CN106175760B - A kind of front-end detection unit of motion function recovery system - Google Patents
A kind of front-end detection unit of motion function recovery system Download PDFInfo
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- 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]
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/72—Signal processing specially adapted for physiological signals or for diagnostic purposes
- A61B5/7235—Details of waveform analysis
- A61B5/725—Details of waveform analysis using specific filters therefor, e.g. Kalman or adaptive filters
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Abstract
In order to improve the processing accuracy that motion function restores signal, reduce the noise wherein mixed, the present invention provides a kind of front-end detection units of motion function recovery system, the front-end detection unit includes: communication unit, motion function reforestation practices selection unit, movement auxiliary unit, motion function detecting signal unit and motion function signal processing unit.The present invention can be avoided the aliasing and interference for pumping signal occur to electromyography signal, the defect that existing motion function recovery situation relies primarily on artificial judgment is greatly improved, existing detection device is overcome and the drawbacks of requiring is unable to satisfy to the processing of interference and aliasing.
Description
Technical field
The present invention relates to the signal processing technology fields of motion function monitoring device, more particularly, to a kind of fitness machine
The front-end detection unit of energy recovery system.
Background technique
Modern rehabilitation science thinks that the motion function after personal injury can obtain health by movement appropriate and exercise
It is multiple, for example, by means of fitness equipment.However, the usual function of traditional fitness equipment is simple, expensive, it is mainly used for Healthy People
Physical efficiency strengthens recovery or body-building restores.It is not suitable for use in the function training of apoplexy or hemiplegia patient.In the prior art, apoplexy
Or the functional recovery of hemiplegia patient is usually completed by professional Physical Therapist, medical expense is high, the course for the treatment of is long, it usually needs uses
Person receives recovery to hospital, to bring many inconvenience.For healthy person, common body-building is costly, and by place, people
All various limitations such as member, expense.
The most attention of researcher and medical institutions has been obtained in the country such as America and Europe for healing robot technology, than
More typical is that MIT design in 1991 completes First upper extremity exercise functional recovery robot system MIT-MANUS, the equipment
Using five-bar mechanism, terminating impedance is smaller, safety, stability and the ride comfort restored is realized using impedance control, it has 2
A freedom degree helps shoulder, the elbow movement of paralytic.Another upper extremity exercise functional recovery robot system is MIME, this sets
It is standby to be designed by Stanford University researcher, patient's suffering limb is manipulated using industrial robot PUMA-560, can both be mentioned
Restore for plane motion, three-dimensional motion restoration can also be made.Patient forearm is clamped with clamping plate, is sensed on clamping plate equipped with six axle powers
Device, pneumatic overload disconnect sensor and quickly connect/disconnect mechanism.In China, the colleges and universities such as Tsinghua University are also actively being ground
Study carefully.
Currently, the robot that motion function restores purposes has gradually formed the mechanism of remote supervisory and guidance, that is, usually with
The muscle signals and/or electromyography signal that acquisition is fed back after electrode excitation are target, the monitoring client being sent to where the director of distal end
It is monitored and instructs.However, being inevitably contaminated with physiological function, metabolism of human normal etc. in the signal that feedback obtains
The noise of generation, also, when stimulation muscle and inducing myoelectric potential while the position of generation and stimulating electrode and recording electrode
When close, electromyography signal is mixed with the interference of pumping signal, influences whether the acquisition precision of signal.
Summary of the invention
In order to obtain the accurate letter for indicating motion function and restoring state from healing robot in motion function recovery process
Number, the present invention provides a kind of front-end detection unit of motion function recovery system, the front-end detection unit includes: communication unit
Member, motion function reforestation practices selection unit, movement auxiliary unit, motion function detecting signal unit and motion function letter
Number processing unit；The motion function recovery system includes server, for controlling described in the front-end detection unit and storage
The collected signal of front-end detection unit；Wherein the communication unit is used in the front-end detection unit and the motion function
Carry out data transmission between recovery system, the motion function reforestation practices selection unit is used to be restored according to the motion function
The operating mode of the control information setting movement auxiliary unit of system, the movement auxiliary unit for personnel to be restored for providing
Motion function resumes training, and the motion function detecting signal unit is used to after movement auxiliary unit start-up operation detect
The recovery signal of personnel to be restored, the motion function signal processing unit are used to carry out analog-to-digital conversion simultaneously to the recovery signal
The motion function recovery system is uploaded to by means of the communication unit.
Further, the motion function detecting signal unit includes: the fortune for carrying out motion function recovery and exercise
Motivation energy restorer and the motion function for restoring signal for detecting motion function in the recovery and exercise routine are restored
Detection device, the motion function restorer include by excitation electrode to by the electricity of excitation position emission electrode pumping signal
The myoelectricity response signal acquisition unit of pole excitation signal generation unit and acquisition as the response of the electrode excitation signal, it is described
It includes: that remaining signal element, signal detection mode matching unit, the amplification channel of removing of excitation is opened that motion function, which restores detection device,
Array, the first filter unit and the second filter unit are closed, wherein the remaining removal signal element, the signal detection mould of the excitation
Formula matching unit, the amplification channel switch arrays, first filter unit and second filter unit are in sequential series.
