CN101181176A - A wearable hand function rehabilitation robot and its control system - Google Patents

Abstract

Translated fromChinese

本发明公开一种可穿戴式手功能康复机器人，主要用于辅助因脑中风、脑外伤、脊椎损伤以及周围神经损伤导致手运动功能障碍的患者在社区或者家庭中重复进行运动功能康复训练。该机器人系统通过检测患手多通道表面肌电信号提取患者主动运动意愿，并结合角度和力传感器测量的数据得到患肢状态，机器人在此基础上采用智能控制算法通过气动肌肉收缩辅助患手进行康复训练。本康复机器人具有多个自由度，辅助患手进行多关节复合运动，并且将康复过程中的多传感器数据信息融合用于康复效果评估，还通过使用计算机上的康复治疗虚拟环境来提高患者的主动性与训练兴趣。本发明结构简单，运动灵活，安全可靠，能够实现患手运动功能的康复训练，而且符合人手的生理结构特点，穿戴更加舒适。

The invention discloses a wearable hand function rehabilitation robot, which is mainly used to assist patients with hand motor dysfunction caused by cerebral apoplexy, traumatic brain injury, spinal injury and peripheral nerve injury to repeatedly perform motor function rehabilitation training in communities or families. The robot system extracts the patient's willingness to move actively by detecting the multi-channel surface electromyographic signals of the affected hand, and combines the data measured by the angle and force sensors to obtain the state of the affected limb. Rehabilitation. This rehabilitation robot has multiple degrees of freedom, assists the patient to perform multi-joint compound movements, and uses multi-sensor data fusion in the rehabilitation process for rehabilitation effect evaluation, and also improves the patient's initiative by using the virtual environment for rehabilitation treatment on the computer. Sex and training interest. The invention has the advantages of simple structure, flexible movement, safety and reliability, can realize the rehabilitation training of the motor function of the affected hand, conforms to the physiological structure characteristics of the human hand, and is more comfortable to wear.

Description

A kind of apparel type robot for healing hand function and control system thereof

Technical field

The invention belongs to the healing robot technology, concrete a kind of apparel type robot for healing hand function and control system thereof.This robot adopts pneumatic muscles to drive, can assist the patient to suffer from hands multi-joint compound motion functional training.The present invention adopts the Based Intelligent Control based on biological myoelectricity biofeedback, can carry out qualitative assessment to rehabilitation efficacy, adopts the augmented reality technology to give full play to patient's subjective initiative.

Background technology

In recent years central nervous system injury patients such as spinal cord injury, cerebral trauma and apoplexy significantly increase, and upper limb and hands dysfunction are one of modal subject matter, suffer from prognosis and quality of life that the hands functional rehabilitation is related to the patient.Studies show that, 90% neurological recovering in the present post-stroke three months, rehabilitation gets involved more early, and the probability of functional rehabilitation is just big more, and prognosis is also good more.The central nervous system has the plasticity of height, and experiment shows that specific functional training is essential in this process.Numerous rehabilitation trainings generally is according to neurodevelopmental rule, earlier from shoulder joint, carry out the transition to elbow joint, carpal joint and the refining of finger function instruction gradually, carry out the hands functional training by the time behind the joint function recovery of shoulder, elbow, wrist again and often missed optimal rehabilitation treatment time.Therefore, the repeat function of hand rehabilitation training should be carried out simultaneously with upper limb, so that effectively utilize early stage this section in morbidity back golden hour.The difficult more recovery of complicated more function, and staff carries out fine movement more, the innervation complexity, dyskinesia patient's the easiest " useless using " is the motor function of hands, it is very important for the final recovery of patient moving function therefore to bring out the finger function training in early days.

The hands dysfunction of clinical upper limb disabled patient often shows as flexion contracture, the musculus flexor tension force of hands is preponderated, interphalangeal joint and metacarpophalangeal joints stretch difficulty, forfeiture gripping, side are pinched, the palm are reached fine movement functions such as fingers, therefore spasm is the subject matter of early stage hands functional training, and the method for passive inhibition spasm is mainly taked in rehabilitation.When the therapist carries out rehabilitation training for patient clinically at present, by doing and illustrating the patient is carried out man-to-man training, movable each joint of suffering from hands, not only training effectiveness and training strength are difficult to guarantee, the training effect is subjected to the influence of therapist's level, and lack the objective data of estimating training parameter and rehabilitation efficacy relation, be difficult to training parameter is optimized to obtain therapeutic regimen.

