CN104665828A - System and method based on electromyographic signal controlling remote controller - Google Patents
System and method based on electromyographic signal controlling remote controller Download PDFInfo
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- CN104665828A CN104665828A CN201310616959.3A CN201310616959A CN104665828A CN 104665828 A CN104665828 A CN 104665828A CN 201310616959 A CN201310616959 A CN 201310616959A CN 104665828 A CN104665828 A CN 104665828A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
- A61B5/316—Modalities, i.e. specific diagnostic methods
- A61B5/389—Electromyography [EMG]
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
- A61B5/6813—Specially adapted to be attached to a specific body part
- A61B5/6824—Arm or wrist
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/72—Signal processing specially adapted for physiological signals or for diagnostic purposes
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Abstract
The invention provides a system and a method based on an electromyographic signal controlling remote controller. The method comprises the steps: S1, acquiring electromyographic signals on front arm muscles; S2, filtrating the acquired electromyographic signals; S3, calculating integrated EMGs (Electromyogram) of the filtered electromyographic signals; S4, comparing the obtained integrated EMGs with a preset threshold value to obtain an electromyographic signal output command; and S5, carrying out the remote controller output set according to the electromyographic signal output command. According to the method provided by the invention, the electrodes can be acquired by the arm, the electromyographic signals of wrist activities can be reduced, and then various waist gestures can be conducted for signal processing and identification through signal processing, calculation and judgment, so that basic daily household appliances can be controlled simply.
Description
Technical field
The present invention relates to signal processing, particularly relate to a kind of system and method controlling remote controller based on electromyographic signal.
Background technology
Surface electromyogram signal SEMG(Surface-Electromyography) characterize the raw information of musculation in certain area, by detecting the electromyographic signal of person different parts, can to joint stretch state in the wrong and comprehensive reaction is carried out in muscular movement.According to the difference of acquisition mode, checking with EMG method electrode can be divided into surface electrode and needle electrode.Wherein, though described needle electrode can gather the electromyographic signal compared with deep layer, it has wound to human body, greatly constrains its application in practice; Described Surface Mount electrode is widely used, though to human body noinvasive, but have also been introduced various noise, such as motion artifacts noise, industrial frequency noise etc., and use Surface Mount electrode collection surface electromyographic signal to need to overcome the problems such as faint easily disturbed, the Direct Recognition degree of surface electromyogram signal is in addition lower.Therefore, the electromyographic signal detected needs the method relying on signal processing and signal analysis to a great extent, extracts the signal identified, carries out the identification of the kinestate of different limbs.In recent years, multinomial progress is all had both at home and abroad in myoelectricity research, such as: use electromyographic signal control machine hands, the prosthesis control based on electromyographic signal, the gesture identification etc. based on electromyographic signal, the method of signal processing is mostly adopted to carry out feature extraction to SEMG, and finally complete pattern recognition, and control machine equipment.
Summary of the invention
The technical problem that the present invention solves is to provide a kind of system and method controlling remote controller based on electromyographic signal, by arm acquisition electrode, detect the electromyographic signal of wrist activity, again through signal processing, calculating and judgement, signal processing and identification are carried out to multiple wrist posture, with this, basic daily household electrical appliance is simply controlled.
In order to solve above technical problem, the invention provides a kind of system controlling remote controller based on electromyographic signal, comprise electromyographic signal collection module, signal processing module, signal computing module, signal judge module, signal output module, and control the control module of above each module;
Described electromyographic signal collection module comprises Surface Mount electrode, and described Surface Mount electrode is for gathering electromyographic signal;
Described signal processing module, for carrying out pretreatment to described electromyographic signal;
Described signal computing module, for calculating integration myoelectricity value according to pretreated electromyographic signal;
Described signal judge module, contrasts the integration myoelectricity value of acquisition and the threshold value pre-set, and obtains electromyographic signal and exports order;
Described signal output module, carries out remote controller output setting for exporting order according to electromyographic signal.
Preferably, described Surface Mount electrode has preamplifier, and described Surface Mount electrode is placed on the position of the flexor carpi radialis of forearm muscle, flexor carpi ulnaris m. meat, flexor pollicis longus, flexor disitorum profundus and extensor digitorum.
Preferably, the mutual spacing of described Surface Mount electrode is 20mm, and adopts shielding line to export signal processing module to.
Preferably, described signal processing module comprises active band-pass filter and power frequency notch filter, and wherein, the band connection frequency of described active band-pass filter is 20Hz-500Hz, and described power frequency notch filter is arranged based on LMS algorithm.
Preferably, the formula of asking for of described integration myoelectricity value is:
wherein, N is the data length of integration myoelectricity value, and x
ifor whole data are divided into the every sub-fraction after N part.
