CN103405293A - Intelligent joint assembly and intelligent artificial limb using same - Google Patents
Intelligent joint assembly and intelligent artificial limb using same Download PDFInfo
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- CN103405293A CN103405293A CN2013103575970A CN201310357597A CN103405293A CN 103405293 A CN103405293 A CN 103405293A CN 2013103575970 A CN2013103575970 A CN 2013103575970A CN 201310357597 A CN201310357597 A CN 201310357597A CN 103405293 A CN103405293 A CN 103405293A
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Abstract
The invention discloses an intelligent joint assembly and an intelligent artificial limb using the intelligent joint assembly. The intelligent joint assembly comprises an external sensor part (1) and a nearthrosis part which is electrically connected with the external sensor part (1) in a wired or wireless encryption manner, wherein the external sensor part (1) comprises a signal transmitting part (5), a pressure sensor, a three-axis gyroscope (3) and a gravity sensor (2), the pressure sensor is electrically connected with the signal transmitting part (5), the three-axis gyroscope (3) is bound on a normal joint and is used for simultaneously determining the locations and moving loca of six directions and recording the space location of the normal joint, and the gravity sensor (2) is used for recording the rotation condition of the normal joint. The intelligent joint assembly has the advantages that the function of the intelligent auxiliary movement of the nearthrosis part is completed, the automatic and intelligent artificial limb is realized, and conveniences are brought to the movement of the disabled.
Description
Technical field
The present invention relates to a kind of joint assembly, relate in particular to a kind of intelligent switch joint assembly and use its intelligent artificial limb.
Background technology
Artificial limb on existing various medical apparatus and instruments engineering, what have can only copy normal limbs in appearance, the swing that can only realize limbs had etc., but as traditional locking device or bearing self locking joint artificial limb, its kinestate is malleable not, the spy can not control swing speed by the damping of controlling joint to change in swing process, therefore can't meet the human normal living needs.Progress along with computer, artificial limb is being updated in recent years, the patent No. is that the patent of invention of ZL200610118009.8 discloses the intelligent lap artificial limb system that a kind of follow pace of health leg is controlled, in this patent, can only realize the gait tracking of artificial limb to healthy limb, make gait more true to nature, the control that changes of conforming is more reasonable, but in this patent, artificial limb is only realized kneed rotation by healthy leg testing agency, can't realize switch and voice control according to instruction, in healthy leg testing agency, only has angular transducer, can't perceived position, acceleration, gravity, the situations such as pressure, therefore implement dumb, can not solve well people with disability's walking, run, synchronously stand up, squat down, the athletic performance such as sit down, can not intelligentized realization to learning records and the imitation of normal limb motion custom.In addition, this patent only comprises the lower limb knee joint, can not realize imitation or the independent running of other joint of lower limb and upper limb system, can not realize the simulation to the motion of part limbs such as hands, foot.
Summary of the invention
Covering scope of the present invention comprises upper limb and lower limb, adopt simultaneously the instruction input of a greater variety of sensors and multiple pattern, realize except gait tracking such as static, squat down, stand up, just sit back and wait multiple lower limb movement and mention, put down, rotate, the multiple upper limb such as grasping moves.And can realize that the independent action of limbs such as one hand grasp, and stand with one foot to the knee etc., also can realize being used in conjunction with healthy limb simultaneously.More can realize the record to normal limb motion custom, the motion of the intelligent normal limbs of simulation by long data acquisition.In order to solve the problems of the technologies described above, technical scheme of the present invention is as follows:
A kind of intelligent switch joint assembly, comprise the outer sensor parts, and comprise with the wired ground of described outer sensor parts or wireless encryption the pseudarthrosis parts that are electrically connected to, described outer sensor parts comprise that signal spreads out of parts, and spread out of the pressure transducer that parts are electrically connected to and be strapped in three-axis gyroscope, the gravity sensor on natural joint with described signal, described three-axis gyroscope is measured the position of six direction simultaneously, motion track, the locus of recording natural joint; Described gravity sensor records the rotation situation of natural joint;
Preferably, it also comprises external control component, and described external control component comprises voice control assembly and/or button control assembly and/or remote signal parts;
Preferably, it also comprises the actuator of central processing unit and described pseudarthrosis parts, and described actuator comprises power part, drive disk assembly and bar linkage structure;
Preferably, it also comprises human body motion feature, motor habit recording-member;
Preferably, described pseudarthrosis parts have various sensors to coordinate the outer sensor parts to improve operation precision;
Preferably, at the internal or external described various sensors of described pseudarthrosis parts, the position of perception artificial limb, angle, speed, acceleration or other state and movable information etc., these information gather, analyze with the out of Memory collected, and the motor control of pseudarthrosis parts is adjusted;
Preferably, described intelligent switch joint assembly is knee joint assembly, ankle joint assembly, toe joint assembly, wrist assembly, carpal joint assembly or articulations digitorum manus assembly, a kind of intelligent artificial limb, it is upper limb or lower limb, when being lower limb, it comprises knee joint assembly and/or ankle joint assembly and/or toe joint assembly, and each joint assembly is aforesaid intelligent switch joint assembly; When being upper limb, it comprises wrist assembly and/or carpal joint assembly and/or articulations digitorum manus assembly, and each joint assembly is aforesaid intelligent switch joint assembly.
