CN105522986A - Apparatus and method for controlling a vehicle using electromyographic signal - Google Patents

Apparatus and method for controlling a vehicle using electromyographic signal Download PDF

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Publication number
CN105522986A
CN105522986A CN201510662375.9A CN201510662375A CN105522986A CN 105522986 A CN105522986 A CN 105522986A CN 201510662375 A CN201510662375 A CN 201510662375A CN 105522986 A CN105522986 A CN 105522986A
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CN
China
Prior art keywords
electromyographic signal
forearm
action
vehicle
state
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Granted
Application number
CN201510662375.9A
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Chinese (zh)
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CN105522986B (en
Inventor
柳松贤
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Hyundai Mobis Co Ltd
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Hyundai Mobis Co Ltd
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
    • A61B5/316—Modalities, i.e. specific diagnostic methods
    • A61B5/389—Electromyography [EMG]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
    • B60K28/02—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/24—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means
    • B60W10/26—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means for electrical energy, e.g. batteries or capacitors
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • G06F3/015—Input arrangements based on nervous system activity detection, e.g. brain waves [EEG] detection, electromyograms [EMG] detection, electrodermal response detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
    • B60K2028/006—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions disconnecting the electric power supply, e.g. the vehicle battery
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • B60W2050/0047—Digital-analogue (D/A) or analogue-digital (A/D) conversion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • B60W2050/0052—Filtering, filters

Abstract

The invention relates to an apparatus and a method for controlling a vehicle using an electromyographic signal. The apparatus comprises an electromyographic signal measuring part, an electromyographic signal processing part, an electromyographic signal combining part and a control part. The electromyographic signal measuring part measures electromyographic signals of a left/right front arm. The electromyographic signal processing part processes the electromyographic signals of the left/right front arm measured by the electromyographic signal measuring part. The electromyographic signal combining part combines the electromyographic signals of the left/right front arm processed by the electromyographic signal processing part. The control part judges actions of the left/right front arm according to the combination results of the electromyographic signals of the left/right front arm, and controls steering direction of a vehicle, braking and at least one kinds of functions of an Audio Video Navigation (AVN) device arranged on a vehicle according to the actions of the left/right front arm obtained through judgment. According to the invention, by use of the apparatus, steering of the vehicle, braking and multimedia functions of the vehicle can be controlled according to intentions of a driver.

Description

Utilize controller of vehicle and the method for electromyographic signal
Technical field
The present invention relates to the controller of vehicle and method that utilize electromyographic signal, particularly relate to a kind of by measuring and process the electromyographic signal occurred according to the action of forearm, the turning to of vehicle can be controlled according to the intention of chaufeur, brake and the controller of vehicle and the method that utilize electromyographic signal of multimedia function of vehicle.
Background technology
Steering swivel system is generally the device changing arbitrarily vehicle direct of travel for chaufeur, be made up of bearing circle, steering shaft etc., the steering effort of chaufeur is passed to the operating mechanism of wheel word, increase rotational force while steering effort direction by changing and be delivered to the wheel word that travels bindiny mechanism and the action of wheel word be delivered to front-wheel and accurately the bindiny mechanism etc. of the relevant position of support left is formed.
And, multimedia system touches or selects with mechanical arm (such as: bar, directionkeys, button, touch-screen, touch pad etc.) application program (App) that will use at chaufeur, Vehicular occupant, and when passing through the function of same procedure selective gist program (App) self, by audio-visual navigation (AudioVideoNavigation; AVN) picture of device provides the teleprocessing function such as the multimedia function such as music, video, broadcast, radio receiver and phone, bluetooth and speech recognition to Vehicular occupant.
Above-mentioned Vehicular system by the hand of people (hand (forehand), forearm, underarm, from elbow to wrist between part) work, because contingency or congenital disorders are inconvenient to use the people of hand to drive in vehicle and to use multimedia device.For addressing this is that, by myoelectricity (ELECTROMYOGRAPHIC; EMG) technology that the bio signal such as signal is applied to Vehicular system (such as, drive and multimedia system) is subject to extensive concern.
Background technology of the present invention is disclosed in No. 10-2007-0064083, KR published patent (publication date: on 06 20th, 2007, utilize controller of vehicle and the method for electromyographic signal).
Above-mentioned background technology be by carrying out processing controls vehicle acceleration to the electromyographic signal based on wire control technology (X-by-Wire) technology, the method for braking and to turn to etc.But because the system of above-mentioned background technology and so on is extensive because obtaining the position of electromyographic signal, therefore signal distinguishing is fuzzy, process and calculate that to measure the method for signal obtained indefinite for carrying out controlling, and, the method controlling vehicle is also various not, clearly do not disclose its method, too ignorantly, therefore cannot determine whether to play the function controlling actual vehicle.
Summary of the invention
Technical matters
For solving the problem, the object of the present invention is to provide a kind of by measuring and process the electromyographic signal occurred according to the action of forearm, the turning to of vehicle can be controlled according to the intention of chaufeur, brake and the controller of vehicle and the method that utilize electromyographic signal of multimedia function of vehicle.
