A force control evaluation device and evaluation method for prosthetic hand with tactile sensation

Abstract

The application discloses a kind of prosthetic hand force control evaluation equipment and its evaluation method for having tactile.The application includes base, motor assembly, tension sensor, support, linear guide, test sensor assembly, processor and display;The test sensor assembly of the application includes " pinch force " test component and " grip force " test component, and the continuous monitoring of the pinch force and grip force of prosthetic hand can be completed;Array pressure sensor can record the pressure data of different fingers in completing the force task, record the pressure distribution of palmar pressure and test component;Test sensor assembly is set on linear guide through support, and is pulled to motor assembly by cable, so as to exert traction on test sensor assembly, realize dynamic test;The application can distinguish tactile prosthetic hand and ordinary prosthetic hand, the function test of tactile prosthetic hand, subject completes dynamic task with eyes closed, and records both data, calculates and compares the goodness of fit of both.

Description

Technical Field

[0001] The present invention relates to hand function assessment, and in particular to a force control assessment device for a prosthetic hand with tactile sensation and an assessment method thereof. Background Art

[0002] Prosthetic hand evaluation is typically based on the outcome of prosthetic motor performance, typically measured using scales or instruments. While this provides a repeatable and relatively objective functional evaluation, the dynamic feedback between the prosthetic user and the object being manipulated during operation creates a critical barrier to successful prosthetic hand evaluation. Therefore, evaluation should not rely solely on outcome measures or static measurements.

[0003] Existing prosthetic hands generally focus on static grip testing, which can assess the strength of the prosthetic grip, but neglect dynamic force testing, particularly testing of actual dynamic force input. This is inconsistent with daily prosthetic hand use. In daily life, prosthetic hand users will react to changes in the force applied to the object being manipulated, which is reflected in increasing and decreasing prosthetic grip force. This dynamic, continuous grip force should be included as a metric in prosthetic hand evaluation.

[0004] Currently, prosthetic hands with tactile feedback are a hot topic in prosthetic hand research. These prosthetic hands can convert the surface force of contacting objects into electrical signals, which are then applied to the induced finger sensation area of ​​the amputated stump. This allows the user to sense five sensory modalities: touch, pressure, and vibration. However, there is currently no scientific and specific method for distinguishing the functions of tactile prosthetic hands from those of standard prosthetic hands.

[0005] Therefore, the actual dynamic force input test of the prosthetic hand and the evaluation of the tactile prosthetic hand are important factors in the evaluation of the prosthetic hand and also play a guiding role in the development of the prosthetic hand. Summary of the Invention

[0006] In response to the above deficiencies in the prior art, the present invention proposes a force control evaluation device and an evaluation method for a prosthetic hand with tactile sensation, which can perform force control performance tests of "grasping" and "pinching" on ordinary prosthetic hands and tactile prosthetic hands, accurately grasp the actual mechanical properties of the prosthetic hand, accurately evaluate the functions of the tactile prosthetic hand and the ordinary prosthetic hand, make the testing of the prosthetic hand more unified, and actively discover the defects of the prosthetic hand in use.

[0007] An object of the present invention is to provide a force control evaluation device for a prosthetic hand with tactile sensation.

[0008] The force control evaluation device for a prosthetic hand with tactile sensation of the present invention comprises: a base, a motor assembly, a tension sensor, a bracket, a linear guide, a test sensor assembly, a processor and a display; wherein, a linear guide is provided on the upper surface of the base; a bracket is provided on the linear guide, and the bracket can slide along the linear guide; a test sensor assembly is provided on the bracket; the test sensor assembly is connected to the processor; a tension sensor is fixedly mounted at each end of the bracket; each tension sensor is mechanically connected to a corresponding motor assembly through a cable; the tension sensor is electrically connected to the processor through a data cable; the processor is connected to the display; the test sensor assembly is electrically connected to the processor through a data cable; the test sensor assembly comprises a "pinch force" test assembly and a "grip force" test assembly, the "pinch force" test assembly is used to test the pinch force of the prosthetic hand, and the "grip force" test assembly is used to test the grip force of the prosthetic hand; the prosthetic hand comprises an ordinary prosthetic hand and a tactile prosthetic hand, and the test task types comprise static tasks and dynamic tasks, static tasks and dynamic tasks are tested on the ordinary prosthetic hand, and dynamic tasks are tested on the tactile prosthetic hand; the subject places the prosthetic hand on the test sensor assembly;

[0009] In the static task, the subject increases or decreases the force applied by the prosthetic hand to the test sensor assembly according to the target force displayed on the monitor, so that the force applied by the prosthetic hand is maintained within the set dynamic range of the target force displayed on the monitor;

