CN115381469A - Electromyographic signal acquisition device, control method and electronic equipment - Google Patents
Electromyographic signal acquisition device, control method and electronic equipment Download PDFInfo
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Abstract
The invention discloses an electromyographic signal acquisition device, a control method and electronic equipment. The method comprises the following steps: acquiring electromyographic signals of multiple positions of the wrist; judging whether the myoelectric signal is in an action holding state or not according to the myoelectric signal; in the action holding state, judging whether the electromyographic signals contain action information or not; acquiring a corresponding control action according to the electromyographic signal under the condition that the electromyographic signal is judged to contain action information; and generating a control signal according to the control action so as to control the target equipment.
Description
Technical Field
The invention relates to the technical field of intelligent control, in particular to an electromyographic signal acquisition device, a control method and electronic equipment.
Background
In riding, driving, handle manipulation and other scenes, a user often needs to hold a solid object in the hand. At this time, if the user uses the mobile phone, for example, to receive a call or switch music played by the mobile phone, the user needs to release his hand and then operate the mobile phone. This way of operation is inconvenient for the user.
Disclosure of Invention
An object of the present invention is to provide a new technical solution for electromyographic signal acquisition.
According to a first aspect of the present invention, there is provided a control method of an electromyographic signal acquisition apparatus, the method comprising:
acquiring electromyographic signals of multiple positions of the wrist;
judging whether the myoelectric signal is in an action holding state or not according to the myoelectric signal;
in the action holding state, judging whether the electromyographic signals contain action information or not;
acquiring a corresponding control action according to the electromyographic signal under the condition that the electromyographic signal is judged to contain action information;
and generating a control signal according to the control action so as to control the target equipment.
Optionally, the determining whether the myoelectric signal is in a motion holding state according to the myoelectric signal includes:
acquiring a first window signal from the electromyographic signal through a sliding window;
calculating a first mean value and a first zero crossing rate of the first window signal amplitude;
and if the first average value exceeds a first threshold value and the first zero crossing rate exceeds a second threshold value, judging that the device is in an action holding state.
Optionally, the determining whether the electromyographic signal includes motion information in the motion maintaining state includes:
acquiring a second window signal from the electromyographic signal through a sliding window; wherein the second window signal is a signal subsequent to the first window signal in chronological order;
calculating a second mean value and a second zero crossing rate of the second window signal amplitude;
and if the second average value exceeds a third threshold value and the second zero crossing rate exceeds a fourth threshold value, judging that the electromyographic signals contain action information.
Optionally, before the determining whether the myoelectric signal is in the motion maintaining state, the method further includes:
carrying out noise estimation on the electromyographic signals to obtain a noise initial value;
performing fast Fourier transform on the electromyographic signals, and calculating a signal-to-noise ratio according to a fast Fourier transform result and the noise initial value;
calculating a denoising coefficient according to the signal-to-noise ratio;
and removing noise of the electromyographic signals according to the denoising coefficient.
Optionally, the acquiring a corresponding control action according to the electromyographic signal includes:
performing dimensionality-raising processing on the electromyographic signals to obtain the electromyographic signals subjected to dimensionality-raising;
and acquiring a corresponding control action according to the myoelectric signal after the dimension is raised.
Optionally, the performing dimension-increasing processing on the electromyographic signal to obtain a dimension-increased electromyographic signal includes:
carrying out short-time Fourier transform or wavelet transform on each channel data of the electromyographic signals to obtain frequency domain information of the electromyographic signals;
and obtaining the electromyographic signals after dimensionality increase according to the spatial information of the channel, the frequency domain information of the electromyographic signals and the time domain information of the electromyographic signals.
Optionally, the obtaining, according to the myoelectric signal after the dimensionality increase, a corresponding control action includes:
and identifying the myoelectric signal subjected to the dimensionality increase according to a preset identification model to acquire the control action.
Optionally, the acquiring electromyographic signals of multiple positions of the wrist comprises:
applying a bias voltage to the skin surface;
electromyographic signals are collected at a plurality of positions of the wrist during the process of applying the bias voltage.
