CN108261197A - Upper limb healing evaluation system and method based on surface myoelectric and motion module - Google Patents
Upper limb healing evaluation system and method based on surface myoelectric and motion module Download PDFInfo
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- CN108261197A CN108261197A CN201810223322.0A CN201810223322A CN108261197A CN 108261197 A CN108261197 A CN 108261197A CN 201810223322 A CN201810223322 A CN 201810223322A CN 108261197 A CN108261197 A CN 108261197A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- 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
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/48—Other medical applications
- A61B5/4848—Monitoring or testing the effects of treatment, e.g. of medication
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
- A61B5/6813—Specially adapted to be attached to a specific body part
- A61B5/6824—Arm or wrist
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/72—Signal processing specially adapted for physiological signals or for diagnostic purposes
- A61B5/7235—Details of waveform analysis
- A61B5/725—Details of waveform analysis using specific filters therefor, e.g. Kalman or adaptive filters
Abstract
The present invention provides a kind of upper limb healing evaluation system and method based on surface myoelectric and motion module, and wherein system includes a host computer, a microcontroller control terminal, a surface myoelectric acquisition module and a motion parameter collecting module；The surface myoelectric acquisition module includes sequentially connected two electrode, low-pass filter circuit, common mode rejection circuit, amplifying circuit and subtraction circuit；The host computer includes a display；The subtraction circuit connects the microcontroller control terminal with the motion parameter collecting module, and the microcontroller control terminal connects the host computer.A kind of the upper limb healing evaluation system and method based on surface myoelectric and motion module of the present invention, kinematic parameter and surface electromyogram signal that can be in automatic collection trainer's motion process be analyzed, smoothness, intensity and the muscle function of mark assessment upper extremity exercise, by to tester's Real-time Feedback evaluation information, reduce subjective assessment a large amount of time and manpower, simplify evaluation action.
Description
Technical field
The present invention relates to medical instruments fields more particularly to a kind of upper limb healing based on surface myoelectric and motion module to comment
Valency system and method.
Background technology
The recovery of patients with cerebral apoplexy upper extremity exercise function relies primarily on rehabilitation.In rehabilitation, therapist only has
The correct understanding missing of patient's upper extremity exercise kinetic energy, and corresponding evaluation is provided, the rehabilitation goal of individuation could be carried out
Positioning, then carries out appropriate treatment, grasps correct rehabilitation course again, reaches the final purpose for improving rehabilitation efficiency.Correctly
The upper extremity motor function disorder of patients with cerebral apoplexy is evaluated, is the key point of upper limb healing.At present, upper extremity exercise functional evaluation
Method mainly includes：Medicine scaling method, parameter comparison method, Fitts laws method (Fitts' law method).Scaling method acts various, nothing
Quantitative test, subjectivity is very big, and accuracy rate is not high；The parameter of parameter comparison method acquisition is less, and research at this stage is inadequate；
Fitts law method costs are higher, not only limited by place, cost, and operation degree is also complexity, it is more difficult to clinical expansion.Essence
Really, the dysfunction of objective assessment patient upper extremity exercise becomes the personalized hurt of rehabilitation scheme of formulation, observe therapeutic effect and
Analyze the key of prognosis.In existing rehabilitation, doctor assesses the motor function of patient by scaling method, and this method efficiency is low
Under, hyperpraxia, and it is big by doctor's subjective impact, limit the accuracy of evaluation.
Invention content
Deficiency in for the above-mentioned prior art, the present invention provide a kind of upper limb health based on surface myoelectric and motion module
It reexamines valency system and method, kinematic parameter and surface electromyogram signal can be analyzed in automatic collection trainer's motion process, marked
Smoothness, intensity and the muscle function of upper extremity exercise are assessed, by tester's Real-time Feedback evaluation information, reducing subjectivity and commenting
Valency a large amount of time and manpower simplify evaluation action, suitable for sb.'s illness took a favorable turn or rear convalescence sufferer.
