Multi-sensor closed-chain cascade-type hand prosthesis based on myoelectric control

Abstract

The invention relates to the field of wearable intelligent substitutes for human limbs, and medical equipment, and in particular to a multi-sensor closed-chain cascade-type hand prosthesis based on myoelectric control. The hand prosthesis comprises a four-finger mechanism, a thumb mechanism, a hand back plate, a motor support plate, motors and an electrical part, wherein the four-finger mechanismcomprises a fake finger group, a rocker group and a connecting rod group, the thumb mechanism comprises a thumb false finger group, a thumb rocker group and a thumb connecting rod group, the electrical part comprises a sensor group, an electric control group, a display and an electromyography acquisition module, the sensor group comprises a variety of sensor modules, the sensor group is embedded in far finger sections of fake fingers, the electrical control group comprises a core PCB board, a motor drive module and a battery, and the electromyography acquisition module is embedded in a contactposition between the inner side of the motor support plate and a forearm, and fits with the extensor digitorum and flexor digitorum superficialis of the forearm. The hand prosthesis adopts myoelectric control, motor drive, closed-chain cascade-type structure transmission, and multi-sensor feedback control, can be modularly disassembled to adapt to different hand signs, and reproduces and enrichesoriginal hand functions.

Description

technical field [0001] The invention relates to the field of wearable intelligent substitutes for human limbs and medical devices, in particular to a multi-sensing closed-chain cascade hand prosthesis based on myoelectric control. Background technique [0002] The hand is one of the most important organs in people's daily life and production operations. It has multiple functions at the same time: grasping and pinching objects, experiencing the touch of objects, sensing the temperature of objects, measuring the approximate size of objects, etc. At the same time, people also use their hands to complete Some relatively dangerous activities often cause hand injuries or even hand limbs or hand function loss, seriously affecting people's quality of life. According to the 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 both increased. Among them, 24.12 million people are physica...

AI Technical Summary

Problems solved by technology

[0004] (1) The hand prosthesis has too little freedom, and can only complete the bending of the whole finger. poor flexibility;

[0005] (2) The hand prosthesis does not have a feedback link, it can only complete physical actions such as grasping the hand, and cannot feedback the temperature of the object and the pressure when grasping, nor Possess other additional auxiliary functions, poor practicality and functionality;

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