CN114722968A - Method for identifying limb movement intention and electronic equipment - Google Patents
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Abstract
The application relates to the technical field of human-computer interfaces, and provides a method for identifying limb movement intentions, which comprises the following steps: obtain a plurality of light intensity signals of different positions on the target site of organism through light collection module, wherein, light collection module includes: the device comprises M light sources and N detectors, wherein the M light sources are used for irradiating the target part, the N detectors are used for receiving light intensity signals emitted from different positions on the target part, M is a positive integer, and N is a positive integer larger than 1; and identifying the limb movement intention according to the plurality of light intensity signals. The method can improve the accuracy of identifying the limb movement intention.
Description
Technical Field
The present application relates to the field of human-computer interface technologies, and in particular, to a method for identifying a limb movement intention and an electronic device.
Background
With the rapid development of human-computer interface technology, people realize the direct control of human body to external devices (such as artificial limbs, wheelchairs and the like) by decoding human body neural information. For example, a common human-computer interface technology for decoding human neural information includes a brain-computer interface technology and a muscle-computer interface technology, where the muscle-computer interface technology is a method for decoding a movement intention of a human limb through an Electromyography (EMG) signal and a muscle deformation signal, and further controlling an action of an external device. At present, due to the mode of singly using a near-infrared spectrometer for identifying the movement intention, a conductive coupling material does not need to be coated on the surface of a biological tissue, and the stability of the biological tissue in long-term use is high, so technicians usually adopt a single near-infrared spectrometer to detect the change condition of local muscles or a single muscle in the contraction deformation process, and assist myoelectric signals to identify the movement intention of limbs according to the detection result of the local muscles, thereby realizing the control of a human body on external equipment. However, since the change of the external form of the muscle of the human body is comprehensively influenced by the change of a plurality of muscles, the limb movement intention can be recognized by only using a single near-infrared spectrometer, and obviously, the accuracy rate of recognizing the limb movement intention cannot be achieved.
Therefore, how to improve the accuracy rate of identifying the limb movement intention is an urgent problem to be solved at present.
Disclosure of Invention
The application provides a method for identifying limb movement intention and electronic equipment, which can improve the accuracy of identifying the limb movement intention.
In a first aspect, there is provided a method of identifying an intention to move a limb, the method comprising: obtain a plurality of light intensity signals of different positions on the target site of organism through light collection module, wherein, light collection module includes: the device comprises M light sources and N detectors, wherein the M light sources are used for irradiating the target part, the N detectors are used for receiving light intensity signals emitted from different positions on the target part, M is a positive integer, and N is a positive integer larger than 1; and identifying the limb movement intention according to the plurality of light intensity signals.
The above method may be performed by an electronic device or a chip in an electronic device. Compared with the method that only a single near-infrared spectrometer (namely a single light source and a single detector) is adopted to detect the muscle deformation condition of a single position of a target part, the method collects a plurality of light intensity signals (namely the deformation condition of a plurality of muscles at a plurality of positions (namely a plurality of blocks) on the target part) at different positions on the target part through a plurality of detectors distributed at high density in the light collection module, identifies the limb movement intention according to the plurality of light intensity signals, and can improve the accuracy of identifying the limb movement intention.
Optionally, the obtaining, by the light collection module, a plurality of light intensity signals at different positions on the target portion includes: turning on the first light source; acquiring a light intensity signal emitted by the first light source on the target part through the light acquisition module; turning off the first light source; turning on the second light source; and acquiring a light intensity signal emitted by the second light source on the target part through the light acquisition module.
In this embodiment, when acquiring a plurality of light intensity signals at different positions on the target portion, the light acquisition module turns on only one light source (for example, the first light source) at a time and turns off other light sources (for example, the second light source), so that the plurality of detectors around the light source only acquire a plurality of light intensity signals emitted from the target portion by the light source at a time, and so on until the plurality of light intensity signals emitted from the target portion by the last light source are acquired. All light sources are not turned on simultaneously, and the reason is that the simultaneous turning on of all the light sources can cause light intensity signals emitted by different light sources to simultaneously irradiate the same detector to form crosstalk among the light intensity signals, so that the accuracy of a plurality of light intensity signals for reflecting muscle deformation conditions of different positions of a target part is influenced, and the accuracy of electronic equipment for identifying limb movement intentions according to the plurality of light intensity signals is also influenced.
Optionally, the acquiring, by the light collection module, a light intensity signal emitted by the first light source on the target portion includes: and acquiring a light intensity signal emitted by the first light source on the target part through K groups of detectors in the N detectors, wherein K is an integer greater than 1.
