CN106175760A - A kind of front-end detection unit of motion function recovery system - Google Patents
A kind of front-end detection unit of motion function recovery system Download PDFInfo
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- 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
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- 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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- A61B5/725—Details of waveform analysis using specific filters therefor, e.g. Kalman or adaptive filters
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Abstract
The processing accuracy of signal is recovered in order to improve motion function, reduce the noise wherein mixed, the invention provides the front-end detection unit of a kind of motion function recovery system, described front-end detection unit includes: communication unit, motion function reforestation practices choose unit, motion auxiliary unit, motion function detecting signal unit, and motion function signal processing unit.The present invention is it can be avoided that there is pumping signal to the aliasing of electromyographic signal and interference, drastically increase existing motion function recovery situation and rely primarily on the defect of artificial judgment, overcome existing detection equipment and the process of interference and aliasing cannot be met the drawback of requirement.
Description
Technical field
The present invention relates to the signal processing technology field of motion function monitoring device, more particularly, to a kind of fitness machine
The front-end detection unit of energy recovery system.
Background technology
Modern rehabilitation science is thought, the motion function after personal injury can obtain health by suitable motion and exercise
Multiple, such as, by means of fitness equipment.But, the usual function of traditional fitness equipment is simple, expensive, is mainly used in Healthy People
Physical ability strengthening recovers or body-building recovers.It is not suitable for use in the function training of apoplexy or hemiplegia patient.In prior art, apoplexy
Or the functional recovery of hemiplegia patient is generally completed by specialty Physical Therapist, its medical expense is high, the course for the treatment of is long, it usually needs use
Person accepts recovery to hospital, thus brings a lot of inconvenience.For healthy person, common body-building costly, and by place, people
All many restrictions such as member, expense.
Healing robot technology has been obtained for the most attention of researcher and medical institutions in countries such as America and Europes, than
More typical is that MIT design in 1991 completes First upper extremity exercise functional recovery robot system MIT-MANUS, this equipment
Using five-bar mechanism, terminating impedance is less, utilizes impedance control to realize safety, stability and the ride comfort recovered, and it has 2
Individual degree of freedom, helps the motion of the shoulder of paralytic, elbow.Another upper extremity exercise functional recovery robot system is MIME, and this sets
For being designed by Stanford University's research worker, use industrial robot PUMA-560 that patient's suffering limb is handled, both can carry
Recover for plane motion, it is also possible to make three-dimensional motion restoration.Patient forearm clamps with clamping plate, equipped with six axle power sensings on clamping plate
Device, pneumatic overload disconnect sensor and quick connection/release mechanism.In China, the colleges and universities such as Tsing-Hua University are also actively grinding
Study carefully.
At present, motion function is recovered the robot of purposes and has been gradually formed the mechanism of remote supervisory and guidance, i.e. generally with
Muscle signals and/or the electromyographic signal of feeding back acquisition after electrode excitation are target, are sent to the monitoring client at far-end director place
It is monitored and instructs.But, in the signal that feedback obtains, it is contaminated with the physiological function of human normal, metabolism etc. unavoidably
The noise produced, and, when stimulation muscle and inducing myoelectric potential occur and stimulating electrode and the position of recording electrode simultaneously
Time close, electromyographic signal is mixed with the interference of pumping signal, influences whether the acquisition precision of signal.
Summary of the invention
Accurately represent that motion function recovers the letter of state to obtain from healing robot in motion function recovery process
Number, the invention provides the front-end detection unit of a kind of motion function recovery system, described front-end detection unit includes: communication unit
Unit, motion function reforestation practices choose unit, motion auxiliary unit, motion function detecting signal unit, and motion function letter
Number processing unit；Described motion function recovery system includes server, is used for controlling described front-end detection unit and storage is described
The signal that front-end detection unit collects；Wherein said communication unit is in described front-end detection unit and described motion function
Carrying out data transmission between recovery system, described motion function reforestation practices chooses unit for recovering according to described motion function
The control information of system arranges the mode of operation of motion auxiliary unit, and described motion auxiliary unit is for providing for personnel to be restored
Motion function resumes training, and described motion function detecting signal unit is for detecting after described motion auxiliary unit is started working
The recovery signal of personnel to be restored, described motion function signal processing unit is for carrying out analog digital conversion also to described recovery signal
It is uploaded to described motion function recovery system by means of described communication unit.
Further, described motion function detecting signal unit includes: for carrying out the fortune of motion function recovery and exercise
Motivation energy restorer and in this recovery and exercise routine detect motion function recover signal motion function recover
Detection equipment, described motion function restorer includes by exciting electrode to the electricity of energized position emission electrode pumping signal
Pole excitation signal generation unit and gather as this electrode excitation signal response myoelectricity response signal gathering unit, described
Motion function is recovered detection equipment and is included: excitation remnants removal signal element, signal detection mode matching unit, amplification channel are opened
Closing array, the first filter unit and the second filter unit, wherein said excitation remnants remove signal element, described signal detection mould
Formula matching unit, described amplification channel switch arrays, described first filter unit and described second filter unit are in sequential series.
Further, described excitation remnants remove signal element for eliminating the pumping signal in electromyographic signal collection unit
Interference components, including: electrode excitation signal characteristic spectrum generating unit, electromyographic signal frequency spectrum signal generating unit, time delay determine unit,
Delay unit, subtractor circuit, wherein said electrode excitation signal characteristic spectrum generating unit produces at described electrode excitation signal
The prearranged signals frequency spectrum of specific incentives signal characteristic, this letter it is attached on the basis of the electrode excitation signal that generation unit produces
Number frequency spectrum is imported into described time delay and determines that unit, described time delay determine that unit is for the cycle according to described prearranged signals frequency spectrum
Property feature determine the phase contrast between the frequency spectrum of electrode excitation signal that itself and described electrode excitation signal generation unit produce, and
Determine that described electrode excitation signal generation unit produces after electrode excitation signal with described to energized position according to this phase contrast
Electromyographic signal collection unit collect response signal between time difference, described delay unit according to this time difference to described electrode
The electrode excitation signal that excitation signal generation unit produces carries out time delay, and the signal obtained after time delay is adopted with described electromyographic signal
The myoelectricity response signal that collection unit collects is input to described subtractor circuit jointly, thus by described electrode excitation signal described
Remnants in myoelectricity response signal remove from described myoelectricity response signal.