To achieve these goals, the present invention provides a kind of based on surface myoelectric and the upper limb healing of motion module evaluation system
System, including a host computer, a microcontroller control terminal, a surface myoelectric acquisition module and a motion parameter collecting module；The table
Facial muscle electricity acquisition module includes sequentially connected two electrode, low-pass filter circuit, common mode rejection circuit, amplifying circuit and subtraction electricity
Road；The host computer includes a display；The subtraction circuit connects the microcontroller control with the motion parameter collecting module
End processed, the microcontroller control terminal connect the host computer.
Preferably, the microcontroller control terminal includes an analog-to-digital conversion module and a digital filtering module；The subtraction electricity
Road, the microcontroller control terminal and the host computer are sequentially connected.
Preferably, the microcontroller control terminal includes an ATMega328P microprocessors, the ATMega328P microprocessors
Device include the analog-to-digital conversion module and the digital filtering module, the subtraction circuit output terminal connection described in
The simulation input mouth of ATMega328P microprocessors, the ATMega328P microprocessors connect the host computer by serial ports.
Preferably, the motion parameter collecting module includes an acceleration transducer, and the acceleration transducer uses
ADXL345 3-axis acceleration sensors, described in the SCL pins of the ADXL345 3-axis acceleration sensors are connected with CS pins
ATMega328P microprocessors.
Preferably, the electrode uses Ag/AgCl electrodes.
The present invention's is a kind of based on the upper limb healing evaluation system of the present invention based on surface myoelectric and motion module
Upper limb healing evaluation method, including step：
S1：Object kinematic parameter is reached using the zero load motion orientation of motion parameter collecting module acquisition patient；
S2：The enough object kinematic parameters of gradient load orientation of the patient are acquired using the motion parameter collecting module；
S3：The surface electromyogram signal step of the patient is acquired using the surface myoelectric acquisition module；
S4：Handle the data of motion parameter collecting module acquisition, analyze the patient motion smoothing degree index and
Motor function intensity index；
S5：The data of the surface myoelectric acquisition module acquisition are handled, a mean power/average myoelectricity value slope is established and closes
It is curve；
S6：The standard movement data to prestore in database are matched with actual acquired data, and according to the patient
Actual motion quality assessed, the patient provides corresponding rehabilitation feedback.
Preferably, the S1 steps further comprise step：
S11：The patient back is allowed just to be seated in a seat against the chair back, and allows the arm of patient's obstacle side
Perpendicular to ground；
S12：The acceleration transducer is fixed at the wrist of the patient so that the entire arm of the patient without
Load；
S13：When tester provides the instruction of beginning to the patient, and the first movement in start recording motion process
Parameter, first kinematic parameter include three axial acceleration values at the wrist；
The patient starts to lift arm so that constant speed is as smoothly upper as possible, until the arm is in patient's shoulder forerunner
Stop at 90 °, the elbow of the patient is fully extended and is kept for 3 seconds；The tester provides termination instruction to the patient,
And terminate to record the kinematic parameter in motion process；The patient can put down the arm and rest；
The S2 steps further comprise step：
The patient is allowed to carry the first load of 0kg, 2kg, 4kg and 6kg successively, and negative carrying each described first
The S1 steps are repeated during lotus amount；
The S3 steps further comprise step：
S31：It strikes off the patient one to be tested the upper arm chaeta of arm and be wiped over 75% ethyl alcohol, smears lead on the electrodes
The muscle fibre of one electrode along the tested arm is moved towards parallel and is fixed on outside the bicipital muscle of arm of the tested arm by electric cream
On pleural muscle abdomen, by muscle less place of another attachment of electrodes by elbow joint；
S32：The patient is made to be maintained respectively with the second load of 10N, 20N, 30N and 40N in either order
The curved act campaign of 2min；The curved act movement includes step：
The arm of patient's obstacle side is lieed down in desktop as initial position completely；Then using elbow joint as origin
The upper arm of the arm of patient's obstacle side is lifted, until the upper arm and the vertical, then the upper arm is at the uniform velocity put down and returns
Return the initial position；
Rest 15min primary curved act movements after carrying out again after curved act movement described each time.
