CN104997582B - Device and method for controlling intelligent artificial limb based on eye and lower jaw electromyographic signals - Google Patents
Device and method for controlling intelligent artificial limb based on eye and lower jaw electromyographic signals Download PDFInfo
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Abstract
A device for controlling an intelligent artificial limb based on eye and lower jaw electromyographic signals comprises an eye or lower jaw surface electromyographic signal acquisition module, an electromyographic signal processing module, an eye or lower jaw movement feature extraction module, a feature matching module, and an artificial limb control module. The eye or lower jaw surface electromyographic signal acquisition module is connected with the electromyographic signal processing module, the electromyographic signal processing module is connected with the eye or lower jaw movement feature extraction module, the eye or lower jaw movement feature extraction module is connected with the feature matching module, and the feature matching module is connected with the artificial limb control module. The movement range is big, signal acquisition is easy, and the precision is high. A low-complexity artificial limb is driven to complete an advanced task based on a detailed electromyographic signal analysis result. The relationship between signals and different modes is searched through a variety of methods to make the signals become a reliable signal source of artificial limbs. Accurate control on artificial limbs can be better realized, and the needs of people can be satisfied better.
Description
Technical field
The present invention relates to a kind of artificial limb for imitating human hand movement, more particularly to a kind of to be based on eye and lower jaw electromyographic signal pair
The control device and method of intelligent artificial limb.
Background technology
Staff plays the role of very important as one of human body vitals, in daily life, not only needs
Every work sexual behaviour is carried out by which, equally occupy critical role when exchanging with other people or explore unknown object.Due to
Staff has very fine structure, determines which can complete the function of Various Complex, and constantly study for a long time, training make multiple
Miscellaneous function is implemented as possibility.These are, because of the result mutually promoted between human brain and hand for a long time, affected, evolved, to cause people
Brain is controlling to put into extra psychology concern when staff completes corresponding sports pattern.
Bionic arm is grown up within 10 years after 20th century with high performance artificial limb of new generation, is robotics
With a frontier nature research topic of biomedical engineering field.Bionic arm it is intelligent be mainly reflected in do evil through another person do more complicated
Many finger coordination abilities during action, capture object when grip of artifical control ability and to body form（Self adaptation）It is soft
It is pliable.Bionic arm can freely control to do evil through another person according to the idea that the brain of people sends and complete various actions, in crawl object
When be capable of the surface of perceptual object, the parameter of adjust automatically artificial hand system, making to do evil through another person completes flexible, reliable action.
It is substantially using brain signal control currently used for intelligent bionic arm, but brain control signal interference
Greatly, jitter is gathered, error is larger.
The content of the invention
Goal of the invention：The present invention provides a kind of control device and side based on eye and lower jaw electromyographic signal to intelligent artificial limb
Method, its objective is to overcome existing prosthetic hand interference greatly, gathers jitter, the larger deficiency of error.
Technical scheme：The present invention is achieved by the following technical solutions：
Based on the control device of eye and lower jaw electromyographic signal to intelligent artificial limb, it is characterised in that：It include eyes or
Mandibular surface electromyographic signal collection module, electromyographic signal processing module, eyes or mandibular movement characteristic extracting module, characteristic matching
Module and prosthesis control module；Eyes or mandibular surface electromyographic signal collection module connection electromyographic signal processing module, myoelectricity
Signal processing module connects eyes or mandibular movement characteristic extracting module, eyes or mandibular movement characteristic extracting module connection features
Matching module, characteristic matching module connection prosthesis control module.
Four finger motors, thumb motor and carpal joint motor that prosthesis control module includes being connected with characteristic matching module, four
Refer to that motor connects four fingers of prosthetic hand by mechanical delivery device, thumb motor connects the thumb of prosthetic hand by mechanical delivery device
Refer to, carpal joint motor connects the carpal joint of prosthetic hand by mechanical delivery device.
Using the above-mentioned control method implemented to the control device of intelligent artificial limb based on eye and lower jaw electromyographic signal,
It is characterized in that：The method realizes blinking or lower jaw to eyes using eyes or mandibular surface electromyographic signal collection module
The electromyographic signal collection that produces of opening and closing motor process, and be sent to signal processing module, characteristic extracting module is after process
Electromyographic signal is sent to feature pre-stored module, by the characteristic matching module, realizes the motor control to prosthetic hand, and then
Complete by eyes blink or the opening and closing motion event of lower jaw is combined, to produce various different features, so as to complete
Into the control function of prosthetic hand.
