CN114209296A - Wearable rehabilitation evaluation equipment based on surface myoelectricity and inertial sensor - Google Patents
Wearable rehabilitation evaluation equipment based on surface myoelectricity and inertial sensor Download PDFInfo
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- 238000011156 evaluation Methods 0.000 title claims abstract description 18
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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
- A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
- A61B5/024—Detecting, measuring or recording pulse rate or heart rate
- A61B5/02416—Detecting, measuring or recording pulse rate or heart rate using photoplethysmograph signals, e.g. generated by infrared radiation
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1116—Determining posture transitions
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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
- A61B5/25—Bioelectric electrodes therefor
- A61B5/251—Means for maintaining electrode contact with the body
- A61B5/256—Wearable electrodes, e.g. having straps or bands
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
- A61B5/316—Modalities, i.e. specific diagnostic methods
- A61B5/389—Electromyography [EMG]
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
- A61B5/6802—Sensor mounted on worn items
Abstract
The invention discloses wearable rehabilitation evaluation equipment based on surface myoelectricity and an inertial sensor. The wearable rehabilitation evaluation device comprises a sensor module, a front arm sensing submodule, an upper arm sensing submodule, a shoulder sensing submodule and a trunk sensing submodule, wherein the sensor module is used for collecting surface electromyographic signals and inertial sensor signals of a subject at corresponding positions and consists of 4 submodules; the core control module is used for wireless transmission and communication of collected data and circuit power supply; and the upper computer module is used for receiving the acquired data and visually displaying the acquired data in real time. The invention has the advantages of convenient wearing and low cost, and is suitable for the evaluation of the regular physiological condition and the motor function of the apoplexy patient.
Description
Technical Field
The invention relates to the field of rehabilitation of a rehabilitated human body, in particular to wearable rehabilitation evaluation equipment based on surface myoelectricity and an inertial sensor.
Technical Field
With the accelerated development of social industrialization and urbanization, stroke gradually presents a high prevalence rate and a young trend in China. Cerebral apoplexy often causes hemiplegia of patients and has very high disability rate. The muscle function and the motor ability of the patient can be recovered through reasonable and scientific rehabilitation training. Conventional rehabilitation therapy requires periodic assessment during the patient's rehabilitation process to help the rehabilitation therapist set and dynamically adjust the patient's rehabilitation training regimen, thereby improving rehabilitation efficiency. Effective rehabilitation assessment is therefore of paramount importance. With the intelligent development of the rehabilitation treatment field, the auxiliary evaluation based on a series of instruments and equipment provides possibility for solving the problems. Particularly, the motion state of the patient can be more accurately obtained by utilizing myoelectric and inertial sensing equipment. Therefore, the development of myoelectricity and inertia sensing equipment is an important link for intellectualization of rehabilitation therapy.
The prior patent application 'a wearable combined surface electromyography sensor (CN 111820892A)' obtains a multi-channel electromyography signal and collects the multi-channel signal by using a relay receiving box. However, the relay is affected by power consumption and size, and is difficult to wear to a human body, so that the multi-channel electromyography system is required to be within a communication distance of the relay, and remote communication cannot be realized in a route relay manner.
Although a series of wearable electromyography or inertial sensor monitoring devices appear on the market at present, most of the wearable electromyography or inertial sensor monitoring devices adopt an electrode pasting mode to a human target part, the sensor pasting mode needs a large amount of time, the sensor is easy to fall off after being eroded by sweat, and long-term wearing is not facilitated, in addition, the existing wearable electromyography detecting devices need huge relay receiving boxes, so that a testee needs to move within the communication range (10-20m) of the relay receiving boxes, the application scene of the device is greatly limited, and the wearable electromyography or inertial sensor monitoring devices are only suitable for scientific research.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a modularized wearable rehabilitation assessment device based on a surface electromyography sensor and an inertial sensor.
In order to achieve the purpose of the invention, the wearable rehabilitation evaluation device based on the surface electromyography sensor and the inertial sensor comprises a sensor module, a core control module and an upper computer module, wherein the sensor module comprises a forearm sensing submodule, an upper arm sensing submodule, a shoulder sensing submodule and a trunk sensing submodule.