Further, the remaining removal signal element of the excitation is used to eliminate the pumping signal in electromyographic signal collection unit
Interference components, comprising: electrode excitation signal characteristic spectrum generating unit, electromyography signal frequency spectrum generation unit, delay determination unit,
Delay unit, subtractor circuit, wherein the electrode excitation signal characteristic spectrum generating unit is generated in the electrode excitation signal
The prearranged signals frequency spectrum of specific incentives signal characteristic, the letter are attached on the basis of the electrode excitation signal that generation unit generates
Number frequency spectrum is input into the delay determination unit, and the delay determination unit is used for the period according to the prearranged signals frequency spectrum
Property feature determines the phase difference between the frequency spectrum for the electrode excitation signal that it is generated with the electrode excitation signal generation unit, and
According to the phase difference determine the electrode excitation signal generation unit to by excitation position generate electrode excitation signal after with it is described
Electromyographic signal collection unit collects the time difference between response signal, and the delay unit is according to the time difference to the electrode
The electrode excitation signal that excitation signal generation unit generates is delayed, and the signal obtained after delay is adopted with the electromyography signal
The collection collected myoelectricity response signal of unit is input to the subtractor circuit jointly, thus by the electrode excitation signal described
Remnants in myoelectricity response signal are removed from the myoelectricity response signal.
Further, the prearranged signals frequency spectrum is the frequency spectrum of the square-wave signal with 2 seconds.
Further, the signal detection mode matching unit includes: at mode memory, spectral analysis unit and data
Device is managed, the mode memory is stored with and the one-to-one electrode excitation signal of various modes of motion function recovery signal
The First Eigenvalue of frequency spectrum, the spectral analysis unit are used for the electrode excitation for generating the electrode excitation signal generation unit
Signal is transformed to frequency spectrum and determines the Second Eigenvalue of the frequency spectrum, the Second Eigenvalue and the fisrt feature Value Types phase
Together, the data processor searches the Second Eigenvalue in the mode memory, and determines that matching first is special
The corresponding mode of value indicative.
Further, the First Eigenvalue and the Second Eigenvalue are spectrum density.
Further, the amplification channel switch arrays include that multiple controllable switches and amplifier connected in series are constituted
Switch arrays and channel status memory, the input terminal of each amplifier in the switch arrays are sent out with to by excitation position
Each excitation electrode of radio pole excitation signal concatenates correspondingly, the channel status memory for store with it is described more
Optimized switch state of the one-to-one each excitation electrode of kind mode under each mode, the switch arrays are according to
The mode that signal detection mode matching unit determines is searched corresponding with the mode each sharp from the channel status memory
The optimized switch state of electrode in this mode is encouraged, and controls the switch state of each controllable switch in the switch arrays.
Further, the optimized switch state is according to various motion function reforestation practices once, to disconnecting and/or close
The relationship closed between the signal-to-noise ratio of the myoelectricity response signal obtained after each controllable switch determines.
Further, first filter unit is bandpass filter, and lower limiting frequency and upper cut off frequency are respectively
5Hz and 1800Hz.
Further, second filter unit include: 6.84k Ω resistance, 19.73k Ω resistance, 9.75k Ω resistance,
14.3k Ω resistance, 5.13k Ω resistance, 10.94k Ω resistance, 1.73k Ω resistance, 3.91k Ω resistance, 2.8k Ω resistance, 5k Ω
Resistance, 2k Ω resistance, the first 1k Ω resistance, the first 2.5k Ω resistance, the first 2.2k Ω resistance, the 2nd 2.2k Ω resistance, second
1k Ω resistance, 9.31k Ω resistance, 2.32k Ω resistance, 4.2k Ω resistance, 4.8k Ω resistance, the 2nd 2.5k Ω resistance, 0.27uF
Capacitor, 0.22uF capacitor, the first 0.31uF capacitor, 0.33uF capacitor, 0.38uF capacitor, 0.82uF capacitor, 6.8uF capacitor,
0.57uF capacitor, the 2nd 0.31uF capacitor, 0.12uF capacitor, 2uF capacitor, the first 0.8uF capacitor, the 2nd 0.8uF capacitor, first
0.35uF capacitor, the 2nd 0.35uF capacitor, the 3rd 0.31uF capacitor, 0.47uF capacitor, the first operational amplifier, the second operation are put
Big device, third operational amplifier, four-operational amplifier, the 5th operational amplifier, the 6th operational amplifier, the 7th operation amplifier
Device, the first Zener diode, the second Zener diode, third Zener diode, the 4th Zener diode, two pole of the 5th Zener
Pipe, the 6th Zener diode, the 7th Zener diode, the first subtractor circuit and the second subtractor circuit, wherein the 6.84k
The first end of Ω resistance is separately connected the first end at input signal end and 2.8k Ω resistance, and the second of the 6.84k Ω resistance
End connects the first end of the 19.73k Ω resistance, and the second end of the 19.73k Ω resistance is separately connected first operation and puts
The big positive input terminal of device and the first end of the 0.22uF capacitor, the second end ground connection of the 0.22uF capacitor, the 19.73k
The first end of Ω resistance is also connected with the first end of the 0.27uF capacitor, the second end connection described first of the 0.27uF capacitor
The output end of operational amplifier, the first end of 2uF capacitor, the first end and the first operational amplifier of the 9.75k Ω resistance
Negative input end, the second end of the 9.75k Ω resistance connects with the first end of the 14.3k Ω resistance, the 14.3k Ω electricity
The second end of resistance is separately connected the positive input terminal of the second operational amplifier and the first end of the first 0.31uF capacitor, institute
The second end ground connection of the first 0.31uF capacitor is stated, the first end of the 14.33k Ω resistance is also connected with the of the 0.33uF capacitor
One end, the second end of the 0.33uF capacitor connect the output end of the second operational amplifier, the first end of 2uF capacitor, institute
State the first end of 5.13k Ω resistance and the negative input end of second operational amplifier, the second end difference of the 2.8k Ω resistance
Connect the first of the first end of the 2nd 0.31uF capacitor, the first end of the 0.12uF capacitor and the 4.2k Ω resistance
End, the second end ground connection of the 4.2k Ω resistance, the second end of the 0.12uF capacitor are separately connected the third operation amplifier
The first end of the negative input end of device and the 4.8k Ω resistance, the second end of the 2nd 0.31uF capacitor are separately connected described