Eyes or mandibular surface electromyographic signal collection module are the surface myoelectrics for obtaining skin surface from eye and lower jaw
Signal simultaneously sends myoelectricity processing module to, and this module mainly includes three parts：Acquisition parameter sets, acquisition time record, moves
Guide, guided by acquisition parameter setting and action, detect blink action and lower jaw opening and closing action data and record eyes and close
Conjunction time and lower jaw duration.
Eyes or mandibular movement characteristic extracting module are mainly by eyes signal of blinking recognition unit and lower jaw opening and closing signal
Recognition unit is constituted, and differentiates corresponding actions instruction, the wherein fortune to signal by the various features for extracting different motion pattern
Dynamic feature is extracted by the method for time-domain analyses, frequency-domain analysiss, Time-Frequency Analysis, non-linear entropy and chaos.
The step of the method, is as follows：
（1）, eyes or mandibular movement characteristic extracting module are affixed at eyes or lower jaw, it is special using eyes or mandibular movement
Levy extraction module to obtain the surface electromyogram signal of skin surface from eye and lower jaw and send myoelectricity processing module to；
（2）, myoelectricity processing module transmits a signal to eyes or mandibular movement characteristic extracting module carries out feature extraction；
（3）, Land use models matching module be with transmission come in characteristic signal by contrast differentiation carry out characteristic matching, general
The respective settings action command of output is sent to prosthesis control module, by the mistake of identification maneuver, confirmation action and matching action
Journey, judges whether the feature extracted meets corresponding eyes or mandibular movement characteristic vector expectation action, if meeting, enters
Enter prosthesis control module；
（4）, control the prosthetic hand the five fingers and wrist motor using prosthesis control module and make corresponding instruction action.
Eyes or mandibular surface electromyographic signal be left eye is continuously blinked, right eye continuously blinks, eyes are while continuously blink
Move, open one's mouth, grit one's teeth, the six kinds of states that stuck out one's tongue carry out signal characteristic identification.
During the EMG signal gathered under six kinds of patterns, it is desirable to which user is moved as follows：
1) clench fist：Left eye continuously blinks 5 times, and prosthetic hand is changed into the state of clenching fist from palm nature relaxed state；
2) exrending boxing：Right eye continuously blinks 5 times, and prosthetic hand is changed into exrending boxing state from palm nature relaxed state；
3) stretch the palm：Eyes eye continuously blinks 5 times, and prosthetic hand is changed into the state of clenching fist from palm nature relaxed state；
4) arm inward turning：Open one's mouth 3 seconds or so, prosthetic hand is changed into arm inward turning state from palm nature relaxed state；
5) arm outward turning：Double mouths close up, and grit one's teeth 3 seconds, and prosthetic hand is changed into arm outward turning state from palm nature relaxed state；
6）Stuck out one's tongue：Tongue continuously stretches out naturalness 5 times, and prosthetic hand recovers palm nature relaxed state.
Electromyographic signal processing module：By carrying out a square moving average method detection to surface electromyogram signal, extract effectively living
Dynamic section, is to reduce noise to effect of signals, chooses Butterworth band logical and band-rejection digital filter is filtered process；
Eyes or mandibular movement characteristic extracting module：Using the feature extraction method of wavelet transformation, and pass through artificial neuron
Network carries out pattern recognition to experimenter's action.
Advantage and effect：The present invention provide it is a kind of based on eye and lower jaw electromyographic signal to the control device of intelligent artificial limb and
Method, its movement range are big, and signal is easy to collection, and high precision, by the analysis result of more detailed electromyographic signal, drives tool
The artificial limb for having lower complexity completes higher task, finds the relation between signal and different mode by various methods,
The reliable signal source of artificial limb is become, the accurate control to prosthetic hand can be preferably realized, be met the demand of people.
Description of the drawings：
Fig. 1 is the intelligent artificial limb hand control system principle schematic diagram that eyes or mandibular surface electromyographic signal are controlled；
Fig. 2 is the rate-determining steps of the intelligent artificial limb handss that eyes or mandibular surface electromyographic signal are controlled；
Fig. 3 is a certain setting action flowchart.