Further, described prearranged signals frequency spectrum is the frequency spectrum of the square-wave signal with 2 seconds.
Further, described signal detection mode matching unit includes: at mode memory, spectral analysis unit and data
Reason device, described mode memory storage has the various modes electrode excitation signal one to one with motion function recovery signal
The First Eigenvalue of frequency spectrum, described spectral analysis unit is for the electrode excitation produced by described electrode excitation signal generation unit
Signal is transformed to frequency spectrum and determines the Second Eigenvalue of this frequency spectrum, described Second Eigenvalue and described fisrt feature Value Types phase
With, described Second Eigenvalue searched in described mode memory by described data processor, and determines that match first is special
The pattern that value indicative is corresponding.
Further, described the First Eigenvalue and described Second Eigenvalue are spectrum density.
Further, described amplification channel switch arrays include what multiple gate-controlled switch and amplifier connected in series were constituted
Switch arrays and channel status memorizer, the input of each amplifier in described switch arrays is sent out with to energized position
Each exciting electrode of radio pole excitation signal concatenates correspondingly, and described channel status memorizer is for storing with described many
Planting pattern each exciting electrode one to one optimized switch state under this each pattern, described switch arrays are according to described
The pattern that signal detection mode matching unit determines is searched each corresponding with this pattern from described channel status memorizer and is swashed
Encourage electrode optimized switch state in this mode, and control the on off state of each gate-controlled switch in described switch arrays.
Further, described optimized switch state is according to various motion function reforestation practices once, to disconnecting and/or closing
Relation between the signal to noise ratio of the myoelectricity response signal obtained after closing each gate-controlled switch determines.
Further, described first filter unit is band filter, and its lower limiting frequency and upper cut off frequency are respectively
5Hz and 1800Hz.
Further, described second filter unit includes: 6.84k Ω resistance, 19.73k Ω resistance, 9.75k Ω resistance,
14.3k Ω resistance, 5.13k Ω resistance, 10.94k Ω resistance, 1.73k Ω resistance, 3.91k Ω resistance, 2.8k Ω resistance, 5k Ω
Resistance, 2k Ω resistance, a 1k Ω resistance, a 2.5k Ω resistance, a 2.2k Ω resistance, the 2nd 2.2k Ω resistance, second
1k Ω resistance, 9.31k Ω resistance, 2.32k Ω resistance, 4.2k Ω resistance, 4.8k Ω resistance, the 2nd 2.5k Ω resistance, 0.27uF
Electric capacity, 0.22uF electric capacity, a 0.31uF electric capacity, 0.33uF electric capacity, 0.38uF electric capacity, 0.82uF electric capacity, 6.8uF electric capacity,
0.57uF electric capacity, the 2nd 0.31uF electric capacity, 0.12uF electric capacity, 2uF electric capacity, a 0.8uF electric capacity, the 2nd 0.8uF electric capacity, first
0.35uF electric capacity, the 2nd 0.35uF electric capacity, the 3rd 0.31uF electric capacity, 0.47uF electric capacity, the first operational amplifier, the second computing are put
Big device, the 3rd operational amplifier, four-operational amplifier, the 5th operational amplifier, the 6th operational amplifier, the 7th operation amplifier
Device, the first Zener diode, the second Zener diode, the 3rd Zener diode, the 4th Zener diode, the 5th Zener two pole
Pipe, the 6th Zener diode, the 7th Zener diode, the first subtractor circuit, and the second subtractor circuit, wherein, described 6.84k
First end of Ω resistance connects input signal end and the first end of 2.8k Ω resistance, the second of described 6.84k Ω resistance respectively
End connects the first end of described 19.73k Ω resistance, and the second end of described 19.73k Ω resistance connects described first computing respectively and puts
The positive input terminal of big device and the first end of described 0.22uF electric capacity, the second end ground connection of described 0.22uF electric capacity, described 19.73k
First end of Ω resistance is also connected with the first end of described 0.27uF electric capacity, and the second end of described 0.27uF electric capacity connects described first
The outfan of operational amplifier, the first end of 2uF electric capacity, the first end of described 9.75k Ω resistance and the first operational amplifier
Negative input end, the second end of described 9.75k Ω resistance connects with the first end of described 14.3k Ω resistance, described 14.3k Ω electricity
Second end of resistance connects positive input terminal and the first end of a described 0.31uF electric capacity, the institute of described second operational amplifier respectively
Stating the second end ground connection of a 0.31uF electric capacity, the first end of described 14.33k Ω resistance is also connected with the of described 0.33uF electric capacity
One end, the second end of described 0.33uF electric capacity connects the outfan of described second operational amplifier, the first end of 2uF electric capacity, institute
Stating the first end and the negative input end of the second operational amplifier of 5.13k Ω resistance, the second end of described 2.8k Ω resistance is respectively
Connect the first end of described 2nd 0.31uF electric capacity, the first end of described 0.12uF electric capacity and the first of described 4.2k Ω resistance
End, the second end ground connection of described 4.2k Ω resistance, the second end of described 0.12uF electric capacity connects described 3rd operation amplifier respectively
The negative input end of device and the first end of described 4.8k Ω resistance, the second end of described 2nd 0.31uF electric capacity connects described respectively
Second end of 4.8k Ω resistance and the outfan of described 3rd operational amplifier and the positive pole of the first Zener diode, described
The negative pole of Zener diode connects the positive input terminal of described second subtractor circuit, and the outfan of described second subtractor circuit connects
Second end of a described 1k Ω resistance and the first end of described 2nd 0.8uF electric capacity, described 3rd operational amplifier the most defeated
Entering end and connect DC voltage, the second end of described 2uF electric capacity connects the positive input terminal of described four-operational amplifier, output respectively
End, the first end of a 1k Ω resistance and the first end of 5k Ω resistance, the second end of described 5k Ω resistance connects the described 4th
