CN107870583A - artificial limb control method, device and storage medium - Google Patents
artificial limb control method, device and storage medium Download PDFInfo
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- CN107870583A CN107870583A CN201711103730.4A CN201711103730A CN107870583A CN 107870583 A CN107870583 A CN 107870583A CN 201711103730 A CN201711103730 A CN 201711103730A CN 107870583 A CN107870583 A CN 107870583A
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- G—PHYSICS
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- G06F—ELECTRIC DIGITAL DATA PROCESSING
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- G06F18/21—Design or setup of recognition systems or techniques; Extraction of features in feature space; Blind source separation
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Abstract
The invention provides a kind of artificial limb control method, device and storage medium, belong to medical field.The artificial limb control method, the effective action signal of the action of the limbs progress of user is obtained first, based on the current kinetic type acted described in the effective action signal identification, then the artificial limb that control is connected with the limbs is in the current matching control model with the current kinetic type matching, wherein, the current matching control model is Active Control Mode or passive control model, in the Active Control Mode, power, which is provided, by the artificial limb drives the limb motion, in the passive control model, power, which is provided, by the limbs drives the artificial limb motion.The present invention controls artificial limb to have the initiative control model or passive control model by energy consumption with the action of user height for standard, reduces the electric quantity consumption of artificial limb.
Description
Technical field
The present invention relates to medical instruments field, in particular to a kind of artificial limb control method, device and storage medium.
Background technology
With the raising of humanist literacy and the development of social economy, society is to the attention rate more and more highers of disadvantaged group, especially
It is that the pass shield degree of physical disabilities is increasingly improved.Meanwhile in the world, prosthesis technique is as society and scientific and technical enter
Step and constantly simply developed from rudimentary to advanced complicated direction, in order to improve the practical performance of artificial limb, people make use of all
Utilizable contemporary science and technology comes the more preferable artificial limb of manufacturing property, the more advanced technology of use and material, is allowed to possess more
Perfect performance.Prosthesis technique since the 1990s is towards high skill that is more accurate, more comfortable and more meeting personal requirement
Art direction is developed.Nowadays the development of scientific and technological level makes the medicine equipment of artificial limb type more and more perfect, and high-tech artificial limb almost can
Make physical disabilities' upper daily life as ordinary people excessively.
Active artificial limb of today drives by battery electric power, and it continues usage time length and battery technology direct correlation,
Can not temporarily obtain the situation of important breakthrough in battery technology now, the active artificial limb of high energy consumption need frequently to charge and
Usage time is short after charging complete, wearer in use artificial limb power off suddenly can to wearer bring greatly not
Just even dangerous, passive type artificial limb can not provide external force auxiliary to wearer again.
The content of the invention
In view of this, the purpose of the embodiment of the present invention is to provide one kind, and vacation is caused to solve active certainly artificial limb power consumption height
Usage time is short after charging complete of limb, and artificial limb powers off can be brought greatly to wearer suddenly wearer in use
The problem of inconvenience is even dangerous, and passive type artificial limb can not provide external force auxiliary to wearer again.
In a first aspect, the embodiments of the invention provide a kind of artificial limb control method, methods described obtains user's first
The effective action signal for the action that limbs are carried out, based on the current kinetic type acted described in the effective action signal identification,
The artificial limb being connected with the limbs is controlled to be in the current matching control model with the current kinetic type matching again.Wherein,
The current matching control model is Active Control Mode or passive control model, in the Active Control Mode, by described
Artificial limb provides power and drives the limb motion, in the passive control model, as described in the limbs provide power drive
Artificial limb moves.
