Artificial limb control method and system

Abstract

The invention provides an artificial limb control method and system. The artificial limb control method comprises the steps that sensory feedback information is acquired, and a stimulation signal is generated according to the sensory feedback information; wherein the sensory feedback information refers to state information of the artificial limb in a first contact state after the artificial limb is in contact with an external object, the stimulation signal is used for stimulating stress tissue of the amputee, and the stress tissue comprises muscular tissue or nervous tissue corresponding to the artificial limb; obtaining stress information generated after the stress tissue receives the stimulation signal; and generating a control signal according to the stress information, wherein the control signal is used for dynamically controlling the artificial limb and the external object to be switched from the first contact state to the second contact state. The contact state of the artificial limb and an external object is coordinated and corrected based on the sensory feedback information, the accurate control degree and the flexible coordination of the artificial limb are improved, the optimal adaptability is achieved, and the autonomous purpose of the amputee is achieved.

Description

Technical Field

[0001] The present application belongs to the field of prosthetic technology, and more specifically, to a prosthetic control method and system. Background Art

[0002] Prostheses are artificial prostheses specially designed and manufactured using engineering technology to compensate for amputees or incomplete limb defects. Their main function is to replace the functions of lost limbs and restore a certain degree of self-care and work ability for amputees. The precise controllability of the prosthesis determines the flexibility of its use, and thus determines the user's intelligent and convenient use of the prosthesis.

[0003] In the known technology, the flexible control of the new prosthesis has been significantly improved by using deep learning or machine learning models to classify complex movements. However, even if the control system has significantly improved the flexibility and accuracy of the prosthesis, it is still impossible to accurately determine whether the force applied by the prosthesis to the external object is suitable for the current external object during the contact between the prosthesis and the external object, that is, the force generated by the end of the prosthesis is uncontrollable.

[0004] For example, as a kind of simulation prosthesis, the dynamic manipulator cannot adjust the gripping force or grasping force used by the fingertips according to the external object. If the gripping force generated by the fingertips is too large, the gripping force is greater than the external force that can keep the object intact, and the object is easily destroyed by the gripping force. If the gripping force generated by the fingertips is too small, the gripping force cannot overcome the gravity of the object itself, and the object is easy to fall under its own gravity, and the purpose of picking up the object cannot be achieved.

[0005] For example, for lower limb prostheses, the support force from the supporting ground is uneven, and amputees may be in danger of falling. It is difficult to maintain a balanced weight distribution when standing and walking, so amputees cannot sense whether the prosthesis encounters obstacles on the supporting ground, causing safety hazards. For another example, there is a sensory circuit built into the lower limb prosthesis, but the sensory circuit of this design only stays inside the prosthesis and cannot be linked to the amputee itself, so the prosthesis cannot perform confident grip and refined operations according to the will of the amputee. Summary of the invention

[0006] The purpose of the embodiments of the present application is to provide a prosthesis control method and system to solve the technical problem that the existing prosthesis cannot accurately coordinate the contact adaptability with the external object during the contact process between the prosthesis and the external object.

[0007] To achieve the above purpose, the technical solution adopted in this application is:

[0008] A prosthesis control method is provided, the method comprising:

[0009] Acquiring sensory feedback information and generating a stimulation signal according to the sensory feedback information;

[0010] The sensory feedback information refers to state information of the prosthesis in a first contact state after the prosthesis contacts an external object, and the stimulation signal is used to stimulate the stress tissue of the amputee, and the stress tissue includes muscle tissue or nerve tissue corresponding to the prosthesis;

[0011] Acquiring stress information generated by the stressed tissue after receiving the stimulation signal;

[0012] A control signal is generated according to the stress information, and the control signal is used to dynamically control the prosthesis and the external object to switch from the first contact state to a second contact state.

[0013] In some embodiments, obtaining sensory feedback information and generating a stimulation signal according to the sensory feedback information includes:

[0014] Acquiring the sensory feedback information;

[0015] Determining that the sensory feedback information meets a preset condition;

[0016] The stimulation signal of corresponding intensity is generated according to the sensory feedback information.

[0017] In some embodiments, the sensory feedback information includes contact force information;

[0018] The obtaining of sensory feedback information and generating a stimulation signal according to the sensory feedback information includes:

[0019] Acquiring the contact force information;

[0020] Determine that the contact force meets the preset conditions;

[0021] Generate the stimulation signal of corresponding intensity according to the contact force information;

[0022] The preset condition includes that the contact force is less than a first preset value or greater than a second preset value, and the first preset value is less than the second preset value.

[0023] In some embodiments, determining that the contact force is less than the first preset value generates a first stimulation signal;

[0024] Determining that the contact force is greater than the second preset value, generating a second stimulation signal;

[0025] Wherein, the intensity of the first stimulation signal is less than the intensity of the second stimulation signal.

[0026] In some embodiments, the sensory feedback information includes contact temperature information;

[0027] The obtaining of sensory feedback information and generating a stimulation signal according to the sensory feedback information includes:

[0028] Acquiring the contact temperature information;

[0029] Determine that the contact temperature meets the preset conditions;

[0030] generating the stimulation signal of corresponding intensity according to the contact temperature information;

[0031] The preset condition includes that the contact temperature is greater than or equal to a third preset value.

[0032] In some embodiments, the sensory feedback information includes jitter information;

[0033] The obtaining of sensory feedback information and generating a stimulation signal according to the sensory feedback information includes:

[0034] Acquire the jitter information, where the jitter information includes start jitter information and end jitter information;

[0035] generating a third stimulation signal according to the start shaking information;

[0036] generating a fourth stimulation signal according to the end jitter information;

[0037] The third stimulation signal and the fourth stimulation signal are the same or different.

[0038] In some embodiments, the sensory feedback information includes jitter information;

[0039] The obtaining of sensory feedback information and generating a stimulation signal according to the sensory feedback information includes:

[0040] Acquiring the jitter information;

[0041] Determining that the jitter information meets a preset condition;

[0042] Generate the stimulation signal of corresponding intensity according to the jitter information;

[0043] The preset condition includes that the jitter frequency included in the jitter information is greater than or equal to a fourth preset value and / or the jitter amplitude is greater than or equal to a fifth preset value.

[0044] In some embodiments, the sensory feedback information includes contact force information and jitter information;

[0045] The obtaining of sensory feedback information and generating a stimulation signal according to the sensory feedback information includes:

[0046] The contact force information and the jitter information collected by the same information collector are obtained.

[0047] In some embodiments, the sensory feedback information includes at least one of contact force information, contact temperature information, and jitter information;

[0048] The obtaining of sensory feedback information and generating a stimulation signal according to the sensory feedback information includes:

[0049] Acquiring the contact force information collected by the first information collector;

[0050] and / or, obtaining the contact temperature information collected by a second information collector;

[0051] And / or, obtaining the jitter information collected by a third information collector.

