Wearable tactile perception reconstruction system and method

Abstract

The invention discloses a wearable tactile perception reconstruction system and method, and the system comprises a myoelectric prosthetic hand, a flexible arm band, a vibration feedback array, and a feedback controller, and the flexible arm band is used for binding the system to the big arm of a subject; the myoelectric prosthetic hand is located at the tail end of the limb of the subject, is connected with the feedback controller and transmits data of the pressure sensor, the distance sensor and the motor encoder to the feedback controller; the vibration feedback array is located on the inner side of the flexible arm band and makes direct contact with the skin of a subject. The feedback controller is located on the outer side of the flexible arm band and at least comprises a control box and a circuit board, and the circuit board is fixed in the control box; in the system, the myoelectric prosthetic hand obtains body sense, force touch sense and proximity sense perception information data, the feedback controller receives the perception information data of the myoelectric prosthetic hand, processes the perception information data and converts the perception information data into stimulation coding instructions, and the vibration feedback array receives the stimulation coding instructions and conducts vibration touch sense feedback to achieve touch sense perception reconstruction.

Description

Technical Field

[0001] The present invention belongs to the technical field of tactile perception reconstruction, and mainly relates to a wearable tactile perception reconstruction system and method. Background Art

[0002] Hands are an indispensable sensory system for human learning, working, adapting to the environment, and basic living. For disabled patients who have lost their arms due to accidents, they have lost not only the motor function of the upper limbs but also the tactile perception function of intact hands. Currently, the prosthetic control technology based on electromyogram signals has been relatively mature. By using the movement intention information contained in the electromyogram signals on the residual limb to control the movement of the prosthetic hand, it can partially restore the missing motor function of the patient, but the missing tactile perception function still cannot be restored. Therefore, there is an urgent need to study a device that can realize the feedback of the prosthetic state information, and through stimulation feedback, the tactile information of the prosthetic hand is fed back to the patient user to reconstruct the tactile perception circuit of the residual limb. Summary of the Invention

[0003] The present invention precisely aims at the problem of insufficient tactile perception feedback in the prior art, and proposes a wearable tactile perception reconstruction system and method, including an electromyogram prosthetic hand, a flexible armband, a vibration feedback array, and a feedback controller. The flexible armband is used to bind the system to the subject's upper arm; the electromyogram prosthetic hand is located at the end of the subject's limb and is connected to the feedback controller, and is used to transmit pressure sensor, distance sensor, and motor encoder data to the feedback controller; the vibration feedback array is located inside the flexible armband, is in direct contact with the subject's skin, and is connected to the feedback controller to obtain a PWM drive signal; the feedback controller is located outside the flexible armband and at least includes a control box and a circuit board, and the circuit board is fixed inside the control box. In the system of the present invention, the electromyogram prosthetic hand obtains proprioceptive, force tactile, and proximity sense perception information data, the feedback controller receives the perception information data of the electromyogram prosthetic hand and processes it, converts it into a stimulation coding instruction, and the vibration feedback array receives the stimulation coding instruction and performs vibration tactile feedback to achieve tactile perception reconstruction and improve the clarity and reliability of perception.

[0004] To achieve the above object, the technical solution adopted by the present invention is: a wearable tactile perception reconstruction system, at least including an electromyogram prosthetic hand, a flexible armband, a vibration feedback array, and a feedback controller,

[0005] The flexible armband: is used to bind the system to the subject's upper arm;

[0006] The electromyogram prosthetic hand: is located at the end of the subject's limb and is connected to the feedback controller, and is used to transmit pressure sensor, distance sensor, and motor encoder data to the feedback controller;

[0007] The vibration feedback array: located on the inner side of the flexible armband, in direct contact with the subject's skin, connected to the feedback controller, and obtains the PWM drive signal;

[0008] The feedback controller: located on the outer side of the flexible armband, at least includes a control box and a circuit board, and the circuit board is fixed inside the control box