The negative input end of operational amplifier, the outfan of described four-operational amplifier is also connected with the positive pole of the second Zener diode, institute
The negative pole stating the second Zener diode connects the first end and first end of described 2k Ω resistance of described 5.13k Ω resistance respectively,
The outfan of described 3rd operational amplifier is also respectively connected with the negative pole of described 3rd Zener diode, a 0.8uF electric capacity
First end and the first end of a described 2.5k Ω resistance, the positive pole of described 3rd Zener diode connects described first respectively
The positive pole of Zener diode, the first end of the 2nd 0.8uF electric capacity, the positive pole of the 4th Zener diode, the of a 1k Ω resistance
Two ends, the first end of the 2nd 1k Ω resistance, the first end of the 2nd 2.2k Ω resistance, the second end of a described 2.5k Ω resistance divides
Do not connect the second end of described 2k Ω resistance and the negative pole of the second end of described 5.13k Ω resistance and the 5th Zener diode and
First end of a described 2.2k Ω resistance, the positive pole of described 4th Zener diode, the second end of a 0.8uF electric capacity,
Second end of two 0.8uF electric capacity, the second end of described 2nd 1k Ω resistance, the second end of a described 0.35uF electric capacity, described
Second end of the 2nd 0.35uF electric capacity, the equal ground connection of negative pole of the 6th Zener diode, the second end of described 2nd 2.2k Ω resistance
Connect the first end of described 2nd 0.35uF electric capacity, the positive pole of the 6th Zener diode, the positive pole of the 7th Zener diode respectively,
Second end of a described 2.2k Ω resistance connects the first end of a described 0.35uF electric capacity, the 7th Zener diode respectively
Negative pole and the first end of 9.31k Ω resistance, the second end of described 5.13k Ω resistance connects the negative of the 5th Zener diode respectively
Pole, the first end of described 10.94k Ω resistance and the first end of described 0.82uF electric capacity, the second of described 10.94k Ω resistance
End connects the positive input terminal of the 5th operational amplifier, the first end of 0.38uF electric capacity, the second end of described 0.38uF electric capacity respectively
Ground connection, the second end of described 0.82uF electric capacity connects the outfan of described 5th operational amplifier, described 1.73k Ω resistance respectively
The first end, the negative input end of described 5th operational amplifier and the positive pole of described 5th Zener diode, described 1.73k Ω
Second end of resistance connects the first end and first end of described 6.8uF electric capacity of described 3.91k Ω resistance respectively, described
Second end of 3.91k Ω resistance connects the positive input terminal of the 6th operational amplifier and the first end of 0.57uF electric capacity respectively, described
Second end ground connection of 0.57uF electric capacity, the second end of described 6.8uF electric capacity connects the output of described 6th operational amplifier respectively
End, the negative input end of described first subtractor circuit and the negative input end of described 6th operational amplifier, described 9.31k Ω resistance
The second end connect the first end of described 0.47uF electric capacity, the first end of described 3rd 0.31uF electric capacity and 2.32k Ω respectively
First end of resistance, the second end ground connection of described 2.32k Ω resistance, the second end of described 3rd 0.31uF electric capacity connects institute respectively
State the negative input end of the 7th operational amplifier, the first end of described 2nd 2.5k Ω resistance, the of described 2nd 2.5k Ω resistance
Two ends connect the second end of described 0.47uF electric capacity, the outfan of the 7th operational amplifier, described 7th operational amplifier respectively
Positive input terminal connect DC voltage, the outfan of described 7th operational amplifier is also connected with the most defeated of described first subtractor circuit
Entering end, the outfan of described first subtractor circuit connects the negative input end of described second subtractor circuit, described first subtractor circuit
Outfan connect output signal end.
The invention has the beneficial effects as follows:
(1) present invention is it can be avoided that there is pumping signal to the aliasing of electromyographic signal and interference, drastically increases existing
Motion function recovery situation relies primarily on the defect of artificial judgment, overcomes existing detection equipment to interference and the process of aliasing
The drawback of requirement cannot be met；
(2) present invention screens the Spectrum Relationship between pumping signal and electromyographic signal from the angle of frequency domain, and then obtains
Delayed data between electromyographic signal and pumping signal, has established solid foundation, relatively for improving the degree of purity of electromyographic signal
In time domain processing mode the most from the prior art, there is higher anti-noise effect and screen performance；
(3) being chosen by pattern and recover based on statistical big data quantity, the present invention can intelligently control excitation
The passage of electrode is opened or is closed, thus removes noise as much as possible in corresponding motion function recovery process, improves
Overall output signal-noise ratio；
(4) use spectrum density to screen as frequency spectrum, be conducive to saving operand, reduce power consumption；
(5) band filter is passed through, it is possible to preliminarily carry out electromyographic signal screening, established base for follow-up finer filter
Plinth；
(6) the invention provides a kind of through specially designed filter circuit unit, its combine low order active filter and
Low order passive filter the novel designs according to filter construction, not only reduce load effect and be applicable to include the heart
Rate signal, motor message, electromyographic signal etc. are likely to be of upper frequency or lower frequency and frequency changes erratic signal and exists
Interior wide variable signal filter range；Wide frequency range Filtering Processing energy compared to 0-10kHz frequency common in the art
Power and cannot ensure the drawback of the linearity under the wide scope of application, after tested, this filter circuit is ensureing 70Hz low-frequency cutoff frequency
On the premise of rate, having the wideband filter range of 10-25kHz, decay is less than 1.9dB, and TOI point reaches 30dBm, has
Excellent output linearity degree and rate-adaptive pacemaker degree of stability, significantly reduce cost relative to the chip of external specialized manufacturer,
Wearable device is conducive in the tremendous development of China and to popularize.