Technical scheme
According to the controller of vehicle utilizing electromyographic signal of one aspect of the invention, it is characterized in that, comprising: electromyographic signal determination part, it measures the electromyographic signal of left/right forearm respectively; Electromyographic signal handling part, it processes the electromyographic signal of the left/right forearm that described electromyographic signal determination part measures; Electromyographic signal combination section, it combines the electromyographic signal of the left/right forearm through the process of described electromyographic signal handling part; And, control part, it utilizes the combined result of the electromyographic signal of described left/right forearm to judge the action of left/right forearm, and according to judging the steering direction of the action control vehicle of described left/right forearm obtained, braking and be arranged at the audio-visual navigation (AudioVideoNavigation of vehicle; At least one in the function of AVN) device.
The invention is characterized in, described electromyographic signal determination part comprises: at least one surface electrode, and it is attached to forearm and measures electromyographic signal; Amplifier, it amplifies the electromyographic signal that described surface electrode measures; Bandpass filter, it filters the signal of the special frequency band preset from the electromyographic signal of amplifying through described amplifier; Notch filter, it filters the electrical noise signals of the special frequency band preset from the electromyographic signal of amplifying through described amplifier; A and D converter, its signal obtained after removing noise to the signal filtering the described special frequency band obtained carries out analogue to digital conversion; And electromyographic signal efferent, it exports the electromyographic signal being converted to digital signal by described A and D converter.
The invention is characterized in: described surface electrode attachment position is the musculus extensor carpi ulnaris of left forearm and the musculus extensor carpi ulnaris of musculus extensor carpi radialis longus and right forearm and oar wrist musculus flexor.
The invention is characterized in: described control part utilize the combined result of the holding time of the holding time of the action of left forearm and each action and the action of right forearm and each action control vehicle steering direction, brake and be arranged at least one in the audio-visual navigation device function of vehicle, wherein, the action of left forearm comprises advance (Forward), retreats (Backward) and have a rest (Rest), and the action of right forearm comprises left (Left) rotation, to the right (Right) and rotates and have a rest (Rest).
The invention is characterized in: described control part is according to advance (Forward) action frequency of left forearm, the battery status of vehicle is periodically changed until finally start vehicle from battery dissengaged positions, according to retrogressing (Backward) action frequency of left forearm, after converting the starting state of vehicle to flameout state, battery status is periodically converted to battery dissengaged positions.
The invention is characterized in: described advance (Forward) action refers to clench fist and under thumb state upward at left forearm, described left forearm is bent downwardly the action of wrist with the state of clenching fist, described retrogressing (Backward) action refers to that described left forearm is with the action of state K/UP wrist of clenching fist, (Rest) action of having a rest refers to that described left forearm wrist under the state of clenching fist, not to upside or lower lateral bend, but keeps clenching fist and the action of thumb state upward.
The invention is characterized in: described control part is according to the electromyographic signal of right forearm, under judging the state that described right forearm is clenched fist, described right forearm with state of clenching fist rotate wrist make the back of the hand upward, thumb towards the action on a left side for anticlockwise, judge described right forearm with state of clenching fist rotate wrist make palm upward and thumb towards the action on the right side as to right rotation, judge described right forearm under the state of clenching fist not to the left or right side rotate wrist, but the thumb keeping the state of clenching fist to make right forearm action is upward for having a rest (Rest).
The invention is characterized in: described electromyographic signal handling part is by the electromyographic signal extract minutiae of process left forearm, receive right forearm electromyographic signal and after extract minutiae, utilize the arbitrary bio signal sorting algorithm preset, according to the Feature point recognition myoelectricity pattern of the described left/right forearm extracted, described unique point is by calculating absolute deviation aviation value (DifferenceAbsoluteMeanValue; DAMV) extraction obtains, and wherein said absolute deviation aviation value is the integral result of the absolute value of the signal of the schedule time.
The control method for vehicle utilizing electromyographic signal according to a further aspect of the invention, is characterized in that, comprising: electromyographic signal determination part measures the step of the electromyographic signal of left/right forearm respectively; The step that the electromyographic signal of electromyographic signal handling part to the left/right forearm that described electromyographic signal determination part measures processes; The step that the electromyographic signal of electromyographic signal combination section to the left/right forearm through the process of described electromyographic signal handling part combines; And, control part utilizes the combined result of the electromyographic signal of described left/right forearm to judge the action of left/right forearm, and according to judging the steering direction of the action control vehicle of described left/right forearm obtained, braking and be arranged at the audio-visual navigation (AudioVideoNavigat1ion of vehicle; The step of at least one in the function of AVN) device.
The invention is characterized in, judge the step of the action of described left/right forearm specifically, described control part utilizes the combined result of the holding time of the holding time of the action of left forearm and each action and the action of right forearm and each action to control the steering direction of vehicle, braking and at least one be arranged in the audio-visual navigation device function of vehicle, wherein, the action of left forearm comprises advance (Forward), retreat (Backward) and have a rest (Rest), the action of right forearm comprises left (Left) and rotates, (Right) rotates and has a rest (Rest) to the right.
The invention is characterized in: control the step of the steering direction of described vehicle and braking specifically, described control part is according to advance (Forward) action frequency of left forearm, the battery status of vehicle is periodically changed until finally start vehicle from battery dissengaged positions, according to retrogressing (Backward) action frequency of left forearm, after converting the starting state of vehicle to flameout state, battery status is periodically converted to battery dissengaged positions.
