Prosthetic socket environmental perception device, method, computer device, computer storage medium, and prosthetic

Abstract

This application relates to the field of myoelectric prosthesis technology, and discloses an environmental sensing device, method, computer equipment, computer storage medium, and prosthesis for a prosthesis socket. The method includes: an arbitrary environmental sensor located on the outer surface of the prosthesis sensing environmental signals and sending the environmental signals to a microprocessor; after the microprocessor receives the environmental signals, it generates an execution instruction uniquely corresponding to the location and signal type of the environmental signals, based on the location and signal type of the environmental signals. The execution instruction is an instruction that drives the feedback unit corresponding to the location and signal type of the environmental signals to act, including position instructions and action instructions. This application can sense environmental signals and transmit them to the user, improving safety and convenience, and enhancing the user experience.

Description

Technical Field

[0001] This invention relates to the field of myoelectric prosthesis technology, specifically to an environment sensing device, method, computer equipment, computer storage medium, and prosthesis for a prosthesis socket. Background Technology

[0002] Prostheses are artificial devices specially designed, manufactured, and fitted using engineering techniques to compensate for amputees or those with incomplete limb loss. Their main function is to replace some of the lost limb's functions, enabling amputees to regain a certain degree of self-care and work ability. Among them, myoelectric prostheses use myoelectric control to receive bioelectric signals from the brain via the residual muscles of the limb. These signals are then processed by an electronic and mechanical system installed within the prosthesis's armhole to drive the opening and closing of the prosthesis's joints.

[0003] In related technologies, traditional myoelectric prostheses can only receive bioelectric signals from the brain through the residual muscles of the limb to control the movement of the joints of the prosthesis, but it is difficult to perceive environmental signals. Summary of the Invention

[0004] To address the aforementioned issues, this application provides an environmental sensing device, method, computer equipment, computer storage medium, and prosthesis for a prosthesis socket, which can sense environmental signals and transmit these signals to the user, thereby improving safety, convenience, and user experience.

[0005] To address the aforementioned problems, the first aspect of this application provides an environmental sensing device for a prosthesis socket, which is implemented using the following technical solution:

[0006] An environmental sensing device for the prosthetic socket, comprising:

[0007] Multiple environmental sensors located on the outer surface of the prosthesis are used to sense environmental signals, wherein the environmental sensors are one or more of temperature signals, pressure signals, and touch-slip signals;

[0008] The microprocessor processes the environmental signals fed back by the environmental sensors and generates execution instructions that uniquely correspond to the location source and signal type of the environmental signals.

[0009] Feedback units, including multiple units, are located at different positions on the inner wall of the prosthesis socket and are used to execute the instructions sent by the microprocessor.

[0010] By employing the above technical solution, the environmental sensor acquires environmental parameters (such as the temperature of the object being touched, the gripping force, and relative sliding with the object being gripped), and sends these parameters to the microprocessor for processing. The microprocessor then generates an execution command uniquely corresponding to the location and signal type of the environmental signal, and sends the execution command to the feedback unit for execution. The feedback unit then performs the action according to the execution command. Because the feedback unit is installed at different locations on the inner wall of the prosthesis's socket, and the execution command uniquely corresponds to the location and signal type of the environmental signal, the user can distinguish the environmental parameters acquired by the environmental sensor based on the action of the feedback unit, thereby perceiving the environment and improving safety, convenience, and user experience.

[0011] In some embodiments, the environmental sensor is one or more of a temperature sensor, a pressure sensor, and a touch sensor.

[0012] By adopting the above technical solutions, users can perceive one or more of the following: the temperature of the object they are in contact with, the gripping force, and the relative sliding between the object and the object being gripped.

[0013] In some embodiments, the environmental sensor is located at the fingertips of the prosthesis, or the environmental sensor is located at the fingertips and palm of the prosthesis.

[0014] By adopting the above technical solutions, environmental perception can be achieved in as many contactable and actively force-applied parts as possible.

[0015] In some embodiments, the feedback unit is one or more of a vibration motor, an electric pulse generator, and an electric heating element.

[0016] By adopting the above technical solutions, different environmental signals can be distinguished in different forms, thereby making it easier for users to perceive the environment.

[0017] In some implementations, the feedback unit is integrated with the electromyography sensor within the prosthesis socket.