(7) intelligent passage is controlled by the present invention and the filter circuit of well-designed filter unit composition combines, suitable
Together in the different accuracy requirement of multiple rehabilitation modality, on the basis of recovering data, have more good expandability.
Accompanying drawing explanation
Fig. 1 shows the composition frame chart of the front-end detection unit of the motion function recovery system according to the present invention.
Fig. 2 shows the circuit diagram of the second filter unit.
Detailed description of the invention
As it is shown in figure 1, according to a preferred embodiment of the invention, before the invention provides a kind of motion function recovery system
End detector unit, described front-end detection unit includes: communication unit, motion function reforestation practices choose unit, motion auxiliary list
Unit, motion function detecting signal unit, and motion function signal processing unit；Described motion function recovery system includes service
Device, for controlling described front-end detection unit and storing the signal that described front-end detection unit collects；Wherein said communication unit
Unit is for carrying out data transmission between described front-end detection unit and described motion function recovery system, and described motion function is extensive
Complex pattern chooses unit for arranging the Working mould of motion auxiliary unit according to the control information of described motion function recovery system
Formula, described motion auxiliary unit is used for providing motion function to resume training for personnel to be restored, described motion function signal detection
Unit is for detecting the recovery signal of personnel to be restored, described motion function signal after described motion auxiliary unit is started working
Processing unit for carrying out analog digital conversion and being uploaded to described motion function by means of described communication unit to described recovery signal
Recovery system.
Described communication unit uses 4G communication module, and described motion function reforestation practices chooses unit, and to include that storage has described
The memorizer of the data (such as, driving instruction data) of the multiple-working mode of motion auxiliary unit, described motion auxiliary unit
Running training equipment (such as treadmill), step climbing training equipment etc. are selected to recover motion function play training and recover to make
Equipment, described motion auxiliary unit can assist under the driving of described mode of operation and to be restored arbitrarily complete various ways
Training (such as, for running training equipment, driving of speed, gradient isoparametric driving instruction data can included
Change mode of operation under Dong, under the Parameter Conditions such as friction speed, gradient, complete multitude of different ways for personnel to be restored
Training and recovery), described motion function signal processing unit includes a/d converter, and it carries out modulus to described recovery signal and turns
Change, and the data after conversion are exported to described communication unit, and be uploaded to described motion function by means of described communication unit
The server of recovery system, for this server by means of functional recovery based on neural network algorithm scheduling algorithm of the prior art
Carry out data analysis with training mathematical model and store the data and analysis result representing that described recovery signal represents.
Described motion function detecting signal unit includes: recover for carrying out the motion function of motion function recovery and exercise
Equipment and the motion function recovery detection equipment for detection motion function recovery signal in this recovery and exercise routine, institute
State motion function restorer to include by exciting electrode to the electrode excitation signal of energized position emission electrode pumping signal
Generation unit and gather as this electrode excitation signal response myoelectricity response signal gathering unit, described motion function is extensive
Reinspection measurement equipment includes: excitation remnants remove signal element, signal detection mode matching unit, amplification channel switch arrays, the
One filter unit and the second filter unit, wherein said excitation remnants remove signal element, described signal detection mode coupling list
Amplification channel switch arrays first, described, described first filter unit and described second filter unit are in sequential series.
Preferably, described excitation remnants removal signal element is done for eliminating the pumping signal in electromyographic signal collection unit
Disturb component, including: electrode excitation signal characteristic spectrum generating unit, electromyographic signal frequency spectrum signal generating unit, time delay determine unit, prolong
Shi Danyuan, subtractor circuit, wherein said electrode excitation signal characteristic spectrum generating unit produces and produces at described electrode excitation signal
The prearranged signals frequency spectrum of specific incentives signal characteristic, this signal it is attached on the basis of the electrode excitation signal that raw unit produces
Frequency spectrum is imported into described time delay and determines that unit, described time delay determine that unit is for (this makes a reservation for according to described prearranged signals frequency spectrum
When signal is square wave, its frequency spectrum has periodically) periodic feature determine that it produces with described electrode excitation signal generation unit
Phase contrast between the frequency spectrum of raw electrode excitation signal, and determine described electrode excitation signal generation unit according to this phase contrast
Produce after electrode excitation signal to energized position and described electromyographic signal collection unit collects the time between response signal
Difference is (because being contaminated with in the response signal that electromyographic signal collection unit collects being attenuated in amplitude but spectrum signature will not change
Electrode excitation signal), the electrode that described electrode excitation signal generation unit is produced by described delay unit according to this time difference
Pumping signal carries out time delay, the myoelectricity response signal that the signal obtained after time delay is collected with described electromyographic signal collection unit
Jointly it is input to described subtractor circuit, thus by described electrode excitation signal remnants in described myoelectricity response signal from described
Myoelectricity response signal is removed.
Preferably, described prearranged signals frequency spectrum is the frequency spectrum of the square-wave signal with 2 seconds.
Preferably, described signal detection mode matching unit includes: mode memory, spectral analysis unit and data process
Device, described mode memory storage has the frequency of the various modes electrode excitation signal one to one recovering signal with motion function
The First Eigenvalue of spectrum, described spectral analysis unit is for the electrode excitation letter produced by described electrode excitation signal generation unit
Number being transformed to frequency spectrum and determine the Second Eigenvalue of this frequency spectrum, described Second Eigenvalue is identical with described fisrt feature Value Types,
Described Second Eigenvalue searched in described mode memory by described data processor, and determines the First Eigenvalue matched
Corresponding pattern.
