Structure of the bionic hand prosthesis control system with sensor feedback
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The article analyzes the state of the problem of creating highly functional bionic prostheses and the relevance of creating an adaptive control system for such prostheses based on the results of biosignal processing is shown. The advantages and disadvantages of the method of direct signals registration from the motor departments of the human cerebral cortex, the use of specialized so-called nerve cuffs to receive signals directly from peripheral nerve fibers, as well as implanted electrodes and registration of surface electromyographic signals (sEMG) were considered. Taking into account the non-invasiveness, safety and simplicity of technical implementation, the sEMG registration method was used as the basis for the work of the designed system. However, to increase the informativeness of the source material and the possibility of isolating a greater number of informative signs of individual phantom movements, it is proposed to use a multi-electrode system, and to ensure the adaptability of the prosthesis, it is proposed to implement sensory feedback in the proposed control system structure. For this purpose, it is proposed to use signals from tactile sensors, which will be placed at the prosthesis fingers ends. The structure of the control system is proposed, which includes two related data exchange channels and four main elements: a multielectrode system with sEMG sensors; a stump-receiving sleeve with actuators; a smartphone or PC with appropriate software; a bionic prosthesis with a processor module, motor drivers and a module for registering tactile sensors signals. It is proposed to implement the main structural elements, such as the multielectrode system, the stump-receiving sleeve and the bionic prosthesis itself, as separate independent elements that are interconnected via separate wireless data exchange channels. The elements of the multielectrode system for recording sEMG and sensory feedback signals were developed.
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