CN105411594A - Novel sensor used for collecting human motion signals - Google Patents
Novel sensor used for collecting human motion signals Download PDFInfo
- Publication number
- CN105411594A CN105411594A CN201510742056.9A CN201510742056A CN105411594A CN 105411594 A CN105411594 A CN 105411594A CN 201510742056 A CN201510742056 A CN 201510742056A CN 105411594 A CN105411594 A CN 105411594A
- Authority
- CN
- China
- Prior art keywords
- module
- signal
- novel sensor
- human motion
- microcontroller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Measurement And Recording Of Electrical Phenomena And Electrical Characteristics Of The Living Body (AREA)
- Prostheses (AREA)
Abstract
The invention discloses a novel sensor used for collecting human motion signals. The novel sensor comprises a microcontroller, a motion capture module, an electromyography signal module, a mechanomyography signal module, a Bluetooth module and a main control computer. According to the novel sensor, an accelerometer, a gyro and a magnetometer based on the MEMS technology are used for acquiring the physical quantities of accelerated velocity, angular velocity and the like generated in the human motion process, the information is processed through a data fusion algorithm to obtain human motion posture parameters, three surface electromyography electrodes are used for collecting electromyography signals, the signals are amplified, made continuously adjustable in gain and subjected to hardware filtering through circuit design, the signal-to-noise ratio is improved, and a digital microphone adopting the MEMS technology is attached to the surface of the human skin so as to collect lateral vibration mechanics information generated when muscles contract actively.
Description
Technical field
The present invention relates to a kind of human motion sensor, particularly relating to a kind of novel sensor for gathering human motion signal.
Background technology
Under the overall situation of technology of Internet of things fast development, human body behavior or state are carried out to the research of digitized, particularly kinesiology and terms of mechanics, propose new technical requirement.Want to understand better and to analyze human motion state, correct mathematical model is set up to it, grasp the relation between kinematic parameter and mechanics parameter, change each other, compensate and verify, then the equipment that first needs can quantize joint motions and the muscle tendons power state of human body.
The current instrument for kinesiology or mechanical analysis, as the motion capture system based on photographic head technology, or based on the myoelectric sensor that electrode gathers, itself all solely can only detect attitude information or muscle electrical information.China's researcher has been carried out some at medical field and has been moved signal combination to realize the research of multi-freedom artificial limb control about myoelectricity and flesh, these researchs establish the muscle signal detection model on some bases, to realize the assessment of body mechanics aspect parameter, but owing to lacking motion-captured function, can not unify with kinesiology research, and achievement in research does not form industry further.The technology such as motion-captured and muscle signal analysis are applied in industry by external having, but product mostly is motion analysis or the mechanical analysis system of function singleness, lack the function that both merge mutually, need to buy two or more equipment just can provide the detection data needed for kinesiology and mechanics to support founding mathematical models simultaneously.
Summary of the invention
Object of the present invention is just to provide a kind of novel sensor for gathering human motion signal to solve the problem.
The present invention is achieved through the following technical solutions above-mentioned purpose:
The present invention includes microcontroller, motion-captured module, electromyographic signal module, flesh moves signaling module, bluetooth module and main control computer, the signal output part that described motion-captured module, described electromyographic signal module move signaling module with described flesh is all connected with the signal input part of described microcontroller, the signal output part of described microcontroller is connected with the signal input part of described bluetooth module, the signal output part of described bluetooth module and the signal input part wireless connections of described main control computer.
The present invention is preferred, and described motion-captured module comprises accelerometer, gyroscope and magnetometer, and described accelerometer, described gyroscope are all connected with the signal input part of described microcontroller with the signal output part of described magnetometer.
The present invention is preferred, described electromyographic signal module comprises electrode amplifying circuit, adjustable gain circuit and filter circuit, and described electrode amplifying circuit, described adjustable gain circuit are all connected with the signal input part of described microcontroller with the signal output part of described filter circuit.
