CN101836909B - Control method of one-degree-of-freedom or multi-degree-of-freedom upper limb prosthesis - Google Patents
Control method of one-degree-of-freedom or multi-degree-of-freedom upper limb prosthesis Download PDFInfo
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- CN101836909B CN101836909B CN2010101560036A CN201010156003A CN101836909B CN 101836909 B CN101836909 B CN 101836909B CN 2010101560036 A CN2010101560036 A CN 2010101560036A CN 201010156003 A CN201010156003 A CN 201010156003A CN 101836909 B CN101836909 B CN 101836909B
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Abstract
The invention relates to a multi-path control signal source for multi-degree of freedom upper limb prosthesis, in order to solve the problem of serious insufficiency of control signals generated by the stump of the upper limb, a plurality of parts of the lower limb of an upper limb prosthesis user with multi-degree of freedom are taken as multi-path control signal sources, the multi-path control signals are derived from the slight movements of the parts of the lower limb of the upper limb prosthesis user with multi-degree of freedom and are detected and led out by a sensor, one method is that the sensor is used for detecting the movement of each joint of the lower limb to obtain signals, the other method is that myoelectric signals are led out from the muscle of the lower limb, the multi-path signals picked up by the sensor are transmitted to the upper limb prosthesis in a wired or wireless mode and are identified and processed by a microprocessor in the prosthesis to control the movements of each joint of the upper limb prosthesis, the multi-path control, the related control device has simple structure and easy manufacture, brings convenience to the majority of upper artificial limb users, and is suitable for industrialized mass production and large-scale popularization and application.
Description
Technical field
The present invention relates to the multi-freedom upper artificial limb technical field, specifically be meant a kind of multi-way control signals source, corresponding control methods and device that is used for multi-freedom upper artificial limb.
Background technology
Five fingers of doing evil through another person for a long time have only one degree of freedom altogether, and the shared drag-line of the five fingers or a micro machine drive, and open together, hold with a firm grip.
Along with science and technology development, present widely used myoelectricity control upper extremity prosthesis product has more freedom, and forearm two degrees of freedom and upper arm Three Degree Of Freedom myoelectric-controlled prosthesis are widely-used; Recent years, each finger all has doing evil through another person of micro machine driving to become product, but the deformed limb after amputation has lost a large amount of muscle; There is atrophy in remaining muscle, and the control ability of muscle is gone down the subcutaneous fat hypertrophy; Electromyographic signal is faint, and factors such as skin scar can not be drawn the multichannel electromyographic signal as normal limbs; Generally can only draw two road myoelectricity control signals,, can only draw one tunnel electromyographic signal for some deformed limb from residual extensor and musculus flexor; Even can not draw electromyographic signal from the deformed limb skin surface, signal source extremely lacks.
And prosthesis technique faces breakthrough at present, and myoelectricity control upper extremity prosthesis joint number increases, and the control multi-joint needs more independent signal source, and control signal source wretched insufficiency has become a difficult problem.
Except that domestic and international the sixth of the twelve Earthly Branches widely used upper arm myoelectric-controlled prosthesis have the three degree of freedom; Occurred recently abroad five fingers each by " bionic hand " products that a micro machine drives, it's a pity at present when installing and using to the amputee, can only open together and hold with a firm grip with two paths of signals source five fingers of control; Each finger can not be independently movable; Just be obstructed when motionless when certain finger, other finger can also continue to hold with a firm grip, catches object by body form.Because many muscle forfeitures after the amputation; The forfeiture of high amputation muscle is even more serious, adds deformed limb muscle because of not using reasons such as nature atrophy, subcutaneous fat hypertrophy; Often to draw very difficulty of two-way electromyographic signal at deformed limb; Let alone and drawn more multiple signals, therefore can only adopt and switch and coding control mode control artificial limb, can not accomplish multiple degrees of freedom man-to-man control simultaneously with less signal source.For the BE amputation person; Skin surface at the remaining muscle of each piece of deformed limb is drawn electromyographic signal; Discern the exercises signal of finger and wrist then with mode identification technology; Be used for controlling the way also only development test on the healthy subjects forearm at present of forearm multi-freedom artificial limb, do not become product, difficulty is that deformed limb often can not draw the electromyographic signal of these actions.