The anode of the output end and the first Zener diode of the second end of 4.8k Ω resistance and the third operational amplifier, described
The cathode of Zener diode connects the positive input terminal of second subtractor circuit, the output end connection of second subtractor circuit
The second end of the first 1k Ω resistance and the first end of the 2nd 0.8uF capacitor, the third operational amplifier it is just defeated
Enter end connection DC voltage, the second end of the 2uF capacitor is separately connected the positive input terminal of the four-operational amplifier, output
The first end at end, the first end of the first 1k Ω resistance and 5k Ω resistance, the second end connection the described 4th of the 5k Ω resistance
The output end of the negative input end of operational amplifier, the four-operational amplifier is also connected with the anode of the second Zener diode, institute
The cathode for stating the second Zener diode is separately connected the first end of the 5.13k Ω resistance and the first end of the 2k Ω resistance,
The output end of the third operational amplifier is also respectively connected with the cathode of the third Zener diode, the first 0.8uF capacitor
The anode of the first end of first end and the first 2.5k Ω resistance, the third Zener diode is separately connected described first
The anode of Zener diode, the first end of the 2nd 0.8uF capacitor, the anode of the 4th Zener diode, the first 1k Ω resistance
Two ends, the first end of the 2nd 1k Ω resistance, the first end of the 2nd 2.2k Ω resistance, the second end point of the first 2.5k Ω resistance
Do not connect the second end of the 2k Ω resistance and the second end of the 5.13k Ω resistance and the 5th Zener diode cathode and
The first end of the first 2.2k Ω resistance, the anode of the 4th Zener diode, the second end of the first 0.8uF capacitor,
It is the second end of two 0.8uF capacitors, the second end of the 2nd 1k Ω resistance, the second end of the first 0.35uF capacitor, described
The second end of 2nd 0.35uF capacitor, the cathode of the 6th Zener diode are grounded, the second end of the 2nd 2.2k Ω resistance
Be separately connected the first end of the 2nd 0.35uF capacitor, the anode of the 6th Zener diode, the 7th Zener diode anode,
The second end of the first 2.2k Ω resistance is separately connected the first end of the first 0.35uF capacitor, the 7th Zener diode
The first end of cathode and 9.31k Ω resistance, the second end of the 5.13k Ω resistance are separately connected the negative of the 5th Zener diode
The first end of pole, the first end of the 10.94k Ω resistance and the 0.82uF capacitor, the second of the 10.94k Ω resistance
End is separately connected the first end of the positive input terminal of the 5th operational amplifier, 0.38uF capacitor, the second end of the 0.38uF capacitor
Ground connection, the second end of the 0.82uF capacitor are separately connected the output end of the 5th operational amplifier, the 1.73k Ω resistance
First end, the negative input end of the 5th operational amplifier and the anode of the 5th Zener diode, the 1.73k Ω
The second end of resistance is separately connected the first end of the 3.91k Ω resistance and the first end of the 6.8uF capacitor, described
The second end of 3.91k Ω resistance is separately connected the positive input terminal of the 6th operational amplifier and the first end of 0.57uF capacitor, described
The second end of 0.57uF capacitor is grounded, and the second end of the 6.8uF capacitor is separately connected the output of the 6th operational amplifier
The negative input end at end, the negative input end of first subtractor circuit and the 6th operational amplifier, the 9.31k Ω resistance
Second end be separately connected the first end of the 0.47uF capacitor, the first end and 2.32k Ω of the 3rd 0.31uF capacitor
The first end of resistance, the second end ground connection of the 2.32k Ω resistance, the second end of the 3rd 0.31uF capacitor are separately connected institute
State the negative input end of the 7th operational amplifier, the first end of the 2nd 2.5k Ω resistance, the of the 2nd 2.5k Ω resistance
Two ends are separately connected the output end of the second end of the 0.47uF capacitor, the 7th operational amplifier, the 7th operational amplifier
Positive input terminal connect DC voltage, the output end of the 7th operational amplifier is also connected with the just defeated of first subtractor circuit
Enter end, the output end of first subtractor circuit connects the negative input end of second subtractor circuit, first subtractor circuit
Output end connect output signal end.
The beneficial effects of the present invention are:
(1) present invention can be avoided the aliasing and interference for pumping signal occur to electromyography signal, greatly improve existing
Motion function recovery situation relies primarily on the defect of artificial judgment, overcomes processing of the existing detection device to interference and aliasing
It is unable to satisfy the drawbacks of requiring；
(2) present invention screens the Spectrum Relationship between pumping signal and electromyography signal from the angle of frequency domain, and then obtains
Delayed data between electromyography signal and pumping signal has established solid foundation to improve the degree of purity of electromyography signal, relatively
There is stronger anti-noise effect in time-domain processing mode directly from the prior art and screen performance；
(3) it is chosen by mode and is restored based on statistical big data quantity, the present invention can intelligently control excitation
The channel of electrode is to open or be closed, to remove noise in corresponding motion function recovery process as much as possible, is improved
Overall output signal-noise ratio；
(4) it is screened using spectrum density as frequency spectrum, is conducive to save operand, reduces power consumption；
(5) by bandpass filter, electromyography signal screening can be preliminarily carried out, has established base for subsequent finer filter
Plinth；
(6) the present invention provides a kind of specially designed filter circuit unit, in conjunction with low order active filter and
Low order passive filter and novel designs according to filter construction not only reduce load effect and are suitable for including to the heart
Rate signal, motor message, electromyography signal etc. may have upper frequency or lower frequency and frequency changes irregular signal and exists
Interior wide variable signal filter range；Energy is filtered in the wide frequency range of common 0-10kHz frequency in compared with the prior art
Power and the drawbacks of not can guarantee the linearity under the wide scope of application, after tested, which is guaranteeing 70Hz low-frequency cutoff frequency
Under the premise of rate, the wideband filter range with 10-25kHz, decaying is less than 1.9dB, and third-order interception point reaches 30dBm, has
Excellent output linearity degree and rate-adaptive pacemaker stability, the chip relative to external specialized manufacturer significantly reduce cost,
Be conducive to wearable device in the tremendous development in China and popularize.
