CN106377253A - Electromyographic signal and inertia information synchronous collection device - Google Patents
Electromyographic signal and inertia information synchronous collection device Download PDFInfo
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Abstract
The invention provides an electromyographic signal and inertia information synchronous collection device which comprises a multi-information collection sensor, an embedded microprocessing system, a wireless multi-platform application interface, a power module and a data application platform, wherein the multi-information collection sensor transfers the electromyographic information and inertia information collected in real time to the embedded microprocessing system through a signal synchronous input interface; and the electromyographic information and inertia information are further optimized by the microprocessing system and transmitted to the data application platform through the wireless multi-platform interface in a wireless communication way. The device provided by the invention has a series of advantages such as stable communication signal, strong expansion function, light weight and easiness in carrying and operation and can be effectively adapted to the real-time synchronous collection of electromyographic signal and inertia information in motion; and meanwhile, the device meets the needs for wireless data receiving and treatment of multiple data application platforms such as PC and mobile phone at the same time, and provides great convenience to the clinical research of the collaborative operation way of limbs of human body in motion.
Description
Technical field
The present invention relates to signal synchronous collection field, especially a kind of human body limb multi information synchronous acquisition device.
Background technology
Human body surface myoelectric signal (SEMG) is the contact potential series of generation during muscle movement, collection analysis electromyographic signal
The abundant information with regard to muscular movement can be obtained, including motor function, muscular fatigue degree, rehabilitation state and coordination
The information such as property.Therefore, electromyographic signal becomes the optimal bio signal of study movement.
Motional inertia information includes the information such as acceleration, angle, angular speed, according to human body Inertia information, can directly retouch
State human motion angle, action inertia, realize action capture.The inertia physics being obtained by objective quantification physical activity situation
Amount, can directly apply to the different field such as movement monitoring, limb function evaluation, equipment control.
With the continuous progress of biosensor technique, Inertia information and electromyographic signal are carried out Conjoint Analysis, becomes motion
Function, the study hotspot in Rehabilitation Assessment field.On the one hand human motion Inertia information is captured by Inertia information harvester, with
This analyzes human motion Inertia information, directly obtains the key extrinsic information such as Human Stamina, rehabilitation process.On the other hand logical
Cross extraction electromyographic signal feature, obtain the internal information of muscular movement from the unlike signal analytic angle such as time domain, frequency domain.Finally real
Existing omnibearing extremity motor function evaluation.
For above growth requirement, design can obtain electromyographic signal at the volley and become with the synchronous acquisition device of Inertia information
Key technology for research.Traditional myoelectricity collecting device limits to below existing under new domain requirement：Drainage pattern is with myoelectricity
Based on signals collecting, lack Inertia information acquisition capacity and autgmentability interface, such as U.S.'s Noraxon 2400T-G2 surface myoelectric
Acquisition analysis system；Collection environment, mainly for electromyographic signal collection under static action, lacks antijamming capability in motion, such as
Domestic eight passages wired surface myoelectric instrument CB-0810；Acquisition system generally requires fixed base stations, and volume is big, mobile inconvenience, and
Data-processing interface seals it is impossible to be adapted to the real-time application of varying environment, such as the Trigno of DELSYS company of the U.S.
Mobile.
Content of the invention
Present invention aim at providing one kind to be applied to movement environment, have wirelessly multi-platform application interface, multiple platform
The electromyographic signal of real-time application and Inertia information synchronous acquisition device.
For achieving the above object, employ technical scheme below：Harvester of the present invention includes multi information collection and passes
Sensor, embedded microprocessing systems, wirelessly multi-platform application interface, power module and market demand platform；
Multi information collection sensor synchronous acquisition human body surface myoelectric signal and nine-degree of freedom Inertia information, by electromyographic signal
Export to embedded microprocessor system with nine-degree of freedom Inertia information；Embedded microprocessor system is to electromyographic signal and nine certainly
Valid data and control instruction is sent to wirelessly multi-platform application interface after being processed from degree Inertia information；Wirelessly multi-platform should
With market demand platform, UNICOM is interacted by wireless communication technology with interface；Power module is connected to embedded microprocessing systems
System power supply.
Further, described multi information collection sensor is examined by electromyographic signal collection sensor and nine-degree of freedom Inertia information
Survey sensor composition.
Further, described electromyographic signal collection sensor is by AgCl electrode, electromyographic signal conducting wire and sensor power
Circuit forms；Electromyographic signal conducting wire is the wound form twisted-pair feeder through the attached process of screen layer bag.
Further, described nine-degree of freedom Inertia information detection sensor is by nine-degree of freedom inertial sensor unit data
Transfer bus module form, can Real-time Collection nine road motional inertia information data amount and make Kalman filtering algorithm process.
