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    • 2. 发明专利
    • METHOD FOR MYOELECTRIC CONTROL OF AN ARTIFICIAL LIMB
    • CA2148577C
    • 2007-01-09
    • CA2148577
    • 1995-05-03
    • GAMMER PETERSUSZ KARLKALMAR JANOS
    • GAMMER PETERSUSZ KARLKALMAR JANOS
    • A61F2/72
    • For myoelectric proportional control of an electric-motor-powered artificial limb, either proportional speed regulation or proportional gripping force regulation is performed. In proportional speed regulation, the set rpm value is determined from various rpm setpoints. The rpm setpoint is compared with the actual measured rpm of the motor and fed to a proportional-integral (PI) regulator as a system deviation. In the PI regulator, the system deviation is converted into a pulse-width-modulation (PWM) signal and the drive motor is then controlled at an rpm proportional to the actual electrode voltage. The actual current value of the drive motor is measured and compared with a set current maximum which, when exceeded, causes the PI regulator to be switched off. In proportional gripping force regulation, the maximum gripping force is divided into stages, with the actual electrode voltage corresponding to a certain number of stages. Each stage is associated with a pulse-width- modulation (PWM) value and a current shutoff value. Counting takes place from 0 to the number of stages specified by the current electrode voltage. Each PWM value is output with the equivalent current shutoff value. At the same time, the drive motor current is measured and compared with the outputted current shutoff value. Whenthis shutoff value is reached, the counter is increased by 1 and the next PWM value is output. When the counter reaches the number of stages defined by the actual electrode voltage, the set gripping force is reached and the drive motor is shutoff. The current value of the drive motor is measured and compared with a set current maximum which when exceeded, causes the drive motor to shutoff.
    • 6. 发明专利
    • METHOD FOR MYOELECTRIC CONTROL OF AN ARTIFICIAL LIMB
    • CA2148577A1
    • 1995-11-11
    • CA2148577
    • 1995-05-03
    • GAMMER PETERSUESZ KARLKALMAR JANOS
    • GAMMER PETERSUESZ KARLKALMAR JANOS
    • A61F2/72
    • For myoelectric proportional control of an electric-motor-powered artificial limb, especially a hand prosthesis, with the voltage of the respective electrode signal being measured and fed to a control, either proportional speed regulation or proportional gripping force regulation is performed. In proportional speed regulation, the set rpm value assigned to the electrode voltage being measured is determined from various rpm setpoints that relate to the drive motor but are each defined by a specific electrode voltage; this rpm setpoint is compared with the actual measured rpm of the motor and fed to a proportional-integral regulator as a system deviation; in the PI regulator the system deviation of correspondingly set parameters is converted into a pulsewidth-modulation signal (PWM) signal and the drive motor is then controlled, which thus assumes an rpm proportional to the actual electrode voltage; the actual current value of the drive motor is measured and compared with a set current maximum which, when exceeded, causes the PI regulator to be switched off. In proportional gripping force regulation, gripping force buildup takes place stepwise; the maximum gripping force is divided into stages, with the actual electrode voltage corresponding to a certain number of stages; each stage has associated with it a certain pulse-width-modulation value (PWM) value and a corresponding current shutoff value; counting takes place upward from counter position 0 up to the number of stages specified by the current electrode voltage, with the PWM value selected by the counter in each case being output with the current shutoff value equivalent to it; at the same time, the drive motor current is measured and compared with the respective current shutoff value being output; when this shutoff value is reached, the counter is increased by 1 and the next PWM value is output; when the counter reaches the number of stages defined by the actual electrode voltage, the set gripping force will have been reached and the drive motor is shut off; the respective current value of the drive motor is measured and compared with a set current maximum which when exceeded, likewise causes the drive motor to shut off.