(7) present invention combines the filter circuit of the control of intelligent channel and well-designed filter unit composition, fits
Different accuracy requirement together in a variety of rehabilitation modalities has more good expandability on the basis of restoring data.
Detailed description of the invention
Fig. 1 shows the composition block diagram of the front-end detection unit of motion function recovery system according to the present invention.
Fig. 2 shows the circuit diagrams of the second filter unit.
Specific embodiment
As shown in Figure 1, preferred embodiment in accordance with the present invention, the present invention provides before a kind of motion function recovery system
Detection unit is held, the front-end detection unit includes: communication unit, motion function reforestation practices selection unit, movement auxiliary list
Member, motion function detecting signal unit and motion function signal processing unit；The motion function recovery system includes service
Device, for controlling the front-end detection unit and storing the collected signal of front-end detection unit；The wherein communication unit
For member for carrying out data transmission between the front-end detection unit and the motion function recovery system, the motion function is extensive
Complex pattern selection unit is used to be arranged according to the control information of the motion function recovery system Working mould of movement auxiliary unit
Formula, the movement auxiliary unit are resumed training for providing motion function for personnel to be restored, the motion function signal detection
Unit is used to after the movement auxiliary unit is started to work detect the recovery signal of personnel to be restored, the motion function signal
Processing unit is used to carry out analog-to-digital conversion to the recovery signal and is uploaded to the motion function by means of the communication unit
Recovery system.
The communication unit uses 4G communication module, and the motion function reforestation practices selection unit is described including being stored with
Move the memory of the data (for example, driving instruction data) of the multiple-working mode of auxiliary unit, the movement auxiliary unit
Running training equipment (such as treadmill), step climbing training equipment etc. is selected to play training to motion function recovery and restore to make
Equipment, the movement auxiliary unit can assist any completion various ways to be restored under the driving of the operating mode
Training (can include the drive of the driving instruction data of the parameters such as speed, gradient for example, for running training equipment
Dynamic lower change operating mode, completes multitude of different ways under the Parameter Conditions such as friction speed, gradient for personnel to be restored
Training and recovery), the motion function signal processing unit includes converter, to the recovery signal carry out modulus turn
It changes, and the data after conversion is exported to the communication unit, and be uploaded to the motion function by means of the communication unit
The server of recovery system, for the server by means of the functional recovery in the prior art based on neural network algorithm scheduling algorithm
It carries out data analysis with training mathematical model and stores to indicate the data for restoring signal expression and analysis result.
The motion function detecting signal unit includes: to restore for carrying out the motion function of motion function recovery and exercise
Equipment and the motion function for restoring signal for detecting motion function in the recovery and exercise routine restore detection device, institute
Stating motion function restorer includes by excitation electrode to by the electrode excitation signal of excitation position emission electrode pumping signal
The myoelectricity response signal acquisition unit of unit and acquisition as the response of the electrode excitation signal is generated, the motion function is extensive
Reinspection measurement equipment includes: the remaining removal signal element of excitation, signal detection mode matching unit, amplification channel switch arrays, the
One filter unit and the second filter unit, wherein the remaining removal signal element of the excitation, signal detection mode matching list
First, the described amplification channel switch arrays, first filter unit and second filter unit are in sequential series.
Preferably, the pumping signal that the remaining removal signal element of the excitation is used to eliminate in electromyographic signal collection unit is dry
Disturb component, comprising: electrode excitation signal characteristic spectrum generating unit, delay determination unit, prolongs at electromyography signal frequency spectrum generation unit
Shi Danyuan, subtractor circuit are produced wherein the electrode excitation signal characteristic spectrum generating unit is generated in the electrode excitation signal
The prearranged signals frequency spectrum of specific incentives signal characteristic, the signal are attached on the basis of the electrode excitation signal that raw unit generates
Frequency spectrum is input into the delay determination unit, and the delay determination unit is for according to the prearranged signals frequency spectrum, (this to be predetermined
Signal be square wave when, frequency spectrum have periodically) periodic feature determine that it is produced with the electrode excitation signal generation unit
Phase difference between the frequency spectrum of raw electrode excitation signal, and the electrode excitation signal generation unit is determined according to the phase difference
The time between response signal is collected with the electromyographic signal collection unit to after by excitation position generation electrode excitation signal
Difference (is attenuated but spectrum signature will not change because being contaminated in the collected response signal of electromyographic signal collection unit in amplitude
Electrode excitation signal), the electrode that the delay unit generates the electrode excitation signal generation unit according to the time difference
Pumping signal is delayed, the signal obtained after delay by with the collected myoelectricity response signal of the electromyographic signal collection unit
It is input to the subtractor circuit jointly, so that the electrode excitation signal is remaining from described in the myoelectricity response signal
It is removed in myoelectricity response signal.
Preferably, the prearranged signals frequency spectrum is the frequency spectrum of the square-wave signal with 2 seconds.
Preferably, the signal detection mode matching unit includes: mode memory, spectral analysis unit and data processing
Device, the mode memory are stored with the frequency for restoring the one-to-one electrode excitation signal of various modes of signal with motion function
The First Eigenvalue of spectrum, the electrode excitation that the spectral analysis unit is used to generate the electrode excitation signal generation unit are believed
It number being transformed to frequency spectrum and determines the Second Eigenvalue of the frequency spectrum, the Second Eigenvalue is identical as the fisrt feature Value Types,
The data processor searches the Second Eigenvalue in the mode memory, and determines matching the First Eigenvalue
Corresponding mode.
