阅读说明：本技术 一种用于模拟残肢深层肌运动的装置 (Device for simulating movement of deep muscles of stump ) 是由 方斌 孙富春 侯首成 *** 刘华平 于 2020-06-08 设计创作，主要内容包括：本发明提出的一种用于模拟残肢深层肌运动的装置,包括残肢模拟壳体、三个硅胶拉板、三根腱绳、三个丝杠电机和三个电机固定基座；其中,三个硅胶拉板均匀分布在残肢模拟壳体前端,各丝杠电机分别通过一个电机固定基座安装于所述残肢模拟壳体内部,且各丝杠电机在所述残肢模拟壳体内的分布与硅胶拉板相对应,各硅胶拉板分别通过一根所述腱绳与对应的丝杠电机输出端相连,由各丝杠电机内滑块的滑动来分别控制相应硅胶拉板的形变,以模拟人体残肢残层肌的运动。本装置具有结构简单的特点,此外,该装置拟人化程度高、操作简单、适应性强,适用于模拟人体残肢深层肌运动过程。(The invention provides a device for simulating the movement of deep muscles of stumps, which comprises a stump simulation shell, three silica gel pull plates, three tendon ropes, three lead screw motors and three motor fixing bases, wherein the stump simulation shell is provided with a first screw rod and a second screw rod; wherein, three silica gel arm-tie evenly distributed is at residual limb simulation casing front end, and each lead screw motor respectively through a motor fixed baseplate install in inside the residual limb simulation casing, and each lead screw motor is in distribution in the residual limb simulation casing is corresponding with the silica gel arm-tie, and each silica gel arm-tie is respectively through one the tendon rope links to each other with the lead screw motor output that corresponds, and the deformation of the corresponding silica gel arm-tie is controlled respectively by the slip of slider in each lead screw motor to the motion of the human residual limb of simulation flesh. The device has the characteristics of simple structure, high personification degree, simple operation and strong adaptability, and is suitable for simulating the movement process of deep muscles of human stumps.)

1. A device for simulating the movement of deep muscles of stumps is characterized by comprising a stump simulation shell, three silica gel pull plates, three tendon ropes, three lead screw motors and three motor fixing bases; the three silica gel pulling plates are uniformly distributed at the front end of the residual limb simulation shell, each lead screw motor is respectively installed in the residual limb simulation shell through a motor fixing base, the distribution of each lead screw motor in the residual limb simulation shell corresponds to the silica gel pulling plate, each silica gel pulling plate is respectively connected with the output end of the corresponding lead screw motor through one tendon rope, and the deformation of the corresponding silica gel pulling plate is respectively controlled by the sliding of a sliding block in each lead screw motor so as to simulate the movement of the residual muscle of the residual limb of a human body;

the three motor fixing bases and the residual limb simulation shell are integrally formed, wherein the first motor fixing base is close to the front end of the residual limb simulation shell and is positioned at the central axis of the residual limb simulation shell, and the remaining two motor fixing bases are close to the rear end of the residual limb simulation shell and are symmetrically positioned at the left side and the right side of the central axis of the residual limb simulation shell;

the silica gel pulling plate is partially embedded into the front end of the stump simulation shell; each silica gel arm-tie is equallyd divide and is become by integrated into one piece's head and connecting rod set up on the connecting rod and be used for fixing the round hole of tendon rope one end can simulate the shrink of human incomplete limb when the silica gel arm-tie receiving the tensile condition of tendon rope.

2. The device of claim 1, wherein the simulated residual limb shell is formed by 3D printing.

Technical Field

The invention belongs to the technical field of robots, and particularly relates to a device for simulating movement of deep muscles of stumps.

Background

The conventional artificial limb can record Electromyography (EMG) discharged by a plurality of motion units (Motor units) in the muscle by attaching electrodes to the skin surface of an amputee or implanting the electrodes into the muscle, and can generate a motion command for controlling the artificial hand by processing and decoding the EMG signal, so that the artificial hand can be used for replacing a lost hand for operation. However, the difference between the use experience of the existing artificial limb hand and the real palm is too large, so that the neural artificial limb has high abandon rate, and an amputee can keep the original living habit and is not willing to use the artificial limb hand.