The present invention is preferred, and described flesh moves signaling module and comprises digital microphone, and the signal output part of described digital microphone is connected with the signal input part of described microcontroller.
The present invention is preferred, and described electromyographic signal module is amplified and filtering by the bioelectrical signals faint to human muscle, to obtain the state that muscle is energized in motor process.
The present invention is preferred, and described digital microphone is attached to muscle skin surface, to obtain the mechanics parameter of muscle oscillation crosswise in motor process.
Beneficial effect of the present invention is:
The present invention is by using the accelerometer based on MEMS technology, gyroscope and magnetometer, to obtain the acceleration of human body in motor process, the physical quantitys such as angular velocity, by data anastomosing algorithm, these information are carried out process and obtain human motion attitude parameter, three surface myoelectric electrode pair muscle telecommunications are used to gather, by circuit design, signal is amplified, multistage gain is adjustable and hardware filtering, improve signal to noise ratio, human skin is attached to by using the digital microphone of MEMS technology, to gather the oscillation crosswise mechanical information of muscle when initiatively shrinking.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of a kind of novel sensor for gathering human motion signal of the present invention;
Fig. 2 is the circuit diagram that flesh of the present invention moves signaling module;
Fig. 3 is the circuit diagram of electromyographic signal module of the present invention;
Fig. 4 is the circuit diagram of motion-captured module of the present invention;
Fig. 5 is the circuit diagram of microcontroller of the present invention;
Fig. 6 is the circuit diagram of bluetooth module of the present invention;
Fig. 7 is the circuit diagram of wave filter of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described:
As shown in Figure 1: the present invention includes microcontroller, motion-captured module, electromyographic signal module, flesh moves signaling module, bluetooth module and main control computer, the signal output part that described motion-captured module, described electromyographic signal module move signaling module with described flesh is all connected with the signal input part of described microcontroller, the signal output part of described microcontroller is connected with the signal input part of described bluetooth module, the signal output part of described bluetooth module and the signal input part wireless connections of described main control computer.
As shown in Figure 1 and Figure 4, described motion-captured module comprises accelerometer, gyroscope and magnetometer, and described accelerometer, described gyroscope are all connected with the signal input part of described microcontroller with the signal output part of described magnetometer.
As shown in figures 1 and 3, described electromyographic signal module comprises electrode amplifying circuit, adjustable gain circuit and filter circuit, described electrode amplifying circuit, described adjustable gain circuit are all connected with the signal input part of described microcontroller with the signal output part of described filter circuit, described electromyographic signal module is amplified and filtering by the bioelectrical signals faint to human muscle, to obtain the state that muscle is energized in motor process.
As depicted in figs. 1 and 2, described flesh moves signaling module and comprises digital microphone, the signal output part of described digital microphone is connected with the signal input part of described microcontroller, and described digital microphone is attached to muscle skin surface, to obtain the mechanics parameter of muscle oscillation crosswise in motor process.
Operation principle of the present invention is as follows:
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6 and Fig. 7, operation principle of the present invention is as follows:
The present invention mainly includes motion-captured module, electromyographic signal module, flesh move the large hardware components of signaling module, microcontroller and bluetooth module five, motion-captured module is mainly integrated with the transducing parts such as accelerometer, gyroscope and magnetometer, by suitable algorithm data fusion, to obtain kinematics parameters; Electromyographic signal module is amplified and filtering mainly through the bioelectrical signals faint to human muscle, to obtain the state that muscle is energized in motor process; Flesh moves signaling module and is attached to muscle skin surface, to obtain the mechanics parameter of muscle oscillation crosswise in motor process mainly through using digital microphone; Microcontroller is mainly demarcated the data that each module transfer comes, correct, is merged, and then by bluetooth module, the data processed is sent to upper main control computer and shows in real time, analyzes and preserve.