[0052] In some embodiments, before obtaining sensory feedback information and generating a stimulation signal according to the sensory feedback information, the method further includes:

[0053] Acquiring a first stress image when the prosthesis is in the first contact state;

[0054] The generating a control signal according to the stress information comprises:

[0055] A second stress image is generated according to the stress information, and the control signal is generated according to the first stress image and the second stress image.

[0056] In some embodiments, obtaining sensory feedback information and generating a stimulation signal according to the sensory feedback information includes:

[0057] Acquiring the sensory feedback information and generating an electrical signal corresponding to the sensory feedback information;

[0058] The ultrasonic transducer is controlled according to the electrical signal to generate one or more stimulation signals.

[0059] In some embodiments, the step of obtaining stress information generated by the stressed tissue after receiving the stimulation signal includes:

[0060] Controlling the ultrasonic transducer to send the stimulation signal to the nerve stimulation sensor element;

[0061] receiving a feedback signal generated by the nerve stimulation sensor element stimulating the stress tissue;

[0062] The stress information is generated according to the feedback signal.

[0063] In some embodiments, the prosthesis includes a plurality of mechanical dynamic ends corresponding to human limbs;

[0064] The control signal is used to dynamically control the prosthesis and the external object to switch from the first contact state to the second contact state, including:

[0065] The control signal is used to dynamically control at least one of the mechanical dynamic ends on the prosthesis to switch from the first contact state to the second contact state with an external object.

[0066] In some embodiments, the prosthesis is built with a control unit for dynamically controlling the mechanical dynamic end, and a microprocessor in communication with the control unit;

[0067] The control signal is used to dynamically control the prosthesis and the external object to switch from the first contact state to the second contact state, including:

[0068] The control signal is used to be sent to the microprocessor;

[0069] The microprocessor receives the control signal and controls at least one of the mechanical dynamic ends on the prosthesis to switch from the first contact state to the second contact state with the external object through the control unit according to the control signal.

[0070] In some embodiments, the nerve stimulation sensor element includes a piezoelectric material structure, and the piezoelectric material structure is used to transmit the stimulation provided by the ultrasonic transducer to the stressed tissue;

[0071] The piezoelectric material structure is in block shape or nano-scale particle shape.

[0072] The beneficial effects of the prosthetic control method provided by the present application are:

[0073] Compared with the prior art, the prosthesis control method provided in the present application obtains sensory feedback information of the prosthesis in a first contact state after the prosthesis contacts the external object during the process of the prosthesis contacting the external object. The contact adaptability of the prosthesis with the external object in the first contact state is poor. For example, the gripping force applied by the prosthesis to the external object is large and may damage the external object, or the gripping force applied is small and may cause the external object to fall, etc.

[0074] One or more sensory feedback information in the first contact state with poor adaptability is obtained, and a stimulation signal for stimulating the stress tissue of the amputee is generated according to the sensory feedback information, that is, the sensory circuit built into the prosthesis for obtaining sensory feedback information is led out of the prosthesis and connected to the amputee himself. The amputee himself can autonomously regulate his own stress tissue according to the received stimulation signal, and then obtain the stress information generated by the stress tissue after receiving the stimulation signal, generate a control signal according to the stress information, and finally dynamically control the prosthesis and the external object to switch from the first contact state to the second contact state according to the control signal.

[0075] Since the second contact state is generated based on the sensory feedback information in the first contact state with poor adaptability, the stress tissue of the amputee itself changes under the stimulation of the stimulation signal, and then the first contact state of the prosthesis is coordinated as a coordination basis to make it coordinated to the second contact state that better coincides with the amputee's autonomous will. Therefore, the adaptability of the prosthesis and the external object in the second contact state is greater than that in the first contact state, and the above method can be repeated to coordinate the contact state of the prosthesis and the external object multiple times until the contact state of the two assists the amputee's autonomous will with the best adaptability to achieve the purpose of picking up the external object.

[0076] The prosthesis control method provided in the embodiment of the present application obtains sensory feedback information of the prosthesis during the contact between the prosthesis and the external object, coordinates and corrects the contact state of the prosthesis with the external object based on the sensory feedback information, improves the precise control and flexible coordination of the prosthesis, achieves the best adaptability, and completes the amputee's autonomous purpose.

[0077] Another object of the present application is to provide a prosthesis control system for executing the prosthesis control method as described above, wherein the prosthesis control system includes an information collector, a processor and a stimulation generating device that are communicatively connected;

[0078] The information collector is used to collect sensory feedback information;

[0079] The processor is used to obtain the sensory feedback information and activate the stimulation generation device according to the sensory feedback information, and is also used to generate a control signal according to the stress information;

[0080] The stimulation generating device is used to generate the stimulation signal in response to the processor, and is also used to obtain stress information generated by the stressed tissue after receiving the stimulation signal.

[0081] In some embodiments, the information collector includes at least one of a first signal collector, a second signal collector, and a third signal collector, and the sensory feedback information includes at least one of contact force information, contact temperature information, and jitter information; wherein,

[0082] The first information collector is used to collect the contact force information;

[0083] The second information collector is used to collect the contact temperature information;

[0084] The third information collector is used to collect the jitter information;

[0085] The first information collector and the third information collector are independently configured or integrated into one.

[0086] In some embodiments, the prosthetic control system further comprises a nerve stimulation sensor element, which is implanted or injected into the interior of the stress tissue or the surrounding area of ​​the stress tissue;

[0087] The stimulation generating device includes any one of a radio transmitter, an ultrasonic transducer and a light generator, and correspondingly, the nerve stimulation sensing element includes any one of a radio receiver, a piezoelectric transducer and an optical sensor;

[0088] The stimulation generating device is communicatively connected to the nerve stimulation sensing element, and the nerve stimulation sensing element is used to receive the stimulation signal generated by the stimulation generating device and convert it into an electrical signal to provide to the stressed tissue.

[0089] In some embodiments, the prosthetic control system further comprises a control unit for dynamically controlling the mechanical dynamic end, and a microprocessor in communication with the control unit;

[0090] Wherein, the processor, the microprocessor and the control unit are communicatively connected.

[0091] In some embodiments, the stimulation generating device includes an ultrasonic transducer, the nerve stimulation sensor element includes a piezoelectric transducer and an electronic element for rectification, the piezoelectric transducer has a piezoelectric material structure built in, the piezoelectric material structure is used to receive ultrasonic waves and convert them into electric current, and the electronic element is used to rectify the electric current and provide it to the stressed tissue;

[0092] Wherein, the piezoelectric material structure is in block shape or nano-scale particle shape.

