CN103622768A - USB (universal serial bus) 3.0-based five-finger myoelectric artificial limb embedded measurement and control system and USB 3.0 data transmission method of system - Google Patents
USB (universal serial bus) 3.0-based five-finger myoelectric artificial limb embedded measurement and control system and USB 3.0 data transmission method of system Download PDFInfo
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Abstract
The invention discloses a USB (universal serial bus) 3.0-based five-finger myoelectric artificial limb embedded measurement and control system and a USB 3.0 data transmission method of the system, relates to a hardware circuit of a multi-freedom degree myoelectric artificial limb and a control technology thereof, belongs to the field of bio-electromechanical integration, and solves the problems that an artificial limb cannot be controlled online and the data in a measurement and control process cannot be transmitted and monitored in real time because a test system is separated from a control system in the field of artificial limbs of disabled persons. According to the system and the method, a myoelectric signal acquisition system and a motor drive system are integrated in a measurement and control system, the data are transmitted by adopting a USB 3.0 interface and a PC (personal computer), the information of position sensors and torque sensors of five fingers can be acquired simultaneously, the real-time data transmission between the USB 3.0 interface and the PC can also be realized, the movement of the artificial limb can be controlled according to the acquired signals, and the myoelectric signal acquisition training of the disabled person is not required to be performed by using special equipment. The system and the method are applicable to a bionic artificial limb of the disabled person in biomedical engineering.
Description
Technical field
The present invention relates to hardware circuit and the control technology thereof of multi-freedom degree muscle-electric artificial hand, belong to the technical field of biological electromechanical integration (Biomechatronics).
Background technology
The research of doing evil through another person can be carried out daily life and better be socially reintegrated for people with disability is very important.Desirable doing evil through another person have the profile the same with staff and size, lightweight, has the function of crawl and dexterous manipulation, thereby in function, replaces staff.
Owing to doing evil through another person, on basic machine, be tending towards miniaturization, lightweight (volume approaches adult normal hands, approximately 1 grams of weight), therefore corresponding electronic control system also must be integrated, allows user self can bear the overall weight of doing evil through another person.In the market existing do evil through another person electronic control system otherwise do not have integrated, or the myoelectricity control box of integrated degree Bu Gao，Ru Univ Nat Taiwan, integral body is placed in outside the body of doing evil through another person, it is bulky, uses inconvenient.Meanwhile, due to the raising of user to the intelligent requirements of doing evil through another person, the functional module of doing evil through another person is got more and more, this has higher requirement to the hardware configuration of its electronic control system undoubtedly.Traditional myoelectric limb and electromyographic signal collection system are two systems independently, when artificial limb is installed, need to first adopt electromyographic signal analyser to analyze people with disability's disabled myoelectricity signal, select electrode installation site, and the training to people with disability.Myoelectric limb can not carry out real-time waveform to electromyographic signal and show, can not analyze and training to people with disability electromyographic signal.People with disability in use, need to use independently electromyographic signal analyser when electrode installation site is upgraded.Now do not have in the world artificial limb system can realize the Real-time Collection to electromyographic signal, the motor control that waveform shows and does evil through another person simultaneously.
Summary of the invention
The object of the invention is to do evil through another person in field in order to solve people with disability, because test macro is separated with control system, cause carrying out to doing evil through another person On-line Control, and data cannot real-time Transmission and the problem of monitoring in observing and controlling process, provide a kind of embedded TT&C system of the five fingers myoelectric limb based on USB3.0 and the USB3.0 data transmission method of this system.