Specific embodiment：The present invention is described further below in conjunction with the accompanying drawings：
As shown in figure 1, the present invention provides a kind of control device based on eye and lower jaw electromyographic signal to intelligent artificial limb, it
Comprising eyes or mandibular surface electromyographic signal collection module, electromyographic signal processing module, eyes or mandibular movement feature extraction
Module, characteristic matching module and prosthesis control module；Eyes or mandibular surface electromyographic signal collection module connection electromyographic signal
Processing module, electromyographic signal processing module connection eyes or mandibular movement characteristic extracting module, eyes or mandibular movement feature are carried
Delivery block connection features matching module, characteristic matching module connection prosthesis control module.
Four finger motors, thumb motor and carpal joint motor that prosthesis control module includes being connected with characteristic matching module, four
Refer to that motor connects four fingers of prosthetic hand by mechanical delivery device, thumb motor connects the thumb of prosthetic hand by mechanical delivery device
Refer to, carpal joint motor connects the carpal joint of prosthetic hand by mechanical delivery device.
Based on the control method of eye and lower jaw electromyographic signal to intelligent artificial limb, the method utilizes eyes or mandibular surface
Electromyographic signal collection module realize to eyes blink or lower jaw opening and closing motor process generation electromyographic signal collection, concurrently
Signal processing module is sent to, characteristic extracting module is sent to feature pre-stored module the electromyographic signal after process, by described
Characteristic matching module, realizes motor control to prosthetic hand, so complete by eyes blink or lower jaw opening and closing campaign
Event is combined, to produce various different features, so as to complete the control function of prosthetic hand.
Eyes or mandibular surface electromyographic signal collection module are the surface myoelectrics for obtaining skin surface from eye and lower jaw
Signal simultaneously sends myoelectricity processing module to, and this module mainly includes three parts：Acquisition parameter sets, acquisition time record, moves
Guide, guided by acquisition parameter setting and action, detect blink action and lower jaw opening and closing action data and record eyes and close
Conjunction time and lower jaw duration.
Eyes or mandibular movement characteristic extracting module are mainly by eyes signal of blinking recognition unit and lower jaw opening and closing signal
Recognition unit is constituted, and differentiates corresponding actions instruction, the wherein motion of signal by the various features for extracting different motion pattern
Feature is extracted by the method for wavelet transformation.
The step of the method, is as follows：
（1）, eyes or mandibular movement characteristic extracting module are affixed at eyes or lower jaw, it is special using eyes or mandibular movement
Levy extraction module to obtain the surface electromyogram signal of skin surface from eye and lower jaw and send myoelectricity processing module to；
（2）, myoelectricity processing module transmits a signal to eyes or mandibular movement characteristic extracting module carries out feature extraction；
（3）, Land use models matching module be with transmission come in characteristic signal by contrast differentiation carry out characteristic matching, general
The respective settings action command of output is sent to prosthesis control module, by the mistake of identification maneuver, confirmation action and matching action
Journey, judges whether the feature extracted meets corresponding eyes or mandibular movement characteristic vector expectation action, if meeting, enters
Enter prosthesis control module；
（4）, control the prosthetic hand the five fingers and wrist motor using prosthesis control module and make corresponding instruction action.
Eyes or mandibular surface electromyographic signal be left eye is continuously blinked, right eye continuously blinks, eyes are while continuously blink
Move, open one's mouth, grit one's teeth, the six kinds of states that stuck out one's tongue carry out signal characteristic identification.
Eyes or mandibular surface electromyographic signal are the signal sources for controlling artificial limb execute instruction action.
Prosthetic hand require to clench fist, exrending boxing, stretch the palm, arm inward turning and arm outward turning in the way of move.
