CN108108016B - Gesture sensor - Google Patents
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- CN108108016B CN108108016B CN201711285304.7A CN201711285304A CN108108016B CN 108108016 B CN108108016 B CN 108108016B CN 201711285304 A CN201711285304 A CN 201711285304A CN 108108016 B CN108108016 B CN 108108016B
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- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/017—Gesture based interaction, e.g. based on a set of recognized hand gestures
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Abstract
The invention discloses a gesture sensor which comprises a myoelectric dry electrode, a myoelectric signal conditioning module, a microprocessor, an inertia measuring unit IMU, a touch vibration module, a power supply module and a Bluetooth module, wherein the gesture sensor can be worn on the belly of the forearm of the left hand or the right hand of an operator, the myoelectric signal of the forearm is collected through the myoelectric dry electrode and then sent to the myoelectric signal conditioning module, the movement data of the forearm is collected through the inertia measuring unit IMU, the movement data is converted into a digital signal through A/D (analog/digital) and subjected to filtering preprocessing and then sent to an upper computer or other intelligent terminals through the Bluetooth module, and the myoelectric signal and the IMU data are subjected to fusion processing so as to judge the gesture currently made by the operator. The invention can be applied to a man-machine interaction system for gesture sensing and control, and has convenient operation and strong experience.
Description
Technical Field
The invention relates to a gesture sensor, in particular to a gesture sensor for sensing finger actions and IMU (inertial measurement unit) sensing arm movements by combining surface myoelectricity.
Background
At present, in the field of gesture sensing and control, most products rely on a camera or other massive hardware to recognize gestures, so that the products are heavy in weight, high in cost and heavy in visual sense, limit the use environment and are difficult to popularize and use in life.
Disclosure of Invention
In view of the above disadvantages, the present invention provides a gesture sensor, which can be worn on the muscle belly of the forearm of the left or right hand of an operator, is light in weight, and employs a surface muscle electrical signal recognition technology, and acquires signals through a built-in myoelectric sensor and an inertial measurement unit IMU, so as to accurately recognize gestures of the operator, such as upward movement, downward movement, leftward movement, rightward movement of the arm, and movements of a finger, such as fist making, opening, left swinging, right swinging, and the like, and a combination thereof, and is used for controlling an intelligent terminal, such as a computer, a smart phone, a tablet computer, and the like, to implement some functions.
In order to achieve the purpose, the invention is realized by the following technical scheme: the gesture sensor comprises N myoelectric dry electrodes, N myoelectric signal conditioning modules, a microprocessor, an inertia measuring unit IMU, a touch vibration module, a power supply module and a Bluetooth module, wherein N is more than or equal to 4, each myoelectric dry electrode is connected with one corresponding myoelectric signal conditioning module, and the myoelectric signal conditioning module, the inertia measuring unit IMU, the Bluetooth module, the touch vibration module, the power supply module and the microprocessor are connected.
Further, the power supply module comprises a first power supply chip U4, a second power supply chip U5, capacitors C1-C9, a resistor R1, resistors R4-R7, light emitting diodes L ED 1-L ED2, a diode D1 and an inductor L3, wherein one end of a power supply input pin, an enable pin and a capacitor C1 of the first power supply chip U4 are connected with VDD5V, the other end of the capacitor C1 is connected with a digital ground, a grounding pin is connected with the digital ground, an adjusting input pin of the first power supply chip U4 is connected with one end of the capacitor C2, the other end of the capacitor C2 is connected with the digital ground, a modulator output pin of the first power supply chip U4 outputs +2.5V voltage which is respectively connected with the anode of the capacitor C3 and the anode of the light emitting diode L ED1, a cathode of the capacitor C3 is connected with the digital ground, a cathode of the light emitting diode L ED1 is connected with one end of the resistor R1, and the other end of the resistor R1 is connected with the;
the LED driving circuit comprises a first power chip U, a second power chip U, a capacitor C, a comparison pin, a ground pin and the other end of the capacitor C, wherein the comparison pin of the second power chip U is connected with one end of the capacitor C, the ground pin and the other end of the capacitor C are connected with a digital ground, the power input pin of the second power chip U and one end of the enable pin and one end of the resistor R are connected with one end of the capacitor C, the other end of the capacitor C is connected with the digital ground, the input pin of the second power chip U and one end of the capacitor C are connected with the VDD5, the other end of the capacitor C is connected with the digital ground, the switching pin of the second power chip U is respectively connected with one end of an inductor 3 and the negative electrode of a diode D, the other end of the inductor 3 is connected with the digital ground, the output pin of the second power chip U serves as-2.5V voltage output, the output pin is respectively connected with the positive electrode of the diode D, one end of the resistor R, one end of the capacitor C, one end of the resistor R and one end of the resistor R, the other end of the negative electrode of the LED is connected with the negative electrode of the LED, the other end of the capacitor C is connected with the reference voltage of the capacitor C, the feedback pin of the second power chip U.
