Pulse condition simulation system of bionic arm and simulation method thereof

Abstract

The invention discloses a pulse condition simulation system of a bionic arm and a simulation method thereof. The pulse condition simulation system comprises a pulse condition acquisition module, an upper computer, a main control module and a lower computer, the pulse condition acquisition module is in network transmission connection with the upper computer, acquires a pulse condition data signal of a human wrist and inputs the pulse condition data signal to the upper computer; an upper computer transmits original pulse condition data signals to a main control module, the main control module preprocesses the original data signals, and then key feature points of the preprocessed pulse condition data signals are calculated and extracted to obtain pulse condition data analog signals; the master control module transmits the pulse condition data analog signal to the lower computer to simulate the pulse condition of the human body; an execution module in the lower computer converts the pulse condition data analog signal into an electric signal for controlling a motor oil pump and an electromagnetic valve and transmits the electric signal to a pulse condition generation module in the lower computer; the pulse condition generation module controls a motor oil pump and a solenoid valve in a bionic arm in the lower computer to be switched on and off according to the electric signal, so that the bionic arm simulates the pulse condition, and the pulse feeling of a real human hand is fully simulated.

Description

Technical Field

[0001] The present invention relates to the field of biomedical technology, and particularly to a pulse simulation system and a simulation method for a bionic arm. Background Art

[0002] The pulse restoration technology refers to converting the collected pulse data into a digital format, and then re-converting the digital signal into a perceptible physical action of the human fingertip in this way, which appears at three pulse positions of the bionic arm, so that the staff can restore the corresponding pulse data according to the pulse position and pressure of the staff. Most of the existing pulse restoration principles use only the movement of mechanical movers to achieve the effect of simulating various pulses. There are many factors affecting the restoration effect, and the pulse beating feeling of the mechanical vibration method for restoring the pulse is quite different from that of a real person; in the existing real-time remote pulse restoration, the restored pulse data is adjusted as much as possible to make the pulse accurate. However, even if the corrected pulse data is not much different from the original pulse data, when restored mechanically, it will be affected by the movement of the machine or due to the error of mechanical parts, resulting in the pulse beating force of the restored pulse not reaching the most original pulse data, thus leading to inaccurate pulse restoration. Summary of the Invention

[0003] Object of the Invention: In order to overcome the deficiencies in the prior art, the present invention provides a pulse simulation system and a simulation method for a bionic arm, which can achieve automatic collection of pulses and pulse data analysis, and accurately and timely restore the pulse through the bionic arm.

[0004] Technical Solution: To achieve the above object, a pulse simulation system for a bionic arm of the present invention includes a pulse collection module, a host computer, a main control module, and a slave computer; the pulse collection module is connected to the host computer through network transmission, and collects the pulse data signal of the human wrist and inputs it to the host computer; the host computer transmits the original pulse data signal to the main control module, and the main control module preprocesses the original data signal, and then extracts the key feature points of the preprocessed pulse data signal to obtain a pulse data simulation signal; the main control module transmits the pulse data simulation signal to the slave computer for simulating the human pulse; the slave computer includes an execution module, a pulse generation module, and a bionic arm; the execution module converts the pulse data simulation signal into an electrical signal for controlling the motor oil pump and the solenoid valve and transmits it to the pulse generation module; the pulse generation module controls the opening and closing of the motor oil pump and the solenoid valve in the bionic arm according to the electrical signal, so that the bionic arm simulates the human pulse.

[0005] Further, the pulse signal acquisition module includes a chi-guan-cun positioning module, a chi-guan-cun signal acquisition module, a chi-guan-cun signal conditioning module, an A / D conversion module, a pressure control system, and a single-chip microcomputer module; the single-chip microcomputer module is respectively connected to the pressure control system and the chi-guan-cun positioning module in a controlled manner; the output end of the chi-guan-cun signal acquisition module is connected to the input end of the chi-guan-cun signal acquisition module in a transmission manner, the output end of the chi-guan-cun signal acquisition module is connected to the A / D conversion module in a transmission manner, the A / D conversion module is connected to the single-chip microcomputer module in a transmission manner, and the single-chip microcomputer module is connected to the host computer in a network transmission manner.

[0006] Further, the single-chip microcomputer module controls the chi-guan-cun positioning module to position the three positions of chi, guan, and cun on the human wrist; the single-chip microcomputer module controls the pressure control system to apply different pressures according to the positioning of chi, guan, and cun on the human wrist; the pulse signal acquisition module acquires the pulse data signals of chi, guan, and cun on the human wrist according to the positioning of chi, guan, and cun and the pressure applied by the pressure control system, and transmits them to the chi-guan-cun signal conditioning module for processing; the chi-guan-cun signal conditioning module inputs the pulse data signals of chi, guan, and cun into the A / D conversion module for analog-to-digital conversion, the A / D conversion module inputs the pulse data signals of chi, guan, and cun into the single-chip microcomputer module, and the single-chip microcomputer module transmits the obtained pulse data signals of chi, guan, and cun to the host computer.