In this embodiment, compare at every turn and use the light intensity signal that a single detector acquireed the emergence of a degree of depth of single position on the target site, this application uses K group's detector can once only acquire the light intensity signal that first light source different depth of position was emergent on the target site, and need not to acquire the light intensity signal of different positions on the target site many times to electronic equipment has been improved and has utilized light collection module to acquire the efficiency of a plurality of light intensity signals.
Optionally, a plurality of detectors in any of the K sets of detectors are equidistant from the first light source.
In this embodiment, since the different distances between the detector and the first light source may cause the different depths detected by the detector, if it is desired to detect the muscle deformation conditions at different positions and at the same depth of the target portion, the distances between the plurality of detectors in any one group of detectors need to be equal to the distances between the plurality of detectors and the first light source, so that the electronic device can recognize the intention of the limb movement according to the plurality of light intensity signals reflecting the muscle deformation conditions at different positions and at the same depth of the target portion.
Optionally, a plurality of detectors in any one of the K sets of detectors are distributed at equal intervals.
In this embodiment, equidistant distribution between a plurality of detectors in arbitrary a set of detector, aim at light collection module can gather the deformation condition of reaction target portion different positions muscle evenly to avoid detector inhomogeneous distribution and lead to omitting the condition emergence of gathering the light intensity signal of reaction key position muscle deformation condition.
Optionally, the distance between any two of the K sets of detectors and the first light source is different.
In this embodiment, because the different depths that can lead to the detector to survey of detector and first light source's distance are different, consequently, the different detector of group and the distance of first light source are different in the K detector of group, can gather the light intensity signal that reacts the different positions of target site and the different degree of depth muscle deformation circumstances to improve the accuracy that electronic equipment discerned limb movement intention according to the deformation circumstances of different positions and different degree of depth muscle.
Optionally, the M light sources are M multi-wavelength LED light sources.
In this embodiment, since different tissue components have different absorption results for different wavelengths, the multi-wavelength LED light source can alternatively emit light intensity signals with different wavelengths, so as to prevent that when a single wavelength is used, the light intensity signals obtained by the detector cannot truly reflect the muscle deformation of different positions of the target region due to the same absorption results for the different tissue components for the wavelength.
Optionally, the identifying the intention of limb movement according to the plurality of light intensity signals comprises: filtering and feature extracting are carried out on the plurality of light intensity signals to obtain a feature extraction result; and inputting the feature extraction result into a classifier to obtain the limb movement intention.
In a second aspect, an electronic device is provided, which includes a processor and a memory, the memory is used for storing a computer program, and the processor is used for calling and running the computer program from the memory, so that the electronic device executes the method of any one of the first aspect.
In a third aspect, a computer-readable storage medium is provided, which stores a computer program that, when executed by a processor, causes the processor to perform the method of any of the first aspects.
Advantageous effects in the second and third aspects of the present application refer to advantageous effects of the first aspect.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a schematic flow chart illustrating a method for identifying an intention of limb movement according to an embodiment of the present application;
FIG. 2 is a schematic diagram illustrating a propagation path of a light intensity signal in a biological tissue according to an embodiment of the present application;
FIG. 3 is a schematic structural diagram of a light collection module according to an embodiment of the present application;
FIG. 4 is a schematic structural diagram of another light collection module in an embodiment of the present application;
FIG. 5 is a schematic structural diagram of another light collection module according to an embodiment of the present application;
FIG. 6 is a schematic diagram of a circuit configuration of an electronic device for collecting and processing a plurality of light intensity signals according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of an electronic device in an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.
Because the deformation generated by muscle contraction comprises the movement intention of the human body limb, the movement intention of the human body limb can be judged by detecting the deformation condition of the human body muscle. The existing near-infrared spectrometer can only detect the change condition of local muscles or a single muscle of a human body in the contraction deformation process, but cannot detect the muscle deformation conditions of a plurality of positions on the muscle deformation part. The change of the external form of the muscle of the human body is comprehensively influenced by the change of a plurality of muscles, so that the deformation conditions of the plurality of muscles cannot be comprehensively reflected only by the detection result of the near-infrared spectrometer on the local muscle, and the accuracy of the classifier for identifying the limb movement intention according to the muscle deformation conditions is further influenced. Therefore, how to improve the accuracy rate of identifying the limb movement intention is an urgent problem to be solved at present.
The present application will now be described in further detail with reference to the accompanying drawings and specific examples.