It is comprehensive in a first aspect, the effective action signal for the action that the limbs for obtaining user are carried out, including：Acquisition makes
The current action signal for the action that the limbs of user are carried out；Data scanning is carried out to the current action signal using moving window
And extract the First Eigenvalue of the current action signal；Judge whether the First Eigenvalue in the first moving window exceedes
Threshold value set in advance；When the First Eigenvalue in the first moving window exceedes threshold value set in advance, second is judged
Whether the First Eigenvalue in moving window exceedes the threshold value；The First Eigenvalue in the second moving window surpasses
When crossing the threshold value, determine first moving window to the current action signal in the time of second moving window
For the effective action signal.
It is comprehensive in a first aspect, it is described based on the current kinetic type acted described in the effective action signal identification it
Before, methods described also includes：Multiple users or multiple testers are obtained when carrying out the historical movement of different motion type
The history Second Eigenvalue of corresponding history effective action signal；Type of sports and spy are established based on the history Second Eigenvalue
The corresponding relation of value indicative.Wherein, the signal root mean square of the history Second Eigenvalue including the history effective action signal and
Power spectrum average frequency.
It is comprehensive in a first aspect, described based on the current kinetic type acted described in the effective action signal identification, including：
Extract the Second Eigenvalue of the effective action signal；Identified based on the Second Eigenvalue and the corresponding relation described dynamic
The current kinetic type of work.
Synthesis is in a first aspect, the artificial limb that the control is connected with the limbs is in and the current kinetic type matching
Before current matching control model, in addition to：Energy consumption height based on type of sports establishes the type of sports and match control
The matching relationship of pattern.
Synthesis is in a first aspect, the artificial limb that the control is connected with the limbs is in and the current kinetic type matching
Current matching control model, including：Based on the matching relationship artificial limb that be connected with the limbs of control in it is described currently
The current matching control model of type of sports matching.Wherein, when the type of sports is high energy consumption type with the current kinetic
The current matching control model of type matching is Active Control Mode, when the type of sports is low energy consumption type with the motion
The match control pattern of type matching is passive control model.
Second aspect, the embodiments of the invention provide a kind of artificial limb control device, the artificial limb control device includes signal
Acquisition module, type identification module and mode switch module.The limbs that the signal acquisition module is used to obtain user are carried out
Action effective action signal, be additionally operable to obtain user limbs carry out action current action signal.The type
Identification module is used for based on the current kinetic type acted described in the effective action signal identification.The mode switch module is used
The current matching control model with the current kinetic type matching is in the artificial limb that control is connected with the limbs.
Comprehensive second aspect, the signal acquisition module include scanning element, the first judging unit and the second judging unit.
The scanning element is used to carry out data scanning to the current action signal using moving window and extracts the current action
The First Eigenvalue of signal.First judging unit is used to judge whether the First Eigenvalue in the first moving window surpasses
Cross threshold value set in advance.Second judging unit is used to judge whether the First Eigenvalue in the second moving window exceedes institute
State threshold value.
Comprehensive second aspect, the type identification module include feature extraction unit and type confirmation unit.The feature
Extraction unit is used for the Second Eigenvalue for extracting the effective action signal.The type confirmation unit is used to be based on described second
Characteristic value and the corresponding relation identify the current kinetic type of the action.
The third aspect, the embodiments of the invention provide a kind of storage medium, the storage medium is stored in computer, institute
Stating storage medium includes a plurality of instruction, and a plurality of instruction is configured such that the computer performs any one above method.
The beneficial effect of the embodiment of the present invention is：
The embodiments of the invention provide a kind of artificial limb control method and device, methods described obtains the limbs of user first
The effective action signal of the action of progress, based on the current kinetic type acted described in the effective action signal identification, then
The artificial limb being connected with the limbs is controlled in the Active Control Mode with the current kinetic type matching or passively controls mould
Formula, in the Active Control Mode, provide power by the artificial limb and drive the limb motion, in the passive control model
When, provide power by the limbs and drive the artificial limb to move, it is possible to increase pattern recognition speed, reduce patient and dress for a long time
The energy expenditure of artificial limb motion, while the problem of active artificial limb uses electricity insufficient supply for a long time is can solve the problem that again.