Further, described embedded microprocessing systems include signal synchronization input interface, high cmrr amplifies mould
Block, Parameter adjustable section filtration module, A/D modular converter, embedded main control module；Signal synchronization input interface is gathered with multi information
Sensor is connected, and the signal of multi information collection sensor output is sent to high cmrr amplification module and carries out signal amplification；
High cmrr amplification module is connected with Parameter adjustable section filtration module, and Parameter adjustable section filtration module is to amplification signal
It is filtered processing；Parameter adjustable section filtration module output end is connected with the input of A/D modular converter, and A/D modular converter is complete
The interactive process of electromyographic signal in pairs；The output end of A/D modular converter is connected with embedded main control module.
Further, described wirelessly multi-platform application interface includes multi-communication protocol port and Wi-Fi module, Zigbee mould
Block, bluetooth module, the signal receiving end of multi-communication protocol port is connected with the embedded main control module of embedded microprocessing systems,
The signal output part of multi-communication protocol port is connected with Wi-Fi module, Zigbee module, bluetooth module；Multi-communication protocol port
Built-in TCP/IP, UDP, Zigbee, Bluetooth various wireless communication agreement is integrated, for Wi-Fi module,
Zigbee module, bluetooth module and market demand platform carry out Wireless Data Transmission.
Further, described market demand platform is PC or smart mobile phone or panel computer, market demand platform with no
The multi-platform application interface of line is connected by wireless technology.
Further, described high cmrr amplification module converts follower and reversely by the impedance offseting drive circuit
Amplifier carries out common mode driving, realizes high cmrr characteristic；Electromyographic signal is put by high cmrr after differential amplification
Big module realizes secondary amplification.
Further, the filtering performance effect of described Parameter adjustable section filtration module carries out synthesis through market demand platform
Judge, Optimal Parameters are fed back to high cmrr amplification module simultaneously, carry out self adaptation RC parameter regulation and secondary filtering
Process.
Further, described embedded main control module can be controlled using single-chip computer control system or DSP control system, FPGA
System；Wherein, single-chip computer control system realizes the optimization instruction of data application platform terminal device is controlled；DSP controls system
System realizes the optimization algorithm parsing to multichannel input signal；FPGA control system is realized to data application platform terminal device
Optimization SECO.
Compared with prior art, the invention has the advantages that：
1st, realize electromyographic signal and Inertia information Collect jointly, and carry out motor function evaluation with signal processing method,
Reliability in motor function evaluation for the raising system.
2nd, using adjustable filtering technique and frequency-selecting amplifying technique, improve acquisition system antijamming capability, enable the system to
Enough it is effectively adapted to signals collecting in motion.
3rd, the integrated communication protocol techniques of wirelessly multi-platform application interface are passed through, many with Wi-Fi, bluetooth, Zigbee etc.
Plant wireless device to connect, realize portable radio signal collection, multiple market demand platform such as PC, mobile phone can be met simultaneously
Data receiver process demand.
4th, human body surface myoelectric signal is effectively combined with motional inertia information, by wireless communication technology and terminal device
Real-time communication.Obtain the motional inertia information of detection position while guarantor's body surface electromyogram signal extracts, make many in clinic
Yardstick observation limb motion mode is possibly realized.
5th, communication signal is stable, expanded function is strong, light portable, easy to operate, is that limbs work in coordination with fortune to human body at the volley
The clinical research making mode provides great convenience.
Brief description
Fig. 1 is the system architecture flow chart of apparatus of the present invention.
Fig. 2 is the amplification filtering operation flow chart of apparatus of the present invention.
Fig. 3 is the multi-communication protocol port cut-away view of apparatus of the present invention.
Drawing reference numeral：1 be multi information collection sensor, 2 be embedded microprocessing systems, 3 be wirelessly multi-platform interface, 4
For market demand platform.
Specific embodiment
The present invention will be further described below in conjunction with the accompanying drawings：
As shown in figure 1, harvester of the present invention includes multi information collection sensor 1, embedded microprocessing systems
2nd, wirelessly multi-platform application interface 3 and market demand platform 4.
Wherein：Described multi information collection sensor includes electromyographic signal collection sensor and Inertia information detection sensor.
Multi information sensor connects the signal data interface in embedded microprocessing systems, used for collection surface electromyographic signal and motion
Interactive multi information is simultaneously transferred to embedded microprocessing systems by property information.