A sensor module for acquiring surface electromyographic signals and inertial sensor signals of a subject at a corresponding position, in particular: the forearm sensing submodule is used for measuring a brachioradialis surface electromyogram signal and a forearm inertial sensor signal; the upper arm sensing sub-module is used for measuring the surface electromyographic signals of the biceps brachii and the triceps brachii and the signals of the upper arm inertial sensor; the shoulder sensing submodule is used for measuring the surface electromyographic signals of the anterior fascicle of the deltoid muscle, the middle fascicle of the deltoid muscle and the posterior fascicle of the deltoid muscle; the trunk sensing submodule is used for measuring the surface electromyographic signals of the pectoralis major and the trapezius muscle and trunk inertial sensor signals;
the core control module is used for wireless transmission of collected data and communication of a terminal upper computer;
and the upper computer module is used for receiving the acquired data and visually displaying the acquired data in real time.
Furthermore, the surface electromyography sensor is a dry electrode type surface electromyography sensor, the inertial sensor is a nine-axis acceleration sensor, and the shell of the surface electromyography sensor is a curved surface shell.
Furthermore, the upper arm sensing submodule, the forearm sensing submodule and the trunk sensing submodule are adjusted and fixed in a daytime running buckle and elastic band mode. The surface electromyographic sensor of the shoulder sensing submodule is fixed in a medical adhesive tape mode.
Furthermore, the surface electromyography sensor, the inertial sensor and the core circuit board are connected in a flexible flat cable mode, and the connecting circuit of each sensor can be detached.
Furthermore, the surface electromyography sensor, the inertial sensor and the core circuit board are connected in a flexible flat cable mode, and the core control board, the sensor and the flexible flat cable are connected through pluggable wire pressing heads.
Furthermore, the core control module is composed of a 3.7V lithium battery power supply, a core control panel and an antenna, the power supply supplies power to the core control panel, and the core control panel outputs power to each sensor through an internal power conditioning circuit.
The core control module realizes data transmission of the upper computer and multi-terminal upper computer communication of networking in a UDP communication mode.
Furthermore, the upper computer module comprises a filtering module and a data visualization module, wherein the filtering module is used for filtering the acquired surface electromyogram signals and the inertial sensor signals in real time, and the data visualization module is used for displaying the waveform change of the signals of each sensor in real time.
Compared with the prior art, the invention can realize the following beneficial effects:
1. the wearing scene of convenient wearing and convenient use is realized by using the dry electrode and the binding band for fixation;
2. the core control module is worn to the body in a matching mode, and multi-scene communication of remote data transmission can be achieved. Compared with the prior art, the invention can realize electromyographic signal acquisition under severe movement, and can realize remote data acquisition by utilizing a routing networking mode, thereby achieving the effect of remote monitoring.
3. The wearable elastic band is used for providing tightening force for adhering to the skin, and therefore quick wearing and long-term monitoring are achieved. The invention integrates the wireless communication module to the body for wearing through the PCB design, and realizes the communication with the upper computer through UDP. The data acquisition system of crossing the place can be realized through router retransmission in different scenes to realize the data acquisition of multi-scene.
4. The repeater is integrated into the core control board module, and the size of the core control board module is 200mm 100mm 30 mm. The power consumption evaluation device can be comfortably worn on a human body, meanwhile, the power consumption evaluation device is about 130mA, and a 3000mah battery can be provided to support continuous use for more than 20 hours. The core control panel can be provided with the WiFi module to realize direct connection with an upper computer in an AP mode, and can also be connected into a wireless network in an STA mode, so that data transmission between a human body and the upper computer is realized.
Drawings
Fig. 1 is a schematic diagram of a data acquisition process in an embodiment of the present invention.
Fig. 2a is a general schematic diagram of a wearable rehabilitation evaluation device according to an embodiment of the present invention.
Fig. 2b is a schematic back view of the wearable rehabilitation evaluating device according to the embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a forearm sensing submodule according to an embodiment of the present invention.
Fig. 4a is a schematic view of an assembled surface electromyography sensor structure according to an embodiment of the present invention.
Fig. 4b is a schematic assembly diagram of an inertial sensor structure according to an embodiment of the present invention.
Fig. 5 is a schematic circuit diagram of a core control module according to an embodiment of the present invention.
