CN109343704A - A kind of healing robot hand online actions identifying system based on LABVIEW platform - Google Patents
A kind of healing robot hand online actions identifying system based on LABVIEW platform Download PDFInfo
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- CN109343704A CN109343704A CN201811060379.XA CN201811060379A CN109343704A CN 109343704 A CN109343704 A CN 109343704A CN 201811060379 A CN201811060379 A CN 201811060379A CN 109343704 A CN109343704 A CN 109343704A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- 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
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/015—Input arrangements based on nervous system activity detection, e.g. brain waves [EEG] detection, electromyograms [EMG] detection, electrodermal response detection
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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
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
- A63B23/16—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles for hands or fingers
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0062—Monitoring athletic performances, e.g. for determining the work of a user on an exercise apparatus, the completed jogging or cycling distance
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- 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
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/014—Hand-worn input/output arrangements, e.g. data gloves
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Abstract
The healing robot hand online actions identifying system based on LABVIEW platform that the invention discloses a kind of, belongs to electronics science and medical science of recovery therapy field.The hardware includes host computer, arm processor, wearing restoring gloves module, electromyographic signal collection module；Software section includes online gesture identification, hand rehabilitation training, LABVIEW rehabilitation state display module.Wearing restoring gloves module includes pneumatic muscle, proportioning valve, fingerstall and drives the connecting rod of fingerstall, drives the driving circuit of tendon, and electromyographic signal collection module is by electromyographic electrode, low-noise preamplifier, signal conditioning circuit, data collecting card composition.LABVIEW rehabilitation state display module includes data acquisition unit, user password login unit, feature and classification display unit.The present invention is convenient to be monitored to identification process by the hand motion online recognition process visualization based on myoelectricity using LABVIEW functionality controls abundant and the advantage of real time data processing.
Description
Technical field
The healing robot hand online actions identifying system based on LABVIEW platform that the present invention relates to a kind of, belongs to electricity
Scarabaeidae and medical science of recovery therapy field.
Background technique
With the continuous development of society, disabled population's quantity caused by a variety of causes is also constantly increasing.Love is disabled
People, helping disabled person preferably to live is the key subjects of various circles of society's common concern, is helped using advanced technological means residual
It is the hot spot studied now that disease people, which carries out effective rehabilitation,.
Human-computer interaction technology play the role of in hand exercise rehabilitation it is vital, selection be loaded with abundant motion information
Forearm surface electromyogram signal assigns device it will be appreciated that the ability that hand exercise is intended to as human-machine interactive information.It develops simultaneously
Restoring gloves system, the i.e. acquisition of myoelectricity data and in real time identification are dressed, and is worn by ARM microprocessor and driving circuit driving
The hand for wearing restoring gloves auxiliary for hemiparalysis patient moves.To promote learning again for muscle, until rehabilitation.
However, we can not obtain the myoelectricity data and rehabilitation information of patient in entire rehabilitation training, it is difficult to sentence
The rehabilitation situation of disconnected patient.LABVIEW have intuitive pattern development environment, powerful data processing function, it is abundant can
Depending on changing display function, the features such as complete instrument drivers, perfect external code interface and powerful network function.
Summary of the invention
In order to solve to overcome online hand motion recognition rate it is low, can not real-time display rehabilitation training state, monitoring hand
The problems such as movement, the invention proposes a kind of healing robot hand online actions identifying system based on LABVIEW platform, base
In on LABVIEW platform, using surface electromyogram signal as human-machine interactive information, construct real-time online acquisition myoelectricity data,
Real-time identification, real-time control, the system of real-time monitoring patient hand's rehabilitation training state, have easy to operate, and reading is intuitive, square
Just it monitors, can capture the abnormal feature of identification, can be widely applied in the hand rehabilitation training of hemiplegic patient.