Further, the microprocessor 3 includes a processing chip U1, capacitors C10-C13, a capacitor C34, resistors R9-R11, resistors R23-R25, and a clock chip Y1, a power supply pin of the processing chip U1 is connected to +2.5V, a USB regulator input pin of the processing chip U1 is connected to VDD5V, a ground pin and a lowest reference voltage pin of the processing chip U1 are both connected to digital ground, a power supply output pin of the processing chip U1 is connected to one end of the capacitor C11, the other end of the capacitor C11 is connected to digital ground, a reset pin of the processing chip U11 is connected to one end of the resistor R11 and one end of the capacitor C11, the other end of the resistor R11 is connected to +2.5V, the other end of the capacitor C11 is connected to digital ground, an enable control pin of the clock chip Y11 is connected to one end of the crystal driving output pin of the processing chip U11 and one end of the capacitor C11, the other end of the capacitor C11 is connected to the external terminal of the clock chip Y11, the clock chip Y11 and the external terminal of the clock chip U11 The other end of the capacitor C13 is connected with a digital ground, a resistor R11 is connected between the enable control pin and the output pin of the clock chip Y1, and the ground pin and the power supply pin of the clock chip Y1 are both connected with the digital ground; an input/output pin of the processing chip U1 is connected with one end of a capacitor C10, the other end of the capacitor C10 is connected with a digital ground, a first data line pin of the processing chip U1 is connected with one end of a resistor R10, a first clock line pin of the processing chip U1 is connected with one end of a resistor R9, and the other end of the resistor R10 and the other end of the resistor R9 are connected with + 2.5V; the second clock line pin of the processing chip U1 is connected with one end of the resistor R25, the second data line pin of the processing chip U1 is connected with one end of the resistor R24, and the other end of the resistor R25 and the other end of the resistor R24 are both connected with + 2.5V.
Furthermore, the electromyographic signal conditioning module comprises an operational amplifier U1, a resistor R13-R22 and a capacitor C28-C32, wherein a power supply positive pin and a power supply negative pin of the operational amplifier are respectively connected with +2.5V and-2.5V, a first inverting input pin of the operational amplifier is respectively connected with one end of a resistor R13 and one end of a resistor R14, the other end of the resistor R13 is connected with a digital ground, and a first output pin of the operational amplifier is respectively connected with the other end of the resistor R14, one end of a resistor R15 and one end of the resistor R17; a second inverting input pin of the operational amplifier is respectively connected with the other end of the resistor R15 and one end of the resistor R16, a second output pin of the operational amplifier is respectively connected with the other end of the resistor R16 and one end of the capacitor C30, the other end of the capacitor C30 is respectively connected with one end of the capacitor C31, one end of the resistor R22 and one end of the resistor R21, the other end of the resistor R21 is respectively connected with one end of the capacitor C32, one end of the resistor R19 and one end of the resistor R20, and the other end of the capacitor C31, the other end of the resistor R22 and the other end of the capacitor C32 are all connected with a digital ground; the third inverting input pin of the operational amplifier is connected with one end of a capacitor C29, and the other end of the capacitor C29 is connected with the other end of a resistor R20; a third output pin of the operational amplifier is respectively connected with an ADC pin of the processing chip U1 and the other end of the resistor R19; the third non-inverting input pin and the fourth non-inverting input pin of the operational amplifier are both connected with a digital ground; a fourth inverting input pin of the operational amplifier is respectively connected with the other end of the resistor R17, one end of the resistor R18 and one end of the capacitor C28; a fourth output pin of the operational amplifier is respectively connected with the other end of the resistor R18 and the other end of the capacitor C28; the two poles of the myoelectricity dry electrode 1 are respectively connected with a first non-inverting input pin and a second non-inverting input pin of an operational amplifier.