[0007] Further, the pulse generation module includes a plurality of optocoupler-controlled MOS transistor switch circuits; the switches of the motor oil pump and the solenoid valve in the bionic arm are both controlled by the optocoupler-controlled MOS transistor switch circuits; the optocoupler-controlled MOS transistor switch circuit control includes a U4 optoelectronic integrated circuit, an LED4 optoelectronic diode, and a Q4 MOS transistor; the 1 end of the U4 optoelectronic integrated circuit is electrically connected to the electrical signal output by the execution module, the 2 end of the U4 optoelectronic integrated circuit is grounded through an R4 resistor; the 3 end of the U4 optoelectronic integrated circuit is electrically connected to one end of an R16 resistor, and the other end of the R16 resistor is electrically connected to the gate of the Q4 MOS transistor; the 4 end of the U4 optoelectronic integrated circuit is electrically connected to one end of an R8 resistor, and the other end of the R8 resistor is electrically connected to one end of an R15 resistor, the negative end of a D8 diode, and the power supply voltage; the other end of the R15 resistor is electrically connected to the positive end of the LED4 optoelectronic diode, the negative end of the LED4 optoelectronic diode is electrically connected to the positive end of the D8 diode and the drain of the Q4 MOS transistor, and the negative end of the LED4 optoelectronic diode serves as the output end of the optocoupler-controlled MOS transistor switch circuit.

[0008] Further, it further includes an analog pulse detection module; the analog pulse detection module is connected to the main control module in a transmission manner; the analog pulse detection module detects the pulse simulated by the pulse circuit composed of the motor oil pump and the solenoid valve in the bionic arm to obtain pulse feedback data; and transmits the pulse feedback data to the main control module, and the main control module adjusts the pulse data analog signal according to the pulse feedback data.

[0009] Furthermore, a pulse condition simulation method for a pulse condition simulation system of a bionic arm includes the following steps:

[0010] Step 1: The pulse condition acquisition module acquires the original pulse condition data of the chi, guan, and cun positions on the human wrist, and simultaneously records the amplitudes and periods of the original pulse condition data signals of the chi, guan, and cun positions, and packs the original pulse condition data of the chi, guan, and cun positions into a DAT file for remote network transmission to the host computer;

[0011] Step 2: The host computer displays and stores the obtained original pulse condition data of the chi, guan, and cun positions, and transmits the original pulse condition data of the chi, guan, and cun positions to the main control module for processing;

[0012] Step 3: The main control module preprocesses the original pulse condition data of the chi, guan, and cun positions by denoising and removing baseline drift, then extracts the peak characteristics of the pulse condition data of the preprocessed chi, guan, and cun positions, and performs D / A digital-to-analog conversion to obtain the analog signals of the pulse condition data of the chi, guan, and cun positions, and transmits them to the lower computer;

[0013] Step 4: The lower computer initializes the system, determines whether the solenoid valve and the motor oil pump are in the initial state, otherwise adjusts the state and re-determines, if yes, proceeds to the next step;

[0014] Step 5: Determine whether to receive the analog signals of the pulse condition data of the chi, guan, and cun positions, otherwise re-determine, if yes, control the motor oil pump and the solenoid valve switch to simulate the pulse condition through the pulse condition generation module.

[0015] Furthermore, when the pulse condition is simulated by the motor oil pump and the solenoid valve in the bionic arm, the method for the simulation pulse condition detection module to detect and adjust the simulated pulse condition includes the following steps:

[0016] S1-1: Detect the pulse condition already generated by the bionic arm, and acquire the pulse conditions of the chi, guan, and cun positions simulated by the bionic arm to form the feedback data signals of the pulse conditions of the chi, guan, and cun positions;

[0017] S1-2: The main control module compares the amplitudes and periods in the waveforms of the feedback data signals of the pulse conditions of the chi, guan, and cun positions with the amplitudes and periods of the original pulse condition data signals of the acquired chi, guan, and cun positions to obtain a comparison result;

[0018] S1-3: The main control module adjusts the output analog signals of the pulse condition data according to the comparison result. When the amplitudes and periods of the feedback data signals of the pulse condition are less than or greater than the amplitudes and periods of the original pulse condition data signals of the chi, guan, and cun positions, the amplitudes and periods of the analog signals of the pulse condition data are increased or decreased;

[0019] After S1-4 outputs the adjusted pulse condition data analog signal to the execution module, step S1-1 is executed again to determine whether the amplitudes and periods in the waveforms of the pulse condition feedback data signals of the chi, guan, and cun obtained by the second acquisition are equal to the amplitudes and periods of the original pulse condition data signals of the chi, guan, and cun. If they are equal, the main control module outputs the pulse condition data analog signal at this time; otherwise, steps S1-1 to S1-4 are repeatedly executed.

[0020] Further, in the first step, when collecting human pulse condition data, different levels of pressure are applied to the three positions of the chi, cun, and guan on the human wrist through a pressure control system. The applied pressure is classified into five levels according to the pressure of conventional pulse-taking; the five levels of pressure are sequentially applied to the chi position, cun position, and guan position on the human wrist, and the original pulse condition data of the chi, cun, and guan are collected under the five levels of pressure respectively.