The neural interface technology is being studied by various countries at present, and its purpose attempts directly to draw more multi-way control signals from nervous system exactly, because difficulty is very big, becomes the mature technology that generally adopts and also wants the long time, and required input is also than higher.For example will control the nerve of upper limb and replant, and just can draw the control signal that these nerves transmit, but want the amputee generally to accept this operation, and be still waiting this technology and further develop maturation from skin surface in other muscle formation nerve signal interface.
Therefore, with regard to the current situation of present upper extremity prosthesis, press for the signal source feasible way of seeking innovation, a kind of generally feasible, very practical multiple signals are controlled the method for multi-freedom artificial limb.
Summary of the invention
The objective of the invention is to overcome above-mentioned shortcoming of the prior art, a kind of multi-way control signals source, corresponding control methods and device that is used for multi-freedom upper artificial limb is provided, this multi-way control signals source that is used for multi-freedom upper artificial limb uniqueness that is skillfully constructed; Generally feasible, very practical, corresponding control methods is easy to use; Relevant control device is simple in structure; Be prone to make,, be suitable for industrial-scale production and large-scale promotion application for vast upper extremity prosthesis user has brought facility.
To achieve these goals; In first aspect of the present invention; A kind of multi-way control signals source that is used for multi-freedom upper artificial limb is provided; Its main feature is, a plurality of parts of multi-freedom upper artificial limb user lower limb as the described multi-way control signals source that is used for multi-freedom upper artificial limb, are detected from the described multi-way control signals source that is used for multi-freedom upper artificial limb by pick off and to draw multi-way control signals.Be that said control signal is the mild action that derives from a plurality of parts of multi-freedom upper artificial limb user lower limb, and the control signal of drawing by sensor.
A plurality of parts of described lower limb comprise a joint or several joint of a plurality of toe joint, ankle joint, knee joint and hip joint, and these joint motions produce control signal.
A plurality of parts of described lower limb comprise one or more muscle of said lower limb, and these muscle contraction produce the myoelectricity control signal.For example a plurality of parts of described lower limb comprise the main muscle on lower limb top layer, such as tibialis anterior and gastrocnemius.
The installation method of said pick off comprises: be affixed on the skin of lower extremity surface; Be through on the lower limb after being installed on rubber-like cingulum, socks or the trousers; Be installed in the footwear or footwear outside.
Said action comprises one or more of stretching, bending and rotating.
In second aspect of the present invention, a kind of multichannel control method that is used for multi-freedom upper artificial limb is provided, be characterized in, utilize above-mentioned multi-way control signals source control, can move simultaneously with a plurality of joints of the made multi-freedom upper artificial limb of time control.Promptly utilize the action in a plurality of joints of above-mentioned multi-way control signals source control multi-freedom upper artificial limb.
The action in corresponding each joint of action control multi-freedom upper artificial limb in each joint that said multichannel control method is described lower limb; Each joint of described lower limb comprises toe joint, ankle joint, knee joint and hip joint; Accordingly, a plurality of joints of described multi-freedom upper artificial limb comprise prosthetic hand articulations digitorum manus, artificial limb carpal joint, artificial limb elbow joint and artificial limb shoulder joint.That is to say; Can adopt the control mode in each joint of the corresponding described lower limb in each joint of described multi-freedom upper artificial limb; Such as, with toe control artificial limb finger, with ankle joint action control artificial limb carpal joint; With knee joint control artificial limb elbow joint, with hip joint control artificial limb shoulder joint.Another kind of way is the non-corresponding control method not according to the control mode of above-mentioned correspondence.In the above-mentioned various control lower limb only need do very slight, the action that is difficult for discovering.
In the third aspect of the invention; A kind of multichannel control device that is used for multi-freedom upper artificial limb is provided; Comprise pick off, send sensor to sender unit, the signal receiving device that receives the signal that sends by sender unit, the signal that signal receiving device is received of the signal microprocessor and the artificial limb micro machine drive circuit that carry out pattern recognition process and artificial limb is controlled; Said pick off is connected with said sender unit circuit; Said sender unit is connected through signal path with said signal receiving device, and said signal receiving device is connected with said microcontroller circuit respectively with said artificial limb micro machine drive circuit.
The load mode of said signal is wired load mode or wireless transmissioning mode.Wired transmission aspect does not need wireless transmission and the device that receives electromagnetic wave or infrared or visible light signal, and is fairly simple, but electric wire will be connected to upper extremity prosthesis by the lower limb pick off when using, not as wireless transmissioning mode convenient.