Furthermore, the inertial measurement unit IMU comprises a nine-axis sensing chip U2 and capacitors C14-C16, wherein a power reserve pin and a power pin of the nine-axis sensing chip U2 are both connected with + 2.5V; the power supply pin of the nine-axis sensing chip U2 is also connected with one end of a capacitor C16 and one end of a capacitor C14 respectively, and the other end of the capacitor C16 and the other end of the capacitor C14 are both connected with digital ground; a regulator output pin of the nine-axis sensing chip U2 is connected with one end of a capacitor C15, and the other end of the capacitor C15 is respectively connected with a slave address pin and a digital ground of the nine-axis sensing chip U2; a frame synchronization digital input pin, a grounding pin and a grounding reserved pin of the nine-axis sensing chip U2 are all connected with digital ground; an interrupt digital output pin of the nine-axis sensing chip U2 is connected with an input/output pin of the processing chip U1, and a data line pin of the nine-axis sensing chip U2 is connected with a second data line pin of the processing chip U1; the clock line pin of the nine-axis sensor chip U2 is connected to the second clock line pin of the processing chip U1.
The Bluetooth module comprises a Bluetooth chip U, a capacitor C-C, a crystal oscillator X-X, a resistor R, an inductor 4-7 and an antenna A, wherein a clock line pin of the Bluetooth chip U is connected with a first clock line pin of a processing chip U, a data line pin of the Bluetooth chip U is connected with a first data line pin of the processing chip U, a digital input pin of the Bluetooth chip U is connected with an input/output pin of the processing chip U, a power supply pin of the Bluetooth chip U is connected with +2.5V, an analog input/output pin of the Bluetooth chip U is respectively connected with a first pin of the crystal oscillator X and one end of the capacitor C, an analog input/output pin of the Bluetooth chip U is respectively connected with a second pin of the crystal oscillator X and one end of the capacitor C, a grounding pin of the Bluetooth chip U, the other end of the capacitor C and the other end of the capacitor C are respectively connected with a signal ground, an analog input/output pin of the Bluetooth chip U is connected with one end of the resistor R, the other end of the resistor R is connected with the signal ground, a power supply pin of the Bluetooth chip U is connected with one end of the capacitor C, the other end of the capacitor C is connected with one end of the inductor C, the inductor C-C.
Further, the tactile vibration module comprises a vibration motor B1, a driving chip U6 and a capacitor C33, wherein a power supply pin of the driving chip U6 and one end of the capacitor C33 are both connected with + 2.5V; the other ends of the grounding capacitor and the capacitor C33 are connected with digital ground; the sleep pin of the driving chip U6 is connected with the input/output pin of the processing chip U1; a first output pin and a second output pin of the driving chip U6 are respectively connected to two ends of the vibration motor B1.
Compared with the prior art, the invention has the following beneficial effects:
1. the device has light weight, low power consumption and high identification precision, and can identify more than 8 finger actions and 6 arm movements, such as upward movement, downward movement, leftward movement, rightward movement of the arm, fist making, opening, left swinging, right swinging and other actions of the fingers and the combination thereof.
2. The touch vibration module is added in a humanized feedback mode, the device is prompted to be started up by vibration modes with different durations and intensities, and the operation can be started; or shutdown is performed, and the operation is finished; or the motion is complete, the muscles may be relaxed or the next gesture may be performed.
3. The device is convenient for controlling the intelligent terminal, has high response speed, breaks through the limitation of gesture control in the game field, expands the aspects of teaching and training, medical treatment, office and the like, and can play a strong role in equipment such as computers, smart phones, tablet computers, game machines and the like.
Drawings
FIG. 1 is a block diagram of a gesture sensor according to the present invention;
FIG. 2 is a circuit diagram of a power module of the present invention;
FIG. 3 is a circuit diagram of a microprocessor according to the present invention;
FIG. 4 is a circuit diagram of an electromyographic signal conditioning module of the present invention;
FIG. 5 is a circuit diagram of an inertial measurement unit of the present invention;
FIG. 6 is a circuit diagram of a Bluetooth module of the present invention;
fig. 7 is a circuit diagram of a haptic vibration module of the present invention.
Detailed Description
The following detailed description of the embodiments of the invention refers to the accompanying drawings and accompanying examples.