Chinese patent 200420019014.X discloses a kind of intelligent hand recovery training appliance for recovery, be used for the patient that finger motion function remains to be recovered and carry out rehabilitation training, it comprises control system, motor driver, five gentle ropes, the five pairs of driving snakes and five cover finger motion mechanisms.This apparatus structure is simple, and is easy to operate, with low cost, can independently carry out rehabilitation training for the patient.

The shortcoming of this device is the special complexity that does not take into full account the human limb, thereby makes the rehabilitation exercise form single, and degree of freedom is few, and mechanism lacks compliance, and can not realize that the training effect assesses, and does not also introduce the augmented reality technology.

Chinese patent 200520020314.4 discloses the invalid vapour-pressure type rehabilitation of a kind of cerebrovascular glove, mainly form by air bag, valve, aerating device etc., air bag is carried out regular inflation and venting, reach the purpose that auxiliary hand multi-joint carries out passive flexion movement.

Although the submissive suitable wearing of this vapour-pressure type rehabilitation glove is not introduced robotics, intelligent rehabilitation system at last not, can not obtain the parameter in the rehabilitation course, not only can not realize the assessment of rehabilitation efficacy, and patient is the passive rehabilitation training of accepting, training process is uninteresting.

Chinese patent 200410009465.X discloses a kind of wrist and finger-joint exercise rehabilitation training robot, the training handle that comprises host computer, robot holding clamp, hand rest, speed governing driving device, angle detection mechanism and various uses, can be at different purposes, design control scheme, the auxiliary for hemiparalysis patient carries out the rehabilitation training of wrist joints of hand.

The shortcoming of this device is to drive actuator not have a compliance, is not suitable for dressing, and does not also introduce biofeedback and augmented reality technology and improves the enthusiasm that the patient initiatively participates in rehabilitation training.

Summary of the invention

The object of the present invention is to provide apparel type robot for healing hand function, this robot can assist suffer from hands finish grasping, to the palm with to actions such as fingers, effectively alleviate edema, avoid limb spasm and non-paralytic amyotrophy, motion is reached as far as possible coordinate to improve freedom of movement, the recovery that limb function is obtained with random, shorten rehabilitation course of treatment, reduce medical expense; The present invention also provides this ROBOT CONTROL system.

Apparel type robot for healing hand function provided by the invention is characterized in that: the inlet end of first, second pneumatic muscles all links to each other with the mechanical arm rear end;

The mechanical arm front portion is equipped with the support pulley yoke, supports the pulley and first pinch roller and is installed on the support pulley yoke, supports pulley yoke the place ahead the metacarpophalangeal joints revolute pair is installed; The angle pulley and second pinch roller are installed in metacarpophalangeal joints revolute pair front upper place, and rotatable finger holder support is installed in the below, are referring on the holder support pull bar to be installed and branch refers to holder; Be fixed with the rigidity cord on the pull bar, cord passes the gap of the angle pulley and second pinch roller and passes the gap of supporting the pulley and first pinch roller again, is connected with the blind end of first pneumatic muscles; Metacarpophalangeal joints revolute pair front lower place is equipped with is close to the finger tabletting of pointing the back; Between metacarpophalangeal joints revolute pair and the finger tabletting slide rail is installed;

The place ahead one side of mechanical arm is equipped with first thumbstall and second thumbstall, and an end of thumb support links to each other with mechanical arm, and the middle part links to each other with the blind end of second pneumatic muscles, and the other end links to each other with second thumbstall.

The control system of robot for healing hand function provided by the invention comprises controller, A/D capture card, signal pre-processing circuit, force transducer, angular transducer and electromagnetic proportional valve;

Force transducer comprises first force transducer and second force transducer, one end of first force transducer be fixed on the mechanical arm rear end, the other end connects the inlet end of first pneumatic muscles, one end of second force transducer also is fixed on the mechanical arm rear end, and the other end links to each other with the inlet end of second pneumatic muscles;

Angular transducer comprises first angular transducer, second angular transducer and third angle degree pick off; Third angle degree pick off is installed in thumb support rotating shaft place, and first angular transducer is installed in the rotating shaft place of metacarpophalangeal joints revolute pair, and second angular transducer is installed in and refers to rotation place of holder support;

Electromagnetic proportional valve links to each other with the inlet end of first, second pneumatic muscles;

Signal pre-processing circuit links to each other with force transducer with angular transducer, sensor signal is carried out amplification filtering after, send to controller by the A/D capture card;

Controller receives the data that comprise joint angles and pneumatic myotility, controls the contraction of first, second pneumatic muscles by electromagnetic proportional valve.