[0009] As an improvement of the present invention, the myoelectric prosthetic hand is composed of a hand head, a receiving cavity and a prosthetic controller. The hand head is provided with a pressure sensor, a laser ranging sensor and a motor encoder, which are used to obtain fingertip pressure information, palm pressure information, approaching distance information, finger joint motor position information, and wrist joint motor position information; among them, the pressure sensor at least includes a thumb fingertip pressure sensor, an index finger fingertip pressure sensor, a middle finger fingertip pressure sensor and a 4-channel palm pressure sensor; the motor encoder at least includes a finger joint motor encoder and a wrist joint motor encoder;

[0010] The myoelectric electrode is installed on the inner side of the receiving cavity and is connected to the prosthetic controller through a data cable to obtain the surface myoelectric data of the subject's residual limb.

[0011] As an improvement of the present invention, the vibration feedback array is provided with 16 eccentric vibration motors, which are divided into 2 vibration regions. One side is arranged in a 3×3 layout, and the other side is arranged in a "3 on top and 4 on the bottom" layout. Each vibration motor is provided with 2 pins and is wired to the circuit board through the wire outlet at the bottom of the control box.

[0012] As another improvement of the present invention, the vibration motor is encapsulated by a soft rubber cap, covered with a sponge gasket, and stitched and fixed to the bottom layer of fabric; the top of the soft rubber cap has a circular dot protrusion and a wavy skirt.

[0013] As yet another improvement of the present invention, a switch button and an indicator light are installed on the top of the feedback controller, a Type-C port is left on the side for inserting the data cable of the myoelectric prosthetic hand, and 4 screw holes and a wire outlet are provided at the bottom, and it is stitched and fixed to the surface layer of the flexible armband through a soft rubber skirt.

[0014] As yet another improvement of the present invention, the flexible armband includes a three-layer structure, which are, from top to bottom, a flannel surface layer, a sponge layer and a stretch knitted fabric layer, and the three layers are stitched and fixed with edges; the surface layer is opened with holes according to the position of the control box, and the interlayer and bottom layer fabrics are opened with holes according to the position of the vibration unit for the stitching and fixing of the control box and each vibration unit.

[0015] In order to achieve the above object, the technical solution adopted by the present invention is also: a wearable tactile perception reconstruction method, which is characterized by including the following steps:

[0016] S1: The user actively controls the myoelectric prosthetic hand to perform different actions and interact with environmental objects. The sensors on the myoelectric prosthetic hand detect various perceptual information data and transmit it to the feedback controller in real time;

[0017] S2: The feedback controller receives the perceptual information data and converts it into a stimulation coding instruction. The instruction includes a frame ID and a data frame;

[0018] S3: The vibration feedback array receives the stimulation coding instruction and applies different vibration stimulations to the user's upper arm for vibrotactile feedback; The different vibration stimulations are specifically as follows: According to the data frame ID of the stimulation coding instruction, judge the type of perceptual information received,

[0019] When receiving the proprioceptive information of the knuckle, drive the 3×3 vibration array. The thumb, index finger, and lower three fingers of the myoelectric prosthetic hand respectively correspond to the left, middle, and right three columns of vibration units in the 3×3 vibration array. When the corresponding finger bends, the vibration units in the corresponding column generate vibration stimulation;

[0020] When receiving the proprioceptive information of the wrist joint, drive the 3×3 vibration array for a flowing water type of vibration stimulation;

[0021] When receiving the proximity information, drive the upper 3 vibration units in the "3 on top and 4 below" vibration array for a dotting type of vibration stimulation;

[0022] When receiving the finger force tactile information, drive the upper 3 vibration units in the "3 on top and 4 below" vibration array for a trigger type of vibration stimulation;

[0023] When receiving the palm force tactile information, drive the upper 3 vibration units in the "3 on top and 4 below" vibration array for a trigger type of vibration stimulation.

[0024] As an improvement of the present invention, when receiving the proprioceptive information of the wrist joint, for the wrist rotation movement, divide the vibration array into three vertical columns of left, middle, and right, and control the vibration motors in each column to vibrate in sequence according to the direction around the arm. Use the left - right flowing water scanning vibration to represent the wrist rotation direction, and the flowing water frequency and vibration intensity increase with the increase of the wrist rotation angle; For the wrist flexion movement, divide the vibration array into three horizontal rows of top, middle, and bottom, and control the vibration motors in each row to vibrate in sequence along the direction of the arm. Use the front - back flowing water scanning vibration to represent the wrist flexion direction, and the flowing water frequency and vibration intensity increase with the increase of the gear.

