CN114938963A - Human motion intention signal generation device for surface of residual limb - Google Patents
Human motion intention signal generation device for surface of residual limb Download PDFInfo
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Abstract
The present invention provides a human movement intention signal generating apparatus for a surface of a residual limb, comprising: the surface muscle signal acquisition assembly is arranged on the surface of the skin and used for acquiring surface muscle signals, and the signal processing assembly is used for receiving the surface muscle signals; the surface muscle signal acquisition assembly is distributed around the signal processing assembly, the surface muscle signal is transmitted to the signal processing assembly through electric connection, and the electric power is received through a lead, the signal processing assembly processes the signal into mode codes of various actions reflecting the human motion intention and sends the mode codes to the executing mechanism to execute corresponding actions. The invention solves the technical problems of real-time and correct signal generation of human motion intention and artificial limb function failure prevention.
Description
The technical field is as follows:
the invention relates to the field of information generation, in particular to a human motion intention information generation device.
Background art:
according to the results of national disabled people sampling survey, the total number of the disabled people in China reaches nearly 8300 ten thousand people, wherein the disabled people with upper limbs or lower limbs account for about 30 percent of the total number, namely about 2500 ten thousand people. The physical disability not only causes distress to individuals, but also causes heavy burden to families and society. The patients can have the limb prosthesis with normal functions again, so that the living quality of the patients can be obviously improved, the burden of families and society can be lightened, and the great social benefit is generated.
Currently, the most used and mature signal generation for human motor intention is the surface electromyography. The surface electromyographic signal refers to a bioelectrical signal of the muscle activity which is placed on the surface of the skin and guided and recorded by the electrodes. When the brain gives a movement command of a certain action, the motor nerve sends the information to corresponding muscle groups to cause the contraction of some muscles (called target muscles) to complete the specific action, and meanwhile, the electromyographic signals of the target muscles are generated. Although the electromyographic signal acquisition electrode is placed at the position of the target muscle on the surface of the skin, when the electromyographic signal is transmitted to the body surface through tissues such as fat, body fluid, skin and the like, all the electromyographic signals are mutually superposed under the action of tissue volume transmission, so the acquired signal can only reflect the total electromyographic activity condition of the area near the acquisition point and cannot accurately reflect the activity condition of the target muscle, and the surface electromyographic signal can only reflect a few general movement actions (such as extending wrist and bending wrist) intentions. And for the generation of more fine signals of human body movement intention (such as fist making, forefinger stretching, three-finger pinching, leg lifting and squatting), the surface electromyogram signals are insufficient because target muscle signals are accurately acquired.
Mechanical prostheses that use surface electromyographic signals as control signals are known as electromyographic prostheses. Because the prosthetic socket needs to transmit the acting force of the human residual limb to the far end position of the prosthetic to drive the connection and suspension functions of the manipulator (or foot), the prosthetic limb and the residual limb, the socket needs to be hard; the myoelectric sensor is embedded in the socket and needs to be accurately positioned and tightly attached to the skin to normally collect myoelectric signals, and the myoelectric sensor is also hard, so that the problem that the function of the artificial limb is easy to fail is caused.
The technical problem to be solved is as follows:
the invention aims to solve the technical problems of generating a human motion intention signal, correctly driving an artificial limb in real time and avoiding the function failure of the artificial limb.
The invention and creation content:
the invention utilizes the surface deformation signal of the stump or the composite signal of the surface deformation signal and the surface electromyogram signal to generate the human motion intention signal.
The surface deformation signal is a human body signal reflecting the change of the local skin surface morphology of the limb. Currently, the functional orientation of the stump can be selectively pointed to specific target muscles, namely tendon stumps, by using the Muscle Redistribution Technology (MRT) of the operation, and the stump can be found and fixed in different regions under the skin of the limb. When the brain gives a certain movement command, these functional directional specific target muscles-tendons will contract correspondingly and pull the skin of the area by the stump, so that the corresponding skin area will generate obvious concave deformation. By acquiring these functional orientation-specific skin region indentation deformation signals. The surface deformation signal and the actions establish a clear corresponding relation, so that the movement intention of the human body doing the actions can be reflected.
In theory, target muscles of various actions can be found, so that various movement intentions of the human body can be generated by signals. However, in reality, because the surface area of the stump is limited, the target muscles which can be placed on the surface are limited, and some target muscles cannot be found, so if the target muscles can be found and collected, the surface muscle deformation signal is used independently; otherwise, surface electromyographic signals are introduced, and finally composite signals composed of the surface muscle deformation signals and the surface electromyographic signals are formed to reflect the human motion intention as accurately as possible.