The invention is characterized in: described advance (Forward) action refers to clench fist and under thumb state upward at left forearm, described left forearm is bent downwardly the action of wrist with the state of clenching fist, described retrogressing (Backward) action refers to that described left forearm is with the action of state K/UP wrist of clenching fist, (Rest) action of having a rest refers to that described left forearm wrist under the state of clenching fist, not to upside or lower lateral bend, but keeps clenching fist and the action of thumb state upward.
The invention is characterized in: judge the step of the action of described left/right forearm specifically, described control part is according to the electromyographic signal of right forearm, under judging the state that described right forearm is clenched fist, described right forearm rotates wrist with state of clenching fist and makes the back of the hand upward, thumb is to anticlockwise towards the action on a left side, judge described right forearm with state of clenching fist rotate wrist make palm upward and thumb towards the action on the right side as to right rotation, judge described right forearm under the state of clenching fist not to the left or right side rotate wrist, but keep the state of clenching fist to make the action upward of the thumb of right forearm for having a rest (Rest).
The invention is characterized in: the step processed the electromyographic signal of described left/right forearm specifically, described electromyographic signal handling part is by the electromyographic signal extract minutiae of process left forearm, receive right forearm electromyographic signal and after extract minutiae, utilize the arbitrary bio signal sorting algorithm preset, according to the Feature point recognition myoelectricity pattern of the described left/right forearm extracted, described unique point is by calculating absolute deviation aviation value (DifferenceAbsoluteMeanValue; DAMV) extraction obtains, and wherein said absolute deviation aviation value is the integral result of the absolute value of the signal of the schedule time.
Technique effect
The present invention, by measuring and process the electromyographic signal occurred according to the action of forearm, can control the turning to of vehicle according to the intention of chaufeur, brake and the multimedia function of vehicle.
Accompanying drawing explanation
Fig. 1 is the schematic diagram that display utilizes the schematic configuration of the controller of vehicle of electromyographic signal according to an embodiment of the invention;
Fig. 2 is the schematic diagram of the concrete formation of electromyographic signal determination part in the above-mentioned Fig. 1 of display;
Fig. 3 is the photo of the forearm action that display is detected based on the electromyographic signal that can be measured by surface electrode of above-mentioned Fig. 1;
Fig. 4 is the schematic diagram of the action that electromyographic signal handling part in above-mentioned Fig. 1 is described;
Fig. 5 illustrates in above-mentioned Fig. 1 by the chart of action of electromyographic signal combination section of unique point result determination steering direction combining each forearm after classification of motion electromyographic signal;
Fig. 6 is the chart that the action determining the electromyographic signal combination section of the function of AVN device in above-mentioned Fig. 1 by the unique point result combining each forearm after classification of motion electromyographic signal is described;
Fig. 7 illustrates that in above-mentioned Fig. 1, control part controls the schematic diagram of the action turning to and brake of vehicle according to the electromyographic signal exported from electromyographic signal combination section;
Fig. 8 illustrates electromyographic signal control that control part in above-mentioned Fig. 1 exports according to the electromyographic signal combination section schematic diagram with or without the action of the AVN device of scroll button (JogDial);
Fig. 9 illustrates the diagram of circuit utilizing the process of the controller of vehicle startup vehicle of electromyographic signal by one embodiment of the invention;
Figure 10 illustrates the diagram of circuit by utilizing the controller of vehicle of electromyographic signal to make the process of Vehicular turn and braking according to an embodiment of the invention;
Figure 11 illustrates the diagram of circuit utilizing the controller of vehicle of electromyographic signal to control the process of the AVN device of vehicle according to an embodiment of the invention;
Figure 12 is the diagram of circuit of the process utilizing the controller of vehicle of electromyographic signal that vehicle is stopped working according to an embodiment of the invention.
Description of reference numerals
100,110,120: electromyographic signal determination part 111: surface electrode
112: amplifier 113: bandpass filter
114: notch filter (notchfilter) 115: A and D converter
116: electromyographic signal efferent 200,210,220: electromyographic signal handling part
300: electromyographic signal combination section 400: speed of a motor vehicle detecting part
500: control part 510: turn to & brake control section
520: multimedia AVN control part
Detailed description of the invention
Illustrate referring to accompanying drawing and of the present inventionly utilize the controller of vehicle of electromyographic signal and an embodiment of method.
In declarative procedure, amplify the thickness of line-dividing or the size of inscape in the middle part of display accompanying drawing for guaranteeing definition and convenience.In addition, following term is the term according to the function definition in the present invention, the difference to some extent according to different users, the fortune object of user or convention.Therefore these defined terms should be as the criterion with specification sheets content in full.
Fig. 1 is the schematic diagram that display utilizes the schematic configuration of the controller of vehicle of electromyographic signal according to an embodiment of the invention.
As shown in Figure 1, the controller of vehicle of electromyographic signal that utilizes of the present embodiment comprises electromyographic signal determination part 100, electromyographic signal handling part 200, electromyographic signal combination section 300, speed of a motor vehicle detecting part 400 and control part 500.
Described electromyographic signal determination part 100 comprises the right side electromyographic signal determination part 120 (see Fig. 2) of the left side electromyographic signal determination part 110 of the electromyographic signal measuring left forearm (left side forearm) and the electromyographic signal of mensuration right forearm (right side forearm).