According to a second aspect of the invention, there is provided an electromyographic signal acquisition apparatus, the apparatus adopting the control method of the first aspect of the invention, the apparatus comprising an electromyographic signal acquisition circuit, the circuit comprising:
the device comprises an amplifying circuit, a converting circuit, a processor and a communication circuit;
the amplifying circuit is used for receiving the electromyographic signal and generating an amplifying signal according to the electromyographic signal;
the conversion circuit comprises an analog-digital converter, wherein a first end of the analog-digital converter is used for receiving the amplified signal, a second end of the analog-digital converter is used for outputting a digital signal, and the digital signal is generated by the analog-digital converter according to the amplified signal;
the first end of the processor is used for receiving the digital signal, and the second end of the processor is used for outputting a control signal, wherein the control signal is generated by the processor according to the digital signal;
the processor is used for judging whether the myoelectric signal is in an action holding state or not according to the myoelectric signal; in the action holding state, judging whether the electromyographic signals contain action information or not; acquiring a corresponding control action according to the electromyographic signal under the condition that the electromyographic signal is judged to contain action information; generating a control signal according to the control action;
the first end of the communication circuit is used for receiving the control signal, and the second end of the communication circuit is used for sending the control signal to a target device.
According to a third aspect of the present invention, there is provided an electronic device comprising a processor and a memory, wherein the memory stores a program or instructions executable by the processor, and the program or instructions, when executed by the processor, implement the control method of the electromyographic signal acquisition apparatus according to the first aspect of the present invention.
According to one embodiment of the invention, the target equipment is controlled according to the action information contained in the electromyographic signals in the action keeping state by collecting the electromyographic signals of a plurality of positions of the wrist part, the hand of the user is not required to be loosened from the object, the control of the target equipment can be completed when the hand of the user holds the object, and the convenience of the user operation is improved.
Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments of the invention, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.
FIG. 1 is a flow chart of a control method of the electromyographic signal acquisition device.
Fig. 2 is a block diagram of an electromyographic signal acquisition circuit according to the present invention.
Fig. 3 is a block diagram of an amplifier circuit of the present invention.
FIG. 4 is a schematic diagram of a first-stage amplifying circuit according to the present invention.
FIG. 5 is a schematic diagram of a first filter circuit according to the present invention.
FIG. 6 is a schematic diagram of a two-stage amplifying circuit according to the present invention.
Fig. 7 is a schematic diagram of the right leg circuit of the present invention.
FIG. 8 is a schematic diagram of an electromyographic signal acquisition device of the present invention.
FIG. 9 is a schematic diagram of circuit connection in the electromyographic signal acquisition device of the present invention.
Detailed Description
Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
As shown in fig. 1, an embodiment of the present invention introduces a control method for an electromyographic signal acquisition apparatus. The method comprises steps S101-S105.
S101: electromyographic signals of a plurality of positions of the wrist are acquired.
The invention collects the electromyographic signals through an electromyographic signal collecting device. The user wears the electromyographic signal acquisition device on the wrist, namely the wrist part. The electromyographic signal acquisition device can acquire electromyographic signals of multiple positions of the wrist of a user.
In the arm there are multiple muscles that work together to control the movements of the fingers, such as stretching, bending, and swinging. The electromyographic signal acquisition device comprises a plurality of groups of electrodes and can acquire the electromyographic signals of different muscles. Myoelectric signals collected by different electrodes are combined to reflect the movement state of muscles, so that the current gesture action can be reflected.
S102: and judging whether the movement is in a motion holding state or not according to the electromyographic signals.
The motion maintaining state is a state in which the hand is kept in one motion by the force of the hand muscle. Under scenes such as riding, driving or AR handle control, the hands of the user can enter the action holding state from the relaxation state. For example, when the hands of the user hold the steering wheel of the vehicle, the hands are in the motion maintaining state. When the user's hand is released from the vehicle steering wheel, the hand changes from the action holding state to the release state.
S103: in the action holding state, it is determined whether the electromyographic signal includes action information.
The motion information may be generated by applying force to a finger of the user, and may be applied by applying force to one finger or may be applied by applying force to a plurality of fingers. For example, when a user's hand holds a steering wheel of a vehicle, a finger of the user exerts a force, and a corresponding electromyographic signal containing motion information is generated.
S104: and acquiring a corresponding control action according to the electromyographic signal under the condition that the electromyographic signal contains action information.