In order to achieve the above object, the present invention provides a human movement intention signal generating apparatus for a surface of a residual limb, comprising: the surface muscle signal acquisition assembly is arranged on the surface of the skin and used for acquiring surface muscle signals, and the signal processing assembly is used for receiving the surface muscle signals; the surface muscle signal acquisition assembly is distributed around the signal processing assembly, the surface muscle signal is transmitted to the signal processing assembly through electric connection, and the electric power is received through a lead, the signal processing assembly processes the signal into mode codes of various actions reflecting the human motion intention and sends the mode codes to the executing mechanism to execute corresponding actions.
In some embodiments, the surface muscle signal acquisition assembly comprises at least two.
In some embodiments, the signal processing component comprises only one.
In some embodiments, the surface muscle signal collecting assembly is divided into a surface muscle deformation signal collecting assembly for collecting a surface muscle deformation signal and a surface electromyogram signal collecting assembly for collecting a surface electromyogram signal.
In some embodiments, the surface muscle signal acquisition component may comprise only surface muscle deformation signal acquisition components; and the surface muscle deformation signal acquisition assembly and the surface muscle electric signal acquisition assembly can also be included.
In some embodiments, the surface muscle deformation signal acquisition assembly includes a surface muscle deformation signal acquisition module, a processing module, a communication module, and a housing. The surface muscle deformation signal acquisition module is configured to acquire a surface muscle deformation signal; the processing module is configured to process the surface muscle deformation signal into a digital signal characterizing the surface muscle deformation signal; the communication module transmits the digital signal to a signal processing component; the shell encloses the signal acquisition module, the processing module and the communication module.
In some embodiments, the surface electromyography signal acquisition assembly includes a surface electromyography signal acquisition module, a processing module, a communication module, and a housing. The surface electromyographic signal acquisition module is configured to acquire a surface electromyographic signal; the processing module is configured to process the surface electromyography signals into digital signals characterizing them; the communication module transmits the digital signal to the signal processing component; the shell encloses the signal acquisition module, the processing module and the communication module.
In some embodiments, the surface muscle deformation signal acquisition and processing module and the communication module of the surface muscle deformation signal acquisition assembly are arranged in a solid shell with an opening on one surface, the solid shell is covered with a raised elastic film to form a closed cavity, and the elastic film is tightly attached to the surface of the skin and used for acquiring shape change signals of the surface of the skin of a human body and transmitting the shape change signals to the signal processing assembly.
In some embodiments, a signal processing assembly includes a signal receiving module, a processing module, a wireless transmission module, a wire, and a housing. The signal receiving module is configured to receive a surface muscle deformation signal; the processing module is configured to convert the surface muscle deformation signals into various action mode codes reflecting human body movement intention through an algorithm; the wireless transmission module transmits the mode codes of various actions to the execution mechanism; the wire is used for transmitting power to the surface muscle signal acquisition assembly or communication; the shell encloses the signal receiving module, the processing module and the wireless transmission module.
In some embodiments, a signal processing assembly includes a signal receiving module, a processing module, a wireless transmission module, a wire, and a housing. The signal receiving module is configured to receive a surface muscle deformation signal and a surface electromyogram signal; the processing module is configured to convert the surface muscle deformation signal and the surface electromyogram signal into various action mode codes reflecting human body movement intention through an algorithm; the wireless transmission module transmits the mode codes of various actions to the execution mechanism; the wire is used for transmitting power to the surface muscle signal acquisition assembly or communication; the shell encloses the signal receiving module, the processing module and the wireless transmission module.
In some embodiments, the human motion intention signal generating device for the surface of the residual limb further comprises a positioning sleeve, a sheet block is arranged in the positioning sleeve and used for installing the surface muscle signal acquiring component and the signal processing component, and the positioning sleeve is used for accurately positioning the acquiring component and the processing component on the set position of the residual limb.
In some embodiments, the human motion intention signal generating device for the surface of the residual limb further comprises a fixing sleeve, wherein the fixing sleeve is in a long barrel shape, is formed by combining two layers of elastic materials, is sleeved outside the positioning sleeve, and is used for stably fixing the acquisition assembly and the processing assembly on the set position of the residual limb.
