CN101305939B - Electrical stimulator for sensation feedback of human-emulated myoelectric artificial hand - Google Patents
Electrical stimulator for sensation feedback of human-emulated myoelectric artificial hand Download PDFInfo
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- CN101305939B CN101305939B CN2008100645862A CN200810064586A CN101305939B CN 101305939 B CN101305939 B CN 101305939B CN 2008100645862 A CN2008100645862 A CN 2008100645862A CN 200810064586 A CN200810064586 A CN 200810064586A CN 101305939 B CN101305939 B CN 101305939B
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Abstract
The invention discloses an electrical stimulator for the sensory feedback of a humanoid type myoelectric prosthetic hand, in particular to a sensory feedback stimulating device of an electrical control system of the myoelectric prosthetic hand, and solves the problems in the sensory feedback of a sensor, such as the accuracy and the universality are worse, the time delay is longer, and the stimulus intensity cannot be distinguished. Both a power supply end and an electrical inductance of a main control chip of a power supply module are connected with a power supply; both the electrical inductance and a commutation diode are connected with a driving end of the main control chip of the power supply module; both a first configuration resistance and a second configuration resistance are connected with the driving end of the main control chip of the power supply module; both the first configuration resistance and the commutation diode are connected with the driving end of a stimulus drive circuit; the power supply end of the main control chip of the stimulus drive circuit is connected with the power supply end of a power-supply modular circuit; an output end of a frequency signal generating circuit is connected with a signal end of the main control chip of the stimulus drive circuit; a detecting resistance is connected with a detecting end of the main control chip of the stimulus drive circuit and a power ground, and a turning-off time allocation circuit is connected with a turning-off control end of the main control chip of the stimulus drive circuit and the power ground.
Description
Technical field
The present invention relates to a kind of sensory feedback electrical stimulation device of multi-freedom degree muscle-electric artificial hand electric control system, belong to biological electromechanical integration (Biomechatronics) technical field.
Background technology
The research of doing evil through another person can be carried out daily life and better be socially reintegrated for the people with disability is very important, and the physically disabled's quantity that is caused by industrial injury, traffic accident etc. is ascendant trend year by year in recent years.For the second time national people with disability's survey data shows, from the recent two decades in 1987 to 2006 in the time, people with disability's quantity of China is increased to 8,296 ten thousand people by 5,164 ten thousand people, and the physically disabled is increased to present 2,412 ten thousand from more than 800 ten thousand, become the colony of ratio maximum among China people with disability, accounted for 29.07% of people with disability's sum.The physically disabled also needs to be socially reintegrated well, so countries in the world are all studied research and development and application that this does evil through another person comprising the physical disabilities human targetedly.
Doing evil through another person have the profile the same with staff and big or small, in light weight and have the extracting and the function of dexterous manipulation, thereby replaces staff on function.But to do evil through another person nearly all be single-degree-of-freedom to the commerce of comparative maturity in the market, has in recent years to refer to that multiarticulate multiple freedom degrees hand-prosthesis becomes comparison active research direction more.Owe doing evil through another person of driving principle more attractive being based on of multiple freedom degrees hand-prosthesis research field, this design has alleviated the weight of finger, has increased grasping stability.But in the wearer's that does evil through another person training and daily use, find that the physically disabled can not feel well to doing evil through another person.Be equipped with in the doing evil through another person of touch sensor at some, user improves to some extent for sensation understanding, but because life period postpones situation such as often take place that object drops, and this sense of touch is to feed back to processor, and persons without a disability's oneself nervous system.Do evil through another person in order to allow the wearer use preferably, necessary research and the application of carrying out sensory feedback makes its real sensation that produces " phantom limb ".So-called sensory feedback, promptly through training, make the mechanical gripping power taking situation of doing evil through another person corresponding one by one to the stimulus intensity of human body skin with system equipment, wearer's the same sensation of the likelihood of perception class preferably hands just like this, avoid misoperation or mistake to exert oneself, also do not have the sophisticated sensory feedback system that is applied to do evil through another person in the market.