Thereby the signal that is come by pick off is sent to artificial limb through wired transmission or wireless transmissioning mode, discern processing by the artificial limb central microprocessor after, control each action of said multi-freedom artificial limb.
The power supply of said artificial limb is closed when user is walked, and the power supply of said pick off and said sender unit also can be closed when user is walked.
Beneficial effect of the present invention is specific as follows:
1, the present invention's signal that a plurality of parts actions that perfect lower limb of the user of multi-freedom upper artificial limb are produced and that drawn by the signal ejector is as the multi-way control signals source that is used for multi-freedom upper artificial limb; Thereby in the solution prior art; The insufficient problem in deformed limb electromyographic signal source of control multi-freedom upper artificial limb, generally feasible, very practical; For vast upper extremity prosthesis user has brought facility, be suitable for industrial-scale production and large-scale promotion application.
2, the present invention utilizes signal that a plurality of parts action of lower limb of the user of multi-freedom upper artificial limb is produced and that drawn by the signal ejector as the multi-way control signals source that is used for multi-freedom upper artificial limb; Action when going to control a plurality of joint of multi-freedom upper artificial limb makes multi-freedom upper artificial limb use nature flexibly.
3, the sensor installation method that is used for the multiple signals ejector of multi-freedom upper artificial limb of the present invention comprise be affixed on the skin of lower extremity surface, be installed in the elasticity cingulum, the pick off socks, shoes are inside and outside and panty girdle on after be through lower limb; Can adopt the microsensor of all kinds of suitable detection joint motions; Draw electromyographic signal from skin surface and then adopt slim surface electrode, be installed on the elastic stocking, put on just and can use; More than the various sensor installation methods uniqueness that is skillfully constructed, easy to use.
Description of drawings
Fig. 1 and Fig. 2 stretch control artificial limb finger in the wrong with toes to stretch (promptly finger opens, holds with a firm grip) in the wrong, stretch the artificial limb carpal joint of controlling in the wrong with ankle joint and stretch schematic diagram in the wrong.
The specific embodiment
In order more to be expressly understood technology contents of the present invention, the special following examples of lifting specify.The most frequently used myoelectricity control above elbow prosthesis has to point to open to be held; External rotation in the wrist, elbow is stretched three degree of freedom in the wrong, if the triceps brachii of upper limb deformed limb and biceps brachii m. can produce electromyographic signal; Just can be used to control the artificial limb elbow joint stretch in the wrong, all the other two degree of freedom of lower limb signal source control.Prosthetic finger is stretched and is bent just available lower limb toes and stretch and bend the signal that produces and control, and for example adopts the flexible thin pick off, be installed in the footwear or above the toes on the socks with below, just can detect the signal of this action.The signal controlling that external rotation can be produced by the interior external rotation of foot in the artificial limb carpal joint detects this signal and can use existing various technology for detection feet (footwear) point and the relative change in location of lower limb to obtain, and also can use the torsion that detects heel to obtain.In a word, detect lower limb movement and can adopt the various various pick offs that are suitable for this detection in the existing sensor technology.
If the triceps brachii of upper limb deformed limb and biceps brachii m. can not produce electromyographic signal, the stretching of artificial limb elbow joint bent and can be lifted by the tiptoe of a foot of lower limb or signal that heel lift (ankle dorsal flexion or the sole of the foot are bent action) produces is controlled.Can directly detect the ankle joint rotation with pick off in ankle and obtain signal; For example can be on socks instep and shank boundary knee sticks the flexible thin pick off or a thin and light thumwheel potentiometer is installed in socks ankle center of rotation position; One pushing handle is installed in the rotating shaft of potentiometer; This handle is sewn on the foot side of socks, just can detect the signal that ankle joint rotates, and also has the pick off of other types to adopt.
Fig. 1 and Fig. 2 stretch control artificial limb finger in the wrong with toes to stretch (promptly finger opens, holds with a firm grip) in the wrong, stretch the artificial limb carpal joint of controlling in the wrong with ankle joint and stretch schematic diagram in the wrong.