Fig. 1 is a flowchart illustrating a method for identifying an intention to move a limb in an embodiment of the present application, where the method for identifying an intention to move a limb provided in an embodiment of the present application may be executed by an electronic device or a chip in the electronic device, and the method includes:
s101, acquiring a plurality of light intensity signals of different positions on a target part of a living body through a light acquisition module, wherein the light acquisition module comprises: the device comprises M light sources and N detectors, wherein the M light sources are used for irradiating a target part, the N detectors are used for receiving light intensity signals emitted from different positions on the target part, M is a positive integer, and N is a positive integer larger than 1.
For example, the target portion of the living body may be an arm, a hand, a face, a back, a chest, a leg, etc., which is not limited in this application, and the user may select a portion where muscle deformation needs to be collected according to a specific application scenario. The plurality of light intensity signals are light intensity signals emitted from different positions of the target part and detected by the detector from different positions of the target part. As shown in fig. 2, after the light intensity signal emitted from the light source is incident on the biological tissue surface (e.g., the skin surface of the target portion) along the light incident direction, the light intensity signal is scattered multiple times and exits from the biological tissue surface along the light exiting direction through the irregular arc-shaped optical path. Since the distance S between the light source and the detector determines the depth D of the detector inside the biological tissue (not shown in fig. 2), the detector is controlled to detect muscle deformation at different depths D in the biological tissue by adjusting the distance S between the light source and the detector, i.e. the depth D is related to the distance S between the light source and the detector. The larger the S is, the deeper the light intensity signal emitted by the light source is diffused into the muscle, and the deeper muscle deformation information can be acquired by the detector, namely the larger the D is. For example, in fig. 2, the detector is placed at a distance S from the light source, and at this time, the detector can detect the light intensity signal scattered from the depth D of the biological tissue, that is, the detector can detect the muscle deformation condition with the depth D in the biological tissue. Typically, the depth D is approximately half the distance S.
The electronic equipment acquires a plurality of light intensity signals emitted from different positions on a target part through a light acquisition module; the light collection module includes: the device comprises M light sources and N detectors, wherein the M light sources and the N detectors form a plurality of collecting channels distributed at high density, and the collecting channels are used for collecting the light intensity signals. For example, when the target portion generates muscle deformation, the plurality of collecting channels of the optical collecting module can collect the light intensity signals of a plurality of positions on the target portion at one time, so that the collecting efficiency of the plurality of light intensity signals is improved. For example, M is 1, N is 2, the light source is placed at a position a of the target site, the detector 1 is placed at a position B near the light source, the detector 2 is placed at a position C near the light source, the light source and the detector 1 form an acquisition channel 1, the light source and the detector 2 form an acquisition channel 2, when the light source sends out a light intensity signal at the target site, the light intensity signal enters the tissue inside the target site for transmission, and the light intensity signal emitted from the tissue inside the target site can be received at B and C of the target site through the acquisition channel 1 (i.e., the detector 1) and the acquisition channel 2 (i.e., the detector 2). These light intensity signals emitted from the tissue within the target site can accurately reflect the deformation of multiple muscles at the target site.
It should be noted that the reason why the plurality of detectors at different positions around the light source a can obtain the light intensity signal emitted from the target portion by the light source a is that the plurality of detectors at different positions around the light source a and the light source a form a plurality of collecting channels, wherein each of the plurality of detectors and the light source a form a collecting channel, the light source a is any one of the M light sources, and the plurality of detectors at different positions around the light source a are the plurality of detectors of the N detectors.
Illustratively, the M light sources include a first light source and a second light source, and the acquiring of the plurality of light intensity signals at different positions on the target site by the light collection module includes: turning on a first light source; acquiring a light intensity signal emitted by a first light source on a target part through a light acquisition module; turning off the first light source; turning on a second light source; and acquiring a light intensity signal emitted by the second light source on the target part through the light acquisition module. When the target part deforms, the turned-on light source irradiates the target part, and the turned-on detector obtains light intensity signals emitted from different positions of the target part in the same time period. When the light collection module obtains a plurality of light intensity signals, only one light source and a plurality of detectors around the light source are turned on each time, so that the phenomenon that the light intensity signals are interfered when the light sources are turned on at different positions of a target part at the same time can be avoided. For example, when the light collection module obtains a plurality of light intensity signals, the first light source and the plurality of detectors around the first light source are turned on, and other light sources (e.g., the second light source, the third light source, etc.) are all in an off state. At this time, each detector of the plurality of detectors around the first light source and the first light source form a plurality of first acquisition channels; the plurality of first acquisition channels are used for acquiring a plurality of light intensity signals emitted by the first light source from different positions of the target part. When a plurality of light intensity signals emitted from different positions of a target part when the first light source is turned on are collected, the first light source is turned off, and the second light source and a plurality of detectors around the second light source are turned on, namely, other light sources except the second light source are all in a turned-off state; at this time, each detector in the plurality of detectors around the second light source and the second light source form a plurality of second acquisition channels; the plurality of second acquisition channels are used for acquiring a plurality of light intensity signals emitted by the second light source from different positions of the target part. The manner of obtaining the plurality of light intensity signals emitted from different positions of the target portion when the other light sources are turned on is similar to the manner of obtaining the plurality of light intensity signals emitted from different positions of the target portion when the first light source or the second light source is turned on, and details are not repeated herein. When the light acquisition module acquires a plurality of light intensity signals emitted from different positions of the target part when all the light sources are turned on, the light acquisition module acquires the plurality of light intensity signals from different positions of the target part and then finishes calculation.
