Lower limb prosthesis hierarchical control system and method based on healthy side leg multi-source information

Abstract

The invention provides a lower limb prosthesis hierarchical control system and method based on healthy side leg multi-source information, which comprises a man-machine system module, a sensing system module, a signal preprocessing module and a hierarchical controller. The sensing system module is mounted on one side of a healthy leg of a human body of the man-machine system module; the hierarchical controller is composed of a top-layer controller module, a middle-layer controller module and a bottom-layer controller module. The input end of the signal preprocessing module is the signal output of the sensing system module, and the output of the signal preprocessing module is divided into two parts which are respectively connected with the top-layer controller module and the middle-layer controller module; the output of the top-layer controller module is connected with the middle-layer controller module; the output of the middle-layer controller module is connected with the bottom-layer controller module; and the bottom-layer controller module and the prosthesis side of the man-machine system module perform bidirectional interaction. According to the invention, the gait discrete switching of different gait types in actual use can be realized, and the walking speed can be continuously adjusted in real time according to the human body intention in the same gait period.

Description

technical field [0001] The invention relates to the technical field of human lower limb prosthesis control, in particular to a lower limb prosthesis layered control system and method based on multi-source information of a healthy side leg. Background technique [0002] According to the report of the sample survey team of the disabled, there are more than 1.5 million patients with lower limb amputations in my country. The daily life of amputees is greatly affected, bringing serious family and social burdens. Lower limb prosthetics are human prosthetics that help patients maintain balance, stand and walk. Traditional powered prostheses have poor adaptability to complex environments, such as going up and down stairs, up and down slopes, or potholes, and it is difficult to change the speed of fast walking or slow walking according to the intention of the human body, making the wearer's experience poor and the auxiliary effect weak. [0003] The invention patent with the public...

AI Technical Summary

Problems solved by technology

The implementation of this patent is relatively complicated, and it does not consider the multi-joint control method and the coupling characteristics between joints, so it is difficult to expand

[0006] There are the following technical defects in the prior art: 1, mostly single-joint control, i.e. the control method of calf prosthesis ankle joint, or the control method of knee joint prosthesis

There is no prosthetic control method applicable to multiple joints in the existing invention, and some methods are difficult to expand to multiple joints, especially not suitable for hip joint prostheses; 2. When the prosthesis uses healthy leg information for follow-up control, it is based on the position information of the healthy leg Perform symmetric mapping without considering continuous estimation of gait phase

Only using position information makes it difficult to guarantee accuracy in different gait patterns, different people, and different paces; 3. It is impossible to make the prosthetic pace change arbitrarily

The current scheme can perform discrete changes in speed between different gait cycles or gait switching, or even adjust continuously, but it is difficult to continuously adjust the speed in the swing period / support period of the same step, that is, it cannot adapt to sudden stops when walking or acceleration

4. There is little consideration for different gait patterns, and it cannot meet the usage conditions such as going up and down stairs, up and down slopes, etc., which limits the practical application of knee prostheses and even hip prostheses

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