Embedded multi-freedom degree muscle-electric artificial hand control system based on double digital signal processor

Abstract

A multi-freedom myoelectric prosthetic hand control system with a master-slave distributed structure belongs to the field of biological mechatronics. The purpose is to solve the problem that the electronic control system of the existing myoelectric prosthetic hand adopts an embedded design and is bulky, and the open-loop control cannot feed back sensory information to the human brain of the prosthetic hand wearer; or there is feedback information, but the feedback information cannot be accurately quantified and imprecise question. The SPI communication end of its main DSP circuit is connected to the SPI communication end of the slave DSP circuit, and the buzzer circuit, power management circuit, temperature sensor, EMG channel circuit, vibration motor circuit, electric stimulation circuit, and Bluetooth circuit are respectively connected to the main DSP circuit. A plurality of torque sensors are respectively connected to the slave DSP circuit, and a plurality of motors are respectively connected to the slave DSP circuit through a plurality of motor drive circuits and CPLD circuits. The volume of the artificial hand is equivalent to that of a real human hand; the invention can accurately feed back the size of the force to the wearer of the artificial hand.

Description

technical field [0001] The invention relates to a hardware circuit of a multi-degree-of-freedom myoelectric artificial hand and its control technology, and belongs to the technical field of Biomechatronics. Background technique [0002] The study of prosthetic hands is very important for people with disabilities to be able to carry out their daily lives and better integrate into society. An ideal prosthetic hand should have the same shape and size as a human hand, be light in weight, and have the functions of grasping and dexterous manipulation, thereby functionally replacing a human hand. [0003] However, the more mature commercial prosthetic hands currently on the market are almost all based on a single degree of freedom. In recent years, with the development of robotics, multi-freedom prosthetic hands with multiple fingers and joints have become a more active research direction. In the research field of multi-freedom prosthetic hand, the prosthetic hand based on the pri...

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Problems solved by technology

[0005] The purpose of the present invention is to solve the existing myoelectric prosthetic hand electronic control system has insufficient real-time speed, that is, long delay time, large volume, high hardware cost, and a series of problems that restrict the popularization and application of under-actuated prosthetic hands, and adopt open-loop The control cannot feed back sensory information to the human brain of the wearer of the prosthetic hand, or there is feedback information, but the feedback information cannot be accurately quantified, imprecise problems

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