Therefore, in this embodiment, when acquiring a plurality of light intensity signals at different positions on the target portion, the light acquisition module turns on only one light source (for example, the first light source) at a time and turns off other light sources (for example, the second light source), so that a plurality of detectors around the light source only acquire a plurality of light intensity signals emitted from the target portion by the light source at a time, and so on until the plurality of light intensity signals emitted from the target portion by the last light source are acquired. Therefore, all the light sources are not turned on simultaneously, and the reason is that the simultaneous turning on of all the light sources can cause light intensity signals emitted by different light sources to simultaneously irradiate the same detector to form crosstalk among the light intensity signals, so that the accuracy of a plurality of light intensity signals for reflecting the muscle deformation conditions of different positions of a target part is influenced, and the accuracy of the electronic equipment for identifying the limb movement intention according to the plurality of light intensity signals is also influenced.
Illustratively, the acquiring, by the light collection module, a light intensity signal emitted by the first light source at the target site includes: and acquiring a light intensity signal emitted by the first light source on the target part through K groups of detectors in the N detectors, wherein K is an integer larger than 1. The light collection module divides the N detectors into a plurality of groups of detectors according to the distance between each detector and the light source, wherein light intensity signals of the first light source emitted from different positions of the target part can be collected by K groups of detectors, and the first light source is any one of the M light sources.
For example, fig. 3 shows a structure of a light collection module, where the light collection module is composed of 8 light sources and 7 detectors, where S1 to S8 sequentially represent 8 light sources, D1 to D7 sequentially represent 7 detectors, CH1 to CH22 represent 22 collection channels where 8 light sources and 7 detectors form a high density distribution, for example, S1 and D1 form collection channels CH1, S4 and D1 form collection channels CH6, S8 and D7 form collection channels CH22, and the like, and a black horizontal line between the light sources and the detectors in fig. 3 represents the collection channels formed between the light sources and the detectors. For the light source S1, the detectors D1 and D3 may be a first group, because the distances between D1 and D3 and the light source S1 are the same, the acquisition channels CH1 formed by D1 and S1 and the acquisition channels CH5 formed by D3 and S1 may detect the muscle deformation condition at the same depth in the target region, and similarly, D4 and D6 may be a second group, and D7 may be a third group alone; because the first, second and third sets are at different distances from the light source, the simultaneous turning on of the first, second and third sets of detectors can detect muscle deformation at different depths in the target site when the light source S1 is turned on. It is also possible to turn on the light source S1 simultaneously with the first and second sets of detectors to detect muscle deformation at different depths in the target site.
For another example, for the light source S4, the detectors D1, D3, D4 and D6 may be a first group, because the distances between D1, D3, D4 and D6 and the light source S4 are the same, and the acquisition channels CH6 formed by D1 and S4, the acquisition channels CH10 formed by D3 and S4, the acquisition channels CH15 formed by D6 and S4, the acquisition channels CH11 formed by D4 and S4 may detect muscle deformation conditions at the same depth in the target region, and similarly, D2 and D7 may be a second group, and D5 may be a third group separately; because the first, second and third sets are at different distances from the light source, the simultaneous turning on of the first, second and third sets of detectors can detect muscle deformation at different depths in the target site when the light source S4 is turned on. It is also possible to turn on the light source S4 simultaneously with the first and second sets of detectors to detect muscle deformation at different depths in the target site.