1 is the elastic stocking of sensor installation and wireless transmitter among Fig. 1, the 2nd, be contained in the above miniature signal projector of above-mentioned elastic stocking ankle, in adorn miniature rechargeable battery; And on and off switch arranged, and this battery is the pick off power supply simultaneously, being installed on the elastic stocking 1 respectively has a flexible sensor 4 and 5 up and down in the toe position; Being used for detecting toes stretches in the wrong; The boundary knee of instep and shank also has a flexible sensor 3, is used for detecting ankle joint and stretches angle in the wrong, and 3,4,5 all have output signal line to be connected with miniature signal projector 2 with power line; 6 is rechargeable batteries of two degrees of freedom upper extremity prosthesis among Fig. 2; The 7th, on and off switch, the 8th, wireless signal receiver, the 9th, accomplish electric logic circuit or microprocessor that artificial limb was handled, controlled in signal identification; The 10th, artificial limb micro machine drive circuit; The 11st, the artificial limb wrist is stretched micro machine in the wrong, and the 12nd, the artificial limb finger is opened and is held micro machine, and the 13rd, do evil through another person; Rechargeable battery 6 is given wireless signal receiver 8, electric logic circuit or microprocessor 9 and artificial limb micro machine drive circuit 10 through on and off switch 7 power supplies, and artificial limb micro machine drive circuit 10 removes to drive the artificial limb wrist according to the instruction of electric logic circuit or microprocessor 9 and stretches and bend micro machine 11 and/or artificial limb finger and open and hold micro machine 12.Flexible sensor 3 or 4 is under pressure in footwear when user is stretched or bent toe, and pressure surpasses threshold value, and signal output is just arranged, and pressure increases then that output signal strength also increases, and available toes are the size speed and the grip that refer to of artificial hand controlled in proportion firmly.When user lifted tiptoe or heel, flexible sensor 5 angle of bend changed, and the signal of flexible sensor 5 outputs also changes, and this signal is used for the artificial hand controlled carpal joint and stretches in the wrong.
If above-mentioned artigicial arm increases a forearm spinfunction again; Become the Three Degree Of Freedom artigicial arm, can lean on the nearly sole place, side of another foot at the outer surface of footwear, front and back are adorned a pressure transducer fully; As long as foot is a little inwardly or to external rotation; The pressure transducer of toe or heel touches the another foot, just can produce signal, and these two signals can be used to control external rotation in the upper extremity prosthesis forearm.
Though more than these control actions stand or sit down and all be easy to accomplish, and can two or three control actions carry out the coordination exercise simultaneously of two or three joints of control artificial limb simultaneously.
Use at present in a large number with in the upper extremity prosthesis of electricity as power; Major part is the single-degree-of-freedom myoelectrically controlled hand; Some amputee's deformed limb can not provide electromyographic signal, and adopting toe control is a kind of fabulous way, and others can not discover control action in footwear.
Another kind of way is on the skin of the main muscle in lower limb top layer, draws the multichannel electromyographic signal with surface electrode, is sent in the artificial limb, carries out pattern recognition, extracts the control signal of exercises, is used for controlling multi-freedom upper artificial limb.Adopt thin electrode, the position at corresponding each piece muscle is installed on the rubber-like socks, puts on just and can use.Owing to draw electromyographic signal from the lower limb of health, signal is very complete reliable, and lower limb muscles is flourishing; Electromyographic signal is more much better than than upper limb, is easy to obtain satisfied signal, has solved a large amount of muscle disappearances of upper limb deformed limb; Deformed limb amyotrophy after the amputation; The consciousness of controlling this this muscle goes down even forgets, and makes from the electromyographic signal source bulk information disappearance that deformed limb obtains, the difficult problem that good again signal processing and mode identification technology are also lack scope for their abilities in this case; And healthy normal lower limb can provide enough myoelectricity control informations, are used for controlling multi-freedom upper artificial limb.
The electromyographic signal that the above-mentioned actuating signal of lifting tiptoe or heel also can be at an easy rate produces from the gastrocnemius of the tibialis anterior of facies anterior cruris and facies cruralis posterior obtains with surface electrode at skin surface; This is a pair of signal source very easy to use; Movement range is very little, and other people are difficult for discovering.
Because sensor bulk is little and thin, does not hinder after putting on and wear footwear and walk.The signal that obtains with upper sensor sends to the micro radio receptor in the artificial limb by the micro radio emitter, because distance in 2 meters, only needs to use very low power miniature transmitter, can realize that just multichannel controls simultaneously.
