed using only these three signals.

That is, the signals generated by the two EMG sensors 10 attached to the body are the first EMG signals transmitted from the first EMG sensors 11 and the second EMG sensors 12, as shown in the following [Table 1]. ), the second EMG signals all represent HIGH values (represented as a co-contraction signal in FIG. 2), and only the first EMG signals represent a HIGH value, and the second EMG signal represents a LOW value. Only the first activation signal (indicated by the open signal in Fig. 2) and the second activation signal (indicated by the Close signal in Fig. 2) indicating a LOW value for the first EMG signal and a HIGH value for the second EMG signal are possible. It is done. In this case, when a HIGH value is applied from the EMG sensor 10, this is referred to as an activation signal indicating that each EMG sensor is activated.

	동시 활성화신호(Co-contraction)Simultaneous activation signal (Co-contraction)	제1활성화신호First activation signal	제2활성화신호2nd activation signal
제1근전도 신호First electromyogram signal	HIGHHIGH	HIGHHIGH	LOWLOW
제2근전도 신호2nd EMG signal	HIGHHIGH	LOWLOW	HIGHHIGH

Among these three types of signals, the simultaneous activation signal is a conversion signal that can change the operation mode between the hand operation mode and the gripping operation mode, and is used by the operation mode switching unit 100, and the first activation signal and the second activation signal are hand operation mode. Both the and the gripping operation mode are configured to be used by the hand movement control unit 300 and the gripping operation control unit 400 as a control signal for expressing the hand movement or expression of the gripping operation set in advance. Accordingly, the operation mode switching unit 100, This is to switch between the hand motion mode and the gripping motion mode the operation to be performed using the electromyoelectric prosthesis (1).Whenever a simultaneous activation signal is input in which a HIGH value is applied from both EMG sensors (10). The activated control unit is configured to be switched between the hand motion control unit 300 and the gripping operation control unit 400.

That is, in the current hand motion mode, when HIGH values are input from both the first EMG sensor 11 and the second EMG sensor 12 (indicated by a co-contraction signal in FIG. 2), the operation mode switching unit 100 is currently activated. By deactivating the hand motion mode and activating the gripping operation mode, a control signal for bending or spreading fingers by the gripping operation control unit 400 can be applied to the driving unit 20 of the myoelectric electric prosthesis 1.

In addition, while in the gripping operation mode, when HIGH values are input from both the first EMG sensor 11 and the second EMG sensor 12 again (indicated by a co-contraction signal in FIG. 2), the operation mode switching unit 100 Deactivates the currently active gripping operation mode and activates the hand operation mode so that a control signal for bending or spreading fingers by the hand operation control unit 300 can be applied to the driving unit 20 of the myoelectric electric prosthesis 1.

In this way, the control unit that is activated by the operation mode conversion unit 100 and outputs the control signal is changed, so that not only the gripping operation is performed using the same EMG signal transmitted from any one EMG sensor 10 without the addition of additional additional equipment. In addition, you can also express hand movements.

In addition, the thumb detection sensor 200 is for determining whether the thumb provided in the electromyoelectric prosthesis 1 is placed in a horizontal position or a vertical position, and a hand motion that can be implemented in the hand motion mode And a detailed mode of the gripping operation that can be implemented in the gripping operation mode, and configured to detect the position of the thumb.

At this time, the position of the thumb can be changed by the user manually rotating the thumb, and in the above embodiment, a case where the rotated thumb is positioned in a horizontal direction with other fingers is referred to as a horizontal position, and the rotated thumb The case where the other fingers are positioned in a vertical direction is referred to as a vertical position. However, the position of the thumb can be set in various forms without being limited thereto.

In addition, the position of the thumb may be configured to be changed by an automated control signal to be described later through FIG. 3, and a means capable of generating a signal other than the EMG signal that can be received from the two EMG sensors 10 In the present invention to express the hand movement without adding a, it is preferable to configure the thumb position to be changed by rotating it manually (FIG. 2) or automatically (FIG. 3).

In addition, the hand motion controller 300 may extend or bend fingers by an activation signal consisting of an EMG signal transmitted from the first or

second EMG sensors

11 and 12 in each detailed mode of the hand motion mode. In the hand motion setting unit 310 that stores a control signal matching the driving signal for operating the driving unit 20 of 1), and the position information of the thumb transmitted from the thumb sensor 200 when the hand motion mode is activated. The thumb sensing unit 320 that selects and activates the matched detailed mode, and an activation signal transmitted from the first or

second EMG sensors

11 and 12 when the detailed mode selected by the thumb sensing unit 320 is activated It is configured to include a hand motion execution unit 330 that derives a control signal set in advance by and transmits it to the driving unit 20.

At this time, the hand motion setting unit 330 generates a driving signal for operating the driving unit 20 of the myoelectric prosthesis 1 to expand or bend fingers in order to express the hand motion to be displayed in each detailed mode of the hand motion mode. It is configured to match and store the activation signal transmitted from the first or

second EMG sensors

11 and 12.

To this end, the hand motion setting unit 300 inputs a HIGH value from the first EMG sensor 11 and a LOW value from the second EMG sensor 12 in the detailed mode of the hand motion mode in which the thumb is in a vertical position. To express the first hand motion to be expressed in the first activation signal state, and the second activation signal state in which a LOW value is input from the first EMG sensor 12 and a HIGH value is input from the second EMG sensor 12. In order to represent the second hand motion, the control signal is configured to be stored in which a driving signal for bending or expanding the joints of the finger is matched to each activation signal.