[0025] Compared with the prior art, the beneficial effects of the present invention are as follows: The present invention discloses a wearable tactile perception reconstruction system and method, which can feedback the proprioceptive information of multiple degrees of freedom of a myoelectric prosthetic hand, multi-channel force-tactile information, and proximity information; for different degrees of freedom and different types of perception information, different vibration paradigms are designed. For example, flowing water vibration is used to feedback the degrees of freedom of wrist rotation and wrist flipping, dot vibration is used to feedback proximity information, and trigger vibration is used to feedback pressure information. It is easy to distinguish, convenient to master, and reduces the difficulty for users to get started and the usage burden.

[0026] The feedback of proprioceptive information is the absolute position of each joint of the prosthetic hand, rather than the relative movement trend, so that the subject can also feel the accurate position of the fingers and wrists in real time without visual assistance (when the line of sight is blocked or there is a visual defect), rather than a vague movement trend.

[0027] The vibration array for force-tactile feedback adopts a unique "3 on top and 4 at the bottom" layout, which can feedback 7-channel force-tactile information at the same time. Compared with the common array arrangement, the vibration crosstalk is lower and the perception is clearer.

[0028] The vibration unit in the system of the present invention is encapsulated with a soft rubber cap, which can reduce vibration coupling, improve the spatial resolution and perception clarity of vibration feedback; at the same time, the system of the present invention adopts the form of a flexible armband, which is convenient to wear, adapts to forearm amputees with different degrees of disability, more meets the actual needs, has a wider application range, and better effects. Brief Description of the Drawings

[0029] Figure 1 is a schematic structural diagram of the wearable tactile perception reconstruction system of the present invention;

[0030] Figure 2 is a schematic structural diagram of the myoelectric prosthetic hand in the system of the present invention;

[0031] Figure 3 is an exploded view of the flexible armband structure stratification in the system of the present invention;

[0032] Figure 4 is a diagram of the large, medium, and small 3 types of armband sizes of the flexible armband in the system of the present invention;

[0033] Figure 5 is a schematic diagram of the outer side of the flexible armband in the system of the present invention;

[0034] Figure 6 is a schematic diagram of the inner side of the flexible armband in the system of the present invention;

[0035] Figure 7 is a schematic cross-sectional view of the soft rubber cap in the system of the present invention;

[0036] Figure 8It is a schematic top view of the feedback controller of the system of the present invention;

[0037] Figure 9 It is a schematic bottom view of the feedback controller of the system of the present invention;

[0038] Figure 10 It is a flowchart of the steps of the wearable tactile perception reconstruction method of the present invention;

[0039] Figure 11 It is a schematic diagram of wrist rotation proprioceptive feedback in Embodiment 2 of the present invention;

[0040] Figure 12 It is a schematic diagram of wrist flipping proprioceptive feedback in Embodiment 2 of the present invention;

[0041] Figure 13 It is a schematic diagram of finger proprioceptive feedback in Embodiment 2 of the present invention;

[0042] Figure 14 It is a schematic diagram of force tactile feedback in Embodiment 2 of the present invention;

[0043] Figure 15 It is a schematic diagram of proximity feedback in Embodiment 2 of the present invention;