Common doing evil through another person do not have the sensation of carrying out power, temperature, slip etc. as normal hand, under the help that does not have vision, even the relative position with health of can't perception doing evil through another person.Domestic and international research mechanism some pick offs that in the research of doing evil through another person, often on palm and finger, distribute, carry out sensory feedback with this, but the technical sophistication of this pattern, poor reliability, and existence postpones, and the feedback system of doing evil through another person of each research institution all is to design voluntarily, each other can not be general.
Summary of the invention
The employing pick off is relatively poor as the sensory feedback accuracy of the EMG-controlling prosthetic hand existence of sensory feedback in order to solve, life period postpones, can not distinguish stimulus intensity and the relatively poor problem of versatility in the present invention, has proposed a kind of electrostimulator that is used for the apery myoelectricity artificial hand sensory feedback.The present invention is by power module circuitry and stimulate drive circuit to form, the driving power outfan of power module circuitry connects the driving power input that stimulates drive circuit, described power module circuitry comprises: inductance, commutation diode, the first configuration resistance, second configuration resistance and the power module main control chip, first end of the power input of power module main control chip and inductance all is connected with the 7.2V power supply, second end of inductance and the anode of commutation diode all are connected with the driving power input of power module main control chip, first end of the first configuration resistance all is connected with the driving power outfan of power module main control chip with first end of the second configuration resistance, and second end of the first configuration resistance and the negative electrode of commutation diode all are connected with the driving power input that stimulates drive circuit; Described stimulation drive circuit comprises the turn-off time configuration circuit, detect resistance, frequency signal generating circuit and stimulation drive circuit main control chip, stimulate the driving power input of drive circuit main control chip to be connected with the power output end of power module circuitry, the signal output part of frequency signal generating circuit is connected with the pwm signal input that stimulates the drive circuit main control chip, the two ends of detecting resistance are connected with power supply ground with the detection power output end that stimulates the drive circuit main control chip respectively, and the two ends of turn-off time configuration circuit are connected with power supply ground with the turn-off time control end that stimulates the drive circuit main control chip respectively.
Beneficial effect: electrostimulator of the present invention is simple and reliable, drive electrode starts the back working stability, the time-delay of apery shape EMG-controlling prosthetic hand is about 50ms, user can not felt delay, and apery shape EMG-controlling prosthetic hand wearer is through after training, can distinguish the stimulation levels of six grades of varying strengths according to the stimulation degree of electrostimulator electrode pair skin surface, can be used to do evil through another person six grades of grasp force size of correspondence, reduce the misoperation of apery shape EMG-controlling prosthetic hand with this, these six grades of intensity can also be changed in software program easily, thereby its wearer that does evil through another person at different sensitivitys has good versatility; The maximum operating voltage of electrical stimulation circuit is the human safety voltage who is lower than 36V in addition, and after electrode was placed on the skin, the dirty stimulating current of crossing human body skin of operate as normal was 8mA, can not damage human body.
Description of drawings
Fig. 1 is an electrical block diagram of the present invention; Fig. 2 is that the present invention is operated in the structural representation in the electric control system.
The specific embodiment
The specific embodiment one: referring to Fig. 1 and Fig. 2, the electrical stimulator for sensation feedback 7 of present embodiment is by power module circuitry A and stimulate drive circuit B to form, the driving power outfan of power module circuitry A connects the driving power input that stimulates drive circuit B, power module circuitry A comprises: inductance L 5, commutation diode D1, the first configuration resistance R 59, second configuration resistance R 63 and the power module main control chip 7-1, the power input of power module main control chip 7-1 all is connected with the 7.2V power supply with first end of inductance L 5, second end of inductance L 5 all is connected with the driving power input of power module main control chip 7-1 with the anode of commutation diode D1, first end of the first configuration resistance R 59 all is connected with the driving power outfan of power module main control chip 7-1 with first end of the second configuration resistance R 63, and second end of the first configuration resistance R 59 and the negative electrode of commutation diode D1 all are connected with the driving power input that stimulates drive circuit B; Stimulate drive circuit B to comprise turn-off time configuration circuit RC, detect resistance R 64, frequency signal generating circuit PWM and stimulation drive circuit main control chip 7-2, stimulate the driving power input of drive circuit main control chip 7-2 to be connected with the power output end of power module circuitry A, the signal output part of frequency signal generating circuit PWM is connected with the pwm signal input that stimulates drive circuit main control chip 7-2, the two ends of detecting resistance R 64 are connected with power supply ground with the detection power output end that stimulates drive circuit main control chip 7-2 respectively, and the two ends of turn-off time configuration circuit RC are connected with power supply ground with the turn-off time control end that stimulates drive circuit main control chip 7-2 respectively.
