Multimodal Perceptual Feedback And Human-computer Interaction Training Of Intelligent Prosthetic Hand

The loss of the arm of the residual limb causes it to lose both the motor function and the sensory feedback function of the hand.At present,domestic and foreign artificial hands can help the residual limb patients to restore the movement function of the hand to a certain extent,but still can not effectively restore their sensory feedback functions,including body feeling and touch.This paper developed a multi-channel integrated electrical stimulator to provide electrical tactile feedback to patients.The research on the expected grasping force training of artificial hand based on electric tactile feedback was carried out.Finally,a multimodal sensory feedback biomechanical experiment was carried out.This paper first expounds the background of the subject,investigates the research status of sensory feedback at home and abroad,expounds the basic situation of various sensory feedback methods,and determines the technical scheme based on electrical stimulation feedback.In order to provide electric tactile feedback to the fake hand user,this paper firstly carried out the pre-experiment of time-sharing multiplexing,expounded the basic principle of time-sharing multiplexing,and measured the minimum stimulation pulse width and the minimum pulse width interval.Based on the principle of time division multiplexing,a multi-channel integrated electric stimulator has been developed.The electric stimulator has current detecting capability,which can adjust the current flowing through the surface of the human skin in real time to ensure the stability of the electrical stimulation feeling.In order to improve the accuracy and stability of the feedforward control of the fake hand user,this paper builds a virtual artificial hand training platform and trains the expected crawling power of the test on the virtual platform based on the electrical tactile feedback.An effective electrical tactile feedback strategy is proposed based on the electrode array.After training,the expected grasping power can be controlled to some extent.In order to provide users with both body and tactile feedback,this paper uses the vibration module to provide the user with space position feedback)hand hole size)of the artificial hand joint,and uses the electric stimulator to provide the user with grip force feedback.The experimental results show that the vibration feedback and power are provided.The artificial hand that stimulates the feedback function,the user can effectively perform the position control and force control of the artificial hand,and has practical significance.