[0044] In the figure: 1. Myoelectric prosthetic hand; 2. Flexible armband; 3. Vibration feedback array; 4. Feedback controller; 5. Thumb fingertip pressure sensor; 6. Index fingertip pressure sensor; 7. Middle fingertip pressure sensor; 8. Finger joint motor encoder; 9. Wrist joint motor encoder; 10. Palm pressure sensor; 11. Laser ranging sensor; 12. Receiving cavity; 13. Electrode; 14. Type-C data cable; 15. Flannel surface layer; 16. Sponge cloth layer; 17. Elastic knitted cloth layer; 18. Sponge gasket; 19. Soft rubber cap; 20. Vibration motor; 21. Large elastic knitted cloth layer; 22. Medium elastic knitted cloth layer; 23. Small elastic knitted cloth layer; 24. Hook and loop fastener; 25. Leather edging; 26. Metal buckle; 27. Anti-slip pad; 28. 3×3 arrangement of vibration motors; 29. 3 vibration motors arranged above and 4 below; 30. Protrusion; 31. Wavy skirt; 32. Indicator light; 33. Switch button; 34. Type-C port; 35. Soft rubber skirt; 36. Screw hole; 37. Bottom wire outlet of the control box. Detailed implementation manners

[0045] The following further clarifies the present invention in conjunction with the accompanying drawings and specific implementation manners. It should be understood that the following specific implementation manners are only used to illustrate the present invention and not to limit the scope of the present invention.

[0046] Embodiment 1

[0047] A wearable tactile perception reconstruction system, mainly for patients with forearm amputation, such asFigure 1 As shown in the figure, it includes an electromyographic prosthetic hand 1, a flexible armband 2, a vibration feedback array 3, and a feedback controller 4. The flexible armband 2 is worn on the affected upper arm of the user. The feedback controller 4 is fixed on the outer side of the flexible armband 2. The vibration feedback array 3 is fixed on the inner side of the flexible armband 2. The electromyographic prosthetic hand 1 is worn on the end of the user's stump, has the ability to sense the motion state, force touch, and proximity sense information of the fingers and wrist, and is wired to the feedback controller 4. The feedback controller 4 receives and processes the sensing information data of the electromyographic prosthetic hand 1, converts it into a stimulation coding instruction, and the vibration feedback array 3 receives the stimulation coding instruction to perform vibration tactile feedback.

[0048] As Figure 2 shown in the figure, the electromyographic prosthetic hand 1 consists of a hand head and a receiving cavity 12, with pressure sensors at the finger and palm positions, including a thumb fingertip pressure sensor 5, an index fingertip pressure sensor 6, a middle fingertip pressure sensor 7, and a 4-channel palm pressure sensor 10, which are used for the force touch information sensing of the prosthetic hand. There is a laser range finder sensor 11 at the center of the palm, which is used for the proximity sense information sensing of the prosthetic hand. There are motor encoders at the finger and wrist joints, including a finger joint motor encoder 8 and a wrist joint motor encoder 9, which are used for the proprioceptive information sensing of the finger flexion freedom and the wrist rotation and flipping freedoms of the prosthetic hand. An electromyographic electrode 13 is installed inside the receiving cavity, and a Type-C data cable 14 is led out from the outside and connected to the armband feedback controller 4.

[0049] As Figure 3 shown in the figure, the flexible armband 2 includes a three-layer structure. The material of the flannel surface layer 15 is gray self-adhesive fleece cloth. The middle interlayer is a sponge cloth layer 16 with a thickness of 2 mm, and the bottom layer material uses a green elastic knitted cloth layer 17, which has three sizes: large, medium, and small. Figure 4 The figure shows three different sizes of large, medium, and small. Among them, the large size 21 is 430 mm long and 130 mm wide; the medium size 22 is 355 mm long and 100 mm wide; the small size 33 is 331 mm long and 90 mm wide. The three-layer fabric is stitched and fixed with a leather edging 25. The hook-and-loop fastener 24 is fixed on the surface layer of the flexible armband. The anti-slip pad 27 is fixed on the bottom layer of the flexible armband. The metal buckle 26 is fixed on the side of the flexible armband. The fabric of the flannel surface layer 15 is perforated according to the position of the control box. The fabrics of the sponge layer 16 and the elastic knitted cloth layer 17 are perforated according to the position of the vibration unit. The interlayer is used for wiring. Figure 5 and Figure 6 The figure shows the schematic diagram of the structure on the outer side and the inner side of the flexible armband. The wearing method of the flexible armband 2 is to pass the hook-and-loop fastener 24 through the metal buckle and then fold it. After adjusting to the appropriate tightness, the hook-and-loop fastener 24 is attached to the flannel surface layer 15 of the armband to complete the fixation.