The present invention is applied to robotics patient's hands movement functional rehabilitation, a kind of apparel type robot for healing hand function is provided, the employing pneumatic muscles drives, and bio-imitability that it is unique and compliance are more mated the frame for movement of robot and people's limbs compliance, is suitable for dressing and safety and comfort.Have multiple degrees of freedom, the stretching, extension of main auxiliary finger makes the patient finally finish the repetition training of hands movement function.Its light economy, easily wear and unload, be particularly suited for family and community and use, both simplified therapist and patient's " one to one " heavy therapeutic process, can be the patient again effective rehabilitation training is provided, have the potentiality of improving rehabilitation efficacy and raising rehabilitation efficient.

The present invention also comprises control system, employing is based on the biofeedback technology of electromyographic signal, multi-sensor data is merged Based Intelligent Control and the rehabilitation efficacy assessment that is used for robot, auxiliary patient finishes the repeat function training of suffering from hands multi-joint compound motion, and adopt augmented reality technique construction rehabilitation virtual environment, improve initiative and interest that the patient participates in rehabilitation training.Robot can write down full and accurate treatment data, and objective, treatment and evaluating accurately can be provided, and has the potentiality of improving rehabilitation efficacy and improving rehabilitation efficient.

Description of drawings

Fig. 1 is the apparel type robot for healing hand function front view;

Fig. 2 is the apparel type robot for healing hand function vertical view;

Fig. 3 is the apparel type robot for healing hand function upward view.

Fig. 4 is the structural representation of apparel type robot for healing hand function control system;

Fig. 5 is the intelligent control algorithm flow chart of apparel type robot for healing hand function;

Fig. 6 is the apparel type robot for healing hand function control system structural representation with myoelectricity biofeedback;

Fig. 7 is for being provided the healing robot control system structural representation of rehabilitation virtual environment by computer;

The specific embodiment

The present invention is further detailed explanation below in conjunction with accompanying drawing and example.

As shown in Figure 1, the structure of apparel type robot for healing hand function is:

Mechanical arm 1 is used for fixing patient's arm and wrist, first,second holder 7,8 is installed inmechanical arm 1 rear end,first force transducer 9 andsecond force transducer 10 are used to measure the pulling force of pneumatic muscles, one end of first force transducer 9 links to each other withfirst holder 7, the other end connects the inlet end of firstpneumatic muscles 11, one end of second force transducer 10 links to each other withsecond holder 8, and the other end links to each other with the inlet end of secondpneumatic muscles 4.

Mechanical arm 1 anterior the installation supportedpulley yoke 26, installs above and supports thepulley 13 andfirst pinch roller 14, supportspulley yoke 26 the place aheads metacarpophalangeal jointsrevolute pair 18,19 is installed, and firstangular transducer 20 is installed at its rotating shaft place, measures the metacarpophalangeal joints anglec of rotation; Theangle pulley 15 andsecond pinch roller 16 are installed in metacarpophalangeal jointsrevolute pair 18,19 front upper places, rotatablefinger holder support 21 is installed in the below,installation pull bar 17 and branch refer to hold in thepalm 22 onfinger holder support 21, refer to hold in thepalm support 21 rotations place that secondangular transducer 23 is installed, and measure interphalangeal joint and stretch angle; Fix arigidity cord 12 on thepull bar 17, cord passes the gap of theangle pulley 15 andsecond pinch roller 16 and passes the gap of supporting thepulley 13 andfirst pinch roller 14 again, is connected with the blind end of first pneumatic muscles 11.Metacarpophalangeal jointsrevolute pair 18,19 back lower places are installedfinger tabletting 24 and are close to the finger back; Between metacarpophalangeal jointsrevolute pair 18,19 and thefinger tabletting 24slide rail 25 is installed, in the metacarpophalangeal joints rotation process,finger tabletting 24 slides byslide rail 25.

First thumbstall 2 is installed in the right front ofmechanical arm 1,second thumbstall 3 is used for fixing trouble handsthumb.Thumb support 5 one ends are fixed on the right front ofmechanical arm 1, the middle part links to each other with the blind end of secondpneumatic muscles 4, the other end links to each other withsecond thumbstall 3, secondpneumatic muscles 4 shrinks and affects 5 rotations of thumb support, the auxiliary hands of suffering from is realized the thumb abduction, third angle degree pick off 6 is installed atthumb support 5 rotating shaft places, is used to measure thumb abduction angle.