The present invention is to solve its technical problem to adopt the following technical scheme that
A kind of healing robot hand online actions identifying system based on LABVIEW platform, including host computer, arm processor,
Dress restoring gloves module and electromyographic signal collection module, in which: pass through serial communication, flesh between host computer and arm processor
Electrical signal collection module, arm processor are connected with wearing restoring gloves sequence of modules；The host computer includes online gesture identification
Module, hand rehabilitation training module, LABVIEW rehabilitation state display module；
The arm processor by output PWM wave control wearing restoring gloves module, while obtaining myoelectricity by analog-to-digital conversion
The electromyography signal of signal acquisition module acquisition；
The wearing restoring gloves module, for driving patient's finger；
The electromyographic signal collection module is responsible for acquisition process electromyography signal, and collected electromyography signal is sent to LABVIEW
Platform is shown, is further pre-processed；
The online gesture recognition module corresponds to motion intention for online real-time judge electromyography signal；
The hand rehabilitation training module, for according to electromyography signal correspond to motion intention driving patient's finger, help user into
Row rehabilitation training；
The LABVIEW rehabilitation state display module, for showing the electromyography signal shape of patient by LABVIEW Visualization Platform
Shape, rehabilitation state state, motion intention.
The wearing restoring gloves module includes pneumatic muscle, proportioning valve, fingerstall and drives the connecting rod of fingerstall, driving flesh
The driving circuit of tendon, wherein the driving circuit of the driving tendon is connected with proportioning valve, by the amplitude opened for controlling proportioning valve
The contracted length and duration of pneumatic muscle are controlled with duration, pneumatic muscle is connected with the connecting rod of driving fingerstall, drive link band
Dynamic fingerstall shows corresponding rehabilitation exercise motion.
The electromyographic signal collection module includes electromyographic electrode, and low-noise preamplifier, signal conditioning circuit, data are adopted
Truck, wherein the signal of myoelectricity motor acquisition is amplified by low-noise preamplifier, is then improved by signal conditioning circuit
Filtering, is finally acquired by data collecting card.
The model MPS-080102 USB of the data collecting card.
The online gesture recognition module includes movement identification model training unit and online recognition unit, wherein movement is known
Other model training unit is responsible for off-line training KNN classifier, online recognition unit be responsible in real time to collected electromyography signal into
The identification of action operation mode.
The LABVIEW rehabilitation state display module include data acquisition unit, user password login unit and feature and
Classification display unit.
Beneficial effects of the present invention are as follows:
(1) the invention uses for more people, high recycling rate.
(2) recovery training method can identify hand motion and control Ipsilateral hand in real time, improve the efficiency of rehabilitation training.
(3) recovery training method can auxiliary for hemiparalysis patient carry out autonomous rehabilitation training, for improve minimal invasive treatment from
Reason ability has remarkable effect.
(4) process of rehabilitation training can be observed in real time in physiatrician and patient, convenient to be monitored to training.
Detailed description of the invention
Fig. 1 is a kind of system of the healing robot hand online actions identifying system based on LABVIEW platform of the present invention
Structure chart.
Fig. 2 is the online gesture recognition module flow chart of the present invention.
Fig. 3 is hand rehabilitation training module flow diagram of the present invention.
Fig. 4 is signal conditioning circuit figure of the present invention.
Specific embodiment
The invention is described in further detail with reference to the accompanying drawing.
Fig. 1 is a kind of system of the healing robot hand online actions identifying system based on LABVIEW platform of the present invention
Structure chart.The hardware includes host computer, arm processor, wearing restoring gloves module, electromyographic signal collection module；
Software section includes online gesture identification, hand rehabilitation training, LABVIEW rehabilitation state display module.
Wherein: by serial communication between host computer and arm processor, electromyographic signal collection module, arm processor and wearing
Wear the connection of restoring gloves sequence of modules.