[0010] During a dynamic task, the processor controls the two motor assemblies separately according to the dynamic task. The two motor assemblies apply traction to the bracket via cables. The two motor assemblies apply different traction forces to the two ends of the bracket, thereby pulling the bracket to slide along the linear guide, driving the test sensor assembly to move along the line. The tension sensor collects the actual traction felt at both ends of the bracket and feeds it back to the processor in real time. The processor subtracts the traction forces fed back from both ends in real time to obtain a dynamic traction difference. In the dynamic task test of a conventional prosthetic hand, the subject looks directly at the screen and the actual bracket. The dynamic traction difference is displayed in real time on the display, and a schematic diagram of the bracket's position change on the linear guide with marginal range markings is also displayed. The subject responds to the dynamic traction difference and position change indication. In the dynamic task test of a tactile prosthetic hand, the subject needs to respond to the tactile feedback received by the tactile prosthetic hand while shielding their vision. The subject increases or decreases the force applied by the prosthetic hand to the test sensor assembly to stabilize the test sensor assembly, that is, the bracket remains within the marginal range of the linear guide.

[0011] The static task refers to displaying the size of the target force and its dynamic range on the screen. The size of the target force changes continuously or in steps. The subject needs to control the prosthetic hand so that the force applied by the prosthetic hand on the test sensor assembly follows the change of the target force and remains within the set dynamic range. The dynamic range is based on the target force as the balance point and fluctuates up and down by ±10 to 30%. The upper and lower floating range is set according to the difficulty of the static task. The greater the difficulty, the larger the floating range.

[0012] The dynamic task refers to the test sensor assembly sliding along the linear guide with a set motion trajectory. The subject needs to control the prosthetic hand so that the force applied by the prosthetic hand on the test sensor assembly resists the movement changes of the test sensor assembly, so that the sensor test assembly remains within the set marginal range. The marginal range is based on the center of the linear guide as the balance point and floats left and right by ±50 to 150 mm. The left and right floating values ​​are set according to the difficulty of the dynamic task. The greater the difficulty, the larger the floating range. The screen displays the traction force difference and the position change of the bracket marked with the marginal range on the linear guide.

[0013] The process of tactile prosthetic hand feedback is as follows: tactile sensors are provided on the surface of the fingers of the tactile prosthetic hand, and the tactile sensors are connected to the feedback device; the fingers of the prosthetic hand detect the sliding of the test sensor component in contact with the fingers of the prosthetic hand through the tactile sensors, collect the sliding tactile information, encode the sliding tactile information, and feed it back to the tester through the feedback device; the feedback device includes an electrical stimulation device or a vibration device, or a voice device, which is attached to the surface of the stump skin of the subject, and directly generates sensory feedback on the stump skin through electrical stimulation or vibration, or feeds back to the subject in the form of voice.

[0014] The test sensor assembly collects the pressure data applied to the test sensor assembly by the prosthetic hand and transmits the pressure data to the processor in real time. The processor processes the pressure data into a real-time dynamic curve and feeds it back to the subject through the display. The subject adjusts the applied force according to the real-time dynamic curve. After the static task or dynamic task is completed, the processor records the data and calculates the determination coefficient (R-square) through the processor to calculate the score.

[0015] The applied force is pinching force or grasping force; when the "pinch force" test component is set on the bracket for pinching force test, the applied force is pinching force; when the "grasp force" test component is set on the bracket for grasping test, the applied force is grasping force.

[0016] The motor assembly includes: a motor, a reducer, an encoder, a brake and a driver; wherein, the first end of the motor's output shaft is connected to the input port of the reducer and is concentrically locked; the second end of the motor's output shaft is connected to the encoder and the brake in sequence and is concentrically locked; the encoder's output signal end is connected to the driver through an encoder cable, the driver's output motor control signal end is connected to the motor through a motor cable, and the processor and the driver are connected through a driver control cable; the motor and driver's housings are respectively fixedly connected to the base.

[0017] The bracket includes a bottom plate and vertical support rods. The horizontal bottom plate is mounted on a linear guide rail. Vertical support rods are mounted at both ends of the bottom plate, perpendicular to the bottom plate. A test sensor assembly is fixed between the pair of vertical support rods. Two tension sensors are mounted on the outsides of the two vertical support rods.

[0018] An array of pressure sensors is provided on the test sensor assembly.