[0093] The beneficial effects of the prosthesis control system provided in the embodiment of the present application compared with the prior art are consistent with the beneficial effects of the prosthesis control method provided in the embodiment of the present application compared with the prior art, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0094] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0095] Figure 1 A flowchart of a prosthesis control method provided in one embodiment of the present application;

[0096] Figure 2 A flowchart of a prosthesis control method provided in one embodiment of the present application;

[0097] Figure 3 A flowchart of a prosthesis control method provided in one embodiment of the present application;

[0098] Figure 4 A flowchart of a prosthesis control method provided in one embodiment of the present application;

[0099] Figure 5 A flowchart of a prosthesis control method provided in one embodiment of the present application;

[0100] Figure 6 A flowchart of a prosthesis control method provided in one embodiment of the present application;

[0101] Figure 7 A flowchart of a prosthesis control method provided in one embodiment of the present application;

[0102] Figure 8 A flowchart of a prosthesis control method provided in one embodiment of the present application;

[0103] Fig. 9 A schematic diagram of a prosthetic control system provided by an embodiment of the present application, wherein the stimulation generating device stimulates the stress tissue through a nerve stimulation sensor element;

[0104] Fig.10 A schematic diagram of a prosthetic control system provided by an embodiment of the present application, wherein the stimulation generating device directly stimulates the stress tissue;

[0105] Fig.11 A schematic diagram of an information collector provided in one embodiment of the present application.

[0106] Among them, the reference numerals in the figure are:

[0107] 10. Prosthetic control system;

[0108] 100, information collector; 200, processor; 300, stimulation generating device; 400, neural stimulation sensor element; 500, microprocessor; 600, control unit;

[0109] 101. A first information collector; 102. A second information collector; 103. A third information collector. DETAILED DESCRIPTION

[0110] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0111] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0112] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0113] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0114] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0115] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0116] Regarding currently known prosthetic control technologies, the lack of sensory feedback information is a major defect of current prosthetics. Amputees cannot know whether the current contact state between the prosthesis and external objects is appropriate, thereby limiting the amputees' ability to confidently apply grip force to external objects and perform fine operational control.

[0117] Specifically, because the muscle tissue or nerve tissue corresponding to the prosthesis does not receive sensory feedback information from the prosthesis, the amputee cannot coordinate his or her own muscle tissue or nerve tissue according to the actual state of the prosthesis, thereby making the actual state of the prosthesis closer to the amputee's actual autonomous will. Therefore, existing prostheses cannot correctly integrate into the user's physical sense of force and cannot perform coordinated operations with the participation of the amputee's autonomous will.

[0118] Due to the lack of sensory feedback information from the prosthesis to the muscle tissue or nerve tissue, there is no connection between the prosthesis and the amputee's body perception, resulting in a lack of coordination with the amputee's autonomous will during specific use and operation of the prosthesis, which greatly reduces users' trust in prosthetic products.

[0119] Based on the above, in order to link the specific operation and control of the prosthesis with the amputee himself so that the prosthesis can be finely coordinated according to the amputee himself, a prosthesis control method and system are proposed.

[0120] Now refer to Figures 1 to 11 The prosthesis control method and system provided in the embodiments of the present application are described.

[0121] See also Figure 1 As shown, the prosthesis control method provided by the embodiment of the present application includes:

[0122] 102. Obtain sensory feedback information and generate a stimulation signal based on the sensory feedback information.

[0123] Among them, the sensory feedback information refers to the state information of the prosthesis in the first contact state after the prosthesis contacts the external object, and the stimulation signal is used to stimulate the stress tissue of the amputee, and the stress tissue includes the muscle tissue or nerve tissue corresponding to the prosthesis.

[0124] 103. Obtain stress information generated by the stressed tissue after receiving the stimulation signal.

[0125] 104. Generate a control signal according to the stress information, where the control signal is used to dynamically control the prosthesis and the external object to switch from a first contact state to a second contact state.

[0126] The prosthesis control method provided in the embodiment of the present application obtains sensory feedback information of the prosthesis in a first contact state after the prosthesis contacts the external object during the process of the prosthesis contacting the external object. The contact adaptability of the prosthesis to the external object in the first contact state is poor. For example, the gripping force applied by the prosthesis to the external object is large and may damage the external object, or the gripping force applied is small and may cause the external object to fall, etc.

[0127] One or more sensory feedback information in the first contact state with poor adaptability is obtained, and a stimulation signal for stimulating the stress tissue of the amputee is generated according to the sensory feedback information, that is, the sensory circuit built into the prosthesis for obtaining sensory feedback information is led out of the prosthesis and connected to the amputee himself. The amputee himself can autonomously regulate his own stress tissue according to the received stimulation signal, and then obtain the stress information generated by the stress tissue after receiving the stimulation signal, generate a control signal according to the stress information, and finally dynamically control the prosthesis and the external object to switch from the first contact state to the second contact state according to the control signal.

[0128] Since the second contact state is generated based on the sensory feedback information in the first contact state with poor adaptability, the stress tissue of the amputee itself changes under the stimulation of the stimulation signal, and then the first contact state of the prosthesis is coordinated as a coordination basis to make it coordinated to the second contact state that better coincides with the amputee's autonomous will. Therefore, the adaptability of the prosthesis and the external object in the second contact state is greater than that in the first contact state, and the above method can be repeated to coordinate the contact state of the prosthesis and the external object multiple times until the contact state of the two assists the amputee's autonomous will with the best adaptability to achieve the purpose of picking up the external object.

[0129] The prosthesis control method provided in the embodiment of the present application obtains sensory feedback information of the prosthesis during the contact between the prosthesis and the external object, coordinates and corrects the contact state of the prosthesis with the external object based on the sensory feedback information, improves the precise control and flexible coordination of the prosthesis, achieves the best adaptability, and completes the amputee's autonomous purpose.

[0130] On the other hand, by obtaining sensory feedback information from the prosthesis during the contact between the prosthesis and external objects, the phantom limb pain felt by the amputee due to the lack of sensory stimulation can be replaced. The provision of sensory feedback information greatly reduces the possibility of phantom limb pain in the amputee.

[0131] Among them, as an exemplary illustration, the sensory feedback information can be any representation information when the prosthesis is in contact with an external object, including but not limited to information about the surface on the action end of the prosthesis used to contact the external object, or information about high-frequency spatial position changes generated during the contact between the prosthesis and the external object.

[0132] For example, the surface information may be information from the outer surface of the action end of the prosthesis, including but not limited to contact force information, contact temperature information, contact humidity information, contact pressure information, brightness information, photoelectric information, information on changes in air content in the contact gap, and the like.

[0133] For example, the information of high-frequency spatial position changes may be high-frequency vibration, jitter, and shaking information, including but not limited to jitter frequency, jitter amplitude, jitter duration, and the like.

[0134] As an exemplary illustration, the sensory feedback information may come from the mechanical dynamic end of the prosthesis, and is used to coordinate the contact state between the mechanical dynamic end and an external object. Alternatively, the sensory feedback information may also come from other areas of the prosthesis except the mechanical dynamic end, and is used to coordinate the contact state between other areas and an external object. Alternatively, the sensory feedback information may come from both the mechanical dynamic end of the prosthesis and other areas except the mechanical dynamic end, and is used to simultaneously coordinate the contact state between the mechanical dynamic end and an external object, and to coordinate the contact state between other areas and an external object.

[0135] Here, as an exemplary explanation, the external object includes not only movable or active objects, but also a support surface for supporting a prosthesis, such as a support ground for supporting a lower limb prosthesis.