Described electromyographic signal handling part 200 comprises the left side electromyographic signal handling part 210 that processes of left forearm electromyographic signal measured left side electromyographic signal determination part 110 and the right side electromyographic signal handling part 220 processed the right forearm electromyographic signal that right side electromyographic signal determination part 120 measures.
The left/right pleural muscle electric signal processed by described electromyographic signal handling part 200 is combined in described electromyographic signal combination section 300, and the present speed of described speed of a motor vehicle detecting part 400 senses vehicle also outputs to control part 500.
Described control part 500 utilizes the combined result of described left/right pleural muscle electric signal to judge steering direction (see Fig. 5) or controls audio-visual navigation feature (hereinafter referred to as ' AVN function ') (see Fig. 6).
The & brake control section 510 that turns to of described control part 500 utilizes the combined result of described left/right pleural muscle electric signal to control turn to or brake.Further, the multimedia video navigation control (hereinafter referred to as ' multimedia AVN control part ') 520 of described control part 500 utilizes the combined result of described left/right pleural muscle electric signal to control the function of multimedia video homing advice (hereinafter referred to as ' multimedia AVN device ').
Fig. 2 is the schematic diagram of the concrete formation of electromyographic signal determination part in the above-mentioned Fig. 1 of display.
As shown in Figure 2, described electromyographic signal determination part 110 comprises surface electrode 111, amplifier 112, bandpass filter (BandPassFilter) 113, notch filter (NotchFilter) 114, A and D converter (A/DFilter, hereinafter referred to as ' A/D converter ') 115 and electromyographic signal efferent 116.
Described surface electrode 111 is attached to the desired location of forearm, can be made up of, but material is not limited thereto silver/silver chloride (Ag/AgCl) material.
Such as, described surface electrode 111 comprises left side musculus extensor carpi ulnaris and musculus extensor carpi radialis longus at the attachment position of left forearm, comprises right side musculus extensor carpi ulnaris and oar wrist musculus flexor at the attachment position of right forearm.
By the electromyographic signal that the above-mentioned surface electrode being attached to left/right forearm respectively measures, three kinds of actions (see Fig. 3) can be detected respectively from left/right forearm.
Fig. 3 is the photo of the forearm action that display is detected based on the electromyographic signal that can be measured by surface electrode of above-mentioned Fig. 1.
As shown in Figure 3, the present embodiment detects advance (Forward), the retrogressing (Backward) of left forearm and (Rest) action of having a rest, and detects the left side (Left) of right forearm, right side (Right) and (Rest) action of having a rest.
Namely, described control part 500 to be clenched fist and under thumb state upward at left forearm (or left arm), the action that described left arm is bent downwardly wrist with the state of clenching fist is judged as advancing (Forward) (a), described left arm is judged as retreating (Backward) (b) with the action of state K/UP wrist of clenching fist, described left arm, but keeps clenching fist and the action of thumb state is upward judged as having a rest (Rest) (c) not to top or lower knuckle wrist in the state of clenching fist.
And, described control part 500 is under the state of clenching fist of right forearm (or right arm), described right arm rotates wrist with state of clenching fist and makes thumb towards left side (namely, the back of the hand is upward) action be judged as left side (Left) direction (d), described right arm rotates wrist with state of clenching fist and makes thumb towards right side (namely, palm is upward) action be judged as right side (Right) direction (e), by described right arm not to the left or right side rotate, but keep clenching fist and the action of thumb state is upward judged as having a rest (Rest) (f).
Described amplifier 112 amplifies the electromyographic signal that described surface electrode 111 detects.Now, the gain of described amplifier 112 can be at least 2000x.
Described bandpass filter 113 filters the signal (such as, 10 ~ 500Hz) of the special frequency band preset from the electromyographic signal of being amplified by described amplifier 112.
Described notch filter 114 filters the electrical noise signals (such as, 60Hz) of the special frequency band preset from the electromyographic signal of being amplified by described amplifier 112.
Signal after described A/D converter 115 removes noise to the signal filtering the described special frequency band obtained carries out A/D conversion.Now, 16 A/D converters of described A and D converter 115 can be sampling frequency be 1KHz.
Described electromyographic signal efferent 116 exports the electromyographic signal being converted to numeral (digital) signal by described A/D converter 115.
Fig. 4 is the schematic diagram of the action that electromyographic signal handling part in above-mentioned Fig. 1 is described.
As shown in Figure 4, in step S101, described electromyographic signal handling part 200 receive left forearm (left side forearm) electromyographic signal (EMG signal) and in step S102 extract minutiae (EMGFeature), step S103 receive right forearm (right side forearm) electromyographic signal (EMG signal) and in step S104 extract minutiae (EMGFeature).Then in step S105, according to the Feature point recognition myoelectricity pattern of the described left/right wrist extracted.
At this, by myoelectricity pattern described in the arbitrary bio signal sorting algorithm identification that presets.
The described bio signal sorting algorithm that the present embodiment adopts can be maximum likelihood estimate (MaximumLikelihoodEstimation).Described maximum likelihood estimate is the most representational method of parametric measurement method in the packing density estimation technique, is the method by maximizing likelihood function determination parameter θ.
The myoelectricity unique point calculated according to the electromyographic signal of chaufeur is adapted to described algorithm by the present embodiment, then classifies to the pattern of each list action.
In order to utilize described electromyographic signal correctly classify each wrist each action corresponding to pattern, need the selected unique point correctly can passing on each motion characteristic.