The manipulation action is performed by the user in the action holding state. For example, when a user holds the steering wheel of the vehicle with his or her hand, the hand is in the motion holding state. And if the user exerts the force by fingers in a state of holding the steering wheel of the vehicle, the control action represents the exertion of the force by the fingers. Specifically, the force may be given by the left index finger or the left middle finger, or other actions.
S105: and generating a control signal according to the control action so as to control the target equipment.
Different manipulation actions may control the target device to perform different functions. The method comprises the steps of storing the corresponding relation between the control action and the target equipment control signal in advance, obtaining the corresponding target equipment control signal after the control action is obtained, and sending the obtained target equipment control signal to the target equipment to complete the control of the target equipment. For example, in the case that the target device is a mobile phone, the control action is "power on the left index finger", and the corresponding control signal of the target device is "answer the call"; the control action is 'give force in the left hand', and the corresponding target device control signal is 'call refusal'. When the mobile phone calls, the user can answer the call by sending power with the index finger of the left hand, and can reject the call by sending power with the middle finger of the left hand.
According to the invention, when the user holds the article by hands, the electromyographic signals of a plurality of positions of the wrist are collected, the control of the target equipment is completed by the electromyographic signals, the hand of the user is not required to be loosened from the article, the control of the target equipment can be completed under the condition that the user holds the article by the hand, and the use of the user is facilitated.
In one embodiment of the present invention, step S102 includes: acquiring a first window signal from the electromyographic signal through a sliding window; calculating a first mean value and a first zero crossing rate of the first window signal; and if the first average value exceeds a first threshold value and the first zero crossing rate exceeds a second threshold value, judging that the mobile terminal is in an action holding state.
In the scenes of riding, vehicle driving, AR handle operation and the like, the hands of the user can enter the action holding state from the relaxation state. In a relaxed state, the myoelectric signal generated by the human body has a low amplitude and resembles a noise signal. In the case of grasping, etc., muscle participation is maintained, and therefore, an electromyographic signal including muscle movement information is generated at a certain amplitude in a frequency range of 20 to 500Hz depending on the force used. The magnitude of the electromyogram signal is larger in the motion maintaining state than in the relaxation state.
In order to identify whether the grasping action is kept or not, the average value and the zero crossing rate of each channel of the electromyographic signals can be calculated, the average value can reflect the strength of the current muscle, and the zero crossing rate can partially reflect the activity of the muscle. The zero-crossing rate represents the number of times the signal crosses zero per second. And acquiring a first window signal through a sliding window, and calculating a first mean value and a first zero crossing rate according to the first window signal. And judging whether the operation holding state is achieved or not according to a preset first threshold value and a preset second threshold value. And if the first average value exceeds a first threshold value and the first zero crossing rate exceeds a second threshold value, the state is considered to be in the action holding state, otherwise, the state is not considered to be in the action holding state. If the state is judged to be in the action holding state, the current state can be marked and tracked in real time.
In one embodiment of the present invention, step S103 includes: acquiring a second window signal from the electromyographic signal through a sliding window; calculating a second mean value and a second zero crossing rate of the amplitude of the second window signal; and if the second average value exceeds a third threshold value and the second zero crossing rate exceeds a fourth threshold value, judging that the electromyographic signals contain action information.
When a finger is applied with force in the motion maintaining state, a transient energy waveform with large amplitude change is generated in the time domain, the energy waveform contains muscle motion information and can describe the current motion state.
In the motion holding state, a second window signal is acquired from the electromyogram signal through the sliding window. The second window signal is a signal subsequent to the first window signal in time sequence, for example, the second window signal and the first window signal differ by a sliding interval. And calculating a second mean value and a second zero crossing rate according to the second window signal. And judging whether the electromyographic signals contain the action information or not according to a preset third threshold value and a preset fourth threshold value. And if the second average value exceeds a third threshold value and the second zero crossing rate exceeds a fourth threshold value, the electromyographic signal is considered to contain the motion information, otherwise, the electromyographic signal is considered to not contain the motion information.
In one embodiment of the present invention, before step S102, the method further includes: carrying out noise estimation on the electromyographic signals to obtain an initial value of noise; performing fast Fourier transform on the electromyographic signals, and calculating the signal-to-noise ratio of window data according to the fast Fourier transform result and the noise initial value; calculating a denoising coefficient according to the signal-to-noise ratio; and carrying out noise removal on the electromyographic signals according to the denoising coefficient.