Preferably, in the S4 steps, the formula of the motion smoothing degree index S is：
Wherein, K is amplification coefficient, jerkxFor the rate of acceleration change in x-axis direction, jerkyFor the acceleration on y-axis direction
Spend change rate, jerkzFor the rate of acceleration change on z-axis direction；
The motor function intensity index represented by acceleration-root-mean square rms, the formula of the acceleration-root-mean square rms
For：
Wherein, N represents acquired data volume, and i represents sampling instant, acciRepresent the mould of the i-th sampling instant acceleration
Value.
Preferably, the S5 further comprises step：
S51：Reciprocal curved lift that the patient maintains 2min with the third load of 5N, 8N, 15.5N and 27N successively moves,
The patient is required to remain a constant speed as possible, while counted to the curved act number of the patient in the reciprocal curved act movement
Number, and the surface electromyogram signal obtained will be acquired with the preservation of txt forms；
S52：The each of the patient is calculated according to gravitional force formula (3) and average horse-power formula (4) and lifts weight
Mean power P：
Ep=mgh (3)；
Wherein, EpIt is gravitional force, m is the quality for lifting object, and g is acceleration of gravity, and h is the length of arm, and n is described
Patient's lifts number, and t is the time；
S53：Integral Processing is carried out to the collected surface electromyogram signal, calculates the average myoelectricity value obtained in 10s,
Then it is fitted by straight line and obtains the average myoelectricity value and the relation curve of time and determine that it changes slope, obtain average flesh
Electricity value slope；The calculation formula of wherein averagely myoelectricity value AEMG is as follows：
Wherein, EMG (t) represents the surface electromyogram signal value of t moment；T is the sampling time；
S54：Using the mean power as the longitudinal axis, using average myoelectricity value slope as horizontal axis, the mean power/average is established
Myoelectricity value Slope relationship curve；Start the mark for fatigue occur using slope increase as muscle, in the mean power/average flesh
The point that a slope is zero is found on electric value Slope relationship curve, using values of intercept of this on the longitudinal axis as myoelectricity threshold in fatigue
Value.
Preferably, the actual motion quality of the patient includes the motion smoothing degree index S, the acceleration-root-mean square
Rms and the myoelectricity fatigue threshold.
The present invention makes it have following advantageous effect as a result of above technical scheme：
The cooperation of low-pass filter circuit and common mode rejection circuit realizes better filter effect.Surface myoelectric acquisition module
For acquiring human body surface myoelectric signal；Motion parameter collecting module is used to acquire kinematic parameter.Microcontroller control terminal is for real
The analog-to-digital conversion and digital filtering of existing data.Host computer is used for processing, storage and the display of data.It distinguishes in traditional scale formula
Limb Rehabilitation Assessment, the development currently invention addresses application microelectric technique propose objective upper limb healing evaluation system；And optimize
Filtering system, improves data processing quality；There is simple operation simultaneously, the application field of myoelectricity threshold in fatigue is expanded
It opens up in upper limb healing evaluation system.
Description of the drawings
Fig. 1 is the overall structure of the upper limb healing evaluation system based on surface myoelectric and motion module of the embodiment of the present invention
Schematic diagram；
Fig. 2 is the main body circuit figure of the surface myoelectric acquisition module of the embodiment of the present invention；
Fig. 3 is the circuit diagram of the voltage follower circuit of the surface myoelectric acquisition module of the embodiment of the present invention；
Fig. 4 is the circuit diagram of the second amplifying circuit of the surface myoelectric acquisition module of the embodiment of the present invention；
Fig. 5 is the circuit diagram of the motion parameter collecting module of the embodiment of the present invention；
Fig. 6 is the flow chart of the upper limb healing evaluation method of the embodiment of the present invention；
Fig. 7 is the microcontroller control terminal flow chart of data processing schematic diagram of the embodiment of the present invention；
Fig. 8 is the moving average filter flow chart of the embodiment of the present invention；
Fig. 9 is the anti-impulse disturbances average filter method flow chart of the embodiment of the present invention；
Figure 10 is the acceleration sensor module flow chart of the embodiment of the present invention.
Specific embodiment
Below according to 1~Fig. 5 of attached drawing, presently preferred embodiments of the present invention is provided, and be described in detail, enabled more preferable geographical
Solve function, the feature of the present invention.
