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

Limb action sensing device, system and wearable equipment Download PDF

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CN112148126A
CN112148126A CN202011021830.4A CN202011021830A CN112148126A CN 112148126 A CN112148126 A CN 112148126A CN 202011021830 A CN202011021830 A CN 202011021830A CN 112148126 A CN112148126 A CN 112148126A
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赵小川
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Abstract

本发明公开了一种肢体动作感应装置、系统及可穿戴设备,该装置包括肌电测量单元、惯性测量单元、及具有无线通信模块的处理装置,所述惯性测量单元的信号输出端与所述处理装置的第一信号输入端连接;所述肌电测量单元包括第一放大电路、带通滤波电路和第二放大电路;所述第一放大电路的输入端与所述肌电测量单元的信号输入电极连接,所述第一放大电路的输出端与所述带通滤波电路的输入端连接,所述带通滤波电路的输出端与所述第二放大电路的输入端连接,所述第二放大电路的输出端与所述处理装置的第二信号输入端连接。

Figure 202011021830

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.

Figure 202011021830

Description

肢体动作感应装置、系统及可穿戴设备Body motion sensing device, system and wearable device

技术领域technical field

本公开实施例涉及传感技术领域,更具体地,涉及一种肢体动作感应装置、一种肢体动作感应系统、及一种可穿戴设备。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.

背景技术Background technique

目前,越来越多的应用场景允许人们通过肢体动作与周边装置或环境互动,该种互动方式被称之为体感控制。现阶段的体感控制主要通过摄像头采集用户图像,并通过处理器分析图像以确定用户肢体动作的硬件结构实现。该种通过摄像头采集用户图像以确定用户肢体动作的硬件结构,不仅活动范围受限,而且由于处理器分析图像需要较长的用时,进而还会导致基于该种结构的体感控制存在响应速度慢的问题,因此,有必要提供一种能够感应肢体动作的新装置以支持体感控制。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.

发明内容SUMMARY OF THE INVENTION

本公开实施例的一个目的是提供一种能够感应肢体动作的新装置,以实现体感控制。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.

根据本公开的一个方面,提供了一种肢体动作感应装置,该肢体动作感应装置包括肌电测量单元、惯性测量单元、及具有无线通信模块的处理装置,所述惯性测量单元的信号输出端与所述处理装置的第一信号输入端连接;所述肌电测量单元包括第一放大电路、带通滤波电路和第二放大电路;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;

所述第一放大电路的输入端与所述肌电测量单元的信号输入电极连接,所述第一放大电路的输出端与所述带通滤波电路的输入端连接,所述带通滤波电路的输出端与所述第二放大电路的输入端连接,所述第二放大电路的输出端与所述处理装置的第二信号输入端连接。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.

可选地,所述带通滤波电路包括高通滤波电路和第一低通滤波电路,所述高通滤波电路的输入端为所述带通滤波电路的输出端,所述高通滤波电路的输出端与所述第一低通滤波电路的输入端连接,所述第一低通滤波电路的输出端为所述带通滤波电路的输出端。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.

可选地,所述第一低通滤波电路的输出端的信号电压值高于所述第一低通滤波电路的输入端的信号电压值。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.

可选地,所述肌电测量单元还包括第二低通滤波电路,所述第二低通滤波电路的输入端与所述肌电测量单元的信号输入电极连接,所述第二低通滤波电路的输出端与所述第一放大电路的输入端连接。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.

可选地,所述肌电测量单元还包括缓冲器电路,所述缓冲器电路连接在所述第二低通滤波电路的输出端与所述第一放大电路的输入端之间。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.

可选地,所述肌电测量单元还包括驱动电路,所述驱动电路的输入端与所述第一放大电路的输出端连接,所述驱动电路的输出端与所述信号输入电极连接。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.

可选地,所述传感装置还包括电源模块,所述电源模块与所述肌电测量单元和所述惯性测量单元供电连接。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.

可选地,所述肢体动作感应装置还包括壳体,所述肌电测量单元、惯性测量单元和处理装置设置在所述壳体中,所述信号输入电极通过所述壳体外露;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;

所述信号输入电极相对所述壳体的表面向外凸出;The signal input electrode protrudes outward relative to the surface of the casing;

所述信号输入电极包括中心部及从所述中心部向外延伸出的分支部;The signal input electrode includes a central portion and a branch portion extending outward from the central portion;

所述信号输入电极的分支部的自由端包括两个弯钩部,所述两个弯钩部向相反的方向弯曲,以在相邻两个分支部之间形成向中心部收拢的区间。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.

