CN108272566A - A kind of intelligent wheel chair based on multi-modal man-machine interface - Google Patents
A kind of intelligent wheel chair based on multi-modal man-machine interface Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
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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
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6887—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient mounted on external non-worn devices, e.g. non-medical devices
- A61B5/6894—Wheel chairs
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
- A61G2203/18—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering by patient's head, eyes, facial muscles or voice
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Abstract
The invention discloses a kind of intelligent wheel chairs based on multi-modal man-machine interface, are related to field of intelligent control technology.Include main control module, neck and shoulder part surface electromyogram signal extraction module, wireless remote control module and control instruction display module；Main control module is connected with neck and shoulder part surface electromyogram signal extraction module, wireless remote control module and control instruction display module；Neck and shoulder part surface electromyogram signal extraction module is used to detect the surface electromyogram signal that the action of user's difference neck and shoulder part generates；Wireless remote control module is used to detect the operation behavior of peripheral operation person, and corresponding control instruction is provided for main control module；Control instruction display module, the instruction executed for showing current wheelchair.Intelligent wheel chair is manipulated using multi-modal man-machine interface, wheelchair multi-mode, multifreedom controlling may be implemented, improves the real-time and robustness of human-computer interaction friendly and control system, meets the actual use demand to intelligent wheel chair.
Description
Technical field
The present invention relates to field of intelligent control technology, are taken turns more specifically to a kind of intelligence of multi-modal man-machine interface
Chair.
Background technology
In order to ensure and improve the normal life of the elderly and disabled person, intelligent wheel chair is studied by many countries,
Have developed the intelligent wheel chair of a variety of man-machine interfaces for different group of handicapped.But hand is lost because of amputation for those
For the disabled person that foot and trick cannot be used flexibly by disease, traditional electric wheelchair and based on automatic obstacle-avoiding, navigation etc.
Intelligent wheel chair man-machine interaction is poor, control mode is single, the needs of cannot having met them.It is based on man-machine interface in order to improve
Intelligent wheel chair applicability and the convenience that uses, some other emerging subject technology is integrated into come, as myoelectricity identifies
Deng can effectively solve the problems, such as that human-machine interface technology is intelligentized.Traditional intelligent wheel chair based on surface electromyogram signal control is logical
It crosses identification user's facial expression and carrys out controling wheelchair, this mode is not only inconvenient but also control instruction is single, substantially reduces
The usage comfort of user, such as publication No. CN105616082A.Therefore, the present invention is directed to existing intelligent wheel chair technology not
Foot, provides a kind of intelligent wheel chair based on multi-modal man-machine interface of dependable performance.
Invention content
In view of this, the purpose of the present invention is to provide a kind of intelligent wheel chair based on multi-modal man-machine interface, it can change
The friendly of kind human-computer interaction, the control mode of solution traditional intelligence wheelchair is single, control freedom degree is few and control system is multiple
The problems such as miscellaneous.The wheelchair has harmonious man-machine interaction environment, and the interaction made one between computer can be as interpersonal
Exchange it is equally natural, conveniently, it is endless using equipment of helping the disabled for meeting the elderly and disabled person the daily life the needs of
Kind communal facility, while more easily trip mode being provided, and the development of related industry is promoted all to be of great significance.
In order to achieve the above objectives, technical solution provided by the invention is：A kind of intelligence wheel based on multi-modal man-machine interface
Chair, it is characterised in that the intelligent wheel chair includes main control module, neck and shoulder part surface electromyogram signal extraction module, wireless remote control mould
Block and control instruction display module；Main control module be connected with neck and shoulder part surface electromyogram signal extraction module, wireless remote control module and
Control instruction display module；Neck and shoulder part surface electromyogram signal extraction module is used to detect what the action of user's difference neck and shoulder part generated
Surface electromyogram signal；Wireless remote control module is used to detect the operation behavior of peripheral operation person, and corresponding control is provided for main control module
System instruction；Control instruction display module, the instruction executed for showing current wheelchair.
The control instruction of the main control module output, which includes at least, to be had advancement commands, retreats instruction, instruction of turning left, turns right
Instruction, assisted instruction, deceleration instruction and halt instruction.