Preferably, described the First Eigenvalue and described Second Eigenvalue are spectrum density.
Preferably, described amplification channel switch arrays include that what multiple gate-controlled switch and amplifier connected in series constituted opens
Closing array and channel status memorizer, the input of each amplifier in described switch arrays is launched with to energized position
Each exciting electrode of electrode excitation signal concatenates correspondingly, and described channel status memorizer is multiple with described for storage
Pattern each exciting electrode one to one optimized switch state under this each pattern, described switch arrays are according to described letter
Number detection pattern that determines of pattern matching unit is searched each corresponding with this pattern from described channel status memorizer and is encouraged
Electrode optimized switch state in this mode, and control the on off state of each gate-controlled switch in described switch arrays.
Preferably, described optimized switch state is according to various motion function reforestation practices once, to disconnecting and/or Guan Bi
Relation between the signal to noise ratio of the myoelectricity response signal obtained after each gate-controlled switch determines.
Preferably, described first filter unit is band filter, and its lower limiting frequency and upper cut off frequency are respectively 5Hz
And 1800Hz.
Preferably, as in figure 2 it is shown, described second filter unit includes: 6.84k Ω resistance, 19.73k Ω resistance, 9.75k
Ω resistance, 14.3k Ω resistance, 5.13k Ω resistance, 10.94k Ω resistance, 1.73k Ω resistance, 3.91k Ω resistance, 2.8k Ω electricity
Resistance, 5k Ω resistance, 2k Ω resistance, a 1k Ω resistance, a 2.5k Ω resistance, a 2.2k Ω resistance, the 2nd 2.2k Ω electricity
Resistance, the 2nd 1k Ω resistance, 9.31k Ω resistance, 2.32k Ω resistance, 4.2k Ω resistance, 4.8k Ω resistance, the 2nd 2.5k Ω resistance,
0.27uF electric capacity, 0.22uF electric capacity, a 0.31uF electric capacity, 0.33uF electric capacity, 0.38uF electric capacity, 0.82uF electric capacity, 6.8uF electricity
Appearance, 0.57uF electric capacity, the 2nd 0.31uF electric capacity, 0.12uF electric capacity, 2uF electric capacity, a 0.8uF electric capacity, the 2nd 0.8uF electric capacity,
Oneth 0.35uF electric capacity, the 2nd 0.35uF electric capacity, the 3rd 0.31uF electric capacity, 0.47uF electric capacity, the first operational amplifier, the second fortune
Calculate amplifier, the 3rd operational amplifier, four-operational amplifier, the 5th operational amplifier, the 6th operational amplifier, the 7th computing
Amplifier, the first Zener diode, the second Zener diode, the 3rd Zener diode, the 4th Zener diode, the 5th Zener two
Pole pipe, the 6th Zener diode, the 7th Zener diode, the first subtractor circuit, and the second subtractor circuit, wherein, described
First end of 6.84k Ω resistance connects input signal end and the first end of 2.8k Ω resistance respectively, described 6.84k Ω resistance
Second end connects the first end of described 19.73k Ω resistance, and the second end of described 19.73k Ω resistance connects described first fortune respectively
The positive input terminal of calculation amplifier and the first end of described 0.22uF electric capacity, the second end ground connection of described 0.22uF electric capacity is described
First end of 19.73k Ω resistance is also connected with the first end of described 0.27uF electric capacity, and the second end of described 0.27uF electric capacity connects institute
State the outfan of the first operational amplifier, the first end of 2uF electric capacity, the first end of described 9.75k Ω resistance and the first computing
The negative input end of amplifier, the second end of described 9.75k Ω resistance is connected with the first end of described 14.3k Ω resistance, described
Second end of 14.3k Ω resistance connects the positive input terminal of described second operational amplifier and a described 0.31uF electric capacity respectively
First end, the second end ground connection of a described 0.31uF electric capacity, the first end of described 14.33k Ω resistance is also connected with described
First end of 0.33uF electric capacity, the second end of described 0.33uF electric capacity connects the outfan of described second operational amplifier, 2uF electricity
The first end, the first end of described 5.13k Ω resistance and the negative input end of the second operational amplifier held, described 2.8k Ω resistance
The second end connect the first end of described 2nd 0.31uF electric capacity, the first end of described 0.12uF electric capacity and described 4.2k Ω respectively
First end of resistance, the second end ground connection of described 4.2k Ω resistance, the second end of described 0.12uF electric capacity connects described respectively
The negative input end of three operational amplifiers and the first end of described 4.8k Ω resistance, the second end of described 2nd 0.31uF electric capacity is respectively
Just connect the second end of described 4.8k Ω resistance and the outfan of described 3rd operational amplifier and the first Zener diode
Pole, the negative pole of described first Zener diode connects the positive input terminal of described second subtractor circuit, described second subtractor circuit
Outfan connects the second end and first end of described 2nd 0.8uF electric capacity of a described 1k Ω resistance, and described 3rd computing is put
The positive input terminal of big device connects DC voltage, and the second end of described 2uF electric capacity is just connecting described four-operational amplifier respectively
Input, outfan, the first end of a 1k Ω resistance and the first end of 5k Ω resistance, the second end of described 5k Ω resistance is even
Connecing the negative input end of described four-operational amplifier, the outfan of described four-operational amplifier is also connected with the second Zener diode
Positive pole, the negative pole of described second Zener diode connects the first end of described 5.13k Ω resistance and described 2k Ω resistance respectively
The first end, the outfan of described 3rd operational amplifier be also respectively connected with the negative pole of described 3rd Zener diode, first
First end of 0.8uF electric capacity and the first end of a described 2.5k Ω resistance, the positive pole of described 3rd Zener diode is respectively
Connect the positive pole of described first Zener diode, the first end of the 2nd 0.8uF electric capacity, the positive pole of the 4th Zener diode, first
Second end of 1k Ω resistance, the first end of the 2nd 1k Ω resistance, the first end of the 2nd 2.2k Ω resistance, a described 2.5k Ω electricity
Second end of resistance connects the second end of described 2k Ω resistance and the second end of described 5.13k Ω resistance and the 5th Zener two respectively