A kind of operational approach of intelligent switch joint assembly, it comprises following operating procedure:
A) original state judgement;
B) signal of perception is sent to central processing unit;
C) human motion purpose judgement;
D) the central processing unit issuing command is to actuator;
E) actuator completes relevant action and feeds back movable information to central processing unit;
F) obtain also analytic record human body motion feature, motor habit;
G) human motion of record custom is fed back to central processing unit and instruct motion.
The accompanying drawing explanation
The structural representation of the outer sensor parts when Fig. 1 shows intelligent switch joint assembly of the present invention for lower limb;
Artificial limb schematic diagram when Fig. 2 shows intelligent switch joint assembly of the present invention for lower limb, comprise knee joint, the following part lower limb of knee joint, the following part foot of ankle joint and ankle joint;
Fig. 3 is another view of the artificial limb schematic diagram shown in Fig. 2;
Fig. 4 is the ankle joint schematic diagram in the artificial limb schematic diagram shown in Fig. 2;
The structural representation of the outer sensor parts when Fig. 5 shows intelligent switch joint assembly of the present invention for upper limb;
Artificial limb schematic diagram when Fig. 6 shows intelligent switch joint assembly of the present invention for upper limb, comprise elbow joint, the above part upper limb of elbow joint, the above part hands of carpal joint and carpal joint;
Fig. 7 is another view of the artificial limb schematic diagram shown in Fig. 6;
Fig. 8 is the schematic diagram of the above part hands of carpal joint in the artificial limb schematic diagram shown in Fig. 6;
Fig. 9 is the fundamental diagram of intelligent switch joint assembly of the present invention;
Figure 10 is the operational approach of intelligent switch joint assembly of the present invention.
Symbol description
1, outer sensor parts; 2, gravity sensor; 3, three-axis gyroscope; 4, pressure transducer; 5, signal spreads out of parts; 6, external control component; 7, voice control assembly; 8, button control assembly; 9, remote signal parts; 10, central processing unit; 11, actuator; 12, power part; 13, drive disk assembly; 14, bar linkage structure; 15, the auxiliary human motion of artificial limb intelligence; 16, human body motion feature, motor habit recording-member; 17, artificial limb self-movement.
The specific embodiment
When intelligent switch joint assembly shown in Figure 1 was used for lower limb, outer sensor parts 1 comprised pressure transducer 4 and the relevant connection parts of the gravity sensor 2, three-axis gyroscope 3 and the sole part that are strapped on normal limbs.
Wherein, three-axis gyroscope 3 is measured the position of six direction simultaneously, motion track, and the locus of recording normal limbs, three-axis gyroscope 3 can be arranged on: nearly ankle place, the normal limbs shank of C1 position; Nearly lower limb root place, the normal limbs thigh of C2 position; Nearly ankle place, C3 artificial limb shank position; Nearly lower limb root place, C4 artificial limb thigh position; Gravity sensor 2 records the transmission situation of normal limbs, and gravity sensor can be arranged on: the normal limbs shank of B1 position; The normal limbs thigh of B2 position; B3 artificial limb shank position; B4 artificial limb thigh position (regulation is when human body is in erectility, and the gravity sensor Z-direction is consistent with gravity direction); The pressure transducer 4 sensing human body instep real-time pressures of sole part, pressure transducer 4 can be arranged on: the normal limbs sole of A1 position; The normal limbs heel of A2 position; A3 prosthetic foot metacarpus divides; The A4 prosthetic foot heel part pressure of ground (in the time of can the calibrating and record the normal human for the human body of different weight when initial the use and stand to).