At this time, when the first EMG sensor 11 has a HIGH value and the second EMG sensor 12 receives the first activation signal having a LOW value, a hand motion or a gripping motion with the index finger open is implemented. When the first EMG sensor 11 has a LOW value and the second EMG sensor 12 receives a second activation signal having a HIGH value, a hand motion or a gripping motion in a state in which the index finger is bent is set to be implemented. In other words, in the case of a hand gesture or a gripping motion to open the index finger, an operation is implemented through the first activation signal, and in the case of a hand gesture or a gripping motion to bend the index finger, the operation is implemented through the second activation signal. Accordingly, it is necessary to be familiar with only the first activation signal or the second activation signal, that is, since there is no need to memorize all the signal systems for implementing the hand motion or the gripping motion, the user's usability can be greatly improved.

In addition, the hand motion setting unit 310 includes a third hand motion to be expressed in the first activation signal state and a fourth hand motion to be expressed in the second activation signal state in the detailed mode of the hand motion mode in which the thumb is in a horizontal position. It is configured to generate and store a control signal in which a driving signal for bending or spreading finger joints is matched to each activation signal in order to indicate the result.

In the above embodiment, as shown in FIG. 2, in the detailed mode in which the thumb is in a vertical position, the first activation signal state (indicated by the open signal in FIG. 2) is set to indicate a'scissors' hand motion, In the first second activation signal state (indicated by the Close signal in FIG. 2), it was set to indicate a'thumbs up' hand gesture.

In addition, in the detailed mode in which the thumb is in a horizontal position, in the first activation signal state (indicated by the open signal in Fig. 2), it is set to express the'indexing' hand motion indicating the object or direction, and the first second activation In the signal state (indicated by the Close signal in FIG. 2), a hand gesture indicating'OK' was set to be expressed.

In addition, when the first activation signal is input again in the'scissors' hand motion state, the thumb is set to be restored to the initial state in the vertical position. When the first activation signal is input again in the'thumbs up' hand gesture state, it is set to indicate the'bo' hand gesture, and when the first activation signal is input again in the'indexing' hand gesture state, an English'V' hand gesture indicating victory is performed. When the first activation signal is input again in the hand motion state indicating'OK', the thumb is set to express the hand motion in the horizontal position. When the first activation signal is input again in the hand motion state in which the thumb is in the horizontal position, the thumb is set to be restored to the initial state in the horizontal position.

In addition, when the second activation signal is input again in the'scissors' hand motion state, it indicates the'fist' hand motion state, and when the first activation signal is input again in the'fist' hand motion state, it is set to indicate the'paper' hand motion. , When the first activation signal is input again in the'V' hand motion state, the thumb is set to express the hand motion in the horizontal position. When the first activation signal is input again in the'bo' hand motion state, the thumb is set to be restored to the initial state in the vertical position.

The thumb sensing unit 320 is the position of the thumb transmitted from the thumb sensing sensor 200 in a state in which the hand motion mode is activated after setting of the hand motion to be displayed using the finger of the myoelectric electric prosthesis 1 is completed. It is configured to activate the detailed mode matched to the horizontal position or the vertical position according to the information.

At this time, it goes without saying that the detailed mode activated in the hand motion mode changes whenever the user manually rotates the thumb and changes its position from a horizontal position to a vertical position or from a vertical position to a horizontal position.

In addition, the hand motion execution unit 330, in a state in which the detailed mode selected by the position of the thumb is activated, a control signal matched therewith by the activation signal transmitted from the first or

second EMG sensors

11 and 12 It is derived and configured to be transmitted to the driving unit 20 of the electromyoelectric prosthesis (1).

Accordingly, as shown in FIG. 2, when the first activation signal (Open signal) in which a HIGH value is input only from the first EMG sensor 11 is applied in the detailed mode in which the thumb is in the vertical position, the hand motion execution unit 330 activates a control signal consisting of driving signals that move a finger joint so that the'scissors' hand motion expression matched with such a first activation signal can be expressed and transmitted to the driving unit 20 of the myoelectric electric prosthesis (1). Is configured to In this way, the finger of the myoelectric prosthesis 1 is driven by the control signal transmitted by the control of the hand motion execution unit 330, so that the expression'scissors' can be expressed as shown in FIG. 2.

On the other hand, as mentioned above, when the first activation signal is input again in the'scissors' hand motion state or the'paper' hand motion state, the thumb is restored to the initial state in the vertical position, and the thumb is in the horizontal position. When the first activation signal is input again in the hand motion state, the thumb is restored to the initial state in the horizontal position. That is, it is configured to restore the fingers of the myoelectric electric prosthesis 1 to a state before the hand movement was performed, and configured to maintain a ready state for changing an operation mode, changing a detailed mode, or expressing other hand movements.

When the first first activation signal (Open signal) is applied in the detailed mode in which the thumb is in the vertical position, the hand motion execution unit 330 displays the'scissors' hand motion matched with the first first activation signal. The control signal that moves the joint is activated and transmitted, and accordingly, the finger of the myoelectric electric prosthesis 1 is driven so that the'scissors' hand gesture expression can be expressed as shown in FIG. 2.

Thereafter, when the first activation signal is input once more, the fingers of the myoelectric prosthesis 1 are restored to the state before the hand movement was performed.