The electromyographic signals are the accumulation results of the electric signals of the muscle fibers and are standard superposition type signals. The myoelectric signal is noisy when the hand is in a gripping state, and the noise signal is superimposed on the motion. Noise can be identified through frequency spectrum analysis, and the electromyographic signals are subjected to noise reduction processing, so that the identification accuracy can be greatly improved.
In the process of denoising the electromyographic signals, a plurality of window data can be acquired from the electromyographic signals through a sliding window, and each window data is sequentially denoised. Specifically, a sampling rate and a sliding window are initialized, and window data is acquired from the electromyographic signal through the sliding window. And carrying out noise estimation on the window data to obtain a noise initial value corresponding to the window data. The collected electromyographic signals are time domain signals, fast Fourier Transform (FFT) operation is carried out on the window data, the signals are transformed from the time domain to the frequency domain, and the signal-to-noise ratio of the window data is calculated according to the result of the FFT and the initial value of noise. And calculating a denoising coefficient according to the signal-to-noise ratio, wherein the higher the signal-to-noise ratio is, the smaller the denoising coefficient is. And carrying out noise elimination on the window data through the denoising coefficient, and specifically, subtracting the noise component of the corresponding component from the window data. The denoised window data is subjected to Inverse Fast Fourier Transform (IFFT) to restore the signal to a time domain signal, which is a denoised signal corresponding to the window data. And obtaining the denoised electromyographic signals according to the denoised signals corresponding to all the window data.
In one embodiment of the present invention, step S104 includes: carrying out dimension increasing processing on the electromyographic signals to obtain the electromyographic signals after dimension increasing; and acquiring a corresponding control action according to the myoelectric signal after the dimension is raised.
The collected electromyographic signals can be represented by a one-dimensional array, the electromyographic signals are poorer in interpretability, less in action information which can be directly extracted and difficult to interpret. Therefore, the myoelectric signal can be subjected to dimension-increasing processing to extract more information features. The raised electromyographic signals may be represented by a spatial matrix containing various motion information.
In this embodiment, performing dimension-increasing processing on the electromyographic signals to obtain the dimension-increased electromyographic signals includes: carrying out short-time Fourier transform or wavelet transform on each channel data of the electromyographic signals to obtain frequency domain information of the electromyographic signals; and obtaining the myoelectric signal after the dimensionality is increased according to the spatial information of the channel, the frequency domain information of the myoelectric signal and the time domain information of the myoelectric signal.
The collected electromyographic signals are time domain signals, and time domain information of the electromyographic signals can be obtained. The electromyographic signals are transformed, and the time domain signals are transformed into frequency domain signals, so that frequency domain information of the electromyographic signals can be obtained.
The electromyographic signals are collected through sampling electrodes on the electromyographic signal collecting device, and each group of sampling electrodes is used as a channel. In the process of collecting the electromyographic signals, different sampling electrodes are attached to different positions of the body of a user to collect the electromyographic signals of the different positions, and spatial relations exist among all channels. The time domain information, the frequency domain information and the spatial information of the channel of the electromyographic signal are combined to obtain a spatial matrix containing the time domain information, the frequency domain information and the spatial information of the channel of the electromyographic signal, and the spatial matrix can be used for representing the electromyographic signal after the dimension is increased.
In an embodiment of the present invention, acquiring a corresponding manipulation action according to the boosted electromyographic signal includes: and identifying the myoelectric signal subjected to dimension rising according to a preset identification model to acquire an operation action.
The invention is preset with an artificial intelligence recognition model for recognizing the control action contained in the electromyographic signal. And after the control action is recognized, mapping the control action into a control signal to control the target equipment. For example, the target device is a mobile phone, and the mobile phone can be controlled to execute functions of answering a call, rejecting the call, switching music and the like. The recognition model is obtained by putting the space matrix information after the action conversion in the sample library into a deep learning network for training and learning. By utilizing the recognition model, good classification information of the control action can be obtained, so that the action classification is completed.