~Fig. 5 is please referred to Fig.1, a kind of of the embodiment of the present invention is evaluated based on surface myoelectric and the upper limb healing of motion module
System, including a host computer 1, a microcontroller control terminal 2, a surface myoelectric acquisition module 4 and a motion parameter collecting module 3；
Surface myoelectric acquisition module 4 includes sequentially connected two electrode 41, low-pass filter circuit 42, common mode rejection circuit 43, amplification electricity
Road 44 and subtraction circuit 45；Host computer 1 includes a display (not shown)；Subtraction circuit 45 and motion parameter collecting module 3
Microcontroller control terminal 2 is connected, microcontroller control terminal 2 connects host computer 1.
The cooperation of low-pass filter circuit 42 and common mode rejection circuit 43 realizes better filter effect.Surface myoelectric acquires
Module 4 is used to acquire human body surface myoelectric signal；Motion parameter collecting module 3 is used to acquire kinematic parameter.Microcontroller control terminal 2
It is used to implement the analog-to-digital conversion and digital filtering of data.Host computer 1 is used for processing, storage and the display of data.
Microcontroller control terminal 2 includes an analog-to-digital conversion module 21 and a digital filtering module 22；Subtraction circuit 45, modulus turn
Mold changing block 21, digital filtering module 22 and host computer 1 are sequentially connected.
41 collected human body surface myoelectric signal of electrode successively by low-pass filter circuit 42, common mode rejection circuit 43,
Amplifying circuit 44, subtraction circuit 45 preliminary filter and amplification after, into microcontroller control terminal 2, by 21 turns of analog-to-digital conversion module
After being changed to digital signal, further moving average filter is being carried out by digital filtering module 22 and anti-impulse disturbances are averagely filtered
Wave processing.The advantages of flow chart of moving average filter refers to Fig. 8, moving average filter method is that have to PERIODIC INTERFERENCE well
Inhibiting effect be suitable for the system of the higher-order of oscillation, but it also has the shortcomings that correlation：Sensitivity is low, the pulse to accidentally occurring
Property interference inhibiting effect it is poor；It is not easy to eliminate the sampled value deviation caused by impulse disturbances, is not suitable for impulse disturbances
More serious occasion in an embodiment of the present invention, due to being not excluded for will appear pulse feature interference, therefore is needing further to adopt
It is combined with it with anti-impulse disturbances average filter method (also known as the way of median average filter), realize better filter effect；
The flow chart of anti-impulse disturbances average filter refers to Fig. 9, and anti-impulse disturbances average filter method has merged " middle position value filtering method "
The advantages of with " digital averaging filtering method " two kinds of filter methods, interferes the pulse feature accidentally occurred, can eliminate as caused by it
Sampled value deviation, have good inhibiting effect to periodic disturbances, just compensate for the related defects of moving average filter, pass through
The electromyography signal that both filters are combined can obtain relatively good data result.
Turning back to Fig. 1~Fig. 5, microcontroller control terminal 2 includes an ATMega328P microprocessors, ATMega328P microprocessors
Device includes analog-to-digital conversion module 21 and digital filtering module 22, the output terminal connection ATMega328P microprocessors of subtraction circuit 45
Simulation input mouth, ATMega328P microprocessors pass through serial ports connect host computer 1.
Referring to Fig. 5, motion parameter collecting module 3 include an acceleration transducer, USB turn serial port circuit P1 and
ADXL345 acceleration module P2, acceleration transducer use ADXL345 3-axis acceleration sensors 31, and tri- axis of ADXL345 accelerates
The SCL pins of degree sensor 31 connect ATMega328P microprocessors with CS pins, for the communication with microcontroller control terminal 2,
ADXL345 3-axis acceleration sensors 31 read numerical data by SPI interface.In the present embodiment, electrode 41 uses Ag/AgCl
Electrode.