The negative pole of pole pipe and the first end of a described 2.2k Ω resistance, the positive pole of described 4th Zener diode, a 0.8uF electric capacity
The second end, the second end of the 2nd 0.8uF electric capacity, the second end of described 2nd 1k Ω resistance, a described 0.35uF electric capacity
Second end, the second end of described 2nd 0.35uF electric capacity, the equal ground connection of negative pole of the 6th Zener diode, described 2nd 2.2k Ω electricity
Second end of resistance connects the first end of described 2nd 0.35uF electric capacity, the positive pole of the 6th Zener diode, the 7th Zener two respectively
The positive pole of pole pipe, the second end of a described 2.2k Ω resistance connect respectively the first end of a described 0.35uF electric capacity, the 7th
The negative pole of Zener diode and the first end of 9.31k Ω resistance, it is neat that the second end of described 5.13k Ω resistance connects the 5th respectively
Receive the negative pole of diode, the first end of described 10.94k Ω resistance and the first end of described 0.82uF electric capacity, described 10.94k
Second end of Ω resistance connects the first end of the positive input terminal of the 5th operational amplifier, 0.38uF electric capacity, described 0.38uF respectively
Second end ground connection of electric capacity, the second end of described 0.82uF electric capacity connects the outfan of described 5th operational amplifier, institute respectively
Just state the first end of 1.73k Ω resistance, the negative input end of described 5th operational amplifier and described 5th Zener diode
Pole, the second end of described 1.73k Ω resistance connects the first end of described 3.91k Ω resistance and described 6.8uF electric capacity respectively
First end, the second end of described 3.91k Ω resistance connects the positive input terminal of the 6th operational amplifier and 0.57uF electric capacity respectively
First end, the second end ground connection of described 0.57uF electric capacity, the second end of described 6.8uF electric capacity connects described 6th computing respectively and puts
The big outfan of device, the negative input end of described first subtractor circuit and the negative input end of described 6th operational amplifier, described
Second end of 9.31k Ω resistance connects the first end of described 0.47uF electric capacity, the first end of described 3rd 0.31uF electric capacity respectively
And the first end of 2.32k Ω resistance, the second end ground connection of described 2.32k Ω resistance, the second of described 3rd 0.31uF electric capacity
Hold and connect the negative input end of described 7th operational amplifier, the first end of described 2nd 2.5k Ω resistance respectively, described second
Second end of 2.5k Ω resistance connects the second end of described 0.47uF electric capacity, the outfan of the 7th operational amplifier respectively, described
The positive input terminal of the 7th operational amplifier connects DC voltage, and the outfan of described 7th operational amplifier is also connected with described first
The positive input terminal of subtractor circuit, the outfan of described first subtractor circuit connects the negative input end of described second subtractor circuit, institute
The outfan stating the first subtractor circuit connects output signal end.
According to a preferred embodiment of the invention, DC voltage is Vdd/2 and Vdd=5V.Each subtractor circuit described is permissible
Select subtractor.
The narration made for presently preferred embodiments of the present invention above is the purpose for illustrating, and is not intended to limit present invention essence
Really for disclosed form, learn and make an amendment or change to be possible based on above teaching or from embodiments of the invention
, embodiment is for explaining orally the principle of the present invention and allowing those skilled in the art utilize the present invention to exist with various embodiments
Actual application is upper and selects and narration, and the technological thought attempt of the present invention is determined by claim and equalization thereof.
Claims (10)
1. the front-end detection unit of a motion function recovery system, it is characterised in that described front-end detection unit includes: communication
Unit, motion function reforestation practices choose unit, motion auxiliary unit, motion function detecting signal unit, and motion function
Signal processing unit；Described motion function recovery system includes server, is used for controlling described front-end detection unit and storage institute
State the signal that front-end detection unit collects；Wherein said communication unit is at described front-end detection unit and described fitness machine
Can carry out data transmission between recovery system, described motion function reforestation practices chooses unit for extensive according to described motion function
The control information of complex system arranges the mode of operation of motion auxiliary unit, and described motion auxiliary unit is for carrying for personnel to be restored
Resuming training for motion function, described motion function detecting signal unit is for examining after described motion auxiliary unit is started working
Surveying the recovery signal of personnel to be restored, described motion function signal processing unit is for carrying out analog digital conversion to described recovery signal
And it is uploaded to described motion function recovery system by means of described communication unit.
The front-end detection unit of motion function recovery system the most according to claim 1, it is characterised in that described fitness machine
Can include by detecting signal unit: for carrying out the motion function restorer of motion function recovery and exercise and for extensive at this
Exercise routine again and detects motion function and recovers the motion function recovery detection equipment of signal, described motion function restorer
To the electrode excitation signal generation unit of energized position emission electrode pumping signal and work is gathered including by exciting electrode
For the myoelectricity response signal gathering unit of the response of this electrode excitation signal, described motion function is recovered detection equipment and is included: swash
Encourage remaining removal signal element, signal detection mode matching unit, amplification channel switch arrays, the first filter unit and the second filter
Ripple unit, wherein said excitation remnants remove signal element, described signal detection mode matching unit, described amplification channel switch
Array, described first filter unit and described second filter unit are in sequential series.