Arm processor by output PWM wave control wearing restoring gloves module, while obtaining myoelectricity by analog-to-digital conversion
The electromyography signal of signal acquisition module acquisition；
Restoring gloves module is dressed, for driving patient's finger, including pneumatic muscle, proportioning valve, fingerstall and driving fingerstall
Connecting rod, drive tendon driving circuit, wherein driving circuit is connected with proportioning valve, by control proportioning valve the amplitude opened and when
Long contracted length and duration to control pneumatic muscle, pneumatic muscle are connected with the connecting rod of driving fingerstall, and drive link drive refers to
Set shows corresponding rehabilitation exercise motion.Electromyographic signal collection module is responsible for acquisition process electromyography signal, by electromyographic electrode, low noise
Sound preamplifier, signal conditioning circuit, data collecting card composition, wherein the signal of myoelectricity motor acquisition is preposition by low noise
Amplifier amplification, is then improved by signal conditioning circuit and is filtered, finally acquired by data collecting card.And by collected flesh
Electric signal is sent to LABVIEW platform and shows, is further pre-processed.
Data collecting card selects model MPS-080102 USB, and data collecting card is connected with ARM microprocessor, and ARM is micro-
Processor completes the A/D conversion of collected electromyography signal data, and by serial communication mode that the data of acquisition are real-time
It is transmitted to host computer.Host computer reads data and is simultaneously pre-processed, and obtains action classification by online gesture identification, by feature and
Classification is shown on the interface LABVIEW of design.
The LAVBIEW rehabilitation state display module of the system includes following sections:
(1) data acquisition unit, has merged serial communication and image is shown.The control zone for starting including signal acquisition and terminating
Domain, serial ports transmit data area, electromyography signal waveform display area.
(2) user password login unit, login system confirm the permission that user logs in by input username and password,
Initial username and password can be set in background program.The modification program of username and password is provided simultaneously, display circle is provided
Face helps the user to input.
(3) feature and classification display unit, including characteristic parameter display area, gesture identification region and myoelectricity data turn
The frequency domain graph region changed.
Fig. 2 is the online gesture recognition module flow chart of the present invention.The online gesture identification of the system includes movement identification mould
Type training and online recognition two parts, wherein movement identification model training unit is responsible for off-line training KNN classifier, online recognition
Unit is responsible in real time carrying out collected electromyography signal the identification of action mode:
(1) movement identification model training: acquisition multiple groups electromyography signal data first carry out power frequency to the myoelectricity data of acquisition and remove dryness
It is filtered with Butterworth, reduces the baseline drift and noise jamming of signal；Thereafter having for pretreated signal is extracted
The feature of distinction, i.e. temporal signatures kurtosis, frequency domain character myoelectric integral value；The feature extracted finally is sent into KNN classification
Device is trained, and carries out the identification of action mode.
(2) online recognition: first two channel myoelectricity data are acquired by slave computer in real time, then passed through in host computer
MATLAB carries out Signal Pretreatment to electromyography signal, extracts feature thereafter, and it is good that the feature of extraction is finally sent into off-line training
KNN classifier obtains action recognition result.
Fig. 3 is hand rehabilitation training module flow diagram of the present invention.The function of the hand rehabilitation training module of the system includes
Following steps:
(1) ARM microprocessor acquires electromyography signal by myoelectric sensor, and the signal collected is then passed through signal condition
After the processing of circuit and amplifying circuit, upper PC machine is sent to by data collecting card after ARM analog-to-digital conversion；
(2) host computer pre-processes collected myoelectricity data；
(3) by pretreated data transmission to MATLAB, by online gesture identification, shape locating for healthy side hand portion at this time is obtained
State；
(4) state for acting healthy side hand portion is sent to ARM controller by MATLAB device control module, to drive wearing
Restoring gloves assist Ipsilateral hand to carry out rehabilitation training.
Fig. 4 is signal conditioning circuit figure of the present invention.Electromyographic electrode be the differential input electrode of bikini, a reference electrode,
The placement direction of two detecting electrodes, detecting electrode should be parallel with muscle-spindle direction.Signal conditioning circuit include pre-amplification circuit,
High-pass filtering circuit, notch filter circuit, low-pass filter circuit and secondary amplifying circuit.