The embedded TT&C system of the five fingers myoelectric limb based on USB3.0 of the present invention comprises electromyographic signal collection system, motor driven systems, motor encoder processing system, position and torque sensor signal acquiring system, the CPU based on FPGA, power-supply management system and USB3.0 USB circuit;
Electromyographic signal collection system is used for gathering the signal of electromyographic electrode, the electromyographic electrode signal output part of described electromyographic signal collection system connects the electromyographic electrode signal input part of the CPU based on FPGA, motor driven systems is used for driving five direct current generators to realize the motion of finger, the control signal input of described motor driven systems connects the motor control signal outfan of the CPU based on FPGA, the code device signal outfan of motor driven systems connects the code device signal input of the CPU based on FPGA by motor encoder processing system, position and torque sensor signal acquiring system are used for gathering position and the torque sensor signal of five fingers, the position sensor signal outfan of described position and torque sensor signal acquiring system is connected the position sensor signal input of the CPU based on FPGA, the torque sensor signal output part of described position and torque sensor signal acquiring system is connected the position sensor signal input of the CPU based on FPGA, power-supply management system is used for providing running voltage for the described embedded TT&C system of the five fingers myoelectric limb based on USB3.0, USB3.0 USB circuit is used for transmitting data between the CPU based on FPGA and PC, described USB3.0 USB circuit comprises CUSB3014 chip and USB-PORT, described CUSB3014 chip connects the usb data end of the CPU based on FPGA by the fifo interface of the CPU based on FPGA, the usb signal end of CUSB3014 chip connects the CUSB signal end of USB-PORT.
Described electromyographic signal collection system comprises filter circuit, A/D conversion chip and voltage transitions chip, the signal input part of described filter circuit is the electromyographic electrode signal input part of electromyographic signal collection system, the signal output part of described filter circuit connects the electromyographic electrode signal input part of voltage transitions chip by A/D conversion chip, the electromyographic electrode signal output part of described voltage transitions chip is the electromyographic electrode signal output part of electromyographic signal collection system.
Described position and torque sensor signal acquiring system comprise position sensor processing amplifying circuit, the first filter circuit, the first D/A converting circuit, torque sensor is processed amplifying circuit, the second filter circuit and the second D/A converting circuit, the signal input part that described position sensor is processed amplifying circuit is the position sensor signal input of position and torque sensor signal acquiring system, the signal output part that described position sensor is processed amplifying circuit connects the signal input part of the first D/A converting circuit by the first filter circuit, the signal output part of described the first D/A converting circuit is the position sensor signal outfan of position and torque sensor signal acquiring system, the signal input part that described torque sensor is processed amplifying circuit is the torque sensor signal input part of position and torque sensor signal acquiring system, the signal output part that described torque sensor is processed amplifying circuit connects the signal input part of the second D/A converting circuit by the second filter circuit, the signal output part of described the second D/A converting circuit is the torque sensor signal output part of position and torque sensor signal acquiring system.
Described power-supply management system comprises battery, current sensor and voltage conversion circuit, the electric outfan of described battery connects the current signal input of current sensor, and the current sensing signal outfan of described current sensor connects the signal input part of voltage conversion circuit.
Described motor driven systems adopts the brush direct current motor of MPC17531A model to drive chip to realize.
The USB3.0 data transmission method of the embedded TT&C system of the five fingers myoelectric limb based on USB3.0, described CUSB3014 chip internal embeds firmware method, the inner embedding of CPU based on FPGA has Slave FIFO method, described Slave FIFO method comprises that FIFO reads method and FIFO write method, CPU based on FPGA to the process of PC data writing is: the CPU based on FPGA regularly writes CUSB3014 chip by FIFO write method by data, and described CUSB3014 chip writes PC by USB-PORT by data; CPU based on FPGA from the process of PC sense data is: PC writes CUSB3014 chip by USB-PORT by data, and the CPU based on FPGA regularly reads method by FIFO makes CUSB3014 chip send data to the CPU based on FPGA.
Described firmware method is used three end points of USB chip, i.e. the first end points, the second end points and the 3rd end points.Wherein, the first end points is the control end points of system default, for the enumeration process of usb communication, the second end points and the 3rd endpoint configurations are for interrupting transmission means, and the second end points direction is configured to input, for from PC read data, the direction of the 3rd end points is configured to output, for writing data to PC.