[0021] Further, a pressure detection module is provided in the bionic arm to detect the pressure of pulse-taking on the bionic arm and transmit it to the main control module; the main control module determines the pressure level of pulse-taking according to the pressure of pulse-taking and outputs the pulse condition data analog signal at the corresponding pressure level.

[0022] Beneficial effects: The pulse condition simulation system and its simulation method of a bionic arm according to the present invention collect the original pulse condition data of the chi, cun, and guan, and then control the on / off of the motor oil pump and solenoid valve in the bionic arm through the execution module and the pulse condition generation module, realizing the circulation of the hydraulic oil circuit system driven by the motor to drive the oil pump, and cooperating with the regular opening and closing of the solenoid valve to fully simulate the pulse-taking finger feeling of a real human hand; the automatic monitoring can continuously track the pulse changes, even seamlessly during the patient's rest or sleep, providing continuous and complete physiological data for the staff; and collect the pulse condition data of the chi, cun, and guan of the human body under different pressures, and still enable the staff to conduct a complete diagnosis of the human body when the human body leaves; and adjust the pulse condition data analog signal through the simulated pulse condition detection module, making the simulated pulse restored by the simulation arm more accurate. Description of the Drawings

[0023] Figure 1 It is a block diagram of the pulse condition simulation system of the bionic arm;

[0024] Figure 2 It is a flowchart of the pulse condition simulation method of the bionic arm;

[0025] Figure 3 It is a block diagram of the pulse condition acquisition module;

[0026] Figure 4 It is a circuit diagram of the optocoupler control MOS transistor switch circuit;

[0027] Figure 5To collect the original pulse condition data signal related to size. Detailed implementation mode

[0028] The present invention will be further described below with reference to the accompanying drawings.

[0029] As Figure 1 shown, a pulse condition simulation system of a bionic arm includes a pulse condition acquisition module, a host computer, a main control module, and a slave computer; the pulse condition acquisition module is connected to the host computer through network transmission, and acquires the pulse condition data signal of the human wrist and inputs it to the host computer; the host computer communicates with the pulse condition acquisition module, and transmits the original pulse condition data signal collected by the pulse condition acquisition module to the main control module through transmission. The main control module is responsible for the communication between the host computer and the slave computer. The main control module preprocesses the original data signal, and then calculates and extracts the key feature points of the preprocessed pulse condition data signal to obtain a pulse condition data simulation signal; the main control module transmits the pulse condition data simulation signal to the slave computer to simulate the human pulse condition; the slave computer includes an execution module, a pulse generation module, and a bionic arm; the execution module converts the pulse condition data simulation signal into an electrical signal for controlling the motor oil pump and the solenoid valve and transmits it to the pulse generation module; the pulse generation module controls the opening and closing of the motor oil pump and the solenoid valve in the bionic arm according to the electrical signal, simulates the beating of the pulse, and enables the bionic arm to simulate and restore the human pulse condition;

[0030] The main control module selects a NUC600 main control board. The bionic arm makes full use of bionics to simulate the structure and finger feeling of an adult arm. There is an artificial blood vessel inside, which is the part where the pulse condition is finally restored. The bionic hand designed with a real human hand as a model has a texture and pulse-taking finger feeling that are very close to those of a real human hand. A radial artery blood flow model based on hemodynamics is established in the bionic arm, and it is operated through a hydraulic oil circuit system constructed by an oil circuit, a motor oil pump, and a solenoid valve to simulate the pulse beat.

[0031] As Figure 3 shown, the pulse condition acquisition module includes a size-guan positioning module, a size-guan signal acquisition module, a size-guan signal conditioning module, an A / D conversion module, a pressure control system, and a single-chip microcomputer module; the single-chip microcomputer module is respectively connected to the pressure control system and the size-guan positioning module in a controlled manner; the output end of the size-guan signal acquisition module is connected to the input end of the size-guan signal acquisition module, the output end of the size-guan signal acquisition module is connected to the A / D conversion module, the A / D conversion module is connected to the single-chip microcomputer module, and the single-chip microcomputer module is connected to the host computer through network transmission. The size-guan signal conditioning module includes an amplifier circuit, a low-pass filter, and a band-pass filter; therefore, the size-guan signal conditioning module amplifies, filters, and denoises the pulse condition data signal collected by the size-guan signal acquisition module. The pressure control system includes three groups of pressure control modules, and these three groups of pressure control modules apply pressure to three positions corresponding to the chi, cun, and guan of the wrist respectively.

[0032] The size-guan signal acquisition module uses a resistive pulse sensor, and the resistive pulse sensor uses a flexible pulse sensor CP301; the CP301 flexible pulse sensor prints a flexible nano-functional material with strong adhesion, bend resistance, and high sensitivity on a flexible and thin material, enabling it to achieve high-sensitivity detection of pressure and realize the function of mimicking human skin perception, and can sense tiny pressure or tactile signals; the CP301 sensor is a resistive sensor, and its output resistance decreases as the pressure applied to the sensor surface increases. With its ultra-high sensitivity characteristics, it can detect physiological signals such as pulse waves, heart rates, and blood pressures. The single-chip microcomputer module uses STM32F103ZET6. The size-guan positioning module is a pulse-taking auxiliary positioning device.