For another example, for the light source S4, the detectors D1 and D3 may be divided into a first group, and the detectors D4 and D6 may be divided into a second group, because the distances between D1, D3, D4 and D6 and the light source S4 are the same, and the acquisition channels CH6 formed by D1 and S4, the acquisition channels CH10 formed by D3 and S4, the acquisition channels CH15 formed by D6 and S4, and the acquisition channels CH11 formed by D4 and S4 may detect muscle deformation conditions at the same depth in the target region; since the first and second sets are respectively at the same distance from the light source, when the light source S4 is turned on, the simultaneous turning on of the first and second sets of detectors can detect the muscular deformation at the same depth at different positions of the target portion. Therefore, for which groups of detectors around each light source need to be turned on when each light source is turned on and how to group the detectors around each light source, a user can design the detectors according to an application scenario, and the application does not limit the detectors in any way.
Therefore, in the embodiment, compared with the light intensity signal emitted by a single detector at each time, the light intensity signal emitted by a single position at a different depth on the target part can be obtained by the K groups of detectors, the light intensity signal emitted by the first light source at the different positions at the target part at different depths can be obtained at one time, the light intensity signals at different positions on the target part are not required to be obtained for multiple times, and therefore the efficiency of the electronic equipment for obtaining a plurality of light intensity signals by using the light acquisition module is improved.
Illustratively, a plurality of detectors in any of the K sets of detectors are equidistant from the first light source. The light collection module divides the N detectors into a plurality of groups of detectors according to the distance between each detector and the light source, wherein the distances between a plurality of detectors in each group of detectors and the first light source are equal.
For example, as shown in fig. 4, the light collection module includes a light source and 8 detectors, wherein the detectors D1, D2, D3 and D4 are distributed on a circle with a radius R and the light source S1 is used as a center, and the detectors D11, D22, D33 and D44 are distributed on a circle with a radius R and the light source S1 is used as a center. For the light source S1, since the detectors D1, D2, D3 and D4 are at the same distance from the light source S1, that is, 4 acquisition channels (not shown in fig. 4) formed by the detectors D1, D2, D3 and D4 and the light source S1 can detect the muscle deformation at the same depth in the target region, D1, D2, D3 and D4 can be a first group, and similarly, D11, D22, D33 and D44 can be a second group; the distance between each detector in the first group and the light source is the same, and the distance between each detector in the second group and the light source is the same. Therefore, when the light source S1 is turned on, the muscle deformation conditions of the target part at different positions and the same depth can be detected by simultaneously turning on the first group of detectors; similarly, when the light source S1 is turned on, the muscle deformation conditions at different positions and the same depth of the target part can be detected by simultaneously turning on the second group of detectors.
Therefore, in this embodiment, because the different distances between the detector and the first light source may cause different depths detected by the detector, if it is desired to detect muscle deformation conditions at different positions and at the same depth of the target portion, the distances between the plurality of detectors in any one group of detectors need to be equal to the distance between the plurality of detectors and the first light source, so that the electronic device can recognize the intention of the limb movement according to the plurality of light intensity signals reflecting the muscle deformation conditions at different positions and at the same depth of the target portion.
Illustratively, a plurality of detectors in any one of the K sets of detectors are equally spaced, that is, different detectors in the same set of detectors are not only at the same distance from the light source, but also at the same distance from each other. As shown in fig. 4, the arc lengths of the detectors D1, D2, D3 and D4 are distributed on a circle with the light source S1 as the center and the radius r; the arc lengths of D11, D22, D33 and D44 are distributed on a circle with the radius R and the center of the circle of the light source S1. For example, for the light source S1, the light intensity signals of the target portion at the same depth and different positions can be uniformly obtained by the D1, the D2, the D3 and the D4, so as to avoid the occurrence of the situation that the light intensity signals reflecting the muscle deformation condition at the key position are not collected due to non-uniform distribution of the detector.
Illustratively, any two of the K sets of detectors are at different distances from the first light source. Since the muscles are distributed in multiple layers, for example, the target region has a complex muscle structure, a muscle layer is on the superficial layer and another muscle layer is on the deeper layer, and thus, it is necessary to detect the muscle deformation information in layers. At this time, the electronic device may add a detector having a different distance from each light source to the light collection module shown in fig. 3, as shown in fig. 5, to detect muscle deformation information of different depths, respectively, so as to further improve the recognition of the limb movement intention.