As shown in fig. 1, the present embodiment provides a gesture sensor, the device includes N myoelectric dry electrodes 1, N myoelectric signal conditioning modules 2, a microprocessor 3, an inertia measurement unit IMU4, a haptic vibration module 6, a power module 7, and a bluetooth module 5, where N is greater than or equal to 4, each myoelectric dry electrode 1 is connected to a corresponding myoelectric signal conditioning module 2, and the myoelectric signal conditioning module 2, the inertia measurement unit IMU4, the bluetooth module 5, the haptic vibration module 6, the power module 7 are connected to the microprocessor 3;
the gesture sensor is worn on the forearm muscle abdomen of the left hand or the right hand of the operator;
the myoelectricity dry electrode 1 collects myoelectricity signals of the forearm muscle abdomen and sends the signals to the corresponding myoelectricity signal conditioning module;
the inertial measurement unit IMU acquires motion data of a forearm;
the processor 3 receives data of the electromyographic signal conditioning module and motion data acquired by the inertial measurement unit IMU, A/D converts the data into digital signals, and transmits the digital signals to the Bluetooth module and the touch vibration module 6 after filtering pretreatment;
the power supply module provides working voltage for the microprocessor 3;
the Bluetooth module sends the signals to an upper computer or other intelligent terminals, myoelectric signals and IMU data are fused to judge gestures made by an operator at present, such as upward movement, downward movement, leftward movement, rightward movement of an arm, and actions of finger fist making, opening, left swinging, right swinging and the like and combinations thereof, and the Bluetooth module is used for controlling the intelligent terminals such as a computer, an intelligent mobile phone and a tablet personal computer to realize functions.
As shown in fig. 2, a power supply 1 of the power supply module 7 is configured to step down from a voltage of 5V to +2.5V by using an SPX3819 chip, a power supply 2 is configured to step down from the voltage of 5V to-2.5V by using a tps63700 chip, a power supply input pin Vin (pin 1) and an enable pin EN (pin 3) thereof and one end of a capacitor C1 are both connected to VDD5V, the other end of the capacitor C1 is connected to a digital ground, a ground pin GND (pin 2) is connected to a digital ground, a tuning input pin BYP (pin 4) is connected to one end of a capacitor C2 and the other end of a capacitor C2 is connected to a digital ground, a modulator output pin Vout (pin 5) of the SPX3819 is connected to an anode of a capacitor C3 and an anode of a light emitting diode L ED1 respectively and provides a voltage of +2.5V, a cathode of a capacitor C3 is connected to a digital ground, and a cathode of the light emitting diode L is connected to one end of a resistor R1 and another resistor 1 and the resistor 1.
the comparison pin COMP (pin 1) of the tps63700 is connected with one end of a capacitor C4, the ground pin GND (pin 2) and the other end of the capacitor are connected with a digital ground, the power supply input pin VIN (pin 3), the enable pin EN (pin 4), one end of a resistor R8 and one end of a capacitor C5 are connected together, the other end of the capacitor C5 is connected with the digital ground, the other end of a resistor R8 is connected with VDD5V, one ends of an input pin IN (pin 5) and the capacitor C6 are connected with a power supply VDD5V, the other end of a capacitor C6 is connected with the digital ground, a switching pin SW (pin 6) is respectively connected with one end of an inductor L and the negative electrode of a diode D L, the other end of the inductor L is connected with the digital ground, an output pin OUT (pin 8) serves as a-2.5V voltage output, the output pin OUT (pin 8) is respectively connected with the positive electrode of the diode D L, one end of the resistor R L, one end of the capacitor C L is connected with the VREF, one end of the resistor R L is connected with the positive electrode of the resistor R L, one end of the resistor R L is connected with the ground, the other end of the capacitor R72 is connected with the reference pin L, the other end of the capacitor C L is connected with the capacitor R72, the resistor R72, the capacitor C L is connected with the positive electrode of the capacitor R L, the resistor R L, the capacitor R72 is connected with the reference pin L, the negative electrode.
