CN103690281A - 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.Artificial limb for amputee with compensatory damaged limb part function, has upper extremity prosthesis and artificial leg.Multiplex aluminium sheet, timber, leather, plastic or other material are made, and its joint adopts metal parts, and artificial limb circle main flow is titanium alloy and carbon fiber material now.Conventional prosthesis can only be used as decoration, and can not really give practical limbs of patient.
EEG is that electroencephalogram is called for short, according to the research of existing brain neurophysiology EEG generation mechanism, EEG Signal origin, in the nonlinear system of a height, is not only found many feedback control loops in each layering of central nervous system, and single neuron self also shows nonlinearity factor.On neuron membrane, can observe chaotic behavior, 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 neurocytes, 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 complicated, self-organizing (self-organization).
The existing comparatively brain wave checkout gear of maturation is to derive from neurosky(god to read science and technology) company, its product application is as necomimi, Mindflex idea control 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.The integrated functions such as the collection of EEG signals, filtering, amplification, A/D conversion, date processing and analysis of this device, its high-performance bio-sensing chip can detect people's brain wave and convert it into the digital signal that machine can identify realizes 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, shallow sleeping |
| Alpha | 8Hz-12Hz | Loosen, but not sleepy, peace and quiet, consciously |
| Low?Beta | 12Hz-15Hz | The sensation of movement rhythm and pace of moving things, loosens still and can focus one's attention on, and has 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 disclose a kind of " a kind of wearable brain control intelligent artificial limb ", comprise wearable EEG signals detecting sensor device, be arranged in the sensing device of head part's skin dry electrode, 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 of having realized the identification of brain electro-detection detects and calculates, and combined with intelligent cognition technology has been realized accurate adaptive Based Intelligent Control to artificial limb, can directly be worn on human body and use, the deficiency of having avoided myoelectricity to control, has improved the efficiency and precision of artificial limb action.But the key concepts such as " the intention identification " proposing in the document and " visual feedback " thereof all only have concept and lack concrete introduction, in fact prior art has also been difficult to, and causes its technical scheme to lack feasibility.
Summary of the invention
In order to solve above-mentioned drawback, technical problem to be solved by this invention is, the artificial limb system that provides a kind of brain wave to control, 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 is controlled, this system comprises:
A. brain wave data is obtained 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, stores 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 of partly being inputted by A, and exports data to a plurality of miniature steering wheel being embedded in artificial limb, realizes the control to artificial limb action, comprises following job step:
The first step: in the instant parameter value partly generating at A, the numerical value of optional 2 parameters is compared with the threshold values prestoring, the instant parameter value that does not reach threshold values stores, and meets or exceeds the instant parameter value X of threshold values
1, X
2be selected and do lower step processing;
Second step: get X
1, X
2meansigma methods be labeled as X;
The 3rd step: transfer instant parameter value X
1, X
2last second corresponding parameter value, gets its meansigma methods and is labeled as Z, and when instant parameter value is initial value, Z is that the difference of 0, X and Z is labeled as D, and 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 values 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.
Before using this system, need user to have acclimatization training, 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 own all kinds of brain waves intuitively by MindViewer software, the person of participating in training trains by contrasting shown corresponding brain wave and the numerical value going out of oneself idea, 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 values can, according to individual concrete condition setting, be mainly according to personal characteristics or the hobby of using training to reflect.Described adjustable time coefficient E is used for regulating steering wheel operation speed, similarly, can, according to individual concrete condition setting, be mainly according to personal characteristics or the hobby of using training to reflect.
Although it is pointed out that in prior art and EEG parameter and " eSense can be detected
tMparameter, and the implication of its representative is made to the roughly judgement of directivity, but fail to resolve its real meaning far away.This is also the limitation of brain wave intention identification.The present invention adopts the above-mentioned parameter of surveying as Data Source, after data are processed as the control action signal of artificial limb steering wheel, use and the processing method thereof of this " drawing up " signal, 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, given disabled patient a brand-new life, no longer for mutilation cannot normal life and work be worried, greatly dwindled the gap of artificial limb with true limbs, the present invention is a revolutionary breakthrough in artificial limb.
Because native system adopts numerical value difference, 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 misjudgement user intention, occur the phenomenon that artificial limb slightly trembles.For fear of jitter, occur, reduce and use difficulty, improve system identification degree of accuracy, as a kind of improvement, in job step the 3rd step of described B part, also comprise the following anti-functional steps of trembling:
1. if described difference D is greater than 5, send new element instruction and carry out to steering wheel, if being not more than 5, D carries out again following 2 judgement;
2. transfer instant parameter value X
1, X
2corresponding parameter value for the previous period, the meansigma methods of getting two parameter values of corresponding time point obtains the Y array that some meansigma methodss form, and is labeled as Y
1～Y
n;
3. if the Y of Y array
1～Y
nnumerical value is and rises or downward trend, and the value of X meets this trend, though now Z contrast difference with X and be not more than 5, also will send new element instruction to steering wheel and carry out;
If difference is not more than 5, and do not meet above-mentioned situation, 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 is carried out same action continuously.
Below in conjunction with the specific embodiment, the present invention will be further described.
