CN104825256B - A kind of artificial limb system with perceptible feedback function - Google Patents
A kind of artificial limb system with perceptible feedback function Download PDFInfo
- Publication number
- CN104825256B CN104825256B CN201510215646.6A CN201510215646A CN104825256B CN 104825256 B CN104825256 B CN 104825256B CN 201510215646 A CN201510215646 A CN 201510215646A CN 104825256 B CN104825256 B CN 104825256B
- Authority
- CN
- China
- Prior art keywords
- artificial limb
- module
- control
- limb
- real
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Prostheses (AREA)
Abstract
The present invention relates to a kind of artificial limb system with perceptible feedback function, including be connected with the deformed limb portion of disabled person and the artificial limb with action actuating mechanism and：Speech signal collection and processing module；Acquiring brain waves and processing module；Pressure acquisition module, the real-time pressure value for gathering artificial limb end；Perceptible feedback module, the real-time pressure value generation current signal according to artificial limb end stimulates deformed limb portion so that disabled person corrects the eeg signal of oneself in real time；Control module, receives the voice signal, eeg signal, forms the control instruction that control action executing agency completes artificial limb action；The real-time pressure value is received, control is formed and is perceived the control instruction that feedback module produces stimulating current to deformed limb portion.Can go to manipulate artificial limb according to the true intention of oneself completely the invention enables prosthetic user, and can in real time know the touch-control pressure size of artificial limb end, be easy to adjust the control of oneself in time and be intended to, realize the purpose of fine manipulation.
Description
Technical field
The present invention relates to field of prosthetic limbs, in particular a kind of artificial limb system with perceptible feedback function.
Background technology
At present, the commercially existing various matured product sale of humanoid artifucial limb, have simple functions which includes some
Intelligent artifucial limb.These product majorities are the artifucial limbs only with decorative function, and this part artifucial limb is provided solely for ornamental effect,
Help and facility in life cannot be provided to physical disabilities.Some artifucial limb is the intelligent artifucial limb with simple functions,
This part artifucial limb only gathers simple electromyographic signal, controls artifucial limb to complete with relaxing using the anxiety of deformed limb muscle simple
Capture and put down action.Such artifucial limb is only capable of helping physical disabilities to complete some simple and crude large scale actions, it is impossible to help
Physical disabilities complete the substantial amounts of action that becomes more meticulous in daily life.The current research direction of current some research institutions by voice and
EEG signals introduce artifucial limb control system, and this kind of artifucial limb is controlled the action of artifucial limb by voice signal and EEG signals, compares flesh
Electric control artifucial limb, action is more versatile and flexible, operates more fine.But a major defect of the kind equipment is to employ open loop
Control mode, physical disabilities cannot learn the tactile data of artifucial limb end completely when using this kind of artifucial limb, that is to say, that justice
Limb user does not have " sense of touch ".Invention increases pressure acquisition and perceptible feedback module, by " sense of touch " of artifucial limb end
Information is conducted to artifucial limb user by pressure acquisition module and perceptible feedback module, user is obtained and true limbs class
As " sense of touch ".By this closed-loop feedback control system, artifucial limb user can go behaviour according to the true intention of oneself completely
Control artifucial limb, and can in real time know the touch-control pressure size of artifucial limb end, it is easy to adjust in time the control intention of oneself, realize
The purpose of fine manipulation.
The content of the invention
Present invention aim at solving the problems, such as that existing artificial limb system can not complete the action that becomes more meticulous, there is provided a kind of band
There is the artificial limb system for perceiving feedback function, specifically realized by following technical scheme：
A kind of artificial limb system with perceptible feedback function, including be connected and with action executing with the deformed limb portion of disabled person
The artificial limb of mechanism, also includes：
Speech signal collection and processing module, collection disabled person be used to realize to artificial limb action conversion, large scale movement and
The voice signal that lock out action is controlled；
Acquiring brain waves and processing module, obtain disabled person and are used to the brain wave for realizing finely being controlled artificial limb
Signal；
Pressure acquisition module, is arranged at artificial limb end, the real-time pressure value for gathering artificial limb end；
Perceptible feedback module, is arranged at the deformed limb portion of disabled person, and the real-time pressure value according to artificial limb end produces electric current letter
Number deformed limb portion is stimulated so that disabled person corrects the eeg signal of oneself in real time；
Control module, receives the voice signal, eeg signal, forms control action executing agency and completes artificial limb action
Control instruction；The real-time pressure value is received, control is formed and is perceived the control that feedback module produces stimulating current to deformed limb portion
Instruction.
