Electric stimulation-induced myoelectric feedback control method and device for stabilizing myoelectric prosthetic hand force output

Abstract

The invention relates to an electrical stimulation muscle electric inducing feedback control method and an electrical stimulation muscle electric inducing feedback control device for stabilizing output of muscle electric prosthetic hand strength, and belongs to the technical field of muscle electric prosthetic hand control. The electrical stimulation muscle electric inducing feedback control method includes following steps: 1) detecting surface muscle electric signals of residual limb muscle of a prosthetic hand user in real time; 2) collecting and analyzing the detected muscle electric signals, and judging whether the muscle electric activity level indicated in the muscle electric signals generated by contraction of the residual limb muscle is reduced due to factors of inattention, fatigue and the like; 3) if the muscle electric activity level is reduced, starting an electrical stimulation device to stimulate objective muscle, enhancing contraction of the objective muscle and then inducing a large muscle electric signal, and improving the muscle electric activity level; 4) repeatedly comparing and regulating intensity of electrical stimulation until the muscle electric activity level of the objective muscle reaches the initial state level, and thereby guaranteeing that prosthetic hand contraction strength remains at the original level. The electrical stimulation muscle electric inducing feedback control method not only guarantees that the user has a strong participation feeling, but also reduces requirements for attention of the user, and thereby reduces occurrence rate of the fatigue.

Description

technical field [0001] The invention belongs to the technical field of myoelectric prosthesis control, and relates to an electric stimulation-induced myoelectric feedback control method and device for stabilizing the hand force output of a myoelectric prosthesis. Background technique [0002] Patients with missing hands due to wars, accidents, or congenital diseases suffer from great inconvenience in daily life. According to the 2006 national statistics on the number of disabled persons, the total number of all types of disabled persons and the proportion of the total population have increased, while 2412 people have physical disabilities, accounting for 29.07% of the total number of disabled persons. In order for people with physical disabilities to better integrate into society, installing artificial limbs is the most direct and effective way to help them compensate for their functions and improve their conditions. The prosthetic hand with motor function is a very promisi...

AI Technical Summary

Problems solved by technology

[0003] Early myoelectric prosthetic hands generally only control the opening and closing of the prosthetic hand, and the prosthetic hand itself does not have any sensory feedback, which has the following shortcomings: Since there is no feedback information, the opening and closing of the prosthetic hand depends on the myoelectric signal of the muscle contraction of the residual limb , Continuous myoelectric output is required when holding an object continuously, that is, the muscles of the residual limb need to maintain a contracted state; any change in the state of muscle contraction will cause changes in the myoelectric signal, which in turn will change the grasping force or state of the prosthetic hand, which may lead to being Holding objects loose or even slipping

However, due to the limited sensory ability of the residual limb muscles, it is difficult to distinguish the fine stimulation intensity, and the feedback established by the above stimulation cannot precisely adjust the grip strength; more importantly, because the power control of the prosthetic hand relies on the residual limb muscles Myoelectric signals, which require the user to continuously contract the residual limb muscles, and also need to adjust the muscle contraction intensity according to the feedback, which requires the user to be highly focused, which is particularly likely to cause mental fatigue and muscle fatigue of the user, which is not conducive to the use of prosthetic hands

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