The control instruction display module includes LCD LCD MODULEs and 16 × 16 LED dot matrix.
There are two types of control mode, wireless remote control control and necks for a kind of intelligent wheel chair based on multi-modal man-machine interface
Shoulder surface myoelectricity controls.
The neck and shoulder part surface electromyogram signal extraction module can at least extract the surface in six channels of neck and shoulder part simultaneously
Electromyography signal.
A kind of control method of intelligent wheel chair based on multi-modal man-machine interface is to detect nothing by main control module
The control instruction of line remote control module and the output of neck and shoulder part surface electromyogram signal extraction module, is then driven by the DA in main control module
Dynamic control module exports four road analog voltages, and wheelchair itself is furnished with electric machine controller, and four road analog voltages pass through electric machine controller
Direct current generator is controlled to drive intelligent wheel chair advance, retrogressing, left-hand rotation, right-hand rotation, acceleration, deceleration and stopping；Work as wireless remote control module
After the operation behavior for detecting peripheral operation person, wireless remote control module provides corresponding control signal, master control mould to main control module
Block controling wheelchair is run；When neck and shoulder part surface electromyogram signal extraction module detects the surface flesh of user's neck and shoulder part corresponding position
After electric signal, run by master control module controls wheelchair.
The neck and shoulder part surface electromyogram signal extraction module is used to detect the action of neck and shoulder part corresponding position；Work as neck and shoulder part
When thering is action to occur, acquires the multi-channel surface myoelectric signal of neck and shoulder part action in real time by wireless myoelectric sensor, will acquire
To data be sent to main control module, main control module is to the multi-channel surface myoelectric signal that receives while using the method for moving average
It is handled, extracts signal temporal signatures, Classification and Identification is carried out to feature using threshold value diagnostic method, calls corresponding control function
Realize the driving to wheelchair.
The model STM32F103ZET6 of the microcontroller.
The model DAC8552 of the DA drive control modules.
The model HC-05 of the bluetooth communication.
The model NRF24L01 of the wireless remote control module.
It is had the advantages that compared with existing known technology using technical solution provided by the invention：
（1）The present invention devises the multimode control system based on myoelectricity control and external wireless remote control, may be implemented to take turns
Chair multi-mode, multivariant control；
（2）Surface electromyogram signal extraction module based on neck and shoulder part action in the present invention is acquired simultaneously using wireless myoelectric sensor
The surface electromyogram signal at least six channels is handled, and is met the everyday actions custom of people, is improved the friend of human-computer interaction
The real-time and robustness of good property and control system；
（3）The present invention is communicated using 2.4G wireless modules and bluetooth module, has a stronger transplantability, it is easy to use and at
This is low.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is a kind of structural principle block diagram of the intelligent wheel chair control device based on multi-modal man-machine interface.
Fig. 2 is a kind of intelligent wheel chair man-machine interactive system overall framework based on multi-modal man-machine interface.
Fig. 3 is the work flow diagram of the control method of the present invention.
Specific implementation mode
The invention will be further described with the following Examples.
Shown in referring to Fig.1, a kind of intelligent wheel chair based on multi-modal man-machine interface of the invention, includes master control mould
Block, neck and shoulder part surface electromyogram signal extraction module, wireless remote control module, wheelchair drive module and control instruction display module etc. five
It is most of；Neck and shoulder part surface electromyogram signal extraction module, wireless remote control module, wheelchair drive module and control instruction display module
It is connect respectively with main control module.
Main control module is mainly used for neck and shoulder part surface electromyogram signal extraction module, wireless remote control module and control instruction and shows
The signal processing of module, the final motor drive module for controlling intelligent wheel chair, realizes the operation and control to intelligent wheel chair.The module
Including STM32 microcontrollers, DA drive control modules, HC-05 bluetooth modules and power module, the microcontroller connects clock electricity
Road and reset circuit, and peripheral circuit appropriate is added, it is welded on circuit board, constitutes minimum system plate, the power supply mould
Block glue is welded on microcontroller, and DA drive control modules and HC-05 bluetooth modules are connected with microcontroller respectively by Du Pont's line,
The output end of middle DA drive control modules is connect with wheelchair controller voltage input end, is driven by exporting four road analog voltages
Wheelchair.