[0018] By adopting the above technical solutions, the overall structure is simplified and lightweighting is achieved.

[0019] To address the aforementioned problems, a second aspect of this application provides an environmental perception method for a prosthesis socket, which is implemented using the following technical solution:

[0020] Environmental perception methods for prosthetic sockets include:

[0021] An arbitrary environmental sensor located on the outer surface of the prosthesis senses environmental signals and sends the environmental signals to the microprocessor;

[0022] The microprocessor receives environmental signals and generates an execution instruction that uniquely corresponds to the location and type of the environmental signal, based on the location and type of the environmental signal, and sends it to the corresponding feedback unit to execute the corresponding feedback action.

[0023] In some implementations, the microprocessor receives environmental signals and, based on the location and type of the environmental signals, generates an execution instruction uniquely corresponding to the location and type of the environmental signals, which is then sent to the corresponding feedback unit to execute the corresponding feedback action. This is achieved through the following method:

[0024] Each environmental sensor is assigned a unique code based on its location and type.

[0025] Each feedback unit is assigned a unique code based on its location and type.

[0026] Based on the location and type of environmental sensors and the location and type of feedback units, establish corresponding relationships between environmental sensors of various types at various locations and between feedback units of various types at various locations;

[0027] After the microprocessor receives an environmental signal, it generates an execution instruction that uniquely corresponds to the location source and signal type of the environmental signal based on the location source and signal type of the environmental signal. The execution instruction is an instruction that drives the feedback unit corresponding to the location source and signal type of the environmental signal to act based on the correspondence, including a position instruction and an action instruction.

[0028] To address the aforementioned problems, a third aspect of this application provides a computer device, which is implemented using the following technical solution:

[0029] A computer device includes a memory and a processor, the memory storing a computer program that, when executed on the processor, performs the environment sensing method for a prosthetic socket as claimed in claim 1.

[0030] To address the aforementioned problems, the fourth aspect of this application provides a computer storage medium, which is implemented using the following technical solution:

[0031] A computer-readable storage medium storing a computer program that, when run on a processor, executes the aforementioned prosthetic socket environment perception method.

[0032] To address the aforementioned problems, the fifth aspect of this application provides a prosthesis, which is implemented using the following technical solution:

[0033] The prosthesis includes a limb, a palm, and fingers. The limb is provided with a receiving cavity for accommodating the human limb stump. An array of electromyography (EMG) sensors is arranged on the inner wall of the receiving cavity. The EMG sensors are integrated with a feedback unit. The feedback unit and the EMG sensors are connected to a microprocessor. The palm and / or fingers are provided with an environmental sensor, which is connected to the microprocessor.

[0034] Compared with prior art, the prosthetic socket environment sensing device, method, computer equipment, computer storage medium, and prosthesis provided in this application have the following technical advantages:

[0035] 1. Environmental parameters are acquired by environmental sensors and sent to a microprocessor for processing. The microprocessor then generates an execution instruction that uniquely corresponds to the location and signal type of the environmental signal and sends the execution instruction to the feedback unit for execution. Since the feedback unit is installed at different positions on the inner wall of the prosthesis socket, the execution instruction uniquely corresponds to the location and signal type of the environmental signal. Therefore, the user can distinguish the environmental parameters acquired by the environmental sensors based on the action of the feedback unit, thereby perceiving the environment, which improves the safety and convenience of use, realizes the user's limb perception, and enhances the user experience. Attached Figure Description

[0036] Figure 1 A schematic diagram of the environmental sensing device for the prosthesis socket provided in this application;

[0037] Figure 2 A structural schematic diagram of the prosthesis provided in this application;

[0038] Figure 3 A flowchart of the environmental perception method for the prosthetic socket provided in this application.

[0039] In the diagram, 1 is an environmental sensor; 2 is a microprocessor; 3 is a feedback unit; 11 is a temperature sensor; 12 is a pressure sensor; 13 is a touch sensor; 31 is a vibration motor; 32 is an electrical pulse generator; 33 is an electric heating element; 10 is a limb; 20 is a palm; 30 is a finger; 101 is a receiving cavity; and 102 is an electromyography sensor. Detailed Implementation

[0040] The invention will be further described below with reference to the accompanying drawings.