[0033] The single-chip microcomputer module controls the size-guan positioning module to position the three positions of chi, cun, and guan on the human wrist; the single-chip microcomputer module controls the pressure control system to apply different intensities of pressure according to the positioning of chi, cun, and guan on the human wrist; the pulse condition acquisition module acquires the pulse condition data signals of chi, guan, and cun on the human wrist according to the positioning of chi, cun, and guan and the pressure applied by the pressure control system, and transmits them to the size-guan signal conditioning module for processing; the size-guan signal conditioning module inputs the pulse condition data signals of chi, guan, and cun into the A / D conversion module for analog-to-digital conversion, the A / D conversion module inputs the pulse condition data signals of chi, guan, and cun into the single-chip microcomputer module, and the single-chip microcomputer module transmits the obtained pulse condition data signals of chi, guan, and cun to the host computer.

[0034] Such as Figure 4As shown, the pulse condition generating module includes several optocoupler-controlled MOS transistor switch circuits; the switches of the motor oil pump and the solenoid valve in the bionic arm are both controlled by optocoupler-controlled MOS transistor switch circuits; the optocoupler-controlled MOS transistor switch circuit control includes a U4 optoelectronic integrated circuit 11, an LED4 photodiode 12, and a Q4 MOS transistor 13; the 1 terminal of the U4 optoelectronic integrated circuit 11 is electrically connected to the electrical signal output by the execution module, and the 2 terminal of the U4 optoelectronic integrated circuit 11 is grounded through an R4 resistor; the 3 terminal of the U4 optoelectronic integrated circuit 11 is electrically connected to one end of an R16 resistor, and the other end of the R16 resistor is electrically connected to the gate of the Q4 MOS transistor 13; the 3 terminal of the U4 optoelectronic integrated circuit 11 is electrically connected to the negative terminal of a D4 diode, and the positive terminal of the D4 diode is electrically connected to MGND for connecting to the reference ground; the other end of the R16 resistor is electrically connected to one end of an R20 resistor, and the other end of the R20 resistor and the source electrode of the Q4 MOS transistor are both electrically connected to MGND, that is, for connecting to the reference ground; the 4 terminal of the U4 optoelectronic integrated circuit 11 is electrically connected to one end of an R8 resistor, and the other end of the R8 resistor is electrically connected to one end of an R15 resistor, the negative terminal of a D8 diode, and the power supply voltage, where the power supply voltage is +12V power supply voltage; the other end of the R15 resistor is electrically connected to the positive terminal of the LED4 photodiode 12, and the negative terminal of the LED4 photodiode 12 is electrically connected to the positive terminal of the D8 diode and the drain of the Q4 MOS transistor 13, and the negative terminal of the LED4 photodiode 12 serves as the output terminal of the optocoupler-controlled MOS transistor switch circuit. The U4 optoelectronic integrated circuit 11 includes a light-emitting diode and a phototransistor. The positive terminal of the light-emitting diode serves as the 1 terminal of the U4 optoelectronic integrated circuit 11, and the negative terminal of the light-emitting diode serves as the 2 terminal of the U4 optoelectronic integrated circuit 11; the collector of the phototransistor serves as the 4 terminal of the U4 optoelectronic integrated circuit 11, and the emitter of the phototransistor serves as the 3 terminal of the U4 optoelectronic integrated circuit 11; when the light-emitting diode emits light, the phototransistor is turned on. The optocoupler-controlled MOS transistor switch circuit can achieve advantages such as fast switching, high adjustment accuracy, and a wide reaction speed, and at the same time eliminates the connection problems generated by mechanical switches; therefore, in this system, both the solenoid valve and the motor oil pump use this switch circuit to control the switches of the motor oil pump and the solenoid valve.

[0035] The hardware circuit of the pulse condition restoration system of the bionic arm requires two voltages, +12V and +3.3V. +12V is used to supply power to the analog circuit solenoid valve and the oil pump motor, and is provided by the FS-60-12 power supply; +3.3V is used to supply power to the single-chip microcomputer and the optoelectronic switch array, and is obtained by converting +12V through the level conversion module DM02-28033024DS.

[0036] It also includes a simulated pulse detection module; the simulated pulse detection module is connected to the main control module for transmission; the simulated pulse detection module detects the pulse condition simulated by the pulse path composed of a motor oil pump and a solenoid valve in the bionic arm, obtains pulse feedback data; and transmits the pulse feedback data to the main control module, and the main control module adjusts the pulse data analog signal according to the pulse feedback data.

[0037] As Figure 2 shown, a pulse simulation method for a pulse simulation system of a bionic arm includes the following steps:

[0038] Step 1: The pulse acquisition module acquires the original pulse data of the chi, guan, and cun positions on the human wrist, and simultaneously records the amplitudes and periods of the original pulse data signals of the chi, guan, and cun positions, and packs the original pulse data of the chi, guan, and cun positions and the recorded amplitudes and periods of the original pulse data signals of the chi, guan, and cun positions into a DAT file for remote network transmission to the upper computer.