[0136] For example, when the prosthesis is an upper limb prosthesis, the other area may be the palm area excluding the finger tips, and the contact state between the palm area and the external object is coordinated by obtaining sensory feedback information from the palm area to achieve optimal contact adaptability.

[0137] For example, when the prosthesis is a lower limb prosthesis, the other area may be the sole area except the toe end, and by obtaining sensory feedback information from the sole area, the contact state between the sole area and the supporting ground is coordinated to achieve the best contact fit. Through the autonomous coordination of the amputee, the support force from the supporting ground is uniform on the prosthesis, the amputee can be safely supported on the supporting ground, and a balanced weight distribution can be maintained in the standing and walking states. Therefore, the amputee can sense whether the prosthesis encounters obstacles on the supporting ground, which improves the amputee's judgment of safety hazards and corresponding coordination.

[0138] Among them, as an exemplary explanation, the first contact state refers to the contact state between the prosthesis and the external object before feedback coordination, that is, the state of poor contact adaptability when the prosthesis contacts the external object. For example, in this state, the prosthesis is used with too much or too little force, or shakes.

[0139] In some embodiments, the first contact state is generated by controlling the mechanical dynamic tip via a previous ultrasound image in feedback coordination.

[0140] Among them, as an exemplary explanation, the second contact state refers to the contact state between the prosthesis and the external object after feedback coordination, that is, the state of good contact adaptability when the prosthesis contacts the external object. For example, in this state, the force used by the prosthesis is just adapted to the current external object, or the prosthesis no longer shakes.

[0141] More specifically, after feedback coordination is performed based on the sensory feedback information, the first contact state is changed to be coordinated to the second contact state, that is, the force is reduced or increased, or the shaking is reduced / stopped.

[0142] In some embodiments, the second contact state is generated by controlling the mechanical dynamic end through a subsequent ultrasonic image after feedback coordination, and the previous ultrasonic image that generates the first contact state and the subsequent ultrasonic image that generates the second contact state can come from the same stress tissue or different stress tissues.

[0143] As an example, the stimulation signal is used to stimulate the stress tissue of the amputee, and an invasive stimulation method or a non-invasive stimulation method can be used. In the embodiment of the present application, it is preferred to stimulate the stress tissue of the amputee by a non-invasive stimulation method, such as non-invasive stimulation by sound waves generated by an ultrasonic transducer.

[0144] In some embodiments, the electrical signal for stimulating the stressed tissue can be generated by radio waves. For example, as an implementation method, the stimulation generating device can use a radio transmitter, and a radio receiver can be implanted inside or around the stressed tissue, or a physical wire can be used to connect the stressed tissue. When the radio transmitter outside the body transmits radio waves, the radio receiver inside or around the stressed tissue receives the radio wave signal and outputs an electrical signal for stimulating the stressed tissue.

[0145] In other embodiments, the electrical signal for stimulating the stressed tissue can be generated by piezoelectric means. For example, as a feasible implementation method, the stimulation generating device can use an ultrasonic transducer, and the piezoelectric transducer and an electronic component for rectification, such as a micro-rectifier, can be implanted inside or around the stressed tissue. The ultrasonic transducer located outside the body transmits ultrasonic waves to the stressed tissue, and the piezoelectric transducer located inside the stressed tissue receives the ultrasonic energy and converts it into electric current, which is then rectified by the electronic component and outputs the electric current to stimulate the stressed tissue.

[0146] In some other embodiments, the electrical signal for stimulating the stressed tissue is generated by converting the optical signal. For example, as an implementable embodiment, the stimulation generating device may use a light generator, such as a laser generator, and an optical sensor and an electronic component for rectification, such as a micro rectifier, may be implanted inside or around the stressed tissue. The light generator located outside the body emits light and incidents it into the stressed tissue. The light is received by the optical sensor and converted into an electrical signal, which stimulates the stressed tissue after rectification by the electronic component. Of course, the setting of the electronic component for rectification may also be eliminated. The electrical signal received and converted by the optical sensor can directly stimulate the stressed tissue. In this embodiment, both the ultrasonic transducer and the piezoelectric transducer may use the same transducer, or may use transducers of different types and powers.

[0147] In some embodiments, in order to non-invasively stimulate the target nerve tissue or target muscle tissue of the amputee, the probe of the ultrasonic transducer can be used to directly or indirectly stimulate at different frequencies and / or intensities, and the target nerve tissue or target muscle tissue receives the ultrasound focused in the area and is stimulated. In addition, the probe of the ultrasonic transducer can not only be used to stimulate specific nerve tissue or muscle tissue, but the ultrasonic transducer can also display image information corresponding to the activity by providing information on nerve or muscle activity. Therefore, by stimulating nerves or muscles with the probe of the ultrasonic transducer, changes in nerve or muscle tissue based on sensory feedback information are obtained, that is, by capturing nerve or muscle activity to achieve control of the prosthesis to achieve coordination.

[0148] As an example, the stress tissue includes muscle tissue or nerve tissue corresponding to the prosthesis, and by stimulating at least one of the nerve tissue or muscle tissue, feedback from the corresponding tissue in response to sensory feedback information can be obtained. The nerve tissue refers to the part of the amputee's nerve used to control the prosthesis, and the muscle tissue refers to the muscle part in or near the amputation section of the amputee used to control the movement of the prosthesis.

[0149] More specifically, it should be understood that the muscle tissue corresponding to the prosthesis includes multiple different tissue parts corresponding to different motion ends of the prosthesis. For example, when the prosthesis is an upper limb prosthesis, the muscle tissue includes tissue parts corresponding to the thumb, index finger, middle finger, ring finger, and little finger, respectively, to achieve feedback control of the thumb, index finger, middle finger, ring finger, and little finger at the same time or at different times.

[0150] Similarly, it should be understood that the neural tissue corresponding to the prosthesis includes multiple different nerve parts corresponding to different motor ends of the prosthesis. For example, when the prosthesis is an upper limb prosthesis, the neural tissue includes nerve parts corresponding to the thumb, index finger, middle finger, ring finger, and little finger, respectively, to achieve feedback control of the thumb, index finger, middle finger, ring finger, and little finger at the same time or different times.

[0151] It should be understood that, as an exemplary illustration, prostheses include but are not limited to upper limb prostheses adapted to human upper limbs, or lower limb prostheses adapted to human lower limbs. Prostheses include but are not limited to having at least one mechanical dynamic end, which can be a finger or a toe.

[0152] In some embodiments, the above-mentioned obtaining sensory feedback information and generating a stimulation signal according to the sensory feedback information includes:

[0153] Acquiring the sensory feedback information;

[0154] Determining that sensory feedback information meets preset conditions;

[0155] The stimulation signal of corresponding intensity is generated according to the sensory feedback information.

[0156] like Figure 2 As shown, in some embodiments, the sensory feedback information includes contact force information. In which, 102, obtaining the sensory feedback information and generating a stimulation signal according to the sensory feedback information, includes:

[0157] 1021′, obtaining contact force information;

[0158] 1022′, determining that the contact force meets a preset condition;

[0159] The preset conditions include that the contact force is less than or equal to a first preset value or greater than or equal to a second preset value, and the first preset value is less than the second preset value;

[0160] 1023'. Generate a stimulation signal of corresponding intensity according to the contact force information.