In addition, when the first second activation signal (Close signal) is applied in the detailed mode in which the thumb is in the vertical position, the hand motion execution unit 330 displays a'thumb-zuck' hand motion matched with the first second activation signal. A control signal that moves the finger joint is activated and transmitted so that the finger joint can be moved, and accordingly, the finger of the myoelectric electric prosthesis 1 is driven to express a'thumb-chuck' hand gesture expression as shown in FIG. 2.

In addition, when the first first activation signal (Open signal) is applied in the detailed mode in which the thumb is in the horizontal position, the hand motion execution unit 330 indicates a'indexing' hand motion matched with the first first activation signal, When the first second activation signal (Close signal) is applied, the control signal that moves the finger joint is activated and transmitted to indicate the'ok' hand motion matched with the first first activation signal. As shown in FIG. 2, the finger of 1) is driven to express'indexing' or'okay' hand gesture expression.

In addition, according to the same principle, when the first activation signal is input again in the'thumbs up' hand motion state, the'bo' hand motion is expressed, and when the first activation signal is input again in the'indexing' hand motion state, the English'indicating victory' When the first activation signal is input again in the hand motion state indicating V'and the hand motion indicating'OK', the hand motion in which the thumb is in the horizontal position is expressed.

In addition, according to the same principle, when the second activation signal is input again in the'scissors' hand motion state, the'fist' hand motion is expressed, and when the first activation signal is input again in the'fist' hand motion state, the'bow' hand motion Is expressed, and when the first activation signal is input again in the'V' hand motion state, the hand motion in which the thumb is in the horizontal position is expressed.

In addition, the gripping operation control unit 400 grips an object while spreading or bending fingers by an activation signal composed of an EMG signal transmitted from the first or

second EMG sensors

11 and 12 in each detailed mode of the gripping operation mode. A gripping operation setting unit 410 that stores a control signal matched with a driving signal that manipulates the driving unit 20 of the near electric prosthesis 1 so that it can be performed, and a thumb detection sensor 200 in a state where the gripping operation mode is activated. A thumb sensing unit 420 that selects and activates a detailed mode that matches the location information of the thumb transmitted from ), and the first or second EMG sensor in a state in which the detailed mode selected from the thumb sensing unit 420 is activated. And a gripping operation execution unit 430 that derives a control signal set in advance by the activation signal transmitted from (11, 12) and transmits it to the driving unit.

In this way, the gripping motion control unit 400, like the hand motion control unit 300, pre-matches driving signals for executing a finger spreading or bending operation according to the first or second activation signal for each detailed mode and stored as a control signal. Therefore, the user can implement both the hand motion and the gripping motion by using the same type of activation signal transmitted from the first or

second EMG sensors

11 and 12.

To this end, in the detailed mode in which the thumb is in a vertical position, the gripping operation setting unit 410 inputs a LOW value from the first EMG sensor 11 and a HIGH value from the second EMG sensor 12. The second activation signal is configured to generate and store a control signal in which a driving signal for bending or spreading joints of a finger is matched to each activation signal in order to indicate the first gripping motion to be taken in the state of the second activation signal.

In addition, the gripping operation setting unit 410, in the detailed mode of the gripping operation mode in which the thumb is in a horizontal position, a HIGH value is input from the first EMG sensor 11 and a LOW value from the second EMG sensor 12 To express the second gripping operation to be expressed in the input state of the first activation signal and the second activation signal state in which a LOW value is input from the first EMG sensor and a HIGH value is input from the second EMG sensor. In order to represent the third gripping operation, the driving signal for bending or expanding the finger joints is generated and stored in which a control signal matched with the first activation signal and the second activation signal is generated.

In the above embodiment, as shown in FIG. 2, in the detailed mode in which the thumb is in a vertical position, a'cylinder grip' ('Cylinderical' in FIG. 2) that wraps around an object with a round outer circumference such as a cylinder or rod while the thumb is open. In the detailed mode where the thumb is in a horizontal position, the'first power grip' that wraps the outer circumference of a large object widely and the'tip (precision) grip' that lightly grips a small object with some fingers. Although it has been set so that this can be achieved, the type of grip set in each detailed mode is not limited thereto, and of course, it may be variously set according to the grip type mainly used by the user.

At this time, the gripping operation setting unit 410 whenever the activation signal is changed by the first or

second EMG sensors

11 and 12 so that the act of covering the outer circumferential surface of the object can be stably progressed in the process of gripping the object. It is desirable to set so that the process of gripping the finger holding the object and the process of releasing it can proceed sequentially and step by step.

Accordingly, in the above embodiment, as shown in FIG. 2, in the detailed mode in which the thumb is in the vertical position, in the first second activation signal state, the thumb is set to take a'cylinder grip' gripping operation, and the thumb is In the detailed mode in which the finger is in the horizontal position, the first power grip is held in a state where the fingers are fully extended in the state of the first activation signal, and the "tip (precision) grip" is performed in the state of the first second activation signal. Set to be drunk.

The gripping operation setting unit 410 sets the gripping operation in the'beam' state when the first activation signal (open signal) is input again in the gripping operation of the'cylinder grip' in which the thumb is bent. When the first activation signal is input again in the '2 Power Grip' state, the gripping operation in the'First Power Grip' state in which all fingers are opened is set.

In the'Cylinder Grip', the second activation signal (Close signal) is sequentially input twice to take a grip, and in the process of restoring this, the first activation signal (Open signal) must be sequentially input twice to complete the restoration. .