[0050] The vibration feedback array 3 is fixed to the inner side of the flexible armband 2. There are a total of 16 eccentric vibration motors 20, which are divided into 2 vibration regions. One side is arranged in a 3×3 pattern 28, and the other side is arranged in a pattern of "3 on top and 4 at the bottom" 29. The vibration motors are encapsulated with soft rubber caps 19, and a sponge gasket 18 with a thickness of 2 mm is covered on it, and it is stitched and fixed to the bottom layer of fabric. Each vibration motor element has a total of 2 pins. One pin is used as the power input, and one pin is used as the PWM signal input for controlling the vibration intensity. Each vibration motor is wired to the circuit board through the wire outlet 37 at the bottom of the control box. The soft rubber cap 19 is made of TPU material with a hardness of 30, and has a wavy skirt 31 design. The top of the soft rubber cap 19 is designed with annular dot protrusions 30, which are used to reduce vibration crosstalk and improve the clarity of the human body's perception of each vibration unit. Specifically, as shown in Figure 7 shown.

[0051] Figure 8 and Figure 9 are the top and bottom structural schematic diagrams of the feedback controller 4. The feedback controller 4 is fixed to the outer side of the flexible armband 2, and contains a control circuit board and a soft-pack lithium battery. A switch button 33 and an indicator light 32 are installed on the top, a Type-C port 34 is left on the side, and 4 screw holes 36 and a wire outlet 37 are left at the bottom, and it is stitched and fixed to the surface layer 15 of the flexible armband through a soft rubber skirt 35.

[0052] The present invention is a wearable tactile perception reconstruction system that can feedback force touch, proprioception, and proximity perception information of a myoelectric prosthetic hand. Through the myoelectric prosthetic hand, flexible armband, vibration feedback array, and feedback controller, tactile perception reconstruction is realized, and the clarity and reliability of perception are improved.

[0053] Embodiment 2

[0054] A wearable tactile perception reconstruction method uses the system described in Embodiment 1. As shown in Figure 10 shown, the specific steps are as follows:

[0055] First, when in use, first let the user wear the myoelectric prosthetic hand and the flexible armband, connect the prosthetic hand data cable to the feedback controller of the armband. The user actively controls the myoelectric prosthetic hand to make different movements and interact with environmental objects. The sensors on the myoelectric prosthetic hand detect various perception information data and transmit it to the feedback controller in real time. The feedback controller receives the perception information data and converts it into a stimulation coding instruction. The vibration feedback array receives the stimulation coding instruction and applies different vibration stimulations to the user's upper arm for vibration tactile feedback.

[0056] After the vibration feedback array receives the stimulation coding instruction, it first determines what kind of sensory information is received according to the data frame ID. If proprioceptive information of the finger / wrist is received, the 3×3 vibration array is controlled for stimulation feedback. According to the movement intention of the prosthetic hand user, the proprioceptive information of the current moving joint is preferentially fed back. If proprioceptive information of the finger joint is received, the 3×3 vibration array is driven. The thumb, index finger, and lower three fingers (including the middle finger, ring finger, and little finger, which are linked joints) of the myoelectric prosthetic hand respectively correspond to the left, middle, and right three columns of vibration units in the 3×3 vibration array. When the corresponding finger bends, the vibration units in the corresponding column generate vibration stimulation, and the vibration intensity is positively correlated with the bending stroke.

[0057] If force / tactile / approximation information is received, the "3-up 4-down" vibration array is controlled for stimulation feedback. By default, when there is force / tactile information, the feedback of approximation information is stopped, that is, when the user touches the target object, force / tactile pressure information is fed back, and approximation information is no longer fed back.

