MYOELECTRIC METHOD FOR CONTROLLING ARTIFICIAL LIMB

摘要

FIELD: medicine. SUBSTANCE: method involves determining given rotational speed magnitude of driven engine corresponding to measured electrode voltage in performing proportional speed control using various given rotational speed values determinable in each case by the corresponding measured electrode voltage. The mentioned given rotational speed is compared to the actual engine speed and the value is sent to proportional integral governor (PI-governor) as mismatch level. Deviation of a value to be under control in PI-governor is transformed into pulse-duration modulation signal (PDM signal) corresponding to predefined PDM parameter values and exerting influence upon the driven engine. The engine gains the rotational speed being in proportional relation to electrode voltage magnitude. The actual magnitude of driven engine electric current is measured and compared to preset maximum current threshold to provide for switching the PI-governor off in cases the value is surpassed. Proportional control of the grasping force being the aim, the force is reached step-by-step. Maximum grasping force is divided into a number of steps, and the actual value of electrode voltage is set in correspondence to a given number of the steps. Given magnitude of PDM and the corresponding magnitude of current deviance are correlated to each step. Counter records the PDM value in the direction of growth from zero mark to the number of steps determined by the actual electrode voltage. The PDM value recorded by the counter displays with current switching-off value equivalent to it. The value being achieved, the counter increments the reading by 1 and the following PDM value is shown. The number of steps determined by the actual electrode voltage being achieved, predefined grasping force level occurs to be reached and the driven engine is switched off. The corresponding current magnitude is measured and compared to preset maximum current threshold to result in switching the driven engine also off in cases the value is surpassed. EFFECT: enhanc