[0019] The test sensor assembly includes a "grip force" test assembly and a "pinch force" test assembly. The "pinch force" test assembly accommodates two- or three-finger pinching and consists of a rectangular block, a pinch force connection end, and an array pressure sensor. The rectangular block is located in the center, with the upper and lower horizontal directions of the block serving as pinching areas and equipped with an array pressure sensor. The array pressure sensor is electrically connected to the processor via a data cable. Pinch force connection ends are integrally connected to the rectangular block at both ends, and both ends of the pinch force connection end are fixed to vertical support rods. The thickness of the rectangular block ranges from 5mm to 40mm. The "grip force" test assembly accommodates palm-facing grasping and consists of a cylindrical block, a grip force connection end, and an array pressure sensor. The cylindrical block is located in the center, with the array pressure sensor disposed across its entire cylindrical surface. Grip force connection ends are integrally connected to the cylindrical block at both ends, and both ends of the grip force connection end are fixed to vertical support rods. The diameter of the cylinder ranges from 30mm to 60mm.

[0020] It further includes a pair of fixed pulleys, which are arranged between the motor assembly and the linear guide rail and connect the cables between the motor assembly and the tension sensor.

[0021] Another object of the present invention is to provide a method for evaluating force control of a prosthetic hand with tactile sensation.

[0022] The present invention provides a method for evaluating the force control of a prosthetic hand with tactile sensation, comprising performing functional tests on a conventional prosthetic hand and a tactile prosthetic hand:

[0023] 1. Functional test of ordinary prosthetic hand:

[0024] A. Set static tasks and dynamic tasks:

[0025] a) Testing process of static tasks:

[0026] 1) The subject places the regular prosthetic hand on the test sensor assembly;

[0027] 2) The processor displays the static task, i.e., the target force magnitude and its dynamic range, on a display;

[0028] 3) Based on the target force displayed on the monitor, the subject increases or decreases the force applied by the conventional prosthetic hand to the test sensor assembly so that the force applied by the prosthetic hand remains within the set dynamic range of the target force displayed on the monitor;

[0029] 4) The test sensor assembly collects pressure data of the applied force and transmits the pressure data to the processor in real time. The processor processes the pressure data into a real-time dynamic curve and feeds it back to the subject through the display. The subject adjusts the applied force according to the real-time dynamic curve;

[0030] 5) After the static task is completed, the processor records the data, calculates the coefficient of determination (R-square) through the processor, and calculates the score;

[0031] b) Testing process of dynamic tasks:

[0032] 1) The subject places the regular prosthetic hand on the test sensor assembly;

[0033] 2) The processor displays the dynamic task, i.e., traction difference and marginal range mark, on the display;

[0034] 3) At the same time, the processor controls the two motor assemblies according to the dynamic task. The two motor assemblies apply traction to the bracket through cables. The two motor assemblies apply different traction forces to the two ends of the bracket, thereby pulling the bracket to slide along the linear guide rail, driving the test sensor assembly to move along the straight line;

[0035] 4) The tension sensor collects the actual traction force felt by both ends of the bracket and feeds it back to the processor in real time. The processor then subtracts the traction force feedback from both ends in real time, and displays the dynamic traction force difference and a schematic diagram of the bracket's position change on the linear guide rail with margin range markings on the display.

[0036] 5) The subject responds to the magnitude of the dynamic traction force difference displayed on the monitor by increasing or decreasing the force applied by the conventional prosthetic hand to the test sensor assembly, so that the test sensor assembly is stable, that is, the bracket remains within the marginal range of the linear guide rail;

[0037] 6) The test sensor assembly collects pressure data and transmits the pressure data to the processor in real time. The processor processes the pressure data into real-time dynamic values ​​and feeds them back to the subject through a display. The subject adjusts the applied force based on the real-time dynamic values;

[0038] 7) After the dynamic task is completed, the processor records the data, calculates the determination coefficient through the processor, and calculates the score;

[0039] B. Perform functional testing:

[0040] a) Place the "pinch force" test assembly on the stand and perform a) static task and b) dynamic task in step 1, A, applying pinch force to complete the pinch force functional test of a conventional prosthetic hand;

[0041] b) Place the "grip strength" test assembly on the stand and perform a) static task and b)

[0042] Dynamic task, the applied force is the grasping force, completing the functional test of the grasping force of the ordinary prosthetic hand;

[0043] 2. Functional testing of tactile prosthetic hand:

[0044] A. Testing process of dynamic tasks:

[0045] i. The subject places the tactile prosthetic hand on the test sensor assembly and covers the subject's eyes;

[0046] ii. The processor displays the dynamic task on the display;

[0047] iii. The processor controls the two motor assemblies based on the dynamic task. The two motor assemblies apply traction to the bracket through cables. The two motor assemblies apply different traction forces to the two ends of the bracket, creating a dynamic traction difference. This pulls the bracket to slide along the linear guide rail, driving the test sensor assembly to move along the straight line. The traction difference is displayed on the display.