~Fig. 5 is please referred to Fig.1, in view of the own characteristic of surface electromyogram signal, in the present embodiment, first to passing through electrode slice
41 collected myoelectricity original signals carry out appropriate amplification, filtering process.Simultaneously to reduce subsequent recognizer in the time
Complexity spatially adds in low-pass filter circuit 42 in the hardware components of system.And pass through subtraction circuit 45 will filter after
Voltage signal be converted into 2 acceptable voltage signal of microcontroller control terminal, then voltage signal is connect by analog signal
Oral instructions are turned to using ATMega328P microprocessors as the main control module of core by the analog/digital conversion module that main control module carries
It changes 10 position digital signals of 0-1023, master control module controls acquisition process into, and collected digital surface electromyography signal is led to
Cross that serial ports is transferred to USB interface or bluetooth module is sent to 1 capture program of host computer.1 journey of host computer write by C++
Sequence filters out Hz noise, display and storage surface electromyography signal, the identification signal real-time display on the interface of display.Due to
Between surface electromyogram signal amplitude 0.05-5mV；Spectrum distribution between 0.02~500Hz, main energetic concentrates on 50~
Between 150Hz.Therefore 41 collected signal of electrode uses the RC filter circuits of low pass first, the high frequency letter in filtering electric signal
Number, filter out 41 collected high-frequency signal of electrode.Signal after filter is good passes through the common mode inhibition that is made of three LM324AD chips
Than circuit 43, the inhibition of the in-phase signal of input signal is realized.Since surface electromyogram signal external disturbance is very big, if common mode presses down
System causes data inaccurate than if relatively low, will appear apparent linear distortion in the amplified signal of the amplifying circuit 44 of rear end,
The minimum 115dB of common-mode rejection ratio of the present embodiment.The electric signal of common mode rejection circuit 43 need to pass through instrument amplifier circuit 46
The amplification of instrument amplifier AD620N primes, using being outputed analog signal to after high-pass filtering, subtraction circuit 45
The simulation input mouth of ATMega328P microprocessors carries out digital filtering processing by digital filtering module 22.
Please refer to Fig.1, Fig. 6~Figure 10, it is of the invention it is a kind of based on the present invention based on surface myoelectric and motion module
The upper limb healing evaluation method of upper limb healing evaluation system, including step：
S1：The zero load motion orientation that patient is acquired using motion parameter collecting module 3 reaches object kinematic parameter；
Wherein, S1 steps further comprise step：
S11：Patient back is allowed just to be seated in a seat against the chair back, and allows the arm of patient's obstacle side perpendicular to ground
Face；
S12：Acceleration transducer is fixed at the wrist of patient so that the entire arm of patient is zero load；
S13：When tester provides the instruction of beginning to patient, and the first movement ginseng in start recording motion process
Number, the first kinematic parameter include three axial acceleration values at wrist；
Patient starts with constant speed smoothly upper lift arm as far as possible, stops when arm is in 90 ° of patient's shoulder forerunner, patient
Elbow be fully extended and kept for 3 seconds；Tester provides termination instruction to patient, and terminates to record the movement in motion process
Parameter；Patient can put down arm and rest.
S2：The enough object kinematic parameters of gradient load orientation of patient are acquired using motion parameter collecting module 3；
S2 steps further comprise step：
Patient is allowed to carry the first load of 0kg, 2kg, 4kg and 6kg, and the weight when carrying every first load successively
Multiple S1 steps.
S3：The surface electromyogram signal step of patient is acquired using surface myoelectric acquisition module 4；
S3 steps further comprise step：
S31：It strikes off patient one to be tested the upper arm chaeta of arm and be wiped over 75% ethyl alcohol, conductive paste is smeared on electrode 41,
The muscle fibre of one electrode 41 along tested arm is moved towards parallel to be fixed on the outside of the bicipital muscle of arm of tested arm on belly of muscle, it will be another
Electrode 41 is pasted onto the less place of muscle by elbow joint；
S32：Patient is made to maintain 2min's respectively with the second load of 10N, 20N, 30N and 40N in either order
It is curved to lift movement；Curved act movement includes step：
The arm of patient's obstacle side is lieed down in desktop as initial position completely；Then it is lifted by origin of elbow joint
The upper arm of the arm of patient's obstacle side until the upper arm and vertical, then at the uniform velocity puts down the upper arm and returns initial position；
Primary curved lift moves after rest 15min is carried out again after curved act movement each time.