Moreover, after the recognition model is established through training and learning, the electromyographic signals are accurately recognized in real time by the recognition model, the electromyographic signals recognized at this time and the recognition results can be used as learning samples to perform secondary learning on the artificial intelligent recognition model, and the recognition capability of the artificial intelligent recognition model is further optimized.
In one embodiment of the present invention, step S101 includes: applying a bias voltage to the skin surface; electromyographic signals are collected at a plurality of positions of the wrist during the process of applying the bias voltage.
The amplitude of the electromyographic signal is low, for example, between 0 and 5mV, and a bias voltage needs to be added on the skin to be used as a reference to raise the direct-current component of the signal. When the electromyographic signals are collected, bias voltage is firstly applied to the surface of the skin, and then the electromyographic signals are collected. And after the electromyographic signals are stopped being collected, the bias voltage is stopped being applied.
The embodiment of the invention discloses an electromyographic signal acquisition device which adopts a control method of any one embodiment of the invention. The device comprises an electromyographic signal acquisition circuit, as shown in fig. 2, the circuit comprises an amplifying circuit, a conversion circuit, a processor and a communication circuit.
The amplifying circuit is used for receiving the electromyographic signals and generating amplified signals according to the electromyographic signals.
Generally, the amplitude of the electromyographic signal is low, for example, the amplitude range of the electromyographic signal is 0-5mV, the electromyographic signal needs to be amplified so as to be convenient for identifying the electromyographic signal, and the amplification factor can be hundreds of times to thousands of times.
The conversion circuit comprises an analog-to-digital converter, wherein a first end of the analog-to-digital converter is used for receiving the amplified signal, a second end of the analog-to-digital converter is used for outputting a digital signal, and the digital signal is generated by the analog-to-digital converter according to the amplified signal.
The collected myoelectric signals are analog signals, and the analog signals are converted into digital signals through an analog-digital converter, so that the subsequent processing is facilitated.
The first end of the processor is used for receiving the digital signal, the second end of the processor is used for outputting a control signal, and the control signal is generated by the processor according to the digital signal.
The processor is used for judging whether the myoelectric signal is in an action holding state or not according to the myoelectric signal; judging whether the electromyographic signals contain action information or not in an action keeping state; acquiring a corresponding control action according to the electromyographic signal under the condition that the electromyographic signal is judged to contain action information; and generating a control signal according to the control action.
The processor is used for analyzing and processing the received digital signals, identifying action information contained in the electromyographic signals, and generating corresponding control signals according to the action information, wherein the control signals are used for controlling the target equipment. For example, the target device is a mobile phone, and can control the mobile phone to answer or reject a call, and also can control the mobile phone to execute other functions. The processor may be an MCU (micro controller Unit) chip.
The first end of the communication circuit is used for receiving the control signal, and the second end of the communication circuit is used for sending the control signal to the target device.
The communication circuit forwards the received control signal to the target device, and the target device executes a corresponding function after receiving the control signal.
In the embodiment, the amplifying circuit is arranged, and the amplifying circuit amplifies the collected electromyographic signals, so that the electromyographic signals can be conveniently identified.
As shown in fig. 3, in the embodiment of the present invention, the amplifying circuit includes a first-stage amplifying circuit, a first filter circuit, and a second-stage amplifying circuit. The input end of the first-stage amplifying circuit receives an electromyographic signal, the input end of the first filter circuit is connected with the output end of the first-stage amplifying circuit, the input end of the second-stage amplifying circuit is connected with the output end of the first filter circuit, and the output end of the second-stage amplifying circuit is connected with the first end of the analog-digital converter.
The primary amplifying circuit receives the collected myoelectric signals, the myoelectric signals are differential signals, the primary amplifying circuit can convert the differential signals into single-ended signals, and the anti-interference capability of the signals can be improved. The primary amplifying circuit is used for preliminarily amplifying the electromyographic signals and outputting first amplifying signals, and the first amplifying signals are single-ended signals.
The frequency range of the collected electromyographic signals is large, for example, signals in the frequency range of 0Hz to thousands of Hz can be collected, and a large number of clutter signals are contained in the signals. The frequency range of the useful signal is relatively small, for example a signal with a frequency range of 20-500Hz is a useful signal. The clutter signals can be filtered out through the first filter circuit, and only effective signals are reserved.