[0048] iv. The subject responds to the tactile feedback received by the tactile prosthetic hand by controlling the tactile prosthetic hand to increase or decrease the applied force so that the test sensor assembly is stable, that is, the bracket remains within the marginal range of the linear guide;

[0049] v. The processor records the pressure felt by the test sensor assembly and processes the pressure data into a real-time dynamic curve;

[0050] vi. After the dynamic task is completed, the processor records the data, calculates the determination coefficient through the processor, and calculates the score;

[0051] B. Perform functional testing:

[0052] a) Place the "Pinching Force" test component on the bracket to perform the pinching force test. The applied force is the pinching force. Perform step 2.

[0053] A, Complete functional testing of the pinch strength of the tactile prosthetic hand;

[0054] b) Place the "grip force" test assembly on the bracket to perform a grip force test, apply a force as the grip force, and execute step 2, A to complete the functional test of the grip force of the tactile prosthetic hand;

[0055] 3. Compare the scores of the ordinary prosthetic hand and the tactile prosthetic hand to evaluate the operation effect of the ordinary prosthetic hand and the tactile prosthetic hand;

[0056] Among them, the test order of ordinary prosthetic hands and tactile prosthetic hands can be interchanged, the order of pinch strength test and grasping strength functional test can be interchanged, and the test order of dynamic tasks and static tasks can be interchanged.

[0057] The static task includes a target force magnitude and its dynamic range, which are displayed on the monitor. The dynamic range for the static task is 0 to 50 N, and the duration is 0 to 20 seconds.

[0058] In the dynamic task, the dynamic traction force difference is set to 0~100N and the maintenance time is 0~20s.

[0059] The dynamic task includes a traction force difference and margin range markings applied to both ends of the bracket; during the functional test of the dynamic task of a common prosthetic hand, the display shows a schematic diagram of the traction force difference and the position change of the bracket on the linear guide with margin range markings.

[0060] Advantages of the present invention:

[0061] The test sensor assembly of the present invention includes a "pinch force" test assembly and a "grip force" test assembly, which can continuously monitor the pinch force and grip force of a prosthetic hand; the test sensor assembly is set on a linear guide rail through a bracket and pulled to the motor assembly through a cable, thereby applying traction to the test sensor assembly to achieve dynamic testing; the present invention can distinguish between tactile prosthetic hands and ordinary prosthetic hands.

[0062] (1) The present invention can continuously monitor the gripping force and pinching force of the hand by replacing the sensor on the U-shaped device as a bracket to respectively monitor the gripping force and pinching force;

[0063] (2) The array pressure sensor of the present invention can record the pressure data of different fingers when completing the "grip" force task, and record the palm pressure and the pressure distribution of the contact area of ​​the test component;

[0064] (3) The present invention detects the gripping force of subjects in static tasks. In static tasks, the display randomly provides a fixed gripping force (range: 0-50N). The subject grasps the test component, drives the prosthetic hand to complete the task force and maintains the force for a fixed time (0-20s). The display simultaneously displays the task force and the force applied by the prosthetic hand. The subject can adjust the gripping force through a real-time curve graph.

[0065] (4) The present invention can detect the gripping force of subjects under dynamic tasks. The motor component receives the continuous gripping force signal transmitted by the processor and forms a pulling effect on the bracket on the guide rail through the motor, reducer, encoder, brake, and driver. The subject needs to respond to the dynamic traction difference and apply force to the test component to maintain the stability of the bracket. The sensor on the test component transmits the data to the processor in real time. After calculation, the data is fed back in real time through the display, and the goodness of fit R-square (determination coefficient) is used as the evaluation index.

[0066] (5) The present invention can distinguish between tactile prosthetic hands and ordinary prosthetic hands. For the functional test of the tactile prosthetic hand, the subjects completed the dynamic task with their eyes closed, and the data of both were recorded. The goodness of fit R-square (coefficient of determination) of the two was calculated and compared. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] Figure 1 This is a schematic diagram of an application of a prosthetic hand force control evaluation device with tactile sensation according to the present invention;

[0068] Figure 2 is a schematic diagram of an embodiment of a prosthetic hand force control evaluation device with tactile sensation according to the present invention;

[0069] Figure 3 Schematic diagram of a test sensor assembly of an embodiment of a prosthetic hand force control evaluation device with tactile sensation according to the present invention;

[0070] Figure 4 A schematic diagram of a static task displayed on a display of an embodiment of a prosthetic hand force control evaluation device with tactile sensation according to the present invention;

[0071] Figure 5 Schematic diagram of a dynamic task displayed on a display of an embodiment of a prosthetic hand force control evaluation device with tactile sensation according to the present invention. DETAILED DESCRIPTION

[0072] The present invention will be further described below through specific embodiments in conjunction with the accompanying drawings.