Pin DIN, SCLK, SYNC is connected with the SPI port of microcontroller successively respectively in DA drive control modules, passes through list
Piece machine controls DA drive control module output voltages, and in DA drive control modules four output pins of connection controller are
A, B, GND, VCC, wherein VCC are connected to the 5V power ends of circuit board, and the end A, B is respectively connected to X, Y two-way control source of controller
End, constitute with（2.5V,2.5V）For the plane right-angle coordinate of origin, A, B both end voltage output area are 0-5V, pass through A, B
Both ends export different analog voltages to drive wheelchair to be advanced, retreat, turn left, turn right, accelerate, slow down and stop.
Microcontroller minimum control system uses STM32F103ZET6 chips, this chip to have encryption strong, and speed is reliable soon
Property it is strong, cheap power consumption is also small, and anti-interference ability and electrostatic capacity are than other strong advantages.
In order to realize that the wireless transmission of data, selection HC-05 bluetooth modules carry out data transmission, bluetooth receiving module
The ends VCC and the ends GND are respectively connected to 5V power ends and the ends GND of circuit board, keep datum consistent, draw in bluetooth receiving module
Foot RXD, TXD are sequentially connected to the port PB11, PB10 of microcontroller respectively.
The control instruction display module includes LCD liquid crystal displays and LED dot matrix, as long as can Display of Chinese characters or instruction number
Display module, such as：Display of Chinese characters advances, retreats, turns left, turns right, accelerates, slows down and stops on LCD liquid crystal displays,
Indicate that the operating status of current wheelchair is to advance, retreat, turn left, turn right, accelerate, slow down and stop respectively.
With reference to shown in Fig. 2, the neck and shoulder part surface electromyogram signal extraction module, for detecting user's difference neck shoulder
The surface electromyogram signal that portion's action generates, it is filtered to amplify, export corresponding control signal after feature extraction and Classification and Identification,
And then the operation of controling wheelchair.
In the wireless remote control module, peripheral operation person exports corresponding control instruction to list by manipulating remote keying
Piece machine main control module is driven by microcontroller come controling wheelchair motor, and then the operation of controling wheelchair.
With reference to shown in Fig. 3, control method of the present invention is to detect wireless remote control module and neck shoulder by main control module
The signal of portion's surface electromyogram signal extraction module output, then calls corresponding control function to export four road analog voltages to drive
Wheelchair is run；After neck and shoulder part surface electromyogram signal extraction module detects the action of user's neck and shoulder part, master control module controls DA
Drive control module drives wheelchair operation；For example, when user's left-hand rotation head, neck and shoulder part surface electromyogram signal extraction module is to master
It controls module and left rotaring signal is provided, master control module controls wheelchair turns left；When user's right-hand rotation head, neck and shoulder part surface electromyogram signal carries
Modulus block provides right turn signal to main control module, and master control module controls wheelchair is turned right；When user above carries left side shoulder, neck shoulder
Portion's surface electromyogram signal extraction module provides progress signal to main control module, and master control module controls wheelchair moves ahead；When on user
When carrying right side shoulder, neck and shoulder part surface electromyogram signal extraction module provides backing signal, master control module controls wheel to main control module
Chair retreats；When user extends left side shoulder backward, neck and shoulder part surface electromyogram signal extraction module is provided to main control module to be added
Fast signal, master control module controls wheelchair accelerate；When user extends right side shoulder backward, the extraction of neck and shoulder part surface electromyogram signal
Module provides reduce-speed sign to main control module, and master control module controls wheelchair slows down；When user above carries left and right sides shoulder simultaneously
When, neck and shoulder part surface electromyogram signal extraction module provides stop signal to main control module, and master control module controls wheelchair stops；Work as nothing
When line remote control module detects that peripheral operation person has operation behavior, wireless remote control module provides corresponding control letter to main control module
Number, the operation of master control module controls wheelchair.