Described FIFO read operation method comprises the following steps:
Be used for initializing FIFO, and after this step finishes, carry out the first initialization step of the first empty determining step;
Be used for judging that whether FIFO is empty, and return and carry out the first empty determining step judgment result is that while being, when the determination result is NO, carry out the first empty determining step of FIFO read operation step;
Be used for carrying out FIFO read operation, and carry out the read operation step that finishes determining step after this step finishes;
Be used for judging whether FIFO read operation finishes, and judgment result is that it is to carry out read operation end step, when the determination result is NO, return to the end determining step of carrying out read operation step;
For finishing the read operation end step of FIFO read operation method.
Described FIFO write operation method comprises the following steps:
Be used for initializing FIFO, and after this step finishes, carry out the second initialization step of the second empty determining step;
Be used for judging that whether FIFO is empty, and carry out write operation step judgment result is that while being, when the determination result is NO, return to the two empty determining steps of carrying out two empty determining steps;
Be used for carrying out FIFO write operation, and after this step finishes, carry out the write operation step of full determining step;
Be used for judging whether FIFO is full, and judgment result is that it is to carry out write operation end step, when the determination result is NO, return to the full determining step of carrying out write operation step;
For finishing the write operation end step of FIFO write operation method.
The embedded TT&C system of the five fingers myoelectric limb based on USB3.0 of the present invention is integrated in electromyographic signal collection system and motor driven systems in a TT&C system, not only can gather position sensor and the torque sensor information of five fingers simultaneously, five fingers can also doing evil through another person according to the signal On-line Control collecting carry out self-movement, do not need special equipment to carry out the training of people with disability's electromyographic signal collection; Present embodiment adopts USB3.0 USB circuit and PC to communicate, can real time high-speed ground by sensor information and the electromyographic signal information transmission to PC, the interior application software of PC can show waveform, process and store.
The USB3.0 data transmission method of the above-mentioned embedded TT&C system of the five fingers myoelectric limb based on USB3.0 comprises FIFO program, driver and the application program of programming to the firmware program in CUSB3014 chip, programming to the CPU based on FPGA.USB3.0 USB circuit forms synchronous Slave fifo interface by the CPU based on FPGA and is connected with the CPU based on FPGA, the data that CUSB3014 chip communicates in the CPU based on FPGA by synchronous Slave fifo interface and the CPU based on FPGA can be imported PC into by USB3.0 USB circuit, PC also can send to the CPU based on FPGA by instruction by USB interface, can to electromyographic signal and the sensor signal of doing evil through another person, carry out image conversion demonstration, processing and preservation in real time, and to the manual control of doing evil through another person.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of the embedded TT&C system of the five fingers myoelectric limb based on USB3.0 described in embodiment one;
Fig. 2 is the structured flowchart of electromyographic signal collection system 1 in embodiment two;
Fig. 3 is position and torque sensor signal acquiring system 4 Position Sensor signal acquiring systems structured flowchart partly in embodiment three;
Fig. 4 is the structured flowchart of torque sensor signal acquiring system part in position and torque sensor signal acquiring system 4 in embodiment three;
Fig. 5 is the structured flowchart of power-supply management system 6 in embodiment four;
Fig. 6 is the structured flowchart of motor driven systems 2 in embodiment five;
Fig. 7 is the structured flowchart of USB3.0 USB circuit 7 in embodiment one;
Fig. 8 is the firmware method flow diagram in embodiment seven;
Fig. 9 is the FIFO read operation method flow chart in embodiment eight;
Figure 10 is the FIFO write operation method flow chart in embodiment nine.