By top each sensor signal, can calculate the limb motion parameter, be used in combination these two kinds of sensors of gravity sensor and three-axis gyroscope, can follow the tracks of and catch three-dimensional entire motion, describe exactly linear (rectilinear motion) and rotatablely move (motion that has angle to change), calculate thus space displacement situation and the kneed angle situation of change of limbs diverse location.
The normal limbs instep of perception real-time pressure, coordinate other sensor determine lower limb be in static, move, squat down, stand up, just sit back and wait the swing state of state or upper limb etc.; Various motion sensor bondages are on the human normal joint of the lower extremity, in order to gather the real time kinematics feature of human normal limbs.Signal spreads out of parts 5 and receives the signal of each motion sensor collection and send to central processing unit by wired or wireless cipher mode.
In the pseudarthrosis parts of artificial limb shown in Figure 2, comprise the actuator 11 shown in Fig. 9, human body motion feature, motor habit recording-member 16 etc., wherein actuator 11 comprises power part 12, drive disk assembly 13, bar linkage structure 14 etc.External control component 6 in Fig. 9 can be including but not limited to voice control assembly 7, button control assembly 8, remote signal parts 9 etc.After the control signal that receives external control component, determine whether the pseudarthrosis parts mate the motion of normal limbs; After the voice control signal that reception voice control assembly 7 sends, to realize lifting lower limb, bent lower limbs etc. can't be by the motor process realized from signal that normal limbs obtain.Can realize the switching of pseudarthrosis parts between the auxiliary human motion state 15 of artificial limb intelligence and 17 two kinds of duties of artificial limb self-movement state according to described voice control signal simultaneously.The signal that central processing unit 10 receives in outer sensor parts 1 spreads out of the kinematic parameter from normal limbs collection that parts 5 send.Central processing unit 10 receives, process, analysis spreads out of parts 5 from signal and receives the various motion sensor signal of coming, these signals of analyzing and processing, and show that correct movement instruction sends to actuator 11, power part 16 wherein, drive disk assembly 17 and bar linkage structure receive the movement instruction from central processing unit 10, record and study that the motor habit of while human body motion feature, motor habit recording-member 16 analytic record natural joint is accustomed to normal limb motion with realization, and result feedback is instructed to human motion to central processing unit 10.
It is pointed out that the intelligent switch joint assembly during for lower limb illustrated in figures 1 and 2 is applicable to knee joint, ankle joint and the toe joint etc. of lower limb.Each intelligent switch joint assembly can cooperatively interact, and coordinates, and controls the following part lower limb of knee joint, the following part lower limb of ankle joint etc. and completes following walking, runs, and athletic performances such as synchronously standing up, squat down, sit down, to coordinate the coordination exercise of normal limbs.
See figures.1.and.2, Fig. 5 and Fig. 6 corresponding outer sensor parts 1 and pseudarthrosis parts while showing the intelligent switch joint assembly for upper limb, basic identical during due to operation principle and lower limb, here no longer describe in detail, but the intelligent switch joint assembly while it is pointed out that for upper limb is applicable to elbow joint, carpal joint and the articulations digitorum manus etc. of upper limb.Each intelligent switch joint assembly can cooperatively interact, coordinate, coordinate that other sensor determines that upper limb is in that static, swing, both hands push, both hands pull, both hands coordinate screw, both hands lift, both hands are lifted, both hands are encircled, arm lifts, arm grasps the states such as thing, to coordinate the coordination exercise of normal limbs.Record and study that the motor habit of while human body motion feature, motor habit recording-member 16 analytic record natural joint is accustomed to normal limb motion with realization, and result feedback is instructed to human motion to central processing unit 10.
As mentioned above, this patent can provide the intelligent artificial limb of different patterns according to people with disability's concrete physical disabilities situation, as whole lower limb, the following part lower limb of knee joint, the following part foot of ankle joint, whole upper limb, the above part upper limb of elbow joint, the above part hands of carpal joint etc.
The lower limb of below take are introduced the concrete operation method of intelligent switch joint as example:
One. the original state judgement
When patent of the present invention is in running order, be arranged in the various sensors meeting Real-time Collections of artificial limb and normal limbs and send data to central processing unit 10, central processing unit 10 judges according to the signal that each sensor gathers, namely by current time and upper constantly each sensor signal to recently determining the current status of human body:
Resting state: pressure transducer A, gravity sensor B, three-axis gyroscope C are signal collected within a period of time does not all have a significant change, and namely obvious displacement does not occur artificial limb, and limbs remain static;
The resting state classification:
1. stand in original place:
Pressure when pressure transducer A detects pressure and stands for the normal human.