Preferably, the First Eigenvalue and the Second Eigenvalue are spectrum density.
Preferably, the amplification channel switch arrays include multiple controllable switches and what amplifier connected in series was constituted opens
Array and channel status memory are closed, the input terminal of each amplifier in the switch arrays emits with to by excitation position
Each excitation electrode of electrode excitation signal concatenates correspondingly, the channel status memory for store with it is described a variety of
Optimized switch state of the one-to-one each excitation electrode of mode under each mode, the switch arrays are according to the letter
The mode that number detection pattern matching unit determines searches each excitation corresponding with the mode from the channel status memory
The optimized switch state of electrode in this mode, and control the switch state of each controllable switch in the switch arrays.
Preferably, the optimized switch state is according to various motion function reforestation practices once, to disconnection and/or closure
Relationship between the signal-to-noise ratio of the myoelectricity response signal obtained after each controllable switch determines.
Preferably, first filter unit is bandpass filter, and lower limiting frequency and upper cut off frequency are respectively 5Hz
And 1800Hz.
Preferably, as shown in Fig. 2, second filter unit includes: 6.84k Ω resistance, 19.73k Ω resistance, 9.75k
Ω resistance, 14.3k Ω resistance, 5.13k Ω resistance, 10.94k Ω resistance, 1.73k Ω resistance, 3.91k Ω resistance, 2.8k Ω electricity
Resistance, 5k Ω resistance, 2k Ω resistance, the first 1k Ω resistance, the first 2.5k Ω resistance, the first 2.2k Ω resistance, the 2nd 2.2k Ω electricity
Resistance, the 2nd 1k Ω resistance, 9.31k Ω resistance, 2.32k Ω resistance, 4.2k Ω resistance, 4.8k Ω resistance, the 2nd 2.5k Ω resistance,
0.27uF capacitor, 0.22uF capacitor, the first 0.31uF capacitor, 0.33uF capacitor, 0.38uF capacitor, 0.82uF capacitor, 6.8uF electricity
Appearance, 0.57uF capacitor, the 2nd 0.31uF capacitor, 0.12uF capacitor, 2uF capacitor, the first 0.8uF capacitor, the 2nd 0.8uF capacitor,
First 0.35uF capacitor, the 2nd 0.35uF capacitor, the 3rd 0.31uF capacitor, 0.47uF capacitor, the first operational amplifier, the second fortune
Calculate amplifier, third operational amplifier, four-operational amplifier, the 5th operational amplifier, the 6th operational amplifier, the 7th operation
Amplifier, the first Zener diode, the second Zener diode, third Zener diode, the 4th Zener diode, the 5th Zener two
Pole pipe, the 6th Zener diode, the 7th Zener diode, the first subtractor circuit and the second subtractor circuit, wherein described
The first end of 6.84k Ω resistance is separately connected the first end at input signal end and 2.8k Ω resistance, the 6.84k Ω resistance
Second end connects the first end of the 19.73k Ω resistance, and the second end of the 19.73k Ω resistance is separately connected first fortune
The positive input terminal of amplifier and the first end of the 0.22uF capacitor are calculated, the second end ground connection of the 0.22uF capacitor is described
The first end of 19.73k Ω resistance is also connected with the first end of the 0.27uF capacitor, and the second end of the 0.27uF capacitor connects institute
State the first end and the first operation of the output end of the first operational amplifier, the first end of 2uF capacitor, the 9.75k Ω resistance
The negative input end of amplifier, the second end of the 9.75k Ω resistance is connected with the first end of the 14.3k Ω resistance, described
The second end of 14.3k Ω resistance is separately connected the positive input terminal and the first 0.31uF capacitor of the second operational amplifier
First end, the second end ground connection of the first 0.31uF capacitor, the first end of the 14.33k Ω resistance is also connected with described
The first end of 0.33uF capacitor, the second end of the 0.33uF capacitor connect the output end of the second operational amplifier, 2uF electricity
The negative input end of the first end of appearance, the first end of the 5.13k Ω resistance and second operational amplifier, the 2.8k Ω resistance
Second end be separately connected the first end of the 2nd 0.31uF capacitor, the first end of the 0.12uF capacitor and the 4.2k Ω
The first end of resistance, the second end ground connection of the 4.2k Ω resistance, the second end of the 0.12uF capacitor are separately connected described the
The first end of the negative input end of three operational amplifiers and the 4.8k Ω resistance, the second end difference of the 2nd 0.31uF capacitor
Connect the second end of the 4.8k Ω resistance and the output end of the third operational amplifier and the first Zener diode just
Pole, the cathode of first Zener diode connect the positive input terminal of second subtractor circuit, second subtractor circuit
Output end connects the second end of the first 1k Ω resistance and the first end of the 2nd 0.8uF capacitor, and the third operation is put
The positive input terminal of big device connects DC voltage, and the second end of the 2uF capacitor is being separately connected the four-operational amplifier just
The second end of the first end of input, output end, the first end of the first 1k Ω resistance and 5k Ω resistance, the 5k Ω resistance connects
The negative input end of the four-operational amplifier is connect, the output end of the four-operational amplifier is also connected with the second Zener diode
Anode, the cathode of second Zener diode be separately connected the 5.13k Ω resistance first end and the 2k Ω resistance
First end, the output end of the third operational amplifier is also respectively connected with the cathode of the third Zener diode, first
The first end of the first end of 0.8uF capacitor and the first 2.5k Ω resistance, the anode of the third Zener diode is respectively
Connect the anode of first Zener diode, the first end of the 2nd 0.8uF capacitor, the anode of the 4th Zener diode, first
The second end of 1k Ω resistance, the first end of the 2nd 1k Ω resistance, the first end of the 2nd 2.2k Ω resistance, the first 2.5k Ω electricity
The second end of resistance is separately connected the second end of the 2k Ω resistance and the second end and the 5th Zener two of the 5.13k Ω resistance
The first end of the cathode of pole pipe and the first 2.2k Ω resistance, anode, the first 0.8uF capacitor of the 4th Zener diode
Second end, the second end of the 2nd 0.8uF capacitor, the second end of the 2nd 1k Ω resistance, the first 0.35uF capacitor
Second end, the second end of the 2nd 0.35uF capacitor, the 6th Zener diode cathode be grounded, the 2nd 2.2k Ω electricity
The second end of resistance is separately connected anode, the 7th Zener two of the first end of the 2nd 0.35uF capacitor, the 6th Zener diode
The second end of the anode of pole pipe, the first 2.2k Ω resistance is separately connected the first end of the first 0.35uF capacitor, the 7th
The cathode of Zener diode and the first end of 9.31k Ω resistance, it is neat that the second end of the 5.13k Ω resistance is separately connected the 5th