In above process, Inertial Measurement Unit U14 and magnetic sensor U13 collects acceleration respectively, and angular velocity and magnetic direction are transferred to microcontroller U18 by IIC interface; The flesh that digital microphone U11 and U15 collects moves Signal transmissions to microcontroller U18.The electromyographic signal that amplifier U8 and U12 collects is by being transferred to microcontroller U18 after wave filter U20 filtering.Microcontroller U18 carries out data fusion the data collected, and finally the data after process is transferred to host computer by bluetooth module U21.
By selecting the three axis accelerometer based on MEMS technology, three-axis gyroscope and three axle magnetometers also use 32 Cortex-A4 High Speed Microcontroller to carry out algorithm fusion to realize human body motion capture and analytic function to data, select and carry out surface electromyogram signal acquisition based on the signal amplification circuit of MEMS technology and filter circuit, realize noise suppression and the adjustable function of signal amplification factor, select the digital microphone based on MEMS technology to gather flesh and move signal, the accelerometer mode more single than tradition has higher resolution and sensitivity, sensor is lighter than the little weight of legacy equipment volume, conveniently can be worn on human body limb and carry out detection use at indoor or outdoors.
In sum, the present invention is by using the accelerometer based on MEMS technology, gyroscope and magnetometer, to obtain the acceleration of human body in motor process, the physical quantitys such as angular velocity, by data anastomosing algorithm, these information are carried out process and obtain human motion attitude parameter, three surface myoelectric electrode pair muscle telecommunications are used to gather, by circuit design, signal is amplified, multistage gain is adjustable and hardware filtering, improve signal to noise ratio, human skin is attached to by using the digital microphone of MEMS technology, to gather the oscillation crosswise mechanical information of muscle when initiatively shrinking.
Those skilled in the art do not depart from essence of the present invention and spirit, various deformation scheme can be had to realize the present invention, the foregoing is only the better feasible embodiment of the present invention, not thereby interest field of the present invention is limited to, the equivalent structure change that all utilizations description of the present invention and accompanying drawing content are done, is all contained within interest field of the present invention.
Claims (6)
1. one kind for gathering the novel sensor of human motion signal, it is characterized in that: comprise microcontroller, motion-captured module, electromyographic signal module, flesh moves signaling module, bluetooth module and main control computer, the signal output part that described motion-captured module, described electromyographic signal module move signaling module with described flesh is all connected with the signal input part of described microcontroller, the signal output part of described microcontroller is connected with the signal input part of described bluetooth module, the signal output part of described bluetooth module and the signal input part wireless connections of described main control computer.
2. a kind of novel sensor for gathering human motion signal according to claim 1, it is characterized in that: described motion-captured module comprises accelerometer, gyroscope and magnetometer, described accelerometer, described gyroscope are all connected with the signal input part of described microcontroller with the signal output part of described magnetometer.
3. a kind of novel sensor for gathering human motion signal according to claim 1, it is characterized in that: described electromyographic signal module comprises electrode amplifying circuit, adjustable gain circuit and filter circuit, described electrode amplifying circuit, described adjustable gain circuit are all connected with the signal input part of described microcontroller with the signal output part of described filter circuit.
4. a kind of novel sensor for gathering human motion signal according to claim 1, it is characterized in that: described flesh moves signaling module and comprises digital microphone, the signal output part of described digital microphone is connected with the signal input part of described microcontroller.
5. a kind of novel sensor for gathering human motion signal according to claim 3, it is characterized in that: described electromyographic signal module is amplified and filtering by the bioelectrical signals faint to human muscle, to obtain the state that muscle is energized in motor process.
