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A kind of intelligent artificial limb device and control method

A technology of intelligent prosthetics and control units, applied in prosthetics, medical science, artificial arms, etc., can solve the problems of not having a portable force-tactile feedback module, unable to meet the demand for forceful tactile feedback, and difficult to force-tactile information, etc., to achieve Effects that enhance transparency and immersion, facilitate everyday use, and facilitate everyday use

Active Publication Date: 2020-11-24
CHANGCHUN INST OF OPTICS FINE MECHANICS & PHYSICS CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the force feedback in this patent is based on the force sensor. The force sensor has the disadvantages of low bandwidth and high cost. It is difficult for the user to feel the force-tactile information in the environment in real time and with high transparency.
Moreover, the patent only involves related control methods, and does not apply it to prosthetic control
[0006] At present, most of the patents related to prosthetics do not have a portable tactile feedback module, which can only complete simple operations, and users who cannot meet the needs of strong tactile feedback can use it in daily life.

Method used

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  • A kind of intelligent artificial limb device and control method
  • A kind of intelligent artificial limb device and control method
  • A kind of intelligent artificial limb device and control method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0047] This embodiment provides an intelligent prosthesis based on sound limb control and having a force-tactile feedback function. Structurally, the intelligent prosthesis includes two parts: a slave end 1 and a master end 2 .

[0048] The slave end 1 includes a slave end actuator 11 , a slave end control unit 12 , and a slave end transmission mechanism 13 . The slave end actuator 11 , the slave end control unit 12 , and the slave end transmission mechanism 13 wrap the smart hand skin to form a humanoid smart prosthetic hand slave end 1 . The slave control unit 12 includes a slave sensor 121, a slave driver 122, a slave controller 123, and a slave communicator 124, which can realize the operation control of the intelligent prosthetic hand with force-tactile feedback. The slave end 1 is a functional replacement for the missing parts of the upper limbs of physically disabled patients, and can be adapted according to the upper limb disabilities of different disabled patients. Th...

Embodiment 2

[0064] Such as figure 1 , figure 2 , image 3 , Figure 5 As shown, the slave terminal control unit 12 of the intelligent prosthesis of the present invention can obtain the force-tactile information and position information of the prosthesis operation when the physically disabled patient uses the slave terminal 1 in real time. At the same time, the slave communicator 124 can obtain the force tactile information and position information of the master 2 in real time through wireless communication methods such as Bluetooth, Wi-Fi, and 5G, and transmit them to the slave controller 123 . According to the above information, the slave controller 123 performs closed-loop control on the slave 1 . At the same time, the master control unit 22 obtains the force-tactile information and position information of the physically disabled patients in real time when operating the master transmission mechanism 23, and the master communicator 224 obtains the slave 1 in real time through Bluetoo...

Embodiment 3

[0069] The control method of the intelligent prosthetic device based on sound limb control provided by the present invention comprises the following steps:

[0070] S1. Control the movement of the master transmission mechanism 23 according to the operator's sound limbs, the master control unit 22 calculates the force-tactile information and position information of the movement of the master transmission mechanism 23 to generate an operation instruction, and then transmits the operation instruction to the slave control unit 12;

[0071] S2. The slave-end control unit 12 controls the slave-end transmission mechanism 13 to complete the operation of the prosthesis according to the operation instruction, and then feeds back the force-tactile information and position information of the slave-end transmission mechanism 13 to the master-end control unit 22;

[0072] S3. The main-end control unit 22 controls the main-end actuator 21 according to the force-tactile information and positi...

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Abstract

The invention provides an intelligent prosthetic device and a control method. The intelligent prosthetic device includes a master end and a slave end. The master end is used to connect with the healthy limb of the operator, and according to the force-tactile information and position of the healthy limb movement of the operator information to generate the operation instructions of the master end of the prosthesis; the slave end is installed on the operator's incomplete limb and is designed in an under-actuated manner. After receiving the operation instructions, the slave end completes the operation of the object and generates force-tactile information and position information ; The slave terminal feeds back the force-tactile information and position information to the master terminal, and the operator's healthy limbs can feel the force-tactile information and position information in the operation process, and the master terminal can synthesize all the force-tactile information and position information to realize Operator control with force tactile feedback on the slave. The operator can perceive the operated object more transparently through the haptic information, thereby improving the control characteristics of the prosthesis and facilitating daily use.

Description

technical field [0001] The invention relates to the field of rehabilitation medical equipment, in particular to an intelligent artificial limb device and a control method. Background technique [0002] The hand is the most flexible, versatile and complex part of the human body. There are a huge number of physically disabled people in my country, and the loss of part or all of their limbs will lead to a serious decline in the ability of the patients to work and live, which has become a serious social problem. Prosthetics that can replace the functions of severed limbs can replace, assist and restore human body functions, and are an important part of medical rehabilitation equipment. Hand function replacement has long been an important topic of medical rehabilitation at home and abroad. [0003] At present, the cosmetic prostheses used by many patients on the market do not have the operation function, and cannot help patients with physical disabilities to operate in life and ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61F2/68A61F2/70A61F2/54
CPCA61F2/54A61F2/68A61F2002/6827A61F2002/704
Inventor 田大鹏王昱棠王中石王福超贾平
Owner CHANGCHUN INST OF OPTICS FINE MECHANICS & PHYSICS CHINESE ACAD OF SCI