Such as, the present embodiment calculates the absolute deviation aviation value of electromyographic signal and namely carries out integration by the absolute value of the signal of following 1 pair of schedule time of mathematical expression and obtain absolute deviation aviation value (DifferenceAbsoluteMeanValue; DAMV), myoelectricity unique point is extracted with this.
[mathematical expression 1]
D A M V = 1 N Σ i = 1 N - 1 | x i + 1 - x i |
Wherein, x represents the electromyographic signal measuring and obtain, and i represents the order of sample, and N represents number of samples.
Fig. 5 illustrates that Fig. 6 is the chart that the action determining the electromyographic signal combination section of the function of AVN device in above-mentioned Fig. 1 by the unique point result combining each forearm after classification of motion electromyographic signal is described by the chart of action of electromyographic signal combination section of unique point result determination steering direction combining each forearm after classification of motion electromyographic signal in above-mentioned Fig. 1.
It should be noted that the present embodiment does not record the action corresponding to all situations turned to, just describe representational several action, and, object the combined result of the non-limiting following each unique point recorded and action.
With reference to Fig. 5, left finesse (namely, left arm is clenched fist) for advancing (Forward), right finesse (namely, right arm is clenched fist) to the left rotate preset the time (such as, 1 second) more than time represent upper left, left finesse is for advancing (Forward), right finesse to the right (Right) rotation presets the time (such as, 1 second) more than time represent upper right, left finesse is for having a rest (Rest), right finesse to the left (Left) rotation presets the time (such as, 1 second) more than time represent left direction, left finesse is for having a rest (Rest), right finesse represents craspedodrome when being also and having a rest (Rest), left finesse is for having a rest (Rest), right finesse to the right (Right) rotation presets the time (such as, 1 second) more than time represent right direction, left finesse is for retreating (Backward), right finesse stops for having a rest (Rest) represents.
Referring to Fig. 7, the control method about described chart is described.
With reference to Fig. 6, left finesse (namely, left wrist is clenched fist) for advancing (Forward), right finesse (right arm is clenched fist) to the left (Left) rotation presets the time (such as, 1 second) more than time represent that direction rotates (such as to the left, swing roller button), left finesse is for advancing (Forward), right finesse represents upward arrow key for during rest (Rest), left finesse advance (Forward) presets the time (such as, 2 seconds) more than, right finesse represents selection for during rest (Rest), left finesse is for advancing (Forward), right finesse is for representing to the right direction rotate (such as when (Right) rotates to the right, swing roller button), left finesse is for having a rest (Rest), right finesse is for representing left arrow when (Left) rotates to the left, left finesse is for having a rest (Rest), right finesse represents maintenance when being also and having a rest (Rest), left finesse is for having a rest (Rest), right finesse is for representing right side arrow key when (Right) rotates to the right, left finesse is for retreating (Backward), right finesse is that left side (Left) represents display menu when rotating, left finesse is for retreating (Backward), right finesse represents Down Arrow for during rest (Rest), left finesse is for retreating (Backward), right finesse is for representing retrogressing (Back when (Right) rotates to the right, cancel, return).
Referring to Fig. 7, the concrete control method about described chart is described.
Fig. 7 illustrates that control part controls the schematic diagram of the action turning to and brake of vehicle according to the electromyographic signal exported from electromyographic signal combination section in above-mentioned Fig. 1, and Fig. 8 is electromyographic signal control that in the above-mentioned Fig. 1 of explanation, control part exports according to the electromyographic signal combination section schematic diagram with or without the action of the AVN device of scroll button (JogDial).
With reference to Fig. 7, when the result of each unique point of forearm shown in control part 500 assembly drawing 5 chart show that steering direction is upper left, step S201 makes vehicle be that benchmark rotates miter angle to the left with bearing circle, described steering direction be left when, step S202 makes vehicle take bearing circle as benchmark 90-degree rotation angle to the left, when described steering direction is upper right, step S203 makes vehicle be that benchmark rotates miter angle to the right with bearing circle, when described steering direction is right direction, step S204 makes vehicle take bearing circle as benchmark 90-degree rotation angle to the right, when described steering direction is craspedodrome, step S205 makes vehicle keep straight on and keeps this state, when described steering direction is stopping, step S206 makes vehicle stop.
With reference to Fig. 8, when the result of each unique point of forearm shown in control part 500 assembly drawing 6 chart show that steering direction is upper (UP) direction, in step S301, the mechanical arm of AVN device performs the function that moves up (such as, movement between application program, the movement etc. of icon in application program), described steering direction be under (Down) direction when, in step S302, the mechanical arm of AVN device performs the function that moves down (such as, movement between application program, the movement etc. of icon in application program), when described steering direction is right side (Right) direction, in step S303, the mechanical arm of AVN device performs the function that moves right (such as, movement between application program, the movement etc. of icon in application program), when described steering direction is left (Left) direction, in step S304, the mechanical arm of AVN device performs the function of movement to the left (such as, movement between application program, the movement etc. of icon in application program), when described steering direction is choice direction, in step S305, the mechanical arm of AVN device performs selection function (such as, selective gist program icon, function in selective gist program, receive calls function etc.), when described steering direction is for retreating (Back), in step S306, the mechanical arm of AVN device performs the function of movement backward (such as, page up etc. is moved to) from current page, when described steering direction is menu (Menu) direction, in step S307, the mechanical arm of AVN device performs menu-setting function (such as, set the function etc. of the current menu function run application), when described steering direction is for right-hand rotation (Clockwise) direction, in step S308, the scroll button of AVN device moves (rotation) (such as clockwise, movement in application program between page, the movement etc. of icon on the application menu bar), when described steering direction is for left-hand rotation (CounterClockwise) direction, in step S309, the scroll button of AVN device moves (rotation) (such as counterclockwise, movement in application program between page, the movement etc. of icon on the application menu bar).
