CN103690281B - Brain wave controlled artificial limb system - Google Patents
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Abstract
The invention discloses a brain wave controlled artificial limb system. According to the system, a processing execution part is used for processing brain wave data input by a brain wave data acquisition filter part, and inputting data to a plurality of micro-steering engines which are embedded in the artificial limb, so that the action of the artificial limb can be controlled. According to the brain wave controlled artificial limb system, a testable parameter is adopted as a data source, the data is processed and used as a control action signal of the artificial limb steering engines, and the brain wave controlled artificial limb system can be truly implemented by virtue of the application of the 'fiction' signal and the processing method thereof, actions which can be completed by a normal person can be basically completed after a training cycle for about 1-2 weeks. A new life is given to a physically-disadvantaged patient due to true implementation of the brain wave controlled artificial limb system, and the patient need not to worry about normal life and work due to limb disadvantage, the differences between an artificial limb and a real limb can be greatly reduced, and the system is a revolutionary breakthrough for artificial limbs.
Description
Technical field
The present invention relates to the directly actuated mechanical prosthetic limb system of a kind of brain wave.
Background technology
Artificial limb, also claims " artifucial limb ", refers to artificial limb, is used for replacing the dysfunction (no matter temporary or permanent) of limbs, or is used for covering up limbs disability.For amputee with the artificial limb of compensatory defect limb part function, there are upper extremity prosthesis and artificial leg.Multiplex aluminium sheet, timber, leather, plastic or other material make, and its joint adopts metal parts, and present artificial limb circle main flow is titanium alloy and carbon fiber material.Conventional prosthesis can only be used as decoration, and can not really give patient one practical limbs.
EEG is that electroencephalogram is called for short, according to the research of existing brain neurophysiology EEG generation mechanism, EEG signal originates from the nonlinear system of a height, not only finds many feedback control loops in each layering of central nervous system, and single neuron self also shows nonlinearity factor.Neuron membrane can observe chaotic behavior, and neural discharge transforms and follows bifurcated rule, and chaos and bifurcated behavior belong to the category of nonlinear science.Therefore EEG signal is the Non-linear coupling of a large amount of neurocyte, it is the complex that a nonlinearity multiple-unit connects, EEG activity has deterministic chaos (deterministic chaos) characteristic, and brain is Kind of Nonlinear Dynamical System that is complicated, self-organizing (self-organization).
Existing comparatively ripe brain wave detection device derives from neurosky (god reads science and technology) company, and its products application such as necomimi, Mindflex idea controls game station etc.Its general headquarters are positioned at U.S. Silicon Valley, and in Hong Kong, London, Soul, the Taibei, Tokyo, and Wuxi has branch company.This device is integrated with the function such as collection, filtering, amplification, A/D conversion, data processing and inversion of EEG signals, and its high-performance bio-sensing chip can detect the brain wave of people and convert it into the digital signal that machine can identify and realize man-machine interaction.Its output comprises digitized original brain wave data, output frequency 512Hz (512 packets per second), also the EEG parameter of exportable δ, θ, α, β, γ ripple and " attention ", " allowance " two eSense
tMparameter (eSense
tMparameter is thinkgear equipment output parameter), output frequency is 1Hz.The basic conception of each parameter sees the following form:
| Brain wave type | Frequency range | The mental status |
| Delta | 0.1Hz-3Hz | Deep sleep, non rapid eye movement sleep, NREMS, unconscious |
| Theta | 4Hz-7Hz | Intuition, creationary, memory, illusion, the imagination, shallowly sleeps |
| Alpha | 8Hz-12Hz | Loosen, but not sleepy, quiet, consciously |
| Low Beta | 12Hz-15Hz | The sensation of movement rhythm and pace of moving things, loosens and still can focus one's attention on, have harmony |
| Midrange Beta | 16Hz-20Hz | Thinking, for oneself and surrounding Clear consciousness |
| High Beta | 21Hz-30Hz | Alert, exciting |
Chinese invention patent document CN 102309365 A discloses one " a kind of wearable brain control intelligent artificial limb ", comprise wearable EEG signals detecting sensor device, be arranged in the sensing device of the skin dry electrode of head part, wearable eeg signal acquisition amplifying device, wearable EEG's Recognition device, wearable intelligent artificial limb driving control device, intelligent artificial limb.This invention claims that the Wearable achieving the identification of brain electro-detection detects and calculates, and combined with intelligent cognition technology achieves accurate adaptive Based Intelligent Control to artificial limb, can directly be worn on human body to use, avoid the deficiency that myoelectricity controls, improve the efficiency and precision of artificial limb action.But key concepts such as " intention assessment " and " visual feedback " thereof that propose in the document all only has concept and lacks concrete introduction, and in fact prior art has also been difficult to, its technical scheme is caused to lack feasibility.