Described embedded microprocessing systems include signal synchronization input interface, high cmrr amplification module, parameter can
Adjust filtration module, A/D modular converter, embedded main control module.System by signal synchronization input interface realize electromyographic signal with
The synchronization input of nine axle Inertia information, accordingly can be adjusted to amplification coefficient and filter factor according to different acquisition position,
Realize the signal filtering enhanced processing of more accurate stable.Embedded Control core multi signal is done further data extract classification with
Algorithm process, and by human body surface myoelectric signal and motional inertia information transmission synchronous transfer to wirelessly multi-platform interface.
The internal structure of described wirelessly multi-platform application interface is as shown in figure 3, include communication protocol and wireless module, interface
By multi-communication protocol port, the various wireless communication agreement such as built-in TCP/IP, UDP, Zigbee, Bluetooth is carried out whole
Close, realize connecting for the different radio module such as Wi-Fi, Zigbee, bluetooth, enabling a device to should with data with multiple communication modes
Carry out Wireless Data Transmission with platform, meet the real time data of the different field such as movement monitoring, limb function evaluation, equipment control
Transmission requirement.
Described market demand platform has diversity, including the market demand operating platform such as PC, mobile phone, panel computer.
Step one：Multi signal gathers
User can need to gather myoelectricity and the Inertia information of different parts according to difference, and it is real that concrete collection point regards user
Depending on the diagnostic requirements of border.During collection human body surface myoelectric, two acquisition electrodes of device are placed in respectively along muscle fibre direction
Need, on the muscle of collection, to be placed in apart from the nearer no muscle region of acquisition electrode with reference to ground electrode.
Step 2：Data prediction part
Data prediction part embodies both ways：
1. pair human body electromyographic electrode becomes the myoelectricity primary signal sent and is amplified and filtering process.Fig. 2 fills for the present invention
The amplification filtering operation flow chart put.Wherein, described high cmrr amplification module and Parameter adjustable section filtration module complete
Interactive process to electromyographic signal.Amplification module follows it by the impedance conversion offseting drive circuit and sign-changing amplifier is carried out
Common mode drives, and realizes high cmrr characteristic.Electromyographic signal realizes secondary amplification by amplifier after differential amplification, then transmits
To Parameter adjustable section filtration module, it is filtered processing.Filtering performance effect carries out synthetic determination through market demand platform, with
When Optimal Parameters are fed back to amplifying circuit, carry out self adaptation RC parameter regulation and secondary filtering and process.Described Parameter adjustable section
The parameter-embedded adjuster of filtration module can be realized filtering parameter according to the collection effect of human body difference body part and adjust.Optimize
Filtered electromyographic signal is back to high cmrr amplification module and carries out voltage lifting, will with the collection meeting main control module
Ask.
2. pair human body limb movement Inertia information carries out classification extraction.Inertia information detection sensor fortune by nine-degree of freedom
Resolved with dynamics and carry out the collection of preliminary motion Inertia information and process, and transmit a signal to embedded Control core, by core
Piece internal algorithm carries out movable information classification and extracts, and obtains nine road motional inertia information data amounts.
Finally, embedded Control core pass through wirelessly multi-platform interface by gather electromyographic signal and motional inertia information
It is transferred to terminal device.
Step 3：Multi signal analysis application
This device can send data to processing platform by wirelessly multi-platform application interface, by PC, mobile phone, flat board electricity
The terminal data application platform such as brain shows real-time myoelectric information curve and motional inertia information curve.Simultaneously by data assessment
System is analyzed, diagnoses, records to the physiological curve recording in real time, obtains the real-time physiological assessment of surveyed position.
Embodiment described above is only that the preferred embodiment of the present invention is described, the not model to the present invention
Enclose and be defined, on the premise of without departing from design spirit of the present invention, the technical side to the present invention for the those of ordinary skill in the art
Various modifications and improvement that case is made, all should fall in the protection domain of claims of the present invention determination.
Claims (10)
1. a kind of electromyographic signal and Inertia information synchronous acquisition device it is characterised in that：Described harvester includes multi information and adopts
Collection sensor, embedded microprocessing systems, wirelessly multi-platform application interface, power module and market demand platform；
Multi information collection sensor synchronous acquisition human body surface myoelectric signal and nine-degree of freedom Inertia information, by electromyographic signal and nine
Free degree Inertia information exports to embedded microprocessor system；Embedded microprocessor system is to electromyographic signal and nine-degree of freedom
Inertia information sends to wirelessly multi-platform application interface after being processed and controls valid data and instruction；Wirelessly multi-platform application connects
Mouth interacts UNICOM with market demand platform by wireless communication technology；Power module and embedded microprocessing systems are connected to system
Power supply.
2. a kind of electromyographic signal according to claim 1 and Inertia information synchronous acquisition device it is characterised in that：Described many
Information acquisition sensor is made up of electromyographic signal collection sensor and nine-degree of freedom Inertia information detection sensor.