根据本公开的第二方面,还提供了一种可穿戴设备,该可穿戴设备包括根据绑带和至少一个根据本公开的第一方面所述的肢体动作感应装置,所述肢体动作感应装置连接在所述绑带上。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.

根据本公开的第二方面,还提供了一种肢体动作感应系统,该系统包括上位机和至少一个根据本公开的第一方面所述的肢体动作感应装置,所述肢体动作感应装置与所述上位机无线通信连接;或者,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,

所述肢体动作感应系统包括上位机和至少一个根据本公开的第二方面所述的可穿戴设备,所述上位机与所述可穿戴设备的肢体动作感应装置无线通信连接。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.

本公开实施例的一个有益效果在于,本实施例肢体动作感应装置包括肌电测量单元和惯性测量单元,通过肌电测量单元能够测量反映肢体动作的肌电信号,通过惯性测量单元能够测量反映肢体动作的惯性信号,因此,本实施例的肢体动作传感装置能够提供反映肢体动作的肌电数据和惯性数据,进而使得肢体动作感应系统能够根据肌电数据和惯性数据,确定对应的肢体动作,进而实现体感控制。对于本实施例的肢体动作感应装置,由于其是与用户皮肤接触来感应肢体动作,因此,在用户佩戴该肢体动作感应装置进行体感控制时,用户的活动范围将不会受限,这使得该肢体动作感应装置能够适应更多的应用场景;另外,通过该肢体动作感应装置进行体感控制,将可以省去通过复杂算法进行图像识别,这能够明显提高肢体动作感应系统对于体感控制的响应速度,进而提升用户体验。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.

通过以下参照附图对本发明的示例性实施例的详细描述,本发明的其它特征及其优点将会变得清楚。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.

附图说明Description of drawings

被结合在说明书中并构成说明书的一部分的附图示出了本发明的实施例,并且连同其说明一起用于解释本发明的原理。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.

图1是根据一个实施例的肢体动作感应装置的结构示意图;1 is a schematic structural diagram of a body motion sensing device according to an embodiment;

图2是根据另一个实施例的肢体动作感应装置的结构示意图;2 is a schematic structural diagram of a body motion sensing device according to another embodiment;

图3是根据又一个实施例的肢体动作感应装置的结构示意图;3 is a schematic structural diagram of a body motion sensing device according to yet another embodiment;

图4是根据再一个实施例的肢体动作感应装置的结构示意图;4 is a schematic structural diagram of a body motion sensing device according to yet another embodiment;

图5是根据一个实施例的可穿戴设备的结构示意图;5 is a schematic structural diagram of a wearable device according to an embodiment;

图6是根据一个实施例的信号输入电极的结构示意图;6 is a schematic structural diagram of a signal input electrode according to an embodiment;

图7是根据一个实施例的肢体动作感应系统的组成结构示意图。FIG. 7 is a schematic diagram of the composition of a body motion sensing system according to an embodiment.

具体实施方式Detailed ways

现在将参照附图来详细描述本发明的各种示例性实施例。应注意到:除非另外具体说明,否则在这些实施例中阐述的部件和步骤的相对布置、数字表达式和数值不限制本发明的范围。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.

以下对至少一个示例性实施例的描述实际上仅仅是说明性的,决不作为对本发明及其应用或使用的任何限制。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.

对于相关领域普通技术人物已知的技术、方法和设备可能不作详细讨论,但在适当情况下,技术、方法和设备应当被视为说明书的一部分。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.

在这里示出和讨论的所有例子中,任何具体值应被解释为仅仅是示例性的,而不是作为限制。因此,示例性实施例的其它例子可以具有不同的值。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.

应注意到:相似的标号和字母在下面的附图中表示类似项,因此,一旦某一项在一个附图中被定义,则在随后的附图中不需要对其进行进一步讨论。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.

<感应装置实施例><Example of Induction Device>

图1是根据一个实施例的肢体动作感应装置的结构示意图。如图1所示,该肢体动作感应装置100包括肌电测量单元110、惯性测量单元120和具有无线通信模块的处理装置130,其中,惯性测量单元120的信号输出端与处理装置130的第一信号输入端连接,以向处理装置130输出惯性信号,肌电测量单元110的信号输出端与处理装置130的第二信号输入端连接,以向处理装置130输出肌电信号。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 .

处理装置130可以根据肌电信号获得反映肢体动作的肌电数据,及根据惯性信号获得反映肢体动作的惯性数据,并通过无线通信模块将肌电数据和惯性数据发送至上位机,以供上位机根据肌电数据和惯性数据确定对应的肢体动作,例如确定对应的手势动作,进而实现体感控制。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.

本实施例中,肌电测量单元用于采集用户在进行肢体动作时产生的表现为动作电位序列的电信号,并对该电信号进行信号处理后得到反映肢体动作的肌电信号。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.

人体躯体的动作受到骨骼肌纤维的统一控制,骨骼肌纤维在舒张状态和收缩状态之间相互转换,当肢体表面的所有骨骼肌纤维协调配合改变状态即产生了动作。运动神经直接作用于骨骼肌纤维,一个运动神经元与其控制的所有骨骼肌纤维组成了一个运动单元,大量运动单元构成骨骼肌运动系统。神经元通过放电来支配骨骼肌纤维产生收缩或舒张,当人体大脑想要控制肢体运动时,通过神经传导意图信号,控制运动神经元放出生物电信号,进而刺激骨骼肌纤维运动。这个过程会导致肌细胞膜内外离子浓度发生变化,从而导致肌细胞膜上电位差出现变化,当这些电位差累积到一定程度,就形成了电位,一个运动单位内的所有电位的累加就是动作电位,持续的动作形成动作电位序列。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.

如图1所示,肌电测量单元110可以包括第一放大电路111、带通滤波电路112和第二放大电路113。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 .

该第一放大电路111的输入端与肌电测量单元的信号输入电极J1连接,该信号输入电极J1用于与用户的皮肤接触,以接收表现为动作电位序列的电信号。该第一放大电路111的输出端与带通滤波电路112的输入端连接。该带通滤波电路112的输出端与第二放大电路113的输入端连接,该第二放大电路113的输出端作为肌电测量单元110的信号输出端,与处理装置130的第二信号输入端连接。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.

本实施例中,第一放大电路111作为前级放大电路,用于抑制所接收到的电信号中的共模信号,并保留所接收到的电信号中的差模信号,其中,用于形成肌电信号的电信号为差模信号。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.

该第一放大电路111可以采用差分放大电路。The first amplifier circuit 111 may use a differential amplifier circuit.

该第一放大电路111可以包括仪表放大器。在此,利用仪表放大器和电阻、电容等器件构成放大电路是现有技术手段,在此不再赘述。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.

该第一放大电路111的放大倍数例如为500倍。The magnification of the first amplifying circuit 111 is, for example, 500 times.

本实施例中,带通滤波电路112用于滤除所接收到的信号中的无用信号,得到质量更好的肌电信号。该带通滤波电路112可以采用有源滤波电路。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.

该带通滤波电路112的带通范围例如是大于或者等于0.5Hz,且小于或者等于500Hz。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.

在一个实施例中,如图1所示,该带通滤波电路112可以包括串联连接的高通滤波电路1121和第一低通低通电路1122,该高通滤波电路1121的输入端为带通滤波电路的输出端,即,高通滤波电路1121的输入端与第一放大电路111的输出端连接,该高通滤波电路1121的输出端与第一低通滤波电路1122的输入端连接,该第一低通滤波电路1122的输出端为带通滤波电路112的输出端,即,该第一低通滤波电路1122的输出端与第二放大电路113的输入端连接。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 .

该实施例中,高通滤波电路包括至少一个运算放大器,第一低通滤波电路也包括至少一个运算放大器。例如,该高通滤波放大电路可以采用由运算放大器实现的积分反馈电路。又例如,该第一低通滤波电路可以采用巴特沃斯二阶低通滤波电路等,在此不做限定。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.

在一个实施例中,该第一低通滤波电路1122的输出端的信号电压值可以高于该第一低通滤波电路1122的输入端的信号电压值。这说明,该第一低通滤波电路1122在进行低通滤波的同时,还能够进行信号放大,以在第一放大电路111与第二放大电路113之间,进行二级放大,进而提供信号质量。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 .

在另外的实施例中,该带通滤波电路112也可以由一个运算放大器实现,在此不做限定。In another embodiment, the bandpass filter circuit 112 may also be implemented by an operational amplifier, which is not limited herein.

本实施例中,该第二放大电路113用于抬升所接收到的电信号的电压,以获得高质量的肌电信号,这可以使得处理装置130对于肌电信号的模数转换更高效,进而提高采样精度。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.

该第二放大电路113作为后级放大电路,其放大倍数可以远远低于第一放大电路111的放大倍数。该第二放大电路113的放大倍数可以根据处理装置130的电压范围确定,以使得肌电信号的电平抬升至满足处理装置130的信号采集要求。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 .

该第二放大电路113例如可以是由运算放大器实现的放大电路。The second amplifier circuit 113 may be, for example, an amplifier circuit realized by an operational amplifier.

本实施例中,该处理装置130的无线通信模块、微控制器、模数转换模块等,可以均集成在一个芯片中。该处理装置130例如可以为无线单片机,或者称之为无线SOC。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.

在另外的实施例中,该处理装置130也可以包括独立于微控制器设置的无线通信模块,微控制器的信号输出端与无线通信模块连接。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.

本实施例中,处理装置130具有的无线通信模块可以为WI-FI通信模块。In this embodiment, the wireless communication module of the processing device 130 may be a WI-FI communication module.

在另外的实施例中,该无线通信模块也可以是基于GPRS等移动通信网络的通信模块,在此不做限定。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.

本实施例中,惯性测量单元120可以包括三轴加速度传感器和三轴陀螺仪,对应地,该惯性测量单元120向处理装置130输出的惯性信号可以包括加速度信号和角速度信号。在此,在用户佩戴该肢体动作感应装置100的情况下,惯性测量单元120输出的惯性信号能够反映用户的动作姿态,因此,根据该惯性信号能够获得反映肢体动作的惯性数据。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.

本实施例中,如图1所示,该肢体动作感应装置100还可以包括电源模块140,该电源模块140与肌电测量单元110和惯性测量单元120供电连接,以为肌电测量单元110和惯性测量单元120的用电器件提供工作电压。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.

该实施例中,该电源模块140可以包括电池模组和低压差线性稳压器,通过低压差线性稳压器将电池模组输出的电压转换为肌电测量单元110和惯性测量单元120的用电器件所需的工作电压。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.

在另外的实施例中,该肢体动作感应装置100也可以通过外接电源供电,在此不做限定。In another embodiment, the body motion sensing device 100 can also be powered by an external power supply, which is not limited herein.

根据图1所示实施例的肢体动作感应装置100,由于其是通过与用户皮肤接触来感应肢体动作,因此,在用户佩戴该肢体动作感应装置进行体感控制时,用户的活动范围将不会受限,这使得该肢体动作感应装置能够适应更多的应用场景。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.

另外,根据图1所示实施例的肢体动作感应装置100,通过该肢体动作感应装置进行体感控制,将可以省去通过复杂算法进行图像识别,这能够明显提高用户进行体感控制的响应速度,进而提升用户体验。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.

由于肌电测量单元110的信号输入电极J1与空气和人体皮肤接触,而空气和人体中均会有很多噪声干扰有效的肌电信号,所以,在一个实施例中,可以在肌电测量单元110的最前端加入一级低通滤波电路,以提升肌电测量单元110抵抗噪声的抗噪性能。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.

该实施例中,如图2所示,该肌电测量单元110还可以包括第二低通滤波电路114,该第二低通滤波电路114的输入端与肌电测量单元110的信号输入电极J1连接,该第二低通滤波电路114的输出端与第一放大电路111的输入端连接。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 .

该第二低通滤波电路114的截止频率例如可以为760Hz。The cutoff frequency of the second low-pass filter circuit 114 may be, for example, 760 Hz.

在一个实施例中,为了能够从人体皮肤提取更多有效的电信号,如图3所示,该肌电测量单元110可以在第二低通滤波电路114与第一放大电路111之间增加缓冲器电路115。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.

该缓冲器电路可以由双通道运算放大器实现,以通过匹配输入阻抗从人体皮肤提取更多有效的肌电信号,同时解决因为信号输入电极与皮肤接触阻抗较大所导致的输入不平衡的问题。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.

在一个实施例中,如图4所示,该肌电测量单元110还可以包括驱动电路116,该驱动电路的输入端与第一放大电路111的输出端连接,该驱动电路的输出端与肌电测量单元110的信号输入电极J1连接。该驱动电路例如可以采用双通道运算放大器实现等。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.

该实施例中,该驱动电路116可以将第一放大电路111输出的共模信号通过信号输入电极J1反向输出到用户皮肤上,从而调整第一放大电路111的动态范围,增加第一放大电路111的动态性能,同时也可以将第一放大电路111中没有消除的一部分共模噪声抵消掉,增加肌电测量单元110的抗噪性能。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 .

在一个实施例中,该肢体动作感应装置100还可以包括指示灯电路,该指示灯电路的控制端与处理装置130连接,以根据处理装置130的控制进行状态指示,例如在肢体动作感应装置100进行WI-FI连接时进行连接状态的指示等。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.

<设备实施例><Apparatus Example>

图5是根据一个实施例的可穿戴设备的结构示意图。如图5所示,该可穿戴设备500包括绑带510和至少一个肢体动作感应装置100,该肢体动作感应装置100连接在该绑带510上。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 .

该肢体动作感应装置100可以活动连接在绑带510上,也可以固定连接在绑带510上,在此不做限定。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.

例如,该肢体动作感应装置100包括如图5所示的壳体180,以上肌电测量单元110、惯性测量单元120和处理装置130均设置在该壳体180中,肌电测量单元110的信号输入电极J1通过该壳体180外露。该壳体180可以设置有供绑带510穿过的孔181,肢体动作感应装置100可以通过该孔181连接在绑带510上。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 .

在一个实施例中,肌电测量单元110的信号输入电极J1可以相对壳体180的表面向外凸出,以提高信号输入电极J1与人体皮肤间接触的可靠性。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.

在一个实施例中,如图6所示,该信号输入电极J1可以包括中心部J11及从中心部J11向外延伸出的分支部J12,以使得信号输入电极J1能够具有较大的面积接触人体皮肤,进而提高信号输入电极J1与人体皮肤间接触的可靠性。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.

在一个实施例中,如图6所示,该信号输入电极J1的分支部J12的自由端可以包括两个弯钩部J121,两个弯钩部J121向相反的方向弯曲,以在相邻两个分支部J12之间形成向中心部J11收拢的区间A1,其中,分支部J12的自由端为与中心部J11连接的第一端相对的另一端。通过该种结构,可以增加信号输入电极J1与人体皮肤间的接触黏性,提高接合力,进而保证信号输入电极J1与人体皮肤间接触的可靠性。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.

该绑带510的两端可以设置尼龙搭扣等能够将可穿戴设备500固定在肢体上的组接部。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.

在用户需要佩戴该可穿戴设备500时,可以通过绑带510将肢体动作感应装置100固定在用户肢体上,例如固定在用户大臂、小臂、大腿或者小腿上等,以通过肢体动作感应装置100感应用户的肢体动作。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.

<系统实施例><System Example>

图7是根据一个实施例的肢体动作感应系统的组成结构示意图。如图7所示,该肢体动作感应系统700包括上位机710和至少一个肢体动作感应装置700,这些肢体动作感应装置700通过自己的无线通信模块与上位机710无线通信连接,以将肌电数据和惯性数据发送至上位机710。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 .

该上位机710可以是PC机、笔记本电脑等终端设备,也可以是本地服务器,还可以是远程服务器等,在此不做限定。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.

在另外的实施例中,该肢体动作感应系统还可以包括上位机710和至少一个以上可穿戴设备510,不同可穿戴设备510可以具有相同数量的肢体动作感应装置100,也可以具有不同数量的肢体动作感应装置100,在此不做限定。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.

上位机710可以根据这些肢体动作感应装置100提供的肌电数据和惯性数据,确定对应的肢体动作,例如确定对应的手势动作,并向被控设备发送与该手势动作相匹配的控制指令,以使得该被控设备根据该控制指令进行控制响应,进而实现体感控制。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.

该被控设备可以是娱乐设备,也可以是各种家用电器,还可以是无人机或者无人车等设备,在此不做限定。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.

以上已经描述了本发明的各实施例,上述说明是示例性的,并非穷尽性的,并且也不限于所披露的各实施例。在不偏离所说明的各实施例的范围和精神的情况下,对于本技术领域的普通技术人物来说许多修改和变更都是显而易见的。本文中所用术语的选择,旨在最好地解释各实施例的原理、实际应用或对市场中的技术改进,或者使本技术领域的其它普通技术人物能理解本文披露的各实施例。本发明的范围由所附权利要求来限定。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.
CN202011021830.4A 2020-09-25 2020-09-25 Limb action sensing device, system and wearable equipment Pending CN112148126A (en)

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