In addition, in the'first power grip', the second activation signal (close signal) must be sequentially input after the first activation signal (open signal) to complete the gripping hand motion state of the'second power grip', and then the first activation signal again. When (Open signal) is input, the state is restored to the'first power grip' state. In this state, when the first activation signal is input again, the thumb is restored to the state before the initial operation in the horizontal position.

In this way, the grip and restoration for completing the gripping can be performed not by a single activation signal, but by a combination of sequentially input activation signals, thereby enabling a more stable and stepwise gripping.

In addition, the thumb sensing unit 420 is matched to a horizontal position or a vertical position by the position information of the thumb transmitted from the thumb sensing sensor 200 in a state in which the gripping operation mode is activated, similar to the hand motion control unit 300. It is configured to activate the detailed mode.

In addition, the gripping operation execution unit 430 is a control signal matched by an activation signal transmitted from the first or

second EMG sensors

11 and 12 in a state in which the detailed mode selected by the position of the thumb is activated. Is derived and is configured to be transmitted to the driving unit 2 of the near frontal electric prosthesis 1.

Accordingly, as shown in FIG. 2, when a second activation signal (Close signal), in which a HIGH value is input only from the second EMG sensor 12, is applied in the detailed mode in which the thumb is in the vertical position, the gripping operation is executed. The unit 430 activates a control signal consisting of driving signals that move the finger joints so as to express the expression of the'cylinder grip' gripping motion of the thumb flattening the thumb matched with the second activation signal, thereby activating the myoelectric electric prosthesis (1 ) To the drive unit 20. As shown in FIG. 2, the finger of the myoelectric prosthesis 1 is driven by the control signal transmitted by the control of the gripping operation execution unit 430 to express the'cylinder grip' gripping operation with the thumb flattened as shown in FIG. Can be displayed. In this state, when the second activation signal is applied once more, the'cylinder grip' gripping motion with the thumb bent is expressed, and when the first activation signal is input again, the gripping motion in the'beam' state is expressed. At this time, the'bo' state is a state in which all fingers for the gripping operation are opened, and if the first activation signal is applied once more in this state, the fingers of the myoelectric prosthesis (1) are in a state before the hand movement is performed, that is, , The thumb is restored to the initial detailed mode state in the vertical position.

In addition, when the first first activation signal (Open signal) is applied in the detailed mode in which the thumb is in the horizontal position, the gripping operation execution unit 430 is in a state in which the object matched with the first activation signal can be lightly gripped. The control signal that moves the finger joint is activated and transmitted to indicate the'first power grip' gripping motion, and accordingly, the finger of the myoelectric prosthesis 1 is driven and the'first power grip' as shown in FIG. 'You will be able to express hand gestures. In this state, when the second activation signal (Close signal) is applied, it indicates the expression of the'second power grip' gripping operation.

When the first activation signal is input again in the'second power grip' state, the gripping operation in the'first power grip' state of the previous step is expressed. In this state, if the first activation signal is applied once more, the fingers of the myoelectric prosthesis 1 are restored to the state before the hand movement, that is, the first detailed mode state in which the thumb is in the horizontal position.

That is, when the first activation signal (Open signal) in which a HIGH value is input only from the first EMG sensor 11 is applied in the detailed mode in which the thumb is in the horizontal position, the gripping operation execution unit 430 When a second activation signal (Close signal), which is converted into an open finger to form a'grip' and then inputs a HIGH value only from the second EMG sensor 12, is applied, the ends of all fingers including the thumb are rolled and gripped. As you go, you will be able to wrap the object more strongly. Thereafter, when the first activation signal (Open signal) in which a HIGH value is inputted only from the first EMG sensor 11 is applied again, the state before the gripping is performed is restored.

In addition, when the second activation signal (Close signal), in which a HIGH value is input only from the second EMG sensor 12, is first applied in the detailed mode in which the thumb is in the horizontal position, the gripping operation execution unit 430 is By forming'Precision) Grip', it forms a grip that can lightly grip small objects only with the thumb, forefinger, and middle finger. Thereafter, when the first activation signal (Open signal) in which a HIGH value is inputted only from the first EMG sensor 11 is applied again, the state before the gripping is performed is restored.

On the other hand, if the structure of FIG. 2 shows a hand motion and a gripping motion in a form determined according to the vertical and horizontal positions of the thumb, the structure of FIG. 3 is the first EMG sensor 11 and the vertical position and the horizontal position of the thumb. It is possible to switch to each other by using the simultaneous activation signal generated from the second EMG sensor 12.

Referring to FIG. 3, switching between the hand motion state and the gripping operation state, that is, the hand motion control unit 300 and the gripping operation control unit 400, has a HIGH value in both the first EMG sensor 11 and the second EMG sensor 12. It is achieved by generating an input simultaneous activation signal more than once at a set time interval (expressed as'Double Impulse' in FIG. 3).

In addition, while the hand motion control unit or the gripping motion control unit is activated, a simultaneous activation signal in which a HIGH value is input from both the first EMG sensor 11 and the second EMG sensor 12 is generated once ('Co-contraction '), the vertical position of the thumb and the horizontal position of the thumb are switched.

In other words, when a simultaneous activation signal that occurs two or more times (preferably twice) at regular time intervals is detected in the hand motion mode, it is switched to the gripping mode, and in this state, a simultaneous activation signal that occurs two or more times at regular time intervals. When is detected, it switches to the hand motion mode.