[0073] like Figure 1As shown, when testing the prosthetic hand 2 , the subject sits upright on a stool 5 , places both hands flat on a table 4 , looks straight ahead at the display 1 , and faces the prosthetic hand force control evaluation device 3 with tactile sense placed on the table 4 .

[0074] like Figure 2 As shown, the tactile prosthetic hand force control assessment device of this embodiment includes: a base, a motor assembly 31, a tension sensor 35, a bracket 36, a linear guide 37, a test sensor assembly 38, a processor and a display 1; wherein, a linear guide 37 is provided on the upper surface of the base; a bracket 36 is provided on the linear guide 37; a test sensor assembly 38 is provided on the bracket 36; the test sensor assembly 38 is connected to the processor; a tension sensor 35 is provided at each end of the bracket 36; each tension sensor 35 is mechanically connected to the corresponding motor assembly 31 through a cable 33, and the motor assembly 31 is mounted on the base through a gasket 32; a pair of fixed pulleys 34, It is arranged between the motor assembly 31 and the linear guide rail 37, connecting the motor assembly 31 and the cable; the tension sensor 35 is electrically connected to the processor through a data cable; the processor is connected to the display; the test sensor assembly 38 includes a "pinch force" test assembly and a "grip force" test assembly; the "pinch force" test assembly is used to test the pinch force of the prosthetic hand 2; the "grip force" test assembly is used to test the grip force of the prosthetic hand; the prosthetic hand includes an ordinary prosthetic hand and a tactile prosthetic hand, and the test task types include static tasks and dynamic tasks, static tasks and dynamic tasks are tested on the ordinary prosthetic hand, and dynamic tasks are tested on the tactile prosthetic hand; the subject places the prosthetic hand on the test sensor assembly 38.

[0075] The bracket includes a bottom plate and vertical support rods; wherein the horizontal bottom plate is set on the linear guide rail; vertical support rods perpendicular to the bottom plate are respectively set at both ends; and a test sensor assembly is set at the top of a pair of vertical support rods.

[0076] like Figure 3 As shown, the test sensor assembly includes a "grip force" test assembly and a "pinch force" test assembly; the "pinch force" test assembly is suitable for two-finger or three-finger pinching, and the center of the "pinch force" test assembly is a rectangular parallelepiped 382, ​​and the upper and lower horizontal directions of the rectangular parallelepiped 382 are pinching areas and are provided with array pressure sensors, and the two ends of the rectangular parallelepiped 382 are provided with pinch force connecting ends 381 connected as one, and the two ends of the pinch force connecting ends 381 are fixedly set on the vertical support rod of the bracket; the thickness of the rectangular parallelepiped is 20mm; the "grip force" test assembly is suitable for grasping with the palm facing inward, and the center of the "grip force" test assembly is a cylinder 384, and the entire cylindrical surface of the cylinder 384 is provided with an array pressure sensor, and the two ends of the cylinder are provided with grip force connecting ends 383 connected as one, and the two ends of the grip force connecting ends 383 are fixedly set on the vertical support rod of the bracket; the diameter of the cylinder is 40mm.

[0077] The force control evaluation method for a prosthetic hand with tactile sensation in this embodiment includes functional testing of a conventional prosthetic hand and a tactile prosthetic hand:

[0078] 1. Functional test of ordinary prosthetic hand:

[0079] A. Set static tasks and dynamic tasks:

[0080] a) Testing process of static tasks:

[0081] 1) The subject places the regular prosthetic hand on the test sensor assembly;

[0082] 2) The processor displays the static task, i.e., the target force magnitude and its dynamic range, on a display, e.g. Figure 4 As shown, static tasks include step-type and continuous-type;

[0083] 3) Based on the target force displayed on the display, the subject increases or decreases the force applied by the prosthetic hand to the test sensor assembly to maintain the force applied by the prosthetic hand within a set dynamic range of the target force displayed on the display. In this embodiment, the dynamic range is based on the target force as the equilibrium point and fluctuates within ±20%;

[0084] 4) The test sensor assembly collects pressure data of the applied force and transmits the pressure data to the processor in real time. The processor calculates the pressure data into a real-time dynamic curve and feeds it back to the subject through the display. The subject adjusts the magnitude of the applied force based on the real-time dynamic curve;

[0085] 5) After the static task is completed, the processor records the data, calculates the determination coefficient through the processor, and calculates the score;

[0086] b) Testing process of dynamic tasks:

[0087] 1) The subject places the regular prosthetic hand on the test sensor assembly;

[0088] 2) The processor displays the dynamic task, namely the traction difference and marginal range mark on the display, such as Figure 5 As shown, the margin range includes the left margin and the right margin;