In most of the cases, the amputee can not walk roadside use multi-freedom upper artificial limb in the limit.When not walking, lower limb just can become the signal source of control multi-freedom upper artificial limb.After the people walked upright, though the functional deterioration of lower limb grasping objects, it is more a lot of than finger that toe becomes, and the independent active ability of each toe is also degenerated, and toe is stretched Qu Rengke and controlled freely, and therefore, the stretching to bend of toe just can provide control signal.As want each finger of artificial hand controlled independent movable, and obviously use the not competent man-to-man method of controlling of toe, can only adopt non-corresponding control mode, signal source can be extracted from two lower limb.Lower limb muscles is very flourishing, need only just multi-way control signals can be provided with the mild action that others is difficult for discovering, and movement range is little, is difficult for being discovered by the stranger.The mild action in each joint of lower limb can arrive with sensor, can be used as the signal source of control multi-freedom upper artificial limb.These control signals can be delivered to multi-freedom upper artificial limb with the multichannel micro radio emitter of ripe application already, are used for controlling the action of multi-freedom upper artificial limb.When walking or do not need the multi-freedom upper artificial limb action, close the multi-freedom upper artificial limb power supply, multi-freedom upper artificial limb can not produce misoperation.
After the control signal of each pick off output of lower limb all must reach preset threshold, just differentiate, can make the artificial limb working stability like this, avoid misoperation for control action is arranged.
In a word, lower limb can be used as the multi-way control signals source of control multi-freedom upper artificial limb fully when not walking, more than only illustrate, various methods of drawing signal from a plurality of parts of lower limb can also be arranged.
Therefore, the invention provides a kind of very practical multi-way control signals source, can realize that the multi-freedom upper artificial limb multichannel controls in good time, the control performance of multi-freedom upper artificial limb is greatly improved.
Though it is pointed out that in foregoing, that the present invention will produce from a plurality of parts action of lower limb always and be used to control single-degree-of-freedom and multi-freedom upper artificial limb by the signal source that the signal ejector is drawn.But obviously, such signal source should not be limited to control multi-freedom upper artificial limb, and it equally also can be used for controlling other devices.
To sum up, the multi-way control signals source that the is used for multi-freedom upper artificial limb of the present invention uniqueness that is skillfully constructed, generally feasible; Very practical; Corresponding control methods is easy to use, and relevant control device is simple in structure, is prone to make; For vast upper extremity prosthesis user has brought facility, be suitable for industrial-scale production and large-scale promotion application.
In this description, the present invention is described with reference to its certain embodiments.But, still can make various modifications and conversion obviously and not deviate from the spirit and scope of the present invention.Therefore, description and accompanying drawing are regarded in an illustrative, rather than a restrictive.
Claims (3)
1. the method for the action in each joint of upper extremity prosthesis is controlled in an action of adopting a plurality of parts of lower limb; It is characterized in that; Said upper extremity prosthesis is single-degree-of-freedom upper extremity prosthesis or multi-freedom upper artificial limb; The user of said upper extremity prosthesis is drawn control signal standing or sit down the mild action of state with a plurality of parts of sound lower limb by sensor, and these signals are used to control a joint single movement or a plurality of joint of upper extremity prosthesis and move simultaneously.
2. the method for the action in each joint of upper extremity prosthesis is controlled in the action of a plurality of parts of employing lower limb according to claim 1; It is characterized in that; A plurality of parts of described lower limb comprise a joint or a plurality of joint in toe joint, ankle joint, knee joint and the hip joint; By the mild action in these joints of sensor, draw signal, treated and corresponding action or the non-respective action in identification back control each joint of upper extremity prosthesis.
3. method that prevents the maloperation of lower limb controlling upper extremity prosthesis; It is characterized in that; Said upper extremity prosthesis is single-degree-of-freedom upper extremity prosthesis or multi-freedom upper artificial limb; The mild action of a plurality of parts of lower limb as signal source, draw control signal through sensor, is moved with a joint single movement or a plurality of joint of control upper extremity prosthesis simultaneously, and the power supply of said upper extremity prosthesis and pick off is closed when user is walked.
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| CN2010101560036A CN101836909B (en) | 2010-04-23 | 2010-04-23 | Control method of one-degree-of-freedom or multi-degree-of-freedom upper limb prosthesis |
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| CN2010101560036A CN101836909B (en) | 2010-04-23 | 2010-04-23 | Control method of one-degree-of-freedom or multi-degree-of-freedom upper limb prosthesis |
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Cited By (1)
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| CN104398260A (en) * | 2014-12-10 | 2015-03-11 | 中山大学 | Ankle joint angle measuring system |
| CN104398260B (en) * | 2014-12-10 | 2017-03-15 | 中山大学 | A kind of ankle joint angle measuring system |
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