[0039] Step 2: The upper computer displays and stores the obtained original pulse data of the chi, guan, and cun positions, and transmits the original pulse data of the chi, guan, and cun positions to the main control module for processing.

[0040] Step 3: The main control module performs preprocessing of denoising and baseline drift removal on the original pulse data of the chi, guan, and cun positions, and then performs calculation and extraction of key feature points on the preprocessed original pulse data of the chi, guan, and cun positions, that is, performs pulse data wave peak feature extraction, and performs D / A digital-to-analog conversion to obtain the pulse data analog signals of the chi, guan, and cun positions, and transmits them to the lower computer.

[0041] Step 4: The lower computer performs system initialization, determines whether the solenoid valve and the motor oil pump are in the initial state, otherwise adjusts the state and re-determines, and if so, proceeds to the next step.

[0042] Step 5: Determine whether to receive the pulse data analog signals of the chi, guan, and cun positions, otherwise re-determine, and if so, control the opening and closing of the motor oil pump and the solenoid valve through the pulse generation module, realize the circulation of the hydraulic oil circuit system driven by the motor to drive the oil pump, and cooperate with the regular opening and closing of the solenoid valve to simulate and restore the pulse condition, fully simulating the pulse feeling of the real human hand.

[0043] When the pulse condition is simulated and restored in the bionic arm through the motor oil pump and the solenoid valve, the method for the simulated pulse detection module to detect and adjust the simulated pulse includes the following steps:

[0044] S1-1: The simulated pulse detection module detects the pulse condition already generated by the bionic arm, and acquires the pulse conditions of the chi, guan, and cun positions simulated and restored by the bionic arm, forming pulse feedback data signals of the chi, guan, and cun positions.

[0045] S1-2, the main control module compares the amplitude and period and other data in the waveform of the pulse feedback data signal of Chi, Guan and Cun with the amplitude and period and other data of the original pulse data of Chi, Guan and Cun to obtain a comparison result;

[0046] S1-3, the main control module adjusts the pulse data analog signal output according to the comparison result. When the pulse feedback data signal amplitude and period and other data are less than or greater than the amplitude and period and other data of the original pulse data signal of Chi, Guan and Cun, the amplitude and period of the pulse data analog signal are increased or decreased;

[0047] After S1-4 outputs the adjusted pulse data analog signal to the execution module, step S1-1 is executed again to determine whether the amplitude, period and other data in the waveform of the pulse feedback data signal of Chi, Guan and Cun collected again are equal to the amplitude, period and other data of the original pulse data signal of Chi, Guan and Cun. If so, the main control module outputs the pulse data analog signal at this time, otherwise steps S1-1 to S1-4 are executed in a loop.

[0048] In the step 1, when collecting human pulse data, different pressures are applied to the three positions of Chi, Cun and Guan of the human wrist through the pressure control system, and the applied pressure is graded to set five levels of pressure according to the strength of conventional pulse diagnosis; five levels of pressure are applied to the Chi position, Cun position and Guan position of the human wrist in sequence, and the original pulse data of Chi, Cun and Guan are collected under the five levels of pressure. Conventional pulse diagnosis includes three strengths of floating, middle and sinking, wherein floating corresponds to the first level of pressure, middle corresponds to the second level of pressure, sinking corresponds to the fourth level of pressure, the third level of pressure is set between the middle and sinking, and the fifth level of pressure is set after sinking; the pressure control system applies the first level of pressure to the human wrist, and the size and Guan signal acquisition module in the pulse acquisition module collects the pulse data of the three positions of Chi, Cun and Guan under the first level of pressure; the pulse data of the three positions of Chi, Cun and Guan under the second level of pressure, the third level of pressure, the fourth level of pressure and the fifth level of pressure are collected by the same method.

[0049] The bionic arm is provided with a pressure detection module, through which the force of feeling the pulse on the bionic arm is detected and transmitted to the main control module; the main control module determines the pressure level of feeling the pulse according to the force of feeling the pulse, and outputs the pulse data simulation signal under the corresponding pressure level according to the pressure level of feeling the pulse. The pressure level of feeling the pulse is the same as and corresponds to the five levels of pressure applied by the pressure control system. The pressure detection module can use a resistance strain gauge, and the resistance strain gauge uses BF120-3AA.