Other features and advantages of the present invention will illustrate in subsequent specification, also, partly become from specification
It is clear that or by implementing understanding of the embodiment of the present invention.The purpose of the present invention and other advantages can be by saying what is write
Specifically noted structure is realized and obtained in bright book, claims and accompanying drawing.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below by embodiment it is required use it is attached
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore be not construed as pair
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 is a kind of flow chart for artificial limb control method that first embodiment of the invention provides；
Fig. 2 is a kind of module map for artificial limb control device that second embodiment of the invention provides；
Fig. 3 is a kind of structural frames for the electronic equipment that can be applied in the embodiment of the present application provided in an embodiment of the present invention
Figure；
Fig. 4 is that user's terminal provided in an embodiment of the present invention is the schematic diagram that electronic equipment interacts with server.
Icon：100- artificial limb control devices；110- signal acquisition modules；120- type identification modules；130- pattern switchings
Module；200- electronic equipments；201- memories；202- storage controls；203- processors；204- Peripheral Interfaces；205- is inputted
Output unit；300- servers；400- networks.
Embodiment
Below in conjunction with accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.Generally exist
The component of the embodiment of the present invention described and illustrated in accompanying drawing can be configured to arrange and design with a variety of herein.Cause
This, the detailed description of the embodiments of the invention to providing in the accompanying drawings is not intended to limit claimed invention below
Scope, but it is merely representative of the selected embodiment of the present invention.Based on embodiments of the invention, those skilled in the art are not doing
The every other embodiment obtained on the premise of going out creative work, belongs to the scope of protection of the invention.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent accompanying drawing in individual accompanying drawing.Meanwhile the present invention's
In description, term " first ", " second " etc. are only used for distinguishing description, and it is not intended that instruction or hint relative importance.
First embodiment
Traditional artificial leg is mainly passive-type artificial limb, is moved in walking process by the swing drive artificial limb of deformed limb,
Realize and alternately walk, user's energy expenditure is larger.And pure active artificial limb is typically bent and stretched using motor as driving joint
The execution unit of motion, because motor needs continuous service during joint motions, and stand up, the action such as stair activity when
Larger driving force is needed, power consumption is high, as being difficult to the bottleneck broken through at present the problem of power supply.Therefore, main passive mixing
The artificial leg of driving turns into the current new direction studied both at home and abroad, how to set Active Control Mode and passive control model,
How to judge when which kind of control model to be a key issue for needing to solve using, this is related to type of sports identification
Problem.In order to solve this problem, first embodiment of the invention provides a kind of artificial limb control method, refer to Fig. 1, and Fig. 1 is
A kind of flow chart for artificial limb control method that first embodiment of the invention provides, methods described specifically include following steps：
Step S100：Obtain the effective action signal of the action of the limbs progress of user.
The effective action signal of the action of the limbs progress of user is obtained, obtains the limbs progress of user first
The current action signal of action, data scanning is then carried out to the current action signal using moving window and is extracted described work as
The First Eigenvalue of preceding action signal, judge whether the First Eigenvalue in the first moving window exceedes and preset
Threshold value, when to be, judge whether the First Eigenvalue in the second moving window exceedes the threshold value, the second Moving Window
When the intraoral the First Eigenvalue exceedes the threshold value, determine first moving window to second moving window when
The interior current action signal is the effective action signal.