The specific embodiment
The specific embodiment one: in conjunction with Fig. 1 and Fig. 7, present embodiment is described, the embedded TT&C system of the five fingers myoelectric limb based on USB3.0 described in present embodiment comprises electromyographic signal collection system 1, motor driven systems 2, motor encoder processing system 3, position and torque sensor signal acquiring system 4, the CPU5 based on FPGA, power-supply management system 6 and USB3.0 USB circuit 7;
Electromyographic signal collection system 1 is used for gathering the signal of electromyographic electrode, the electromyographic electrode signal output part of described electromyographic signal collection system 1 connects the electromyographic electrode signal input part of the CPU5 based on FPGA, motor driven systems 2 is used for driving five direct current generators to realize the motion of finger, the control signal input of described motor driven systems 2 connects the motor control signal outfan of the CPU5 based on FPGA, the code device signal outfan of motor driven systems 2 connects the code device signal input of the CPU5 based on FPGA by motor encoder processing system 3, position and torque sensor signal acquiring system 4 are used for gathering position and the torque sensor signal of five fingers, the position sensor signal outfan of described position and torque sensor signal acquiring system 4 is connected the position sensor signal input of the CPU5 based on FPGA, the torque sensor signal output part of described position and torque sensor signal acquiring system 4 is connected the position sensor signal input of the CPU5 based on FPGA, power-supply management system 6 is used for providing running voltage for the described embedded TT&C system of the five fingers myoelectric limb based on USB3.0, USB3.0 USB circuit 7 is used for transmitting data between the CPU5 based on FPGA and PC, described USB3.0 USB circuit 7 comprises CUSB3014 chip and USB-PORT(USB3.0 interface), described CUSB3014 chip connects the usb data end of the CPU5 based on FPGA by the fifo interface of the CPU5 based on FPGA, the usb signal end of CUSB3014 chip connects the CUSB signal end of USB-PORT.
In present embodiment, power-supply management system 6 be used for for the embedded TT&C system of the five fingers myoelectric limb based on USB3.0 different running voltages is provided, to battery electric quantity Real-Time Monitoring, and the system voltage of described embedded TT&C system is monitored and is reported to the police; Electromyographic signal collection system 1 be used for gathering electromyographic electrode signal and by this electromyographic electrode signal storage in the CPU5 based on FPGA, electromyographic signal collection system 1 communicates with CPU5 based on FPGA by SPI serial line interface; Position and torque sensor signal acquiring system 4 are used for gathering position and the torque sensor signal of five fingers, and by this position and torque sensor signal storage in the CPU5 based on FPGA, position and torque sensor signal acquiring system 4 communicate with the CPU5 based on FPGA by SPI serial line interface; Motor encoder processing system 3 be used for processing motor end with code device signal to obtain rotation direction and the speed of motor, and the rotation direction of motor and rate signal are stored in the CPU5 based on FPGA, motor encoder processing system 3 is connected with the CPU5 based on FPGA by the common I/O mouth of the CPU5 based on FPGA; CPU5 based on FPGA will be write and be produced 12 road PWM Waveform Input to motor driven systems 2 by VHDL language, to drive six direct current generators to realize the motion of finger; USB3.0 USB circuit 7 is for importing the data that collect in real time into the user application of PC, USB3.0 USB circuit 7 communicates with the CPU5 based on FPGA by SLAVE fifo interface form, realizes the parallel transmission of 32-bit number signal; Whole embedded TT&C system is communicated by letter with PC by USB3.0 USB circuit 7, and the application software in PC can show electromyographic signal and the sensor signal of doing evil through another person in real time, and user can manually control by this application software opponent fingering row.
The embedded TT&C system of the five fingers myoelectric limb based on USB3.0 described in present embodiment is integrated in electromyographic signal collection system 1 and motor driven systems 2 in a TT&C system, not only can gather position sensor and the torque sensor information of five fingers simultaneously, five fingers can also doing evil through another person according to the signal On-line Control collecting carry out self-movement, do not need special equipment to carry out the training of people with disability's electromyographic signal collection; Present embodiment adopts USB3.0 USB circuit 7 to communicate with PC, can real time high-speed ground by sensor information and the electromyographic signal information transmission to PC, in PC, application software can show waveform, process and store.In addition, this TT&C system volume is little, easy to carry.Can be widely used in people with disability's artificial limb.
The specific embodiment two: present embodiment is described in conjunction with Fig. 2, present embodiment is the further restriction to the embedded TT&C system of the five fingers myoelectric limb based on USB3.0 described in embodiment one: in present embodiment, electromyographic signal collection system 1 comprises filter circuit 11, A/D conversion chip 12 and voltage transitions chip 13, the signal input part of described filter circuit 11 is the electromyographic electrode signal input part of electromyographic signal collection system 1, the signal output part of described filter circuit 11 connects the electromyographic electrode signal input part of voltage transitions chip 13 by A/D conversion chip 12, the electromyographic electrode signal output part of described voltage transitions chip 13 is the electromyographic electrode signal output part of electromyographic signal collection system 1.