Reference numbers in the drawings illustrate: a dry electrode type surface electromyography sensor 1; an inertial sensor 2; an elastic band 3; a core control module 4; an antenna 5; a surface electromyography sensor assembly structure 6; an inertial sensor assembly structure 7; a surface electromyography sensor housing 8; an inertial sensor housing 10.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the wearable rehabilitation assessment device based on surface myoelectricity and inertial sensors provided by the invention comprises a sensor module, a core control module and an upper computer module. The sensor module is used for acquiring surface electromyographic signals and inertial sensor signals of a subject at corresponding positions. And the upper computer module is used for receiving the acquired data and visually displaying the acquired data in real time.
In some embodiments of the present invention, referring to fig. 2a and 2b, the sensor module includes a forearm sensing sub-module, an upper arm sensing sub-module, a shoulder sensing sub-module, and a torso sensing sub-module.
The forearm sensing submodule is used for measuring a surface electromyogram signal of the brachioradialis and a forearm inertial sensor signal, the surface electromyogram sensor and the inertial sensor are connected together by using an elastic band and a Nissan buckle, and the sensors are fixed by stroke adjustment of the Nissan buckle after being placed at corresponding positions; the upper arm sensing submodule is used for measuring the surface electromyographic signals of the biceps brachii and the triceps brachii and the signals of the upper arm inertial sensors, the two surface electromyographic sensors and the two inertial sensors are connected together by using an elastic belt and a daytime running buckle after the sensors are placed at corresponding positions, and the sensors are fixed by regulating the stroke of the daytime running buckle; the shoulder sensing submodule is used for measuring the electromyographic signals of the anterior fascicle of the deltoid muscle, the middle fascicle of the deltoid muscle and the surface electromyographic signals of the posterior fascicle of the deltoid muscle, and fixing the three surface electromyographic sensors at corresponding positions by using a medical adhesive tape; the trunk sensing submodule is used for measuring the electromyographic signals of the surfaces of the pectoralis major and the trapezius muscle and the signals of a trunk inertial sensor, two surface electromyographic sensors and one inertial sensor are adjusted and fixed through symmetrical elastic bands and a buckle, each sensor and the elastic bands in the forearm sensing submodule, the upper arm sensing submodule, the shoulder sensing submodule and the trunk sensing submodule form wearable equipment, the wearable equipment is worn during use, and corresponding signals can be collected by each sensor. The core control module is arranged on the back of the wearable device.
In some embodiments of the present invention, each sub-module of the sensor module adopts a dry electrode type surface electromyography sensor to collect a surface electromyography signal, please refer to fig. 3 and 4a, the dry electrode type surface electromyography sensor 1 is arranged in a surface electromyography sensor shell 8, and the surface electromyography sensor shell 8 is fixed on an elastic band.
In some embodiments of the present invention, the inertial sensor is a nine-axis acceleration sensor, and referring to fig. 3 and 4b, the inertial sensor 2 is disposed in an inertial sensor housing 10, and the inertial sensor housing 10 is fixed on an elastic band.
Data collected by each submodule in the sensor module is subjected to common mode/differential mode low-pass filtering and operational amplification processing to reduce noise interference, improve the signal-to-noise ratio, obtain a stable and low-base-noise electromyographic signal, and the filtered signal is transmitted to the core control module.
In some embodiments of the invention, the circuitry of the core control module is as shown in fig. 5. The core control module 4 is used for wireless transmission and communication of collected data and circuit power supply, and comprises a shell, a 3.7V lithium battery, a core control panel and an antenna 5, wherein the lithium battery, the core control panel and the antenna are arranged in the shell. Lithium cell power supply is in the core control panel, the core control panel passes through internal power supply conditioning circuit and exports 3.7V voltage for two way voltage output of 5V and 3.3V to each sensor, 3.3V voltage circuit is used for digital circuit's components and parts power supply, 5V voltage is used for sensor analog circuit components and parts power supply, the little the control unit MCU of core control panel passes through the ADC conversion and converts each sensor data into digital signal, it becomes a frame data to pack in little the control unit MCU, transmit to the wiFi module through SPI, the user passes through webpage configuration wiFi module parameter, can set for AP mode and STA mode. After the mode is set, the WiFi module packs data and sends the data to the upper computer based on UDP, and the antenna 5 is used for signal enhancement, so that stable transmission with the router or the upper computer is realized.