Thereafter, the thumb is switched to the horizontal position when one simultaneous activation signal is sensed while the thumb is detected in the vertical position through the thumb sensor 200, and when a second simultaneous activation signal is detected, the thumb The finger switches to the vertical position.

That is, it is possible to automatically control the hand motion mode, the gripping motion mode, and the horizontal/vertical position of the thumb using only the simultaneous activation signal. Therefore, it is desirable to set the generation term (time interval) of the simultaneous activation signal occurring more than once to be short and set to be clearly distinguished from the simultaneous activation signal for distinguishing the vertical/horizontal position of the thumb.

Since the following description of the hand motion and the gripping motion state is the same as that of FIG. 2, reference may be made to the description of FIG. 2.

As described above, the thumb and index finger-based hand motion control system of the near-front electric prosthesis according to the present invention sets the hand motion used to express the user's emotion or intention in a mode separate from the gripping motion of an object, and then in any one mode. The activation signal consisting of EMG signals transmitted from the two EMG sensors 10 without assistance from additional devices such as another APP or dongle by preventing the data set for the operation of the EMG from affecting other modes of operation. It is possible to express simple hand movements as well as gripping motions driven in various detailed modes only by using, so that the range of use of the myoelectric electric prosthesis can be easily expanded.

In addition, in the present invention, after changing only the operation mode to the hand operation mode, the operation method that the user must learn for the gripping operation can be applied as it is, thereby minimizing the inconvenience of obtaining a complicated and difficult operation method.

In addition, since the first activation signal and the second activation signal are determined according to the state of the hand motion or the gripping motion in which the index finger is opened and bent, it is possible to improve user convenience.

Next, a thumb and index finger-based hand motion control method of an electromyoelectric prosthesis according to the present invention configured as described above will be described.

Referring to FIG. 4, the thumb and index finger-based hand motion control method of an electromyoelectric prosthesis according to the present invention is intended to be implemented in each operation mode by dividing an operation mode to be implemented as a myoelectric prosthesis into a hand operation mode and a gripping operation mode. When a thumb-based operation setting step (S100) of setting and storing a control signal for forming the shape of a finger or a grip for each operation mode, and a HIGH signal are input together from two EMG sensors provided in the EMG The operation mode switching step (S200) of switching the operation mode to be activated with each other, the thumb position detection step (S300) of acquiring the position of the thumb manipulated by the user by the position information transmitted from the thumb sensor, and the thumb A detailed mode selection step (S400) of activating the detailed mode set in each operation mode by determining whether the position of is a horizontal position or a vertical position (S400), and set in each detailed mode by the EMG signals transmitted from the two EMG sensors. A control signal activation step (S500) of deriving a control signal for performing a hand motion or a gripping motion, and an action of performing a set hand motion or a gripping motion by bending or spreading a finger joint in the myoelectric prosthesis receiving the activated control signal. It is configured including the implementation step (S600).

At this time, when one of the two EMG sensors has a HIGH value and the other sensor has a LOW value, when the first activation signal is input, a hand motion or a gripping motion with the index finger open is implemented, When a second activation signal having one of the two EMG sensors having a LOW value and the other sensor having a HIGH value is input, a hand motion or a gripping motion in a state where the index finger is bent is implemented.

The thumb-based motion setting step (S100) includes a hand motion mode for expressing a finger shape used for expressing emotions or intentions, and a gripping motion mode for forming various grips for gripping objects. An operation mode setting process (S110) to be set separately, and a detailed mode setting process (S120) in which a finger shape or grip to be implemented in the operation mode is matched and stored in a vertical position and a horizontal position according to the position information of the thumb (S120). And, in the detailed mode, in order to realize the finger shape and grip matched to the vertical position and the horizontal position of the thumb, respectively, a control signal that drives the finger joint of the myoelectric prosthesis to bend or unfold is applied to each finger shape and grip. It is configured to include a control signal matching process (S130) to match and store.

In this way, in the thumb-based motion setting step (S100), it is possible to implement both hand motions and gripping motions by the limited EMG signals transmitted from the two EMG sensors, and various shapes of hand motions and grips that can be implemented are varied. It is configured so that the user can set the detailed mode according to the position of the thumb that can be changed by rotating it manually or automatically.

Accordingly, even if the EMG signals transmitted from the two EMG sensors are the same in the hand motion mode, a plurality of hand motions can be expressed by a detailed mode that changes according to the position of the thumb. Likewise, in the gripping operation mode, a different gripping grip can be implemented for each detailed mode that changes according to the position of the thumb by using the same EMG signal.

In addition, the user's user convenience is improved by dividing the corresponding control signal into two (Open or Close) according to the state of the index finger being opened or closed when expressing the motion.

In the operation mode switching step (S200), an operation mode to be activated whenever a simultaneous activation signal (Co-contraction signal), which is an EMG signal composed of HIGH values, is input by both EMG sensors provided in the EMG It is configured to switch between the mode and the gripping operation mode.

Accordingly, the user only operates to input HIGH values from both EMG sensors in the same manner as the method learned for normal gripping without manipulating the app or dongle installed on a separate smartphone, etc. As a result, it is possible to switch between the hand operation mode and the gripping operation mode and between the horizontal position and the vertical position of the thumb.

In the thumb position detection step (S300), the position of the thumb manually rotated by the user is acquired by the position information transmitted from the thumb sensor, and whether the thumb is in a vertical position perpendicular to the remaining fingers, or It is configured to rotate to determine whether it is in a horizontal position horizontal to the remaining fingers.