Electromyographic signal collection system 1 is carried out filtering and digital-to-analogue conversion by the electromyographic electrode signal collecting.The signal of electromyographic electrode output enters A/D conversion chip 12 after by filter circuit 11 filtering, A/D conversion chip 12 is sent to voltage transitions chip 13 after this signal is converted to digital signal, voltage transitions chip 13 is converted to 3.3V voltage by this digital signal, and is input to the CPU5 based on FPGA by SPI interface.
The specific embodiment three: present embodiment is described in conjunction with Fig. 3 and Fig. 4, present embodiment is the further restriction to the embedded TT&C system of the five fingers myoelectric limb based on USB3.0 described in embodiment one: in present embodiment, position and torque sensor signal acquiring system 4 comprise position sensor processing amplifying circuit, the first filter circuit, the first D/A converting circuit, torque sensor is processed amplifying circuit, the second filter circuit and the second D/A converting circuit, the signal input part that described position sensor is processed amplifying circuit is the position sensor signal input of position and torque sensor signal acquiring system 4, the signal output part that described position sensor is processed amplifying circuit connects the signal input part of the first D/A converting circuit by the first filter circuit, the signal output part of described the first D/A converting circuit is the position sensor signal outfan of position and torque sensor signal acquiring system 4, the signal input part that described torque sensor is processed amplifying circuit is the torque sensor signal input part of position and torque sensor signal acquiring system 4, the signal output part that described torque sensor is processed amplifying circuit connects the signal input part of the second D/A converting circuit by the second filter circuit, the signal output part of described the second D/A converting circuit is the torque sensor signal output part of position and torque sensor signal acquiring system 4.
In present embodiment, position and torque sensor signal acquiring system 4 are used for gathering position and the torque sensor signal of five fingers and signal being carried out to amplification filtering and digital-to-analogue conversion.The chip of the AAT001 model of employing based on Hall effect is as position sensor, when magnet steel rotates perpendicular to chip, position sensor output two-way phase contrast is sine and the cosine signal of 90 degree, by the amplifying circuit forming based on INA337 type instrument amplifier, enters 12bit analog-digital chip.Torque sensor adopts pastes two foil gauge SG1 and SG2 realization on strain beam, described two foil gauge SG1, SG2 and INA337 type instrument amplifier form half-bridge circuit, after torque signals is amplified, by RC filter circuit, enter analog-digital chip, by SPI interface, the sensor digital signal after conversion is input to the CPU5 based on FPGA.
The specific embodiment four: present embodiment is described in conjunction with Fig. 5, present embodiment is the further restriction to the embedded TT&C system of the five fingers myoelectric limb based on USB3.0 described in embodiment one: in present embodiment, power-supply management system 6 comprises battery 61, current sensor 62 and voltage conversion circuit 63, the electric outfan of described battery 61 connects the current signal input of current sensor 62, and the current sensing signal outfan of described current sensor 62 connects the signal input part of voltage conversion circuit 63.
In present embodiment, power-supply management system 6 can also comprise buzzer circuit and LED display circuit.Current sensor Real-Time Monitoring battery output current size, shows charged state and the too low warning of battery electric quantity by LED display circuit and buzzer circuit.
The specific embodiment five: present embodiment is described in conjunction with Fig. 6, present embodiment is the further restriction to the embedded TT&C system of the five fingers myoelectric limb based on USB3.0 described in embodiment one: in present embodiment, motor driven systems 2 adopts the brush direct current motor of MPC17531A model to drive chip to realize.
In present embodiment, motor driven systems 2 adopts the brush direct current motor of MPC17531A models to drive chip to realize, and this chip internal is integrated two cover H bridge circuits can complete the driving to two direct current generators.Adopt 3 MPC17531A to drive chip, by the CPU5 based on FPGA, generating 12 6 of road pwm signals controls has brushless motor to rotate, and realizes the self-movement of five fingers, and its middle finger has brushless motor to drive by two.