The described artificial limb system with perceptible feedback function, its further design be, the acquiring brain waves with place
Reason module has two sensors for gathering brain wave for being connected to disabled person's forehead and ear-lobe, processes and export brain
Wave frequency rate, spectrum, EEG signals quality, original brain wave and three eSense parameters：Focus, allowance and blink detecting.
The described artificial limb system with perceptible feedback function, its further design be, the acquiring brain waves with place
Reason module is also associated with realizing being carried out and control module between the blue tooth interface and module of radio communication.
The described artificial limb system with perceptible feedback function, its further design be, the speech signal collection with
Processing module uses unspecified person single-chip voice recognition chip.
The described artificial limb system with perceptible feedback function, it is that the pressure acquisition module is adopted that it is further designed
The SMD sensor being made of polymer thin films force sensitive resistive material.
The described artificial limb system with perceptible feedback function, it further designs and is, the perceptible feedback module bag
The patch electrode and electronic impulse drive circuit of interconnection are included, the patch electrode is attached at the deformed limb portion of user, described
Electronic impulse drive circuit receives the corresponding control signal of control module transmission and is converted into frequency modulated signal so as to drive
Patch electrode is set to produce corresponding stimulating current.
The described artificial limb system with perceptible feedback function, it is that control module is by master control coremaking that it is further designed
Piece, data program memory cell, communication module, interface module composition.
Can go to manipulate artificial limb according to the true intention of oneself completely the invention enables prosthetic user, and can be real-time
Know the touch-control pressure size of artificial limb end, be easy to adjust in time the control intention of oneself, realize the purpose of fine manipulation.
Brief description of the drawings
Fig. 1 is embodiments of the invention structural representation.
Fig. 2 realizes block diagram for principle of the invention.
Specific embodiment
The present invention is further described below in conjunction with Figure of description and embodiment：
As illustrated, the artificial limb system that should carry perceptible feedback function includes being connected and having with the deformed limb portion 7 of disabled person
The artificial limb 1 of action actuating mechanism, also includes：
Speech signal collection and processing module 2, collection disabled person be used to realize to artificial limb action conversion, large scale movement and
The voice signal that lock out action is controlled；The speech signal collection uses unspecified person single-chip speech recognition with processing module
Chip is not required to any external auxiliary Flash and RAM, and built-in high-precision A/D, D/A passage：It is not required to external AD chips, wheat
Gram wind can be directly connected on chip AD pins, and the integrated level of module is high, low in energy consumption, be adapted to portable wearing.Need not be recorded
Sound training can be used directly, and the technology carries out voice training without using person and can just complete speech recognition, Consumer's Experience in advance
More preferably, while recognition accuracy can still keep high level.Voice module has the identification key wordses row that can dynamically edit
Table：As long as the key wordses of identification are come into chip in the form of character string, it is possible to come into force at once in identification in next time.
Acquiring brain waves and processing module 3, obtain disabled person and are used to the brain electricity for realizing finely being controlled artificial limb
Ripple signal；The acquiring brain waves and processing module have two be connected to disabled person's forehead and ear-lobe for gathering brain
The sensor of electric wave, processes and exports frequency of brain wave spectrum, EEG signals quality, original brain wave and three eSense parameters：Specially
Note degree, allowance and blink detecting.
Pressure acquisition module 4, is arranged at artificial limb end, the real-time pressure value for gathering artificial limb end；The pressure acquisition
The SMD sensor that module is made of polymer thin films force sensitive resistive material.Polymer thin films force sensitive resistive material is to effect
Normal pressure in its surface is very sensitive, and resistance value reduces as the pressure for acting on surface increases, and makees in 10000g pressure
There is good linear relationship in the range of.
Perceptible feedback module 5, is arranged at the deformed limb portion of disabled person, and the real-time pressure value according to artificial limb end produces electric current letter
Number deformed limb portion is stimulated so that disabled person corrects the eeg signal of oneself in real time；The perceptible feedback module includes mutual
The patch electrode and electronic impulse drive circuit being connected, the patch electrode are attached at the deformed limb portion of user, the electronics
Pulse driving circuit receives the corresponding control signal of control module transmission and is converted into frequency modulated signal so as to order about patch
Plate electrode produces corresponding stimulating current.
Control module 6, receives the voice signal, eeg signal, forms control action executing agency completion artificial limb and moves
The control instruction of work；The real-time pressure value is received, control is formed and is perceived the control that feedback module produces stimulating current to deformed limb portion
System instruction.The acquiring brain waves and processing module are also associated with realizing being carried out and control module between the indigo plant of radio communication
Tooth interface and module.