S4：The data of 3 acquisition of motion parameter collecting module are handled, analyze the motion smoothing degree index and motor function of patient
Intensity index；
Wherein, in S4 steps, the formula of motion smoothing degree index S is：
Wherein, K is amplification coefficient, it is determined by the accuracy of hardware system, and the K values of each system are fixed value,
It will not change because tester is different.jerkxFor the rate of acceleration change in x-axis direction, jerkyFor the acceleration on y-axis direction
Spend change rate, jerkzFor the rate of acceleration change on z-axis direction；Rate of acceleration change by corresponding direction acceleration change amount
Divided by the time obtains.Each moment instantaneous smoothness is worth in smoothness rounding motion process.
Motor function intensity index represents that the formula of acceleration-root-mean square rms is by acceleration-root-mean square rms：
Wherein, N represents acquired data volume, and i represents sampling instant, acciRepresent the mould of the i-th sampling instant acceleration
Value.
To evaluate the smooth degree acted in entire motion process, acceleration-root-mean square rms is used motion smoothing degree index S
To assess the intensity of entire motion process.Motion smoothing degree index S numerical value deviation normal range (NR) is bigger and shows patient motion mistake
Journey is shaken more severe, and limb control ability is poorer.Exercise intensity, that is, acceleration-root-mean square rms, represents subject motion's
The size of intensity or load is commonly used to represent in rehabilitation field the missing degree of patient motion ability.Its numerical value is often low
In normal person's level, the motor function of qualitative assessment sufferer entirety can be used to.Respectively by patient and the motion smoothing degree of healthy person
Index S and acceleration-root-mean square rms data carry out correlation analysis, related coefficient and corresponding Probability p value are can obtain, by conspicuousness
Level set is 0.01, it can be seen that the difference of patient and healthy person.Healthy person data test step is considered as database with step S3
Normal data；The data of recording step S3 repeatedly during Rehabilitation carry out the above-mentioned processing mode of new legacy data, by right
Than smooth degree, the change degree of motion process intensity found out and acted during Rehabilitation can be quantified.Wherein phase relation
Number represents patient and the close degree of healthy person data, can be obtained by Welch variance analyses.Corresponding Probability p value and 0.05
Comparison, if less than 0.05, illustrates under 0.05 significance, the smoothness or acceleration between healthy person, patient are equal
There was no significant difference for root, i.e., smooth degree, motion process intensity and the healthy person acted in sufferer rehabilitation course is without conspicuousness
Difference；If greater than 0.05, illustrate widely different, there is still a need for continue corresponding rehabilitation training or make rehabilitation programme by patient
Adjustment.
S5：The data of 4 acquisition of surface myoelectric acquisition module are handled, establish a mean power/average myoelectricity value Slope relationship
Curve；
Preferably, S5 further comprises step：
S51：Reciprocal curved lift that patient maintains 2min with the third load of 5N, 8N, 15.5N and 27N successively moves, past
Multiple curved lift in movement requires patient to remain a constant speed as possible, while counted to the curved act number of patient, and will acquire what is obtained
Surface electromyogram signal is preserved with txt forms；
S52：The each of patient is calculated according to gravitional force formula (3) and average horse-power formula (4) and lifts being averaged for weight
Power P：
Ep=mgh (3)；
Wherein, EpIt is gravitional force, m is the quality for lifting object, and g is acceleration of gravity, and h is the length of arm, and n is patient
Lift number, t is the time；
S53：Integral Processing is carried out to collected surface electromyogram signal, calculates the average myoelectricity value obtained in 10s, then
It is fitted by straight line and obtains average myoelectricity value and the relation curve of time and determine that it changes slope, it is oblique to obtain average myoelectricity value
Rate；The calculation formula of wherein averagely myoelectricity value AEMG is as follows：
Wherein, EMG (t) represents the surface electromyogram signal value of t moment；T is the sampling time；
S54：Using mean power as the longitudinal axis, using average myoelectricity value slope as horizontal axis, it is oblique to establish mean power/average myoelectricity value
Rate relation curve；Start the mark for fatigue occur using slope increase as muscle, in mean power/average myoelectricity value Slope relationship
The point that a slope is zero is found on curve, using the values of intercept of point on longitudinal axis as myoelectricity fatigue threshold.