[0041] This application discloses an environmental sensing device, method, computer equipment, computer storage medium, and prosthesis for a prosthesis socket, which aims to enable the sensing of the external environment, such as the temperature of the object being touched, the gripping force, and the relative sliding between the object and the object being gripped, and to transmit the sensing to the user, thereby enabling the user to perceive the limb.

[0042] like Figure 1 As shown, the environmental sensing device for the prosthetic socket disclosed in this application includes:

[0043] Multiple environmental sensors 1 are located on the outer surface of the prosthesis. The environmental sensors 1 are one or more of temperature sensors 11, pressure sensors 12, and touch sensors 13. They are installed at the fingertips of the prosthesis, or at the fingertips and palm of the prosthesis. In this embodiment of the application, it is preferred that only temperature sensors 11, pressure sensors 12, and touch sensors 13 are installed at the fingertips and palm of the prosthesis. Temperature sensors 11 are used to sense the temperature of the object being contacted, pressure sensors 12 are used to sense the pressure between the object and the object being contacted, thereby sensing the gripping force, and touch sensors 13 are used to sense the sliding friction between the object and the object being contacted, thereby sensing whether the object being held has become loose.

[0044] The microprocessor 2 processes the environmental signals fed back by the environmental sensor 1 and generates execution instructions that uniquely correspond to the location and signal type of the feedback signals. Specifically, a unique code is pre-assigned to each environmental sensor 1 at each location. The code information includes location information and sensor type information, so that after receiving the environmental signals fed back by the environmental sensor 1, it can identify the location and signal type, such as determining that the environmental signal is a temperature signal at the middle finger location. In addition, trigger thresholds are pre-set for various signal types, such as setting a temperature threshold of 40°, triggering the execution instructions when the temperature is greater than 40°.

[0045] Multiple feedback units 3 are located at different positions on the inner wall of the prosthesis receiving cavity, and are used to execute the execution instructions sent by the microprocessor 2. The microprocessor 2 also pre-sets a unique code for each position feedback unit 3. Users can customize the correspondence between environmental sensors 1 and feedback units 3 at different positions and types based on their own needs, according to the location and type of environmental sensors 1 and the location and type of feedback units 3. That is, when the environmental sensors 1 at different positions receive signals that trigger thresholds, the feedback units 3 will perform actions in different and specific forms to provide feedback. For example, when the pressure value received by the pressure sensor 12 at the middle finger position exceeds the threshold range, the feedback unit 3 at position 1 is triggered. The feedback unit 3 is one or more of the following: vibration motor 31, electric pulse generator 32, and electric heating element 33. If the feedback unit 3 at position 1 is a vibration motor 31, then the vibration motor 31 will vibrate. If the temperature value received by the temperature sensor 11 at the index finger position exceeds the threshold range, the feedback unit 3 at position 2 is triggered. If the feedback unit 3 at position 2 is an electric pulse generator 32, then the electric pulse generator 32 will release a pulse signal within a safe range.

[0046] like Figure 2As shown, this application also discloses a prosthesis, including a limb 10, a palm 20, and a finger 30. The limb 10 is provided with a receiving cavity 101 for accommodating the human limb stump. An array of electromyography (EMG) sensors 102 is arranged on the inner wall of the receiving cavity 101. A feedback unit 3 is integrated with the EMG sensors 102. The feedback unit 3 and the EMG sensors 102 are connected to a microprocessor 2. The palm 20 and the finger 30 are provided with an environmental sensor 1, which is connected to the microprocessor 2.

[0047] like Figure 3 As shown, the environmental perception method for the prosthetic socket disclosed in this application includes:

[0048] S1. Set a unique code for each environmental sensor 1 based on its location and type; that is, pre-set a unique code for each environmental sensor 1 at each location. The code information includes location information and sensor type information, so that after receiving the environmental signal fed back by the environmental sensor 1, it can identify its location source and signal type, such as determining that the environmental signal is a temperature signal at the middle finger position; in addition, pre-set trigger thresholds for various signal types, such as setting the temperature threshold to 40°, triggering the execution command when the temperature is greater than 40°, etc.

[0049] S2. Set a unique code for each feedback unit 3 based on the location and type of the feedback unit 3, and pre-set a unique code for each location feedback unit 3.