Be explained above control part and control the action turning to and brake of vehicle and the action of control AVN apparatus function according to the electromyographic signal measured from left/right forearm.
Below illustrate actual startup vehicle and the action operating AVN device and even make vehicle flame-out in the process of driving.
Fig. 9 illustrates the diagram of circuit utilizing the process of the controller of vehicle startup vehicle of electromyographic signal by one embodiment of the invention.
As shown in Figure 9, (stopping working) state is stopped at vehicle, user (namely, chaufeur) left finesse is (namely, left forearm) advance (Forward) one time time, control part 500 makes vehicle convert battery to and connects (B+ON) state, left forearm is when this state readvances (Forward) one time, described control part 500 makes vehicle convert to and connects accessory power supply (ACCON) state, starts (ON) AVN device (keeping AVN pattern afterwards) simultaneously.
User's left forearm is when this state readvances (Forward) one time, described control part 500 starts vehicle, vehicle starts to travel in this condition, car speed is greater than the speed of presetting (such as, time 2.25km/h), described control part 500 keeps driving mode, and car speed is for presetting speed (such as, time 2.25km/h) below, described control part 500 keeps AVN pattern.
Figure 10 illustrates the diagram of circuit by utilizing the controller of vehicle of electromyographic signal to make the process of Vehicular turn and braking according to an embodiment of the invention.
In following the present embodiment, advance (Forward)/retreat (Backward) action based on left finesse (namely, left arm) action, left (Left)/right (Right) action is based on the action of right finesse (that is, right arm).
As shown in Figure 10, in step S401, control part 500 measures the EMG signal of both sides forearm, in step S402, processes the EMG signal of the described both sides forearm measured.
Then the EMG signal of treated described both sides forearm is combined in step S403.
An embodiment of the action (such as, course changing control, AVN device control action) of the EMG signal that combination measures from described both sides forearm is below described with reference to Fig. 5 to Fig. 6.
Then the direction of combining the described EMG signal obtained is judged in step S404.
When the direction of the described EMG signal that combination obtains is left side (example of step S405), in step S407, step S408, described control part 500 operates steering shaft to the left.
When the direction of the described EMG signal that combination obtains is upper left ('No' of step S405), in step S406, step S408, described control part 500 operates steering shaft left.
(that is, retreat) ('No' of step S409) when the direction of the described EMG signal that combination obtains is not working direction, in step S410, described control part 500 starts brake system.
When the direction of the described EMG signal that combination obtains is working direction (step S409 ' being '), in step S414, described control part 500 forward action steering shaft.
When the direction of the described EMG signal that combination obtains is right side (step S411 ' being '), in step S413, step S414, described control part 500 operates steering shaft to the right.
When the direction of the described EMG signal that combination obtains is upper right ('No' of step S411), in step S412, step S414, described control part 500 operates steering shaft to the right.
Figure 11 illustrates the diagram of circuit utilizing the controller of vehicle of electromyographic signal to control the process of the AVN device of vehicle according to an embodiment of the invention.
In following the present embodiment, advance (Forward)/retreat (Backward) action based on left finesse (namely, left arm) action, left (Left)/right (Right) action is based on the action of right finesse (that is, right arm).
As shown in figure 11, in step S501, control part 500 measures the EMG signal of both sides forearm, in step S502, processes the EMG signal of the described both sides forearm measured.
Then the EMG signal of treated described both sides forearm is combined in step S503.
An embodiment of the action (such as, course changing control, AVN device control action) of the EMG signal that combination measures from described both sides forearm is below described with reference to Fig. 5 to Fig. 6.
Then in step S504, described control part judges that whether the AVN device of vehicle is the AVN device of scroll button mode.
The judged result of described step S504 is described AVN device when not being the AVN device of scroll button mode ('No' of step S504), and in step S505, described control part 500 judges the direction of combining the described EMG signal obtained.
According to the action of combining the direction controlling AVN device of EMG signal obtained when below illustrating that described AVN device is not the AVN device of scroll button mode.
The direction of combining the described EMG signal obtained is advance (Forward) (step S506 ' being ') and keeps presetting the time (such as, 2 seconds) more than when (step S508 ' being '), described control part 500 performs selection (Select) function.
Combining the direction of described EMG signal obtained is not advance (Forward) and be ('No' of step S506, step S507 ' being ') when turning left, described control part 500 performs display menu (Menu) function, when the direction of the described EMG signal that combination obtains is not advance (Forward) and neither turns left (namely, turn right) ('No' of step S506, the 'No' of step S507), described control part 500 performs retrogressing (Back) function.
The direction of combining the described EMG signal obtained is not advance (Forward) (namely, retreat (Backward)) when ('No' of step S506), described control part 500 performs (Down) (such as, operating Down Arrow) function downwards.