In the detailed mode selection step (S400), the detailed mode matching each of the horizontal position or the vertical position according to the position of the thumb determined in the thumb position detection step (S300) is activated by the EMG signal transmitted from the EMG sensor. It is configured to select a detailed mode of a hand operation mode or a gripping operation mode.

Accordingly, whenever the position of the thumb changes within the operation mode selected by the user in the operation mode switching step (S200), a detailed mode indicating a hand motion to be activated by the EMG signal or a grip for gripping an object is changed. As a result, it is possible to use the simultaneous activation signal to change the operation mode, while maintaining the diversity of the hand motion shape and gripping method that can be expressed using the myoelectric electric prosthesis.

The control signal activation step (S500) derives a control signal set to perform a finger shape or a gripping grip set in each detailed mode selected in the detailed mode selection step by the EMG signals transmitted from the two EMG sensors. Is configured to

At this time, the control signal is matched with driving signals for driving the driving unit provided in the myoelectric prosthesis to bend or unfold the joints of the various fingers of the myoelectric prosthesis so as to implement the finger shape and grip to be implemented. , It is possible to activate the driving signals for performing the finger shape and the gripping grip simply by deriving the control signal by the two EMG signals input through the two EMG sensors.

In the operation implementation step (S600), a driving signal matching the control signal activated in the control signal activation step (S500) is transmitted to the driving unit of the near frontal electric prosthesis to form a preset finger shape or a gripping grip.

In this way, by using the same EMG signal transmitted from the two EMG sensors, not only normal gripping operation is possible, but also simple expression of intention or hand movement for expressing emotions without additional equipment can be expressed. It is possible to improve the convenience of daily life and contribute to the improvement of the quality of life of users wearing electric prostheses.

In addition, since the index finger can be easily implemented by matching the open signal or the close signal according to the open and bent hand motion or the gripping operation state, user convenience can be improved.

In the above, the technical idea of the present invention has been described together with the accompanying drawings, but this is illustrative of a preferred embodiment of the present invention and does not limit the present invention. In addition, it is a clear fact that anyone with ordinary knowledge in the technical field to which the present invention pertains can make various modifications and imitations within a range not departing from the scope of the technical idea of the present invention.

Claims

A first electromyogram sensor connected to the electromyoelectric prosthesis and attached to the user's body;

A second EMG sensor connected to the electromyoelectric prosthesis and attached to the user's body;

A thumb detection sensor that determines whether a thumb provided in the myoelectric prosthesis is placed in a horizontal position or a vertical position;

To change the control unit to be activated by switching between the hand motion mode for expressing intentions or emotions and the gripping motion mode for grabbing an object through signals simultaneously received from the first and second EMG sensors. An operation mode switching unit;

In the hand motion mode activated by the operation mode switching unit, when a detailed mode corresponding to a horizontal position and a vertical position is selected according to the position of the thumb, transmission from at least one of the first and second EMG sensors A hand motion control unit for receiving the EMG signal and activating a control signal for driving the myoelectric electric prosthesis to implement a hand motion matched to each detailed mode and transmitting it to the driving unit of the myoelectric electric prosthesis; And

In the gripping operation mode activated by the operation mode switching unit, when a detailed mode corresponding to a horizontal position and a vertical position is selected according to the position of the thumb, at least one of the first and second EMG sensors Including; a gripping operation control unit for receiving the transmitted EMG signal and activating a control signal for driving the electromyoelectric prosthesis to implement a gripping operation matched to each detailed mode and transmitting it to the driving unit of the electromyoelectric prosthesis; and

When one of the first EMG sensor and the second EMG sensor has a HIGH value and the other sensor has a LOW value, when the first activation signal is input, a hand motion or a gripping motion in a state with the index finger open Is implemented,

When one of the first EMG sensor and the second EMG sensor has a LOW value and the second activation signal having a HIGH value is input, the index finger is bent, or A thumb and index finger-based hand motion control system of an electric prosthetic arm, characterized in that a gripping motion is implemented.
The method of claim 1,

The operation mode switching unit,

The thumb of the myoelectric electric prosthesis, characterized in that the control unit, which is activated whenever a simultaneous activation signal in which a HIGH value is applied from both the first and second EMG sensors, is input, is switched between the hand motion control unit and the gripping operation control unit. Detection-based hand motion control system.
The method of claim 1,

The operation mode switching unit,

A control unit that is activated whenever a simultaneous activation signal to which a HIGH value is applied from both the first and second EMG sensors is inputted at least twice in succession at a preset time interval is switched between the hand motion control unit and the gripping operation control unit,

A thumb and index finger-based hand motion control system of an electromyoelectric arm, characterized in that the horizontal and vertical positions of the thumb are switched each time the simultaneous activation signal is input.
The method according to claim 2 or 3,

The hand motion control unit,

In each detailed mode of the hand operation mode, the driving unit of the electromyoelectric prosthetic prosthesis is operated to spread or bend fingers by the first activation signal and the second activation signal consisting of an EMG signal transmitted from the first or second EMG sensor. A hand motion setting unit that stores a control signal obtained by matching the corresponding driving signal;

A thumb sensing unit that selects and activates a detailed mode that matches the location information of the thumb transmitted from the thumb sensing sensor while the hand motion mode is activated; And

And a hand motion execution unit that derives a preset control signal from the first activation signal and the second activation signal and transmits it to a driving unit in a state in which the detailed mode selected by the thumb sensing unit is activated. Thumb and index finger-based hand motion control system for myoelectric electric prostheses.
The method of claim 4,