[0161] In this embodiment, the force information when the prosthesis is in a first contact state with an external object can be obtained as sensory feedback information. The force information can be the pressing force, gripping force or friction force of the prosthesis in contact with the outer surface, and can be specifically obtained through a force sensor built into the mechanical dynamic end of the prosthesis.

[0162] In this embodiment, this feedback coordination is only required when the force applied by the prosthesis is too small or too large, and this feedback coordination is not required when the force is just right. Therefore, after obtaining the contact force information, the force size is first judged and determined, and when it is determined that the force size meets the preset conditions, a stimulation signal of the corresponding strength is generated according to the force information.

[0163] In some embodiments, when it is determined that the contact force is less than a first preset value, a first stimulation signal is generated. That is, when it is determined that the contact force is too small, the force is less than the first preset value, and the first stimulation signal is generated according to the force signal. When it is determined that the contact force is greater than a second preset value, a second stimulation signal is generated. That is, when it is determined that the contact force is too large, the force is greater than the first preset value, and the second stimulation signal is generated according to the force signal. Among them, the intensity of the first stimulation signal is less than the intensity of the second stimulation signal. The amputee knows whether the force of the first contact state is too small or too large through two signals of different intensities, thereby adaptively coordinating his own stress tissue, so that the stress tissue generates different stress information according to the corresponding stimulation signal.

[0164] In some other embodiments, the intensity of the first stimulation signal can be set to be greater than the intensity of the second stimulation signal. The amputee knows whether the intensity of the first contact state is too small or too large through two signals of different intensities, thereby adaptively coordinating his own stress tissue, so that the stress tissue generates different stress information according to the corresponding stimulation signal, and the same coordination purpose can be achieved.

[0165] In some embodiments, the sensory feedback information includes contact temperature information;

[0166] 102. Obtaining sensory feedback information and generating a stimulation signal according to the sensory feedback information, including:

[0167] Obtain contact temperature information;

[0168] Determine that the contact temperature meets the preset conditions;

[0169] Generate the stimulation signal of corresponding intensity according to the contact temperature information;

[0170] The preset condition includes that the contact temperature is greater than or equal to a third preset value.

[0171] In this embodiment, this feedback coordination is only required when the temperature felt by the prosthesis is too high, and this feedback coordination is not required when the temperature is just right or low. Therefore, after obtaining the contact temperature information, the temperature magnitude is first judged and determined, and when it is determined that the temperature magnitude meets the preset conditions, a stimulation signal of corresponding intensity is generated according to the temperature information.

[0172] After receiving the feedback generated by the stimulation signal applied to the nerve tissue or muscle tissue, the prosthesis is controlled to move from the first contact state to the state about to leave the first contact state, that is, leaving the contact state. The state about to leave the first contact state but not completely leaving can be understood as the second contact state, until it is completely separated from the external object, thereby avoiding accidental injury or damage to the prosthesis caused by excessive temperature.

[0173] Reference Figure 3 As shown, in some embodiments, the sensory feedback information includes jitter information.

[0174] 102. Obtaining sensory feedback information and generating a stimulation signal according to the sensory feedback information, including:

[0175] 1021", obtaining jitter information, where the jitter information includes start jitter information and end jitter information;

[0176] 1022", generating a third stimulation signal according to the start shaking information;

[0177] 1023. Generate a fourth stimulation signal according to the end jitter information; wherein the third stimulation signal and the fourth stimulation signal are the same or different.

[0178] In this embodiment, the sensory feedback information can be obtained by obtaining jitter information when the prosthesis is in a first contact state with an external object. The jitter information can be high-frequency vibration, shaking, swinging, etc. with a certain amplitude generated locally or as a whole by the prosthesis, and can be specifically obtained through a force sensor or jitter sensor built into the mechanical dynamic end of the prosthesis.

[0179] In this embodiment, two stimulation signals corresponding to the start shaking information and the end shaking information and being intermittent are used to make the amputee aware that the first contact state requires shaking correction. When the prosthesis is in the first contact state with the external object and the prosthesis begins to shake, the start shaking information is obtained, and a third stimulation signal is generated based on the information. The amputee knows that the prosthesis is in a shaking state based on the stimulation of the stress tissue by the third stimulation signal. The amputee autonomously coordinates his own stress tissue based on the third stimulation signal and generates stress information corresponding to it. A control signal is generated based on the stress information. The control signal is used to dynamically control the prosthesis and the external object to start from the shaking state to reduce or eliminate the shaking, and then enter a stable lifting state.

[0180] When the prosthesis and the external object coordinate from a shaking state to a stable state, that is, from a first contact state to a second contact state, the shaking end information is obtained, and a fourth stimulation signal is generated based on the information. The amputee knows that the prosthesis is in a stable state based on the stimulation of the stress tissue by the fourth stimulation signal. The amputee autonomously coordinates his or her own stress tissue based on the fourth stimulation signal to keep it in its current shape, that is, keeps the prosthesis in a stable state.

[0181] Among them, the amputee knows that the prosthesis is in a shaking state based on the stimulation of the stress tissue by the third stimulation signal. The amputee autonomously coordinates his own stress tissue based on the third stimulation signal to generate corresponding stress information. The shaking information can be obtained once or multiple times, that is, the third stimulation signal can stimulate the stress tissue once or multiple times, so that the amputee can coordinate the stress tissue once or multiple times, thereby coordinating the prosthesis from the shaking state to a stable state.

[0182] In some other embodiments, the feedback information includes jitter information.

[0183] 102. Obtaining sensory feedback information and generating a stimulation signal according to the sensory feedback information, including:

[0184] Get jitter information;

[0185] Determining that the jitter information meets a preset condition;

[0186] Generate a stimulation signal of corresponding intensity according to the jitter information;

[0187] The preset condition includes that the jitter frequency included in the jitter information is greater than or equal to a fourth preset value and / or the jitter amplitude is greater than or equal to a fifth preset value.

[0188] In this embodiment, by acquiring the jitter information at set intervals, for example, acquiring a jitter signal every 10ms, the amputee is made aware of the stimulation of each signal acquisition and performs jitter correction on the contact state at intervals for multiple times until the jitter ends. When the prosthesis is in the first contact state with the external object and the prosthesis begins to jitter, the jitter information is acquired, and a stimulation signal is generated based on the information. The amputee knows that the prosthesis is in a jittering state based on the stimulation of the stress tissue by the stimulation signal. The amputee autonomously coordinates his own stress tissue based on the stimulation signal and generates corresponding stress information. A control signal is generated based on the stress information. The control signal is used to dynamically control the prosthesis and the external object to reduce the jitter from the jittering state. After the set interval, the jitter information is acquired for the second time, and the prosthesis is coordinated multiple times based on the same principle until the jitter ends.