Control module is specifically made up of Master control chip, data program memory cell, communication module, interface module.Control
Module gathers the phonetic order of voice collecting identifying system and the brain electricity of acquiring brain waves identification module by interface module simultaneously
Wave number evidence, forms driving data control action executing agency based on both data（Steering wheel）Motion, realizes the dynamic of artifucial limb
Make.
The actions such as artifucial limb action conversion, large scale movement and locking are realized in the order of control module collection voice signal, this
Class action uses open loop control mode, and feedback module is not involved in work.
Control module collection brain wave data realizes the control to the small yardstick action in artifucial limb end, comes real by brain wave data
The adjustment of " accurate " action of existing artifucial limb and " grip " size etc..Control module leads to artifucial limb terminal pressure sensing numerical value simultaneously
Cross feedback module and pass to user, user can adjust EEG signals according to " stimulation " size of electrode, complete " essence
Really " action and the adjustment of " grip " size.This small yardstick control is using close-loop control mode work.
Can go to manipulate artificial limb according to the true intention of oneself completely the invention enables prosthetic user, and can be real-time
Know the touch-control pressure size of artificial limb end, be easy to adjust in time the control intention of oneself, realize the purpose of fine manipulation.
Claims (5)
1. a kind of artificial limb system with perceptible feedback function, including be connected and with action executing machine with the deformed limb portion of disabled person
The artificial limb of structure, it is characterised in that also include：
Speech signal collection and processing module, collection disabled person are used to realize to artificial limb action conversion, large scale movement and lock
The voice signal that action is controlled；
Acquiring brain waves and processing module, obtain disabled person and are used to the eeg signal for realizing finely being controlled artificial limb；
Pressure acquisition module, is arranged at artificial limb end, the real-time pressure value for gathering artificial limb end；
Perceptible feedback module, is arranged at the deformed limb portion of disabled person, and the real-time pressure value according to artificial limb end produces current signal pair
Deformed limb portion is stimulated so that disabled person corrects the eeg signal of oneself in real time；
Control module, receives the voice signal, eeg signal, forms the control that control action executing agency completes artificial limb action
System instruction；The real-time pressure value is received, control is formed and is perceived the control instruction that feedback module produces stimulating current to deformed limb portion；
The acquiring brain waves and processing module have two be connected to disabled person's forehead and ear-lobe for gathering brain electricity
The sensor of ripple, processes and exports frequency of brain wave spectrum, EEG signals quality, original brain wave and three eSense parameters：It is absorbed in
Degree, allowance and blink detecting；
The perceptible feedback module includes the patch electrode and electronic impulse drive circuit that interconnect, and the patch electrode is attached
In the deformed limb portion of user, the electronic impulse drive circuit receives the corresponding control signal of control module transmission and is converted
For frequency modulated signal produces corresponding stimulating current so as to order about patch electrode.
2. the artificial limb system with perceptible feedback function according to claim 1, it is characterised in that the acquiring brain waves
With the blue tooth interface and module that processing module is also associated with realizing being carried out and control module between radio communication.
3. the artificial limb system with perceptible feedback function according to claim 1, it is characterised in that the voice signal is adopted
Collection uses unspecified person single-chip voice recognition chip with processing module.
4. the artificial limb system with perceptible feedback function according to claim 1, it is characterised in that the pressure acquisition mould
The SMD sensor that block is made of polymer thin films force sensitive resistive material.