The present invention is for obtaining the optimal rehabilitation effect, carry out in the process of exercise rehabilitation training auxiliary patient, robot only provides the trouble limb and finishes the essential minimum driving force of training, make full use of the remaining muscular force of suffering from limb, the control system structural design as shown in Figure 4, it comprises controller 100, A/D capture card 200, signal pre-processing circuit 300, force transducer 400, angular transducer 500 and electromagnetic proportional valve 600.

Force transducer 400 comprisesfirst force transducer 9 andsecond force transducer 10, monitor the pulling force of firstpneumatic muscles 4 and secondpneumatic muscles 11 respectively, not only be used for the quantitative assessment rehabilitation training and suffer from the active degree of participation of hands, and can avoid suffering from the damage of hand muscle meat excessive the causing of spasticity lower pulling force.

Angular transducer 500 comprises firstangular transducer 6, secondangular transducer 20 and third angle degree pick off 23, measures thumb abduction angle, the metacarpophalangeal joints anglec of rotation and the interphalangeal joint anglec of rotation.

After the signal of 300 pairs of angular transducers 500 of signal pre-processing circuit and force transducer 400 carries out amplification filtering, controller 100 is by the signal of A/D capture card 200 acquisition angles pick offs 500 and force transducer 400, obtain the motion feature parameter of man-robot system and suffer from the hands state, take corresponding Intelligent Control Strategy on this basis, shrink by electromagnetic proportional valve 600 controlpneumatic muscles 4,11, the auxiliary hands of suffering from is finished multi-joint compound motion functional training.

Because the compressibility of gas, pneumatic muscles has typical nonlinear and hysteresis, be difficult to carry out accurate mathematical modeling, thereby the kinesiology of mechanical hand and Dynamic Modeling also have non-linear and uncertain, adopt traditional control method such as PID to be difficult to find suitable control parameter, simultaneously in robot control, because the polytropy of its pose, load needs constantly to adjust the control parameter.So the present invention is applied to the controller design of robot for healing hand function with Based Intelligent Control, eliminates and weaken the intrinsic departure of bringing because of Dynamic Modeling is inaccurate.The control flow of robot for healing hand function control system may further comprise the steps as shown in Figure 5:

(1) encourage the patient to suffer from hands and carry out autonomic movement, angular transducer detects the movement angle in each joint in real time, and reaches the expected angle of target, i.e. the target setting angle in each joint at last according to predetermined each joint of training mode computation;

(2) judge whether each joint of trouble hands reaches the angle on target of setting, if reached then flow process end of angle on target;

(3) judge that the patient suffers from hands and whether stops autonomic movement, then increase the pneumatic muscles auxiliary force by electromagnetic proportional valve if stop;

(4) utilize the movement angle in each joint of the real-time detection of cancerous hands of angular transducer, if the angle on target that each joint reaches setting then flow process finish;

(5) force transducer detects the pneumatic muscles auxiliary force in real time, obtains in conjunction with angular transducer and suffers from hands state and motion feature, is in the then flow process end of high-drag (spasm) state if suffer from hands;

(6) judge whether whether suffer from the hands autonomic movement stops, reaching maximum (saturation force) if stop then to judge the pneumatic muscles auxiliary force, otherwise return step (4);

(7) if pneumatic muscles auxiliary force unsaturation then increases the pneumatic muscles auxiliary force by electromagnetic proportional valve, return step (4); If auxiliary force is saturated then fully by suffering from the target setting angle that the hands autonomic movement reaches each joint, suffers from the hands autonomic movement and stop then flow process end.

Preferably, the present invention also can comprise surface myoelectric (Surface Electromyogram, sEMG) electrode 700 and EMG amplifier 800, aim to provide a kind of based on myoelectricity biofeedback technology (Electromyogram-based Biofeedback, EMGBF) robot for healing hand function control system, as shown in Figure 6.During use, sEMG electrode 700 sticks on patient's hand or forearm, the agonist that plays a major role in the detection of cancerous hands movement function rehabilitation training process and the sEMG signal of Antagonistic muscle, after amplifying, EMG amplifier 800 all wave rectifications import controllers 100 by A/D capture card 200, extract patient's active exercise wish and suffer from the hands state, be used for the Based Intelligent Control and the rehabilitation efficacy evaluation of robot.

