CN104825256B - A kind of artificial limb system with perceptible feedback function - Google Patents

Abstract

The invention relates to a prosthetic system with a sensory feedback function, which includes a prosthesis connected to the residual limb of a disabled person and having an action actuator, and: a voice signal collection and processing module; a brain wave collection and processing module; a pressure collection module, It is used to collect the real-time pressure value of the end of the prosthesis; the sensory feedback module generates a current signal to stimulate the residual limb according to the real-time pressure value of the end of the prosthesis, so that the disabled can correct their own brain wave signal in real time; the control module receives the voice signal , EEG signals to form a control command to control the action actuator to complete the prosthetic action; receive the real-time pressure value to form a control command to control the sensory feedback module to generate a stimulating current to the residual limb. The invention enables the user of the prosthesis to completely control the prosthesis according to his real intention, and can know the touch pressure at the end of the prosthesis in real time, so as to facilitate timely adjustment of his control intention and achieve the purpose of fine control.

Description

A prosthetic system with sensory feedback

technical field

The invention relates to the field of artificial limbs, in particular to an artificial limb system with a sensory feedback function.

Background technique

At present, various mature products of humanoid prosthetics have been sold in the market, including some intelligent prosthetics with simple functions. Most of these products are prosthetics with only decorative functions. These prosthetics only provide decorative functions and cannot provide life assistance and convenience for the disabled. Another part of the prosthesis is an intelligent prosthesis with simple functions. This part of the prosthesis only collects simple myoelectric signals, and uses the tension and relaxation of the residual limb muscles to control the prosthesis to complete simple grasping and putting down actions. This kind of prosthesis can only help the disabled to complete some simple and rough large-scale movements, but cannot help the disabled to complete a large number of fine movements in daily life. The latest research direction of some current research institutes introduces voice and EEG signals into the prosthetic control system. This type of prosthesis controls the movement of the prosthesis through voice signals and EEG signals. Compared with the myoelectric control prosthesis, the movement is more flexible and diverse, and the operation is easier fine. However, an important defect of this type of equipment is that it adopts an open-loop control method. When people with disabilities use this type of prosthetic limb, they cannot obtain the tactile information at the end of the prosthetic limb, which means that the prosthetic limb user has no "tactile sense". The present invention adds a pressure acquisition and sensory feedback module, and transmits the "touch" information at the end of the prosthesis to the user of the prosthesis through the pressure acquisition module and the sensory feedback module, so that the user can obtain a "touch" similar to that of a real limb. Through this closed-loop feedback control system, prosthetic users can completely control the prosthetic according to their true intentions, and can know the touch pressure at the end of the prosthesis in real time, so that they can adjust their control intentions in time and achieve the purpose of fine control.

Contents of the invention

The purpose of the present invention is to solve the problem that the existing prosthetic system cannot complete refined movements, and provides a prosthetic system with a sensory feedback function, which is specifically realized by the following technical solutions:

A prosthetic system with a sensory feedback function, including a prosthesis connected to the residual limb of a disabled person and having an action actuator, and also includes:

The voice signal acquisition and processing module collects the voice signals used by the disabled to realize the control of prosthetic movement conversion, large-scale movement and locking action;

The brain wave acquisition and processing module acquires the brain wave signals used by disabled people to realize fine control of prosthetic limbs;

The pressure acquisition module is arranged at the end of the prosthesis, and is used to collect real-time pressure values at the end of the prosthesis;

The sensory feedback module is installed on the residual limb of the disabled, and generates a current signal to stimulate the residual limb according to the real-time pressure value at the end of the prosthesis, so that the disabled can correct their own brain wave signals in real time;

The control module receives the voice signal and brain wave signal to form a control command to control the action actuator to complete the prosthetic action; receives the real-time pressure value to form a control command to control the sensory feedback module to generate a stimulating current to the residual limb.

The prosthetic system with sensory feedback function is further designed in that the brain wave acquisition and processing module has two sensors for collecting brain waves connected to the forehead and earlobe of the disabled, and processes and outputs the brain waves Frequency spectrum, EEG signal quality, raw EEG and three eSense parameters: concentration, relaxation and blink detection.

The prosthetic system with sensory feedback function is further designed in that the brain wave acquisition and processing module is also connected with a Bluetooth interface and module for wireless communication with the control module.

The prosthetic system with sensory feedback function is further designed in that the speech signal acquisition and processing module adopts a non-person-specific single-chip speech recognition chip.

The prosthetic system with sensory feedback function is further designed in that the pressure acquisition module adopts a patch sensor made of a polymer film force sensitive resistance material.