The specific embodiment six: present embodiment is described in conjunction with Fig. 7, present embodiment is the USB3.0 data transmission method of the embedded TT&C system of the five fingers myoelectric limb based on USB3.0 described in embodiment one, in present embodiment, CUSB3014 chip internal embeds firmware method, the inner embedding of CPU5 based on FPGA has Slave FIFO method, described Slave FIFO method comprises that FIFO reads method and FIFO write method, CPU5 based on FPGA to the process of PC data writing is: the CPU5 based on FPGA regularly writes CUSB3014 chip by FIFO write method by data, described CUSB3014 chip writes PC by USB-PORT by data, CPU5 based on FPGA from the process of PC sense data is: PC writes CUSB3014 chip by USB-PORT by data, and the CPU5 based on FPGA regularly reads method by FIFO makes CUSB3014 chip send data to the CPU5 based on FPGA.
In present embodiment, the software section of USB3.0 USB circuit 7 comprises the FIFO program of programming to the firmware program in CUSB3014 chip, programming to the CPU5 based on FPGA, is arranged on driver and application program in PC.USB3.0 USB circuit 7 forms synchronous Slave fifo interface by the CPU5 based on FPGA and is connected with the CPU5 based on FPGA, the data that CUSB3014 chip communicates in the CPU5 based on FPGA by synchronous Slave fifo interface and the CPU5 based on FPGA can be imported PC into by USB3.0 USB circuit 7, and PC also can send to the CPU5 based on FPGA by instruction by USB interface.USB USB (universal serial bus) driver adopts DriverStudio_3.2 software to write, and can carry out USB driving for the embedded TT&C system of the five fingers myoelectric limb based on USB3.0.User application adopts VC++6.0 software to write, and program is divided into two threads and carries out: USB read operation thread and USB write operation thread.Wherein, USB read operation thread adopts endless loop to circulate, and the sensing data collecting shows by icon form through computing.USB write operation adopts intervalometer to carry out timing cycle operation, and user's setting data is moved through USB3.0 High-speed Control artificial limb by USB write operation.The USB3.0 data transmission method of the embedded TT&C system of the five fingers myoelectric limb based on USB3.0 described in present embodiment can carry out image conversion demonstration, processing and preservation to electromyographic signal and the sensor signal of doing evil through another person in real time, and to the manual control of doing evil through another person.
The specific embodiment seven: present embodiment is described in conjunction with Fig. 8, present embodiment is the further restriction to the USB3.0 data transmission method of the embedded TT&C system of the five fingers myoelectric limb based on USB3.0 described in embodiment six, in present embodiment, described firmware method is used three end points of USB chip, i.e. the first end points, the second end points and the 3rd end points.Wherein, the first end points is the control end points of system default, for the enumeration process of usb communication, the second end points and the 3rd endpoint configurations are for interrupting transmission means, and the second end points direction is configured to input, for from PC read data, the direction of the 3rd end points is configured to output, for writing data to PC.
Firmware method flow diagram as shown in Figure 8, the first end points receives the principal function that the CPU5 based on FPGA sends, and then carries out the enumeration process of usb communication.By USB interface agreement, carry out transfer of data with the CPU5 based on FPGA.
The specific embodiment eight: present embodiment is described in conjunction with Fig. 9, present embodiment is the further restriction to the USB3.0 data transmission method of the embedded TT&C system of the five fingers myoelectric limb based on USB3.0 described in embodiment six, in present embodiment, described FIFO read operation method comprises the following steps:
Be used for initializing FIFO, and after this step finishes, carry out the first initialization step of the first empty determining step;
Be used for judging that whether FIFO is empty, and return and carry out the first empty determining step judgment result is that while being, when the determination result is NO, carry out the first empty determining step of FIFO read operation step;
Be used for carrying out FIFO read operation, and carry out the read operation step that finishes determining step after this step finishes;
Be used for judging whether FIFO read operation finishes, and judgment result is that it is to carry out read operation end step, when the determination result is NO, return to the end determining step of carrying out read operation step;
For finishing the read operation end step of FIFO read operation method.