Experiment shows, the existence of active exercise wish has important positive impact to rehabilitation efficacy, the present invention will be that new feedback loop is set up at the center with patient, based on the further research and pay attention to the initiatively application of wish of human brain of sEMG signal, strengthen in the neural rehabilitation stimulation and integration process to kinetic system.But, show as the wave amplitude increase of myoelectrical activity and the improvement of frequency spectrum when muscle makes progress after the rehabilitation, so the application of EMGBF in the healing robot control system is more extensive based on the recovery that the bio information of EMG feeds back the accelerated motion function.But sEMG itself is a kind of fainter signal of telecommunication, be subject to interference effect, its amplitude has randomness, the present invention is to suffering from the agonist and Antagonistic muscle such as the extensor digitorum that play a major role in the hands movement functional training process, referring to that the multichannel sEMG of musculus flexor, palmaris longus, abductor digiti minimi etc. carries out time frequency analysis, extract the principal character parameter, patient's hands movement function is carried out quantitative assessment such as muscle active force, exercise duration, motor coordination function etc., provide to greatest extent and prevent muscle spasm and the required trouble limb state parameter of Based Intelligent Control decision analysis.

Preferably, the present invention also can adopt computer 900 that healing hand function treatment virtual environment interface is provided, and is connected in controller 100, as shown in Figure 7.Controller 100 is with the pneumatic muscles power of force transducer 400 inputs, the joint angles of angular transducer 500 inputs, parameters such as the angle on target in each joint are passed to computer 900, computer 900 realizes suffering from the quantitative assessment of hands movement function rehabilitation training process and rehabilitation efficacy according to input parameter, comprise thumb and terminal current location and the movement locus of all the other four fingers, the speed of each joint motions and stationarity, the deviation of finger tips movement locus and target trajectory, the size of robot auxiliary force, the evaluation of indexs such as whether the functional training task completes successfully, and utilize the augmented reality technology to feed back to the patient, virtual scene that computer is generated and information are added to and realize enhancing to reality in the real scene, a kind of rehabilitation virtual environment is provided, comprises the computer virtual recreation, training beginning and the prompting that finishes, training effect's vision and auditory feedback.This mode can be when robot offers patient's mechanical assistant, the quantitative assessment of rehabilitation training process and rehabilitation efficacy is fed back to the patient in real time, and utilize computer game to excite patient's training interest, to overcome the problem that the patient initiatively participates in training in the current rehabilitation training enthusiasm is difficult to improve.Rehabilitation training based on virtual environment also combines with network in addition, has the advantage of remote rehabilitation robot system.

Claims (4)