[0089] 3) At the same time, the processor controls the two motor assemblies according to the dynamic task. The two motor assemblies apply traction to the bracket through cables. The two motor assemblies apply different traction forces to the two ends of the bracket, thereby pulling the bracket to slide along the linear guide rail, driving the test sensor assembly to move along the straight line;

[0090] 4) The tension sensor collects the actual traction force felt by both ends of the bracket and feeds it back to the processor in real time. The processor subtracts the traction force feedback from both ends in real time to obtain a dynamic traction force difference and a schematic diagram of the bracket's position change on the linear guide rail with a margin range mark, which is displayed on the display. The display also displays the magnitude of the force applied by the conventional prosthetic hand. In this embodiment, the margin range is based on the center of the linear guide rail as the balance point and fluctuates to the left and right by ±100mm.

[0091] 5) Based on the magnitude of the dynamic traction force difference displayed on the monitor, the subject responds to the dynamic traction force difference by increasing or decreasing the force applied by the conventional prosthetic hand to the test sensor assembly, so that the test sensor assembly is stabilized, i.e., the bracket remains within the marginal range of the linear guide rail;

[0092] 6) The test sensor assembly collects pressure data and transmits the pressure data to the processor in real time. The processor processes the pressure data into real-time dynamic values ​​and feeds them back to the subject through a display. The subject adjusts the applied force based on the real-time dynamic values;

[0093] 7) After the dynamic task is completed, the processor records the data, calculates the determination coefficient through the processor, and calculates the score;

[0094] B. Perform functional testing:

[0095] a) Place the "pinch force" test assembly on the stand and perform a) static task and b) dynamic task in step 1, A, applying pinch force to complete the pinch force functional test of a conventional prosthetic hand;

[0096] b) Place the "grip strength" test assembly on the stand and perform a) static task and b)

[0097] Dynamic task, the applied force is the grasping force, completing the functional test of the grasping force of the ordinary prosthetic hand;

[0098] 2. Functional testing of tactile prosthetic hand:

[0099] A. Testing process of dynamic tasks:

[0100] i. The subject places the tactile prosthetic hand on the test sensor assembly and covers the subject's eyes;

[0101] ii. The processor displays the dynamic task on the display;

[0102] iii. The processor controls the two motor assemblies based on the dynamic task. The two motor assemblies apply traction to the bracket via cables. The two motor assemblies apply different traction forces to the two ends of the bracket, creating a dynamic traction difference. This pulls the bracket to slide along the linear guide rail, driving the test sensor assembly to move along the straight line. The dynamic traction difference is displayed on the display. The tension sensor detects the traction force of the bracket and feeds it back to the processor for controlling the bracket's traction force.

[0103] iv. The subject responds to the tactile feedback received by the tactile prosthetic hand by controlling the tactile prosthetic hand to increase or decrease the applied force so that the test sensor assembly is stable, that is, the bracket remains within the marginal range of the linear guide;

[0104] v. The processor records the pressure felt by the test sensor assembly and calculates the pressure data into a real-time dynamic curve;

[0105] vi. After the dynamic task is completed, the processor records the data, calculates the determination coefficient through the processor, and calculates the score;

[0106] B. Perform functional testing:

[0107] a) Place the "Pinching Force" test component on the bracket to perform the pinching force test. The applied force is the pinching force. Perform step 2.

[0108] A, Complete functional testing of the pinch strength of the tactile prosthetic hand;

[0109] b) Place the "grip force" test assembly on the bracket to perform a grip force test, apply a force as the grip force, and execute step 2, A to complete the functional test of the grip force of the tactile prosthetic hand;

[0110] 3. Compare the scores of the ordinary prosthetic hand and the tactile prosthetic hand to evaluate the operational effects of the ordinary prosthetic hand and the tactile prosthetic hand.

[0111] Finally, it should be noted that the purpose of disclosing the embodiments is to facilitate a further understanding of the present invention. However, those skilled in the art will appreciate that various substitutions and modifications are possible without departing from the spirit and scope of the present invention and the appended claims. Therefore, the present invention should not be limited to the contents disclosed in the embodiments; the scope of protection claimed by the present invention shall be determined by the scope defined in the claims.