In some embodiments, the human motion intention signal generating device for the surface of the residual limb is characterized in that a positioning sleeve is spread and sleeved on the residual limb, and the surface muscle signal acquisition component and the signal processing component are accurately positioned to the designated positions; before installation, the fixed sleeve is rolled into a circle shape from the inner surface outwards in advance, a small bag is left at the top end, is sleeved at the end part of the stump and is unfolded upwards along the longitudinal direction of the stump.
The technology has the beneficial effects that:
the invention utilizes the surface muscle deformation signal of the stump of the human body or the composite signal formed by the surface muscle deformation signal and the surface muscle electrical signal to generate the human body movement intention signal. Theoretically, target muscles of various actions can be found, so that various movement intentions of the stump of the human body can be generated by signals; when doing various actions, the extrusion and shearing force of the inner wall of the receiving cavity are born and reduced by the fixing sleeve with high elasticity, tension and certain thickness, and all components of the signal acquisition and processing module wrapped in the fixing sleeve are not influenced by the forces, so that the function failure of the artificial limb can be avoided.
Drawings and description of the drawings:
FIG. 1 illustrates an exemplary muscle signal acquisition assembly
FIG. 2 is a functional block diagram of an exemplary muscle signal acquisition assembly
FIG. 3 illustrates a signal processing module including a muscle signal acquisition assembly
FIG. 4 is a functional block diagram of an exemplary signal processing assembly
FIG. 5 illustrates a positioning sleeve including a muscle signal acquisition assembly and a signal processing assembly
FIG. 6 illustrates an apparatus for generating human motor intention signals for the surface of a residual limb
The specific implementation mode is as follows:
the human motion intention signal generating device for the surface of the stump collects surface muscle signals by placing the surface muscle signal collecting assembly at the target muscle position on the surface of the skin; the surface muscle signal acquisition assembly is distributed around the signal processing assembly, transmits surface muscle signals to the signal processing assembly through electric connection and receives electric power through a lead, and the signal processing assembly processes the signals into mode codes reflecting various actions of human body movement intentions and sends the mode codes to the execution mechanism to execute corresponding actions.
The surface muscle signal acquisition assembly is divided into a surface muscle deformation signal acquisition assembly for acquiring surface muscle deformation signals and a surface electromyogram signal acquisition assembly for acquiring surface electromyogram signals. The surface muscle signal acquisition assembly can only comprise a surface muscle deformation signal acquisition assembly; and the device also can comprise a surface muscle deformation signal collector and a surface muscle electric signal collecting component.
The surface muscle signal acquisition assembly includes a sealed housing having a size and shape that allows the surface muscle signal acquisition assembly to be placed on a surface of a target muscle, the housing enclosing a signal acquisition module, a processing module, and a communication module.
The surface muscle electrical signal acquisition assembly includes a plurality of electrodes that are used to acquire surface muscle electrical signals. The electrode is arranged on the outer surface of the shell, the surface muscle electric signal acquisition assembly is fixed on the surface of the target muscle, when the muscle acts, the muscle electric signal is released, and the muscle electric signal is converted into a digital signal reflecting the strength of the muscle electric signal through the signal acquisition and processing module and is transmitted into the signal processing assembly receiving module to be processed in the next step.
The surface muscle deformation signal acquisition assembly comprises a flexible bladder sealed by an inner cavity for acquiring muscle deformation signals. The flexible bladder is disposed on one side of the housing opening. The surface muscle deformation signal acquisition assembly is tightly pressed at a target muscle deformation concave part with definite functional pointing direction, and when the muscle deforms, the flexible bag is extruded, so that the physical quantity of a medium in a closed inner cavity of the flexible bag is changed, and the change is converted into a digital signal reflecting the strength of the muscle deformation signal through the signal acquisition and processing module and is transmitted into the signal processing assembly receiving module to be processed in the next step.
The signal processing assembly includes a closed housing, a lead, the housing being sized and shaped to allow the signal processing assembly to be placed on the skin of the residual limb. In some examples, the housing may have a rectangular parallelepiped shape; the wire is used for transmitting power to the surface muscle signal acquisition assembly or communication; the shell of the signal processing component can contain a muscle signal receiving, processing and wireless communication module.
The signal processing component can independently receive the surface muscle deformation signal; the surface muscle electrical signal and the surface muscle deformation signal can be received simultaneously.
The signal processing component can convert the surface muscle signals acquired by the surface muscle signal acquisition component into mode codes of various actions reflecting human body movement intentions through an algorithm in the signal processing module and send the mode codes to the execution mechanism to execute corresponding actions. The algorithm puts the target muscle digital quantities into an action mode classifier for discrimination, and finally outputs natural integer digital quantities starting from 1 to represent mode codes of various actions reflecting human body movement intentions and sends the mode codes to an executing mechanism through a wireless communication module to execute corresponding actions.
