Electromyographic humanoid dexterous prosthetic hand cascade control method and system

A cascade control, prosthetic hand technology, applied in the field of medical devices, can solve the problems of low installation and use ratio of amputees, low manipulative performance of humanoid dexterous prostheses, misrecognition by pattern recognition method, etc., and achieves both control intuitiveness and reliability. , switching natural and fast, precise control effects

Pending Publication Date: 2018-11-16
北京通和营润智能科技发展有限公司
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Problems solved by technology

However, the pattern recognition method is easily affected by interference factors, resulting in misrecognition, which reduces the control efficiency and poor reli

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  • Electromyographic humanoid dexterous prosthetic hand cascade control method and system
  • Electromyographic humanoid dexterous prosthetic hand cascade control method and system
  • Electromyographic humanoid dexterous prosthetic hand cascade control method and system

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Embodiment Construction

[0039] The following describes several preferred embodiments of the present invention with reference to the accompanying drawings, so as to make the technical content clearer and easier to understand. The present invention can be embodied in many different forms of embodiments, and the protection scope of the present invention is not limited to the embodiments mentioned herein.

[0040] In the drawings, components with the same structure are denoted by the same numerals, and components with similar structures or functions are denoted by similar numerals. The size and thickness of each component shown in the drawings are shown arbitrarily, and the present invention does not limit the size and thickness of each component. In order to make the illustration clearer, the thickness of parts is appropriately exaggerated in some places in the drawings.

[0041] Such as figure 1 , figure 2 , Figure 4 and Figure 5 As shown, a myoelectric humanoid dexterous prosthetic hand cascad...

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Abstract

The invention discloses an electromyographic humanoid dexterous prosthetic hand cascade control method, which comprises the following steps: under mode control, acquiring mode electromyographic signals and multiplex electromyographic signals of a user; sampling the mode electromyographic signals, adding a moving window; calculating out characteristics of the mode electromyographic signals under the moving window; inputting the characteristics of the electromyographic signals into a classifying model, and generating an action mode command; switching to state control via a swticher, in accordance with enerngy of the multiplex electromyographic sensor signals and the action mode command, generating an action mode control state and driving a humanoid dexterous prosthetic hand to move; and after the prosthetic hand is stopped in moving, switching to mode control via the switcher. The invention also relatdes to an electromyographic humanoid dexterous prosthetic hand cascade control system; and by collecting residual limb muscle change signals via a mode electromyographic sensor and a multiplex electromyographic sensor, the electromyographic humanoid dexterous prosthetic hand can be controlled to do expected actions. According to the cascade control method and the cascade control system provided by the invention, control precision and reliability of the humanoid dexterous prosthetic hand can be enhanced, and a receptance rate and a popularizing rate of the prosthetic hand can be improved.

Description

technical field [0001] The invention relates to the technical field of medical devices, in particular to a method and system for cascade control of a myoelectric humanoid dexterous prosthetic hand. Background technique [0002] Myoelectric prosthesis is an effective means to help amputees to perform functional rehabilitation, and it is expected to improve the quality of life of patients. Existing myoelectric prostheses have less degrees of freedom and only have the functions of hand opening and closing and wrist rotation, which have a limited effect on improving the ability of disabled people to resume life and work. Therefore, major prosthetic manufacturers have developed humanoid dexterous prosthetic hands one after another. [0003] In the existing humanoid dexterous multi-freedom prosthesis, its myoelectric interface is still controlled by a traditional switch. The switching between degrees of freedom is achieved through frequent muscle contractions, making the control...

Claims

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Application Information

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IPC IPC(8): A61F2/72
CPCA61F2/72Y02P90/02
Inventor 郭伟超
Owner 北京通和营润智能科技发展有限公司
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