Claims

1. A device for evaluating the force control of a prosthetic hand with tactile sensation, characterized in that: The force control evaluation device for a prosthetic hand with tactile sensation comprises: a base, a motor assembly, a tension sensor, a bracket, a linear guide, a test sensor assembly, a processor and a display; wherein, the linear guide is arranged on the upper surface of the base; a bracket is arranged on the linear guide, and the bracket can slide along the linear guide; a test sensor assembly is arranged on the bracket; the test sensor assembly is connected to the processor; a tension sensor is fixedly mounted at each end of the bracket; each tension sensor is mechanically connected to the corresponding motor assembly via a cable; the tension sensor is electrically connected to the processor via a data cable; the processor is connected to the display; the test sensor assembly is electrically connected to the processor via a data cable; the test sensor assembly comprises a "pinch force" test assembly and a "grip force" test assembly, the "pinch force" test assembly is used to test the pinch force of the prosthetic hand, and the "grip force" test assembly is used to test the grip force of the prosthetic hand; the prosthetic hand comprises an ordinary prosthetic hand and a tactile prosthetic hand, and the test task types comprise static tasks and dynamic tasks, static tasks and dynamic tasks are tested on the ordinary prosthetic hand, and dynamic tasks are tested on the tactile prosthetic hand; the subject places the prosthetic hand on the test sensor assembly; In the static task, the subject increases or decreases the force applied by the prosthetic hand to the test sensor assembly according to the target force displayed on the monitor, so that the force applied by the prosthetic hand is maintained within the set dynamic range of the target force displayed on the monitor; During a dynamic task, the processor controls the two motor assemblies separately according to the dynamic task. The two motor assemblies apply traction to the bracket via cables. The two motor assemblies apply different traction forces to the two ends of the bracket, thereby pulling the bracket to slide along the linear guide, driving the test sensor assembly to move along the line. The tension sensor collects the actual traction felt at both ends of the bracket and feeds it back to the processor in real time. The processor subtracts the traction forces fed back from both ends in real time to obtain a dynamic traction difference. In the dynamic task test of a conventional prosthetic hand, the subject looks directly at the screen and the actual bracket. The dynamic traction difference is displayed in real time on the display, and a schematic diagram of the bracket's position change on the linear guide with marginal range markings is also displayed. The subject responds to the dynamic traction difference and position change indication. In the dynamic task test of a tactile prosthetic hand, the subject needs to respond to the tactile feedback received by the tactile prosthetic hand while shielding their vision. The subject increases or decreases the force applied by the prosthetic hand to the test sensor assembly to stabilize the test sensor assembly, that is, the bracket remains within the marginal range of the linear guide.

2. The device for evaluating the force control of a prosthetic hand with tactile sensation according to claim 1, wherein: The motor assembly includes: a motor, a reducer, an encoder, a brake and a driver; wherein, the first end of the motor's output shaft is connected to the input port of the reducer and is concentrically locked; the second end of the motor's output shaft is connected to the encoder and the brake in sequence and is concentrically locked; the encoder's output signal end is connected to the driver through an encoder cable, the driver's output motor control signal end is connected to the motor through a motor cable, and the processor and the driver are connected through a driver control cable; the motor and driver's housings are respectively fixedly connected to the base.

3. The device for evaluating the force control of a prosthetic hand with tactile sensation according to claim 1, wherein: The bracket includes a bottom plate and vertical support rods; wherein the horizontal bottom plate is set on the linear guide rail; vertical support rods perpendicular to the bottom plate are respectively set at both ends; and the test sensor assembly is fixed between a pair of vertical support rods.

4. The device for evaluating the force control of a prosthetic hand with tactile sensation according to claim 1, wherein: It also includes a pair of fixed pulleys, which are arranged between the motor assembly and the linear guide rail to connect the motor assembly and the cables.

5. The device for evaluating the force control of a prosthetic hand with tactile sensation according to claim 1, wherein: The test sensor assembly includes a "grip force" test assembly and a "pinch force" test assembly.

6. The device for evaluating the force control of a prosthetic hand with tactile sensation according to claim 5, wherein: The "pinch force" test component is suitable for pinching with two or three fingers. The center of the "pinch force" test component is a rectangular parallelepiped. The upper and lower horizontal directions of the rectangular parallelepiped are pinching areas and are equipped with array pressure sensors. The two ends of the rectangular parallelepiped are provided with pinch force connection ends connected as one body. The two ends of the pinch force connection ends are fixedly set on the vertical support rods of the bracket; the thickness of the rectangular parallelepiped is 5mm to 40mm.

7. The device for evaluating the force control of a prosthetic hand with tactile sensation according to claim 5, wherein: The "grip force" testing component is suitable for grasping with the palm facing inward. The center of the "grip force" testing component is a cylinder. The entire cylindrical surface of the cylinder is provided with an array of pressure sensors. The two ends of the cylinder are provided with grip force connection ends connected as one body. The two ends of the grip force connection ends are fixedly set on the vertical support rods of the bracket; the diameter of the cylinder is 30mm to 60mm.