[0058] If proprioceptive information of the wrist joint is received, the 3×3 vibration array is driven for flowing vibration stimulation. For wrist rotation movement, the vibration array is divided into three vertical columns: left, middle, and right. The vibration motors in each column are controlled to vibrate in sequence (i.e., vibrate in sequence around the arm direction), and left-right flowing scanning vibration is used to represent the wrist rotation direction (left / right rotation). The flowing frequency and vibration intensity increase with the increase of the wrist rotation angle. For wrist flexion movement, the vibration array is divided into three horizontal rows: up, middle, and down. The vibration motors in each row are controlled to vibrate in sequence (i.e., vibrate in sequence along the direction of the arm), and front-back flowing scanning vibration is used to represent the wrist flexion direction (inward / outward flexion). The flowing frequency and vibration intensity increase with the increase of the gear. If proprioceptive information of the finger joint is received, the 3×3 vibration array is driven. The thumb, index finger, and lower three fingers (including the middle finger, ring finger, and little finger, which are linked joints) of the myoelectric prosthetic hand respectively correspond to the left, middle, and right three columns of vibration units in the 3×3 vibration array. When the corresponding finger bends, the vibration units in the corresponding column generate vibration stimulation, and the vibration intensity is positively correlated with the bending stroke.

[0059] If finger force / tactile information is received, the upper 3 vibration units in the "3-up 4-down" arranged vibration array are driven for trigger vibration stimulation. The pressure sensors at the fingertips of the thumb, index finger, and middle finger of the myoelectric prosthetic hand respectively correspond to the left, middle, and right 3 vibration units. The greater the detected force, the stronger the vibration intensity. If palm force / tactile information is received, the lower 4 vibration units in the "3-up 4-down" arranged vibration array are driven for trigger vibration stimulation. The 4 channels of the palm pressure sensor of the myoelectric prosthetic hand respectively correspond to the 4 vibration units. The greater the force detected by the sensor, the stronger the vibration intensity. If approximation information is received, the upper 3 vibration units in the "3-up 4-down" arranged vibration array are driven for dotting vibration stimulation. The closer to the object, the higher the dotting frequency.

[0060] Among them, the proprioceptive information includes the wrist rotation angle θ, the wrist flexion angle φ, and the finger bending stroke P. Figure 11 It is a schematic diagram of the proprioceptive feedback of wrist rotation. Figure 11 (a)(c) are schematic diagrams of a 3×3 vibration array, where X1, X2, and X3 represent three columns of vibration units, and the arrows represent the sequential vibration directions. Figure 11 (b)(d) are schematic diagrams of a single vibration period. The x-axis is t / ms, and the y-axis is the three columns of vibration units X1, X2, and X3. The dark color indicates that the vibration unit of this column is enabled at time t, and the blank indicates that this column does not vibrate. When the wrist rotation angle θ ∈ (0, 60°), that is, when the wrist rotates to the right, as Figure 11 (a)(b) shows, the three columns of vibration units X1, X2, and X3 vibrate sequentially from left to right; when the wrist rotation angle θ ∈ (-60°, 0), as Figure 11 (c)(d) shows, that is, when the wrist rotates to the left, the three columns of vibration units X1, X2, and X3 vibrate sequentially from right to left. Each column of the vibration array vibrates sequentially and cycles 3 times, generating a dynamic flowing water vibration sensation. The flowing water frequency and vibration intensity increase with the increase of the wrist rotation angle.

[0061] Figure 12 It is a schematic diagram of the proprioceptive feedback of wrist flipping. Figure 12 (a)(c) are schematic diagrams of a 3×3 vibration array, where Y1, Y2, and Y3 represent three rows of vibration units, and the arrows represent the sequential vibration directions. Figure 12 (b)(d) are schematic diagrams of a single vibration period. The x-axis is t / ms, and the y-axis is the three rows of vibration units Y1, Y2, and Y3. The dark color indicates that the vibration unit of this column is enabled at time t, and the blank indicates that this column does not vibrate. When the wrist flexion angle that is, when the wrist turns outward, as Figure 12 (a)(b) shows, the three rows of vibration units Y1, Y2, and Y3 vibrate sequentially from bottom to top; when the wrist flexion angle that is, when the wrist turns inward, as Figure 12 (c)(d) shows, the three rows of vibration units Y1, Y2, and Y3 vibrate sequentially from top to bottom. Each row of the vibration array vibrates sequentially and cycles 3 times, generating a dynamic flowing water vibration sensation. The flowing water frequency and vibration intensity increase with the increase of the wrist flexion angle.