[0050] When the pulse condition acquisition module acquires the pulse condition of the human body, it needs to acquire the pulse condition data at three positions of chi, cun, and guan under different pressure levels within a period of time. First, the chi-cun-guan positioning module locates the three positions of chi, cun, and guan on the human wrist to find the exact positions of chi, cun, and guan. Then, three groups of pressure control modules in the pressure control system apply different levels of pressure to the positions of chi, cun, and guan on the wrist respectively. Specifically, the three groups of pressure control modules simultaneously apply the pressure of the first level to chi, cun, and guan and then acquire the original pulse condition data signals of chi, cun, and guan. The three groups of pressure control modules simultaneously apply the pressure of the second level to chi, cun, and guan and then acquire the original pulse condition data signals of chi, cun, and guan, and so on. The three groups of pressure control modules simultaneously apply the pressure of the fifth level to chi, cun, and guan and then acquire the original pulse condition data signals of chi, cun, and guan. The fifteen original pulse condition data signals at the three positions of chi, cun, and guan under five levels of pressure are obtained, and the amplitudes and periods of the fifteen original pulse condition data signals are recorded. Among them, there are five original pulse condition data signals at the chi position under five levels of pressure, five original pulse condition data signals at the cun position under five levels of pressure, and five original pulse condition data signals at the guan position under five levels of pressure. These fifteen original pulse condition data are divided into five groups of original pulse condition data signals of chi, cun, and guan according to the five levels of pressure. The original pulse condition data signals of chi, cun, and guan in the same group correspond to the same pressure level. These five groups of original pulse condition data signals of chi, cun, and guan are processed by amplification, filtering, and noise reduction through the chi-cun-guan signal conditioning module, and then the five groups of original pulse condition data signals of chi, cun, and guan are converted into digital signals through the A / D conversion module and then transmitted to the single-chip microcomputer module. After preliminary processing by the single-chip microcomputer module, they are packaged into DAT files and then transmitted to the upper computer through the network. As Figure 5 shown, where the three data signals are the original pulse condition data signals of chi, cun, and guan respectively.

[0051] The host computer displays and stores the original pulse data signals of the five groups of chi, cun, and guan, and transmits the original pulse data signals of these five groups of chi, cun, and guan to the main control module. The main control module preprocesses the original pulse data signals of these five groups, then calculates and extracts the key feature points, and then performs D / A digital-to-analog conversion on the original pulse data signals of the five groups of chi, cun, and guan to obtain analog signals, resulting in five groups of analog pulse data signals of chi, cun, and guan; the main control module inputs the five groups of analog pulse data signals of chi, cun, and guan into the execution module respectively according to the instructions, and the execution module converts the obtained analog pulse data signals into electrical signals for controlling the motor oil pump and the solenoid valve switch; the pulse generation module controls the opening of the motor oil pump and the solenoid valve switch according to the electrical signals, realizes the circulation of the hydraulic oil circuit system driven by the motor to drive the oil pump, and cooperates with the regular opening and closing of the solenoid valve to restore the pulse. At this time, the simulated pulse on the simulated arm is detected by the simulated pulse detection module to form pulse feedback data, and the amplitude and period of the pulse feedback data signal are compared with the amplitude and period of the collected original pulse data signal, and the analog pulse data signal output by the main control module is adjusted; the five groups of analog pulse data signals of chi, cun, and guan are all adjusted through the above working process.

[0052] Specifically, the analog signal of the pulse condition data of the chi, cun, and guan positions in the first-level pressure group is input into the execution module. The execution module converts the analog signal of the pulse condition data of the chi, cun, and guan positions in the first-level pressure into an electrical signal for controlling the motor oil pump and the solenoid valve switch. The pulse generation module controls the opening of the motor oil pump and the solenoid valve switch according to the electrical signal, realizes the circulation of the hydraulic oil circuit system driven by the motor to drive the oil pump, and cooperates with the regular opening and closing of the solenoid valve to restore the pulse condition. At this time, the pulse condition detection module detects the pulse condition of the bionic arm at this time to obtain the pulse condition feedback data signal. The collected pulse condition feedback data signal also includes the pulse condition feedback data signals of the chi, cun, and guan positions. Then, the main control module compares the amplitudes and periods of the pulse condition feedback data signals of the chi, cun, and guan positions with the amplitudes and periods of the original pulse condition data signals of the chi, cun, and guan positions in the first-level pressure group, adjusts the analog signal of the pulse condition data of the chi, cun, and guan positions in the first-level pressure group, and cycles the comparison and adjustment until the amplitudes and periods of the pulse condition feedback data signals of the chi, cun, and guan positions are equal to the amplitudes and periods of the original pulse condition data signals of the chi, cun, and guan positions in the first pressure level group. The same adjustment is also performed on the analog signals of the pulse condition data of the chi, cun, and guan positions in the four groups of the second-level pressure, the third-level pressure, the fourth-level pressure, and the fifth-level pressure, so that the bionic arm can accurately restore the original pulse condition data of the human body as much as possible. Because even if the analog signal of the pulse condition data output by the main control module is the same as the original pulse condition data signal, due to the slight error in the switching time of the motor oil pump and the solenoid valve, the restored pulse condition of the pulse beat will be incorrect. The incorrect pulse condition will cause the staff to misjudge the human disease during pulse diagnosis or palpation. Therefore, through cyclic adjustment, the pulse condition restored by the bionic arm is made as close as possible to the original pulse condition of the human body.