Receive the first end of the cathode of diode, the first end of the 10.94k Ω resistance and the 0.82uF capacitor, the 10.94k
The second end of Ω resistance is separately connected the first end of the positive input terminal of the 5th operational amplifier, 0.38uF capacitor, the 0.38uF
The second end of capacitor is grounded, and the second end of the 0.82uF capacitor is separately connected the output end of the 5th operational amplifier, institute
State the first end of 1.73k Ω resistance, the negative input end of the 5th operational amplifier and the 5th Zener diode just
Pole, the second end of the 1.73k Ω resistance be separately connected the 3.91k Ω resistance first end and the 6.8uF capacitor
First end, the second end of the 3.91k Ω resistance are separately connected the positive input terminal and 0.57uF capacitor of the 6th operational amplifier
First end, the second end ground connection of the 0.57uF capacitor, the second end of the 6.8uF capacitor are separately connected the 6th operation and put
The negative input end of the big output end of device, the negative input end of first subtractor circuit and the 6th operational amplifier, it is described
The second end of 9.31k Ω resistance is separately connected the first end of the 0.47uF capacitor, the first end of the 3rd 0.31uF capacitor
And the first end of 2.32k Ω resistance, the second end ground connection of the 2.32k Ω resistance, the second of the 3rd 0.31uF capacitor
End is separately connected the first end of the negative input end of the 7th operational amplifier, the 2nd 2.5k Ω resistance, and described second
The second end of 2.5k Ω resistance is separately connected the output end of the second end of the 0.47uF capacitor, the 7th operational amplifier, described
The positive input terminal of 7th operational amplifier connects DC voltage, and the output end of the 7th operational amplifier is also connected with described first
The positive input terminal of subtractor circuit, the output end of first subtractor circuit connect the negative input end of second subtractor circuit, institute
State the output end connection output signal end of the first subtractor circuit.
Preferred embodiment in accordance with the present invention, DC voltage are Vdd/2 and Vdd=5V.Each subtractor circuit can be with
Select subtracter.
Above for the purpose that narration made by presently preferred embodiments of the present invention is to illustrate, and it is not intended to limit essence of the invention
Really it is disclosed form, learns and make an amendment or change to be possible based on above introduction or from the embodiment of the present invention
, embodiment is to explain the principle of the present invention and those skilled in the art being allowed to exist with various embodiments using the present invention
It is selected in practical application and narration, technical idea attempt of the invention is determined by claim and its equalization.
Claims (8)
1. a kind of front-end detection unit of motion function recovery system, the front-end detection unit include: communication unit, fitness machine
It can reforestation practices selection unit, movement auxiliary unit, motion function detecting signal unit and motion function signal processing list
Member；The motion function recovery system includes server, for controlling the front-end detection unit and storing the front-end detection
The collected signal of unit；Wherein the communication unit is used in the front-end detection unit and the motion function recovery system
Between carry out data transmission, the motion function reforestation practices selection unit is used for according to the control of the motion function recovery system
The operating mode of information setting movement auxiliary unit processed, the movement auxiliary unit are used to provide motion function for personnel to be restored
It resumes training, the motion function detecting signal unit is used to detect people to be restored after movement auxiliary unit start-up operation
The recovery signal of member, the motion function signal processing unit are used to carry out the recovery signal analog-to-digital conversion and by means of institute
It states communication unit and is uploaded to the motion function recovery system；
The motion function detecting signal unit includes: the motion function restorer for carrying out motion function recovery and exercise
And restore the motion function recovery detection device of signal, the fortune for detecting motion function in the recovery and exercise routine
Motivation energy restorer includes being generated by excitation electrode to by the electrode excitation signal of excitation position emission electrode pumping signal
The myoelectricity response signal acquisition unit of unit and acquisition as the response of the electrode excitation signal, the motion function restore inspection
Measurement equipment includes: the remaining removal signal element of excitation, signal detection mode matching unit, amplification channel switch arrays, the first filter
Wave unit and the second filter unit, wherein the remaining removal signal element, the signal detection mode matching unit, institute of the excitation
It is in sequential series to state amplification channel switch arrays, first filter unit and second filter unit；
It is characterized in that, the pumping signal that the remaining removal signal element of excitation is used to eliminate in electromyographic signal collection unit is dry
Disturb component, comprising: electrode excitation signal characteristic spectrum generating unit, delay determination unit, prolongs at electromyography signal frequency spectrum generation unit
Shi Danyuan, subtractor circuit are produced wherein the electrode excitation signal characteristic spectrum generating unit is generated in the electrode excitation signal
The prearranged signals frequency spectrum of specific incentives signal characteristic, the signal are attached on the basis of the electrode excitation signal that raw unit generates
Frequency spectrum is input into the delay determination unit, and the delay determination unit is used for the periodicity according to the prearranged signals frequency spectrum
Feature determines the phase difference between the frequency spectrum for the electrode excitation signal that it is generated with the electrode excitation signal generation unit, and root
According to the phase difference determine the electrode excitation signal generation unit to by excitation position generate electrode excitation signal after with the flesh
Electrical signal collection unit collects the time difference between response signal, and the delay unit swashs the electrode according to the time difference
Encourage signal generation unit generation electrode excitation signal be delayed, the signal obtained after delay by with the electromyographic signal collection
The collected myoelectricity response signal of unit is input to the subtractor circuit jointly, thus by the electrode excitation signal in the flesh
Remnants in electroresponse signal are removed from the myoelectricity response signal.