The front-end detection unit of motion function recovery system the most according to claim 2, it is characterised in that described excitation is residual
Remaining signal element of removing is used for eliminating the pumping signal interference components in electromyographic signal collection unit, including: electrode excitation signal
Characteristic frequency spectrum generation unit, electromyographic signal frequency spectrum signal generating unit, time delay determine unit, delay unit, subtractor circuit, wherein said
Electrode excitation signal characteristic spectrum generating unit produces the electrode excitation signal produced at described electrode excitation signal generation unit
On the basis of be attached to the prearranged signals frequency spectrum of specific incentives signal characteristic, this signal spectrum is imported into described time delay and determines
Unit, described time delay determines that unit is for determining itself and described electrode excitation according to the periodic feature of described prearranged signals frequency spectrum
Phase contrast between the frequency spectrum of the electrode excitation signal that signal generation unit produces, and determine that described electrode swashs according to this phase contrast
Encourage signal generation unit and collect response with described electromyographic signal collection unit after energized position produces electrode excitation signal
Time difference between signal, the electrode that described electrode excitation signal generation unit is produced by described delay unit according to this time difference
Pumping signal carries out time delay, the myoelectricity response signal that the signal obtained after time delay is collected with described electromyographic signal collection unit
Jointly it is input to described subtractor circuit, thus by described electrode excitation signal remnants in described myoelectricity response signal from described
Myoelectricity response signal is removed.
The front-end detection unit of motion function recovery system the most according to claim 3, it is characterised in that described predetermined letter
Number frequency spectrum is the frequency spectrum of the square-wave signal with 2 seconds.
The front-end detection unit of motion function recovery system the most according to claim 3, it is characterised in that described signal is examined
Survey pattern matching unit includes: mode memory, spectral analysis unit and data processor, described mode memory storage have with
Motion function recovers the First Eigenvalue of the various modes frequency spectrum of electrode excitation signal one to one of signal, and described frequency spectrum divides
Analysis unit is for being transformed to frequency spectrum by the electrode excitation signal that described electrode excitation signal generation unit produces and determine this frequency spectrum
Second Eigenvalue, described Second Eigenvalue is identical with described fisrt feature Value Types, and described data processor is in described pattern
Memorizer is searched described Second Eigenvalue, and determines the pattern that the First Eigenvalue matched is corresponding.
The front-end detection unit of motion function recovery system the most according to claim 5, it is characterised in that described first is special
Value indicative and described Second Eigenvalue are spectrum density.
The front-end detection unit of motion function recovery system the most according to claim 2, it is characterised in that described amplification is led to
Road switch arrays include multiple gate-controlled switch and the switch arrays of amplifier connected in series composition and channel status memorizer,
The input of each amplifier in described switch arrays and each excitation electricity to energized position emission electrode pumping signal
Pole concatenates correspondingly, and described channel status memorizer is for storage and described various modes each excitation electricity one to one
Pole optimized switch state under this each pattern, described switch arrays determine according to described signal detection mode matching unit
Pattern searches each exciting electrode corresponding with this pattern optimized switch in this mode from described channel status memorizer
State, and control the on off state of each gate-controlled switch in described switch arrays.
The front-end detection unit of motion function recovery system the most according to claim 7, it is characterised in that described most preferably open
Off status is according to various motion function reforestation practices once, to the myoelectricity obtained after disconnecting and/or closing each gate-controlled switch
Relation between the signal to noise ratio of response signal determines.
The front-end detection unit of motion function recovery system the most according to claim 2, it is characterised in that described first filter
Ripple unit is band filter, and its lower limiting frequency and upper cut off frequency are respectively 5Hz and 1800Hz.
The front-end detection unit of motion function recovery system the most according to claim 9, it is characterised in that described second
Filter unit includes: 6.84k Ω resistance, 19.73k Ω resistance, 9.75k Ω resistance, 14.3k Ω resistance, 5.13k Ω resistance,
10.94k Ω resistance, 1.73k Ω resistance, 3.91k Ω resistance, 2.8k Ω resistance, 5k Ω resistance, 2k Ω resistance, a 1k Ω electricity
Resistance, a 2.5k Ω resistance, a 2.2k Ω resistance, the 2nd 2.2k Ω resistance, the 2nd 1k Ω resistance, 9.31k Ω resistance,
2.32k Ω resistance, 4.2k Ω resistance, 4.8k Ω resistance, the 2nd 2.5k Ω resistance, 0.27uF electric capacity, 0.22uF electric capacity, first
0.31uF electric capacity, 0.33uF electric capacity, 0.38uF electric capacity, 0.82uF electric capacity, 6.8uF electric capacity, 0.57uF electric capacity, the 2nd 0.31uF electricity
Appearance, 0.12uF electric capacity, 2uF electric capacity, a 0.8uF electric capacity, the 2nd 0.8uF electric capacity, a 0.35uF electric capacity, the 2nd 0.35uF electricity
Appearance, the 3rd 0.31uF electric capacity, 0.47uF electric capacity, the first operational amplifier, the second operational amplifier, the 3rd operational amplifier,
Four-operational amplifier, the 5th operational amplifier, the 6th operational amplifier, the 7th operational amplifier, the first Zener diode, second
Zener diode, the 3rd Zener diode, the 4th Zener diode, the 5th Zener diode, the 6th Zener diode, the 7th neat
Receiving diode, the first subtractor circuit, and the second subtractor circuit, wherein, the first end of described 6.84k Ω resistance connects defeated respectively
Entering signal end and the first end of 2.8k Ω resistance, the second end of described 6.84k Ω resistance connects described 19.73k Ω resistance
First end, the second end of described 19.73k Ω resistance connects the positive input terminal of described first operational amplifier and described respectively
First end of 0.22uF electric capacity, the second end ground connection of described 0.22uF electric capacity, the first end of described 19.73k Ω resistance is also connected with