As shown in FIG. 3, as an embodiment of the present invention, the microprocessor 3 selects MK L26Z 256V L H4 microcontroller of Freescale company as a core of the system for controlling the normal operation of the other modules and ensuring the operation of the system, and mainly works by performing A/D conversion and filtering on the myoelectric signal amplified by the myoelectric signal conditioning module, and passing through I/D2C receiving the motion data output by the inertial measurement unit, passing through I2Power supply pins VDD (pin 3), VDDA (pin 13), VREFH (pin 14), VDD (pin 30), VDD (pin 48) of the microcontroller MK L are all connected to +2.5V, USB regulator input pin VREGIN (pin 8) is connected to power supply VDD5V, ground pin VSS (pin 4) of MK L26, lowest reference voltage pin VREF L (pin 15), ground pin VSSA (pin 16), ground pin VSS (pin 31), ground pin VSS (pin 47) are all connected to digital, power supply output pin VOUT33 (pin 7) of MK L is connected to one end of capacitor C11, the other end of capacitor C11 is connected to digital ground, RESET pin RESET (pin 34) of MK L is connected to one end of resistor 23 and one end of capacitor C34, the other end of resistor 23 is connected to +2.5V, the other end of capacitor C3836 is connected to digital ground, clock signal 898 is connected to digital crystal oscillator pin 1, and its other end is connected to ground pin of resistor C9633, its passive crystal oscillator pin is connected to its passive oscillator pin 3637, its output pin is connected to digital oscillator pin 960, its passive oscillator pin 14 is connected to its capacitor C3633, its output pin 23 is connected to one end of capacitor C3, its capacitor C3 is connected to groundThe output pin (pin 3) of the capacitor is respectively connected with an external clock input pin EXTA L (pin 32) of MK L26 and one end of a capacitor C13, the other end of the capacitor C13 is connected with a digital ground, a resistor R11 is connected between an enable control pin (pin 1) and the output pin (pin 3) of the capacitor, a ground pin (pin 2) and a power supply pin (pin 4) of the capacitor are both connected with the digital ground, an input output pin PTD4 (pin 61) of MK L26 is connected with one end of the capacitor C10, the other end of the capacitor C10 is connected with the digital ground, and the I of MK L262The C1 data line pin I2C1_ SDA (pin 45) is connected to one end of a resistor R10, and I of MK L262The C1 clock line pin (pin 44) is connected with one end of the resistor R9, the other end of the resistor R10 and the other end of the resistor R9 are connected with +2.5V, and the I of the MK L262The C0 clock line pin (pin 20) is connected to one end of a resistor R25, the I of MK L262The C0 data line pin (pin 21) is connected with one end of the resistor R24, and the other end of the resistor R25 and the other end of the resistor R24 are both connected with + 2.5V.
As shown in FIG. 4, the myoelectric trunk electrode 1 is connected with the surface of forearm muscle of an operator, and then differentially collects surface muscle electrical signals, and respectively transmits the surface muscle electrical signals to a non-inverting input pin + InA of an operational amplifier OPA4140 of an myoelectric signal conditioning module and a non-inverting input pin + InB of an operational amplifier B, wherein the resistance values of the resistor R and the resistor R are equal and larger, and the resistance values of the resistor R and the resistor R are equal and smaller, so as to achieve the purpose of differentially amplifying an input differential signal, the operational amplifier D is used for common mode feedback amplification, an output pin of the operational amplifier A is connected to an inverting input pin-InD of the operational amplifier D, common mode voltage on the output pin of the operational amplifier A is inverted and amplified by inverting the common mode signal and driving the common mode signal back to cancel the common mode signal, the operational amplifier C is used for filtering amplification, an output pin of the operational amplifier B is connected to an inverting input pin-InC of the operational amplifier C, the capacitor C and the resistor R are connected to an inverting input pin-InC of the operational amplifier C, the amplifier B, the inverting input pin-InC is connected to a resistor C, the amplifier C, the resistor R is connected to an inverting input pin-C, the amplifier C, the resistor R is connected to an inverting input pin of a resistor C, the amplifier C is connected to an inverting input pin of an inverting input pin-InC, the amplifier C, a circuit, the amplifier C, a resistor C, the amplifier C is connected to an inverting input pin of an inverting input pin (I-InC, an inverting resistor C, an inverting input pin of an inverting resistor C, an inverting input pin of an inverting resistor R + resistor C-InC, an inverting resistor C amplifier C, an inverting input pin of an inverting resistor C, an inverting resistor R2 of an inverting resistor C, an inverting resistor C of an inverting resistor C, an inverting input pin of an inverting resistor C, an inverting input pin of an inverting resistor C, an inverting input pin of.
As shown in FIG. 5, the inertial measurement unit IMU measures the three-axis attitude angle (or angular rate) and acceleration of the object through I2C is transmitted to a microcontroller MK L26, the inertial measurement unit IMU (three-axis acceleration sensor, three-axis gyroscope and three-axis magnetic sensor) 4 selects an MPU9250 chip, a power reserve pin RESV (pin 1), a power pin VDDIO (pin 8) and a power pin VDD (pin 13) of the MPU9250 chip are all connected with +2.5V, the power pin VDDIO (pin 8) is also connected with one end of a capacitor C16, the other end of the capacitor C16 is connected with a digital ground, the power pin VDD (pin 13) is also connected with one end of a capacitor C14, the other end of the capacitor C14 is connected with the digital ground, a regulator output pin REGOUT (pin 10) is connected with one end of the capacitor C15, and the other end of the capacitor C15 is respectively connected with I142C is connected to digital from address pins AD0/SDO (pin 9); frame is the sameStep digital input pin FSYNC (pin 11), ground pin GND (pin 18), and ground reserve pin RESV (pin 20) are all connected to digital ground, interrupt digital output pin INT (pin 12) is connected to PTD4 (pin 61) of MK L26, I2I for the C data line pins SDA/SDI (pin 24) and MK L262The C1 data line pin I2C1_ SDA (pin 45) is connected; i is2I for C clock line pins SC L/SC L K (pin 23) and MK L262The C1 clock line pin I2C _ SC L (pin 44) is connected.