The second-stage amplifying circuit is used for further amplifying the first amplified signal subjected to filtering processing, and amplifying the signal to a sampling range interval of the analog-digital converter so as to facilitate acquisition and identification.
As shown in fig. 4, the one-stage amplification circuit includes an instrumentation amplifier, a first signal input terminal NODE1, and a second signal input terminal NODE2. First signal input end NODE1 and second signal input end NODE2 are used for gathering the flesh electrical signal, and instrumentation amplifier's first end and second end are connected to first signal input end NODE1 and second signal input end NODE2 respectively, and instrumentation amplifier's output is connected to one-level amplifier circuit's output VOUT1.
The first signal input terminal NODE1 and the second signal input terminal NODE2 may be metal electrodes, and the metal electrodes corresponding to the first signal input terminal NODE1 and the second signal input terminal NODE2 are attached to the skin of the user when in use. For example, when collecting the myoelectric signals of the wrist, the metal electrodes corresponding to the first signal input end NODE1 and the second signal input end NODE2 are attached to the wrist of the user, and then the myoelectric signals are collected and transmitted.
As shown in fig. 4, matching resistors R4 and R6 are provided between the first signal input terminal NODE1 and the first end of the instrumentation amplifier, and matching resistors R5 and R7 are also provided between the second signal input terminal NODE2 and the second end of the instrumentation amplifier. Resistor R4 and resistor R6 are connected in series between first signal input NODE1 and the first end of the instrumentation amplifier, and resistors R5 and R7 are connected in series between second signal input NODE2 and the second end of the instrumentation amplifier. Matching resistors R4, R5, R6, R7 are used to match the circuit impedance.
As shown in fig. 5, the filter circuit is a band-pass filter circuit, and specifically includes: the filter comprises a first resistor R1, a second resistor R3, a first filter capacitor C5 and a second filter capacitor C6. The first end of the first filter capacitor C5 is connected with the output end VOUT1 of the first-stage amplifying circuit, the second end of the first filter capacitor C5 is connected to the first end of the first resistor R1 and the first end of the second resistor R3 respectively, the second filter capacitor C6 is arranged between the second end of the first resistor R1 and the second end of the second resistor R3, the second end of the first resistor R1 is connected to the reference voltage input end VREF of the band-pass filter circuit, and the second end of the second resistor R3 is connected with the output end VOUT2 of the band-pass filter circuit.
Because the collected electromyographic signals contain a large number of clutter signals, only effective signals in a specified frequency range are needed during identification, and signals outside a useful bandwidth can be filtered out through a band-pass filter circuit. The band-pass filter circuit receives an output signal VOUT1 of the primary amplification circuit and outputs a filtered signal VOUT2.
As shown in fig. 6, the two-stage amplifying circuit includes an operational amplifier, a second filter circuit, a third filter circuit, and a first voltage input terminal VF1. The first input end of the operational amplifier is connected with the output end VOUT2 of the first filter circuit, the second input end of the operational amplifier is connected with the first end of the second filter circuit, the second input end of the operational amplifier is connected with the first voltage input end VF1, the second end of the second filter circuit is connected with the output end of the operational amplifier, the output end of the operational amplifier is connected with the first end of the third filter circuit, and the second end of the third filter circuit is connected with the output end VOUT of the second-stage amplification circuit.
The power supply end of the operational amplifier is connected with the second voltage input end VCC, and the power supply end of the operational amplifier is grounded through a capacitor C3.
In this embodiment, the third filter circuit includes a third resistor R9 and a third capacitor C2, and the third filter circuit is a low-pass filter circuit. The first end of the third resistor R9 is connected to the output end of the operational amplifier, the second end of the third resistor R9 is connected to the first end of the third capacitor C2, the second end of the third capacitor C2 is grounded, and the first end of the third capacitor C2 is connected to the output end VOUT of the second-stage amplification circuit.
In this embodiment, the second filter circuit includes a fourth resistor and a fourth capacitor C4, the fourth resistor is connected in parallel with the fourth capacitor C4, a first end of the fourth resistor is connected to the second input end of the operational amplifier, and a second end of the fourth resistor is connected to the output end of the operational amplifier.
In this embodiment, the circuit further comprises a right leg circuit for applying a bias voltage to the skin surface.