In present embodiment, the CPU5 based on FPGA is by judging whether FIFO is that sky flag bit determines whether FIFO to carry out read operation.
The specific embodiment nine: present embodiment is described in conjunction with Figure 10, present embodiment is the further restriction to the USB3.0 data transmission method of the embedded TT&C system of the five fingers myoelectric limb based on USB3.0 described in embodiment six, in present embodiment, described FIFO write operation method comprises the following steps:
Be used for initializing FIFO, and after this step finishes, carry out the second initialization step of the second empty determining step;
Be used for judging that whether FIFO is empty, and carry out write operation step judgment result is that while being, when the determination result is NO, return to the two empty determining steps of carrying out two empty determining steps;
Be used for carrying out FIFO write operation, and after this step finishes, carry out the write operation step of full determining step;
Be used for judging whether FIFO is full, and judgment result is that it is to carry out write operation end step, when the determination result is NO, return to the full determining step of carrying out write operation step;
For finishing the write operation end step of FIFO write operation method.
In present embodiment, the CPU5 based on FPGA is by judging whether FIFO is that full flag bit determines whether FIFO to carry out write operation.
Claims (9)
1. the embedded TT&C system of the five fingers myoelectric limb based on USB3.0, is characterized in that: it comprises electromyographic signal collection system (1), motor driven systems (2), motor encoder processing system (3), position and torque sensor signal acquiring system (4), the CPU(5 based on FPGA), power-supply management system (6) and USB3.0 USB circuit (7);
Electromyographic signal collection system (1) is used for gathering the signal of electromyographic electrode, the CPU(5 of the electromyographic electrode signal output part connection of described electromyographic signal collection system (1) based on FPGA) electromyographic electrode signal input part, motor driven systems (2) is used for driving five direct current generators to realize the motion of finger, the CPU(5 of the control signal input connection of described motor driven systems (2) based on FPGA) motor control signal outfan, the code device signal outfan of motor driven systems (2) connects the CPU(5 based on FPGA by motor encoder processing system (3)) code device signal input, position and torque sensor signal acquiring system (4) are used for gathering position and the torque sensor signal of five fingers, described position is connected the CPU(5 based on FPGA with the position sensor signal outfan of torque sensor signal acquiring system (4)) position sensor signal input, described position is connected the CPU(5 based on FPGA with the torque sensor signal output part of torque sensor signal acquiring system (4)) position sensor signal input, power-supply management system (6) is used for providing running voltage for the described embedded TT&C system of the five fingers myoelectric limb based on USB3.0, USB3.0 USB circuit (7) is used at the CPU(5 based on FPGA) and PC between transmit data, described USB3.0 USB circuit (7) comprises CUSB3014 chip and USB-PORT, described CUSB3014 chip is by the CPU(5 based on FPGA) fifo interface connect the CPU(5 based on FPGA) usb data end, the usb signal end of CUSB3014 chip connects the CUSB signal end of USB-PORT.
2. the embedded TT&C system of the five fingers myoelectric limb based on USB3.0 according to claim 1, it is characterized in that: described electromyographic signal collection system (1) comprises filter circuit (11), A/D conversion chip (12) and voltage transitions chip (13), the signal input part of described filter circuit (11) is the electromyographic electrode signal input part of electromyographic signal collection system (1), the signal output part of described filter circuit (11) connects the electromyographic electrode signal input part of voltage transitions chip (13) by A/D conversion chip (12), the electromyographic electrode signal output part of described voltage transitions chip (13) is the electromyographic electrode signal output part of electromyographic signal collection system (1).
