Myoelectric prosthetic hand force tactile feedback method and tactile feedback myoelectric prosthetic hand system

Abstract

Disclosed are a myoelectric prosthetic hand force tactile feedback method and a tactile feedback myoelectric prosthetic hand system. A three-dimensional force sensor is mounted on a wrist of a mechanical prosthetic hand, and a stress shaft of the three-dimensional force sensor is connected with a mechanical prosthetic hand base via a flange and senses stress conditions in directions of three axes of the mechanical prosthetic hand. After the three-dimensional force sensor receives three-dimensional force action, force signals are converted into voltage signals via a bridge principle, the voltage signals are inputted into a control module provided with a single chip microcomputer and a motor driving circuit, the single chip microcomputer acquires the voltage signals which are transmitted from the three-dimensional force sensor and stand for force action on an X axis, a Y axis and a Z axis, positive and negative directions of the voltage signals include directions of X+, X-, Y+, Y-, Z+ and Z-, corresponding pulse width modulation signals are outputted according to the voltage amplitudes in the six directions, namely measured magnitude of stresses in the six directions, and the motor driving circuit drives miniature vibrators in the corresponding directions, so that amplitudes of the vibrators are in direct proportion to the voltage amplitudes in the corresponding directions.

Description

technical field [0001] The invention relates to a prosthetic manipulator designed based on the principle of myoelectric signals, in particular to a force-tactile feedback method for a mechanical prosthesis based on myoelectric control, and belongs to the technical fields of signal acquisition and processing related to manipulators, computers, etc. Background technique [0002] Although myoelectrically controlled prosthetic hands have been around for many years, the issue of how to make the mechanical prosthetic hand accurately perceive the external force like a human hand and quickly give feedback to the disabled user has always been an important part of manipulator control. Technological myoelectric prosthetic hands usually focus on myoelectric signals to control the opening and closing of the manipulator or to control the gripping force of the manipulator, but they cannot realize the overall perception of external force on the prosthetic hand and quickly feedback the force ...

AI Technical Summary

Problems solved by technology

[0002] Although myoelectrically controlled prosthetic hands have been around for many years, the issue of how to make the mechanical prosthetic hand accurately perceive the external force like a human hand and quickly give feedback to the disabled user has always been an important part of manipulator control. Technological myoelectric prosthetic hands usually focus on myoelectric signals to control the opening and closing of the manipulator or to control the gripping force of the manipulator, but they cannot realize the overall perception of external force on the prosthetic hand and quickly feedback the force situation to the disabled user , so that the handicapped cannot easily and quickly understand the force of the manipulator accurately, so that the handicapped cannot use the manipulator to correctly complete actions such as pushing, pulling, lifting, and pressing down, and even the manipulator collides with external objects. The user cannot perceive it, which makes it difficult for the disabled to adapt to normal life after using the myoelectric prosthetic hand

Images