The myoelectricity controlled artificial hand is one bioelectric artificial hand, which is made by means of the myoelectricity signal produced during the contraction of residual limb muscle and led out via skin electrode and amplified in bioelectric amplifier to control the operation of miniature DC motor and drive the opening and closing of the artificial hand. Is mainly suitable for amputation of forearms or upper arms, and can lead out satisfactory electromyographic signals when the muscles of the stumps contract. The myoelectric artificial hand has the advantages that the simulation of controlling the opening and closing of the hand is high, the actions of opening and closing the hand can be highly simulated, and the artificial hand can be opened and closed according to the intention of an amputee by an electric signal generated by the contraction of the muscle of the stump. In addition, the myoelectric artificial hand has the advantages that a complex shoulder strap required by a cable control artificial hand (functional artificial hand) is not needed, the upper limb can move conveniently, and the hand can be opened and closed at will at various positions such as anteflexion, postextension, uplift and the like of the upper limb; the myoelectric artificial hand has the disadvantages of heavy weight, poor control precision, high failure rate and price, inaccurate identification of human movement intention, weak EMG signal, high noise, difficulty in controlling the hand according to the intention of a human, and difficulty in commercialization. Since 2016, the Beijing Pongalit hospital starts to adopt MRT to treat a plurality of cases of upper limb amputation, and good effects are obtained. The MRT operation can effectively output the movement intention of a human body, increase the number, the strength and the accuracy of movement signals, is beneficial to the intelligent bionic hand to carry out signal identification, and provides a feasible method for the upper limb amputation patient to better control the intelligent bionic hand.

Disclosure of Invention

The invention aims to fill the gap that a device for simulating the movement of the deep muscle of the stump is lacked in the market, and provides a device for simulating the movement of the deep muscle of the stump. Three lead screw motors are adopted for cooperative control, the motor drives the tendon rope to change the sinking degree of the silica gel pulling plate, wherein the tendon rope connected with the motor is stretched by the motor to simulate the movement of the tendon of a human body, and the motor is controlled by the control plate. The device has high anthropomorphic degree, can simulate the contraction of different parts of the stump of a human body by only using three motors to drive three tendon ropes connected with the motors, and does not need a complex sensing and control system; the invention also has a plurality of variable residual limb sunken sizes, and can simulate the contraction of human residual limbs in different degrees.

In order to achieve the purpose, the invention adopts the following technical scheme:

the invention provides a device for simulating the movement of deep muscles of stumps, which is characterized by comprising a stump simulation shell, three silica gel pull plates, three tendon ropes, three lead screw motors and three motor fixing bases, wherein the stump simulation shell is provided with a first screw rod and a second screw rod; the three silica gel pulling plates are uniformly distributed at the front end of the residual limb simulation shell, each lead screw motor is respectively installed in the residual limb simulation shell through a motor fixing base, the distribution of each lead screw motor in the residual limb simulation shell corresponds to the silica gel pulling plate, each silica gel pulling plate is respectively connected with the output end of the corresponding lead screw motor through one tendon rope, and the deformation of the corresponding silica gel pulling plate is respectively controlled by the sliding of a sliding block in each lead screw motor so as to simulate the movement of the residual muscle of the residual limb of a human body;

the three motor fixing bases and the residual limb simulation shell are integrally formed, wherein the first motor fixing base is close to the front end of the residual limb simulation shell and is positioned at the central axis of the residual limb simulation shell, and the remaining two motor fixing bases are close to the rear end of the residual limb simulation shell and are symmetrically positioned at the left side and the right side of the central axis of the residual limb simulation shell;

the silica gel pulling plate is partially embedded into the front end of the stump simulation shell; each silica gel arm-tie is equallyd divide and is become by integrated into one piece's head and connecting rod set up on the connecting rod and be used for fixing the round hole of tendon rope one end can simulate the shrink of human incomplete limb when the silica gel arm-tie receiving the tensile condition of tendon rope.

The invention has the characteristics and beneficial effects that:

the device for simulating the movement of the deep muscles of the stump, which is provided by the invention, consists of a screw motor, a tendon rope, a silica gel pulling plate, a simulation stump shell cover and the like, and has higher personification degree; the lead of the lead screw motor is controlled by the control panel, so that the control precision of the lead screw motor is improved, and a control system is simple and easy to operate; only three lead screw motors are used for driving the three tendon ropes, and a complex sensing and control system is not needed; the device has the advantages of simple structure, light weight, low processing, assembling and maintaining cost and high anthropomorphic degree, and is suitable for simulating the movement process of deep muscles of human stumps.

In addition, the invention can provide experimental conditions for the follow-up deep exploration of the motion condition of deep muscles, and the combination of the invention and the pressure sensor can measure pressure signals of different parts and different contraction quantities of the skin on the surface of a plurality of groups of stumps. The device can also realize more accurate control for the transplantation of the prosthetic hand on the human body, and provide valuable experimental data of the hand.

Drawings

Fig. 1 and 2 are schematic diagrams of the overall structure of an embodiment of the device for simulating the deep muscle movement of the residual limb, which is provided by the invention;

figure 3 is a top view of a portion of an assembly for use in a device for simulating deep muscle movement of a residual limb in accordance with an embodiment of the invention;

FIG. 4 is an isometric view of FIG. 3;

fig. 5 is a schematic structural diagram of a silicone pulling plate in the embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the detailed description and specific examples, while indicating the scope of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.