As shown in FIG. 6, the Bluetooth module 5 passes through I2C and the microcontroller MK L26 transmit data, and then the data is transmitted by connecting the radio frequency output pin with an antenna A1, the Bluetooth module 5 adopts a CC2541 chip and an I of the CC2541 chip2I for C clock line pin SC L (pin 2) and MK L262C0 clock line pin (pin 20); i is2C data line pin (pin 3) and I of MK L262A C data line pin (pin 21) is connected, a digital input pin nRESET (pin 20) is connected with an input/output pin RESET _ N (pin 23) of the MK 26, a power supply pin AVDD, a power supply pin DVDD and +2.5V are connected, analog input/output pins P _3/XOSC32 _ Q (pin 33) are respectively connected with one pin of the crystal oscillator X and one end of the capacitor C, analog input/output pins P _4/XOSC32 _ Q (pin 32) are respectively connected with the other pin of the crystal oscillator X and one end of the capacitor C, a ground pin GND/EGP (pin 41), the other end of the capacitor C and the other end of the capacitor C are respectively connected with a signal ground, an analog input/output pin RBIAS (pin 30) and one end of a resistor R are connected, the other end of the resistor R is connected with a signal ground, a power supply pin DCOUP (pin 40) and one end of the capacitor C, one end of the capacitor C is connected with one pin C, a ground pin C pin 23 and one end of the other pin are respectively connected with a control pin of the oscillator X, a capacitor X pin 23, a capacitor X pin is connected with a capacitor X pin 23, a capacitor X pin 23 pin, a capacitor X pin is connected with a capacitor X pinOne end of a capacitor C19 is connected, the other end of the capacitor C19 is connected with one end of an inductor L and one end of a capacitor C21 respectively, the other end of the inductor L is connected with a signal ground, a radio frequency output pin RF _ N (pin 26) and one end of a capacitor C20 are connected, the other end of the capacitor C20 is connected with one end of a capacitor C22 and one end of an inductor L respectively, the other end of the capacitor C22 is connected with the signal ground, the other end of a capacitor C21, the other end of an inductor L and one end of an inductor L are connected together, the other end of the inductor L6 is connected with one end of a capacitor C23 and one end of an inductor 397 respectively, the other end of the capacitor C23 is connected with the signal ground, the other end of an inductor L is connected with one end of the capacitor C24 and the pin No. 1 of the input pin 1 respectively, the other end of the capacitor C24 is connected with the signal ground, and the two ground pins (pin No..
As shown in FIG. 7, the tactile vibration module comprises a vibration motor B1, a driving chip A1442 and a capacitor C33, when the microcontroller MK L receives the electromyographic signal and the IMU signal of the forearm of the operator for a certain time t1, the microcontroller MK L drives the vibration motor B1 by controlling the-S L EEP pin of the driving chip A1442, and informs the operator that the gesture is completed in a vibration mode, so as to relax the muscle or perform the operation of the next gesture, one end of the power pin VDD (pin 1) of the driving chip A1442 and one end of the capacitor C33 are both connected with +2.5V, the other end of the grounding pin GND (pin 4) and the other end of the capacitor C33 are both connected with the digital ground, the input and output pins PTA12 (pin 28) of the sleep pin (pin 2) and MK L, and the output pins VOUT1 and VOUT2 are respectively connected with the two ends of the vibration motor B1.