And, when the direction of the described EMG signal that combination obtains is left-hand rotation (step S509 ' being '), described control part 500 performs a left side (Left) (such as, operation left arrow) function, the direction of combining the described EMG signal obtained is not turn left (namely, turn right) when ('No' of step S509), described control part 500 performs the right side (Right) (such as, operate Right Arrow) function.
All the other situations keep the serviceability before (KEEP) AVN device.
The judged result of step S504 is described AVN device when being the AVN device of scroll button mode (step S504 ' being '), and in step S510, described control part 500 judges the direction of combining the described EMG signal obtained.
According to the action of combining the direction controlling AVN device of described EMG signal obtained when below illustrating that described AVN device is the AVN device of scroll button mode.
When the direction of the described EMG signal that combination obtains is for advancing (Forward) and turning left (step S511 ' being ', step S513 ' are '), described control part 500 performs counterclockwise the function of (Counterclockwise) swing roller button.
The direction of the described EMG signal that combination obtains is advance and is not turn left (namely, turn right) when (step S511 ' being ', the 'No' of step S513, step S514 ' being '), described control part 500 performs clockwise the function of (Clockwise) swing roller button.
Combine the direction of described EMG signal that obtains for advancing and be not turning left or turn right, advancing as presetting the time (such as, 2 seconds) more than when (step S511 ' being ', the 'No' of step S513, the 'No' of step S514, ' being ' of step S515), described control part 500 performs selection (Selection) function.
Combining the direction of described EMG signal obtained is advance and be not (step S511 ' being ', the 'No' of step S513, the 'No' of step S514, the 'No' of step S515) when turning left or turn right, described control part 500 performs upper (Up) (such as, operating upward arrow key) function.
The direction of the described EMG signal that combination obtains is not advance ('No' of step S511) and is when turning left (step S512 ' is '), described control part 500 performs display menu (Menu) function, combining the direction of described EMG signal obtained is not advance and ('No' of step S511) and be not (being turn right) ('No' of step S512) when turning left, and described control part 500 performs retrogressing (Back) function.
And, when the direction of the described EMG signal that combination obtains is left-hand rotation (step S516 ' being '), described control part 500 performs a left side (Left) (such as, operation left arrow) function, when the direction of the described EMG signal that combination obtains is not left-hand rotation (namely, turn right) ('No' of step S516), described control part 500 performs the right side (Right) (such as, operating Right Arrow) function.
The serviceability before of (KEEP) AVN device is kept in all the other situations.
Figure 12 illustrates the diagram of circuit by the process utilizing the controller of vehicle of electromyographic signal to make vehicle stop working according to an embodiment of the invention.
As shown in figure 12, user (namely, chaufeur) left finesse (that is, left forearm) is when vehicle launch state retreats (Backward) one time, and control part 500 converts to while making vehicle flame-out and cuts off accessory power supply (ACCOFF) state.
User's left forearm is when this state retreats (Backward) one time again, described control part 500 makes AVN device close, left forearm is when this state retreats (Backward) one time again, and described control part 500 makes battery convert dissengaged positions (B+OFF) to.
Describe the present invention with reference to accompanying drawing illustrated embodiment above, but this is casehistory, general technical staff of the technical field of the invention should understand can change enforcement arbitrarily in the scope not departing from essential characteristics of the present invention.Therefore, the content of technical protection scope of the present invention described in technical scheme.

Claims (14)

1. utilize a controller of vehicle for electromyographic signal, it is characterized in that, comprising:
Electromyographic signal determination part, it measures the electromyographic signal of left/right forearm respectively;
Electromyographic signal handling part, it processes the electromyographic signal of the left/right forearm that described electromyographic signal determination part measures;
Electromyographic signal combination section, it combines the electromyographic signal of the left/right forearm through the process of described electromyographic signal handling part; And
Control part, it utilizes the combined result of the electromyographic signal of described left/right forearm to judge the action of left/right forearm, and according to judge the action control vehicle of described left/right forearm obtained steering direction, brake and be arranged at vehicle audio-visual homing advice function at least one.
2. the controller of vehicle utilizing electromyographic signal according to claim 1, is characterized in that, described electromyographic signal determination part comprises:
At least one surface electrode, it is attached to forearm and measures electromyographic signal;
Amplifier, it amplifies the electromyographic signal that described surface electrode measures;
Bandpass filter, it filters the signal of the special frequency band preset from the electromyographic signal of amplifying through described amplifier;
Notch filter, it filters the electrical noise signals of the special frequency band preset from the electromyographic signal of amplifying through described amplifier;
A and D converter, its signal obtained after removing noise to the signal filtering the described special frequency band obtained carries out analogue to digital conversion; And
Electromyographic signal efferent, it exports the electromyographic signal being converted to digital signal by described A and D converter.
3. the controller of vehicle utilizing electromyographic signal according to claim 2, is characterized in that:
Described surface electrode attachment position is the musculus extensor carpi ulnaris of left forearm and the musculus extensor carpi ulnaris of musculus extensor carpi radialis longus and right forearm and oar wrist musculus flexor.
4. the controller of vehicle utilizing electromyographic signal according to claim 1, is characterized in that:
Described control part utilize the combined result of the holding time of the holding time of the action of left forearm and each action and the action of right forearm and each action control vehicle steering direction, brake and be arranged at least one in the audio-visual navigation device function of vehicle, wherein, the action of left forearm comprises advance, retreats and have a rest, and the action of right forearm comprises to anticlockwise, to right rotation and rest.