6. a kind of novel sensor for gathering human motion signal according to claim 4, is characterized in that: described digital microphone is attached to muscle skin surface, to obtain the mechanics parameter of muscle oscillation crosswise in motor process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510742056.9A CN105411594A (en) | 2015-11-02 | 2015-11-02 | Novel sensor used for collecting human motion signals |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510742056.9A CN105411594A (en) | 2015-11-02 | 2015-11-02 | Novel sensor used for collecting human motion signals |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105411594A true CN105411594A (en) | 2016-03-23 |
Family
ID=55490482
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510742056.9A Pending CN105411594A (en) | 2015-11-02 | 2015-11-02 | Novel sensor used for collecting human motion signals |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105411594A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106166069A (en) * | 2016-07-05 | 2016-11-30 | 上海丞电电子科技有限公司 | The microsensor of a kind of myoelectricity collection amplification and sensor-based training method |
| CN106209030A (en) * | 2016-07-25 | 2016-12-07 | 四川东鼎里智信息技术有限责任公司 | Rehabilitation training signal filter circuit |
| CN106377253A (en) * | 2016-09-14 | 2017-02-08 | 燕山大学 | Electromyographic signal and inertia information synchronous collection device |
| CN107595284A (en) * | 2017-04-21 | 2018-01-19 | 广州阿路比电子科技有限公司 | A kind of myoelectric sensor system based on wireless charging and energy from collection technique |
| PL423224A1 (en) * | 2017-10-21 | 2019-04-23 | Rsq Tech Spolka Z Ograniczona Odpowiedzialnoscia | Method for measuring and imaging of a body motion, preferably in treatment and orthopedic diagnostics |
| CN110226927A (en) * | 2018-03-05 | 2019-09-13 | 郑惇方 | Bio-energy signal acquisition and conversion equipment |
| CN111714101A (en) * | 2019-03-20 | 2020-09-29 | 安徽华米信息科技有限公司 | Signal processing method and device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101522101A (en) * | 2006-10-11 | 2009-09-02 | 皇家飞利浦电子股份有限公司 | Limb movement monitoring system |
| CN101980228A (en) * | 2010-09-01 | 2011-02-23 | 张辉 | Human body information monitoring and processing system and method |
| WO2013151770A1 (en) * | 2012-04-03 | 2013-10-10 | Carnegie Mellon University | Musculoskeletal activity recognition system and method |
| CN103654774A (en) * | 2014-01-02 | 2014-03-26 | 北京思睿博创科技有限公司 | Wearable movable bracelet |
| GB2519987A (en) * | 2013-11-04 | 2015-05-13 | Imp Innovations Ltd | Biomechanical activity monitoring |
| CN205625934U (en) * | 2015-11-02 | 2016-10-12 | 广州阿路比电子科技有限公司 | A new type sensor for gathering human motion signal |
-
2015
- 2015-11-02 CN CN201510742056.9A patent/CN105411594A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101522101A (en) * | 2006-10-11 | 2009-09-02 | 皇家飞利浦电子股份有限公司 | Limb movement monitoring system |
| CN101980228A (en) * | 2010-09-01 | 2011-02-23 | 张辉 | Human body information monitoring and processing system and method |
| WO2013151770A1 (en) * | 2012-04-03 | 2013-10-10 | Carnegie Mellon University | Musculoskeletal activity recognition system and method |
| GB2519987A (en) * | 2013-11-04 | 2015-05-13 | Imp Innovations Ltd | Biomechanical activity monitoring |
| CN103654774A (en) * | 2014-01-02 | 2014-03-26 | 北京思睿博创科技有限公司 | Wearable movable bracelet |
| CN205625934U (en) * | 2015-11-02 | 2016-10-12 | 广州阿路比电子科技有限公司 | A new type sensor for gathering human motion signal |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106166069A (en) * | 2016-07-05 | 2016-11-30 | 上海丞电电子科技有限公司 | The microsensor of a kind of myoelectricity collection amplification and sensor-based training method |
| CN106209030A (en) * | 2016-07-25 | 2016-12-07 | 四川东鼎里智信息技术有限责任公司 | Rehabilitation training signal filter circuit |
