CN108115662A - A kind of manipulator control system based on myoelectricity - Google Patents
A kind of manipulator control system based on myoelectricity Download PDFInfo
- Publication number
- CN108115662A CN108115662A CN201611073323.9A CN201611073323A CN108115662A CN 108115662 A CN108115662 A CN 108115662A CN 201611073323 A CN201611073323 A CN 201611073323A CN 108115662 A CN108115662 A CN 108115662A
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- CN
- China
- Prior art keywords
- myoelectricity
- manipulator control
- circuit
- control system
- system based
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rheumatology (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- General Health & Medical Sciences (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Measurement And Recording Of Electrical Phenomena And Electrical Characteristics Of The Living Body (AREA)
Abstract
A kind of manipulator control system based on myoelectricity, suitable for Mechanical course field.System is integrally divided into data acquisition module, data processing module, pattern recognition module and manipulator control module.Myoelectricity Acquisition Circuit includes analog portion and numerical portion, instrument in analog circuit first using Auto zeroing type operational amplifier and with high cmrr forms pre-amplification circuit with amplifier, then the influence that active high-pass filtering circuit filters out direct current signal is devised, trap circuit removal Hz noise has been built, second order active low-pass filter circuit has been built using Auto zeroing type operational amplifier.The different gesture motion of human body can be identified that whole system is easy to operate by system with higher accuracy rate, more humanized design, stability and security are had both simultaneously, system is generally applicable in majority of populations, and stability is preferable, power consumption is relatively low, small volume, easy to use.
Description
Technical field
The present invention relates to a kind of manipulator control system based on myoelectricity, suitable for Mechanical course field.
Background technology
According to the 6th national census in 2010 as a result, and China in 2006 second disabled person is carried out
Disabled person accounts for the ratio of national population in sample investigation and the proportion of all kinds of disabled persons calculates that, by the end of 2010, China is residual
Disease people sum is about 85,020,000 people, accounts for the 6.34% of country's total population.2013 annual disabled person's situations and development of well-off monitoring
Report display, the weather compared with the past of disabled person, truly had larger improvement.The income level of disabled person and rehabilitation
Service coverage rate is also all significantly improved.But monitoring data are also shown simultaneously, disabled person's totality living standard and the whole society
Average living standard gap is still very big.2013, China Rehabilitation Service for All center coverage rate was only 58.3%, can not also
Fully meet demand of the disabled person to rehabilitation service.Accelerate the construction at Rehabilitation Service for All center, medical health must be accelerated
The development of multiple supplementary instrument, therefore it provides the rehabilitation equipment of super quality and competitive price is particularly necessary.
The many bodies and agencies of the whole society are more and more to the concern of disabled person, occur the rehabilitation clothes of many specialties in succession
Business center., there are many dedicated rehabilitation instruments, is that limbs are residual in the market in high quantity for extremity disabled persons and at high proportion
The rehabilitation of disease people provides help；Also many intelligent bionic mechanical arms or other wearable medical products are
The life of extremity disabled persons provides more convenient.Most intelligent bionic mechanical arm and other be applied to the machines of physical disabilities
Device people can be used to human-computer interaction technology.Human-computer interaction forms one using electro-physiological signals between people and computer system
The electro-physiological signals of human body are parsed into corresponding order by communication system, computer, realize the mutual friendship between people and computer
Stream, here it is man-machine interfaces.With the raising of present medical level and the development of medical technology, human-computer interaction technology is in medical treatment
Aspect especially disabled person's function slave side has played very big application.
The content of the invention
The present invention provides a kind of manipulator control system based on myoelectricity, system can by the different gesture motion of human body with
Higher accuracy rate identifies that whole system is easy to operate, more humanized design, while have both stability and safety
Property, system are generally applicable in majority of populations, and stability is preferable, and power consumption is relatively low, small volume, easy to use.
The technical solution adopted in the present invention is：
Manipulator control system based on myoelectricity, system are integrally divided into data acquisition module, data processing module, pattern-recognition mould
Block and manipulator control module.Myoelectricity Acquisition Circuit includes analog portion and numerical portion, is used first from steady in analog circuit
Zero type operational amplifier and the instrument amplifier composition pre-amplification circuit with high cmrr, then devise active high pass
Filter circuit filters out the influence of direct current signal, trap circuit removal Hz noise has been built, using Auto zeroing type operational amplifier
Second order active low-pass filter circuit is built.