Three-axis gyroscope C and gravity sensor B acquired signal a period of time do not change.
Gravity sensor B1B2B3B4Z direction of principal axis and gravity direction are approximate consistent and there is no a significant change.
2. in the facility such as escalator, elevator, stand
Pressure when pressure transducer A detects pressure and stands for the normal human, and there is no significant change in a period of time.
Three-axis gyroscope C and gravity sensor B acquired signal show that human body has displacement along a direction.
Gravity sensor B1B2B3B4Z direction of principal axis and gravity direction are approximate consistent and there is no a significant change.
3. the state (static) of sitting quietly
Pressure when pressure transducer A detects pressure and is less than the normal human and stands.
Three-axis gyroscope C and gravity sensor B acquired signal a period of time do not change.
Gravity sensor B1B3Z direction of principal axis and gravity direction are approximate consistent and there is no a significant change.Gravity sensor B2B4Z direction of principal axis and gravity direction near normal and there is no significant change.
4. the state (being arranged in moving object, as automobile etc.) of sitting quietly
Pressure when pressure transducer A detects pressure and is less than the normal human and stands, and there is no significant change in a period of time.
Three-axis gyroscope C and gravity sensor B acquired signal show that human body has displacement along a direction.
Gravity sensor B1B3Z direction of principal axis and gravity direction are approximate consistent and there is no a significant change.Gravity sensor B2B4Z axle
Direction and gravity direction near normal, and there is no significant change in a period of time.
5. the state of squatting down
Pressure when pressure transducer A detects pressure and stands for the normal human, and there is no significant change in a period of time.
Three-axis gyroscope C and gravity sensor B acquired signal a period of time do not change.
Gravity sensor B1B3Z direction of principal axis and gravity direction are into about 45° angle.Gravity sensor B2B4Z direction of principal axis and gravity side
To near normal or the less acute angle of one-tenth, and within a period of time, there is no significant change.
Comprehensively, with three kinds of signals of upper sensor gained, process and judge by central processing unit, can determine that limbs original state situation of living in is for standing, sit down (original place sit quietly or at mobile automobile, elevator, companionway etc.), the original state such as squat down.
Two. the judgement of human motion purpose
The sensor Real-time Collection also sends signal in central processing unit and carries out Storage and Processing, central processing unit can record the current and data of a period of time before, by current time and upper data constantly, be analyzed, according to signal intensity, judge the motion purpose of human body.Thereby sending instruction coordinates accordingly to actuator.Concrete condition is as follows:
1. the motion purpose of walking is judged:
Original state is standing state
Normal limbs are preferentially taken a step.
The pressure transducer A3A4 at artificial limb part sole place can detect pressure to be increased, and the pressure transducer A1A2 at normal limbs sole place can detect pressure and reduce;
The three-axis gyroscope C1C2 at normal limbs thigh and shank place can detect limbs displacement forward in the horizontal direction, and gravity direction has displacement upwards;
The information contrast that the gravity sensor B1B2 at normal limbs thigh and shank place measures, thigh and shank are changed by erectility, and between the thigh shank, angle changes, and the judgement knee joint bends;
Comprehensive judgement pressure, displacement, the thigh and calf angular relationship, human body as can be known is in the starting stage of walking action.
2. the motion purpose of sitting down and squatting down is judged:
Original state is standing state;
Normal limbs are preferentially made the initial actuating of sitting down;
At first the pressure transducer A1A2 at normal limbs sole place can sense pressure increases, and the pressure transducer A2 of heel place increase is greater than the pressure transducer A1 of sole place;
The signal that the three-axis gyroscope C1 of normal limbs shank gathers shows, lower leg portion has downwards and displacement forward and displacement trend subsequently, be positioned at the signal that the three-axis gyroscope C2 of normal limbs thigh gathers and show, leg portion has downwards and displacement trend backward;
The signal that the gravity sensor B2 at the gravity sensor B1 at normal limbs shank place and normal limbs thigh place collects shows that the Z axis of B1 and B2 is acute angle with gravity direction respectively in the opposite direction, and it is large that angle becomes gradually.
