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IMU and surface electromyogram signal-based upper arm prosthesis control method and system

A technology of myoelectric signal and control method, which is applied in the field of upper arm prosthetic control based on IMU and surface electromyographic signal, can solve the problems of poor convenience and high efficiency, lack of flexibility and naturalness, etc., and achieve high stability and realization Flexible and natural, overall control and simple effects

Pending Publication Date: 2021-10-22
UNIV OF SCI & TECH OF CHINA
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Problems solved by technology

[0005] The prosthetic control system in the existing technology is difficult to realize the synchronous continuous motion control of multiple degrees of freedom of the prosthesis, lacks flexibility and naturalness during use, and is not convenient and efficient to use

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  • IMU and surface electromyogram signal-based upper arm prosthesis control method and system
  • IMU and surface electromyogram signal-based upper arm prosthesis control method and system
  • IMU and surface electromyogram signal-based upper arm prosthesis control method and system

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Embodiment Construction

[0059] The present invention will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0060] An embodiment of the present invention provides a method for controlling an upper arm prosthesis based on IMU and surface electromyographic signals, referring to figure 1 and figure 2As shown, the method includes an IMU movement intention recognition step and an EMG signal movement intention recognition step.

[0061] IMU is a device that measures the three-axis attitude angle (or angular rate) and acceleration of an object. The main components of the IMU are gyroscopes and accelerometers. In ...

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Abstract

The invention provides an IMU and surface electromyogram signal-based upper arm prosthesis control method and system, and relates to the technical field of medical instruments and rehabilitation assistive devices. The method comprises the following steps: an IMU motion intention identification step: collecting IMU data, and carrying out operation identification on the real-time IMU data to obtain the motion intention of a wearer; an electromyographic signal motion intention recognition step: acquiring sEMG signals and designing a classifier, performing de-noising processing on the sEMG signals, and finally performing classification and motion intention judgment through the designed classifier; and a control instruction step: sending an electromyographic control instruction according to a preset mode judgment result of the IMU motion intention recognition step and the electromyographic signal motion intention recognition step. According to the invention, multi-degree-of-freedom synchronous continuous motion control of the artificial limb can be realized, and flexible and natural motion and convenient and efficient use of the artificial limb are realized.

Description

technical field [0001] The present invention relates to the technical field of medical equipment and rehabilitation aids, in particular to an upper arm prosthetic control method and system based on IMU and surface electromyographic signals. Background technique [0002] sEMG is the earliest bioelectrical signal recognized by humans. The electromyographic signal is very weak, but it contains a large amount of biological information. Through the analysis and processing of information, it can predict human behavior. Therefore, sEMG is widely used in the research of artificial limb control, rehabilitation medicine, sports and other fields. [0003] An inertial measurement unit (IMU for short) is a device that measures the three-axis attitude angle (or angular rate) and acceleration of an object. The main components of the IMU are gyroscopes and accelerometers. In general, an IMU includes three single-axis accelerometers and three single-axis gyroscopes. The accelerometer detect...

Claims

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Application Information

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IPC IPC(8): G06F3/01G06K9/00G06K9/62G06N3/04G06N3/08
CPCG06F3/015G06N3/049G06N3/08G06N3/045G06F2218/12G06F18/214
Inventor 李智军孟庆昇李国欣
Owner UNIV OF SCI & TECH OF CHINA
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