8. An evaluation method for a prosthetic hand force control evaluation device with tactile sensation according to claim 1, characterized in that: This includes functional testing of conventional prosthetic hands and tactile prosthetic hands:

1. Functional test of ordinary prosthetic hand: A. Set static tasks and dynamic tasks: a) Testing process of static tasks: 1) The subject places the regular prosthetic hand on the test sensor assembly; 2) The processor displays the static task, i.e., the target force magnitude and its dynamic range, on a display; 3) Based on the target force displayed on the monitor, the subject increases or decreases the force applied by the conventional prosthetic hand to the test sensor assembly so that the force applied by the prosthetic hand remains within the set dynamic range of the target force displayed on the monitor; 4) The test sensor assembly collects the pressure data of the applied force and transmits the pressure data to the processor in real time. The processor calculates the pressure data into a real-time dynamic curve and feeds it back to the subject through the display. The subject adjusts the applied force based on the real-time dynamic curve. 5) After the static task is completed, the processor records the data, calculates the determination coefficient through the processor, and calculates the score; b) Testing process of dynamic tasks: 1) The subject places the regular prosthetic hand on the test sensor assembly; 2) The processor displays the dynamic task, i.e., traction difference and marginal range mark, on the display; 3) At the same time, the processor controls the two motor assemblies according to the dynamic task. The two motor assemblies apply traction to the bracket through cables. The two motor assemblies apply different traction forces to the two ends of the bracket, thereby pulling the bracket to slide along the linear guide rail, driving the test sensor assembly to move along the straight line; 4) The tension sensor collects the actual traction force felt by both ends of the bracket and feeds it back to the processor in real time. The processor then subtracts the traction force feedback from both ends in real time, and displays the dynamic traction force difference and a schematic diagram of the bracket's position change on the linear guide rail with margin range markings on the display. 5) The subject responds to the magnitude of the dynamic traction force difference displayed on the monitor by increasing or decreasing the force applied by the conventional prosthetic hand to the test sensor assembly, so that the test sensor assembly is stable, i.e., the bracket remains within the marginal range of the linear guide rail; 6) The test sensor assembly collects pressure data and transmits the pressure data to the processor in real time. The processor processes the pressure data into real-time dynamic values ​​and feeds them back to the subject through a display. The subject adjusts the applied force based on the real-time dynamic values; 7) After the dynamic task is completed, the processor records the data, calculates the determination coefficient through the processor, and calculates the score; B. Perform functional testing: a) Place the "pinch force" test assembly on the stand and perform a) static task and b) dynamic task in step 1, A, applying pinch force to complete the pinch force functional test of a conventional prosthetic hand; b) Place the "grip force" test assembly on the stand and perform a) the static task and b) the dynamic task in step 1.A, applying a grip force to complete a functional test of the grip force of a conventional prosthetic hand; 2. Functional testing of tactile prosthetic hand: A. Testing process of dynamic tasks: i. The subject places the tactile prosthetic hand on the test sensor assembly and covers the subject's eyes; ii. The processor displays the dynamic task on the display; iii. The processor controls the two motor assemblies based on the dynamic task. The two motor assemblies apply traction to the bracket through cables. The two motor assemblies apply different traction forces to the two ends of the bracket, creating a dynamic traction difference. This pulls the bracket to slide along the linear guide rail, driving the test sensor assembly to move along the straight line. The dynamic traction difference is displayed on the display. iv. The subject responds to the tactile feedback received by the tactile prosthetic hand by controlling the tactile prosthetic hand to increase or decrease the applied force so that the test sensor assembly is stable, that is, the bracket remains within the marginal range of the linear guide; v. The processor records the pressure felt by the test sensor assembly and calculates the pressure data into a real-time dynamic curve; vi. After the dynamic task is completed, the processor records the data, calculates the determination coefficient through the processor, and calculates the score; B. Perform functional testing: a) Place the "pinch force" test assembly on the bracket to perform a pinch force test, apply a pinch force, and execute step 2, A to complete the pinch force functional test of the tactile prosthetic hand; b) Place the "grip force" test assembly on the bracket to perform a grip force test, with the applied force being the grip force, and execute step 2, A to complete the functional test of the grip force of the tactile prosthetic hand; 3. Compare the scores of the ordinary prosthetic hand and the tactile prosthetic hand to evaluate the operation effect of the ordinary prosthetic hand and the tactile prosthetic hand; Among them, the test order of ordinary prosthetic hands and tactile prosthetic hands can be interchanged, the order of pinch strength test and grasping strength functional test can be interchanged, and the test order of dynamic tasks and static tasks can be interchanged.

9. The evaluation method according to claim 8, wherein: In the static task, the dynamic range is 0 to 50N, and the holding time is 0 to 20s.

10. The evaluation method according to claim 8, wherein: In the dynamic task, the dynamic traction force difference is set to 0~100N and the maintenance time is 0~20s.

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