Central processing unit changes according to the pressure of sensor feedback and the information such as thigh and calf displacement trend and knee joint bending trend judge that human bodies are near completion and sit down or squat down action, therefore can send instructions to the actuator of artificial limb part, and the synchronization action that completes artificial limb and normal limbs is to realize sitting down or squatting down action.
3. the motion purpose stood:
Original state is standing state;
Normal limbs are preferentially exerted oneself;
Normally at first the pressure transducer A1A2 at limbs sole place can sense pressure increases, and along with gravity center of human body's reach and exerting oneself of normal limbs, the pressure transducer A3A4 at artificial limb part sole place also can detect pressure to be increased simultaneously;
The normal limbs of signal list person of good sense body of the three-axis gyroscope C2 at the thigh place of normal limbs have upwards and movement tendency forward; The angle that the gravity sensor B2 at normal limbs thigh place detects Z axis and gravity direction diminishes gradually from 90 degree, and the gravity sensor B1 at shank place and Z axis angle increase gradually from being tending towards zero degree in small angle range.
Central processing unit changes according to the pressure of sensor feedback and the information such as thigh and calf displacement trend and knee joint bending trend judge the human bodies action of standing up that is near completion, therefore can send instructions to the actuator of artificial limb part, and the synchronization action that completes artificial limb and normal limbs is to realize standing up action.
Three. actuator completes relevant action
Artificial limb part is by power section, running part, the compositions such as actuator.Central processing unit sends instruction to artificial limb after by processing, judging the motion purpose of limbs from the signal of each signal transducer, and the artificial limb part coordinates and realizes limb motion and joint rotation by different actuators, coordinates normal limbs action thereby make moving.
1. stand and be transitioned into the walking action
When judging human body the walking purpose arranged, normal limbs are first taken a step, central processing unit can instruct according to the actuating signal of normal limbs the walking of the normal limbs of artificial limb action coupling, when normal limbs heelstrike, complete while taking a step to move, according to the central processing unit instruction, power section drives drive mechanism, the artificial limb rear side tightens up, heeloff.Top coordinates the reach of health, swings forward.When normal limbs land and are transitioned into full sole and land and be from hind paw, center of gravity is basic excessively to normal limbs, and now central processing unit sends instruction, the linkage bending amplitude at knee joint place strengthens, the action of shank follow-up thigh, artificial limb hind paw and forefoot are all liftoff, and a tiptoe lands.According to recording before normal limbs, take a step to move subsequently, before artificial limb imitated, normal limbs were taken a step, concrete action is the thigh forward swing, the bending of knee joint bar linkage structure, and the shank follow-up is excessively protracted to shank, hind paw lands, follow the leg thrust of normal limbs, center of gravity excessively arrives artificial limb, and the full sole of artificial limb lands, normal limbs follow up and enter and step the lower limb action next time subsequently, complete circulation.
In the process of advancing, the exercise data of the normal limbs of central processing unit Real-time Collection, record analysis, the stride of the normal limbs of judgement and the motion that leg speed instructs artificial limb.
2. stand to be transitioned into and sit down or squat down
When judging human body and stand to the movement tendency of sitting down or squatting down, central processing unit sends instruction for the actuator that is positioned at artificial limb, and the actuator in artificial limb comprises transmission and bar linkage structure.Actuating unit provides power to artificial limb, linkage bending, artificial limb knee-joint bending, amplitude coordinates normal limbs, decentralization, central processing unit, according to the signals direct artificial limb movement range of normal limbs real-time action feedback, coordinates normal limbs synchronously to complete the action of sitting down or squat down.
3. sit down or squat down to be transitioned into and stand
When judging human body, have while sitting down or squatting down to the trend of standing, central processing unit sends instruction for the actuator that is positioned at artificial limb, and the actuator in artificial limb comprises transmission and bar linkage structure.Actuating unit provides power to artificial limb, and bar linkage structure is all vertical from bending to upper and lower side.Amplitude coordinates normal limbs simultaneously, and center of gravity rises, and central processing unit, according to the signals direct artificial limb movement range of normal limbs real-time action feedback, coordinates normal limbs synchronously to complete the action of standing up.
Four, motor habit record feedback, guidance motion
In patent processing system of the present invention, be built-in with normal human's action pattern, comprise numerous basic acts patterns such as standing, walk, sit down, squat down, stand up, when realizing limb action, and guide and moved according to different action request call action patterns.