In some examples, the human body movement intention signal generating device for the surface of the residual limb further comprises a positioning sleeve, wherein the positioning sleeve is in a long-cylinder net bag shape, the diameters of two ends of the positioning sleeve are different, and a sheet-shaped block is fixedly connected onto the positioning sleeve; the longitudinal mesh belt and the stump are longitudinally kept consistent; the transverse mesh belt is annular and is arranged along the longitudinal direction; the transverse webbing is resilient. The sheet-like block is a flexible, tough fabric for mounting of the surface muscle signal acquisition assembly and the signal processing assembly.
In some examples, the human movement intention signal generating device for the surface of the residual limb further comprises a fixing sleeve, wherein the fixing sleeve is in a long barrel shape, and the diameter of the bottom is not equal to that of the mouth. The fixing device is used for fixing the external component; the inner layer elastic coacervate is cohesively with skin, has high elasticity, tension and certain thickness, and the outer layer elastic fabric has high elasticity in cross section. The inner elastic condensation product is tightly connected with the outer elastic fabric. The sleeve is sleeved outside the positioning sleeve, and the surface muscle signal acquisition assembly and the signal processing assembly are stably fixed on the set position of the stump.
Fig. 1 illustrates a surface muscle signal acquisition assembly 100 that acquires surface muscle signals that can be placed at a target muscle on the surface of the skin. 100-1 is a surface electromyographic signal acquisition component for acquiring surface electromyographic signals; 100-2 is a surface muscle deformation signal acquisition component for acquiring surface muscle deformation signals.
The surface electromyographic signal acquisition assembly 100-1 comprises two or more electrodes 101 for acquiring electromyography and a housing 103. In some examples, the housing 103 may have a rectangular form factor, using a hard material, for protecting the modules within the housing from crushing and damage by external forces; in the example, the surface electromyographic signal acquisition assembly 100-1 comprises two electrodes 101, but in other examples, there may be more than two; the electrode 101 is made of a conductive material and is embedded in the surface of the surface electromyographic signal acquisition component 100-1; the surface electromyogram signal acquisition assembly 100-1 is fixed on the surface of a target muscle, when the muscle acts, the muscle electrical signal is released, and an electrical signal sensor in the signal acquisition module acquires the voltage value of the muscle electrical signal and carries out the next processing.
The surface muscle strain signal acquisition assembly 100-2 includes a flexible bladder 102 for acquiring muscle strain, a housing 106. The flexible bladder 102 is made of a flexible elastic material, preferably, a silicone or rubber material; the inner cavity of the signal acquisition module is closed and is internally provided with a medium 104, in the example, the medium 104 is gas, the surface muscle deformation signal acquisition assembly 100-2 is tightly pressed on the concave surface of the target muscle with definite functional direction, when the muscle deforms, the flexible bag 102 is stressed, so that the pressure of the gas in the inner cavity of the flexible bag 102 is changed, and the pressure sensor in the signal acquisition module acquires the pressure value of the muscle deformation signal and carries out the next processing; in other examples, the medium 104 may be a liquid, a flexible solid, or an invisible field (e.g., an electric field or a magnetic field), and the physical change is collected and processed by a corresponding sensor.
Also contained within the housing 103/106 of the surface muscle signal acquisition assembly 100 are electronic components. The electronic components can be any discrete and/or integrated electronic circuit components of analog and/or digital circuitry that implement the functions of the surface muscle signal acquisition assembly 100 described herein. For example, the housing 103/106 may house electronics for acquiring surface muscle signals via the flexible bladder 102 or electrodes 101, electronics for communicating with the signal processing assembly, and electronics for signal intensive processing.
Fig. 2 is a functional block diagram of a surface muscle signal acquisition assembly 100 for placement on a surface of a target muscle. The surface muscle signal collection assembly 100 includes a muscle signal collection module 120, a signal processing module 122, and a communication module 124. The modules of the present disclosure may include any discrete and/or integrated electronic circuit components that implement analog and/or digital circuits that can produce the functionality of the module. For example, the modules may include analog circuitry, such as amplification circuitry, filtering circuitry, and/or other signal conditioning circuitry. These modules may also include digital circuitry, e.g., combinational or sequential logic circuitry, etc. The functionality of the present modules may be embodied as one or more processors, hardware, firmware, software, or any combination thereof. Depiction of different features as modules is intended to highlight different functional aspects and does not necessarily imply that these modules must be realized by separate hardware or software components. Rather, functionality associated with one or more modules may be performed by separate hardware or software components, or integrated within common or separate hardware or software components.