The hand motion setting unit,

In the detailed mode of the hand motion mode in which the thumb is in a vertical position, the first hand motion to be expressed in the state of the first activation signal in which a HIGH value is input from the first EMG sensor and a LOW value is input from the second EMG sensor. And, in order to indicate the second hand motion to be expressed in the state of the second activation signal in which a LOW value is input from the first EMG sensor and a HIGH value is input from the second EMG sensor, the finger joints are bent or extended. And generating and storing a control signal in which a signal is matched with the first activation signal and the second activation signal.
The method of claim 5,

The hand motion setting unit,

In the detailed mode where the thumb is in a vertical position, the first activation signal state is set to indicate a'scissors' hand gesture, and the first second activation signal state is set to indicate a'thumbs up' hand gesture,

In the detailed mode in which the thumb is in a horizontal position, the first activation signal state is set to express'indexing' hand motion, and the first second activation signal state is set to express hand motion indicating'OK'. Thumb and index finger-based hand motion control system for myoelectric electric prostheses.
The method of claim 6,

The hand motion setting unit,

When the first activation signal is input again in the'scissors' hand motion state or the'thumbs up' hand motion state, it is set to indicate the'bow' hand motion,

When the first activation signal is input again in the'indexing' hand motion state, the English'V' hand motion indicating victory is set to be expressed, and when the first activation signal is input again in the hand motion state indicating'OK', the thumb is placed in a horizontal position. A thumb and index finger-based hand motion control system of a myoelectric electric prosthesis, characterized in that setting to express a hand motion in a gripped state.
The method of claim 7,

The hand motion setting unit,

When the second activation signal is input again in the'scissors' hand motion state, the'fist' hand motion state is indicated, and when the first activation signal is input again in the'fist' hand motion state, the'bow' hand motion is set,

When the first activation signal is input again in the'V' hand motion state, the thumb and index finger-based hand motion control system of a myoelectric electric prosthesis, characterized in that the thumb is set to express the grip state hand motion in a horizontal position.
The method of claim 4,

The hand motion setting unit,

In the detailed mode of the hand motion mode in which the thumb is in a horizontal position, a third hand motion to be expressed in the state of the first activation signal in which a HIGH value is input from the first EMG sensor and a LOW value is input from the second EMG sensor. And, in order to indicate the fourth hand motion to be expressed in the state of the second activation signal in which a LOW value is input from the first EMG sensor and a HIGH value is input from the second EMG sensor, the finger joints are bent or extended. And generating and storing a control signal in which a signal is matched with the first activation signal and the second activation signal.
The method of claim 9,

The hand motion setting unit,

In the detailed mode where the thumb is in a vertical position, the first activation signal state is set to indicate a'scissors' hand gesture, and the first second activation signal state is set to indicate a'thumbs up' hand gesture,

In the detailed mode in which the thumb is in a horizontal position, the first activation signal state is set to express'indexing' hand motion, and the first second activation signal state is set to express hand motion indicating'OK'. Thumb and index finger-based hand motion control system for myoelectric electric prostheses.
The method of claim 10,

The hand motion setting unit,

When the first activation signal is input again in the'scissors' hand motion state or the'thumbs up' hand motion state, it is set to indicate the'bow' hand motion,

When the first activation signal is input again in the'indexing' hand motion state, the English'V' hand motion indicating victory is set to be expressed, and when the first activation signal is input again in the hand motion state indicating'OK', the thumb is placed in a horizontal position. A thumb and index finger-based hand motion control system of a myoelectric electric prosthesis, characterized in that setting to express a hand motion in a gripped state.
The method of claim 11,

The hand motion setting unit,

When the second activation signal is input again in the'scissors' hand motion state, the'fist' hand motion state is indicated, and when the first activation signal is input again in the'fist' hand motion state, the'bow' hand motion is set,

When the first activation signal is input again in the'V' hand motion state, the thumb and index finger-based hand motion control system of a myoelectric electric prosthesis, characterized in that the thumb is set to express the grip state hand motion in a horizontal position.
The method according to claim 2 or 3,

The gripping operation control unit,

In each detailed mode of the gripping operation mode, the myoelectric force can hold an object while spreading or bending fingers by the first activation signal and the second activation signal consisting of an EMG signal transmitted from the first or second EMG sensor. A gripping operation setting unit for storing a control signal in which a driving signal for operating the driving unit of the electric prosthesis is matched;

A thumb sensing unit for selecting and activating a detailed mode matching the position information of the thumb transmitted from the thumb sensing sensor while the gripping operation mode is activated; And

And a gripping operation execution unit that derives a control signal preset by the first activation signal and the second activation signal and transmits it to a driving unit in a state in which the detailed mode selected by the thumb detection unit is activated. The thumb and index finger-based hand motion control system of a myoelectric electric prosthesis.
The method of claim 13,

The gripping operation setting unit,

In the detailed mode of the gripping operation mode in which the thumb is in a vertical position, the first to be taken in the state of the second activation signal in which a LOW value is input from the first EMG sensor and a HIGH value is input from the second EMG sensor. The thumb and index finger-based hand motion control system of a myoelectric electric prosthesis, comprising generating and storing a control signal in which a driving signal for bending or extending finger joints is matched to the second activation signal in order to indicate a gripping motion.
The method of claim 14,