The same Real-time Collection of various sensors in artificial limb also records the motion conditions of artificial limb, and by the signal back central processing unit, central processing unit is by the various signal datas of analyzing and processing, and the motor habit that can record human body limb comprises stride, cadence, pressure custom etc.The artificial limb motion is further instructed in collection and arrangement by these data.
This patent adopts the outer sensor parts to coordinate prosthetic components, gather the locus of normal limbs each several part, acceleration, the situations such as rotation and angle, the pressure transducer that coordinates simultaneously the sole part, can detect intelligently the current residing kinestate of human normal limbs, for example run, walking, squat down, stand up etc., and the signal that will collect sends to central processing unit, these signals of analyzing and processing, the feedback movement instruction is to the actuator of artificial limb parts, the cooperation of following that realizes walking and run, the synchronous cooperation of standing up and squatting down, cooperation with the static grade of limb rotation.Human body motion feature on the while prosthetic components, motor habit recording-member 16 can also be according to gathering the different motion signal of coming, analyze the motor habit of normal limbs, comprise stride, the cadence of running of walking, the speed of squatting down of standing up, dynamics etc., by healthy limb motor habit and the Real-time Collection kinestate data of analytic record, complete the intelligent auxiliomotor function of prosthetic components, realized a kind of automatic, intelligent artificial limb, offered convenience to the sport for the disabled.
Claims (9)
1. intelligent switch joint assembly, comprise outer sensor parts (1), and comprise with the wired ground of described outer sensor parts (1) or wireless encryption the pseudarthrosis parts that are electrically connected to, it is characterized in that: described outer sensor parts (1) comprise that signal spreads out of parts (5), and spread out of the pressure transducer that parts (5) are electrically connected to and be strapped in three-axis gyroscope (3), the gravity sensor (2) on natural joint with described signal, described three-axis gyroscope (3) is measured the position of six direction simultaneously, motion track, the locus of recording natural joint; Described gravity sensor (2) records the rotation situation of natural joint.
2. intelligent switch joint assembly as claimed in claim 1, it is characterized in that: it also comprises external control component (6), and described external control component (6) comprises voice control assembly (7) and/or button control assembly (8) and/or remote signal parts (9).
3. intelligent switch joint assembly as claimed in claim 2, it is characterized in that: it also comprises the actuator (11) of central processing unit (10) and described pseudarthrosis parts, and described actuator (11) comprises power part (12), drive disk assembly (13) and bar linkage structure (14).
4. intelligent switch joint assembly as claimed in claim 1, it is characterized in that: it also comprises human body motion feature, motor habit recording-member (16).
5. intelligent switch joint assembly as claimed in claim 1 is characterized in that: described pseudarthrosis parts have various sensors to coordinate outer sensor parts (1) to improve operation precision.
6. intelligent switch joint assembly as claimed in claim 5, it is characterized in that: at the internal or external described various sensors of described pseudarthrosis parts, the position of perception artificial limb, angle, speed, acceleration or other state and movable information etc., these information gather, analyze with the out of Memory collected, and the motor control of pseudarthrosis parts is adjusted.
7. intelligent switch joint assembly as described as any one in claim 1 to 6, is characterized in that described intelligent switch joint assembly is knee joint assembly, ankle joint assembly, toe joint assembly, wrist assembly, carpal joint assembly or articulations digitorum manus assembly.
8. intelligent artificial limb, it is upper limb or lower limb, and when being lower limb, it comprises knee joint assembly and/or ankle joint assembly and/or toe joint assembly, and each joint assembly is the described intelligent switch joint assembly of any one in claim 1-7; When being upper limb, it comprises wrist assembly and/or carpal joint assembly and/or articulations digitorum manus assembly, and each joint assembly is the described intelligent switch joint assembly of any one in claim 1-7.
9. the operational approach of an intelligent switch joint assembly, it comprises following operating procedure:
A) original state judgement;
B) signal of perception is sent to central processing unit;
C) human motion purpose judgement;
D) the central processing unit issuing command is to actuator;
E) actuator completes relevant action and feeds back movable information to central processing unit;
F) obtain also analytic record human body motion feature, motor habit;
G) human motion of record custom is fed back to central processing unit and instruct motion.
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| CN105326589A (en) * | 2015-12-16 | 2016-02-17 | 孟祥鹏 | Intelligent artificial limb |
| CN110859688A (en) * | 2019-12-06 | 2020-03-06 | 中国科学院长春光学精密机械与物理研究所 | Intelligent shoe for artificial limb control and control method of artificial limb |
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