During the EMG signal gathered under six kinds of patterns, it is desirable to which user is moved as follows：
1) clench fist：Left eye continuously blinks 5 times, and prosthetic hand is changed into the state of clenching fist from palm nature relaxed state；
2) exrending boxing：Right eye continuously blinks 5 times, and prosthetic hand is changed into exrending boxing state from palm nature relaxed state；
3) stretch the palm：Eyes eye continuously blinks 5 times, and prosthetic hand is changed into the state of clenching fist from palm nature relaxed state；
4) arm inward turning：Open one's mouth 3 seconds or so, prosthetic hand is changed into arm inward turning state from palm nature relaxed state；
5) arm outward turning：Double mouths close up, and grit one's teeth 3 seconds, and prosthetic hand is changed into arm outward turning state from palm nature relaxed state；
6）Stuck out one's tongue：Tongue continuously stretches out naturalness 5 times, and prosthetic hand recovers palm nature relaxed state.
Table specific as follows：
Table 1
| Eyes or mandibular movement characteristic vector | The controlled prosthetic hand motor pattern of correspondence |
| Left eye continuously blinks (5t) | Clench fist |
| Right eye continuously blinks (5t) | Exrending boxing |
| Eyes continuously blink (5t) | Stretch the palm |
| Open one's mouth (3s) | Arm inward turning |
| Grit one's teeth (3s) | Arm outward turning |
| Stuck out one's tongue（5t） | Naturally relax |
Claims (9)
1. the control device based on eye and lower jaw electromyographic signal to intelligent artificial limb, it is characterised in that：It is adopted comprising ocular signal
Collection module, mandibular surface electromyographic signal collection module, electromyographic signal processing module, eye motion characteristic extracting module, lower jaw fortune
Dynamic characteristic extracting module, characteristic matching module and prosthesis control module；Ocular signal acquisition module and mandibular surface electromyographic signal
Acquisition module connects electromyographic signal processing module, electromyographic signal processing module connection eye motion characteristic extracting module and lower jaw fortune
Dynamic characteristic extracting module, eye motion characteristic extracting module and mandibular movement characteristic extracting module connection features matching module, it is special
Levy matching module connection prosthesis control module.
2. the control device based on eye and lower jaw electromyographic signal to intelligent artificial limb according to claim 1, its feature exist
In：Prosthesis control module includes four finger motors, thumb motor and the carpal joint motor being connected with characteristic matching module, and four refer to motor
Four fingers of prosthetic hand are connected by mechanical delivery device, thumb motor connects the thumb of prosthetic hand, wrist by mechanical delivery device
Joint motor connects the carpal joint of prosthetic hand by mechanical delivery device.
3. using the control implemented to the control device of intelligent artificial limb based on eye and lower jaw electromyographic signal described in claim 1
Method processed, it is characterised in that：It is right that the method is realized using ocular signal acquisition module and mandibular surface electromyographic signal collection module
The electromyographic signal collection blinked with the opening and closing motor process generation of lower jaw of eyes, and signal processing module is sent to, feature is carried
Delivery block is sent to feature pre-stored module the electromyographic signal after process, by the characteristic matching module, realizes to artificial limb
The motor control of handss, so complete by eyes blink and the opening and closing motion event of lower jaw is combined, with produce it is various not
Same feature, so that complete the control function of prosthetic hand.
4. the control method based on eye and lower jaw electromyographic signal to intelligent artificial limb according to claim 3, its feature exist
In：Ocular signal acquisition module and mandibular surface electromyographic signal collection module are to obtain the surface of skin surface from eye and lower jaw
Electromyographic signal simultaneously sends myoelectricity processing module to, and this module mainly includes three parts：Acquisition parameter sets, acquisition time note
Record, action are guided, by acquisition parameter setting is with action guide, detection blink action and lower jaw opening and closing action data and records eye
Eyeball closing time and lower jaw duration.
5. the control method based on eye and lower jaw electromyographic signal to intelligent artificial limb according to claim 3, its feature exist
In：Eye motion characteristic extracting module and mandibular movement characteristic extracting module mainly by eyes signal of blinking recognition unit and under
Jaw opening and closing signal identification unit is constituted, and differentiates corresponding actions instruction by the various features for extracting different motion pattern, wherein
The motion feature of signal is extracted by the method for time-domain analyses, frequency-domain analysiss, Time-Frequency Analysis, non-linear entropy and chaos, or
Person is extracted using the feature extraction method of wavelet transformation.