Summary of the invention
In order to solve above-mentioned drawback, technical problem to be solved by this invention is, provides the artificial limb system that a kind of brain wave controls, and in order to solve the problems of the technologies described above, the technical solution used in the present invention is, the artificial limb system that a kind of brain wave controls, and this system comprises:
A. brain wave data obtains filtration fraction: by two electrodes, one is positioned at forehead, another is positioned at ear-lobe, gather brain wave information to brain wave equipment thinkgear, detection per second once, and generates, store quantize parameter and " attention ", " allowance " two eSense of δ, θ, α, β ripple
tMthe parameter that quantizes;
B. processing execution part, processes the brain wave data inputted by part A, and exports data to the multiple miniature steering wheel be embedded in artificial limb, realizes the control to artificial limb action, comprises following job step:
The first step: in the instant parameter value that part A generates, the numerical value of optional 2 parameters is compared with the threshold value prestored, and the instant parameter value not reaching threshold value stores, and meets or exceeds the instant parameter value X of threshold value
1, X
2be selected and do lower step process;
Second step: get X
1, X
2meansigma methods be labeled as X;
3rd step: transfer instant parameter value X
1, X
2the corresponding parameter value of last second, gets its meansigma methods and is labeled as Z, when instant parameter value is initial value Z be 0, X and Z difference be labeled as D, D is divided by adjustable time coefficient E, and obtaining the steering wheel execution time is D/E second; The difference of X and described threshold value is F, and obtaining steering wheel degree of rotation is F degree, and transfer instruction is to steering wheel: D/E second movement time, degree of rotation F degree, steering wheel performs an action.
Need before using this system to have acclimatization training to user, training process is, brain wave equipment thinkgear is connected to computer, the person of participating in training can see the real-time curve chart of oneself all kinds of brain wave intuitively by MindViewer software, the person of participating in training is trained by the corresponding brain wave that goes out shown by oneself idea of contrast and numerical value, by the control to self idea, reach and optimize brain wave output, be convenient to the effect of recognition of devices intention.The selection of described parameter and the setting of threshold value can be arranged according to the concrete condition of individual, mainly according to the personal characteristics using training to reflect or hobby.Described adjustable time coefficient E runs speed for regulating steering wheel, similarly, can arrange according to the concrete condition of individual, mainly according to the personal characteristics using training to reflect or hobby.
Although it is pointed out that in prior art and EEG parameter and " eSense can be detected
tMparameter, and the roughly judgement implication of its representative being made to directivity, but fail far away to resolve its real meaning.This is also the limitation of brain wave intention assessment.The present invention adopts above-mentioned parameter of surveying as Data Source, as the control action signal of artificial limb steering wheel after processing data, the use of this " drawing up " signal and processing method thereof, the artificial limb system that brain wave is controlled can really be achieved, and after the cycle of training of about 1 ~ 2 week, substantially can complete the action that normal person can complete.
Beneficial effect of the present invention is, the artificial limb system that brain wave is controlled can really be achieved, give disabled patient a brand-new life, no longer for mutilation and cannot normal life and work and worrying, greatly reduce the gap of artificial limb and true limbs, the present invention is a revolutionary breakthrough in artificial limb.