In order to solve above technical problem, present invention also offers a kind of method controlling remote controller based on electromyographic signal, comprising the following steps:
The electromyographic signal at S1, collection forearm muscle place;
S2, filtration treatment is carried out to gathered electromyographic signal;
S3, calculate integration myoelectricity value according to the electromyographic signal of filtration treatment;
S4, the integration myoelectricity value of acquisition and the threshold value that pre-sets to be contrasted, obtain electromyographic signal and export order;
S5, according to electromyographic signal export order carry out remote controller export arrange.
Preferably, in step sl, adopt the Surface Mount electrode with enlarge leadingly function to be placed on five place's diverse locations of forearm muscle, be respectively flexor carpi radialis, flexor carpi ulnaris m. meat, flexor pollicis longus, flexor disitorum profundus and.
Preferably, in step s 2, adopt active band-pass filter and power frequency notch filter to carry out filtration treatment to gathered electromyographic signal, wherein, the band connection frequency of described active band-pass filter is 20Hz-500Hz, and described power frequency notch filter is arranged based on LMS algorithm.
Preferably, in step s3, the formula of asking for of described integration myoelectricity value is:
wherein, N is the data length of integration myoelectricity value, and x
ifor whole data are divided into the every sub-fraction after N part.
Preferably, in step s 4 which, obtain electromyographic signal and export order for completing the binary code identification to action.
The present invention proposes a kind of system and method controlling remote controller based on electromyographic signal, operator is by arm precise acquisition electrode, detect the electromyographic signal data of wrist activity, then through processing of circuit unit, signal processing and identification are carried out to four kinds of different wrist posture.To wrist different gestures, namely stretch after the postures such as wrist, wrist flexion, inward turning wrist, outward turning wrist carry out electromyographic signal analyzing and processing, control four different keys of remote controller, the transmitter unit module of arranging in pairs or groups different, can operate different electronic equipments.The present invention relies on electromyographic signal platform, use and brand-new control remote controller without other limb actions, part people with disability is facilitated to complete the remote manipulation of simple daily household electrical appliance, rely on the reasonable acquisition electrode must placing detecting electrode position and employing band enlarge leadingly function, greatly improve degree of accuracy and the identification degree of acquired signal, and use real-time signal-processing method, significantly improve speed control and accuracy.
Accompanying drawing explanation
Fig. 1 the present invention is based on the schematic diagram that electromyographic signal controls the system of remote controller;
Fig. 2 is the circuit diagram of active band-pass filter in the present invention;
Fig. 3 is the schematic diagram based on the sef-adapting filter of LMS algorithm in the present invention;
Fig. 4 the present invention is based on the flow chart that electromyographic signal controls the method for remote controller.
Fig. 5 is remote controller design flow diagram in the present invention;
Fig. 6 is the circuit diagram of signal processing module in the present invention;
Fig. 7 is the schematic diagram of infrared module in the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing and specific embodiment, the present invention is described in further detail.
Please refer to Fig. 1, present invention is disclosed a kind of system 100 controlling remote controller based on electromyographic signal, comprise electromyographic signal collection module 20, signal processing module 30, signal computing module 40, signal judge module 50, signal output module 60, and control the control module 70 of above each module.
Described electromyographic signal collection module 20 comprises Surface Mount electrode, and this Surface Mount electrode is for gathering electromyographic signal.Described Surface Mount electrode has preamplifier, and it is placed on the position of the flexor carpi radialis of forearm muscle, flexor carpi ulnaris m. meat, flexor pollicis longus, flexor disitorum profundus and extensor digitorum.The mutual spacing of described Surface Mount electrode is 20mm, and adopts shielding line to export signal processing module 30 to.In the present invention, Surface Mount electrode is accurately placed on forearm muscle, improves accuracy and the signal to noise ratio of detection from collection source, further, described Surface Mount electrode has enlarge leadingly electrode, can reduce the distance of wire and signal processing module 30, decrease ambient noise interference.
Described signal processing module 30, for carrying out pretreatment to described electromyographic signal.Described signal processing module 30 comprises active band-pass filter and power frequency notch filter, wherein, please refer to Fig. 2, the band connection frequency of described active band-pass filter is 20Hz-500Hz, the mode of hardware circuit is adopted to realize, the resistance of resistance R1 and R2 is that the value of 40K Ω and 2.5K Ω, electric capacity C1 and C2 is 0.1 μ f respectively, and amplifier selects OPA227; Described power frequency notch filter is arranged based on LMS algorithm, and the self adaptation power frequency notch filter principle of LMS algorithm please refer to Fig. 3.
Described signal computing module 40, for calculating integration myoelectricity value according to pretreated electromyographic signal.The formula of asking for of described integration myoelectricity value is:
wherein, N is the data length of integration myoelectricity value, and x
ifor whole data are divided into the every sub-fraction after N part.