The power module main control chip 7-1 of present embodiment can adopt the LM2577 chip, and packing forms is 5Lead TO-263, is a sophisticated DC-DC voltage stabilizing chip that national quasiconductor (National Semiconductor) is produced; Stimulate drive circuit main control chip 7-2 can adopt the LMD18245 chip, packing forms is 15Lead TO-220, also is national semi-conductive product; be that maximum anti-stream is 3A; maximum is withstand voltage to be the DMOS full-bridge driving chip of 55V, and overcurrent protection that it is inner integrated is used more safe and reliable.The 7.2V inlet voltage of power module circuitry A is provided by two joint lithium ion polymer batteries, can pass through capacitor C 31 (0.1uF, the two ends of capacitor C 31 are connected with power supply ground with the 7.2V power supply respectively) enter 5 feet of LM2577 chip after the filtering, simultaneously filtered voltage process inductance L 5 is connected to 4 feet (being the collector terminal of LM2577 chip internal NPN type audion) of LM2577 chip, as the switching voltage of power module main control chip 7-1; 4 feet of LM2577 chip are again via fast-recovery commutation diode D1 (IN4934) and electrochemical capacitor C32 (1000uF/70V/1206), under the effect of the first configuration resistance R 59 (100K) and the second configuration resistance R 63 (4K), configuring stimulates the required 30～33V DC voltage of drive circuit B, and computing formula is V
Out=1.23 * (R59/R63+1), can also increase the 3rd configuration resistance R 58 (2.4K) and configuration capacitor C 30 (4.7uF) in addition, first end of the 3rd configuration resistance R 58 is connected with the first configuration power end of power module main control chip 7-1, second end of the 3rd configuration resistance R 58 is connected with first end of configuration capacitor C 30, second end of configuration capacitor C 30 is connected with the second configuration power end of power module main control chip 7-1, can freely dispose according to required output voltage with reference to the data book of LM2577 chip; The voltage of power module circuitry A output can be eliminated surge current on the driving power circuit through alminium electrolytic condenser C35 (100uF/70V), passing through ceramic condenser C33 (1uF) again eliminates pulse voltage on the driving power circuit (two ends of alminium electrolytic condenser C35 is connected with power supply ground with the power output end of power module circuitry A respectively, the two ends of ceramic condenser C33 are connected with power supply ground with the power output end of power module circuitry A respectively), be connected to 9 feet of the LMD18245 chip that stimulates drive circuit B then, as the driving voltage that stimulates drive circuit B partial circuit, 14 feet of LMD18245 chip, 4,6,7,8 feet all connect the digital voltage of 3.3V, this input voltage is from the main DSP circuit 1 of apery shape EMG-controlling prosthetic hand electric control system, wherein 14 feet are to provide reference voltage for the LMD18245 chip, and 4,6,7,8 feet are used for driving on the configuration driven bridge maximum current threshold value (this four foot is all drawn high in the present embodiment, so that bigger drive current output is just arranged) of load under low voltage; 10 foot ground connection of LMD18245 chip (are not utilized its snub function, can be provided with according to own needs during practical application), the turn-off time configuration circuit RC that 3 foot places of LMD18245 chip connect (being made up of RC resistance R 65 and RC capacitor C 36) is used for turn-off time of the inner H bridge of configuring chip, and its computing formula is T
Off-on=1.1RC, the detection resistance R 64 that is connected in series between 13 feet of LMD18245 chip and the ground is used for obtaining the voltage signal of current detecting, input as the internal current comparator, and compare with the analogue signal of conversion output, obtain PWM (pulse width modulation) signal through monostable again, H bridge circuit output current is carried out copped wave control.