[0053] Then, when the staff diagnoses the pulse condition, first, the main control module outputs the adjusted analog signal of the pulse condition data of the chi, cun, and guan positions in the first-level pressure group for the staff to diagnose the pulse condition, because the staff will adopt the floating pulse-taking method at the beginning when diagnosing the pulse. Then, the pressure detection module on the bionic arm detects the pressures received at the three positions of the chi, cun, and guan of the bionic arm and divides the received pressures into five levels. When the pressures received at the three positions of the chi, cun, and guan are the first-level pressure, the main control module inputs the analog signal of the pulse condition data of the chi, cun, and guan positions in the first-level pressure group into the execution module. When the pressures received at the three positions of the chi, cun, and guan are the second-level pressure, the main control module inputs the analog signal of the pulse condition data of the chi, cun, and guan positions in the second-level pressure group into the execution module. And so on. When the pressures received at the three positions of the chi, cun, and guan are the fifth-level pressure, the main control module inputs the analog signal of the pulse condition data of the chi, cun, and guan positions in the fifth-level pressure group into the execution module.

[0054] Before the staff conducts pulse condition diagnosis, first adjust the analog signals of the pulse condition data at the chi, cun, and guan positions so that the staff can diagnose a more accurate restored pulse condition. At the same time, when collecting pulse condition data, it is necessary to collect the original pulse condition data at the chi, cun, and guan positions of the human body under different pressures and for a certain period of time. When the staff is too busy to diagnose the human body in a timely manner, at this time, collect the original pulse condition data at the chi, cun, and guan positions of the human body for a period of time and store it. When the staff has free time, they can diagnose the pulse condition. However, when the staff diagnoses the pulse condition, they need to press the chi, cun, and guan positions of the human body with different forces. Therefore, when collecting the pulse condition, it is necessary to collect the pulse conditions under different levels of pressure. When the staff diagnoses the bionic pulse condition, they can restore the pulse condition data at the chi, cun, and guan positions under different levels of pressure pressing. It can enable the staff to still conduct a complete pulse condition diagnosis when there is no real-time feedback of pulse condition data from the human body. In the existing remote pulse condition diagnosis, after the staff applies corresponding force, they then need to re-obtain the data of the pulse condition of the human wrist after applying this pressure. Without real-time feedback of pulse condition data from the human body, a complete pulse condition diagnosis cannot be conducted.

[0055] The above is only a description of the preferred embodiments of the present invention. Those of ordinary skill in the art of technology, based on the above disclosure, make several modifications and optimizations without departing from the above basic principle content. These improvements and optimizations should be regarded as the scope of protection understood by the present invention.

Claims

1. A pulse simulation system for a bionic arm, characterized in that: It includes a pulse condition acquisition module, a host computer, a main control module, and a slave computer; the pulse condition acquisition module is connected to the host computer through network transmission, and acquires the pulse data signal of the human wrist and inputs it to the host computer; the host computer transmits the original pulse data signal to the main control module, the main control module preprocesses the original data signal, and then calculates and extracts the key feature points of the preprocessed pulse data signal to obtain a pulse data analog signal; the main control module transmits the pulse data analog signal to the slave computer to simulate the human pulse condition; the slave computer includes an execution module, a pulse generation module, and a bionic arm; the execution module converts the pulse data analog signal into an electrical signal for controlling the motor oil pump and the solenoid valve and transmits it to the pulse generation module; the pulse generation module controls the opening and closing of the motor oil pump and the solenoid valve in the bionic arm according to the electrical signal, so that the bionic arm simulates the human pulse condition.

2. The pulse simulation system of a bionic arm according to claim 1, characterized in that: The pulse condition acquisition module includes a chi-guan positioning module, a chi-guan signal acquisition module, a chi-guan signal conditioning module, an A / D conversion module, a pressure control system, and a single-chip microcomputer module; the single-chip microcomputer module is respectively connected to the pressure control system and the chi-guan positioning module in a controlled manner; the output end of the chi-guan signal acquisition module is connected to the input end of the chi-guan signal acquisition module, the output end of the chi-guan signal acquisition module is connected to the A / D conversion module, the A / D conversion module is connected to the single-chip microcomputer module, and the single-chip microcomputer module is connected to the host computer through network transmission.

3. The pulse simulation system of a bionic arm according to claim 2, characterized in that: The single-chip microcomputer module controls the chi-guan positioning module to position the three positions of the chi, guan, and cun on the human wrist; the single-chip microcomputer module controls the pressure control system to apply different pressures according to the positioning of the chi, guan, and cun on the human wrist; the pulse condition acquisition module acquires the pulse data signals of the chi, guan, and cun on the human wrist according to the positioning of the chi, guan, and cun and the pressure applied by the pressure control system, and transmits them to the chi-guan signal conditioning module for processing; the chi-guan signal conditioning module inputs the pulse data signals of the chi, guan, and cun into the A / D conversion module for analog-to-digital conversion, the A / D conversion module inputs the pulse data signals of the chi, guan, and cun into the single-chip microcomputer module, and the single-chip microcomputer module transmits the obtained pulse data signals of the chi, guan, and cun to the host computer.