Wherein, the current action signal is the signal that can characterize user's currently ongoing action, therefore currently
Action signal can be that motion image signal, postural cue and electromyographic signal of user's limbs etc. can differentiate that user is current just
In the different signals of the action of progress.Current artificial leg is to obtain to use by sensors such as angle, displacement, power mostly
Motion image signal and postural cue during the body kinematics of person identify specific action during user's motion, to realize motion
The identification of type, but identification often lags behind the generation of action, and it is more early judge type of sports, control more accurate, user
It is also more natural to dress prosthetic walking.Electromyographic signal (EMG) be in numerous muscle fibres moving cell action potential (MUAP) when
Between and superposition spatially, surface electromyogram signal (SEMG) be on superficial muscular EMG and nerve cord electrical activity in skin surface
Comprehensive effect, nervimuscular activity can be reflected to a certain extent, there is Noninvasive, hurtless measure, operation letter in measurement
The advantages that single.Electromyographic signal has very strong correlation with motion, and occurs prior to action, therefore utilizes prosthetic wearing person itself
Electromyographic signal identifies motion intention, turns into the important channel of prosthesis control.So as a kind of embodiment, using leg deformed limb as
Example, effective action signal described in first embodiment of the invention and current action signal are thigh surface electromyogram signal, are at least wrapped
Rectus femoris, the electromyographic signal of three passages of semitendinosus and gluteus maximus are included, alternatively, can also be wrapped in other embodiments of the present invention
Include the electromyographic signal passage of other deformed limb superficial musculars such as vastus medialis, musculus vastus lateralis, biceps muscle of thigh, tensor fasciae late muscle.
The electromyographic signal that existing sensor collects contains other certain noise signals with can not avoiding, in order to solve this
Individual problem, as a kind of embodiment, data scanning is being carried out to the current action signal using moving window and is extracting institute
Before the First Eigenvalue for stating current action signal, it is also necessary to the electromyographic signal collected is pre-processed, i.e., to electromyographic signal
LPF is carried out, further, its LPF step can filter for 10-500Hz Butterworth.
Moving window is moved using time span as the cycle, such as the present embodiment, using 100ms as length of window, certain is for the moment
The acquisition range for carving the moving window started is that this method will be entered to the electromyographic signal in the time of 100ms after start time
Row scanning, 100ms are later next new moving window.As a kind of embodiment, worked as using moving window to described
When preceding action signal carries out data scanning and extracts the First Eigenvalue of the current action signal, first in the present embodiment is special
Value indicative is the wavelength of electromyographic signal, and the wavelength of data is used as the characteristic quantity for determining whether action using in moving window.Wavelength defines
ForThe coefficient effects such as amplitude, frequency and duration due to wavelength reflection signal, energy
Enough reflect the waveform complexity of one section of electromyographic signal, therefore from it as basis for estimation.By by signal in moving window
Wavelength value contrasted with the threshold value set in advance, judge action whether occur.When characteristic value exceedes threshold value set in advance
When, the moving window is labeled as state of activation, otherwise labeled as unactivated state, if moving window flag state is A (k),
Then previous moving window is A (k-1), and next moving window is A (k+1), by that analogy, in moving window moving process, when
It is unactivated state A (k-1) occur, and A (k) is state of activation, and A (k+1) is state of activation, and A (k+2) is state of activation, A (k+
3) when being unactivated state, moving window k starting point starting point and moving window (k+3) for this group of myoelectricity action are judged
End point is the end point of this group of myoelectricity action.
Alternatively embodiment, can after judging starting point of the moving window k starting point for this group of myoelectricity action
The end point that a certain moment after the starting point acts as this group of myoelectricity is directly set, wherein, can be at the time of relatively reasonable
Some numerical value between 100-500ms, specific set can be adjusted according to actual conditions.
Now it is confirmed as the effective action signal to the current action signal between end point in starting point.
Step S200：Based on the current kinetic type acted described in the effective action signal identification.
Based on the current kinetic type acted described in the effective action signal identification in this step, specifically include：Extraction
The Second Eigenvalue of the effective action signal；The action is identified based on the Second Eigenvalue and the corresponding relation
Current kinetic type.Wherein, electromyographic signal root mean square is considered as most reliable parameter in time domain, for estimating to produce the big of power
It is small.The power spectrum average frequency of electromyographic signal can reflect the energy size of electromyographic signal.Therefore the Second Eigenvalue is at least
Include the root mean square and power spectrum average frequency of electromyographic signal simultaneously.Optionally, except above-mentioned root mean square and power spectrum averagely frequency
Rate, when when higher to accuracy rate demand or having other real needs, the Second Eigenvalue can also include integration myoelectricity, mark
One or more of the frequency domain characters such as temporal signatures and median frequency such as accurate poor, wavelength numerical value.