The pre-amplification circuit is built by buffer circuit and difference channel and formed, it is the core of analog circuit,
It directly decides the common-mode rejection ratio of circuit, affects the common mode inhibition capacity of whole system.Buffer circuit uses voltage follow
Device is designed, and is realized impedance conversion, had both been prevented the crosstalk between different passages, is played the role of isolation, and is improved
The input impedance of system.Buffer circuit selects the Auto zeroing type operational amplifier A D8639 with binary channels wide bandwidth, it is
The amplifier of rail-to-rail output, noise are especially low.The input impedance of AD8639 is up to 22.5 TS2, and common-mode rejection ratio representative value is
133dB, lacking of proper care, it can provide the characteristic advantage that only expensive in the past zero shift or chopper stabilized amplifier just have, will
Low cost in high precision, low-noise characteristic be melted into a whole, the signal-to-noise ratio of maximum lifting system, to Medical Devices etc. other
High precision apparatus application.
The energy of the surface electromyogram signal is largely focused between 20~5OOHz, the design of myoelectricity acquisition circuit module
Cutoff frequency is the second order active high-pass filter of 1Hz, for isolated DC signal.System selects AD8639 to build voltage-controlled voltage
Source formula bivalent high-pass filter.
In the DSP interrupt program circuit, DSP enters the first thing done after interruption subroutine and is just off timer,
Interrupt flag bit is reset simultaneously, the program inside response timing device.Among the system, DSP to the control of electronic switch and
The control of A/D change datas is presented as:In timer interrupt sub routine, DSP electronic switch ADG 1408 enabled first make
It cycles conducting;Then A/D converter is controlled by DSP, after A/D is converted, DSP can read the transformed hits of A/D
According to and by its by 16 XINTF data bus transmissions of external interface to USB chips CY7C68013 among.
In the host computer procedure, the manipulator control system based on myoelectricity is required connect to above PC machine and used, we
The myoelectricity data collected by USB transmission to PC machine and are handled, and it also requires being carried out by PC machine to system
Control, this just needs to develop PC machine program.Wherein collecting thread gives the data received to computational threads, computational threads logarithm
According to being handled and give rear end program.
The beneficial effects of the invention are as follows：System can be identified the different gesture motion of human body with higher accuracy rate
Come, whole system is easy to operate, and more humanized design, while have both stability and security, system is to majority of populations
It is generally applicable in, stability is preferable, and power consumption is relatively low, and small volume is easy to use.
Description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the pre-amplification circuit of the present invention.
Fig. 2 is the myoelectricity acquisition circuit module of the present invention.
Fig. 3 is the DSP interrupt program flow diagram of the present invention.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples.
Such as Fig. 1, pre-amplification circuit is built by buffer circuit and difference channel and formed, it is the core of analog circuit
Divide, directly decide the common-mode rejection ratio of circuit, affect the common mode inhibition capacity of whole system.Buffer circuit using voltage with
It is designed with device, realizes impedance conversion, both prevented the crosstalk between different passages, and played the role of isolation, and carry
The high input impedance of system.Buffer circuit selects the Auto zeroing type operational amplifier A D8639 with binary channels wide bandwidth, it
It is the amplifier of rail-to-rail output, noise is especially low.The input impedance of AD8639 is up to 22.5 TS2, common-mode rejection ratio representative value
For 133dB, lacking of proper care, it can provide the characteristic advantage that only expensive in the past zero shift or chopper stabilized amplifier just have,
By low cost in high precision, low-noise characteristic be melted into a whole, the signal-to-noise ratio of maximum lifting system, to Medical Devices etc. its
His high precision apparatus application.
Such as Fig. 2, the energy of surface electromyogram signal is largely focused between 20~5OOHz, and myoelectricity acquisition circuit module is set
The second order active high-pass filter that cutoff frequency is 1Hz is counted, for isolated DC signal.System selects AD8639 to build voltage-controlled electricity
Potential source formula bivalent high-pass filter.