The electrical stimulator for sensation feedback of present embodiment is arranged on by main DSP circuit 1, buzzer circuit 2, electric power management circuit 3, temperature sensor 4, EMG channel circuit 5, vibrating motor circuit 6, electrical stimulation circuit 7, Bluetooth circuit 8, from DSP circuit 9, a plurality of torque sensors 10, CPLD circuit 11, in the electric control system of the apery myoelectricity artificial hand that a plurality of motor-drive circuits 12 and a plurality of motor M form (referring to Fig. 2), after apery myoelectricity artificial hand is started working, electromyographic electrode picks up the wearer's that does evil through another person electromyographic signal, signal is sent into main DSP circuit 1 after treatment and is classified and identification, sample according to the stock provides the action command of doing evil through another person accordingly, while is along with the continuous action of the body of doing evil through another person, power and torque sensor detect the grasp force size of doing evil through another person in real time and return to main DSP circuit 1, main DSP circuit 1 is selected intensity of electric stimulus according to the power size, control then from DSP circuit 9 and go to drive electrical stimulation circuit 7, electrical stimulation circuit 7 provides corresponding stimulus intensity by instruction, on the human body skin by the corresponding stimulus sensation effect of stimulating electrode handle.Present embodiment does not make to do evil through another person by pick off itself has perceptive function, but this information feedback of grasp force size of doing evil through another person is given the wearer's that does evil through another person brain by electrical stimulation circuit 7, through after a while training, just can set up the corresponding relation of do evil through another person grasp force situation and intensity of electric stimulus like this.The mode of utilizing electrostimulator is converted into the comfortable skin irritation sense that is caused by electric current of human body sensory to the grasp force size of doing evil through another person, because whole skin surface all has sensory nerve, just can feed back to brain to sensory information so needn't directly link to each other with nerve, can distinguish the stimulation levels of six grades of varying strengths according to the stimulation degree of electrostimulator electrode pair skin surface, can be used to do evil through another person six grades of grasp force size of correspondence, reduce the misoperation of apery shape EMG-controlling prosthetic hand with this, six grades of intensity settings of this electrostimulator are to rely on the frequency of galvanism and the duty of PWM ripple recently to realize, see following table for details:
| Stimulation levels | One | Two | Three | Four | Five | Six |
| Stimulus frequency Hz (dutycycle) | 2(0.46％) | 10(2.3％) | 20(4.6％) | 40(9.2％) | 80(18.4％) | 400(92％) |
Claims (4)
1. electrostimulator that is used for the apery myoelectricity artificial hand sensory feedback, it is characterized in that it is by power module circuitry (A) with stimulate drive circuit (B) to form, the driving power outfan of power module circuitry (A) connects the driving power input that stimulates drive circuit (B), described power module circuitry (A) comprising: inductance (L5), commutation diode (D1), the first configuration resistance (R59), second configuration resistance (R63) and the power module main control chip (7-1), first end of the power input of power module main control chip (7-1) and inductance (L5) all is connected with the 7.2V power supply, the anode of second end of inductance (L5) and commutation diode (D1) all is connected with the driving power input of power module main control chip (7-1), first end of the first configuration resistance (R59) all is connected with the driving power outfan of power module main control chip (7-1) with first end of the second configuration resistance (R63), and second end of the first configuration resistance (R59) and the negative electrode of commutation diode (D1) all are connected with the driving power input that stimulates drive circuit (B); Described stimulation drive circuit (B) comprises turn-off time configuration circuit (RC), detect resistance (R64), frequency signal generating circuit and stimulation drive circuit main control chip (7-2), stimulate the driving power input of drive circuit main control chip (7-2) to be connected with the power output end of power module circuitry (A), the signal output part of frequency signal generating circuit is connected with the pwm signal input that stimulates drive circuit main control chip (7-2), the two ends of detecting resistance (R64) are connected with power supply ground with the detection power output end that stimulates drive circuit main control chip (7-2) respectively, and the two ends of turn-off time configuration circuit (RC) are connected with power supply ground with the turn-off time control end that stimulates drive circuit main control chip (7-2) respectively.