Claims (6)
1. a kind of healing robot hand online actions identifying system based on LABVIEW platform, which is characterized in that including upper
Machine, arm processor, wearing restoring gloves module and electromyographic signal collection module, in which: lead between host computer and arm processor
Serial communication is crossed, electromyographic signal collection module, arm processor are connected with wearing restoring gloves sequence of modules；The host computer packet
Include online gesture recognition module, hand rehabilitation training module, LABVIEW rehabilitation state display module；
The arm processor by output PWM wave control wearing restoring gloves module, while obtaining myoelectricity by analog-to-digital conversion
The electromyography signal of signal acquisition module acquisition；
The wearing restoring gloves module, for driving patient's finger；
The electromyographic signal collection module is responsible for acquisition process electromyography signal, and collected electromyography signal is sent to LABVIEW
Platform is shown, is further pre-processed；
The online gesture recognition module corresponds to motion intention for online real-time judge electromyography signal；
The hand rehabilitation training module, for according to electromyography signal correspond to motion intention driving patient's finger, help user into
Row rehabilitation training；
The LABVIEW rehabilitation state display module, for showing the electromyography signal shape of patient by LABVIEW Visualization Platform
Shape, rehabilitation state state, motion intention.
2. a kind of healing robot hand online actions identifying system based on LABVIEW platform according to claim 1,
The wearing restoring gloves module includes pneumatic muscle, proportioning valve, fingerstall and drives the connecting rod of fingerstall, drives the driving of tendon
Circuit, wherein it is described driving tendon driving circuit be connected with proportioning valve, by control proportioning valve the amplitude opened and duration come
The contracted length and duration of pneumatic muscle are controlled, pneumatic muscle is connected with the connecting rod of driving fingerstall, and drive link drives fingerstall aobvious
Now corresponding rehabilitation exercise motion.
3. a kind of healing robot hand online actions identifying system based on LABVIEW platform according to claim 1,
It is characterized in that, the electromyographic signal collection module includes electromyographic electrode, low-noise preamplifier, signal conditioning circuit, number
According to capture card, wherein the signal of myoelectricity motor acquisition is amplified by low-noise preamplifier, then passes through signal conditioning circuit
Conditioning filtering, is finally acquired by data collecting card.
4. a kind of healing robot hand online actions identifying system based on LABVIEW platform according to claim 3,
It is characterized in that, the model MPS-080102 USB of the data collecting card.
5. a kind of healing robot hand online actions identifying system based on LABVIEW platform according to claim 1,
It is characterized in that, the online gesture recognition module includes movement identification model training unit and online recognition unit, wherein institute
It states movement identification model training unit and is responsible for off-line training KNN classifier, the online recognition unit is responsible in real time to collecting
Electromyography signal carry out action mode identification.
6. a kind of healing robot hand online actions identifying system based on LABVIEW platform according to claim 1,
It is characterized in that, the LABVIEW rehabilitation state display module includes data acquisition unit, user password login unit and feature
And classification display unit.
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| CN201811060379.XA CN109343704A (en) | 2018-09-12 | 2018-09-12 | A kind of healing robot hand online actions identifying system based on LABVIEW platform |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109646250A (en) * | 2019-02-18 | 2019-04-19 | 河海大学常州校区 | A kind of finger rehabilitation training robot |
| CN110060780A (en) * | 2019-04-17 | 2019-07-26 | 浙江理工大学 | A kind of cerebral apoplexy hand rehabilitation training system and method |
| CN111651046A (en) * | 2020-06-05 | 2020-09-11 | 上海交通大学 | Gesture intention recognition system without hand action |
| CN111973388A (en) * | 2019-05-22 | 2020-11-24 | 中国科学院沈阳自动化研究所 | Hand rehabilitation robot control method based on sEMG |
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| CN109646250A (en) * | 2019-02-18 | 2019-04-19 | 河海大学常州校区 | A kind of finger rehabilitation training robot |
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