Described signal judge module 50, for the integration myoelectricity value of acquisition and the threshold value pre-set being contrasted, obtain electromyographic signal and export order, described myoelectricity exports order and adopts binary code.The present invention does not need complicated algorithm, only needs threshold level testing circuit to detect level, exports a binary code.
Described signal output module 60, carries out remote controller output setting for exporting order according to electromyographic signal.In the present invention, the setting of list action can be carried out, obtain corresponding signal according to the action of wrist, and be identified as binary code, utilize binary coding to carry different red further and transmit, complete the order of remote control.
Please refer to Fig. 4, the invention provides a kind of method controlling remote controller based on electromyographic signal, comprise the following steps:
The electromyographic signal at S1, collection forearm muscle place;
In step sl, adopting the Surface Mount electrode with enlarge leadingly function to be placed on five place's diverse locations of forearm muscle, is the position of flexor carpi radialis, flexor carpi ulnaris m. meat, flexor pollicis longus, flexor disitorum profundus and extensor digitorum respectively.
S2, filtration treatment is carried out to gathered electromyographic signal;
In step s 2, adopt active band-pass filter and power frequency notch filter to carry out filtration treatment to gathered electromyographic signal, wherein, the band connection frequency of described active band-pass filter is 20Hz-500Hz, and described power frequency notch filter is arranged based on LMS algorithm.
S3, calculate integration myoelectricity value according to the electromyographic signal of filtration treatment;
In step s3, the formula of asking for of described integration myoelectricity value is:
wherein, N is the data length of integration myoelectricity value, and x
ifor whole data are divided into the every sub-fraction after N part.
S4, the integration myoelectricity value of acquisition and the threshold value that pre-sets to be contrasted, obtain electromyographic signal and export order;
In step s 4 which, drawn integration myoelectricity value and the threshold value pre-set are compared, and converts binary number to.Wherein, pre-set and refer to that the first signal collected has been stored to as threshold value in the middle of the internal register of processing unit, in the present embodiment, mainly signal processing and identification are carried out to four kinds of different wrist posture, namely stretch wrist, wrist flexion, inward turning wrist and outward turning wrist.Owing to being wrist posture, analysis waveform similarity is gone without the need to using complicated algorithm, only usage threshold comparator, if every passage detects signal amplitude is greater than threshold value, then respective channel exports binary signal 1, otherwise then export binary signal 0, again the binary value of each passage under four gestures is encoded, as to the judgement under different list action further.
S5, according to electromyographic signal export order carry out remote controller export arrange.
According to step S5, please refer to Fig. 5, this figure is the remote controller design cycle based on SEMG, this remote controller carries different infrared transmission modules, in one embodiment, can four functions of enable operation such as television set or Air Conditioner Remote very easily: such as volume adjusting, channel switch, wind speed adjustment, temperature adjustment etc.Electromyographic signal through gathering, relatively after, each channel output values inputs to chip STM32, specifically please refer to Fig. 6, and select the STM32L103 series of 100 feet encapsulation, it carries the conversion of 12 high precision analogues, and completely enough multichannel input signals of support.The disposal ability of STM32L is superior, completely competent digital processing capabilities and required MCU disposal ability.12,13 feet of STM32 connect outside 8M high-frequency crystal oscillator and R62, C68, C69.And 23 ~ 26 feet, 29 ~ 32 feet are as the analog digital conversion input of acquired signal, 14 terminating resistor R57, R58 and electric capacity C70 form reset key.94 feet are connected with resistance R59, and ground connection after 37 feet are connected with resistance R60, is respectively BOOT mouth.6,59,75,100,28,11 pins connect power supply.10,27,49,74,99 equal ground connection, and by procedure Selection sample frequency and baud rate.Analogue signal is after analog digital conversion, and deposit in DMA depositor, 81 pins carry out exporting in the middle of infrared transmission module, are emitted to relevant device by infrared transmission module settling signal.
Infrared transmission module selects single-chip microcomputer MSP430F415 to form, and please refer to Fig. 7, and as signal exports infrared transmission module MSP430F415 to by STM32 settling signal code, menophania tests, and different wrist Signal analysis and control command are in table 1.Different command has been deposited in the depositor of MSP430, and corresponding different command carries out judging and launching infrared signal, completes the remote control to relevant device.
Table 1 wrist Signal analysis and control command
The present invention proposes a kind of system and method controlling remote controller based on electromyographic signal, operator is by arm precise acquisition electrode, detect the electromyographic signal data of wrist activity, then through processing of circuit unit, signal processing and identification are carried out to four kinds of different wrist posture.To wrist different gestures, namely stretch after the postures such as wrist, wrist flexion, inward turning wrist, outward turning wrist carry out electromyographic signal analyzing and processing, control four different keys of remote controller, the transmitter unit module of arranging in pairs or groups different, can operate different electronic equipments.The present invention relies on electromyographic signal platform, use and brand-new control remote controller without other limb actions, part people with disability is facilitated to complete the remote manipulation of simple daily household electrical appliance, rely on the reasonable acquisition electrode must placing detecting electrode position and employing band enlarge leadingly function, greatly improve degree of accuracy and the identification degree of acquired signal, and use real-time signal-processing method, significantly improve speed control and accuracy.