6. the control method based on eye and lower jaw electromyographic signal to intelligent artificial limb according to claim 5, its feature exist
In：The step of the method, is as follows：
（1）, be affixed on eyes and lower jaw by eye motion characteristic extracting module and mandibular movement characteristic extracting module corresponding respectively
Place, obtains the table of skin surface using eye motion characteristic extracting module and mandibular movement characteristic extracting module from eye and lower jaw
The facial muscle signal of telecommunication simultaneously sends myoelectricity processing module to；
（2）, myoelectricity processing module transmits a signal to eye motion characteristic extracting module and mandibular movement characteristic extracting module is entered
Row feature extraction；
（3）, Land use models matching module be with transmission come in characteristic signal by contrast differentiation carry out characteristic matching, will export
Respective settings action command be sent to prosthesis control module, by the process of identification maneuver, confirmation action and matching action, sentence
Break and the feature of extraction and whether meet corresponding eyes and mandibular movement characteristic vector expectation action, if meeting, into artificial limb
Control module；
（4）, control the prosthetic hand the five fingers and wrist motor using prosthesis control module and make corresponding instruction action.
7. the control method based on eye and lower jaw electromyographic signal to intelligent artificial limb according to claim 6, its feature exist
In：Eyes and mandibular surface electromyographic signal be left eye is continuously blinked, right eye continuously blinks, eyes at the same continuously blink, open one's mouth,
Grit one's teeth, the six kinds of states that stuck out one's tongue carry out signal characteristic identification.
8. the control method based on eye and lower jaw electromyographic signal to intelligent artificial limb according to claim 7, its feature exist
In：During the EMG signal gathered under six kinds of patterns, it is desirable to which user is moved as follows：
1) clench fist：Left eye continuously blinks 5 times, and prosthetic hand is changed into the state of clenching fist from palm nature relaxed state；
2) exrending boxing：Right eye continuously blinks 5 times, and prosthetic hand is changed into exrending boxing state from palm nature relaxed state；
3) stretch the palm：Eyes eye continuously blinks 5 times, and prosthetic hand is changed into the state of clenching fist from palm nature relaxed state；
4) arm inward turning：Open one's mouth 3 seconds or so, prosthetic hand is changed into arm inward turning state from palm nature relaxed state；
5) arm outward turning：Double mouths close up, and grit one's teeth 3 seconds, and prosthetic hand is changed into arm outward turning state from palm nature relaxed state；
6）Stuck out one's tongue：Tongue continuously stretches out naturalness 5 times, and prosthetic hand recovers palm nature relaxed state.
9. the control method based on eye and lower jaw electromyographic signal to intelligent artificial limb according to claim 7, its feature exist
In：
Electromyographic signal processing module：By carrying out a square moving average method detection to surface electromyogram signal, effective active segment is extracted,
For noise being reduced to effect of signals, choose Butterworth band logical and band-rejection digital filter is filtered process；
Eye motion characteristic extracting module and mandibular movement characteristic extracting module：Using the feature extraction method of wavelet transformation, and
Pattern recognition is carried out to experimenter's action by artificial neural network.
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| CN106067178B (en) * | 2016-05-30 | 2018-11-23 | 杭州电子科技大学 | A kind of continuous estimation method of hand joint movement based on muscle synergistic activation model |
| CN107260420B (en) * | 2017-07-03 | 2018-11-23 | 南京邮电大学 | Intelligent wheel chair human-computer interactive control system and method based on eye motion recognition |
| CN108646726A (en) * | 2018-04-03 | 2018-10-12 | 山东农业大学 | The wheelchair control system of wheelchair control method and combination voice based on brain wave |
| CN112057251B (en) * | 2020-09-21 | 2022-10-25 | 山西白求恩医院(山西医学科学院) | Electric intelligent wheelchair controlled by eye-gaze and lip action signals and control method |
| CN112241971A (en) * | 2020-09-30 | 2021-01-19 | 天津大学 | Method for measuring motion prediction capability by using entropy and eye movement data |
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Effective date of registration: 20211116 Address after: 518100 Room 601, building A1, Tianrui Industrial Park, No. 35, Fuyuan 1st Road, Zhancheng community, Fuhai street, Bao'an District, Shenzhen, Guangdong Patentee after: Yidong (Shenzhen) Photoelectric Technology Co., Ltd Address before: 110870 No. 111, Shenliao West Road, Shenyang Economic and Technological Development Zone, Liaoning Province Patentee before: Shenyang University of Technology |