[0062] Figure 13 It is a schematic diagram of the finger proprioceptive feedback. Figure 13 On the left is a schematic diagram of a 3×3 vibration array, where M1, M2, and M3 represent three columns of vibration units, respectively feeding back the bending strokes of the thumb, index finger, and the lower three fingers. Figure 13 On the right is the relationship curve between the duty cycle of the vibration unit and the finger stroke. The finger bending stroke p ∈ (0, 2 cm), and the duty cycle PWM of the M x column vibration unitx =(P x / P max ) 2 × 100%, P x is the currently detected motor stroke.

[0063] Figure 14 is a schematic diagram of force tactile feedback, Figure 14 On the left is a schematic diagram of the "3 up 4 down" vibration array. The numbers 10 - 16 are the serial numbers of the vibration units. Figure 14 On the right is the curve of the relationship between the pressure magnitude and the duty cycle of the vibration unit. The force tactile information includes 7 - channel pressure information F ∈ (1, 20N). The vibration units 10 - 12 feedback the pressure information of the 3 - channel force sensors at the fingertips of the thumb, index finger, and middle finger. The vibration units 13 - 16 feedback the pressure information of the 4 - channel palm force sensors. The duty cycle PWM of the vibration motor with the serial number x x = F x / F max × 100%, where F x is the pressure magnitude detected by the current channel

[0064] Figure 15 is a schematic diagram of proximity feedback. Figure 15 On the left is a schematic diagram of the "3 up 4 down" vibration array. The numbers 10 - 16 are the serial numbers of the vibration units. Figure 15 On the right is the curve of the relationship between the distance and the vibration interval. The proximity distance information d ∈ (0, 200mm). The vibration units 10 - 12 perform dot - type vibration stimulation feedback. Each "dot" is a single vibration with a duration of 50ms. The closer to the object, the shorter the adjacent vibration interval. The vibration interval VI = d 2 / 100 + 100ms.

[0065] It should be noted that the above content only illustrates the technical idea of the present invention and cannot be used to limit the protection scope of the present invention. For those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and retouches can be made, and these improvements and retouches all fall within the protection scope of the claims of the present invention.

Claims

1. A wearable tactile perception reconstruction system, characterized in that: At least comprising a myoelectric prosthetic hand, a flexible armband, a vibration feedback array and a feedback controller, The flexible armband is used to bind the system to the upper arm of the subject; The myoelectric prosthetic hand is located at the end of the subject's limb, connected to the feedback controller, and transmits data of the pressure sensor, distance sensor, and motor encoder to the feedback controller; The vibration feedback array is located inside the flexible armband, in direct contact with the subject's skin, and connected to the feedback controller to obtain the PWM drive signal; The feedback controller is located outside the flexible armband and includes at least a control box and a circuit board, wherein the circuit board is fixed inside the control box.

2. A wearable tactile perception reconstruction system as claimed in claim 1, characterized in that: The myoelectric prosthetic hand at least comprises a hand, a receiving cavity and a prosthetic controller. The hand is provided with a pressure sensor, a laser ranging sensor and a motor encoder for obtaining fingertip pressure information, palm pressure information, proximity distance information, finger joint motor position information and wrist joint motor position information; wherein the pressure sensor at least includes a thumb fingertip pressure sensor, an index fingertip pressure sensor, a middle fingertip pressure sensor and a 4-channel palm pressure sensor; the motor encoder at least includes a finger joint motor encoder and a wrist joint motor encoder; The inner side of the receiving cavity is equipped with an electromyographic electrode, which contacts the subject's limb and is connected to the prosthesis controller via a data line to obtain the surface electromyographic data of the subject's limb.

3. A wearable tactile perception reconstruction system as claimed in claim 1, characterized in that: The vibration feedback array is provided with 16 eccentric vibration motors, which are divided into 2 vibration areas, with a 3×3 arrangement on one side and a "3 on top and 4 on bottom" arrangement on the other side. Each vibration motor is provided with 2 pins and is wired to the circuit board through the outlet at the bottom of the control box.