The muscle signal acquisition module 120 acquires raw muscle signals via the flexible bladder 102 or the electrodes 101 and filters, amplifies, and digitizes the acquired electrical signals to generate raw digital signals. The signal processing module 122 can receive the digitized signal. In some examples, signal processing module 122 may perform various digital signal processing operations on the raw data, such as digital filtering; the signal processing module 122 can process the signals received from the muscle signal acquisition module 120 into digital quantities reflecting natural integers from 0 to 9 of the signal strength of the target muscle; the communication module 124 sends the digital quantity of the natural integer from 0 to 9 reflecting the signal intensity of the target muscle to the signal receiving module 224 (shown in fig. 3) in the signal processing module 200 through the electrical connection under the control of the signal processing module 122, and the electrical connection may be a wired connection, such as a wire, or a wireless connection.
Fig. 3 shows a signal processing assembly 200 placed at the skin of the target muscle and connected to the surface muscle signal acquisition assembly 100, comprising a lead 201, a housing 202. In some examples, the housing 202 may have a rectangular form factor, using a hard material, for protecting the modules within the housing from crushing and damage by external forces; the wires 201 may provide power to the surface muscle signal acquisition assembly 100 and, in some examples, may also be communicatively coupled to the communication module 124 (shown in fig. 2) thereof.
The housing 202 of the signal processing assembly 200 also contains electronic components. Electronic components any discrete and/or integrated electronic circuit components of analog and/or digital circuits capable of implementing the functions of the signal processing component 200 described herein. For example, the housing 202 may house electronic components for wireless communication with the actuator, electronic components for signal reception, and electronic components for centralized processing of signals.
Fig. 4 shows a functional block diagram of the signal processing component 200 placed at the skin of the target muscle. The signal processing assembly 200 includes a wireless communication module 220, a signal processing module 222, and a signal receiving module 224. The modules of the present disclosure may include any discrete and/or integrated electronic circuit components that implement analog and/or digital circuits that can produce the functionality of the module. For example, the modules may include digital circuitry, e.g., combinational or sequential logic circuitry, and the like. The functionality of the present modules may be embodied as one or more processors, hardware, firmware, software, or any combination thereof. Depiction of different features as modules is intended to highlight different functional aspects and does not necessarily imply that these modules must be realized by separate hardware or software components. Rather, functionality associated with one or more modules may be performed by separate hardware or software components, or integrated within common or separate hardware or software components.
The signal receiving module 224 receives the digital muscle signals from the communication module 124 (shown in fig. 2) of the surface muscle signal collecting assembly 100 and transmits the digital muscle signals to the signal processing module 222, wherein the signal receiving module 224 and the communication module 124 are electrically connected, and the electrical connection may be a wired connection, such as a wire, or a wireless connection; the signal processing module 222 puts the muscle digital signals from the muscle signal acquisition assembly 100 into an action mode classifier for discrimination, and finally outputs a natural integer digital quantity from 1 to 9 to represent mode codes of various actions reflecting human body movement intentions; the wireless communication module 220 retransmits the mode codes to the actuator.
Fig. 5 shows a positioning sleeve 300 for mounting and positioning the muscle signal acquisition assembly 100 and the signal processing assembly 200. The positioning sleeve 300 is formed by connecting net belts 310, and a plurality of sheet-shaped blocks 320 are fixed on the net belts. Preferably, the positioning sleeve is in a long cylindrical pocket shape and is formed by connecting a longitudinal net belt and a transverse net belt, the transverse net belt is elastic, and preferably, the longitudinal net belt and the transverse net belt are fixed together by a suture; the sheet block 320 is fixedly provided with a muscle signal acquisition assembly 100 and a signal processing assembly 200; the sheet-form pieces are flexible, tough fabrics, preferably secured together using stitches and webbing. The positioning sleeve 300 is sleeved on the stump of the limb.