S6：The standard movement data to prestore in database are matched with actual acquired data, and according to the reality of patient
Border moving-mass is assessed, and patient provides corresponding rehabilitation feedback.
Wherein, the actual motion quality of patient includes motion smoothing degree index S, acceleration-root-mean square rms and myoelectricity fatigue
Threshold value.
Compared with prior art, the upper limb healing evaluation system based on surface myoelectric and motion module of the embodiment of the present invention
And method has the advantages that：
Traditional scale formula upper limb healing evaluation is distinguished, the development proposition currently invention addresses application microelectric technique is objective
Upper limb healing evaluation system；A kind of portable surface myoelectricity of independent design of the present invention receives, enhanced processing device, and optimizes
Filtering system；Independent design data of the present invention receive processing interface, and the person of being conveniently operated uses；The present invention should by myoelectricity threshold in fatigue
It is expanded in upper limb healing evaluation system with field.
The present invention is described in detail above in association with attached drawing embodiment, those skilled in the art can be according to upper
It states and bright many variations example is made to the present invention.Thus, certain details in embodiment should not form limitation of the invention, this
Invention will be using the range that the appended claims define as protection scope of the present invention.
Claims (10)
1. a kind of upper limb healing evaluation system based on surface myoelectric and motion module, which is characterized in that including a host computer, one
Microcontroller control terminal, a surface myoelectric acquisition module and a motion parameter collecting module；The surface myoelectric acquisition module includes
Sequentially connected two electrode, low-pass filter circuit, common mode rejection circuit, amplifying circuit and subtraction circuit；The host computer includes
One display；The subtraction circuit connects the microcontroller control terminal, the microcontroller control with the motion parameter collecting module
End processed connects the host computer.
2. the upper limb healing evaluation system according to claim 1 based on surface myoelectric and motion module, which is characterized in that
The microcontroller control terminal includes an analog-to-digital conversion module and a digital filtering module；The subtraction circuit, the microcontroller control
End processed and the host computer are sequentially connected.
3. the upper limb healing evaluation system according to claim 2 based on surface myoelectric and motion module, which is characterized in that
The microcontroller control terminal includes an ATMega328P microprocessors, and the ATMega328P microprocessors turn including the modulus
Block and the digital filtering module are changed the mold, the output terminal of the subtraction circuit connects the simulation of the ATMega328P microprocessors
Input port, the ATMega328P microprocessors connect the host computer by serial ports.
4. the upper limb healing evaluation system according to claim 3 based on surface myoelectric and motion module, which is characterized in that
The motion parameter collecting module includes an acceleration transducer, and the acceleration transducer uses ADXL345 3-axis accelerations
Sensor, the SCL pins of the ADXL345 3-axis acceleration sensors connect the ATMega328P microprocessors with CS pins
Device.
5. the upper limb healing evaluation system according to claim 4 based on surface myoelectric and motion module, which is characterized in that
The electrode uses Ag/AgCl electrodes.
6. a kind of upper limb health of the upper limb healing evaluation system based on surface myoelectric and motion module based on described in claim 5
Multiple evaluation method, including step：
S1：Object kinematic parameter is reached using the zero load motion orientation of motion parameter collecting module acquisition patient；
S2：The enough object kinematic parameters of gradient load orientation of the patient are acquired using the motion parameter collecting module；
S3：The surface electromyogram signal of the patient is acquired using the surface myoelectric acquisition module；
S4：The data of the motion parameter collecting module acquisition are handled, analyze motion smoothing degree index and the movement of the patient
Functional strength index；
S5：The data of the surface myoelectric acquisition module acquisition are handled, it is bent to establish a mean power/average myoelectricity value Slope relationship
Line；
S6：The standard movement data to prestore in database are matched with actual acquired data, and according to the reality of the patient
Border moving-mass is assessed, and the patient provides corresponding rehabilitation feedback.