This method is applied to the man-machine interactive system realized on intelligent wheel chair：Wireless myoelectric sensor, master
Control module, bluetooth communication, wireless remote control module and wheelchair body.Wireless myoelectric sensor adopting for surface electromyogram signal
Collection；Main control module is used for the signal processing of modules as whole system control centre；Bluetooth communication is for signal
Wireless transmission.
The processing of surface electromyogram signal is specifically described below：
SEMG signals are synchronized by the sEMG sensors being placed on human necks, shoulders portion skin surface precalculated position and obtain multichannel
SEMG signal datas are demarcated when each action executes via active segment detection method and correspond to the terminal of signal stream, then pass through
Classification and Identification is carried out after feature extraction.The recognition result of action can be converted into control instruction, the input as human-computer interaction.Cause
This, neck and shoulder part movement recognition algorithm is mainly made of three active segment detection, feature extraction and Classification and Identification key links.
Active segment detection is a ring important in multi-channel surface myoelectric signal mode identification process, and the purpose is to continuous
Signal when being executed corresponding to action, referred to as active segment are extracted in the multichannel electromyography signal data flow of acquisition（Active
Segments）.In view of the calculating efficiency of actual processing effect and the facing mobile apparatus application of algorithm, the present invention is using movement
Averaging method handles the instantaneous energy of sEMG signal sequences, and threshold value comparison is combined to carry out active segment detection.The method of moving average is
A kind of simple smooth Predicting Technique, it is elapsed according to time series signal with certain window width item by item, and it includes certain item to calculate successively
Average value when several sequences, the method to reflect long-term trend.In view of the non-stationary randomness of sEMG signals, numerical value in short-term with
Machine fluctuation is larger, and the method for moving average is conducive to eliminate influence of the short-time fluctuations to signal overall trend, this is also in active segment
The major reason of the method for moving average is selected in detection.According to multichannel sEMG signal acquisition features, passed in view of distributed
Sensor detects that different neck and shoulder part type of action cause the difference of sEMG signal strengths, is slided respectively to each channel sEMG signals
Dynamic average treatment, detailed process are as follows：
（1）Using movable window width W=512 point（The equivalent 256ms under 2kHz sample rates）Signal transient energy sequence is carried out item by item
Rolling average is handled, and obtains the sequence after rolling average, such as formula（1.1）It is shown；
（1.1）
（2）Select appropriate threshold TH to the signal sequence after rolling averageIt is handled to determine the starting of active segment
Point and end point：Starting point is defined as rolling average signal just above threshold value and later at 2 points（Under 2kHz sample rates, 256 step-lengths
Equivalent 256ms）Signal is more than the point of threshold value, and end point is defined as rolling average signal just below threshold value and later at 2 points（
Equivalent 256ms under 2kHz sample rates, 256 step-lengths）Signal is more than the point of threshold value；
（3）According to obtained beginning and end, the active segment that data point length is less than to certain value is cast out as noise.
In previous step, mainly depending on practical application effect in experiment, value size is main for the selection of threshold value TH
It is influenced by Signal-to-Noise.In view of the neck and shoulder part actuating signal amplitude obtained in being tested at us is in different size,
Therefore it selects a TH value to differentiate in each channel, substantially increases action recognition accuracy rate.It is examined by active segment
Measure action starting point and end point, it may be determined that the multichannel sEMG signals corresponding to each neck and shoulder part sample action are lived
Dynamic section, is used for the feature extraction and pattern classification of following link.
Since sEMG signals have very strong non-stationary randomness, the information of muscle activity type can effectively be described often
It is deep to ensconce in acquired signal.For different neck and shoulder part type of action, because in the quantity of muscle activity and recruitment motor unit
Difference, the multichannel sEMG sensors being distributed on neck shoulder can detect each time action signal strength have larger difference.
Therefore multichannel sensor can be selected to obtain the signal amplitude in active segment as neck and shoulder part action sEMG signal modes identification
One of feature.