Fig. 6 shows a human movement intention information generating apparatus for the surface of a residual limb. The locating sleeve 300 is provided with the muscle signal acquisition assembly 100 and the signal processing assembly 200 and is sleeved on the stump of the patient, and the muscle signal acquisition assembly 100 is positioned on the surface of the target muscle; the pouch 400 is formed by combining an inner elastic coagulation 410, preferably using gel or silica gel having viscosity with the skin, and an outer elastic fabric 420, preferably using spandex elastic cloth having high elasticity in cross-section fiber; preferably, the elastic condensate of the inner layer of the fixing sleeve and the elastic fabric of the outer layer are fixed by a hot gluing process; the fixing sleeve 400 is rolled outwards into a circular ring shape on the inner surface in advance, a small bag is reserved at the top end of the fixing sleeve, then the fixing sleeve is sleeved on the head of the stump, the fixing sleeve is unfolded upwards along the longitudinal direction of the stump and sleeved on the positioning sleeve 300, the elastic condensate 410 on the inner layer is fully attached to the skin in a large gap reserved by the positioning sleeve 300, and due to the wrapping effect of the elastic condensate 410 and the elastic fabric 420 on the outer layer and the tight adhesive force between the elastic condensate 410 and the skin, the fixing sleeve 400 can firmly fix the muscle signal acquisition assembly 100 and the signal processing assembly 200 on the preset positions.
Claims (9)
1. A human movement intention signal generating apparatus for use on a surface of a residual limb comprising: the surface muscle signal acquisition assembly is arranged on the surface of the skin and used for acquiring surface muscle signals, and the signal processing assembly is used for receiving the surface muscle signals; the surface muscle signal acquisition assembly is distributed around the signal processing assembly, the surface muscle signal is transmitted to the signal processing assembly through electric connection, and the electric power is received through a lead, the signal processing assembly processes the signal into mode codes of various actions reflecting the human motion intention and sends the mode codes to the executing mechanism to execute corresponding actions.
2. The apparatus according to claim 1, including at least two of said surface muscle signal acquisition components and only one of said signal processing components.
3. The apparatus according to claim 1, wherein the surface muscle signal collecting assembly comprises a surface muscle signal collecting module, a processing module, a communication module and a housing; the surface muscle signal acquisition module is configured to acquire a surface muscle signal; the processing module is configured to process the surface muscle signal into a digital signal suitable for transmission; the shell encloses the signal acquisition module, the processing module and the communication module.
4. The apparatus of claim 1 wherein the surface muscle signal collection assembly comprises only a surface muscle strain signal collection assembly; and the surface muscle deformation signal acquisition assembly and the surface muscle electric signal acquisition assembly can also be included.
5. The apparatus according to claim 4, wherein the signal collecting and processing module and the communication module of the surface muscle deformation signal collector are disposed in a solid shell with an opening on only one side, and the solid shell is covered with a raised elastic membrane to form a closed cavity, and the elastic membrane is tightly attached to the skin surface for collecting the shape change signal of the skin surface of the human body and transmitting the shape change signal to the signal processing assembly.
6. The apparatus according to claim 1, wherein the signal processing assembly comprises a signal processing module, a wireless transmission module, a wire and a housing; the signal processing module is configured to convert the surface muscle signals into various action mode codes reflecting human body movement intention through an algorithm; the wireless transmission module transmits the mode codes of various actions to the execution mechanism; the wire is used for transmitting power to the surface muscle signal acquisition assembly or communication; the shell encloses the processing module and the wireless transmission module.
7. The apparatus according to claim 1, further comprising a positioning sleeve, wherein the positioning sleeve is provided with a sheet-shaped block for mounting the surface muscle signal collecting assembly and the signal processing assembly, and the positioning sleeve is used for accurately positioning the collecting assembly and the processing assembly on the set position of the residual limb.
8. The apparatus as claimed in claim 1, further comprising a fixing sleeve, wherein the fixing sleeve is formed by combining two layers of elastic materials and is sleeved outside the positioning sleeve to firmly fix the collecting and processing components on the setting position of the stump.
9. The apparatus according to claim 1, wherein the positioning sleeve is stretched over the stump and precisely positions the surface muscle signal collecting assembly and the signal processing assembly to the designated positions; before installation, the fixed sleeve is rolled into a circle shape from the inner surface outwards in advance, a small bag is left at the top end, is sleeved at the end part of the stump and is unfolded upwards along the longitudinal direction of the stump.
Priority Applications (1)
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| CN113567026A (en) * | 2021-08-09 | 2021-10-29 | Oppo广东移动通信有限公司 | Limb part and intelligent machine device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113567026A (en) * | 2021-08-09 | 2021-10-29 | Oppo广东移动通信有限公司 | Limb part and intelligent machine device |
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