[0189] The intensity of the stimulation signal corresponding to each shaking information can be gradually weakened. Each time the shaking information is judged, the preset value based on it can be gradually reduced. When it is judged that the shaking information does not meet the preset conditions, the stimulation of the stimulated tissue is stopped, that is, the shaking has been coordinated to a non-shaking or slightly shaking state, which does not affect the purpose of taking.

[0190] In some embodiments, the sensory feedback information includes contact force information and jitter information.

[0191] 102. Obtaining sensory feedback information and generating a stimulation signal according to the sensory feedback information, including:

[0192] Acquire contact force information and jitter information collected by the same information collector.

[0193] In this embodiment, the force information and the jitter information are collected by the same information collector, and the collection timing can overlap. That is, in the first contact state, if the prosthesis has problems of too much or too little force and jitter, the force information and the jitter information can be collected by the same collector at the same time and provided to the amputee at the same time, so that the amputee can coordinate the stress organization through the two information to generate a control signal that can coordinate the force and jitter at the same time, thereby improving the efficiency and accuracy of feedback and coordination.

[0194] Of course, in addition to using the same information collector to simultaneously collect the contact force information and the jitter information, different information collectors can also be used to simultaneously collect the two types of information to achieve the same purpose.

[0195] For the force information and jitter information in the above embodiments, the same collector can collect different sensory feedback information at the same time sequence or at different time sequences, different collectors can collect different sensory feedback information at different time sequences, or different collectors can collect different sensory feedback information at the same time sequence, and the embodiments of the present application do not specifically limit this. The collector can use one or both of a force sensor and a jitter sensor, and the number of force sensors and jitter sensors can be flexibly set according to the specific needs of the prosthesis.

[0196] In some embodiments, the sensory feedback information includes at least one of contact force information, contact temperature information, and jitter information.

[0197] 102. Obtaining sensory feedback information and generating a stimulation signal according to the sensory feedback information, including:

[0198] Acquiring contact force information collected by the first information collector;

[0199] and / or, obtaining contact temperature information collected by a second information collector;

[0200] And / or, obtaining jitter information collected by a third information collector.

[0201] Preferably, the contact state between the prosthesis and the external object is coordinated based on sensory feedback information, and feedback coordination can be completed based on any of the above three types of information. More preferably, force information, temperature information and vibration information can be collected simultaneously for feedback coordination to improve the accuracy and efficiency of coordination.

[0202] Reference Figure 4As shown, in some embodiments, based on the prosthesis control method provided in the above embodiments, wherein:

[0203] 102. Before obtaining sensory feedback information and generating a stimulation signal according to the sensory feedback information, the method further includes:

[0204] 101. Acquire a first stress image when the prosthesis is in a first contact state;

[0205] 104. Generate a control signal according to the stress information, including:

[0206] 1041 ′: Generate a second stress image according to the stress information, and generate a control signal according to the first stress image and the second stress image.

[0207] The stress image refers to an image generated after the stressed tissue undergoes morphological changes according to a stimulation signal, and the method of acquiring and recording the image includes but is not limited to acquiring an ultrasonic image corresponding to the stressed tissue through an ultrasonic transducer.

[0208] For example, before feedback coordination, the mechanical dynamic end of the prosthesis is already in a gripping state controlled by a first stress image, and then a second stress image is generated based on the feedback coordination, and the gripping force or shaking is coordinated according to the second stress image.

[0209] Among them, whether it is the first stress image or the second stress image, the corresponding prosthetic limb movements controlled include but are not limited to independent flexion and relaxation of fingers or toes, clenching a fist, pinching of thumb and index finger, etc. For example, taking an upper limb prosthesis as an example, it may include but is not limited to 8 movements: flexion of thumb, flexion of index finger, flexion of middle finger, flexion of ring finger, flexion of little finger, clenching a fist, pinching of thumb and index finger, and relaxation of all fingers. The 8 movements include the most common movements of fingers in daily work, so as to achieve the best use of lifting objects in daily work.

[0210] For example, an ultrasonic transducer may be used. The ultrasonic transducer has the function of generating ultrasonic waves and also has the function of photographing the stressed tissue, and then the stress image of the stressed tissue is acquired through the imaging part.

[0211] Reference Figure 5 As shown, in some embodiments, based on the prosthesis control method provided in the above embodiments, wherein:

[0212] 102. Obtaining sensory feedback information and generating a stimulation signal according to the sensory feedback information, including:

[0213] 1021. Obtain sensory feedback information and generate an electrical signal corresponding to the sensory feedback information;

[0214] 1022. Control the ultrasonic transducer to generate one or more stimulation signals according to the electrical signal.

[0215] In this embodiment, an electrical signal is specifically used as the intermediate conversion signal. More specifically, a processor is used to process the sensory feedback information to convert it into an electrical signal corresponding to the sensory feedback information.

[0216] In this embodiment, an ultrasonic transducer is specifically used to generate the stimulation signal. The number of the stimulation signals is not limited and can be one or more.

[0217] Reference Figure 6 As shown, in some embodiments, based on the prosthesis control method provided in the above embodiments, wherein:

[0218] 103. Obtaining stress information generated by the stress tissue after receiving the stimulation signal, including:

[0219] 1031. Control the ultrasonic transducer to send a stimulation signal to the nerve stimulation sensor element;

[0220] 1032. Receive a feedback signal generated by the nerve stimulation sensor element stimulating the stress tissue;

[0221] 1033. Generate stress information according to the feedback signal.

[0222] In this embodiment, an ultrasonic transducer is preferably used to send a stimulation signal to the nerve stimulation sensor element, and the stimulation signal is used to stimulate the stress tissue. In addition, the nerve stimulation sensor element stimulates the stress tissue to generate a feedback signal, and the processor generates stress information by receiving the feedback signal.

[0223] For example, in some embodiments, acoustic waves having a drive frequency of 1 MHz or more and a wavelength of less than 1 mm are focused on target neural tissue or target muscle tissue in the body to stimulate the area so that the amputee can feel the stimulation and perform autonomous coordination. Focusing can be performed by constructive interference of the incident waves, that is, allowing a focal point to be generated deep inside the tissue without damaging cells close to the transducer along the propagation path.

[0224] In some embodiments, the neural stimulation sensor element may include a piezoelectric material. The piezoelectric material is a crystal structure that is susceptible to stress and has a non-centrosymmetric structure. Due to the unbalanced distribution of charges within the crystal structure, when stress is applied to the piezoelectric material, a net polarization phenomenon occurs. Therefore, the polarization of this type of material can be used to generate electric current. Therefore, the piezoelectric material has the ability to convert external stimulation into electrical stimulation, and is a potential alternative to electrode- or battery-based electrical stimulation.

[0225] It should be noted that piezoelectric materials can be wirelessly triggered by applying external pressure based on ultrasound, thereby achieving non-invasive stimulation.

[0226] Specifically, a nerve stimulation sensor element containing piezoelectric material can be used to implant or inject into a target nerve tissue or target muscle tissue inside the body of an amputee. The piezoelectric material, as a crystal structure, can be combined with a micro-integrated circuit (IC) to form a miniature nerve stimulation sensor element with an electronic packaging shell, which can both record biological signals and stimulate target nerve tissue or target muscle tissue. The miniature nerve stimulation sensor element can work wirelessly without power supply.