2. the front-end detection unit of motion function recovery system according to claim 1, which is characterized in that the predetermined letter
Number frequency spectrum is the frequency spectrum of the square-wave signal with 2 seconds.
3. the front-end detection unit of motion function recovery system according to claim 1, which is characterized in that the signal inspection
Surveying pattern matching unit includes: mode memory, spectral analysis unit and data processor, the mode memory be stored with
Motion function restores the First Eigenvalue of the frequency spectrum of the one-to-one electrode excitation signal of various modes of signal, the frequency spectrum point
Analysis unit is used to for the electrode excitation signal that the electrode excitation signal generation unit generates to be transformed to frequency spectrum and determines the frequency spectrum
Second Eigenvalue, the Second Eigenvalue is identical as the fisrt feature Value Types, and the data processor is in the mode
The Second Eigenvalue is searched in memory, and determines the matching corresponding mode of the First Eigenvalue.
4. the front-end detection unit of motion function recovery system according to claim 3, which is characterized in that described first is special
Value indicative and the Second Eigenvalue are spectrum density.
5. the front-end detection unit of motion function recovery system according to claim 3, which is characterized in that the amplification is logical
Road switch arrays include the switch arrays and channel status memory that multiple controllable switches and amplifier connected in series are constituted,
The input terminal of each amplifier in the switch arrays with to by excitation position emission electrode pumping signal each excitation electricity
Pole concatenates correspondingly, and the channel status memory is for storing and the one-to-one each excitation electricity of the various modes
Optimized switch state of the pole under each mode, the mould that the switch arrays are determined according to the signal detection mode matching unit
Formula searches the optimized switch shape of each excitation electrode corresponding with the mode in this mode from the channel status memory
State, and control the switch state of each controllable switch in the switch arrays.
6. the front-end detection unit of motion function recovery system according to claim 5, which is characterized in that described most preferably to open
Off status is according to various motion function reforestation practices once, to disconnecting and/or be closed the myoelectricity obtained after each controllable switch
Relationship between the signal-to-noise ratio of response signal determines.
7. the front-end detection unit of motion function recovery system according to claim 1, which is characterized in that first filter
Wave unit is bandpass filter, and lower limiting frequency and upper cut off frequency are respectively 5Hz and 1800Hz.
8. the front-end detection unit of motion function recovery system according to claim 7, which is characterized in that second filter
Wave unit include: 6.84k Ω resistance, 19.73k Ω resistance, 9.75k Ω resistance, 14.3k Ω resistance, 5.13k Ω resistance,
10.94k Ω resistance, 1.73k Ω resistance, 3.91k Ω resistance, 2.8k Ω resistance, 5k Ω resistance, 2k Ω resistance, the first 1k Ω electricity
Resistance, the first 2.5k Ω resistance, the first 2.2k Ω resistance, the 2nd 2.2k Ω resistance, the 2nd 1k Ω resistance, 9.31k Ω resistance,
2.32k Ω resistance, 4.2k Ω resistance, 4.8k Ω resistance, the 2nd 2.5k Ω resistance, 0.27uF capacitor, 0.22uF capacitor, first
0.31uF capacitor, 0.33uF capacitor, 0.38uF capacitor, 0.82uF capacitor, 6.8uF capacitor, 0.57uF capacitor, the 2nd 0.31uF electricity
Appearance, 0.12uF capacitor, 2uF capacitor, the first 0.8uF capacitor, the 2nd 0.8uF capacitor, the first 0.35uF capacitor, the 2nd 0.35uF electricity
Appearance, the 3rd 0.31uF capacitor, 0.47uF capacitor, the first operational amplifier, second operational amplifier, third operational amplifier,
Four-operational amplifier, the 5th operational amplifier, the 6th operational amplifier, the 7th operational amplifier, the first Zener diode, second
Zener diode, third Zener diode, the 4th Zener diode, the 5th Zener diode, the 6th Zener diode, the 7th are together
Receive diode, the first subtractor circuit and the second subtractor circuit, wherein the first end of the 6.84k Ω resistance is separately connected defeated
Enter the first end of signal end and 2.8k Ω resistance, the second end of the 6.84k Ω resistance connects the 19.73k Ω resistance
First end, the second end of the 19.73k Ω resistance are separately connected the positive input terminal of first operational amplifier and described
The first end of 0.22uF capacitor, the second end ground connection of the 0.22uF capacitor, the first end of the 19.73k Ω resistance are also connected with
The first end of the 0.27uF capacitor, the second end of the 0.27uF capacitor connect first operational amplifier output end,
The negative input end of the first end of 2uF capacitor, the first end of the 9.75k Ω resistance and the first operational amplifier, the 9.75k
The second end of Ω resistance is connected with the first end of the 14.3k Ω resistance, and the second end of the 14.3k Ω resistance is separately connected institute
State the positive input terminal of second operational amplifier and the first end of the first 0.31uF capacitor, the of the first 0.31uF capacitor
Two ends ground connection, the first end of the 14.3k Ω resistance are also connected with the first end of the 0.33uF capacitor, the 0.33uF capacitor
Second end connects the output end of the second operational amplifier, the first end of 2uF capacitor, the first end of the 5.13k Ω resistance
And the negative input end of second operational amplifier, the second end of the 2.8k Ω resistance are separately connected the 2nd 0.31uF capacitor