4. A wearable tactile perception reconstruction system as claimed in claim 3, characterized in that: The vibration motor is encapsulated by a soft rubber cap, covered with a sponge gasket, and sewn and fixed to the bottom cloth; the top of the soft rubber cap is provided with an annular dot-shaped protrusion and a wavy skirt.

5. A wearable tactile perception reconstruction system as claimed in claim 1, characterized in that: The feedback controller is equipped with a switch button and an indicator light on the top, and a Type-C port is reserved on the side for inserting the data cable of the myoelectric prosthetic hand. There are 4 screw holes and a wire outlet at the bottom, which is fixed to the surface of the flexible armband by sewing the soft rubber skirt.

6. A wearable tactile perception reconstruction system as claimed in claim 1, characterized in that: The flexible armband includes a three-layer structure, which includes a felt surface layer, a sponge layer and a stretch knitted fabric layer from top to bottom, and the three layers are fixed by edging and sewing; the surface layer has holes according to the position of the control box, and the interlayer and bottom layer of the fabric have holes according to the position of the vibration unit, which are used for sewing and fixing the control box and each vibration unit.

7. A wearable tactile perception reconstruction method using the system as claimed in claim 1, characterized in that: The steps include: S1: The user actively controls the myoelectric prosthetic hand to make different movements and interact with environmental objects. The sensors on the myoelectric prosthetic hand detect various sensory information data and transmit them to the feedback controller in real time; S2: The feedback controller receives the sensory information data and converts it into stimulus coding instructions; S21: normalizing the sensor data, mapping the finger joint bending stroke, wrist joint rotation angle, pressure value and approach distance to standardized parameters of 0-100%; S22: Select encoding rules according to the type of perceived information: finger joint proprioception corresponds to column vibration encoding of 3×3 array, wrist joint proprioception corresponds to water flow vibration encoding, force touch corresponds to trigger vibration encoding, and proximity perception corresponds to tapping vibration encoding; S23: Generate an instruction packet including a frame ID and a data frame, wherein the frame ID is used to identify the type of perception information, and the data frame includes a mapping relationship between standardized parameters and vibration parameters, wherein the vibration parameters include vibration intensity, action time, and action mode; S3: The vibration feedback array receives the stimulus coding instruction and applies different vibration stimuli to the upper arm of the user to provide vibrotactile feedback; the different vibration stimuli specifically include: judging the type of the received perception information according to the stimulus coding instruction frame ID, When the proprioceptive information of the finger joints is received, the 3×3 vibration array is driven. The thumb, index finger and lower three fingers of the myoelectric prosthetic hand correspond to the left, middle and right columns of vibration units in the 3×3 vibration array respectively. When the corresponding fingers are bent, the vibration units in the corresponding columns generate vibration stimulation. When the proprioceptive information of the wrist joint is received, the 3×3 vibration array is driven to perform water-flow vibration stimulation; When receiving proximity information, the upper three vibration units in the "upper 3 and lower 4" vibration array are driven to perform dot-type vibration stimulation; When receiving finger force tactile information, the upper three vibration units in the "upper 3 and lower 4" vibration array are driven to perform triggered vibration stimulation; When palm force tactile information is received, the upper three vibration units in the "upper 3 and lower 4" vibration array are driven to perform triggered vibration stimulation.

8. A wearable tactile perception reconstruction method as claimed in claim 7, characterized in that: When proprioceptive information of the wrist joint is received, for wrist rotation movement, the vibration array is divided into three vertical rows of left, middle and right columns, and the vibration motors in each row are controlled to vibrate in sequence in the direction of the arm. Left and right flowing water scanning vibration is used to characterize the direction of wrist rotation, and the flowing water frequency and vibration intensity increase with the increase of the wrist rotation angle; for wrist turning movement, the vibration array is divided into three horizontal rows of upper, middle and lower rows, and the vibration motors in each row are controlled to vibrate in sequence along the direction of the arm. Front and back flowing water scanning vibration is used to characterize the direction of wrist turning, and the flowing water frequency and vibration intensity increase with the increase of the gear position.

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