Claims (1)
1. The gesture sensor is characterized by comprising N myoelectric dry electrodes (1), N myoelectric signal conditioning modules (2), a microprocessor (3), an inertia measurement unit IMU (4), a touch vibration module (6), a power supply module (7) and a Bluetooth module (5), wherein N is more than or equal to 4, each myoelectric dry electrode (1) is connected with one corresponding myoelectric signal conditioning module (2), and the myoelectric signal conditioning module (2), the inertia measurement unit IMU (4), the Bluetooth module (5), the touch vibration module (6), the power supply module (7) are connected with the microprocessor (3);
the power supply module comprises a first power supply chip U, a second power supply chip U, a capacitor C-C, a resistor R-R, a light emitting diode ED-ED, a diode D and an inductor 3, wherein one end of a power supply input pin, an enabling pin and the capacitor C of the first power supply chip U is connected with VDD5, the other end of the capacitor C is connected with a digital ground, a grounding pin is connected with the digital ground, an adjusting input pin of the first power supply chip U is connected with one end of the capacitor C, the other end of the capacitor C is connected with the digital ground, a modulator output pin of the first power supply chip U outputs +2.5V voltage which is respectively connected with an anode of the capacitor C and a cathode of the light emitting diode, a cathode of the capacitor C is connected with the digital ground, a cathode of the light emitting diode is connected with one end of the resistor R, the other end of the resistor R is connected with the digital ground, a comparison pin of the second power supply chip U is connected with one end of the capacitor C, the grounding pin and the other end of the capacitor C is connected with the digital ground, a power supply input pin, one end of the enabling pin, one end of the resistor R is connected with one end of the capacitor C, one end of the capacitor C is connected with the other end of the capacitor C, the other end of the capacitor C is connected with the resistor R-C, the other end of the capacitor C is connected with the resistor R5, the resistor R-C, the resistor C is connected with the other end of the resistor R-D, the resistor C of the capacitor C, the resistor D is connected with the resistor D, the other end of the capacitor C is connected with the capacitor C, the other end of the capacitor C of the resistor D, the resistor C of the capacitor C, the capacitor C of the capacitor C, the other end of the resistor D, the capacitor C of the capacitor C is connected with the capacitor C of the resistor D, the capacitor C of the capacitor C, the other end;
the microprocessor (3) comprises a processing chip U1, capacitors C10-C13, a capacitor C34, a resistor R9-R11, resistors R23-R25 and a clock chip Y1, wherein a power supply pin of the processing chip U1 is connected with +2.5V, a USB regulator input pin of the processing chip U1 is connected with VDD5V, a ground pin and a lowest reference voltage pin of the processing chip U1 are connected with digital ground, a power supply output pin of the processing chip U1 is connected with one end of the capacitor C11, the other end of the capacitor C11 is connected with digital ground, a reset pin of the processing chip U11 is respectively connected with one end of the resistor R11 and one end of the capacitor C11, the other end of the resistor R11 is connected with +2.5V, the other end of the capacitor C11 is connected with digital ground, an enable control pin of the clock chip Y11 is respectively connected with a crystal drive output pin of the processing chip U11 and one end of the capacitor C11, and the other end of the clock chip Y11 is connected with an external terminal of the clock chip U11 and the external terminal of the clock chip U11 The other end of the capacitor C13 is connected with a digital ground, a resistor R11 is connected between the enable control pin and the output pin of the clock chip Y1, and the ground pin and the power supply pin of the clock chip Y1 are both connected with the digital ground; an input/output pin of the processing chip U1 is connected with one end of a capacitor C10, the other end of the capacitor C10 is connected with a digital ground, a first data line pin of the processing chip U1 is connected with one end of a resistor R10, a first clock line pin of the processing chip U1 is connected with one end of a resistor R9, and the other end of the resistor R10 and the other end of the resistor R9 are connected with + 2.5V; a second clock line pin of the processing chip U1 is connected with one end of the resistor R25, a second data line pin of the processing chip U1 is connected with one end of the resistor R24, and the other end of the resistor R25 and the other end of the resistor R24 are both connected with + 2.5V;