4. The pulse simulation system of a bionic arm according to claim 1, wherein: The pulse generation module includes several optocoupler-controlled MOS transistor switch circuits; the switches of the motor oil pump and the solenoid valve in the bionic arm are both controlled by the optocoupler-controlled MOS transistor switch circuits; the optocoupler-controlled MOS transistor switch circuit control includes a U4 optoelectronic integrated circuit (11), an LED4 photodiode (12), and a Q4 MOS transistor (13); the 1 end of the U4 optoelectronic integrated circuit (11) is electrically connected to the electrical signal output by the execution module, and the 2 end of the U4 optoelectronic integrated circuit (11) is grounded through an R4 resistor; the 3 end of the U4 optoelectronic integrated circuit (11) is electrically connected to one end of an R16 resistor, and the other end of the R16 resistor is electrically connected to the gate of the Q4 MOS transistor (13); the 4 end of the U4 optoelectronic integrated circuit (11) is electrically connected to one end of an R8 resistor, and the other end of the R8 resistor is electrically connected to one end of an R15 resistor, the negative end of a D8 diode, and the power supply voltage; the other end of the R15 resistor is electrically connected to the positive end of the LED4 photodiode (12), and the negative end of the LED4 photodiode (12) is electrically connected to the positive end of the D8 diode and the drain of the Q4 MOS transistor (13), and the negative end of the LED4 photodiode (12) serves as the output end of the optocoupler-controlled MOS transistor switch circuit.

5. The pulse simulation system of a bionic arm according to claim 1, characterized in that: It also includes an analog pulse detection module; the analog pulse detection module is connected to the main control module for transmission; the analog pulse detection module detects the pulse condition simulated by the pulse path composed of the motor oil pump and the solenoid valve in the bionic arm to obtain pulse feedback data; and transmits the pulse feedback data to the main control module, and the main control module adjusts the pulse data analog signal according to the pulse feedback data.

6. The pulse simulation method of a pulse simulation system for a bionic arm according to claims 1-5, characterized in that: It includes the following steps: Step 1, the pulse acquisition module acquires the original pulse data of the chi, guan, and cun positions on the human wrist, and simultaneously records the amplitude and period of the original pulse data signals of the chi, guan, and cun positions, and packs the original pulse data of the chi, guan, and cun positions into a DAT file for remote network transmission to the upper computer. Step 2, the upper computer displays and stores the obtained original pulse data of the chi, guan, and cun positions, and transmits the original pulse data of the chi, guan, and cun positions to the main control module for processing. Step 3, the main control module performs preprocessing of denoising and baseline drift removal on the original pulse data of the chi, guan, and cun positions, then extracts the peak characteristics of the pulse data of the preprocessed chi, guan, and cun positions, and performs D / A digital-to-analog conversion to obtain the pulse data analog signals of the chi, guan, and cun positions, and transmits them to the lower computer. Step 4, the lower computer performs system initialization, determines whether the solenoid valve and the motor oil pump are in the initial state, otherwise adjusts the state and re-determines, if yes, proceeds to the next step. Step 5, determines whether to receive the pulse data analog signals of the chi, guan, and cun positions, otherwise re-determines, if yes, controls the motor oil pump and the solenoid valve switches to simulate the pulse through the pulse generation module.

7. The pulse simulation method of the pulse simulation system of a bionic arm according to claim 6, characterized in that: When simulating the pulse through the motor oil pump and the solenoid valve in the bionic arm, the method for the analog pulse detection module to detect and adjust the simulated pulse includes the following steps: S1-1, detects the pulse already generated by the bionic arm, and acquires the pulses of the chi, guan, and cun positions simulated by the bionic arm to form the pulse feedback data signals of the chi, guan, and cun positions. S1-2. The main control module compares the amplitudes and periods in the waveforms of the pulse condition feedback data signals of chi, guan, and cun with those of the original pulse condition data signals collected from chi, guan, and cun to obtain a comparison result; S1-3. The main control module adjusts the output analog pulse condition data signal according to the comparison result. When the amplitudes and periods of the pulse condition feedback data signals are smaller or larger than those of the original pulse condition data signals of chi, guan, and cun, the amplitudes and periods of the analog pulse condition data signal are increased or decreased; After the adjusted analog pulse condition data signal is output to the execution module, step S1-1 is executed again to determine whether the amplitudes and periods in the waveforms of the pulse condition feedback data signals of chi, guan, and cun collected again are equal to those of the original pulse condition data signals of chi, guan, and cun. If so, the main control module outputs the analog pulse condition data signal at this time; otherwise, steps S1-1 to S1-4 are executed in a loop.

8. The pulse simulation method of the pulse simulation system of a bionic arm according to claim 6, characterized in that: In step 1, when collecting human pulse condition data, different levels of pressure are applied to the three positions of chi, cun, and guan on the human wrist through a pressure control system. The applied pressure is graded into five levels according to the pressure of conventional pulse feeling; five levels of pressure are successively applied to the chi position, cun position, and guan position on the human wrist, and the original pulse condition data of chi, cun, and guan are collected under the five levels of pressure respectively.

9. The pulse simulation method of a pulse simulation system for a bionic arm according to claim 8, characterized in that: A pressure detection module is provided in the bionic arm to detect the pressure of pulse feeling on the bionic arm and transmit it to the main control module; the main control module determines the pressure level of pulse feeling according to the pressure of pulse feeling and outputs an analog pulse condition data signal at the corresponding pressure level according to the pressure level of pulse feeling.

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