For example, as shown in fig. 5, on the basis of the light collection module shown in fig. 3, a detector is added between each detector and the light source, so that a new collection channel can be formed, and the light collection module can collect a plurality of light intensity signals at different positions of more target portions (i.e. information about deformation of more muscles at the target portions). The light collection module shown in fig. 5 is composed of 8 light sources M and 29 detectors N, where S1 to S8 sequentially represent 8 light sources, D1 to D29 sequentially represent 7 detectors, CH1 represents a collection channel formed by the light source S1 and the detector D1, and CH1’Representing the acquisition channel formed by the source S1 and the detector D8, CH5 representing the acquisition channel formed by the source S1 and the detector D3, CH5’The acquisition channel formed by the light source S1 and the detector D12 is shown, the black horizontal line between the light source and the detector in fig. 5 shows the acquisition channel formed between the light source and the detector, and the channel numbers between the light source and the detector except for S1 are not shown in fig. 5.
For the light source S1, the detectors D8 and D12 may be the first group because D8 and D12 are at the same distance from the light source S1, respectively, and the acquisition channels CH1 formed by D8 and S12 with the light source S1, respectively‘And CH2’Muscle deformation at the same depth in the target site can be detected, and similarly, D1 and D3 can be in the second group, D17 and D13 can be in the third group, D14, D18, D22 and D26 can be in the fourth group, D19, D23 and D27 can be in the fifth group, and D24 and D28 can be in the sixth group; since the first to sixth groups are located farther and farther away from the light source and the detector is located too far away from the light source, the light intensity signal may not be detected, so that the user can selectively turn on at least one of the first to sixth groups when turning on the light source S1 according to different application scenarios (e.g., different target portions), and thus can obtain the muscle deformation of different positions of the target portion at the same depth (e.g., only turning on one group of detectors) or different depths (e.g., turning on at least two groups of detectors).
For another example, as shown in fig. 5, for the light source S5, the detectors D19, D15, D24 and D20 may be a first group, since the distances between D19, D15, D24 and D20 and the light source S4 are the same, and the 4 acquisition channels formed by D19, D15, D24 and D20 and the S4 can detect the muscle deformation at the same depth in the target region, and similarly, the detectors D2, D4, D7 and D5 may be a second group; since the first and second sets are each at a different distance from the light source, simultaneous activation of the first and second sets of detectors can detect muscle changes at different depths in the target site when the light source is activated S4.
Therefore, in the embodiment, the different distances between the detector and the first light source lead to different depths detected by the detector, so that the different groups of detectors in the K groups of detectors have different distances from the first light source, and light intensity signals reflecting different positions of the target part and different depths of muscle deformation can be collected, so that the accuracy of recognizing the limb movement intention of the electronic equipment according to the different positions and different depths of muscle deformation can be improved.
Illustratively, the M light sources are M multi-wavelength LED light sources. Because different tissue compositions are different to the absorption result of different wavelengths, in order to prevent using that the absorption result of different tissue compositions of a wavelength to this wavelength is the same and leads to the light intensity signal that the detector detected can't really reflect the muscle deformation condition of different positions of target portion, this application uses multi-wavelength LED light source, and electronic equipment controls the light source of light collection module and alternately launches the light intensity signal of different wavelengths according to presetting time interval, and the detector of light collection module can gather a plurality of light intensity signals of different wavelengths of different positions of target portion under different wavelength irradiation like this.
For example, all the multi-wavelength LED light sources of the light collection module can emit light intensity signals of two wavelengths, and when the target portion generates muscle deformation, all the LED light sources of the light collection module irradiate the target portion with the light intensity signal of wavelength 1; after all the detectors collect the light intensity signals with the wavelength 1 emitted from different positions of the target part, all the LED light sources irradiate the target part by using the light intensity signals with the wavelength 2, and all the detectors continue to collect the light intensity signals with the wavelength 2 emitted from different positions of the target part. The optical acquisition module can acquire a plurality of light intensity signals with different wavelengths at different positions of the target part under the irradiation of different wavelengths, and the electronic equipment can identify the limb movement intention according to the plurality of light intensity signals with different wavelengths, so that the accuracy of identifying the limb movement intention can be improved.
Therefore, in this embodiment, because the absorption results of different tissue components to different wavelengths are different, the multi-wavelength LED light source can alternately emit light intensity signals with different wavelengths, so as to prevent that the multiple light intensity signals obtained by the detector cannot truly reflect the muscle deformation conditions of different positions of the target region due to the same absorption results of different tissue components to the wavelengths when a single wavelength is used.
Illustratively, identifying the limb movement intention from the plurality of light intensity signals includes: filtering and feature extracting are carried out on the light intensity signals to obtain a feature extraction result; and inputting the feature extraction result into a classifier to obtain the limb movement intention.
