Method for realizing space positioning of artificial limbs with multiple degrees of freedom to random targets
A random target and spatial positioning technology, applied in prosthetics, medical science, etc., can solve problems such as technical method research
Inactive Publication Date: 2012-02-08
SHANDONG UNIV OF SCI & TECH
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[0002] For the upper prosthesis of the "shoulder disengagement" type of disabled person used in an unstructured environment, especially for the multi-degree-of-freedom upper prosthesis that can realize compensatory functions, how to realize the real-time positioning of the operating space position of the random target, and to Can complete the operation task as required, in the previous multi-degree-of-freedom upper prosthesis research, there is no research on this technical method
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[0026] As shown in Figures 1-3, the technical solution of the present invention includes installing a three-dimensional attitude sensor 2 on the basis of the multi-degree-of-freedom upper prosthesis 1, installing a three-dimensional attitude sensor 3 on the wearer's head hat, and installing a three-dimensional attitude sensor 3 on the wearer's head hat. A laser ranging sensor 4 is installed on the hat, and a prosthetic controller is equipped for the wearer. The prosthetic controller stores a calculation program that can calculate and operate the random target space coordinate value P in real time. The relationship between the calculation formula of the P value and its representative symbols is as described in the formula (1) in the technical solution. The initial poses of each coordinate system established in the calculation formula are shown in Figure 1. The following figure 1, figure 2 , image 3 Two examples of real-time spatial localization of random objects are illustra...
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The invention discloses a method for realizing space positioning of upper artificial limbs with multiple degrees of freedom to random targets, which comprises the following steps: respectively installing a three-dimensional attitude sensor on each upper artificial limb with multiple degrees of freedom; installing another three-dimensional attitude sensor on the head or the cap of a user; installing a laser ranging sensor on the head or the cap of the user; and providing an artificial limb controller for the user. When a random target needing to be operated appears, the user independently adjusts the attitude of the head to enable the laser beam sent from the laser ranging sensor to aim at the target, the controller sends an instruction to measure the value of the distance between the target and the laser ranging sensor in real time, and simultaneously, the controller computes and converts the value of the distance into the real-time operating space coordinate value of the target in a base coordinate system of the artificial limb. The method of the invention is used for realizing real-time operation and space positioning of upper artificial limbs with multiple degrees of freedom ofdisabled people with shoulder disarticulation prosthesis to random targets in an unstructured environment.
Description
technical field [0001] The invention relates to a prosthesis for disabled persons with severed shoulder, in particular to a method for operating a random target of an upper prosthesis (referring to an upper limb prosthesis) in space. This method can also be used in the operation space localization of random targets by other robots with similar working situations. Background technique [0002] For the upper prosthesis of the "shoulder disengagement" type disabled in an unstructured environment, especially for the multi-degree-of-freedom upper prosthesis that can realize compensatory functions, how to realize the real-time positioning of the operating space position of the random target, and It can complete the operation task as required. In the previous multi-degree-of-freedom upper prosthesis research, there is no research on this technical method. Obtaining the necessary conditions for calculating the motion of each joint of the prosthesis through the present invention, an...
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IPC IPC(8): A61F2/68
Inventor 樊炳辉王传江孙爱芹江浩张志献樊东哲
Owner SHANDONG UNIV OF SCI & TECH