Be understandable that, for the person of ordinary skill of the art, other various corresponding change and distortion can be made by technical conceive according to the present invention, and all these change the protection domain that all should belong to the claims in the present invention with distortion.
Claims (10)
1. control a system for remote controller based on electromyographic signal, it is characterized in that, comprise electromyographic signal collection module, signal processing module, signal computing module, signal judge module, signal output module, and control the control module of above each module;
Described electromyographic signal collection module comprises Surface Mount electrode, and described Surface Mount electrode is for gathering electromyographic signal;
Described signal processing module, for carrying out pretreatment to described electromyographic signal;
Described signal computing module, for calculating integration myoelectricity value according to pretreated electromyographic signal;
Described signal judge module, contrasts the integration myoelectricity value of acquisition and the threshold value pre-set, and obtains electromyographic signal and exports order;
Described signal output module, carries out remote controller output setting for exporting order according to electromyographic signal.
2. the system of remote controller is controlled according to claim 1 based on electromyographic signal, it is characterized in that: described Surface Mount electrode has preamplifier, described Surface Mount electrode is placed on the position of the flexor carpi radialis of forearm muscle, flexor carpi ulnaris m. meat, flexor pollicis longus, flexor disitorum profundus and extensor digitorum.
3. control the system of remote controller according to claim 2 based on electromyographic signal, it is characterized in that: the mutual spacing of described Surface Mount electrode is 20mm, and adopts shielding line to export signal processing module to.
4. the system of remote controller is controlled according to claim 1 based on electromyographic signal, it is characterized in that: described signal processing module comprises active band-pass filter and power frequency notch filter, wherein, the band connection frequency of described active band-pass filter is 20Hz-500Hz, and described power frequency notch filter is arranged based on LMS algorithm.
5. control the system of remote controller according to claim 1 based on electromyographic signal, it is characterized in that: the formula of asking for of described integration myoelectricity value is:
wherein, N is the data length of integration myoelectricity value, and x
ifor whole data are divided into the every sub-fraction after N part.
6. control a method for remote controller based on electromyographic signal, it is characterized in that, comprise the following steps:
The electromyographic signal at S1, collection forearm muscle place;
S2, filtration treatment is carried out to gathered electromyographic signal;
S3, calculate integration myoelectricity value according to the electromyographic signal of filtration treatment;
S4, the integration myoelectricity value of acquisition and the threshold value that pre-sets to be contrasted, obtain electromyographic signal and export order;
S5, according to electromyographic signal export order carry out remote controller export arrange.
7. the method for remote controller is controlled according to claim 6 based on electromyographic signal, it is characterized in that, in step sl, adopting the Surface Mount electrode with enlarge leadingly function to be placed on five place's diverse locations of forearm muscle, is the position of flexor carpi radialis, flexor carpi ulnaris m. meat, flexor pollicis longus, flexor disitorum profundus and extensor digitorum respectively.
8. the method for remote controller is controlled according to claim 6 based on electromyographic signal, it is characterized in that, in step s 2, active band-pass filter and power frequency notch filter is adopted to carry out filtration treatment to gathered electromyographic signal, wherein, the band connection frequency of described active band-pass filter is 20Hz-500Hz, and described power frequency notch filter is arranged based on LMS algorithm.
9. control the method for remote controller according to claim 6 based on electromyographic signal, it is characterized in that, in step s3, the formula of asking for of described integration myoelectricity value is:
wherein, N is the data length of integration myoelectricity value, and x
ifor whole data are divided into the every sub-fraction after N part.
10. control the method for remote controller according to claim 6 based on electromyographic signal, it is characterized in that, in step s 4 which, obtain electromyographic signal and export order for completing the binary code identification to action.
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| CN106333688A (en) * | 2016-09-21 | 2017-01-18 | 北京机械设备研究所 | Real-time identification method for ankle joint movement |
| CN107714388A (en) * | 2017-10-18 | 2018-02-23 | 北京联合大学 | Massage armchair with glove-type muscle controller for electric consumption |
| CN109009586A (en) * | 2018-06-25 | 2018-12-18 | 西安交通大学 | A kind of myoelectricity continuous decoding method of the man-machine natural driving angle of artificial hand wrist joint |
| CN109407531A (en) * | 2018-10-30 | 2019-03-01 | 深圳市心流科技有限公司 | Intelligent home furnishing control method, device and computer readable storage medium |
| 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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| 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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