First end of described 0.27uF electric capacity, described 0.27uF electric capacity second end connect described first operational amplifier outfan,
First end of 2uF electric capacity, the first end of described 9.75k Ω resistance and the negative input end of the first operational amplifier, described 9.75k
Second end of Ω resistance is connected with the first end of described 14.3k Ω resistance, and the second end of described 14.3k Ω resistance connects institute respectively
State positive input terminal and first end of a described 0.31uF electric capacity of the second operational amplifier, the of a described 0.31uF electric capacity
Two end ground connection, the first end of described 14.33k Ω resistance is also connected with the first end of described 0.33uF electric capacity, described 0.33uF electric capacity
Second end connect the outfan of described second operational amplifier, the first end of 2uF electric capacity, the first of described 5.13k Ω resistance
End and the negative input end of the second operational amplifier, the second end of described 2.8k Ω resistance connects described 2nd 0.31uF electricity respectively
The first end, the first end of described 0.12uF electric capacity and the first end of described 4.2k Ω resistance held, the of described 4.2k Ω resistance
Two end ground connection, the second end of described 0.12uF electric capacity connects the negative input end of described 3rd operational amplifier and described 4.8k respectively
First end of Ω resistance, the second end of described 2nd 0.31uF electric capacity connects the second end of described 4.8k Ω resistance and described respectively
The outfan of the 3rd operational amplifier and the positive pole of the first Zener diode, the negative pole of described first Zener diode connects institute
Stating the positive input terminal of the second subtractor circuit, the outfan of described second subtractor circuit connects the second end of a described 1k Ω resistance
With the first end of described 2nd 0.8uF electric capacity, the positive input terminal of described 3rd operational amplifier connects DC voltage, described 2uF
Second end of electric capacity connects the positive input terminal of described four-operational amplifier, outfan, the first end of a 1k Ω resistance respectively
And the first end of 5k Ω resistance, the second end of described 5k Ω resistance connects the negative input end of described four-operational amplifier, institute
The outfan stating four-operational amplifier is also connected with the positive pole of the second Zener diode, and the negative pole of described second Zener diode divides
Do not connect the first end and the first end of described 2k Ω resistance, the output of described 3rd operational amplifier of described 5.13k Ω resistance
End is also respectively connected with negative pole, the first end of a 0.8uF electric capacity and a described 2.5k Ω of described 3rd Zener diode
First end of resistance, the positive pole of described 3rd Zener diode connect respectively the positive pole of described first Zener diode, second
First end of 0.8uF electric capacity, the positive pole of the 4th Zener diode, the second end of a 1k Ω resistance, the of the 2nd 1k Ω resistance
One end, the first end of the 2nd 2.2k Ω resistance, the second end of a described 2.5k Ω resistance connects described 2k Ω resistance respectively
Second end and the second end of described 5.13k Ω resistance and the negative pole of the 5th Zener diode and a described 2.2k Ω resistance
First end, the positive pole of described 4th Zener diode, the second end of a 0.8uF electric capacity, the second end of the 2nd 0.8uF electric capacity,
Second end of described 2nd 1k Ω resistance, the second end of a described 0.35uF electric capacity, the second of described 2nd 0.35uF electric capacity
End, the equal ground connection of negative pole of the 6th Zener diode, the second end of described 2nd 2.2k Ω resistance connects described second respectively
First end of 0.35uF electric capacity, the positive pole of the 6th Zener diode, the positive pole of the 7th Zener diode, a described 2.2k Ω electricity
Second end of resistance connects the first end, the negative pole of the 7th Zener diode and the 9.31k Ω of a described 0.35uF electric capacity respectively
First end of resistance, the second end of described 5.13k Ω resistance connects the negative pole of the 5th Zener diode, described 10.94k Ω respectively
First end of resistance and the first end of described 0.82uF electric capacity, the second end of described 10.94k Ω resistance connects the 5th fortune respectively
Calculate the positive input terminal of amplifier, the first end of 0.38uF electric capacity, the second end ground connection of described 0.38uF electric capacity, described 0.82uF electricity
Hold the second end connect respectively the outfan of described 5th operational amplifier, the first end of described 1.73k Ω resistance, the described 5th
The negative input end of operational amplifier and the positive pole of described 5th Zener diode, the second end of described 1.73k Ω resistance is respectively
Connect the first end and first end of described 6.8uF electric capacity of described 3.91k Ω resistance, the second end of described 3.91k Ω resistance
Connect positive input terminal and first end of 0.57uF electric capacity of the 6th operational amplifier respectively, the second termination of described 0.57uF electric capacity
Ground, the second end of described 6.8uF electric capacity connects the outfan of described 6th operational amplifier, described first subtractor circuit respectively
Negative input end and the negative input end of described 6th operational amplifier, the second end of described 9.31k Ω resistance connects described respectively
First end of 0.47uF electric capacity, the first end of described 3rd 0.31uF electric capacity and the first end of 2.32k Ω resistance, described
Second end ground connection of 2.32k Ω resistance, the second end of described 3rd 0.31uF electric capacity connects described 7th operational amplifier respectively
Negative input end, the first end of described 2nd 2.5k Ω resistance, the second end of described 2nd 2.5k Ω resistance connects described respectively
Second end of 0.47uF electric capacity, the outfan of the 7th operational amplifier, the positive input terminal of described 7th operational amplifier connects straight
Stream voltage, the outfan of described 7th operational amplifier is also connected with the positive input terminal of described first subtractor circuit, and described first asks
The outfan of difference circuit connects the negative input end of described second subtractor circuit, and the outfan of described first subtractor circuit connects output
Signal end.
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| US20150070270A1 (en) * | 2013-09-06 | 2015-03-12 | Thalmic Labs Inc. | Systems, articles, and methods for electromyography-based human-electronics interfaces |
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