[0227] The nerve stimulation sensor element can be placed in the stress tissue by implantation or injection. The piezoelectric material structure of the nerve stimulation sensor element that enters the stress tissue by implantation is in block form. The piezoelectric material structure of the nerve stimulation sensor element that enters the stress tissue by injection is in nano-scale granular form. The piezoelectric material can be selected from piezoelectric single crystals, polycrystalline piezoelectric ceramics, polymer piezoelectric materials, polymers, piezoelectric ceramic composite materials and other types.

[0228] In some embodiments, the micro-neurostimulation sensor element is activated by an ultrasonic transducer, and electrical stimulation is provided to the nerve tissue or muscle tissue through the micro-neurostimulation sensor element. Change information of the nerve tissue or muscle tissue is recorded through the micro-neurostimulation sensor element to control the prosthesis, and sensory feedback information from the prosthesis is transmitted to the amputee through the electrical stimulation provided by the micro-neurostimulation sensor element.

[0229] Reference Figure 7 As shown, in some embodiments, the prosthesis includes multiple mechanical dynamic ends corresponding to human limbs.

[0230] 104. The control signal is used to dynamically control the prosthesis and the external object to switch from a first contact state to a second contact state, including:

[0231] 1041", the control signal is used to dynamically control at least one mechanical dynamic end of the prosthesis to switch from a first contact state to a second contact state with an external object.

[0232] Reference Figure 8 As shown, in some embodiments, the prosthesis has a built-in control unit for dynamically controlling the mechanical dynamic end, and a microprocessor that is in communication with the control unit.

[0233] 104. The control signal is used to dynamically control the prosthesis and the external object to switch from a first contact state to a second contact state, including:

[0234] 10411, control signal is used to send to the microprocessor;

[0235] 10412. The microprocessor receives the control signal and controls at least one mechanical dynamic end of the prosthesis to switch from a first contact state to a second contact state with an external object through a control unit according to the control signal.

[0236] For example, in some embodiments, taking an upper limb prosthesis as an example, the upper limb prosthesis is also called a myoelectric hand. The myoelectric hand may include a base portion connected to and supporting five mechanical dynamic fingers, and the fingertip portion of each mechanical dynamic finger is the mechanical dynamic end. The five mechanical fingers and the base portion are made of a base material and silicone. The base material is selected from materials such as nylon, plastic, polypropylene (PP), acrylonitrile-butadiene-styrene (ABS) and vinyl. Silicone has friction gripping properties, and the Shore hardness value is selected as 00-50.

[0237] In some embodiments, the myoelectric hand has one or more information collectors built in. Each of the five mechanical dynamic fingers includes a silicone layer located in the fingertip area, and one or more information collectors are installed in the fingertip area under the silicone layer. Among them, each mechanical dynamic finger is respectively installed with one or more information collectors. Among them, the number of one information collector can be one or more. The five mechanical dynamic fingers are dynamically and individually driven by a control unit, and the control unit is controlled by a microprocessor according to the ultrasonic image and the output voltage of the information collector.

[0238] In some embodiments, the stimulation signals are configured to stimulate different nerves of the amputee at different amplitudes and frequencies to enable the amputee to dynamically control the degree of bending of each of the five mechanical dynamic fingers and reduce phantom pain.

[0239] In some embodiments, a curved component made of black nylon, ABS or PP is fixed under the silicone layer to transmit force information to the force sensor.

[0240] Reference Fig. 9 and Fig.10 As shown, another object of the present application is to provide a prosthesis control system 10 for executing the above prosthesis control method. The prosthesis control system 10 includes an information collector 100, a processor 200 and a stimulation generating device 300 which are communicatively connected.

[0241] Wherein: the information collector 100 is used to collect sensory feedback information. The processor 200 is used to obtain the sensory feedback information and activate the stimulation generation device 300 according to the sensory feedback information, and is also used to generate a control signal according to the stress information. The stimulation generation device 300 is used to generate a stimulation signal in response to the processor 200, and is also used to obtain stress information generated by the stress tissue after receiving the stimulation signal.

[0242] in, Fig. 9 The stimulation generating device stimulates the stress tissue through the neural stimulation sensor element, Fig.10 , a stimulus generating device is shown to directly stimulate the stressed tissue.

[0243] Reference Fig.11 As shown, in some embodiments, the information collector 100 includes at least one of a first signal collector, a second signal collector, and a third signal collector, and the sensory feedback information includes at least one of contact force information, contact temperature information, and jitter information. Among them, the first information collector 101 is used to collect contact force information. The second information collector 102 is used to collect contact temperature information. The third information collector 103 is used to collect jitter information. The first information collector 101 and the third information collector 103 are independently set or integrated.

[0244] Reference Fig. 9 As shown, in some embodiments, the prosthesis control system 10 further includes a neural stimulation sensor element 400, which is implanted or injected into the interior of the stressed tissue or the surrounding area of ​​the stressed tissue. The stimulation generating device 300 includes any one of a radio transmitter, an ultrasonic transducer, and a light generator, and correspondingly, the neural stimulation sensor element 400 includes any one of a radio receiver, a piezoelectric transducer, and an optical sensor. The stimulation generating device 300 and the neural stimulation sensor element 400 are communicatively connected, and the neural stimulation sensor element 400 is used to receive the stimulation signal generated by the stimulation generating device 300 and convert it into an electrical signal and provide it to the stressed tissue.

[0245] In some embodiments, the prosthesis control system 10 further includes a control unit 600 for dynamically controlling the mechanical dynamic end, and a microprocessor 500 communicatively connected to the control unit 600. The processor 200, the microprocessor 500 and the control unit 600 are communicatively connected.

[0246] The beneficial effects of the prosthesis control system provided in the embodiment of the present application compared with the prior art are consistent with the beneficial effects of the prosthesis control method provided in the embodiment of the present application compared with the prior art, and will not be repeated here.

[0247] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0248] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0249] In the embodiments provided in the present application, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the device / network equipment embodiments described above are merely schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0250] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0251] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A prosthesis control method, characterized in that: Acquiring sensory feedback information and generating a stimulation signal according to the sensory feedback information; The sensory feedback information refers to state information of the prosthesis in a first contact state after the prosthesis contacts an external object, and the stimulation signal is used to stimulate the stress tissue of the amputee, and the stress tissue includes muscle tissue or nerve tissue corresponding to the prosthesis; Acquiring stress information generated by the stressed tissue after receiving the stimulation signal; A control signal is generated according to the stress information, and the control signal is used to dynamically control the prosthesis and the external object to switch from the first contact state to a second contact state.

2. The prosthesis control method according to claim 1, characterized in that: The obtaining of sensory feedback information and generating a stimulation signal according to the sensory feedback information includes: Acquiring the sensory feedback information; Determining that the sensory feedback information meets a preset condition; The stimulation signal of corresponding intensity is generated according to the sensory feedback information.