Before based on the current kinetic type acted described in the effective action signal identification, the vacation of the present embodiment offer
Limb control method also includes：Obtain multiple users or multiple testers carry out different motion type historical movement when pair
The history Second Eigenvalue for the history effective action signal answered, and type of sports and are established based on the history Second Eigenvalue
The corresponding relation of two characteristic values.The foundation of the corresponding relation can use machine learning pattern classification algorithm to complete, and carry in advance
A certain amount of sample characteristics of multiple users or multiple testers when carrying out the historical movement of different motion type are taken to enter
Row classification based training learns and stores training result, is moved according to the feature of extract real-time and the training result prestored
Type identification.Wherein, the corresponding relation of the type of sports established based on the history Second Eigenvalue and Second Eigenvalue
In, by taking lower limb as an example, common type of sports has nature walking, goes upstairs/step, go downstairs/step, sit down, stand up etc. often
See lower extremity movement, the Second Eigenvalue extracted in the effective action signal collected according to analysis draws the action of the user
Divide into corresponding type of sports, rapidly action is classified so as to clear.
As a kind of embodiment, the current kinetic type of the above-mentioned identification action can use ONLINE RECOGNITION mode,
By the use of SVMs (SVM) as pattern classifier, can also select k nearest neighbor, neutral net, HMM etc. other
Machine learning pattern classification algorithm.
Step S300：The artificial limb being connected with the limbs is controlled to be in the current matching with the current kinetic type matching
Control model.
It should be appreciated that before this step is performed, the artificial limb control method also includes：Energy based on type of sports
Consumption height establishes the matching relationship of the type of sports and match control pattern.Wherein, following main drive is as example, naturally walking,
The type of sports such as sit down is the low energy consumption campaign of corresponding passive control model, goes upstairs/step, go downstairs/step, stands up etc. and to transport
Dynamic type is the high energy consumption motion of corresponding Active Control Mode.
The artificial limb control method that the present embodiment provides rapidly and accurately completes the identification of type of sports using electromyographic signal, together
When, level walking, sit down etc. low energy consumption action when, using passive control model, utilize deformed limb to drive artificial limb motion, save false
The electric quantity consumption of limb.Upper and lower stair and stand up etc. high energy consumption action when, using Active Control Mode, it is auxiliary that artificial limb provides power
Patient motion is helped, reduces patient's energy consumption.The control strategy passively combined using this master, compared with traditional passive type artificial limb,
The energy expenditure of patient's wearing artificial limb motion for a long time can be reduced, while can solve the problem that active artificial limb for a long time using electricity again
The problem of insufficient is measured, a kind of new thinking is provided for intelligent artificial limb control.
Second embodiment
To realize above- mentioned information processing method, second embodiment of the invention provides a kind of artificial limb control device 100.It refer to
Fig. 2, Fig. 2 are a kind of module diagram for artificial limb control device that second embodiment of the invention provides.The artificial limb control device
100 include signal acquisition module 110, type identification module 120 and mode switch module 130.
Signal acquisition module 110, the effective action signal for the action that the limbs for obtaining user are carried out, is additionally operable to obtain
Take the current action signal for the action that the limbs of user carry out.
Type identification module 120, for based on the current kinetic type acted described in the effective action signal identification.
Mode switch module 130, for controlling the artificial limb being connected with the limbs to be in and the current kinetic type
The current matching control model matched somebody with somebody.
As a kind of embodiment, the signal acquisition module 110 that the present embodiment provides includes scanning element, the first judgement list
Member and the second judging unit.