Because native system adopts numerical value difference to be operative norm, in the situations such as user is undertrained, may occur that brain wave numerical value fluctuates among a small circle, cause system to misjudge user intention, occur the phenomenon that artificial limb slightly trembles.In order to avoid jitter occurs, reduce and use difficulty, improve system identification degree of accuracy, improve as one, in job step the 3rd step of described part B, also comprise following anti-functional steps of trembling:
If 1. described difference D is greater than 5, sends new element instruction and perform to steering wheel, if D is not more than the judgement that 5 carry out following 2 again;
2. transfer instant parameter value X
1, X
2corresponding parameter value for the previous period, the meansigma methods of getting the two parameter value of corresponding time point obtains the Y array of some meansigma methodss composition, is labeled as Y
1~ Y
n;
3. if the Y of Y array
1~ Y
nnumerical value is in rising or downward trend, and the value of X meets this trend, though then now Z and X contrast difference be not more than 5, also the instruction of transmission new element is performed to steering wheel;
If difference is not more than 5, and do not meet above-mentioned situation, then do not send new element instruction, steering wheel keeps current action.
By analyzing brain wave data for the previous period, suitably revise current operation, can be more coherent when control artificial limb performs same action continuously.
Below in conjunction with detailed description of the invention, the present invention will be further described.
Detailed description of the invention
Embodiment 1: the artificial limb system that a kind of brain wave controls, this system comprises:
A. brain wave data obtains filtration fraction: by two electrodes, one is positioned at forehead, another is positioned at ear-lobe, gather brain wave information to brain wave equipment thinkgear, detection per second once, and generates, store quantize parameter and " attention ", " allowance " two eSense of δ, θ, α, β ripple
tMthe parameter that quantizes;
B. processing execution part, the brain wave data inputted by part A is processed, and export data to the multiple miniature steering wheel be embedded in artificial limb, realize the control to artificial limb action, comprise following job step: the first step: in the instant parameter value that part A generates, choose " attention " eSense
tMinstant parameter value and the instant parameter value of theta ripple are compared with the threshold value prestored, and in this example, threshold value is 50, and the instant parameter value not reaching threshold value stores, and exceedes " attention " eSense of threshold value
tMinstant parameter value X
1=80, the instant parameter value X of theta ripple
2=70 are selected and do lower step process;
Second step: get X
1, X
2meansigma methods 75 be labeled as X;
3rd step: transfer instant parameter value X
1, X
2" attention " eSense of last second
tMparameter value and theta wave parameter value, get the meansigma methods 60 of two parameter value, be labeled as Z, and the difference D of X and Z is 15,15 divided by time coefficient E37.5, and obtaining the steering wheel execution time is 0.4 second; The difference F of X and threshold value 50 is 25, and obtaining steering wheel degree of rotation is 25 degree, and 0.4 second movement time of transfer instruction and degree of rotation 25 degree are to steering wheel, and steering wheel performs an action.
Native system is taked to ignore for non-artificial limb action.Complete action from acquisition identify to the execution shortest time be 0.2 second, each joint action angle rates and strength can be identified.Native system main composition hardware is embedded in artificial limb from by Single-chip Controlling by multiple miniature steering wheel, obtain data and carry out data input by multiple brain wave induction apparatus, power supply adopts 12V internal battery, exocuticle adopts artificial skin, holes two lamp is reserved at joint part, one hole is charging hole, two holes are debugging and refresh routine hole, one lamp is that each parts detect lamp, two lamps are electricity display lamp, obtain current electric quantity situation and parts operation conditions by bulb flicker frequency, calculate by standard Exercise In Healthy Subjects gauge, internal battery can support continuous operation 3 days.