For a better understanding of the invention, an example of the use of the device proposed by the invention for simulating the movement of the deep muscles of the stump is described in detail below.

One embodiment of the device for simulating the movement of the deep muscles of the stump is shown in fig. 1-5, and comprises a simulation shell of the stump (the stump is limited to a simulation arm), three silica gel pull plates (3, 4 and 5), three tendon ropes (9, 10 and 11), three lead screw motors (6, 7 and 8) and three motor fixing bases (12, 13 and 14); the three silica gel pulling plates (3, 4 and 5) are uniformly distributed at the front end of the stump simulation shell, each lead screw motor (6, 7 and 8) is respectively installed inside the stump simulation shell through one motor fixing base (12, 13 and 14), the distribution of each lead screw motor in the stump simulation shell corresponds to the silica gel pulling plate, each silica gel pulling plate (3, 4 and 5) is respectively connected with the output end of the corresponding lead screw motor (6, 7 and 8) through one tendon rope (9, 10 and 11), and each lead screw motor respectively controls the deformation of the corresponding silica gel pulling plate (3, 4 and 5) so as to simulate the movement of the stump muscles of a human body.

The specific implementation and functions of each component in this embodiment are described as follows:

the simulation residual limb shell is formed by 3D printing, and a hollow design is adopted, so that materials are saved, and the processing time is shortened. The shape of the simulation stump shell is similar to that of a human stump, and the simulation stump shell is formed by fastening a main body shell 1 and a top cover 2 through bolts, so that the installation of a motor fixing base and a screw motor inside the simulation stump shell is facilitated. Three motor fixed baseplate (12, 13, 14) and casing main part 1 integrated into one piece, wherein motor fixed baseplate 14 is close to casing main part 1 front end and is located casing main part 1's axis department, and motor fixed baseplate 12 and 13 are close to casing main part 1 rear end and symmetry are located casing main part 1's axis left and right sides. The front end of the shell body 1 provided with the silica gel pulling plates (3, 4 and 5) is semi-circular like and is similar to the tail end of the stump, and the silica gel pulling plates partially penetrate through the front end of the shell body and are positioned on the outer side of the front end of the shell body to be embedded into the front end of the shell body. The structures of the silica gel pulling plates (3, 4 and 5) are the same, referring to fig. 5, taking the silica gel pulling plate 3 as an example, the silica gel pulling plate is integrally formed by a head 31 and a connecting rod 32, a round hole 33 used for fixing one end of the tendon rope 11 is formed in the connecting rod 32, the silica gel pulling plates (3, 4 and 5) are formed by 3D printing, uniform, nontoxic and tasteless silica gel is coated outside, and the flexible silica gel can vividly simulate the contraction of the stump of the human body under the condition of the tension of the tendon rope.

Each lead screw motor (6, 7, 8) is respectively fixed on the corresponding motor fixing base (12, 13, 14) through a bolt, a sliding block (15, 16, 17) in each lead screw motor (6, 7, 8) is respectively fixed with the other end of the corresponding tendon rope (9, 10, 11), and the tightness of the tendon rope is controlled by the sliding of the sliding block. The control plates of the lead screw electrodes (6, 7 and 8) are fixed on the corresponding motor fixing bases through bolts and are used for controlling the movement speed and the stroke of the corresponding lead screw electrodes; the control board is connected with a motor interface of the screw motor through a drive board so as to control the screw motor.

The working principle of the device for simulating the motion of the deep muscles of the stump in the embodiment is described as follows by combining the accompanying drawings:

this embodiment is in an initial state as shown in fig. 1 and 2. The lead screw motors (6, 7 and 8) rotate, the tendon ropes (9, 10 and 11) are tensioned, one ends of the tendon ropes (9, 10 and 11) are connected with the corresponding silica gel pulling plates (3, 4 and 5), the other ends of the tendon ropes are connected with the corresponding lead screw motors (6, 7 and 8), when the lead screw motors (6, 7 and 8) rotate clockwise, the silica gel pulling plates (3, 4 and 5) are stretched, deformation is generated near the part in contact with the shell body 1, and the contraction of the human residual limb can be simulated well. The three screw motors can be controlled independently or simultaneously, and the motor models are selected according to parameters such as required torque, required force and the like.

The device for simulating the motion of the deep muscles of the stump, which is provided by the invention, consists of a screw motor, a tendon rope, a silica gel pulling plate, a simulation stump shell cover and the like, and has higher personification degree; the lead of the lead screw motor is controlled by respective control plates, so that the control precision of the lead screw motor is improved, and the lead screw motor is simple to control and easy to operate; only three lead screw motors are used for driving the three tendon ropes, and a complex sensing and control system is not needed; the device has the advantages of simple structure, light weight, low processing, assembling and maintaining cost and high anthropomorphic degree, and is suitable for simulating the movement process of deep muscles of human stumps.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.