3. The prosthesis control method according to claim 2, characterized in that: The sensory feedback information includes contact force information; The obtaining of sensory feedback information and generating a stimulation signal according to the sensory feedback information includes: Acquiring the contact force information; Determine that the contact force meets the preset conditions; Generate the stimulation signal of corresponding intensity according to the contact force information; The preset condition includes that the contact force is less than or equal to a first preset value or greater than or equal to a second preset value, and the first preset value is less than the second preset value.

4. The prosthesis control method according to claim 3, characterized in that: Determining that the contact force is less than the first preset value, generating a first stimulation signal; Determining that the contact force is greater than the second preset value, generating a second stimulation signal; Wherein, the intensity of the first stimulation signal is less than the intensity of the second stimulation signal.

5. The prosthesis control method according to claim 2, characterized in that: The sensory feedback information includes contact temperature information; The obtaining of sensory feedback information and generating a stimulation signal according to the sensory feedback information includes: Acquiring the contact temperature information; Determine that the contact temperature meets the preset conditions; generating the stimulation signal of corresponding intensity according to the contact temperature information; The preset condition includes that the contact temperature is greater than or equal to a third preset value.

6. The prosthesis control method according to claim 2, characterized in that: The sensory feedback information includes jitter information; The obtaining of sensory feedback information and generating a stimulation signal according to the sensory feedback information includes: Acquire the jitter information, where the jitter information includes start jitter information and end jitter information; generating a third stimulation signal according to the start shaking information; generating a fourth stimulation signal according to the end jitter information; The third stimulation signal and the fourth stimulation signal are the same or different.

7. The prosthesis control method according to claim 2, characterized in that: The sensory feedback information includes jitter information; The obtaining of sensory feedback information and generating a stimulation signal according to the sensory feedback information includes: Acquiring the jitter information; Determining that the jitter information meets a preset condition; Generate the stimulation signal of corresponding intensity according to the jitter information; The preset condition includes that the jitter frequency included in the jitter information is greater than or equal to a fourth preset value and / or the jitter amplitude is greater than or equal to a fifth preset value.

8. The prosthesis control method according to any one of claims 1 to 7, characterized in that: The sensory feedback information includes contact force information and jitter information; The obtaining of sensory feedback information and generating a stimulation signal according to the sensory feedback information includes: The contact force information and the jitter information collected by the same information collector are obtained.

9. The prosthesis control method according to any one of claims 1 to 7, characterized in that: The sensory feedback information includes at least one of contact force information, contact temperature information and jitter information; The obtaining of sensory feedback information and generating a stimulation signal according to the sensory feedback information includes: Acquiring the contact force information collected by the first information collector; and / or, obtaining the contact temperature information collected by a second information collector; And / or, obtaining the jitter information collected by a third information collector.

10. The prosthesis control method according to any one of claims 1 to 7, characterized in that: Before obtaining sensory feedback information and generating a stimulation signal according to the sensory feedback information, the method further includes: Acquiring a first stress image when the prosthesis is in the first contact state; The generating a control signal according to the stress information comprises: A second stress image is generated according to the stress information, and the control signal is generated according to the first stress image and the second stress image.

11. The prosthesis control method according to any one of claims 1 to 7, characterized in that: The obtaining of sensory feedback information and generating a stimulation signal according to the sensory feedback information includes: Acquiring the sensory feedback information and generating an electrical signal corresponding to the sensory feedback information; The ultrasonic transducer is controlled according to the electrical signal to generate one or more stimulation signals.

12. The prosthesis control method according to claim 11, characterized in that: The obtaining of stress information generated by the stress tissue after receiving the stimulation signal includes: Controlling the ultrasonic transducer to send the stimulation signal to the nerve stimulation sensor element; receiving a feedback signal generated by the nerve stimulation sensor element stimulating the stress tissue; The stress information is generated according to the feedback signal.

13. The prosthesis control method according to any one of claims 1 to 7, characterized in that: The prosthesis includes a plurality of mechanical dynamic ends corresponding to human limbs; The control signal is used to dynamically control the prosthesis and the external object to switch from the first contact state to the second contact state, including: The control signal is used to dynamically control at least one of the mechanical dynamic ends on the prosthesis to switch from the first contact state to the second contact state with an external object.

14. The prosthesis control method according to claim 13, characterized in that: The prosthesis is built with a control unit for dynamically controlling the mechanical dynamic end, and a microprocessor in communication with the control unit; The control signal is used to dynamically control the prosthesis and the external object to switch from the first contact state to the second contact state, including: The control signal is used to be sent to the microprocessor; The microprocessor receives the control signal and controls at least one of the mechanical dynamic ends on the prosthesis to switch from the first contact state to the second contact state with the external object through the control unit according to the control signal.

15. A prosthesis control system, used to execute the prosthesis control method according to any one of claims 1 to 14, characterized in that: The prosthetic control system includes an information collector, a processor and a stimulation generating device which are communicatively connected; The information collector is used to collect sensory feedback information; The processor is used to obtain the sensory feedback information and activate the stimulation generation device according to the sensory feedback information, and is also used to generate a control signal according to the stress information; The stimulation generating device is used to generate the stimulation signal in response to the processor, and is also used to obtain stress information generated by the stressed tissue after receiving the stimulation signal.

16. The prosthetic control system according to claim 15, characterized in that: The information collector includes at least one of a first signal collector, a second signal collector and a third signal collector, and the sensory feedback information includes at least one of contact force information, contact temperature information and jitter information; wherein, The first information collector is used to collect the contact force information; The second information collector is used to collect the contact temperature information; The third information collector is used to collect the jitter information; The first information collector and the third information collector are independently configured or integrated into one.

17. The prosthetic control system according to claim 15, characterized in that: The prosthetic control system further comprises a nerve stimulation sensor element, which is implanted or injected into the interior of the stress tissue or the surrounding area of ​​the stress tissue; The stimulation generating device includes any one of a radio transmitter, an ultrasonic transducer and a light generator, and correspondingly, the nerve stimulation sensing element includes any one of a radio receiver, a piezoelectric transducer and an optical sensor; The stimulation generating device is communicatively connected to the nerve stimulation sensing element, and the nerve stimulation sensing element is used to receive the stimulation signal generated by the stimulation generating device and convert it into an electrical signal to provide to the stressed tissue.

18. The prosthetic control system according to claim 15, characterized in that: The prosthesis control system also includes a control unit for dynamically controlling the prosthesis, and a microprocessor in communication with the control unit; Wherein, the processor, the microprocessor and the control unit are communicatively connected.

19. The prosthetic control system according to claim 17, characterized in that: The stimulation generating device includes an ultrasonic transducer, and the nerve stimulation sensor element includes a piezoelectric transducer and an electronic element for rectification, wherein the piezoelectric transducer has a piezoelectric material structure built therein, the piezoelectric material structure is used to receive ultrasonic waves and convert them into electric current, and the electronic element is used to rectify the electric current and provide it to the stressed tissue; Wherein, the piezoelectric material structure is in block shape or nano-scale particle shape.

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