The specific embodiment
Embodiment 1: the artificial limb system that a kind of brain wave is controlled, and this system comprises:
A. brain wave data is obtained 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, stores 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 of partly being inputted by A, and exports data to a plurality of miniature steering wheel being embedded in artificial limb, realizes the control to artificial limb action, comprises following job step:
The first step: in the instant parameter value partly generating at A, choose " attention " eSense
tMinstant parameter value and the instant parameter value of theta ripple are compared with the threshold values prestoring, and in this example, threshold values is 50, and the instant parameter value that does not reach threshold values stores, and surpasses " attention " eSense of threshold values
tMinstant parameter value X
1=80, the instant parameter value X of theta ripple
2=70 are selected and do lower step and process;
Second step: get X
1, X
2meansigma methods 75 be labeled as X;
The 3rd step: transfer instant parameter value X
1, X
2" attention " eSense of one second before
tMparameter value and theta wave parameter value, the meansigma methods 60 of getting two parameter values, is 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 values 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 are spent to steering wheel, and steering wheel performs an action.
Native system is taked to ignore for non-artificial limb action.A complete action is 0.2 second from obtaining identification to carrying out the shortest time, can identify each joint action angle speed and strength.Native system main composition hardware is embedded in artificial limb from using Single-chip Controlling by a plurality of miniature steering wheels, obtain data and carry out data input by a plurality of brain wave induction apparatuss, power supply adopts 12V internal battery, exocuticle adopts artificial skin, at reserved two hole two lamps of joint part, one hole is charging hole, two holes are debugging and refresh routine hole, one lamp is each parts detection lamp, two lamps are electric weight display lamp, by bulb flicker frequency, obtain current electric quantity situation and parts operation conditions, by standard Exercise In Healthy Subjects amount, calculate, internal battery can be supported continuous operation 3 days.
Brain wave described in native system is measured as existing science and technology and can realizes, and in application on the market, as at brain wave products such as " secrets of necomimi cat "
Native system is in the situation that avoiding identification error, adopt multiple brain wave identifying operation: as reached certain numerical value by judgement Theta brain wave and Low Beta brain wave simultaneously, carry out corresponding operation, single brain wave reaches numerical value undo, by this kind of method decision operation, can more accurately and reduce error, and realize real practicality and feasibility.This system greatest feature is the brain wave recognition system of high discrimination and the strength that has mechanical arm and the maximum 100KG of 0.5 ° of precision, can complete action that all ordinary persons can complete and the strength larger than ordinary person.
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 ° (turn 60 degree and need 0.5s), during 24V.
Rotational angle: 270 °/MAX(is 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 carrying out the anti-functional steps of trembling, directly send new element instruction to steering wheel and carry out.In embodiment 2, threshold values is 50, surpasses " attention " eSense of threshold values
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 one second before
tMparameter value and theta wave parameter value, the meansigma methods 59 of getting two parameter values, is labeled as Z, and the difference D of X and Z is 4.Now, because D is not more than 5, also to carry out again following judgement: transfer instant parameter value X
1, X
2the corresponding parameter value of first 5 seconds, the meansigma methods of getting two parameter values of corresponding time point obtains the Y array that 5 meansigma methodss form, and is labeled as Y
1～Y
5(seeing the following form),
As can be seen from the above table, Y
1～Y
15the numerical value of the Y array forming is in rising trend, and the value of X meets this trend, though now Z contrast difference with X and be not more than 5, also will send new element instruction to steering wheel and carry out; 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 values 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 are spent to steering wheel, and steering wheel performs an action.If difference is not more than 5, and do not meet above-mentioned situation, do not send new element instruction, steering wheel keeps current action.
The above-mentioned implementation that the present invention describes is only for technical scheme of the present invention is clearly described, and can not be interpreted as the present invention is made to any restriction.The present invention has known multiple substituting or distortion in the art, especially what deserves to be explained is, parameter setting of the present invention is all that to take the data system of brain wave equipment thinkgear be foundation, should consider the corresponding conversion of the comparability of its numerical value while adopting other data systems.Not departing under the prerequisite of essential meaning of the present invention, all fall into protection scope of the present invention.
Claims (2)
1. the artificial limb system that brain wave is controlled, is characterized in that, this system comprises:
A. brain wave data is obtained 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, stores 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 of partly being inputted by A, and exports data to a plurality of miniature steering wheel being embedded in artificial limb, realizes the control to artificial limb action, comprises following job step:
The first step: in the instant parameter value partly generating at A, the numerical value of optional 2 parameters is compared with the threshold values prestoring, the instant parameter value that does not reach threshold values stores, and meets or exceeds the instant parameter value X of threshold values
1, X
2be selected and do lower step processing;
Second step: get X
1, X
2meansigma methods be labeled as X;
The 3rd step: transfer instant parameter value X
1, X
2last second corresponding parameter value, gets its meansigma methods and is labeled as Z, and when instant parameter value is initial value, Z is that the difference of 0, X and Z is labeled as D, and 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 values 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 that a kind of brain wave as claimed in claim 1 is controlled, is characterized in that, also comprises the following anti-functional steps of trembling in job step the 3rd step of described B part:
1). described difference D is greater than 5, sends new element instruction and carries out to steering wheel, and 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 two parameter values of corresponding time point obtains the Y array that some meansigma methodss form, and is labeled as Y
1～Y
n;
3) Y of .Y array
1～Y
nnumerical value is and rises or downward trend, and the value of X meets this trend, though now Z contrast difference with X and be not more than 5, also will send new element instruction to steering wheel and carry out; Difference is not more than 5, and does not meet above-mentioned situation, does not send new element instruction, and steering wheel keeps current action.
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