Method for myoelectrically controlling artificial hand simulation system of virtual robot

Abstract

The invention provides a method for myoelectrically controlling an artificial hand simulation system of a virtual robot. The method comprises the following steps: (1) collecting data of a right front arm of a tester; (2) adopting an electrode clung to a skin layer above related forearm muscle for collecting a myoelectricity signal; (3) performing signal pretreatment of rectifying, amplifying and filtering on the myoelectricity signal; (4) performing feature extraction on the myoelectricity signal and extracting a stable feature vector of the myoelectricity signal; (5) cutting the collected stable feature vector into a training set and a test set, utilizing the training set to train the selected classifier and then classifying the signals of the test set; (6) transferring the signal data after the signal classifying process to the after-treatment link; (7) after the after-treatment for the signal, namely, controlling a command signal and sending the command signal to a virtual hand simulation system; (8) assuming a visual feedback function by the virtual hand in the artificial hand simulation system of the robot and feeding the real-time state of the virtual hand to the brain; (9) judging if the hand action is an assumed action by a user through visual feedback.

Description

technical field [0001] The invention relates to the field of bioelectrical signal processing, system simulation and automatic control system, in particular to a method for myoelectrically controlling a virtual robot prosthetic hand simulation system. Background technique [0002] At present, the myoelectrically controlled robot prosthetic hand in the domestic market lacks the application of the robot operating system (ROS) virtual simulation system. For the related functions of the robot, it can be realized without using ROS, but ROS makes the work of robot software more convenient and more efficient. Therefore, with the rapid development of science and technology, it is particularly important for the ROS system to be applied to myoelectrically controlled robotic prosthetic hands. [0003] The existing myoelectric prosthetic hand virtual interaction technology usually virtualizes the hand movement into an object in the game scene to complete the prescribed actions and tasks...

AI Technical Summary

Problems solved by technology

By using the object movement in the virtual game scene instead of using real arm fingers for simulation, it is very inconvenient for people to use

[0004] Although commercial myoelectric prosthetic hands have made significant progress in recent years, many amputees still do not purchase myoelectric prosthetic hands due to their high price

For those patients who have already purchased myoelectric prosthetic hands, due to the need to spend a lot of energy to train the muscles to adapt to the myoelectric prosthetic hand during the initial use of the myoelectric prosthetic hand, the myoelectric prosthetic hand is usually heavier than the real hand, and the coordination with the residual limb The procedure also causes discomfort for amputee patients, so the already purchased myoelectric prosthetic hand is also not often used

[0005] When amputees use myoelectric prosthetic hand virtual interaction technology that virtualizes hand movements into objects in the game scene to complete prescribed actions or tasks, they need to convert specific hand movements into virtual games. Down, left or right, etc., this training method is still not a good choice for amputees without gaming experience

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