[0050] S3. Based on the location and type of the environmental sensor 1 and the location and type of the feedback unit 3, a corresponding relationship is set between the environmental sensor 1 and the feedback unit 3 at each location and type. That is, the user can customize the corresponding relationship between the environmental sensor 1 and the feedback unit 3 at each location and type according to their own needs. That is, when the environmental sensor 1 at different locations receives a signal trigger threshold, the feedback unit 3 performs an action in a different and specific form to provide feedback. For example, when the pressure value received by the pressure sensor 12 at the middle finger position exceeds the threshold range, the feedback unit 3 at position 1 is triggered. The feedback unit 3 is one or more of the following: vibration motor 31, electric pulse generator 32, and electric heating element 33. If the feedback unit 3 at position 1 is a vibration motor 31, then the vibration motor 31 vibrates. If the temperature value received by the temperature sensor 11 at the index finger position exceeds the threshold range, the feedback unit 3 at position 2 is triggered. If the feedback unit 3 at position 2 is an electric pulse generator 32, then the electric pulse generator 32 releases a pulse signal within a safe range.

[0051] S4. An arbitrary environmental sensor 1 located on the outer surface of the prosthesis senses environmental signals and sends the environmental signals to the microprocessor 2;

[0052] S5. After receiving the environmental signal, the microprocessor 2 generates an execution instruction uniquely corresponding to the location and signal type of the environmental signal. The execution instruction is an instruction that drives the feedback unit 3 corresponding to the location and signal type of the environmental signal based on the correspondence, including position instructions and action instructions. For example, if the pressure value received by the pressure sensor 12 at the middle finger position exceeds the threshold range, the feedback unit 3 at position 1 is triggered. The feedback unit 3 is one or more of the following: vibration motor 31, electric pulse generator 32, and electric heating element 33. If the feedback unit 3 at position 1 is a vibration motor 31, then the vibration motor 31 vibrates. If the temperature value received by the temperature sensor 11 at the index finger position exceeds the threshold range, the feedback unit 3 at position 2 is triggered. If the feedback unit 3 at position 2 is an electric pulse generator 32, then the electric pulse generator 32 releases a pulse signal within a safe range.

[0053] In this embodiment, a computer device is also involved, including a memory and a processor. The memory is used to store computer programs, and the processor runs the computer programs to enable the terminal device to execute the above-described energy-saving data acquisition method.

[0054] In this embodiment, a readable storage medium is also involved, which stores a computer program that executes the above-described energy-saving data acquisition method when the computer program is run on a processor.

[0055] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative; for example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that, as an alternative implementation, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0056] In addition, the functional modules or units in the various embodiments of the present invention can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0057] If the functionality is implemented as a software module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a smartphone, personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0058] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. An environmental sensing device for a prosthesis socket, characterized in that, include: Multiple environmental sensors (1) located on the outer surface of the prosthesis are used to sense environmental signals, wherein the environmental sensors (1) are one or more of temperature signals, pressure signals, and touch signals; The microprocessor (2) processes the environmental signal fed back by the environmental sensor (1) and generates an execution instruction that uniquely corresponds to the location source and signal type of the environmental signal based on the location source and signal type of the environmental signal. Feedback units (3) include multiple units located at different positions on the inner wall of the prosthesis receiving cavity, and are used to execute the execution instructions sent by the microprocessor (2). The inner wall of the prosthesis receiving cavity is arrayed with a ring of electromyography sensors (102). The feedback units (3) and the electromyography sensors (102) are integrated together. The microprocessor (2) is configured to receive environmental signals and generate an execution instruction that uniquely corresponds to the location and signal type of the environmental signals, based on the location and signal type of the environmental signals, and send it to the corresponding feedback unit (3) to execute the corresponding feedback action. This is specifically achieved through the following method: Each environmental sensor (1) is assigned a unique code based on its location and type; Each feedback unit (3) is assigned a unique code based on its location and type; Based on the location and type of the environmental sensor (1) and the location and type of the feedback unit (3), a corresponding relationship is set between the environmental sensor (1) of each location and type and the feedback unit (3) of each location and type. After the microprocessor (2) receives the environmental signal, it generates an execution instruction that uniquely corresponds to the location source and signal type of the environmental signal based on the location source and signal type of the environmental signal. The execution instruction is an instruction that drives the feedback unit (3) corresponding to the location source and signal type of the environmental signal to act based on the correspondence, including a position instruction and an action instruction.

2. The environmental sensing device for the prosthetic socket according to claim 1, characterized in that, The environmental sensor (1) is one or more of the following: temperature sensor (11), pressure sensor (12), and touch sensor (13).

