Method for creating expert knowledge base for automatically training lower artificial limbs

An expert knowledge base, prosthetic technology, applied in the direction of muscle training equipment, prosthesis, sports accessories, etc., can solve the problems of complex methods and equipment, and achieve the effect of short time, good portability and high precision

Inactive Publication Date: 2011-07-13
HEBEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0009] The technical problem to be solved by the present invention is to provide a method for establishing an expert knowledge base for automatic training of lower limb prostheses, use a portable acquisition system to collect plantar pressure signals of prosthetic and healthy limbs, and use iterative learning methods to find the best gait symmetry The control amount of the prosthetic knee joint, and put the control amount into the memory according to the current walking speed as an entry in the knowledge base, which overcomes the shortcomings of the complicated methods and devices used in the prior art

Method used

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  • Method for creating expert knowledge base for automatically training lower artificial limbs
  • Method for creating expert knowledge base for automatically training lower artificial limbs
  • Method for creating expert knowledge base for automatically training lower artificial limbs

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Experimental program
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Effect test

Embodiment 1

[0066] The installation of the used hardware part of the method for establishing the automatic training expert knowledge base of lower limb prosthesis:

[0067] The hardware used includes a prosthetic knee joint 1, a socket 5, a plantar pressure sensor 2, a control device and a control circuit 9; the prosthetic knee joint 1 is a pneumatic lower limb prosthetic knee joint that can adjust bending and extension damping in a non-artificial manner, and is Installed in the lower part of the receiving cavity 5 worn by the thigh amputee; the control device is composed of a cylinder 6, a piston 7, a gas passage 8, a needle valve 3 and a linear stepper motor 4, and the piston 7 is installed in the cylinder 6, and the The cylinder 6 is divided into two chambers, and the two chambers are connected through the gas channel 8, the gas channel 8 is located outside the cylinder 6, the linear stepper motor 4 is installed at the bottom of the cylinder 6, and the needle valve 3 is installed on the...

Embodiment 2

[0070] The working process of the above-mentioned hardware part is: after installing all the above-mentioned hardware, let the subject walk normally. During the walking process, first detect the walking speed, and then determine the value of the angle of the knee joint from the ground at the current walking speed. When the knee joint angle When the angle of the knee joint is lifted off the ground, it is considered to have reached the swing period. The needle valve 3 in the above control device moves according to the corresponding opening value under the walking speed. When the knee joint is fully extended, it is considered to enter the support period. The needle valve 3 Keep it fully closed to maximize damping and increase stability during stances.

Embodiment 3

[0072] On the basis of embodiment 1 and embodiment 2, the collection and calculation of plantar pressure signal are carried out:

[0073] The analog-to-digital conversion module of the single-chip microcomputer in the control circuit 9, that is, the self-contained AD converter on the single-chip microcomputer, is collected and installed on the prosthesis side and the healthy limb side sole with a frequency of 500 times per second through the processing method of moving average filtering. The plantar voltage signal of the plantar pressure sensor 2, that is, the plantar pressure signal.

[0074] The calculation of the plantar pressure signal is completed by the single-chip microcomputer contained in the control circuit 9, and its calculation program can be divided into three parts according to the function:

[0075] The first part is the main program, which completes the initialization work after the system is powered on

[0076] Power on the system→turn off the watchdog→clock ...

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Abstract

The invention discloses a method for creating an expert knowledge base for automatically training lower artificial limbs, which relates to lower artificial limb control. All hardware comprises an artificial limb knee joint, an acceptance chamber, a pelma pressure sensor, a control device and a control circuit, wherein the control device comprises a cylinder, a piston, an air channel, a pin valve and a straight stepping motor. Pelma pressure signals from the pelma pressure sensor are collected and calculated by a single chip in the control circuit, and an iteration study algorithm is adopted to create the expert knowledge base used for controlling the artificial limb knee joint. A portable acquisition system is adopted in the method. The calculation is automatically accomplished by the single chip, which is accurate and efficient. The iteration study method is adopted to find out the minimum period phase difference of the walking status of the artificial limbs and health limbs, and people who wear the artificial limbs can walk without the assist of professionals. The system can automatically generate the optimal symmetry of knee joint controlling amount at different walking speeds, so that the expert knowledge base for automatically training lower artificial limbs can be created.

Description

technical field [0001] The technical scheme of the invention relates to the control of the knee joint of the prosthetic limb, in particular to a method for establishing an expert knowledge base for automatic training of the lower limb prosthesis. Background technique [0002] In order to adapt to the wearing of prosthetics by amputees with different physical conditions, it is necessary to determine the control amount of the prosthetic knee joint according to the actual conditions of different prosthetic wearers. [0003] Most of the existing prosthetic knee joint products use the experience of the amputee wearing the prosthetic knee joint to adjust the control amount of the prosthetic knee joint under different walking conditions. This approach has the following disadvantages: [0004] First of all, after the amputation operation, the amputee needs a period of time to adapt to the walking state of the prosthetic knee joint after the amputation. If the intelligent lower limb...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61F2/68G06F17/30A61B5/22
Inventor 杨鹏龚思远刘作军陈玲玲王海曼
Owner HEBEI UNIV OF TECH
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