Such as Fig. 3, in DSP interrupt program circuit, DSP enters the first thing done after interruption subroutine and is just off timing
Device, while interrupt flag bit is reset, the program inside response timing device.Among the system, DSP to the control of electronic switch with
And the control of A/D change datas is presented as:In timer interrupt sub routine, DSP electronic switch ADG 1408 enabled first,
Make its Xun Huan conducting;Then A/D converter is controlled by DSP, after A/D is converted, DSP can read the transformed samplings of A/D
Data and by its by 16 XINTF data bus transmissions of external interface to USB chips CY7C68013 among.
In host computer procedure, the manipulator control system based on myoelectricity is required connect to above PC machine and used, we will
The myoelectricity data collected are by USB transmission to PC machine and handled, and it also requires system is controlled by PC machine,
This just needs to develop PC machine program.Wherein collecting thread gives the data received to computational threads, computational threads to data into
Row handles and gives rear end program.
Claims (8)
1. a kind of manipulator control system based on myoelectricity, it is characterized in that：The manipulator control system based on myoelectricity is whole
Body is divided into data acquisition module, data processing module, pattern recognition module and manipulator control module.
2. a kind of manipulator control system based on myoelectricity according to claim 1, it is characterized in that：The myoelectricity acquisition electricity
Road includes analog portion and numerical portion, uses Auto zeroing type operational amplifier in analog circuit first and with high common mode inhibition
The instrument of ratio forms pre-amplification circuit with amplifier.
3. a kind of manipulator control system based on myoelectricity according to claim 1, it is characterized in that：The preposition amplification
Circuit is built by buffer circuit and difference channel and formed, it is the core of analog circuit, directly decides the common mode of circuit
Inhibit ratio, affect the common mode inhibition capacity of whole system.
4. a kind of manipulator control system based on myoelectricity according to claim 1, it is characterized in that：The buffer circuit
Select the Auto zeroing type operational amplifier A D8639 with binary channels wide bandwidth, it is the amplifier of rail-to-rail output, noise compared with
It is low.
5. a kind of manipulator control system based on myoelectricity according to claim 1, it is characterized in that：The buffer circuit choosing
With the Auto zeroing type operational amplifier A D8639 with binary channels wide bandwidth, it is the amplifier of rail-to-rail output, and noise is special
It is low.
6. a kind of manipulator control system based on myoelectricity according to claim 1, it is characterized in that：The surface myoelectric letter
Number energy be largely focused between 20~5OOHz, myoelectricity acquisition circuit module design cutoff frequency be 1Hz second order active
High-pass filter, for isolated DC signal.
7. a kind of manipulator control system based on myoelectricity according to claim 1, it is characterized in that：The DSP interrupt journey
In sequence flow, DSP enters the first thing done after interruption subroutine and is just off timer, while interrupt flag bit is reset,
Program inside response timing device.
8. manipulator control system of a kind of base based on myoelectricity according to claim 1, it is characterized in that：The DSP is to electricity
The control of sub switch and the control of A/D change datas is presented as:In timer interrupt sub routine, DSP electricity enabled first
Sub switch ADG 1408 makes its Xun Huan conducting;Then A/D converter is controlled by DSP.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611073323.9A CN108115662A (en) | 2016-11-29 | 2016-11-29 | A kind of manipulator control system based on myoelectricity |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611073323.9A CN108115662A (en) | 2016-11-29 | 2016-11-29 | A kind of manipulator control system based on myoelectricity |
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| Publication Number | Publication Date |
|---|---|
| CN108115662A true CN108115662A (en) | 2018-06-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611073323.9A Pending CN108115662A (en) | 2016-11-29 | 2016-11-29 | A kind of manipulator control system based on myoelectricity |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111360792A (en) * | 2020-03-30 | 2020-07-03 | 哈尔滨工业大学 | Wearable portable real-time control action recognition system for bionic manipulator |
-
2016
- 2016-11-29 CN CN201611073323.9A patent/CN108115662A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111360792A (en) * | 2020-03-30 | 2020-07-03 | 哈尔滨工业大学 | Wearable portable real-time control action recognition system for bionic manipulator |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180605 |
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| WD01 | Invention patent application deemed withdrawn after publication |