5. the controller of vehicle utilizing electromyographic signal according to claim 1, is characterized in that:
Described control part, according to the forward motion number of times of left forearm, periodically changes the battery status of vehicle until finally start vehicle from battery dissengaged positions,
According to the backward movement number of times of left forearm, after converting the starting state of vehicle to flameout state, battery status is periodically converted to battery dissengaged positions.
6. the controller of vehicle utilizing electromyographic signal according to claim 5, is characterized in that:
Described forward motion refers to clench fist and under thumb state upward, described left forearm is bent downwardly the action of wrist with the state of clenching fist at left forearm, and described backward movement refers to that described left forearm is with the action of state K/UP wrist of clenching fist,
Rest action refers to that described left forearm wrist under the state of clenching fist, not to upside or lower lateral bend, but keeps clenching fist and the action of thumb state upward.
7. the controller of vehicle utilizing electromyographic signal according to claim 1, is characterized in that:
Described control part according to the electromyographic signal of right forearm,
Under judging the state that described right forearm is clenched fist, described right forearm with state of clenching fist rotate wrist make the back of the hand upward, thumb towards the action on a left side for anticlockwise,
Judge described right forearm with state of clenching fist rotate wrist make palm upward and thumb towards the action on the right side as to right rotation,
Judge described right forearm under the state of clenching fist not to the left or right side rotate wrist, but the thumb keeping the state of clenching fist to make right forearm action is upward for having a rest.
8. the controller of vehicle utilizing electromyographic signal according to claim 1, is characterized in that:
Described electromyographic signal handling part is by the electromyographic signal extract minutiae of process left forearm, receive right forearm electromyographic signal and after extract minutiae, utilize the arbitrary bio signal sorting algorithm preset, according to the Feature point recognition myoelectricity pattern of the described left/right forearm extracted
Described unique point obtains by calculating the extraction of absolute deviation aviation value, and wherein said absolute deviation aviation value is the integral result of the absolute value of the signal of the schedule time.
9. utilize a control method for vehicle for electromyographic signal, it is characterized in that, comprising:
Electromyographic signal determination part measures the step of the electromyographic signal of left/right forearm respectively;
The step that the electromyographic signal of electromyographic signal handling part to the left/right forearm that described electromyographic signal determination part measures processes;
The step that the electromyographic signal of electromyographic signal combination section to the left/right forearm through the process of described electromyographic signal handling part combines; And
Control part utilizes the combined result of the electromyographic signal of described left/right forearm to judge the action of left/right forearm, and according to judge the action control vehicle of described left/right forearm obtained steering direction, brake and be arranged at vehicle audio-visual homing advice function in the step of at least one.
10. the control method for vehicle utilizing electromyographic signal according to claim 9, is characterized in that:
Judge the step of the action of described left/right forearm specifically, described control part utilize the combined result of the holding time of the holding time of the action of left forearm and each action and the action of right forearm and each action control vehicle steering direction, brake and be arranged at least one in the audio-visual navigation device function of vehicle, wherein, the action of left forearm comprises advance, retreats and have a rest, and the action of right forearm comprises to anticlockwise, to right rotation and rest.
11. control method for vehicle utilizing electromyographic signal according to claim 9, is characterized in that:
Control the step of the steering direction of described vehicle and braking specifically, described control part is according to the forward motion number of times of left forearm, the battery status of vehicle is periodically changed until finally start vehicle from battery dissengaged positions, according to the backward movement number of times of left forearm, after converting the starting state of vehicle to flameout state, battery status is periodically converted to battery dissengaged positions.
12. control method for vehicle utilizing electromyographic signal according to claim 11, is characterized in that:
Described forward motion refers to clench fist and under thumb state upward, described left forearm is bent downwardly the action of wrist with the state of clenching fist at left forearm, and described backward movement refers to that described left forearm is with the action of state K/UP wrist of clenching fist,
Rest action refers to that described left forearm wrist under the state of clenching fist, not to upside or lower lateral bend, but keeps clenching fist and the action of thumb state upward.
13. control method for vehicle utilizing electromyographic signal according to claim 9, is characterized in that:
Judge the step of the action of described left/right forearm specifically, described control part according to the electromyographic signal of right forearm,
Under judging the state that described right forearm is clenched fist, described right forearm with state of clenching fist rotate wrist make the back of the hand upward, thumb towards the action on a left side for anticlockwise,
Judge described right forearm with state of clenching fist rotate wrist make palm upward and thumb towards the action on the right side as to right rotation,
Judge described right forearm under the state of clenching fist not to the left or right side rotate wrist, but the thumb keeping the state of clenching fist to make right forearm action is upward for having a rest.
14. control method for vehicle utilizing electromyographic signal according to claim 9, is characterized in that:
The step processed the electromyographic signal of described left/right forearm specifically, described electromyographic signal handling part is by the electromyographic signal extract minutiae of process left forearm, receive right forearm electromyographic signal and after extract minutiae, utilize the arbitrary bio signal sorting algorithm preset, according to the Feature point recognition myoelectricity pattern of the described left/right forearm extracted
Described unique point obtains by calculating the extraction of absolute deviation aviation value, and wherein said absolute deviation aviation value is the integral result of the absolute value of the signal of the schedule time.
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