For example, as shown in fig. 6, LEDs 1 to LEDn represent light source 1 to light source n, and PD1 to PDm represent detector 1 to detector m, where n is a positive integer and m is a positive integer greater than 1; to prevent crosstalk from occurring between multiple light intensity signals at different locations of the target site due to simultaneous turning on of all the light sources (i.e., LEDs 1-LEDn) and all the detectors (i.e., PD 1-PDm), the electronic device employs a microprocessor to control turning on and off of each light source and each detector in the light collection module, for example, turning on one light source and corresponding detectors around the light source at a time to obtain multiple light intensity signals at different locations of the target site. The starting time of all light sources and all detectors in the light collection module, the detection range of the detectors and the like can be set according to application scenes, and the application does not limit the time. Before the electronic equipment filters and extracts the characteristics of the plurality of light intensity signals to obtain a characteristic extraction result, the electronic equipment performs analog-to-digital conversion, signal amplification and other processing on the plurality of light intensity signals acquired by the light acquisition module to obtain a plurality of amplified light intensity digital signals; after obtaining the plurality of light intensity digital signals, the electronic device performs the feature extraction process on the plurality of light intensity digital signals as follows:
firstly, the electronic equipment carries out filtering processing on a plurality of collected light intensity digital signals so as to filter motion artifact interference. Secondly, the electronic equipment adopts a moving window method to extract the characteristics of the plurality of filtered light intensity digital signals, and extracts at least one of the time domain characteristics and the frequency domain characteristics of the plurality of light intensity digital signals respectively. Specific data analysis windows may or may not overlap. And combining the time domain and frequency domain characteristics of the light intensity digital signals corresponding to each acquisition channel to form the characteristic vector of the acquisition channel, wherein the characteristic vectors of all the acquisition channels are combined into a light intensity digital signal characteristic matrix. Time and frequency domain features that may be employed include, but are not limited to: amplitude (maximum, mean, variance), rise time, time course, mean frequency, median frequency, and time-frequency characteristics (wavelet coefficients, wigner distribution, entropy, etc.), etc. Then, the electronic device trains a classifier using the signal characteristic data, for example, Linear Discriminant Analysis (LDA) is used to perform recognition control of the spatial posture and the motion pattern of the biomimetic prosthesis. Finally, extracting the characteristics of a plurality of light intensity signals acquired in real time, and inputting a light intensity digital signal characteristic matrix formed after the characteristics are extracted into a trained classifier; the electronic equipment generates a control instruction for controlling the limb movement according to the result of the classifier for identifying the limb movement intention and sends the control instruction to the external equipment; and the external equipment drives the limb to move after receiving the control command.
In summary, compared with the method that only a single near-infrared spectrometer (i.e. a single light source and a single detector) is used for detecting the muscle deformation condition of a single position of the target part, the method collects multiple light intensity signals (i.e. the deformation condition of multiple muscles at multiple positions (i.e. multiple blocks) on the target part) at different positions on the target part through multiple detectors distributed at high density in the light collection module, and identifies the limb movement intention according to the multiple light intensity signals, so that the limb movement intention identification can be improved.
Fig. 7 shows a schematic structural diagram of an electronic device provided in the present application. The dashed lines in fig. 7 indicate that the unit or the module is optional. The electronic device 700 may be used to implement the methods described in the method embodiments above. The electronic device 700 may be a server or a chip.
The electronic device 700 includes one or more processors 701, and the one or more processors 701 may support the electronic device 700 to implement the method in the method embodiment corresponding to fig. 1. The processor 701 may be a general-purpose processor or a special-purpose processor. For example, processor 701 may be a Central Processing Unit (CPU). The CPU may be configured to control the electronic device 700, execute software programs, and process data of the software programs. The electronic device 700 may further include a communication unit 705 to enable input (reception) and output (transmission) of signals.
For example, the electronic device 700 may be a chip and the communication unit 705 may be an input and/or output circuit of the chip, or the communication unit 705 may be a communication interface of the chip, which may be an integral part of the electronic device.
Also for example, the communication unit 705 may be a transceiver of the electronic device 700, or the communication unit 705 may be a transceiver circuit of the electronic device 700.
The electronic device 700 may comprise one or more memories 702, on which programs 704 are stored, and the programs 704 may be executed by the processor 701, and generate instructions 703, so that the processor 701 may execute the method described in the above method embodiment according to the instructions 703. Optionally, data may also be stored in the memory 702. Alternatively, the processor 701 may also read data stored in the memory 702, the data may be stored at the same memory address as the program 704, and the data may be stored at a different memory address from the program 704.
The processor 701 and the memory 702 may be provided separately or integrated together, for example, On a System On Chip (SOC) of the electronic device.