Translated fromChinese

1.一种穿戴式手功能康复机器人，其特征在于：1. A wearable hand function rehabilitation robot, characterized in that:第一、第二气动肌肉(11、4)的进气端均与机械手臂(1)后端相连；The air intake ends of the first and second pneumatic muscles (11, 4) are connected to the rear end of the mechanical arm (1);机械手臂(1)前部安装有支撑滑轮架(26)，支撑滑轮(13)和第一压轮(14)安装在支撑滑轮架(26)上，支撑滑轮架(26)前方安装有掌指关节转动副(18、19)；掌指关节转动副(18、19)前上方安装换向滑轮(15)和第二压轮(16)，下方安装可旋转的指托支架(21)，在指托支架(21)上安装有拉杆(17)和分指托(22)；拉杆(17)上固定有刚性细绳(12)，细绳穿过换向滑轮(15)和第二压轮(16)的间隙再穿过支撑滑轮(13)和第一压轮(14)的间隙，与第一气动肌肉(11)的封闭端连接；掌指关节转动副(18、19)前下方安装有紧贴手指背部的手指压片(24)；掌指关节转动副(18、19)与手指压片(24)之间安装滑轨(25)；Mechanical arm (1) front portion is equipped with support pulley frame (26), and support pulley (13) and the first pressure wheel (14) are installed on the support pulley frame (26), and palm finger is installed in the support pulley frame (26) front. Joint revolving pair (18,19); reversing pulley (15) and the second pressure roller (16) are installed on the metacarpophalangeal joint revolving pair (18,19), and a rotatable finger rest support (21) is installed below. Pull bar (17) and sub-finger rest (22) are installed on the finger rest bracket (21); Rigid string (12) is fixed on the pull bar (17), and the string passes through the reversing pulley (15) and the second pressure wheel (16) passes through the gap between the support pulley (13) and the first pressure roller (14) again, and is connected with the closed end of the first pneumatic muscle (11); There is a finger pressing piece (24) close to the back of the finger; a slide rail (25) is installed between the metacarpophalangeal joint revolving pairs (18, 19) and the finger pressing piece (24);机械手臂(1)的前方一侧安装有第一拇指套(2)和第二拇指套(3)，拇指支架(5)的一端与机械手臂相连，中部和第二气动肌肉(4)的封闭端相连，另一端与第二拇指套(3)相连。The front side of the mechanical arm (1) is equipped with a first thumb cover (2) and a second thumb cover (3), one end of the thumb support (5) is connected with the mechanical arm, and the middle part and the second pneumatic muscle (4) are closed One end is connected, and the other end is connected with the second thumb sleeve (3).2.一种权利要求1所述手功能康复机器人的控制系统，其特征在于：它包括控制器(100)、A/D采集卡(200)、信号预处理电路(300)、力传感器(400)、角度传感器(500)和电磁比例阀(600)；2. a control system of the described hand function rehabilitation robot of claim 1, is characterized in that: it comprises controller (100), A/D acquisition card (200), signal preprocessing circuit (300), force transducer (400) ), an angle sensor (500) and an electromagnetic proportional valve (600);力传感器(400)包括第一力传感器(9)和第二力传感器(10)，第一力传感器(9)的一端固定在机械手臂(1)后端，另一端连接第一气动肌肉(11)的进气端，第二力传感器(10)的一端也固定在机械手臂(1)后端，另一端与第二气动肌肉(4)的进气端相连；The force sensor (400) comprises a first force sensor (9) and a second force sensor (10), one end of the first force sensor (9) is fixed on the rear end of the mechanical arm (1), and the other end is connected to the first pneumatic muscle (11 ), one end of the second force sensor (10) is also fixed at the rear end of the mechanical arm (1), and the other end is connected to the intake end of the second pneumatic muscle (4);角度传感器(500)包括第一角度传感器(6)、第二角度传感器(20)和第三角度传感器(23)；第三角度传感器(6)安装在拇指支架(5)旋转轴处，第一角度传感器(20)安装在掌指关节转动副(18)、(19)的旋转轴处，第二角度传感器(23)安装在指托支架(21)旋转处；Angle sensor (500) comprises first angle sensor (6), second angle sensor (20) and the 3rd angle sensor (23); The angle sensor (20) is installed at the rotation axis of the metacarpophalangeal joint (18), (19), and the second angle sensor (23) is installed at the rotation place of the finger rest bracket (21);电磁比例阀(600)与第一、第二气动肌肉(11)、(4)的进气端相连；The electromagnetic proportional valve (600) is connected with the intake ports of the first and second pneumatic muscles (11), (4);信号预处理电路(300)与角度传感器(500)和力传感器(400)相连，将传感器信号进行放大滤波后，通过A/D采集卡(200)发送给控制器(100)；The signal preprocessing circuit (300) is connected to the angle sensor (500) and the force sensor (400), and after the sensor signal is amplified and filtered, it is sent to the controller (100) through the A/D acquisition card (200);控制器(100)接收包括关节角度和气动肌肉拉力的数据，通过电磁比例阀(600)控制第一、第二气动肌肉(11)、(4)的收缩。The controller (100) receives data including joint angles and pneumatic muscle tension, and controls the contraction of the first and second pneumatic muscles (11), (4) through an electromagnetic proportional valve (600).3.根据权利要求2所述的控制系统，其特征在于：该系统还包括串接的表面肌电电极(700)和肌电放大器(800)，肌电放大器(800)的另一端依次通过信号预处理电路(300)和和A/D采集卡(200)与控制器(100)相连，使用时，表面肌电电极(700)与第一、第二气动肌肉(11、4)接触。3. control system according to claim 2, is characterized in that: this system also comprises the surface myoelectric electrode (700) of series connection and myoelectric amplifier (800), the other end of myoelectric amplifier (800) passes signal successively The preprocessing circuit (300) and the A/D acquisition card (200) are connected to the controller (100). When in use, the surface myoelectric electrode (700) is in contact with the first and second pneumatic muscles (11, 4).4.根据权利要求2或3所述的控制系统，其特征在于：该系统还包括与控制器相连的计算机(900)。4. The control system according to claim 2 or 3, characterized in that the system further comprises a computer (900) connected to the controller.

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