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Method for controlling grasping force of myoelectric prosthesis

A prosthetic and myoelectric technology, applied in the field of prosthetics, can solve the problems of poor recognition accuracy, less information obtained, and inconvenient use.

Pending Publication Date: 2021-12-03
GUILIN UNIV OF ELECTRONIC TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, in the prior art, myoelectric prosthetics use fewer sensors to identify the grasping force, so that less information is obtained, the recognition accuracy is poor, and the force adjustment is not suitable, resulting in inconvenient use

Method used

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  • Method for controlling grasping force of myoelectric prosthesis

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Embodiment Construction

[0007] Such as figure 1 As shown, after wearing the prosthetic system, the user needs to manually turn on the switch to power on and initialize the prosthetic system. The prosthetic system will collect myoelectric signals through the control center, and classify and recognize the myoelectric signals through the pre-trained recognition model to judge the user's action intention. Here, the myoelectric signal is collected by the myoelectric sensor, the analog signal is converted into a digital signal through the PCF8591 chip, and the data is sent to the K210 processor (neural network processor) in the control center using the I2C bus.

[0008] The recognition model here is obtained by training the training samples using a Support Vector Machine (SVM). Each action needs to collect 30 sets of data, each set of data has 1000 original EMG signal eigenvalues, and the training set and test set are divided according to 6:4. Normalize the training set to the [-1, 1] interval according ...

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Abstract

The invention discloses a method for controlling the grasping force of a myoelectric prosthesis, and the method comprises the steps: obtaining a myoelectric signal through a myoelectric sensor, and judging the action intention of a user; when the neural network control center recognizes that the user has grasping and pinching action intentions, driving the artificial limb assembly to act according to the action intentions of the user; starting a camera module to shoot the action target, recognizing the object, and judging the expected pressure needed for holding the object; obtaining and comparing information of the pressure sensor with expected pressure, and adjusting the force applying state of the artificial limb assembly; and when it is recognized that the user has the action intentions of releasing, stretching and the like, the artificial limb assembly is driven to release the grabbed object. The action intention of the user is judged through the electromyographic signals, the grasping force is adjusted in a visual and pressure bidirectional feedback mode, information acquisition channels are increased, force adjustment of the electromyographic artificial limb under various gestures is achieved, and the use scene of the artificial limb is enriched.

Description

technical field [0001] The invention relates to the technical field of artificial limbs, in particular to a method for controlling the grasping force of myoelectric artificial limbs. Background technique [0002] For amputee patients, the installation of limb prosthetics can greatly improve their quality of life and work. With the advancement of technology, the prosthesis can perform more and more actions according to the user's wishes; taking the myoelectric prosthesis as an example, the myoelectric prosthesis can recognize the collected user's myoelectric signal and generate corresponding recognition results for further control The actuator performs corresponding actions. However, in the prior art, myoelectric prosthetics use fewer sensors to identify the grasping force, so that less information is obtained, the recognition accuracy is poor, and the force adjustment is not suitable, resulting in inconvenient use. Contents of the invention [0003] In order to solve the...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61F2/72
CPCA61F2/72
Inventor 李华魏紫屈嘉豪李垚杜晓霞
Owner GUILIN UNIV OF ELECTRONIC TECH
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