The standard deviation of signal amplitude（SD）It is characterized in a kind of most direct characterization of signal amplitude and most common one kind
Temporal signatures.Its calculation formula is as follows：
（1.2）
Wherein, numerical value X1, X2, X3 ... XN (being all real number), average value (arithmetic mean of instantaneous value) they are μ, and standard deviation sigma is it
Feature.In shoulder cervical motion identifying system, Classification and Identification is carried out to the temporal signatures of shoulder cervical motion using threshold test.Choosing
Temporal criterion difference is selected to be characterized in, because of its good classifying quality and lower calculation amount, being very beneficial for the real-time place of algorithm
Reason.
The neck and shoulder part surface electromyogram signal extraction module is adopted by being pasted onto the wireless myoelectric sensor of human body surface
The neck and shoulder part muscle activity signal that collection is intended to comprising operator, is then sent to master control mould by collected signal by bluetooth
Original signal is amplified sEMG processing by block, main control module, then utilizes the classification of neck and shoulder part acting surface electromyography signal
Recognition methods carries out active segment detection, feature extraction and Classification and Identification to signal.The standard deviation characteristic of sEMG, setting are extracted first
Threshold value differentiates signal, at this time if detecting that neck and shoulder part motion characteristics value is more than wherein some threshold value, the output phase
The control instruction answered manipulates intelligent wheel chair, otherwise illustrates that current muscle movement is unconscious movement, system is not right
Intelligent wheel chair sends out control instruction, while returning to detection and identification that program proceeds by a new round.When acquisition and pattern
After corresponding intelligent wheel chair control instruction, pass through the corresponding control function of main control module calls, driving intelligent wheel chair operation.
In specific implementation process, for example to control the intelligent wheel chair right side after 5 meters of advancing and turn 90 degrees traveling and 10 meters and then stop
Only, operating method is：（1）User is upper to carry left side shoulder, and neck and shoulder part surface electromyogram signal extraction module acquires multichannel at this time
Surface electromyogram signal is simultaneously sent to main control module by Bluetooth communication, before main control module exports after handling the data of reception
Into instruction, corresponding analog voltage is then exported to motor drive module, before intelligent wheel chair starts by DA drive control modules
Forward travel state is shown into operation and by control instruction display module；
（2）After 5 meters of intelligent wheel chair advance, user's rotary head to the right, neck and shoulder part surface electromyogram signal extraction module acquisition at this time
Multi-channel surface myoelectric signal is simultaneously sent to main control module by Bluetooth communication, after main control module handles the data of reception
Output, which is turned right, to be instructed, and is then passed through DA drive control modules and is exported corresponding analog voltage to motor drive module, intelligent wheel chair
Start to turn right operation and right turn state is shown by control instruction display module；
（3）After the intelligent wheel chair right side is turn 90 degrees, user is upper to carry left side shoulder, at this time neck and shoulder part surface electromyogram signal extraction module
Acquisition multi-channel surface myoelectric signal is simultaneously sent to main control module by Bluetooth communication, main control module to the data of reception at
Advancement commands are exported after reason, and corresponding analog voltage is then exported to motor drive module, intelligence by DA drive control modules
Wheelchair starts to advance operation and shows forward travel state by control instruction display module；
（4）After 10 meters of intelligent wheel chair advance, user above carries left and right sides shoulder simultaneously, at this time neck and shoulder part surface electromyogram signal
Extraction module acquires multi-channel surface myoelectric signal and is sent to main control module, number of the main control module to reception by Bluetooth communication
According to halt instruction is exported after being handled, corresponding analog voltage is then exported by DA drive control modules and drives mould to motor
Block, intelligent wheel chair is out of service and shows halted state by control instruction display module.
In specific implementation process, it can also be exported by external operator manipulation's wireless remote control module and advance, turn right, is preceding
It is run into halt instruction to control intelligent wheel chair, user can stop loosening not the operation of intelligent wheel chair at this time
Breath, can meet the actual use demand to intelligent wheel chair in this way.
Some functions in intelligent wheel chair main control module and wireless remote control module are embodied as known technology, no longer do here in detail
Carefully repeat.
Finally illustrate, preferred embodiment above is merely illustrative of the technical solution of the present invention and unrestricted, all at this
Within the spirit and principle of invention, any modification, equivalent replacement, improvement and so on should be included in the protection model of the present invention
Within enclosing.