Because the amplitude of the electromyographic signals is low, in order to effectively amplify the signals, a bias voltage needs to be added on the skin to serve as a reference to raise the direct-current component of the signals. The electromyographic signal is an alternating current signal, and the electromyographic signal is converted into a single-ended signal with direct current bias voltage through an amplifying circuit.
As shown in fig. 7, the right leg circuit includes a second operational amplifier and a fourth filter circuit. The first input terminal of the second operational amplifier is connected to the reference voltage input terminal VREF of the right leg circuit, the output terminal of the second operational amplifier is connected to the first terminal of the fourth filter circuit, the second terminal of the fourth filter circuit is connected to the output terminal RLD of the right leg circuit, and the second input terminal of the second operational amplifier is connected to the output terminal of the second operational amplifier.
The power supply terminal of the second operational amplifier is connected to the third voltage input terminal VF3, and the power supply terminal of the second operational amplifier is grounded through the capacitor C8. The first input end of the second operational amplifier is grounded through a pull-down resistor R2, and a resistor R1 is arranged between the second input end of the second operational amplifier and the reference voltage input end VREF.
The output terminal RLD of the right leg circuit may be a metal electrode which in use is applied against the skin of the user, through which the right leg circuit applies a bias voltage to the skin of the user.
As shown in fig. 8, the electromyographic signal collecting device may be a bracelet, the bracelet includes a bracelet main body 701 and a watchband 702, and the watchband 702 is provided with a plurality of groups of electrodes 703. The electrodes 703 are made of a skin-friendly flexible material, and can be tightly fitted to the skin to collect signals at multiple positions. The band 702 has stretch properties and is detachable from the band body 701. The electrode 703 comprises a reference electrode 7031 and a sampling electrode 7032, the sampling electrode 7032 is used for collecting electromyographic signals, and the reference electrode 7031 is used for applying bias voltage to the skin in the process of collecting the electromyographic signals.
As shown in fig. 9, the electrodes disposed on the wristband are connected to the circuit inside the bracelet body through wires, together forming the electromyographic signal acquisition circuit according to the embodiment of the present invention. When in use, the electrodes are attached to the surface of the arm of a user, and the electromyographic signals can be acquired.
The present invention may be a system, method and/or computer program product. The computer program product may include a computer-readable storage medium having computer-readable program instructions embodied therewith for causing a processor to implement various aspects of the present invention.
The computer-readable storage medium may be a tangible device that can hold and store the instructions for use by the instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device, such as punch cards or in-groove projection structures having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media as used herein is not to be interpreted as a transitory signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., optical pulses through a fiber optic cable), or an electrical signal transmitted through an electrical wire.
The computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to a respective computing/processing device, or to an external computer or external storage device via a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. The network adapter card or network interface in each computing/processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in the respective computing/processing device.
Computer program instructions for carrying out operations of the present invention may be assembler instructions, instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, aspects of the present invention are implemented by personalizing an electronic circuit, such as a programmable logic circuit, a Field Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA), with state information of computer-readable program instructions, which can execute the computer-readable program instructions.
Aspects of the present invention are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.
These computer-readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer-readable program instructions may also be stored in a computer-readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer-readable medium storing the instructions comprises an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.
The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. It is well known to those skilled in the art that implementation by hardware, by software, and by a combination of software and hardware are equivalent.
While embodiments of the present invention have been described above, the above description is illustrative, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or technical improvements to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the invention is defined by the appended claims.
Claims (10)
1. A control method of an electromyographic signal acquisition device, the method comprising:
acquiring electromyographic signals of multiple positions of the wrist;
judging whether the myoelectric signal is in an action holding state or not according to the myoelectric signal;
in the action holding state, judging whether the electromyographic signals contain action information or not;
acquiring a corresponding control action according to the electromyographic signal under the condition that the electromyographic signal is judged to contain action information;
and generating a control signal according to the control action so as to control the target equipment.
2. The method according to claim 1, wherein the determining whether the myoelectric signal is in the action holding state according to the myoelectric signal comprises:
acquiring a first window signal from the electromyographic signal through a sliding window;
calculating a first mean value and a first zero crossing rate of the amplitude of the first window signal;
and if the first average value exceeds a first threshold value and the first zero crossing rate exceeds a second threshold value, judging that the device is in an action holding state.