Brain wave described in native system is measured as existing science and technology and can realizes, and is applying on the market, as at brain wave products such as " secrets of necomimi cat "
Native system is when avoiding identification error, adopt multiple brain wave identifying operation: judge that as passed through Theta brain wave and Low Beta brain wave reach certain numerical value simultaneously and perform corresponding operation, single brain wave reaches numerical value undo, more accurately and reduce error, and real practicality and feasibility can be realized by this kind of method judgement operation.This system greatest feature is the brain wave recognition system of high discrimination and has the mechanical arm of 0.5 ° of precision and the strength of maximum 100KG, can complete action and the strength larger than ordinary person that all ordinary persons can complete.
Described steering wheel adopts model ASMC-01B steering wheel (trade name), and design parameter is as follows:
Running voltage: 12V to 24V (DC)
No-load current: <500mA
Peak torque: 180kg/cm (24V) (actual measurement, non-calculated value)
1764N/cm (24V) (actual measurement, non-calculated value)
Angular velocity: 0.5s/60 ° (turning 60 degree of needs 0.5s), during 24V.
Rotational angle: 270 °/MAX (adjustable)
Input pattern: pulse signal or analog voltage signal
Pulse signal input range: 0.5 ~ 2.5 (ms)
Voltage signal input range: 0 ~ 5V
Control accuracy: 0.32 °
Weight: 530g
Gear material: steel
Overall dimensions: 95.5mm × 60.5mm × 102.6mm
Embodiment 2: difference from Example 1 is, in embodiment 1, D value is greater than 5, without the need to performing anti-functional steps of trembling, directly sending new element instruction and performing to steering wheel.In example 2, threshold value is 50, exceedes " attention " eSense of threshold value
tMinstant parameter value X
1=60, the instant parameter value X of theta ripple
2=66; Get X
1, X
2meansigma methods 63 be labeled as X; Transfer instant parameter value X
1, X
2" attention " eSense of last second
tMparameter value and theta wave parameter value, get the meansigma methods 59 of two parameter value, be labeled as Z, and the difference D of X and Z is 4.Now, because D is not more than 5, then also to carry out following judgement again: transfer instant parameter value X
1, X
2the corresponding parameter value of first 5 seconds, the meansigma methods of getting the two parameter value of corresponding time point obtains the Y array of 5 meansigma methods compositions, is labeled as Y
1~ Y
5(seeing the following form),
As can be seen from the above table, Y
1~ Y
5the numerical value of Y array formed is in rising trend, and the value of X meets this trend, though then now Z and X contrast difference be not more than 5, also the instruction of transmission new element is performed to steering wheel; 4 divided by time coefficient E37.5, and obtaining the steering wheel execution time is 0.106 second; The difference F of X and threshold value 50 is 13, and obtaining steering wheel degree of rotation is 13 degree, and 0.106 second movement time of transfer instruction and degree of rotation 13 degree are to steering wheel, and steering wheel performs an action.If difference is not more than 5, and do not meet above-mentioned situation, then do not send new element instruction, steering wheel keeps current action.
The above-mentioned implementation that the present invention describes is only in order to technical scheme of the present invention is clearly described, and can not be interpreted as and make any restriction to the present invention.The present invention has known multiple alternative or distortion in the art, especially what deserves to be explained is, optimum configurations of the present invention be all with the data system of brain wave equipment thinkgear for foundation, adopt the corresponding conversion should considering the comparability of its numerical value during other data systems.Under the prerequisite not departing from essential meaning of the present invention, all fall into protection scope of the present invention.