The gripping operation setting unit,

In the detailed mode where the thumb is in the vertical position, in the state of the first second activation signal, the thumb is set to take a'cylinder grip' gripping action,

In the detailed mode where the thumb is in the horizontal position, the first power grip is held in a state with all fingers open in the first activation signal state, and the'tip (precision) grip' in the first second activation signal state. A thumb and index finger-based hand motion control system of an electric prosthetic arm, characterized in that it is set to take.
The method of claim 15,

The gripping operation setting unit,

When the second activation signal is input again in the'cylinder grip' state, the thumb is bent and the'cylinder grip' gripping operation is performed,

When the second activation signal is input again in the'first power grip' state, the'second power grip' gripping operation in which all fingers are bent is performed, and the first activation signal is input again in the'tip (precision) grip' state. A thumb and index finger-based hand motion control system of a myoelectric electric prosthesis, characterized in that setting to take a'first power grip' gripping motion with all fingers open.
The method of claim 16,

The gripping operation setting unit,

When the first activation signal is input again in the gripping operation of the'cylinder grip' in which the thumb is bent, the gripping operation of the'beam' state is set,

When the first activation signal is input again in the'second power grip' state, the thumb and index finger of the myoelectric prosthetic arm, characterized in that setting to take a gripping operation in the'first power grip' state with all fingers open Based hand gesture control system.
The method of claim 13,

The gripping operation setting unit,

In the detailed mode of the gripping operation mode in which the thumb is in a horizontal position, the second to be expressed in the state of the first activation signal in which a HIGH value is input from the first EMG sensor and a LOW value is input from the second EMG sensor. In order to indicate a gripping motion and a third gripping motion to be expressed in the second activation signal state in which a LOW value is input from the first EMG sensor and a HIGH value is input from the second EMG sensor, the finger joints are bent. The thumb and index finger-based hand motion control system of an electromyoelectric prosthesis, characterized in that configured to generate and store a control signal that matches the first activation signal and the second activation signal to a driving signal that is extended or extended.
The method of claim 18,

The gripping operation setting unit,

In the detailed mode where the thumb is in the vertical position, in the state of the first second activation signal, the thumb is set to take a'cylinder grip' gripping action,

In the detailed mode where the thumb is in the horizontal position, the first power grip is held in a state with all fingers open in the first activation signal state, and the'tip (precision) grip' in the first second activation signal state. A thumb and index finger-based hand motion control system of an electric prosthetic arm, characterized in that it is set to take.
The method of claim 19,

The gripping operation setting unit,

When the second activation signal is input again in the'cylinder grip' state, the thumb is bent and the'cylinder grip' gripping operation is performed,

When the second activation signal is input again in the'first power grip' state, the'second power grip' gripping operation in which all fingers are bent is performed, and the first activation signal is input again in the'tip (precision) grip' state. A thumb and index finger-based hand motion control system of a myoelectric electric prosthesis, characterized in that setting for a gripping operation of a'first power grip' with all fingers open.
The method of claim 20,

The gripping operation setting unit,

When the first activation signal is input again in the gripping operation of the'cylinder grip' in which the thumb is bent, the gripping operation of the'beam' state is set,

When the first activation signal is input again in the'second power grip' state, the thumb and index finger of the myoelectric prosthetic arm, characterized in that setting to take a gripping operation in the'first power grip' state with all fingers open Based hand gesture control system.
Thumb-based that divides the operation mode to be implemented as a near-front electric prosthesis into hand operation mode and grip operation mode, and sets and stores control signals for forming the shape or grip of the finger to be implemented in each operation mode for each operation mode. Operation setting step;

An operation mode switching step of mutually switching an operation mode to be activated when a HIGH signal is input from two EMG sensors provided in the electromyography;

A thumb position sensing step of acquiring the position of the thumb manipulated by the user by the position information transmitted from the thumb sensor;

A detailed mode selection step of activating a detailed mode set in each operation mode by determining whether the position of the thumb is a horizontal position or a vertical position;

A control signal activating step of deriving a control signal for performing a hand motion or a gripping motion set in each detailed mode based on the EMG signals transmitted from the two EMG sensors; And

Including; an operation implementing step of performing a set hand motion or a gripping motion by bending or extending a finger joint in the myoelectric prosthesis receiving the activated control signal,

When either one of the two EMG sensors has a HIGH value and the other sensor has a LOW value, when the first activation signal is input, a hand motion or a gripping motion with the index finger open is implemented,

When a second activation signal having one of the two EMG sensors having a LOW value and the other sensor having a HIGH value is input, a hand motion or a gripping motion in a state where the index finger is bent is implemented. The thumb and index finger-based hand movement control method of an electromyoelectric prosthesis.
The method of claim 22,

The thumb-based motion setting step,

The operation mode setting process in which the motion to be implemented with the myoelectric prosthesis is divided into a hand motion mode for expressing the shape of a finger used for expressing emotions or intentions, and a gripping mode for forming various grips to hold objects. ;

A detailed mode setting process of matching and storing a finger shape or a grip for implementation in the operation mode in a vertical position and a horizontal position according to the position information of the thumb; And

In the detailed mode, in order to implement the finger shape and grip matched to the vertical position and the horizontal position of the thumb, respectively, a control signal for driving to bend or unfold the finger joint of the myoelectric prosthesis is applied to each finger shape and grip. Matching and storing a control signal matching process; thumb and index finger-based hand motion control method of an electromyoelectric prosthesis.