the electromyographic signal conditioning module (2) comprises an operational amplifier U1, resistors R13-R22 and capacitors C28-C32, wherein a power supply positive pin and a power supply negative pin of the operational amplifier are respectively connected with +2.5V and-2.5V, a first inversion input pin of the operational amplifier is respectively connected with one end of a resistor R13 and one end of a resistor R14, the other end of the resistor R13 is connected with a digital ground, and a first output pin of the operational amplifier is respectively connected with the other end of the resistor R14, one end of a resistor R15 and one end of the resistor R17; a second inverting input pin of the operational amplifier is respectively connected with the other end of the resistor R15 and one end of the resistor R16, a second output pin of the operational amplifier is respectively connected with the other end of the resistor R16 and one end of the capacitor C30, the other end of the capacitor C30 is respectively connected with one end of the capacitor C31, one end of the resistor R22 and one end of the resistor R21, the other end of the resistor R21 is respectively connected with one end of the capacitor C32, one end of the resistor R19 and one end of the resistor R20, and the other end of the capacitor C31, the other end of the resistor R22 and the other end of the capacitor C32 are all connected with a digital ground; the third inverting input pin of the operational amplifier is connected with one end of a capacitor C29, and the other end of the capacitor C29 is connected with the other end of a resistor R20; a third output pin of the operational amplifier is respectively connected with an ADC pin of the processing chip U1 and the other end of the resistor R19; the third non-inverting input pin and the fourth non-inverting input pin of the operational amplifier are both connected with a digital ground; a fourth inverting input pin of the operational amplifier is respectively connected with the other end of the resistor R17, one end of the resistor R18 and one end of the capacitor C28; a fourth output pin of the operational amplifier is respectively connected with the other end of the resistor R18 and the other end of the capacitor C28; the two poles of the myoelectricity dry electrode (1) are respectively connected with a first non-inverting input pin and a second non-inverting input pin of an operational amplifier;
the inertial measurement unit IMU (4) comprises a nine-axis sensing chip U2 and capacitors C14-C16, wherein a power reserve pin and a power pin of the nine-axis sensing chip U2 are connected with + 2.5V; the power supply pin of the nine-axis sensing chip U2 is also connected with one end of a capacitor C16 and one end of a capacitor C14 respectively, and the other end of the capacitor C16 and the other end of the capacitor C14 are both connected with digital ground; a regulator output pin of the nine-axis sensing chip U2 is connected with one end of a capacitor C15, and the other end of the capacitor C15 is respectively connected with a slave address pin and a digital ground of the nine-axis sensing chip U2; a frame synchronization digital input pin, a grounding pin and a grounding reserved pin of the nine-axis sensing chip U2 are all connected with digital ground; an interrupt digital output pin of the nine-axis sensing chip U2 is connected with an input/output pin of the processing chip U1, and a data line pin of the nine-axis sensing chip U2 is connected with a second data line pin of the processing chip U1; a clock line pin of the nine-axis sensing chip U2 is connected with a second clock line pin of the processing chip U1;
the Bluetooth module (5) comprises a Bluetooth chip U, a capacitor C-C, a crystal oscillator X-X, a resistor R, an inductor 4-7 and an antenna A, wherein a clock line pin of the Bluetooth chip U is connected with a first clock line pin of a processing chip U, a data line pin of the Bluetooth chip U is connected with a first data line pin of the processing chip U, a digital input pin of the Bluetooth chip U is connected with an input/output pin of the processing chip U, a power supply pin of the Bluetooth chip U is connected with +2.5V, an analog input/output pin of the Bluetooth chip U is respectively connected with a first pin of the crystal oscillator X and one end of the capacitor C, an analog input/output pin of the Bluetooth chip U is respectively connected with a second pin of the crystal oscillator X and one end of the capacitor C, a grounding pin of the Bluetooth chip U, the other end of the capacitor C and the other end of the capacitor C are respectively connected with a signal ground, an analog input/output pin of the resistor R is connected with one end of the resistor R, the other end of the resistor R is connected with the signal ground, the power supply pin of the Bluetooth chip U is connected with one end of the capacitor C, the other end of the capacitor C, the inductor C is connected with the inductor C, the other end of the inductor C, the inductor C is connected with the inductor C, the capacitor C, the inductor C is connected with the inductor C, the inductor C is connected with the other end of the inductor C, the inductor C is connected with the inductor C, the inductor C is connected with the inductor C, the;
the touch vibration module comprises a vibration motor B1, a driving chip U6 and a capacitor C33, wherein a power supply pin of the driving chip U6 and one end of the capacitor C33 are connected with + 2.5V; the other ends of the grounding capacitor and the capacitor C33 are connected with digital ground; the sleep pin of the driving chip U6 is connected with the input/output pin of the processing chip U1; a first output pin and a second output pin of the driving chip U6 are respectively connected to two ends of the vibration motor B1.
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| CN103777752A (en) * | 2013-11-02 | 2014-05-07 | 上海威璞电子科技有限公司 | Gesture recognition device based on arm muscle current detection and motion sensor |
| CN103558918B (en) * | 2013-11-15 | 2016-07-27 | 上海威璞电子科技有限公司 | The method realizing Gesture Recognition in intelligent watch |
| CN103645804A (en) * | 2013-12-18 | 2014-03-19 | 三星电子（中国）研发中心 | Method and device for identifying human body gestures as well as watch using device |
| CN105326500B (en) * | 2014-08-13 | 2018-02-09 | 华为技术有限公司 | Action identification method and equipment based on surface electromyogram signal |
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