Claims (2)
1. an artificial limb system for brain wave control, it is characterized in that, this system comprises:
A. brain wave data obtains filtration fraction: by two electrodes, one is positioned at forehead, another is positioned at ear-lobe, gather brain wave information to brain wave equipment thinkgear, detection per second once, and generates, store quantize parameter and " attention ", " allowance " two eSense of δ, θ, α, β ripple
tMthe parameter that quantizes;
B. processing execution part, processes the brain wave data inputted by part A, and exports data to the multiple miniature steering wheel be embedded in artificial limb, realizes the control to artificial limb action, comprises following job step:
The first step: in the instant parameter value that part A generates, the numerical value of optional 2 parameters is compared with the threshold value prestored, and the instant parameter value not reaching threshold value stores, and meets or exceeds the instant parameter value X of threshold value
1, X
2be selected and do lower step process;
Second step: get X
1, X
2meansigma methods be labeled as X;
3rd step: transfer instant parameter value X
1, X
2the corresponding parameter value of last second, gets its meansigma methods and is labeled as Z, when instant parameter value is initial value Z be 0, X and Z difference be labeled as D, D is divided by adjustable time coefficient E, and obtaining the steering wheel execution time is D/E second; The difference of X and described threshold value is F, and obtaining steering wheel degree of rotation is F degree, and transfer instruction is to steering wheel: D/E second movement time, degree of rotation F degree, steering wheel performs an action.
2. the artificial limb system of a kind of brain wave control as claimed in claim 1, is characterized in that, also comprises following anti-functional steps of trembling in job step the 3rd step of described part B:
1). described difference D is greater than 5, and send new element instruction and perform to steering wheel, D is not more than 5 and carries out following 2 again) judgement;
2). transfer instant parameter value X
1, X
2corresponding parameter value for the previous period, the meansigma methods of getting the two parameter value of corresponding time point obtains the Y array of some meansigma methodss composition, is labeled as Y
1~ Y
n;
3) Y of .Y array
1~ Y
nnumerical value is in rising or downward trend, and the value of X meets this trend, though then now Z and X contrast difference be not more than 5, also the instruction of transmission new element is performed to steering wheel; Difference is not more than 5, and does not meet " the Y of Y array
1~ Y
nnumerical value in rise or downward trend, and the value of X meets this trend " situation, then do not send new element instruction, steering wheel keep current action.
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| CN105943207B (en) * | 2016-06-24 | 2017-12-05 | 吉林大学 | One kind is based on idiodynamic intelligent artificial limb kinematic system and its control method |
| CN107450559A (en) * | 2017-09-12 | 2017-12-08 | 深圳市宏智力科技有限公司 | Method and device based on brain wave control spider robot movement |
| CN107678549A (en) * | 2017-09-27 | 2018-02-09 | 上海斐讯数据通信技术有限公司 | The control method and system of smart machine |
| CN108942938B (en) * | 2018-07-27 | 2020-10-16 | 齐鲁工业大学 | A four-axis robotic arm motion control method and system based on brain wave signals |
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| JP5229621B2 (en) * | 2007-08-20 | 2013-07-03 | 国立大学法人 筑波大学 | Wearable motion assist device, motion assist system, wearable motion assist device, and motion assist method of wearable motion assist device |
| CN100594858C (en) * | 2008-08-01 | 2010-03-24 | 杭州电子科技大学 | A control method of an electric prosthetic hand controlled by EEG combined with electromyography |
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Denomination of invention: A prosthetic system controlled by EEG Effective date of registration: 20201030 Granted publication date: 20150708 Pledgee: Hunan Liuyang Rural Commercial Bank Co.,Ltd. Jili sub branch Pledgor: LIUYANG RENJIE ELECTRONIC TECHNOLOGY Co.,Ltd. Registration number: Y2020980007367 |
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Date of cancellation: 20230424 Granted publication date: 20150708 Pledgee: Hunan Liuyang Rural Commercial Bank Co.,Ltd. Jili sub branch Pledgor: LIUYANG RENJIE ELECTRONIC TECHNOLOGY Co.,Ltd. Registration number: Y2020980007367 |
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Denomination of invention: A Brain Wave Controlled Artificial Limb System Effective date of registration: 20230605 Granted publication date: 20150708 Pledgee: Hunan Liuyang Rural Commercial Bank Co.,Ltd. Guankou Branch Pledgor: LIUYANG RENJIE ELECTRONIC TECHNOLOGY Co.,Ltd. Registration number: Y2023980042897 |
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