Hierarchical control system and method for lower limb prosthesis based on multi-source information of unaffected leg

Abstract

The present invention provides a lower limb prosthesis hierarchical control system and method based on multi-source information of the healthy leg, comprising: a human-machine system module, a sensing system module, a signal preprocessing module and a hierarchical controller; the sensing system module is installed in a The human body healthy leg side of the human-machine system module; the layered controller consists of a top-level controller module, a middle-level controller module and a bottom-level controller module. The input of the signal preprocessing module is the signal output of the sensor system module, and its output is divided into two parts, which are respectively connected to the top controller module and the middle controller module; the output of the top controller module is connected to the middle controller module; the middle controller The output of the module is connected to the bottom controller module; the bottom controller module conducts two-way interaction with the prosthetic side of the human-machine system module. The invention can realize the discrete switching of gait of different gait types in actual use, and can continuously adjust the walking speed in real time according to the human body intention within the same gait cycle.

Description

technical field [0001] The invention relates to the technical field of human lower limb prosthesis control, in particular to a lower limb prosthesis hierarchical control system and method based on multi-source information of the unaffected leg. Background technique [0002] According to the report of the disabled sampling survey group, there are more than 1.5 million lower extremity amputation patients in my country. The daily life of amputees is greatly affected, with serious family and social burdens. Lower extremity prostheses are human prostheses that help patients maintain balance, stand, and walk. Traditional power prosthetics have poor adaptability to complex environments, such as up and down stairs, up and down slopes, or potholes, and it is difficult to speed up or slow down according to human intentions, making the wearer’s experience poor and the auxiliary effect weak. [0003] The invention patent with publication number CN100528107 discloses an intelligent upp...

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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