7. upper limb healing evaluation method according to claim 6, which is characterized in that the S1 steps further comprise walking
Suddenly：
S11：The patient back is allowed just to be seated in a seat against the chair back, and makes the arm of patient's obstacle side vertical
In ground；
S12：The acceleration transducer is fixed at the wrist of the patient so that the entire arm of the patient is without negative
Lotus；
S13：When tester provides the instruction of beginning to the patient, and the first movement ginseng in start recording motion process
Number, first kinematic parameter include three axial acceleration values at the wrist；
The patient starts with constant speed smoothly upper lift arm as far as possible, when the arm is in 90 ° of patient's shoulder forerunner
Stop, the elbow of the patient is fully extended and is kept for 3 seconds；The tester provides termination instruction to the patient, and ties
Kinematic parameter in beam recording motion process；The patient can put down the arm and rest；
The S2 steps further comprise step：
The patient is allowed to carry the first load of 0kg, 2kg, 4kg and 6kg successively, and is carrying each first load
S1 steps described in Shi Chongfu；
The S3 steps further comprise step：
S31：It strikes off the patient one to be tested the upper arm chaeta of arm and be wiped over 75% ethyl alcohol, smear on the electrodes conductive
Cream moves towards the muscle fibre of an electrode along the tested arm on the outside of the parallel bicipital muscle of arm for being fixed on the tested arm
On belly of muscle, by muscle less place of another attachment of electrodes by elbow joint；
S32：The patient is made to maintain 2min's respectively with the second load of 10N, 20N, 30N and 40N in either order
It is curved to lift movement；The curved act movement includes step：
The arm of patient's obstacle side is lieed down in desktop as initial position completely；Then it is lifted by origin of elbow joint
The upper arm of the arm of patient's obstacle side until the upper arm and the vertical, then at the uniform velocity puts down the upper arm and returns institute
State initial position；
Rest 15min primary curved act movements after carrying out again after curved act movement described each time.
8. upper limb healing evaluation method according to claim 7, which is characterized in that in the S4 steps, the movement is flat
The formula of slippery index S is：
Wherein, K is amplification coefficient, jerkxFor the rate of acceleration change in x-axis direction, jerkyBecome for the acceleration on y-axis direction
Rate, jerkzFor the rate of acceleration change on z-axis direction；
The motor function intensity index represents that the formula of the acceleration-root-mean square rms is by acceleration-root-mean square rms：
Wherein, N represents acquired data volume, and i represents sampling instant, acciRepresent the modulus value of the i-th sampling instant acceleration.
9. upper limb healing evaluation method according to claim 8, which is characterized in that the S5 further comprises step：
S51：Reciprocal curved lift that the patient maintains 2min with the third load of 5N, 8N, 15.5N and 27N successively moves, in institute
Stating reciprocal curved lift in movement requires the patient to remain a constant speed as possible, while counted to the curved act number of the patient, and
The surface electromyogram signal obtained will be acquired with the preservation of txt forms；
S52：The each of the patient is calculated according to gravitional force formula (3) and average horse-power formula (4) and lifts being averaged for weight
Power P：
Ep=mgh (3)；
Wherein, EpIt is gravitional force, m is the quality for lifting object, and g is acceleration of gravity, and h is the length of arm, and n is the patient
Lift number, t is the time；
S53：Integral Processing is carried out to the collected surface electromyogram signal, calculates the average myoelectricity value obtained in 10s, then
It is fitted by straight line and obtains the average myoelectricity value and the relation curve of time and determine that it changes slope, obtain average myoelectricity value
Slope；The calculation formula of wherein averagely myoelectricity value AEMG is as follows：
Wherein, EMG (t) represents the surface electromyogram signal value of t moment；T is the sampling time；
S54：Using the mean power as the longitudinal axis, using average myoelectricity value slope as horizontal axis, the mean power/average myoelectricity is established
It is worth Slope relationship curve；Start the mark for fatigue occur using slope increase as muscle, in the mean power/average myoelectricity value
The point that a slope is zero is found on Slope relationship curve, using values of intercept of this on the longitudinal axis as myoelectricity fatigue threshold.
10. upper limb healing evaluation method according to claim 9, which is characterized in that the actual motion quality of the patient
Including the motion smoothing degree index S, the acceleration-root-mean square rms and the myoelectricity fatigue threshold.
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