2. a kind of electrostimulator that is used for the apery myoelectricity artificial hand sensory feedback according to claim 1 is characterized in that described power module circuitry (A) also comprises electric capacity (C31), and the two ends of electric capacity (C31) are connected with power supply ground with the 7.2V power supply respectively.
3. a kind of electrostimulator that is used for the apery myoelectricity artificial hand sensory feedback according to claim 1, it is characterized in that described power module circuitry (A) also comprises the 3rd configuration resistance (R58) and configuration electric capacity (C30), first end of the 3rd configuration resistance (R58) is connected with the first configuration power end of power module main control chip (7-1), second end of the 3rd configuration resistance (R58) is connected with first end of configuration electric capacity (C30), and second end of configuration electric capacity (C30) is connected with the second configuration power end of power module main control chip (7-1).
4. a kind of electrostimulator that is used for the apery myoelectricity artificial hand sensory feedback according to claim 1, it is characterized in that described stimulation drive circuit (B) also comprises alminium electrolytic condenser (C35) and ceramic condenser (C33), alminium electrolytic condenser (C35) is connected with power supply ground with the power output end of power module circuitry (A) respectively with ceramic condenser (C33) two ends then in parallel earlier.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100645862A CN101305939B (en) | 2008-05-26 | 2008-05-26 | Electrical stimulator for sensation feedback of human-emulated myoelectric artificial hand |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100645862A CN101305939B (en) | 2008-05-26 | 2008-05-26 | Electrical stimulator for sensation feedback of human-emulated myoelectric artificial hand |
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| Publication Number | Publication Date |
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| CN101305939A CN101305939A (en) | 2008-11-19 |
| CN101305939B true CN101305939B (en) | 2010-06-02 |
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| CN2008100645862A Expired - Fee Related CN101305939B (en) | 2008-05-26 | 2008-05-26 | Electrical stimulator for sensation feedback of human-emulated myoelectric artificial hand |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103815991B (en) * | 2014-03-06 | 2015-10-28 | 哈尔滨工业大学 | Virtual training system and the method for doing evil through another person of dual pathways operation perception |
| EP3034043B1 (en) * | 2014-12-19 | 2022-08-24 | Fundación Tecnalia Research & Innovation | System and method for electrotactile feedback |
| CN105640677B (en) * | 2015-12-25 | 2018-07-13 | 上海交通大学 | A kind of electro photoluminescence perceptible feedback system for prosthetic hand perceptible feedback |
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| US5888213A (en) * | 1997-06-06 | 1999-03-30 | Motion Control, Inc. | Method and apparatus for controlling an externally powered prosthesis |
| CN1582866A (en) * | 2004-06-02 | 2005-02-23 | 杭州电子科技大学 | Myoelectric bionic artificial hand with thigmesthesia and its control |
| CN101057795A (en) * | 2007-05-18 | 2007-10-24 | 天津大学 | Artificial hand using muscle electrical and electroencephalogram cooperative control and controlling method thereof |
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2008
- 2008-05-26 CN CN2008100645862A patent/CN101305939B/en not_active Expired - Fee Related
Patent Citations (6)
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| CN85100130A (en) * | 1985-04-01 | 1986-07-30 | 清华大学 | Epidermic muscle-electricity transducer |
| CN1117839A (en) * | 1994-05-10 | 1996-03-06 | 奥托·伯克矫形工业所有与管理两合公司 | Method for controlling artificial limb with muscle electricity |
| CN1108520A (en) * | 1994-12-16 | 1995-09-20 | 清华大学 | Controlling device for grip of artifical hand |
| US5888213A (en) * | 1997-06-06 | 1999-03-30 | Motion Control, Inc. | Method and apparatus for controlling an externally powered prosthesis |
| CN1582866A (en) * | 2004-06-02 | 2005-02-23 | 杭州电子科技大学 | Myoelectric bionic artificial hand with thigmesthesia and its control |
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