3. the embedded TT&C system of the five fingers myoelectric limb based on USB3.0 according to claim 1, it is characterized in that: described position and torque sensor signal acquiring system (4) comprise position sensor processing amplifying circuit, the first filter circuit, the first D/A converting circuit, torque sensor is processed amplifying circuit, the second filter circuit and the second D/A converting circuit, the signal input part that described position sensor is processed amplifying circuit is the position sensor signal input of position and torque sensor signal acquiring system (4), the signal output part that described position sensor is processed amplifying circuit connects the signal input part of the first D/A converting circuit by the first filter circuit, the signal output part of described the first D/A converting circuit is the position sensor signal outfan of position and torque sensor signal acquiring system (4), the signal input part that described torque sensor is processed amplifying circuit is the torque sensor signal input part of position and torque sensor signal acquiring system (4), the signal output part that described torque sensor is processed amplifying circuit connects the signal input part of the second D/A converting circuit by the second filter circuit, the signal output part of described the second D/A converting circuit is the torque sensor signal output part of position and torque sensor signal acquiring system (4).
4. the embedded TT&C system of the five fingers myoelectric limb based on USB3.0 according to claim 1, it is characterized in that: described power-supply management system (6) comprises battery (61), current sensor (62) and voltage conversion circuit (63), the electric outfan of described battery (61) connects the current signal input of current sensor (62), and the current sensing signal outfan of described current sensor (62) connects the signal input part of voltage conversion circuit (63).
5. the embedded TT&C system of the five fingers myoelectric limb based on USB3.0 according to claim 1, is characterized in that: described motor driven systems (2) adopts the brush direct current motor of MPC17531A model to drive chip to realize.
6. the USB3.0 data transmission method of the embedded TT&C system of the five fingers myoelectric limb based on USB3.0 described in claim 1, it is characterized in that: described CUSB3014 chip internal embeds firmware method, CPU(5 based on FPGA) inner embedding has Slave FIFO method, described Slave FIFO method comprises that FIFO reads method and FIFO write method, CPU(5 based on FPGA) process to PC data writing is: the CPU(5 based on FPGA) regularly by FIFO write method, data are write to CUSB3014 chip, described CUSB3014 chip writes PC by USB-PORT by data, CPU(5 based on FPGA) from the process of PC sense data, be: PC writes CUSB3014 chip by USB-PORT by data the CPU(5 based on FPGA) regularly by FIFO, reading method makes CUSB3014 chip to the CPU(5 based on FPGA) transmission data.
7. the USB3.0 data transmission method of the embedded TT&C system of the five fingers myoelectric limb based on USB3.0 according to claim 6, it is characterized in that: described firmware method is used three end points of USB chip, i.e. the first end points, the second end points and the 3rd end points.Wherein, the first end points is the control end points of system default, for the enumeration process of usb communication, the second end points and the 3rd endpoint configurations are for interrupting transmission means, and the second end points direction is configured to input, for from PC read data, the direction of the 3rd end points is configured to output, for writing data to PC.
8. the USB3.0 data transmission method of the embedded TT&C system of the five fingers myoelectric limb based on USB3.0 according to claim 6, is characterized in that: described FIFO read operation method comprises the following steps:
Be used for initializing FIFO, and after this step finishes, carry out the first initialization step of the first empty determining step;
Be used for judging that whether FIFO is empty, and return and carry out the first empty determining step judgment result is that while being, when the determination result is NO, carry out the first empty determining step of FIFO read operation step;
Be used for carrying out FIFO read operation, and carry out the read operation step that finishes determining step after this step finishes;
Be used for judging whether FIFO read operation finishes, and judgment result is that it is to carry out read operation end step, when the determination result is NO, return to the end determining step of carrying out read operation step;
For finishing the read operation end step of FIFO read operation method.
9. the USB3.0 data transmission method of the embedded TT&C system of the five fingers myoelectric limb based on USB3.0 according to claim 6, is characterized in that: described FIFO write operation method comprises the following steps:
Be used for initializing FIFO, and after this step finishes, carry out the second initialization step of the second empty determining step;
Be used for judging that whether FIFO is empty, and carry out write operation step judgment result is that while being, when the determination result is NO, return to the two empty determining steps of carrying out two empty determining steps;
Be used for carrying out FIFO write operation, and after this step finishes, carry out the write operation step of full determining step;
Be used for judging whether FIFO is full, and judgment result is that it is to carry out write operation end step, when the determination result is NO, return to the full determining step of carrying out write operation step;
For finishing the write operation end step of FIFO write operation method.
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