3. a kind of electromyographic signal according to claim 2 and Inertia information synchronous acquisition device it is characterised in that：Described flesh
Electrical signal collection sensor is made up of AgCl electrode, electromyographic signal conducting wire and sensor feed circuit；Electromyographic signal conducting wire
It is the wound form twisted-pair feeder through the attached process of screen layer bag.
4. a kind of electromyographic signal according to claim 2 and Inertia information synchronous acquisition device it is characterised in that：Described nine
Free degree Inertia information detection sensor is made up of nine-degree of freedom inertial sensor unit data transfer bus module, can be real-time
Gather nine road motional inertia information data amounts and make Kalman filtering algorithm process.
5. a kind of electromyographic signal according to claim 1 and Inertia information synchronous acquisition device it is characterised in that：Described embedding
Enter the processing system that declines and include signal synchronization input interface, high cmrr amplification module, Parameter adjustable section filtration module, A/
D modular converter, embedded main control module；Signal synchronization input interface is connected with multi information collection sensor, and multi information collection passes
The signal of sensor output is sent to high cmrr amplification module and carries out signal amplification；High cmrr amplification module and ginseng
The adjustable filtration module of number is connected, and Parameter adjustable section filtration module is filtered processing to amplifying signal；Parameter adjustable section
Filtration module output end is connected with the input of A/D modular converter, and A/D modular converter completes at the interactive mode to electromyographic signal
Reason；The output end of A/D modular converter is connected with embedded main control module.
6. a kind of electromyographic signal according to claim 1 and Inertia information synchronous acquisition device it is characterised in that：Described nothing
The multi-platform application interface of line includes multi-communication protocol port and Wi-Fi module, Zigbee module, bluetooth module, multi-communication protocol
The signal receiving end of port is connected with the embedded main control module of embedded microprocessing systems, and the signal of multi-communication protocol port is defeated
Go out end to be connected with Wi-Fi module, Zigbee module, bluetooth module；Multi-communication protocol port to built-in TCP/IP, UDP,
Zigbee, Bluetooth various wireless communication agreement is integrated, for Wi-Fi module, Zigbee module, bluetooth module and number
Carry out Wireless Data Transmission according to application platform.
7. a kind of electromyographic signal according to claim 1 and Inertia information synchronous acquisition device it is characterised in that：Described number
It is PC or smart mobile phone or panel computer according to application platform, market demand platform and wirelessly multi-platform application interface pass through wireless
Technology is connected.
8. a kind of electromyographic signal according to claim 5 and Inertia information synchronous acquisition device it is characterised in that：Described height
Common-mode rejection ratio amplification module converts follower by the impedance offseting drive circuit and sign-changing amplifier carries out common mode driving, realizes
High cmrr characteristic；Electromyographic signal realizes secondary amplification by high cmrr amplification module after differential amplification.
9. a kind of electromyographic signal according to claim 5 and Inertia information synchronous acquisition device it is characterised in that：Described ginseng
The filtering performance effect of the adjustable filtration module of number carries out synthetic determination through market demand platform, feeds back Optimal Parameters simultaneously
To high cmrr amplification module, carry out self adaptation RC parameter regulation and process with secondary filtering.
10. a kind of electromyographic signal according to claim 5 and Inertia information synchronous acquisition device it is characterised in that：Described
Embedded main control module can adopt single-chip computer control system or DSP control system, FPGA control system；Wherein, Single-chip Controlling
System realizes the optimization instruction of data application platform terminal device is controlled；DSP control system is realized inputting letter to multichannel
Number optimization algorithm parsing；FPGA control system realizes the optimization SECO to data application platform terminal device.
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| CN109171720A (en) * | 2018-09-20 | 2019-01-11 | 中国科学院合肥物质科学研究院 | A kind of myoelectricity inertial signal and video information synchronous acquisition device and method |
| CN110210366A (en) * | 2019-07-05 | 2019-09-06 | 青岛理工大学 | Assemble rundown process sample acquisition system, deep learning network and monitoring system |
| CN110210366B (en) * | 2019-07-05 | 2021-04-27 | 青岛理工大学 | Assembling and screwing process sample acquisition system, deep learning network and monitoring system |
| CN111950460A (en) * | 2020-08-13 | 2020-11-17 | 电子科技大学 | Muscle strength self-adaptive stroke patient hand rehabilitation training action recognition method |
| CN112933408A (en) * | 2021-02-02 | 2021-06-11 | 深圳市康进医疗科技有限公司 | System and method for collecting surface electromyographic signals and controlling low-frequency electrical stimulation |
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