Claims (7)
1. a kind of intelligent wheel chair based on multi-modal man-machine interface, it is characterised in that the intelligent wheel chair include main control module,
Neck and shoulder part surface electromyogram signal extraction module, wireless remote control module and control instruction display module；Main control module is connected with neck shoulder
Portion's surface electromyogram signal extraction module, wireless remote control module and control instruction display module；Neck and shoulder part surface electromyogram signal extracts
Module is used to detect the surface electromyogram signal that the action of user's difference neck and shoulder part generates；Wireless remote control module is for detecting external behaviour
The operation behavior of author provides corresponding control instruction for main control module；Control instruction display module, for showing current wheelchair
The instruction of execution.
2. a kind of intelligent wheel chair based on multi-modal man-machine interface according to claim 1, it is characterised in that：The master
The control instruction of control module output, which includes at least, to be had advancement commands, retreats instruction, instruction of turning left, instruction of turning right, assisted instruction, subtracts
Speed instruction and halt instruction.
3. a kind of intelligent wheel chair based on multi-modal man-machine interface according to claim 1, it is characterised in that：The control
Order display module processed includes LCD LCD MODULEs and 16 × 16 LED dot matrix.
4. a kind of intelligent wheel chair based on multi-modal man-machine interface according to claim 1, it is characterised in that：This is intelligently taken turns
There are two types of control mode, wireless remote control control and the controls of neck and shoulder part surface myoelectric for chair.
5. a kind of intelligent wheel chair based on multi-modal man-machine interface according to claim 1, it is characterised in that：The neck
Shoulder surface electromyography signal extraction module can at least extract the surface electromyogram signal in six channels simultaneously.
6. a kind of control method of intelligent wheel chair based on multi-modal man-machine interface according to claim 1, feature exist
It is that the control of wireless remote control module and the output of neck and shoulder part surface electromyogram signal extraction module is detected by main control module in the method
System instruction, then exports four road analog voltages by the DA drive control modules in main control module, and wheelchair itself is furnished with motor control
Device processed, four road analog voltages by electric machine controller control direct current generator come drive intelligent wheel chair advance, retreat, turn left, turn right,
Accelerate, slow down and stops；After wireless remote control module detects the operation behavior of peripheral operation person, wireless remote control module is to master control
Module provides corresponding control signal, the operation of master control module controls wheelchair；When neck and shoulder part surface electromyogram signal extraction module detects
To after the surface electromyogram signal of user's neck and shoulder part corresponding position, run by master control module controls wheelchair.
7. a kind of control method of intelligent wheel chair based on multi-modal man-machine interface according to claim 6, feature exist
In：The neck and shoulder part surface electromyogram signal extraction module is used to detect the action of neck and shoulder part corresponding position；When neck and shoulder part has
When work occurs, the multi-channel surface myoelectric signal of neck and shoulder part action is acquired in real time by wireless myoelectric sensor, it will be collected
Data are sent to main control module, and main control module being carried out to the multi-channel surface myoelectric signal that receives while using the method for moving average
Signal temporal signatures are extracted in processing, carry out Classification and Identification to feature using threshold value diagnostic method, corresponding control function is called to realize
Driving to wheelchair.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109512424A (en) * | 2018-11-16 | 2019-03-26 | 福州大学 | A kind of muscle activation origin detection method of high density or multichannel electromyography signal |
| CN111538344A (en) * | 2020-05-14 | 2020-08-14 | 重庆科技学院 | Intelligent wheelchair based on face key point motion following and control method thereof |
| CN111714123A (en) * | 2020-07-22 | 2020-09-29 | 华南理工大学 | System and method for detecting human body waist and back surface electromyographic signals |
| WO2021024138A1 (en) * | 2019-08-02 | 2021-02-11 | King Abdullah University Of Science And Technology | Controlling devices using facial movements |
| CN115399950A (en) * | 2022-08-30 | 2022-11-29 | 中国科学院沈阳自动化研究所 | Intelligent wheelchair with positioning navigation and multi-mode man-machine interaction functions and control method |
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