The prosthetic system with sensory feedback function is further designed in that the sensory feedback module includes interconnected patch electrodes and electronic pulse drive circuits, and the patch electrodes are attached to the residual limb of the user, The electronic pulse driving circuit receives the corresponding control signal sent by the control module and converts it into a frequency modulation signal so as to drive the patch electrode to generate a corresponding stimulation current.

The prosthesis system with sensory feedback function is further designed in that the control module is composed of a main control chip, a data program storage unit, a communication module, and an interface module.

The invention enables the user of the prosthesis to completely control the prosthesis according to his real intention, and can know the touch pressure at the end of the prosthesis in real time, so as to facilitate timely adjustment of his control intention and realize the purpose of fine control.

Description of drawings

Fig. 1 is a schematic structural diagram of an embodiment of the present invention.

Fig. 2 is a block diagram of the realization of the principle of the present invention.

detailed description

The present invention will be further described below in conjunction with accompanying drawing of description and embodiment:

As shown in the figure, the prosthesis system with sensory feedback includes a prosthesis 1 connected to the residual limb 7 of the disabled and has an action actuator, and also includes:

The voice signal acquisition and processing module 2 collects the voice signals used by the disabled to realize the control of prosthetic movement conversion, large-scale movement and locking action; the voice signal acquisition and processing module adopts a non-specific single-chip voice recognition chip without any External auxiliary Flash and RAM, and built-in high-precision A/D, D/A channels: no external AD chip is needed, the microphone can be directly connected to the chip AD pin, the module has high integration and low power consumption, suitable for portable wear. It can be used directly without recording training. This technology can complete speech recognition without the need for users to conduct speech training in advance. The user experience is better, and the recognition accuracy can still maintain a high level. The voice module has a list of key words for recognition that can be dynamically edited: as long as the key words for recognition are passed into the chip in the form of character strings, they will take effect immediately in the next recognition.

The brain wave acquisition and processing module 3 is used to obtain the brain wave signal of the disabled to realize the fine control of the prosthetic limb; The sensor processes and outputs brainwave frequency spectrum, EEG signal quality, raw brainwave and three eSense parameters: concentration, relaxation and blink detection.

The pressure collection module 4 is arranged at the end of the prosthesis, and is used to collect real-time pressure values at the end of the prosthesis; the pressure collection module adopts a patch sensor made of a polymer film force-sensitive resistor material. The polymer film force-sensitive resistor material is very sensitive to the positive pressure acting on its surface, and the resistance value decreases with the increase of the pressure acting on the surface, and has a good linear relationship within the pressure range of 10000g.

The sensory feedback module 5 is arranged on the residual limb of the disabled, and generates a current signal to stimulate the residual limb according to the real-time pressure value at the end of the prosthesis, so that the disabled can correct their own brain wave signals in real time; the sensory feedback module includes interconnection The patch electrode and the electronic pulse drive circuit, the patch electrode is attached to the residual limb of the user, the electronic pulse drive circuit receives the corresponding control signal sent by the control module and converts it into a frequency modulation signal to drive the patch electrode The sheet electrodes generate corresponding stimulation currents.

The control module 6 receives the voice signal and brain wave signal to form a control command to control the action actuator to complete the prosthetic action; receives the real-time pressure value to form a control command to control the sensory feedback module to generate a stimulating current to the residual limb. The brainwave acquisition and processing module is also connected with a bluetooth interface and module for wireless communication with the control module.

The control module is specifically composed of a main control chip, a data program storage unit, a communication module and an interface module. The control module simultaneously collects the voice commands of the voice acquisition and recognition system and the brain wave data of the brain wave acquisition and recognition module through the interface module, and forms the driving data based on these two data to control the movement of the action actuator (steering gear) to realize the movement of the prosthetic limb.

The control module collects commands from voice signals to realize actions such as prosthetic movement conversion, large-scale movement, and locking. This type of action adopts an open-loop control method, and the feedback module does not participate in the work.

The control module collects brain wave data to control the small-scale movements of the end of the prosthesis, and uses the brain wave data to realize the adjustment of the "precise" movement of the prosthesis and the size of the "grip". At the same time, the control module transmits the pressure sensor value at the end of the prosthesis to the user through the feedback module, and the user can adjust the EEG signal according to the "stimulation" of the electrode, and complete the adjustment of "precise" movement and "grip strength". This small-scale control works in a closed-loop control mode.

The invention enables the user of the prosthesis to completely control the prosthesis according to his real intention, and can know the touch pressure at the end of the prosthesis in real time, so as to facilitate timely adjustment of his control intention and realize the purpose of fine control.

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.