5. the artificial limb system with perceptible feedback function according to claim 1, it is characterised in that control module is by master control
Coremaking piece, data program memory cell, communication module, interface module composition.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510215646.6A CN104825256B (en) | 2015-04-30 | 2015-04-30 | A kind of artificial limb system with perceptible feedback function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510215646.6A CN104825256B (en) | 2015-04-30 | 2015-04-30 | A kind of artificial limb system with perceptible feedback function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104825256A CN104825256A (en) | 2015-08-12 |
| CN104825256B true CN104825256B (en) | 2017-05-31 |
Family
ID=53803735
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510215646.6A Active CN104825256B (en) | 2015-04-30 | 2015-04-30 | A kind of artificial limb system with perceptible feedback function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104825256B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105212924A (en) * | 2015-10-10 | 2016-01-06 | 安徽尚舟电子科技有限公司 | A kind of based on brain wave method for detecting fatigue driving and device thereof |
| 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 |
| CN109172067B (en) * | 2018-08-21 | 2023-08-29 | 中国地质大学（武汉） | Intelligent artificial limb system based on joint control of electroencephalogram signals and voice signals |
| CN109248011B (en) * | 2018-09-18 | 2024-03-22 | 北京宏信农业科技发展有限公司 | Motion control method and device based on tactile feedback and pressure feedback |
| CN110882095A (en) * | 2019-11-07 | 2020-03-17 | 中国科学院深圳先进技术研究院 | Artificial limb receiving cavity device for experiment |
| CN111657912B (en) * | 2020-07-03 | 2022-05-13 | 上海交通大学 | System for mechanical pressure stimulation of a subject |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI257214B (en) * | 2004-12-10 | 2006-06-21 | Univ Nat Chiao Tung | Brainwave-controlled embedded Internet robot agent architecture |
| DE102007002323B4 (en) * | 2007-01-16 | 2008-11-27 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Washable electronics flat system with free connection contacts for integration into a textile material or flexible material |
| CN100546553C (en) * | 2007-05-18 | 2009-10-07 | 天津大学 | Adopt the prosthetic hand and the control method thereof of myoelectricity and brain electricity Collaborative Control |
| CN101711709B (en) * | 2009-12-07 | 2012-05-23 | 杭州电子科技大学 | Method for controlling electrically powered artificial hands by utilizing electro-coulogram and electroencephalogram information |
| CN101766509B (en) * | 2009-12-24 | 2011-11-30 | 华东理工大学 | Real-time control method for artificial limb based on single-point acquiring muscle signals |
| CN101947152B (en) * | 2010-09-11 | 2012-09-05 | 山东科技大学 | Electroencephalogram-voice control system and working method of humanoid artificial limb |
| CN202154772U (en) * | 2011-07-21 | 2012-03-07 | 山东科技大学 | Control system for triggering artificial upper limb to move in multiple degrees of freedom by toe |
| CN202223388U (en) * | 2011-08-30 | 2012-05-23 | 西安交通大学苏州研究院 | Wearable brain-controlled intelligent prosthesis |
| CN102866775A (en) * | 2012-09-04 | 2013-01-09 | 同济大学 | System and method for controlling brain computer interface (BCI) based on multimode fusion |
| CN204636626U (en) * | 2015-04-30 | 2015-09-16 | 南京信息工程大学 | A kind of artificial limb system with perceptible feedback function |
-
2015
- 2015-04-30 CN CN201510215646.6A patent/CN104825256B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN104825256A (en) | 2015-08-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104825256B (en) | A kind of artificial limb system with perceptible feedback function | |
| CN104134060B (en) | Sign language interpreter and display sonification system based on electromyographic signal and motion sensor | |
| Bright et al. | EEG-based brain controlled prosthetic arm | |
| CN103793058B (en) | A kind of active brain-computer interactive system Mental imagery classification of task method and device | |
| CN106236503B (en) | The wearable exoskeleton system of the electrically driven (operated) upper limb of flesh and control method | |
| CN103495260B (en) | A kind of control method that realizes meticulous real time kinematics based on electromyographic signal and sensor signal | |
| CN106923942B (en) | Upper and lower extremities motion assistant system based on the control of human body electromyography signal | |
| CN105498091B (en) | The multi-functional tactile electro photoluminescence wrist strap of Worn type | |
| CN106214391A (en) | Based on brain-computer interface intellectual nursing bed and control method | |
| CN106569606A (en) | Smart home infrared control system and smart home infrared control method based on natural gesture identification | |
| Xu et al. | A prosthetic arm based on EMG pattern recognition | |
| CN102968072A (en) | Electro-oculogram control system and method based on correction/training | |
| CN106137187B (en) | A kind of brain electricity condition detection method and device | |
| CN107278145A (en) | The system and method fed back for electric touch | |
| CN108784716A (en) | A kind of headset equipment and its pay attention to force estimation training method | |
| CN206137390U (en) | Intelligent hand ring | |
| CN105411580A (en) | Brain control wheelchair system based on touch and auditory evoked potential | |
| CN108549834A (en) | A kind of human body sitting posture recognition methods and its system based on flexible sensor | |
| CN110420383A (en) | A kind of adjustable function electro photoluminescence control method based on multi-modal fusion feedback | |
| CN204636626U (en) | A kind of artificial limb system with perceptible feedback function | |
| CN108543216A (en) | A kind of hand function reconstructing device and its implementation based on master ＆ slave control | |
| Su et al. | Intelligent wheelchair control system based on BCI and the image display of EEG | |
| CN104090653A (en) | Detecting method for multi-modal brain switch based on SSVEP and P300 | |
| CN109009718A (en) | A method of based on electrical impedance technology combination gesture control wheelchair | |
| CN108606882A (en) | Intelligent wheelchair control system based on myoelectricity and acceleration self adaptive control |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| EXSB | Decision made by sipo to initiate substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |