CN112148126A - Limb action sensing device, system and wearable equipment - Google Patents

Abstract

The invention discloses a limb motion sensing device, a system and a wearable device. The device includes an electromyography measurement unit, an inertial measurement unit, and a processing device with a wireless communication module. The signal output end of the inertial measurement unit is connected to the The first signal input end of the processing device is connected; the electromyography measurement unit includes a first amplifier circuit, a band-pass filter circuit and a second amplifier circuit; the input end of the first amplifier circuit is connected to the signal of the electromyography measurement unit The input electrode is connected, the output end of the first amplifying circuit is connected with the input end of the band-pass filter circuit, the output end of the band-pass filter circuit is connected with the input end of the second amplifying circuit, the second The output end of the amplifying circuit is connected to the second signal input end of the processing device.

Description

Body motion sensing device, system and wearable device

technical field

Embodiments of the present disclosure relate to the field of sensing technologies, and more particularly, to a body motion sensing device, a body motion sensing system, and a wearable device.

Background technique

At present, more and more application scenarios allow people to interact with peripheral devices or the environment through body movements, which is called somatosensory control. At present, the somatosensory control is mainly realized by collecting user images through cameras, and analyzing the images through a processor to determine the hardware structure of the user's body movements. This kind of hardware structure, which uses a camera to collect user images to determine the user's limb movements, not only has a limited range of motion, but also requires a long time for the processor to analyze the images, which leads to the slow response speed of the somatosensory control based on this structure. Therefore, it is necessary to provide a new device capable of sensing limb movements to support somatosensory control.

SUMMARY OF THE INVENTION

One objective of the embodiments of the present disclosure is to provide a new device capable of sensing body movements, so as to realize somatosensory control.

According to an aspect of the present disclosure, a body motion sensing device is provided, the body motion sensing device includes an electromyography measurement unit, an inertial measurement unit, and a processing device having a wireless communication module, wherein a signal output end of the inertial measurement unit is connected to The first signal input end of the processing device is connected; the electromyography measurement unit includes a first amplifier circuit, a band-pass filter circuit and a second amplifier circuit;

The input end of the first amplifying circuit is connected to the signal input electrode of the electromyography measuring unit, the output end of the first amplifying circuit is connected to the input end of the band-pass filter circuit, and the The output end is connected to the input end of the second amplifying circuit, and the output end of the second amplifying circuit is connected to the second signal input end of the processing device.

Optionally, the band-pass filter circuit includes a high-pass filter circuit and a first low-pass filter circuit, the input terminal of the high-pass filter circuit is the output terminal of the band-pass filter circuit, and the output terminal of the high-pass filter circuit is the same as the output terminal of the high-pass filter circuit. The input end of the first low-pass filter circuit is connected, and the output end of the first low-pass filter circuit is the output end of the band-pass filter circuit.

Optionally, the signal voltage value of the output terminal of the first low-pass filter circuit is higher than the signal voltage value of the input terminal of the first low-pass filter circuit.

Optionally, the EMG measurement unit further includes a second low-pass filter circuit, the input end of the second low-pass filter circuit is connected to the signal input electrode of the EMG measurement unit, and the second low-pass filter circuit is connected to the signal input electrode of the EMG measurement unit. The output end of the circuit is connected with the input end of the first amplifying circuit.

Optionally, the electromyography measurement unit further includes a buffer circuit, and the buffer circuit is connected between the output end of the second low-pass filter circuit and the input end of the first amplifying circuit.

Optionally, the electromyography measurement unit further includes a drive circuit, the input end of the drive circuit is connected to the output end of the first amplifying circuit, and the output end of the drive circuit is connected to the signal input electrode.

Optionally, the sensing device further includes a power supply module, and the power supply module is connected to the electromyography measurement unit and the inertial measurement unit for power supply.

Optionally, the limb motion sensing device further includes a casing, the electromyography measurement unit, the inertial measurement unit and the processing device are arranged in the casing, and the signal input electrode is exposed through the casing;

The signal input electrode protrudes outward relative to the surface of the casing;

The signal input electrode includes a central portion and a branch portion extending outward from the central portion;

The free end of the branch part of the signal input electrode includes two hook parts, and the two hook parts are bent in opposite directions to form an interval between the two adjacent branch parts that is closed to the center part.

According to a second aspect of the present disclosure, there is also provided a wearable device comprising the strap and at least one body motion sensing device according to the first aspect of the present disclosure, the body motion sensing device being connected to on the strap.

According to the second aspect of the present disclosure, there is also provided a body motion sensing system, the system comprising an upper computer and at least one body motion sensing device according to the first aspect of the present disclosure, the body motion sensing device is connected to the The wireless communication connection of the upper computer; or,

The body motion sensing system includes a host computer and at least one wearable device according to the second aspect of the present disclosure, and the host computer is wirelessly connected to a body motion sensing device of the wearable device.

One beneficial effect of the embodiments of the present disclosure is that the limb motion sensing device in this embodiment includes an EMG measurement unit and an inertial measurement unit, the EMG signal reflecting the movement of the limb can be measured by the EMG measurement unit, and the EMG signal reflecting the limb movement can be measured by the inertial measurement unit Therefore, the limb motion sensing device of this embodiment can provide myoelectric data and inertial data reflecting limb movements, so that the limb motion sensing system can determine the corresponding limb movements according to the electromyographic data and inertial data. In order to achieve somatosensory control. For the body motion sensing device of this embodiment, since it is in contact with the user's skin to sense body motion, when the user wears the body motion sensing device for somatosensory control, the user's range of motion will not be limited, which makes the The body motion sensing device can adapt to more application scenarios; in addition, the body motion sensing device for somatosensory control can eliminate the need for image recognition through complex algorithms, which can significantly improve the response speed of the body motion sensing system for somatosensory control. In order to improve the user experience.

Other features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention.

1 is a schematic structural diagram of a body motion sensing device according to an embodiment;

2 is a schematic structural diagram of a body motion sensing device according to another embodiment;

3 is a schematic structural diagram of a body motion sensing device according to yet another embodiment;

4 is a schematic structural diagram of a body motion sensing device according to yet another embodiment;

5 is a schematic structural diagram of a wearable device according to an embodiment;

6 is a schematic structural diagram of a signal input electrode according to an embodiment;

FIG. 7 is a schematic diagram of the composition of a body motion sensing system according to an embodiment.

Detailed ways

Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the invention unless specifically stated otherwise.

The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

Techniques, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, techniques, methods, and devices should be considered part of the specification.

In all examples shown and discussed herein, any specific values should be construed as illustrative only and not limiting. Accordingly, other instances of the exemplary embodiment may have different values.

It should be noted that like numerals and letters refer to like items in the following figures, so once an item is defined in one figure, it does not require further discussion in subsequent figures.

<Example of Induction Device>

FIG. 1 is a schematic structural diagram of a body motion sensing device according to an embodiment. As shown in FIG. 1 , the limb motion sensing device 100 includes an electromyography measurement unit 110 , an inertial measurement unit 120 and a processing device 130 with a wireless communication module, wherein the signal output end of the inertial measurement unit 120 is connected to the first signal output terminal of the processing device 130 . The signal input end is connected to output the inertial signal to the processing device 130 , the signal output end of the EMG measurement unit 110 is connected to the second signal input end of the processing device 130 to output the EMG signal to the processing device 130 .

The processing device 130 can obtain EMG data reflecting body movements according to the EMG signals, and obtain inertial data reflecting body movements according to the inertial signals, and send the EMG data and inertial data to the host computer through the wireless communication module for the host computer to use. Corresponding body movements are determined according to the EMG data and inertial data, for example, corresponding gesture movements are determined, so as to realize somatosensory control.

In this embodiment, the electromyography measurement unit is used to collect electrical signals that appear as action potential sequences generated when the user performs limb movements, and to obtain electromyography signals reflecting the limb movements after signal processing on the electrical signals.

The movements of the human body are under the unified control of skeletal muscle fibers. Skeletal muscle fibers switch between the relaxation state and the contraction state. When all the skeletal muscle fibers on the surface of the limb coordinate and change the state, the action is generated. Motor nerve acts directly on skeletal muscle fibers, a motor neuron and all skeletal muscle fibers it controls form a motor unit, and a large number of motor units constitute the skeletal muscle motor system. Neurons control skeletal muscle fibers to contract or relax by firing. When the human brain wants to control limb movement, it transmits intention signals through nerves to control motor neurons to emit bioelectric signals, thereby stimulating skeletal muscle fibers to move. This process will lead to changes in the concentration of ions inside and outside the muscle cell membrane, resulting in changes in the potential difference on the muscle cell membrane. When these potential differences accumulate to a certain extent, a potential is formed. The accumulation of all potentials in a motor unit is an action potential, which lasts for a long time. actions form an action potential sequence.

As shown in FIG. 1 , the electromyography measurement unit 110 may include a first amplifier circuit 111 , a band-pass filter circuit 112 and a second amplifier circuit 113 .

The input end of the first amplifying circuit 111 is connected to the signal input electrode J1 of the electromyography measurement unit, and the signal input electrode J1 is used for contacting the user's skin to receive electrical signals represented as action potential sequences. The output end of the first amplifying circuit 111 is connected to the input end of the bandpass filter circuit 112 . The output end of the band-pass filter circuit 112 is connected to the input end of the second amplifying circuit 113 . connect.

In this embodiment, the first amplifying circuit 111 is used as a pre-amplifying circuit to suppress the common-mode signal in the received electrical signal and retain the differential-mode signal in the received electrical signal, which is used to form a The electrical signal of the EMG signal is a differential mode signal.

The first amplifier circuit 111 may use a differential amplifier circuit.

The first amplifying circuit 111 may include an instrumentation amplifier. Here, the use of instrumentation amplifiers and devices such as resistors and capacitors to form an amplifying circuit is a means of the prior art, and details are not described herein again.

The magnification of the first amplifying circuit 111 is, for example, 500 times.

In this embodiment, the band-pass filter circuit 112 is used to filter out useless signals in the received signal, so as to obtain an EMG signal of better quality. The bandpass filter circuit 112 may adopt an active filter circuit.

The band-pass range of the band-pass filter circuit 112 is, for example, greater than or equal to 0.5 Hz and less than or equal to 500 Hz.

In one embodiment, as shown in FIG. 1 , the band-pass filter circuit 112 may include a high-pass filter circuit 1121 and a first low-pass low-pass circuit 1122 connected in series, and the input end of the high-pass filter circuit 1121 is a band-pass filter circuit , that is, the input end of the high-pass filter circuit 1121 is connected to the output end of the first amplifying circuit 111, the output end of the high-pass filter circuit 1121 is connected to the input end of the first low-pass filter circuit 1122, and the first low-pass filter circuit 1122 The output terminal of the filter circuit 1122 is the output terminal of the band-pass filter circuit 112 , that is, the output terminal of the first low-pass filter circuit 1122 is connected to the input terminal of the second amplifier circuit 113 .

In this embodiment, the high-pass filter circuit includes at least one operational amplifier, and the first low-pass filter circuit also includes at least one operational amplifier. For example, the high-pass filter amplifying circuit can use an integral feedback circuit realized by an operational amplifier. For another example, the first low-pass filter circuit may use a Butterworth second-order low-pass filter circuit, etc., which is not limited herein.

In one embodiment, the signal voltage value of the output terminal of the first low-pass filter circuit 1122 may be higher than the signal voltage value of the input terminal of the first low-pass filter circuit 1122 . This shows that the first low-pass filter circuit 1122 can also perform signal amplification while performing low-pass filtering, so as to perform two-stage amplification between the first amplifying circuit 111 and the second amplifying circuit 113, thereby providing signal quality .

In another embodiment, the bandpass filter circuit 112 may also be implemented by an operational amplifier, which is not limited herein.

In this embodiment, the second amplifying circuit 113 is used to boost the voltage of the received electrical signal to obtain a high-quality EMG signal, which can make the analog-to-digital conversion of the EMG signal by the processing device 130 more efficient, and further Improve sampling accuracy.

The second amplifying circuit 113 is used as a post-stage amplifying circuit, and its magnification can be much lower than that of the first amplifying circuit 111 . The amplification factor of the second amplifying circuit 113 can be determined according to the voltage range of the processing device 130 , so that the level of the electromyography signal is raised to meet the signal acquisition requirements of the processing device 130 .

The second amplifier circuit 113 may be, for example, an amplifier circuit realized by an operational amplifier.

In this embodiment, the wireless communication module, microcontroller, analog-to-digital conversion module, etc. of the processing device 130 may all be integrated into one chip. The processing device 130 may be, for example, a wireless single-chip microcomputer, or referred to as a wireless SOC.

In another embodiment, the processing device 130 may also include a wireless communication module set independently of the microcontroller, and the signal output end of the microcontroller is connected to the wireless communication module.

In this embodiment, the wireless communication module of the processing device 130 may be a WI-FI communication module.

In another embodiment, the wireless communication module may also be a communication module based on a mobile communication network such as GPRS, which is not limited herein.

In this embodiment, the inertial measurement unit 120 may include a three-axis acceleration sensor and a three-axis gyroscope, and correspondingly, the inertial signal output by the inertial measurement unit 120 to the processing device 130 may include an acceleration signal and an angular velocity signal. Here, when the user wears the body motion sensing device 100 , the inertial signal output by the inertial measurement unit 120 can reflect the user's motion posture, so inertial data reflecting the body motion can be obtained according to the inertial signal.

In this embodiment, as shown in FIG. 1 , the body motion sensing device 100 may further include a power supply module 140, and the power supply module 140 is connected to the EMG measurement unit 110 and the inertial measurement unit 120 for power supply, so as to provide the EMG measurement unit 110 and the inertial measurement unit 120 for power supply. The electrical device of the measurement unit 120 provides the operating voltage.

In this embodiment, the power module 140 may include a battery module and a low-dropout linear regulator, and the voltage output by the battery module is converted into the voltage output by the EMG measurement unit 110 and the inertial measurement unit 120 through the low-dropout linear regulator. The operating voltage required for electrical devices.

In another embodiment, the body motion sensing device 100 can also be powered by an external power supply, which is not limited herein.

According to the body motion sensing device 100 of the embodiment shown in FIG. 1 , since it senses body motion by contacting the user's skin, when the user wears the body motion sensing device for somatosensory control, the user's range of motion will not be affected by limited, which enables the body motion sensing device to adapt to more application scenarios.

In addition, according to the body motion sensing device 100 of the embodiment shown in FIG. 1 , by performing somatosensory control through the body motion sensing device, image recognition through complex algorithms can be omitted, which can significantly improve the user's response speed for somatosensory control. Improve user experience.

Since the signal input electrode J1 of the EMG measurement unit 110 is in contact with the air and human skin, and there will be a lot of noise in the air and the human body to interfere with the effective EMG signal, in one embodiment, the EMG measurement unit 110 may A first-stage low-pass filter circuit is added to the front end of the EMG measurement unit 110 to improve the anti-noise performance of the EMG measurement unit 110 against noise.

In this embodiment, as shown in FIG. 2 , the EMG measurement unit 110 may further include a second low-pass filter circuit 114 , and the input end of the second low-pass filter circuit 114 is connected to the signal input electrode J1 of the EMG measurement unit 110 . connected, the output end of the second low-pass filter circuit 114 is connected to the input end of the first amplifying circuit 111 .

The cutoff frequency of the second low-pass filter circuit 114 may be, for example, 760 Hz.

In one embodiment, in order to extract more effective electrical signals from human skin, as shown in FIG. 3 , the EMG measurement unit 110 may add a buffer between the second low-pass filter circuit 114 and the first amplifier circuit 111 circuit 115.

The buffer circuit can be implemented by a dual-channel operational amplifier to extract more effective EMG signals from the human skin by matching the input impedance, and at the same time solve the problem of input imbalance caused by the large contact impedance between the signal input electrode and the skin.

In one embodiment, as shown in FIG. 4 , the electromyography measurement unit 110 may further include a drive circuit 116 , the input end of the drive circuit is connected to the output end of the first amplifying circuit 111 , and the output end of the drive circuit is connected to the muscle The signal input electrode J1 of the electrical measurement unit 110 is connected. For example, the driving circuit can be realized by using a dual-channel operational amplifier.

In this embodiment, the driving circuit 116 can reversely output the common mode signal output by the first amplifying circuit 111 to the user's skin through the signal input electrode J1, so as to adjust the dynamic range of the first amplifying circuit 111 and increase the first amplifying circuit 111 , and at the same time, a part of the common mode noise that is not eliminated in the first amplifying circuit 111 can be cancelled out, thereby increasing the anti-noise performance of the electromyography measurement unit 110 .

In one embodiment, the body motion sensing device 100 may further include an indicator light circuit, and the control end of the indicator light circuit is connected to the processing device 130 to perform status indication according to the control of the processing device 130 , for example, in the body motion sensing device 100 Indicates the connection status, etc. when a WI-FI connection is made.

<Apparatus Example>

FIG. 5 is a schematic structural diagram of a wearable device according to an embodiment. As shown in FIG. 5 , the wearable device 500 includes a strap 510 and at least one body motion sensing device 100 , and the body motion sensing device 100 is connected to the strap 510 .

The limb motion sensing device 100 can be movably connected to the strap 510 or fixedly connected to the strap 510 , which is not limited herein.

For example, the body motion sensing device 100 includes a housing 180 as shown in FIG. 5 , and the EMG measurement unit 110 , the inertial measurement unit 120 and the processing device 130 are all arranged in the housing 180 . The signal of the EMG measurement unit 110 The input electrode J1 is exposed through the case 180 . The housing 180 may be provided with a hole 181 for the strap 510 to pass through, and the limb motion sensing device 100 may be connected to the strap 510 through the hole 181 .

In one embodiment, the signal input electrode J1 of the electromyography measurement unit 110 may protrude outward relative to the surface of the housing 180 to improve the reliability of the contact between the signal input electrode J1 and the human skin.

In one embodiment, as shown in FIG. 6 , the signal input electrode J1 may include a central portion J11 and a branch portion J12 extending outward from the central portion J11, so that the signal input electrode J1 can have a larger area to contact the human body skin, thereby improving the reliability of the contact between the signal input electrode J1 and the human skin.

In one embodiment, as shown in FIG. 6 , the free end of the branch portion J12 of the signal input electrode J1 may include two hook portions J121 , and the two hook portions J121 are bent in opposite directions, so that the two adjacent hook portions J121 are bent in opposite directions. A section A1 that converges toward the center portion J11 is formed between the branch portions J12, wherein the free end of the branch portion J12 is the other end opposite to the first end connected to the center portion J11. With this structure, the contact viscosity between the signal input electrode J1 and the human skin can be increased, and the bonding force can be improved, thereby ensuring the reliability of the contact between the signal input electrode J1 and the human skin.

The two ends of the strap 510 may be provided with assembling parts such as Velcro, which can fix the wearable device 500 on the limb.

When the user needs to wear the wearable device 500, the body motion sensing device 100 can be fixed on the user's limb through the strap 510, for example, on the user's upper arm, forearm, thigh or calf, etc., so as to pass the body motion sensing device 100 senses the user's body movements.

<System Example>

FIG. 7 is a schematic diagram of the composition of a body motion sensing system according to an embodiment. As shown in FIG. 7 , the limb motion sensing system 700 includes a host computer 710 and at least one limb motion sensing device 700. These limb motion sensing devices 700 are wirelessly connected to the host computer 710 through their own wireless communication modules, so as to transfer the electromyography data to the host computer 710. and inertial data are sent to the upper computer 710 .

The host computer 710 may be a terminal device such as a PC, a notebook computer, a local server, or a remote server, etc., which is not limited herein.

In another embodiment, the body motion sensing system may further include a host computer 710 and at least one or more wearable devices 510. Different wearable devices 510 may have the same number of body motion sensing devices 100, or may have different numbers of limbs The motion sensing device 100 is not limited here.

The host computer 710 can determine the corresponding body movements according to the electromyographic data and inertial data provided by the body movement sensing devices 100, for example, determine the corresponding gesture movements, and send control instructions that match the gesture movements to the controlled device. The controlled device is made to perform a control response according to the control instruction, thereby realizing somatosensory control.

The controlled device may be an entertainment device, various household appliances, or a device such as a drone or an unmanned vehicle, which is not limited here.

Various embodiments of the present invention have been described above, and the foregoing descriptions are exemplary, not exhaustive, and not limiting of the disclosed embodiments. Numerous modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein was chosen to best explain the principles of the various embodiments, the practical application or technical improvement in the marketplace, or to enable others of ordinary skill in the art to understand the various embodiments disclosed herein. The scope of the invention is defined by the appended claims.

Claims (10)

1. A limb movement sensing device is characterized by comprising a myoelectricity measuring unit, an inertia measuring unit and a processing device with a wireless communication module, wherein the signal output end of the inertia measuring unit is connected with the first signal input end of the processing device; the myoelectricity measuring unit comprises a first amplifying circuit, a band-pass filtering circuit and a second amplifying circuit;

the input end of the first amplifying circuit is connected with the signal input electrode of the myoelectricity measuring unit, the output end of the first amplifying circuit is connected with the input end of the band-pass filter circuit, the output end of the band-pass filter circuit is connected with the input end of the second amplifying circuit, and the output end of the second amplifying circuit is connected with the second signal input end of the processing device.

2. The limb motion sensing device according to claim 1, wherein the band-pass filter circuit comprises a high-pass filter circuit and a first low-pass filter circuit, an input end of the high-pass filter circuit is an output end of the band-pass filter circuit, an output end of the high-pass filter circuit is connected with an input end of the first low-pass filter circuit, and an output end of the first low-pass filter circuit is an output end of the band-pass filter circuit.

3. A limb movement sensing device according to claim 2, wherein the signal voltage value at the output of the first low pass filter circuit is higher than the signal voltage value at the input of the first low pass filter circuit.

4. A limb movement sensing device according to claim 1, wherein the myoelectricity measuring unit further comprises a second low-pass filter circuit, wherein the input end of the second low-pass filter circuit is connected with the signal input electrode of the myoelectricity measuring unit, and the output end of the second low-pass filter circuit is connected with the input end of the first amplifying circuit.

5. A limb movement sensing device according to claim 4, wherein the myoelectric measuring unit further comprises a buffer circuit connected between the output of the second low pass filter circuit and the input of the first amplifying circuit.

6. A limb movement sensing device according to claim 1, wherein the myoelectric measuring unit further comprises a driving circuit, an input end of the driving circuit is connected with an output end of the first amplifying circuit, and an output end of the driving circuit is connected with the signal input electrode.

7. A limb movement sensing device according to any one of claims 1 to 6, further comprising a power supply module, wherein the power supply module is in power supply connection with the myoelectric measuring unit and the inertial measuring unit.

8. A limb movement sensing device according to any one of claims 1 to 6 further comprising a housing in which the myoelectric measuring unit, inertial measuring unit and processing means are disposed, the signal input electrodes being exposed through the housing;

the signal input electrode protrudes outwards relative to the surface of the shell;

the signal input electrode comprises a central part and branch parts extending outwards from the central part;

the free ends of the branch parts of the signal input electrode comprise two hook parts, and the two hook parts are bent towards opposite directions so as to form an interval which is folded towards the central part between the two adjacent branch parts.

9. Wearable device, characterized in that it comprises a limb movement sensing device according to any of claims 1-8 and a strap, to which the limb movement sensing device is attached.

10. A limb movement sensing system, which is characterized by comprising an upper computer and at least one limb movement sensing device according to any one of claims 1-8, wherein the limb movement sensing device is in wireless communication connection with the upper computer; or,

the limb motion sensing system comprises an upper computer and at least one wearable device according to claim 9, wherein the upper computer is in wireless communication connection with a limb motion sensing device of the wearable device.

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