Scanning element, for carrying out data scanning to the current action signal using moving window and extracting described current
The First Eigenvalue of action signal.
First judging unit, for judging it is set in advance whether the First Eigenvalue in the first moving window exceedes
Threshold value.
Second judging unit, for judging whether the First Eigenvalue in the second moving window exceedes the threshold value.
Further, the type identification module 130 that the present embodiment provides includes feature extraction unit and type confirmation unit.
Feature extraction unit, for extracting the Second Eigenvalue of the effective action signal.
Type confirmation unit, for identifying the current of the action based on the Second Eigenvalue and the corresponding relation
Type of sports.
It is apparent to those skilled in the art that for convenience and simplicity of description, the device of foregoing description
Specific work process, may be referred to the corresponding process in preceding method, no longer excessively repeat herein.
Fig. 3 is refer to, Fig. 3 is a kind of electronic equipment that can be applied in the embodiment of the present application provided in an embodiment of the present invention
Structured flowchart.Electronic equipment 200 can include artificial limb control device 100, memory 201, storage control 202, processor
203rd, Peripheral Interface 204, input-output unit 205.
The memory 201, storage control 202, processor 203, Peripheral Interface 204, each yuan of input-output unit 205
Part is directly or indirectly electrically connected between each other, to realize the transmission of data or interaction.For example, these elements between each other may be used
Realized and be electrically connected with by one or more communication bus or signal wire.The artificial limb control device 100 include it is at least one can
The artificial limb control device 100 is stored in the memory 201 or is solidificated in the form of software or firmware (firmware)
Operating system (operating system, OS) in software function module.The processor 203 is used to perform memory
The executable module stored in 101, such as the software function module or computer program that the artificial limb control device 100 includes.
Wherein, memory 201 may be, but not limited to, random access memory (Random Access Memory,
RAM), read-only storage (Read Only Memory, ROM), programmable read only memory (Programmable Read-Only
Memory, PROM), erasable read-only memory (Erasable Programmable Read-Only Memory, EPROM),
Electricallyerasable ROM (EEROM) (Electric Erasable Programmable Read-Only Memory, EEPROM) etc..
Wherein, memory 201 is used for storage program, is additionally operable to store the corresponding relation and motion class of type of sports and Second Eigenvalue
The matching relationship of type and match control pattern, wherein, the corresponding relation and the matching relationship can be converted into database and enter
Row storage, is more convenient for operating, makes the response speed of the artificial limb control method faster.The processor 203 is receiving execution
After instruction, described program is performed, performed by the server that the stream process that foregoing any embodiment of the embodiment of the present invention discloses defines
Method can apply in processor 203, or realized by processor 203.
Processor 203 can be a kind of IC chip, have the disposal ability of signal.Above-mentioned processor 203 can
To be general processor, including central processing unit (Central Processing Unit, abbreviation CPU), network processing unit
(Network Processor, abbreviation NP) etc.；Can also be digital signal processor (DSP), application specific integrated circuit (ASIC),
Ready-made programmable gate array (FPGA) either other PLDs, discrete gate or transistor logic, discrete hard
Part component.It can realize or perform disclosed each method, step and the logic diagram in the embodiment of the present invention.General processor
Can be microprocessor or the processor 203 can also be any conventional processor etc..
Various input/output devices are coupled to processor 203 and memory 201 by the Peripheral Interface 204.At some
In embodiment, Peripheral Interface 204, processor 203 and storage control 202 can be realized in one single chip.Other one
In a little examples, they can be realized by independent chip respectively.
Input-output unit 205 is used to being supplied to user's input data to realize that user and the server are (or local
Terminal) interaction.The input-output unit 205 may be, but not limited to, mouse and keyboard etc..
It is appreciated that the structure shown in Fig. 3 is only to illustrate, the electronic equipment 200 may also include more more than shown in Fig. 3
Either less component or there is the configuration different from shown in Fig. 3.Each component shown in Fig. 3 can use hardware, software
Or its combination is realized.
When identifying type of sports using ONLINE RECOGNITION mode, the electronic equipment 200 can also interact with server,
Fig. 4 is user's terminal provided in an embodiment of the present invention schematic diagram that to be electronic equipment 200 interact with server 300, institute
Electronic equipment 200 is stated to be communicatively coupled by network 400 and one or more electronic equipments 200, with enter row data communication or
Interaction.The server 300 can be the webserver, database server etc..The electronic equipment 200 can be micro electric
The terminal such as brain and wearable device.
It is apparent to those skilled in the art that for convenience and simplicity of description, the device of foregoing description
Specific work process, may be referred to the corresponding process in preceding method, no longer excessively repeat herein.
In summary, the embodiments of the invention provide a kind of artificial limb control method and device, methods described obtains first to be made
The effective action signal for the action that the limbs of user are carried out, based on the current kinetic acted described in the effective action signal identification
Type, then the artificial limb that is connected with the limbs of control in the Active Control Mode with the current kinetic type matching or by
Dynamic control model, in the Active Control Mode, provide power by the artificial limb and drive the limb motion, described passive
During control model, provide power by the limbs and drive the artificial limb to move, it is possible to increase pattern recognition speed, reduce patient's length
The energy expenditure of time wearing artificial limb motion, while can solve the problem that active artificial limb is asked using electricity is insufficient for a long time again
Topic.
In several embodiments provided herein, it should be understood that disclosed apparatus and method, can also pass through
Other modes are realized.Device embodiment described above is only schematical, for example, flow chart and block diagram in accompanying drawing
Show the device of multiple embodiments according to the present invention, method and computer program product architectural framework in the cards,
Function and operation.At this point, each square frame in flow chart or block diagram can represent the one of a module, program segment or code
Part, a part for the module, program segment or code include one or more and are used to realize holding for defined logic function
Row instruction.It should also be noted that at some as in the implementation replaced, the function that is marked in square frame can also with different from
The order marked in accompanying drawing occurs.For example, two continuous square frames can essentially perform substantially in parallel, they are sometimes
It can perform in the opposite order, this is depending on involved function.It is it is also noted that every in block diagram and/or flow chart
The combination of individual square frame and block diagram and/or the square frame in flow chart, function or the special base of action as defined in performing can be used
Realize, or can be realized with the combination of specialized hardware and computer instruction in the system of hardware.
In addition, each functional module in each embodiment of the present invention can integrate to form an independent portion
Point or modules individualism, can also two or more modules be integrated to form an independent part.
If the function is realized in the form of software function module and is used as independent production marketing or in use, can be with
It is stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially in other words
The part to be contributed to prior art or the part of the technical scheme can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, including some instructions are causing a computer equipment (can be
People's computer, server, or network equipment etc.) perform all or part of step of each embodiment methods described of the present invention.
And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with the medium of store program codes.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.It should be noted that：Similar label and letter exists
Similar terms is represented in following accompanying drawing, therefore, once being defined in a certain Xiang Yi accompanying drawing, is then not required in subsequent accompanying drawing
It is further defined and explained.
The foregoing is only a specific embodiment of the invention, but protection scope of the present invention is not limited thereto, any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all be contained
Cover within protection scope of the present invention.Therefore, protection scope of the present invention described should be defined by scope of the claims.
It should be noted that herein, such as first and second or the like relational terms are used merely to a reality
Body or operation make a distinction with another entity or operation, and not necessarily require or imply and deposited between these entities or operation
In any this actual relation or order.Moreover, term " comprising ", "comprising" or its any other variant are intended to
Nonexcludability includes, so that process, method, article or equipment including a series of elements not only will including those
Element, but also the other element including being not expressly set out, or it is this process, method, article or equipment also to include
Intrinsic key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that
Other identical element also be present in process, method, article or equipment including the key element.