3. The method according to claim 2, wherein the determining whether the electromyographic signal includes motion information in the motion maintaining state comprises:
acquiring a second window signal from the electromyographic signal through a sliding window; wherein the second window signal is a signal subsequent to the first window signal in time order;
calculating a second mean value and a second zero crossing rate of the second window signal amplitude;
and if the second average value exceeds a third threshold value and the second zero crossing rate exceeds a fourth threshold value, judging that the electromyographic signals contain action information.
4. The method according to claim 1, before the determining whether the myoelectric signal is in the action holding state, further comprising:
carrying out noise estimation on the electromyographic signals to obtain a noise initial value;
performing fast Fourier transform on the electromyographic signals, and calculating a signal-to-noise ratio according to a fast Fourier transform result and the noise initial value;
calculating a denoising coefficient according to the signal-to-noise ratio;
and removing noise of the electromyographic signals according to the denoising coefficient.
5. The method according to claim 1, wherein said obtaining corresponding manipulation actions according to said electromyographic signals comprises:
performing dimensionality-increasing processing on the electromyographic signals to obtain the electromyographic signals subjected to dimensionality increasing;
and acquiring a corresponding control action according to the myoelectric signal after the dimension is increased.
6. The method according to claim 5, wherein the step of performing dimension-raising processing on the electromyographic signal to obtain a dimension-raised electromyographic signal comprises:
performing short-time Fourier transform or wavelet transform on each channel data of the electromyographic signals to obtain frequency domain information of the electromyographic signals;
and obtaining the electromyographic signals after dimensionality increase according to the spatial information of the channel, the frequency domain information of the electromyographic signals and the time domain information of the electromyographic signals.
7. The method according to claim 5, wherein the obtaining of the corresponding manipulation action according to the boosted electromyographic signal comprises:
and identifying the myoelectric signal subjected to the dimensionality increase according to a preset identification model to acquire the control action.
8. The method of claim 1, wherein the acquiring electromyographic signals for a plurality of locations of the wrist comprises:
applying a bias voltage to the skin surface;
electromyographic signals are collected at a plurality of positions of the wrist during the process of applying the bias voltage.
9. An electromyographic signal acquisition apparatus, wherein the apparatus employs the control method of any one of claims 1 to 8, the apparatus comprising an electromyographic signal acquisition circuit, the circuit comprising:
the device comprises an amplifying circuit, a converting circuit, a processor and a communication circuit;
the amplifying circuit is used for receiving the electromyographic signals and generating amplified signals according to the electromyographic signals;
the conversion circuit comprises an analog-digital converter, wherein a first end of the analog-digital converter is used for receiving the amplified signal, a second end of the analog-digital converter is used for outputting a digital signal, and the digital signal is generated by the analog-digital converter according to the amplified signal;
the first end of the processor is used for receiving the digital signal, the second end of the processor is used for outputting a control signal, and the control signal is generated by the processor according to the digital signal;
the processor is used for judging whether the myoelectric signal is in an action holding state or not according to the myoelectric signal; in the action holding state, judging whether the electromyographic signals contain action information or not; acquiring a corresponding control action according to the electromyographic signal under the condition that the electromyographic signal is judged to contain action information; generating a control signal according to the control action;
the first end of the communication circuit is used for receiving the control signal, and the second end of the communication circuit is used for sending the control signal to a target device.
10. An electronic device, characterized by comprising a processor and a memory, wherein the memory stores a program or instructions executable by the processor, and the program or instructions, when executed by the processor, implement the control method of the electromyographic signal acquisition apparatus according to any one of claims 1 to 8.
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| CN202210970430.0A CN115381469A (en) | 2022-08-12 | 2022-08-12 | Electromyographic signal acquisition device, control method and electronic equipment |
| PCT/CN2023/111693 WO2024032591A1 (en) | 2022-08-12 | 2023-08-08 | Apparatus for collecting electromyographic signals, control method, and electronic device |
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| CN202210970430.0A CN115381469A (en) | 2022-08-12 | 2022-08-12 | Electromyographic signal acquisition device, control method and electronic equipment |
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| WO2024032591A1 (en) * | 2022-08-12 | 2024-02-15 | 歌尔股份有限公司 | Apparatus for collecting electromyographic signals, control method, and electronic device |
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