First end, the first end of the first end of the 0.12uF capacitor and the 4.2k Ω resistance, the second of the 4.2k Ω resistance
End ground connection, the second end of the 0.12uF capacitor are separately connected the negative input end and the 4.8k Ω of the third operational amplifier
The first end of resistance, the second end of the 2nd 0.31uF capacitor are separately connected the second end and described of the 4.8k Ω resistance
The anode of the output end of three operational amplifiers and the first Zener diode, first Zener diode cathode connection described in
The positive input terminal of second subtractor circuit, the output end of second subtractor circuit connect the first 1k Ω resistance second end and
The first end of the 2nd 0.8uF capacitor, the positive input terminal of the third operational amplifier connect DC voltage, the 2uF electricity
The second end of appearance be separately connected the positive input terminal of the four-operational amplifier, output end, the first 1k Ω resistance first end with
And the first end of 5k Ω resistance, the second end of the 5k Ω resistance connects the negative input end of the four-operational amplifier, described
The output end of four-operational amplifier is also connected with the anode of the second Zener diode, the cathode difference of second Zener diode
Connect the first end of the 5.13k Ω resistance and the first end of the 2k Ω resistance, the output end of the third operational amplifier
It is also respectively connected with the cathode of the third Zener diode, the first end of the first 0.8uF capacitor and the first 2.5k Ω electricity
The anode of the first end of resistance, the third Zener diode is separately connected the first end of the 2nd 0.8uF capacitor, two pole of the 4th Zener
The anode of pipe, the second end of the first 1k Ω resistance, the first end of the 2nd 1k Ω resistance, the first end of the 2nd 2.2k Ω resistance, institute
The second end for stating the first 2.5k Ω resistance is separately connected the second end of the 2k Ω resistance and the second end of the 5.13k Ω resistance
And the 5th Zener diode cathode and the first 2.2k Ω resistance first end, the 4th Zener diode it is negative
It is pole, the second end of the first 0.8uF capacitor, the second end of the 2nd 0.8uF capacitor, the second end of the 2nd 1k Ω resistance, described
The second end of first 0.35uF capacitor, the second end of the 2nd 0.35uF capacitor, the 6th Zener diode cathode be grounded,
The second end of the 2nd 2.2k Ω resistance is separately connected the first end of the 2nd 0.35uF capacitor, the 6th Zener diode
The anode of anode, the 7th Zener diode, the second end of the first 2.2k Ω resistance are separately connected the first 0.35uF electricity
The first end of the first end of appearance, the cathode of the 7th Zener diode and 9.31k Ω resistance, the second of the 5.13k Ω resistance
End is separately connected the of the cathode of the 5th Zener diode, the first end of the 10.94k Ω resistance and the 0.82uF capacitor
One end, the second end of the 10.94k Ω resistance be separately connected the positive input terminal of the 5th operational amplifier, 0.38uF capacitor
One end, the second end ground connection of the 0.38uF capacitor, the second end of the 0.82uF capacitor are separately connected the 5th operation and put
The negative input end and the described 5th of the output end of device, the first end of the 1.73k Ω resistance, the 5th operational amplifier greatly
The anode of Zener diode, the second end of the 1.73k Ω resistance are separately connected first end and the institute of the 3.91k Ω resistance
State the first end of 6.8uF capacitor, the second end of the 3.91k Ω resistance be separately connected the 6th operational amplifier positive input terminal and
The first end of 0.57uF capacitor, the second end ground connection of the 0.57uF capacitor, the second end of the 6.8uF capacitor are separately connected institute
State the negative of the output end of the 6th operational amplifier, the negative input end of first subtractor circuit and the 6th operational amplifier
Input terminal, the second end of the 9.31k Ω resistance are separately connected the first end of the 0.47uF capacitor, the 3rd 0.31uF electricity
The first end of appearance and the first end of 2.32k Ω resistance, the second end ground connection of the 2.32k Ω resistance, the 3rd 0.31uF
The second end of capacitor is separately connected the first end of the negative input end of the 7th operational amplifier, the 2nd 2.5k Ω resistance,
The second end of the 2nd 2.5k Ω resistance is separately connected the output of the second end, the 7th operational amplifier of the 0.47uF capacitor
The positive input terminal at end, the 7th operational amplifier connects DC voltage, and the output end of the 7th operational amplifier is also connected with
The positive input terminal of first subtractor circuit, it is defeated that the output end of first subtractor circuit connects bearing for second subtractor circuit
Enter end, the output end of first subtractor circuit connects output signal end.
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| CN204539377U (en) * | 2015-05-05 | 2015-08-05 | 孙卫唯 | There is the athletic rehabilitation system of real time kinematics feedback |
| CN105233406A (en) * | 2015-09-25 | 2016-01-13 | 上海交通大学 | Cerebral apoplexy functional electrical stimulation rehabilitation system |
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Effective date of registration: 20200825 Address after: No.1, 2 / F, building 6, No.39 Renhe street, high tech Zone, Chengdu, Sichuan 610000 Patentee after: SICHUAN BEICHEN QIANHENG TECHNOLOGY Co.,Ltd. Address before: West high tech Zone Fucheng Road in Chengdu city of Sichuan province 610041 399 Building No. 7 No. 1103 Patentee before: SICHUAN DONGDING LIZHI INFORMATION TECHNOLOGY Co.,Ltd. |