Claims (10)
1. a kind of artificial limb control method, it is characterised in that methods described includes：
Obtain the effective action signal of the action of the limbs progress of user；
Based on the current kinetic type acted described in the effective action signal identification；
The artificial limb being connected with the limbs is controlled to be in the current matching control model with the current kinetic type matching, its
In, the current matching control model is Active Control Mode or passive control model, in the Active Control Mode, by institute
Stating artificial limb provides power drive the limb motion, in the passive control model, provides power by the limbs and drives institute
State artificial limb motion.
2. according to the method for claim 1, it is characterised in that it is described obtain user limbs carry out action it is effective
Action signal, including：
Obtain the current action signal of the action of the limbs progress of user；
Data scanning is carried out to the current action signal using moving window and extracts the first spy of the current action signal
Value indicative；
Judge whether the First Eigenvalue in the first moving window exceedes threshold value set in advance；
When to be, judge whether the First Eigenvalue in the second moving window exceedes the threshold value；
When the First Eigenvalue in the second moving window exceedes the threshold value, determine first moving window described in
The current action signal in the time of second moving window is the effective action signal.
3. according to the method for claim 1, it is characterised in that described based on dynamic described in the effective action signal identification
Before the current kinetic type of work, methods described also includes：
It is effective to obtain multiple users or multiple testers corresponding history when carrying out the historical movement of different motion type
The history Second Eigenvalue of action signal, wherein, the history Second Eigenvalue includes the letter of the history effective action signal
Number root mean square and power spectrum average frequency；
The corresponding relation of type of sports and Second Eigenvalue is established based on the history Second Eigenvalue.
4. according to the method for claim 3, it is characterised in that described based on action described in the effective action signal identification
Current kinetic type, including：
Extract the Second Eigenvalue of the effective action signal；
The current kinetic type of the action is identified based on the Second Eigenvalue and the corresponding relation.
5. according to the method for claim 1, it is characterised in that described to control the artificial limb being connected with the limbs to be in and institute
Before the current matching control model for stating current kinetic type matching, in addition to：
Energy consumption height based on type of sports establishes the matching relationship of the type of sports and match control pattern.
6. according to the method for claim 5, it is characterised in that described to control the artificial limb being connected with the limbs to be in and institute
The current matching control model of current kinetic type matching is stated, including：
The artificial limb being connected based on matching relationship control with the limbs is in current with the current kinetic type matching
Match control pattern, wherein, when the type of sports is high energy consumption type with the current matching of the current kinetic type matching
Control model is Active Control Mode, the match control that the type of sports matches when being low energy consumption type with the type of sports
Pattern is passive control model.
7. a kind of artificial limb control device, it is characterised in that described device includes：
Signal acquisition module, the effective action signal for the action that the limbs for obtaining user are carried out, is additionally operable to obtain use
The current action signal for the action that the limbs of person are carried out；
Type identification module, for based on the current kinetic type acted described in the effective action signal identification；
Mode switch module, for controlling the artificial limb being connected with the limbs to be in current with the current kinetic type matching
Match control pattern.
8. device according to claim 7, it is characterised in that the signal acquisition module includes：
Scanning element, for carrying out data scanning to the current action signal using moving window and extracting the current action
The First Eigenvalue of signal；
First judging unit, for judging whether the First Eigenvalue in the first moving window exceedes threshold set in advance
Value；
Second judging unit, for judging whether the First Eigenvalue in the second moving window exceedes the threshold value.
9. device according to claim 7, it is characterised in that the type identification module includes：
Feature extraction unit, for extracting the Second Eigenvalue of the effective action signal；
Type confirmation unit, for identifying the current kinetic of the action based on the Second Eigenvalue and the corresponding relation
Type.
10. a kind of storage medium, it is characterised in that the storage medium is stored in computer, and the storage medium includes more
Bar instructs, and a plurality of instruction is configured such that the computer perform claim requires any one of 1-6 methods described.
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