The specific manner in which the processor 701 executes the method of identifying the limb movement intention may be as described in relation to the method embodiments.
It should be understood that the steps of the above-described method embodiments may be performed by logic circuits in the form of hardware or instructions in the form of software in the processor 701. The Processor 701 may be a CPU, a Digital Signal Processor (DSP), a Field Programmable Gate Array (FPGA), or other Programmable logic device, such as discrete gates, transistor logic, or discrete hardware components.
The application also provides a computer program product which, when executed by the processor 701, implements the method according to any of the method embodiments of the application.
The computer program product may be stored in the memory 702, for example, as the program 704, and the program 704 is finally converted into an executable object file capable of being executed by the processor 701 through preprocessing, compiling, assembling, linking and the like.
The present application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a computer, implements the method of any of the method embodiments of the present application. The computer program may be a high-level language program or an executable object program.
Such as memory 702. Memory 702 may be either volatile memory or nonvolatile memory, or memory 702 may include both volatile and nonvolatile memory. The non-volatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable PROM (EEPROM), or a flash Memory. Volatile Memory can be Random Access Memory (RAM), which acts as external cache Memory. By way of example, but not limitation, many forms of RAM are available, such as Static random access memory (Static RAM, SRAM), Dynamic Random Access Memory (DRAM), Synchronous dynamic random access memory (Synchronous DRAM, SDRAM), Double Data Rate Synchronous dynamic random access memory (DDR SDRAM), Enhanced Synchronous SDRAM (ESDRAM), Synchlink DRAM (SLDRAM), and Direct Rambus RAM (DRRAM).
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes and the generated technical effects of the above-described apparatuses and devices may refer to the corresponding processes and technical effects in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, the disclosed system, apparatus and method may be implemented in other ways. For example, some features of the method embodiments described above may be omitted, or not performed. The above-described device embodiments are merely illustrative, and the division of the unit is only one type of logical function division, and there may be another division manner in actual implementation, and a plurality of units or components may be combined or may be integrated into another system. In addition, the coupling between the units or the coupling between the components may be direct coupling or indirect coupling, and the coupling includes electrical, mechanical, or other forms of connection.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same. Although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: it is to be understood that modifications may be made to the above-described embodiments, or equivalents may be substituted for some of the features of the embodiments, and such modifications or substitutions are not to be construed as essential to the spirit and scope of the embodiments of the present invention.
Claims (10)
1. A method of identifying an intent-to-move-limb, the method comprising:
obtain a plurality of light intensity signals of different positions on the target site of organism through light collection module, wherein, light collection module includes: the device comprises M light sources and N detectors, wherein the M light sources are used for irradiating the target part, the N detectors are used for receiving light intensity signals emitted from different positions on the target part, M is a positive integer, and N is a positive integer larger than 1;
and identifying the limb movement intention according to the plurality of light intensity signals.
2. The method of claim 1, wherein the M light sources comprise a first light source and a second light source, and the obtaining a plurality of light intensity signals at different positions on the target site through the light collection module comprises:
turning on the first light source;
acquiring a light intensity signal emitted by the first light source on the target part through the light acquisition module;
turning off the first light source;
turning on the second light source;
and acquiring a light intensity signal emitted by the second light source on the target part through the light acquisition module.
3. The method of claim 2, wherein said obtaining, by said light collection module, a light intensity signal of said first light source emitted at said target site comprises:
and acquiring a light intensity signal emitted by the first light source on the target part through K groups of detectors in the N detectors, wherein K is an integer greater than 1.
4. The method of claim 3, wherein a plurality of detectors in any of the K sets of detectors are equidistant from the first light source.
5. The method of claim 4, wherein a plurality of detectors in any of the K sets of detectors are equally spaced.
6. The method of claim 4 or 5, wherein any two of the K sets of detectors are at different distances from the first light source.
7. The method of any one of claims 1 to 5, wherein the M light sources are M multi-wavelength LED light sources.
8. The method according to any one of claims 1 to 5, wherein said identifying the limb movement intent from the plurality of light intensity signals comprises:
filtering and feature extracting are carried out on the plurality of light intensity signals to obtain a feature extraction result;
and inputting the feature extraction result into a classifier to obtain the limb movement intention.
9. An electronic device, comprising a processor and a memory, the memory storing a computer program, the processor being configured to invoke and run the computer program from the memory, such that the electronic device performs the method of any of claims 1 to 8.
10. A computer-readable storage medium, in which a computer program is stored which, when executed by a processor, causes the processor to carry out the method of any one of claims 1 to 8.
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