3. The environmental sensing device for the prosthetic socket according to claim 2, characterized in that, The environmental sensor (1) is located at the fingertips of the prosthesis, or the environmental sensor (1) is located at the fingertips and palm of the prosthesis.

4. The environmental sensing device for the prosthetic socket according to claim 1, characterized in that, The feedback unit (3) is one or more of the following: vibration motor (31), electric pulse generator (32), and electric heating element (33).

5. A method for sensing the environment of a prosthesis socket, characterized in that, include: An arbitrary environmental sensor (1) located on the outer surface of the prosthesis senses environmental signals and sends the environmental signals to the microprocessor (2). The microprocessor (2) receives environmental signals and, based on the location and type of the environmental signals, generates an execution instruction that uniquely corresponds to the location and type of the environmental signals, which is then sent to the corresponding feedback unit (3) to execute the corresponding feedback action. The microprocessor (2) receives environmental signals and generates an execution instruction that uniquely corresponds to the location and type of the environmental signals, based on the location and type of the environmental signals, and sends it to the corresponding feedback unit (3) to execute the corresponding feedback action. This is achieved through the following method: Each environmental sensor (1) is assigned a unique code based on its location and type; Each feedback unit (3) is assigned a unique code based on its location and type; Based on the location and type of the environmental sensor (1) and the location and type of the feedback unit (3), a corresponding relationship is set between the environmental sensor (1) of each location and type and the feedback unit (3) of each location and type. The microprocessor (2) is configured to receive environmental signals and generate an execution instruction that uniquely corresponds to the location and signal type of the environmental signals, based on the location and signal type of the environmental signals, and send it to the corresponding feedback unit (3) to execute the corresponding feedback action. This is specifically achieved through the following method: Each environmental sensor (1) is assigned a unique code based on its location and type; Each feedback unit (3) is assigned a unique code based on its location and type; Based on the location and type of the environmental sensor (1) and the location and type of the feedback unit (3), a corresponding relationship is set between the environmental sensor (1) of each location and type and the feedback unit (3) of each location and type. After the microprocessor (2) receives the environmental signal, it generates an execution instruction that uniquely corresponds to the location source and signal type of the environmental signal based on the location source and signal type of the environmental signal. The execution instruction is an instruction that drives the feedback unit (3) corresponding to the location source and signal type of the environmental signal to act based on the correspondence, including a position instruction and an action instruction.

6. A computer device, characterized in that, It includes a memory and a processor, the memory storing a computer program that, when run on the processor, executes the environment perception method for the prosthetic socket as described in claim 5.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when run on a processor, executes the environment perception method for the prosthetic socket as described in claim 5.

8. A prosthesis, characterized in that, The device includes a limb (10), a palm (20), and fingers (30). The limb (10) is provided with a receiving cavity (101) for accommodating the position of a human limb remnant. An array of electromyography (EMG) sensors (102) is arranged on the inner wall of the receiving cavity (101). The EMG sensors (102) are integrated with a feedback unit (3). The feedback unit (3) and the EMG sensors (102) are integrated in the array on the inner wall of the receiving cavity (101). The feedback unit (3) and the EMG sensors (102) are connected to a microprocessor (2). The palm (20) and / or fingers (30) are provided with an environmental sensor (1). The environmental sensor (1) is connected to the microprocessor (2). The microprocessor (2) is configured to receive environmental signals and generate an execution instruction that uniquely corresponds to the location and signal type of the environmental signals, based on the location and signal type of the environmental signals, and send it to the corresponding feedback unit (3) to execute the corresponding feedback action. This is specifically achieved through the following method: Each environmental sensor (1) is assigned a unique code based on its location and type; Each feedback unit (3) is assigned a unique code based on its location and type; Based on the location and type of the environmental sensor (1) and the location and type of the feedback unit (3), a corresponding relationship is set between the environmental sensor (1) of each location and type and the feedback unit (3) of each location and type. After the microprocessor (2) receives the environmental signal, it generates an execution instruction that uniquely corresponds to the location source and signal type of the environmental signal based on the location source and signal type of the environmental signal. The execution instruction is an instruction that drives the feedback unit (3) corresponding to the location source and signal type of the environmental signal to act based on the correspondence, including a position instruction and an action instruction.

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