| CN106209030B (en) * | 2016-07-25 | 2018-10-23 | 四川东鼎里智信息技术有限责任公司 | Rehabilitation training signal filter circuit |
| CN106377253A (en) * | 2016-09-14 | 2017-02-08 | 燕山大学 | Electromyographic signal and inertia information synchronous collection device |
| CN107595284A (en) * | 2017-04-21 | 2018-01-19 | 广州阿路比电子科技有限公司 | A kind of myoelectric sensor system based on wireless charging and energy from collection technique |
| CN107595284B (en) * | 2017-04-21 | 2024-03-12 | 广州阿路比电子科技有限公司 | Myoelectric sensor system based on wireless charging and energy self-collection technology |
| PL423224A1 (en) * | 2017-10-21 | 2019-04-23 | Rsq Tech Spolka Z Ograniczona Odpowiedzialnoscia | Method for measuring and imaging of a body motion, preferably in treatment and orthopedic diagnostics |
| CN110226927A (en) * | 2018-03-05 | 2019-09-13 | 郑惇方 | Bio-energy signal acquisition and conversion equipment |
| CN111714101A (en) * | 2019-03-20 | 2020-09-29 | 安徽华米信息科技有限公司 | Signal processing method and device |
| KR20200113215A (en) * | 2019-03-20 | 2020-10-06 | 안후이 화미 인포메이션 테크놀러지 코., 엘티디. | Wearable device, signal processing method and device |
| KR102438100B1 (en) | 2019-03-20 | 2022-08-30 | 안후이 화미 인포메이션 테크놀러지 코., 엘티디. | Wearable devices, signal processing methods and devices |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105411594A (en) | Novel sensor used for collecting human motion signals | |
| CN205625934U (en) | A new type sensor for gathering human motion signal | |
| JP6459241B2 (en) | Sleep state estimation device, sleep state estimation method, and program | |
| Yoon et al. | Improvement of dynamic respiration monitoring through sensor fusion of accelerometer and gyro-sensor | |
| CN104850231B (en) | A kind of man-machine interface system merged based on surface myoelectric and muscle signals | |
| CN109846487A (en) | Thigh measuring method for athletic posture and device based on MIMU/sEMG fusion | |
| Sidek et al. | Mapping of EMG signal to hand grip force at varying wrist angles | |
| CN104267807A (en) | Hand action mechanomyography based man-machine interaction method and interaction system | |
| Zhang et al. | Upper limb motion capturing and classification for unsupervised stroke rehabilitation | |
| CN203829261U (en) | Data collecting and processing system for upper limb rehabilitation robots | |
| TW201419048A (en) | System and method of motion trajectory reconstruction | |
| Beach et al. | Motion artefact removal in electroencephalography and electrocardiography by using multichannel inertial measurement units and adaptive filtering | |
| DongseoUniversity | The deployment of novel techniques for mobile ECG monitoring | |
| CN205568954U (en) | A sensor circuit for gathering human motion signal | |
| CN102579033A (en) | Bioelectrical front-mounted amplifier driven by constant current source and control method for bioelectrical front-mounted amplifier | |
| CN115736938A (en) | Multi-mode physiological signal acquisition device | |
| JP2011200558A (en) | Biological information acquiring apparatus | |
| CN111481197B (en) | A living-machine multimode information acquisition fuses device for man-machine natural interaction | |
| Zhao et al. | A wearable body motion capture system and its application in assistive exoskeleton control | |
| CN112148126A (en) | Limb action sensing device, system and wearable equipment | |
| Zhang et al. | A fall detection study based on neural network algorithm using AHRS | |
| Dudak et al. | Application of inertial sensors for detecting movements of the human body | |
| CN207323594U (en) | Mechanical arm control system based on electromyography signal | |
| CN213241078U (en) | Limb action sensing device, system and wearable equipment | |
| Shima et al. | An MMG-based human-assisting manipulator using acceleration sensors |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160323 |
|
| RJ01 | Rejection of invention patent application after publication |