In some embodiments of the invention, the core control board adopts an STM32F373 single chip microcomputer of ST company, and the core control board comprises an ADC digital-to-analog converter, a micro control unit MCU and a WIFI module. The ADC converts surface electromyographic signals (analog signals) collected by the sensor module into digital signals, and the MCU performs data interaction with the WIFI module through SPI communication. The WiFi module packs channel data of all sensors by using a UDP communication protocol and sends the channel data to the upper computer module, the real-time data transmission quantity can reach 2M/s, and meanwhile, the UDP broadcast mode can be set, so that data receiving of a plurality of upper computers is realized. The wireless routing network can be used as an STA module networking and incorporated into a wireless local area network. Therefore, remote data acquisition and forwarding are realized. Low power sleep may be achieved without wireless access, which low power characteristics help to increase the endurance time of the wearable device.
In some embodiments of the present invention, the upper computer module includes a filtering module and a data visualization module, wherein the filtering module is configured to filter the collected surface electromyography signals and the inertial sensor signals in real time, and the data visualization module is configured to display waveform changes of the sensor signals in real time. The upper computer module carries out data communication based on UDP.
In some embodiments of the present invention, the mobile terminal includes various minimal operating system embedded devices and PC devices. The mobile terminal that can be used includes but is not limited to embedded devices and PCs based on the minimum LINUX system and the window system, and embedded devices based on IOS and Android.
Take right hand rehabilitation assessment as an example, in conjunction with fig. 1, 2a and 5. The patient wears forearm, upper arm, shoulder and trunk submodule and makes each sensor electrode laminate skin and tie up tightly the back, and each sensor passes through behind filter circuit and the amplifier circuit through digital-to-analog conversion with the signal transmission as to the core control panel that gathers. The core control panel MCU module packs each sensor data, sets up wiFi communication mode AP or STA mode, realizes the data communication transmission with the host computer based on UDP. The upper computer performs visualization and later-stage wavelet filtering on the data.
Variations and modifications to the above-described embodiments may occur to those skilled in the art, which fall within the scope and spirit of the above description. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and variations of the present invention should fall within the scope of the claims of the present invention.
Claims (10)
1. A wearable rehabilitation evaluation device based on surface myoelectric and inertial sensors, comprising:
the sensor module is used for acquiring surface electromyographic signals and inertial sensor signals of a subject at corresponding positions and transmitting the acquired data to the core control module;
the core control module is used for carrying out wireless transmission and communication on the acquired data and supplying power to the circuit;
the upper computer module is used for receiving the acquired data transmitted by the core control module and performing real-time visual display;
the sensor module includes:
the forearm sensing submodule is used for measuring a brachioradialis surface electromyogram signal and a forearm inertial sensor signal;
the upper arm sensing sub-module is used for measuring the surface electromyographic signals of the biceps brachii and the triceps brachii and the signals of the upper arm inertial sensor;
the shoulder sensing submodule is used for measuring the surface electromyographic signals of the anterior fascicle of the deltoid muscle, the middle fascicle of the deltoid muscle and the posterior fascicle of the deltoid muscle;
the trunk sensing submodule is used for measuring the surface electromyographic signals of the pectoralis major and the trapezius muscle and trunk inertial sensor signals;
the sensor module and the core control module are both arranged on an elastic band, and the elastic band is worn on a human body; each submodule of the sensor module adopts a dry electrode type surface electromyography sensor to acquire surface electromyography signals.
2. Wearable rehabilitation evaluation device based on surface electromyography and inertial sensors, according to claim 1, characterized in that said inertial sensors are nine-axis acceleration sensors.
3. The wearable rehabilitation evaluation device based on surface electromyography and inertial sensors of claim 1, wherein the housing of the dry electrode surface electromyography sensor is a curved housing.
4. The wearable rehabilitation assessment device based on surface myoelectric and inertial sensors according to claim 1, wherein the upper arm sensing submodule, the forearm sensing submodule and the trunk sensing submodule are all adjusted and fixed by using a lock catch and an elastic band.
5. The wearable rehabilitation evaluation device based on surface electromyography and inertial sensors of claim 1, wherein the dry electrode surface electromyography sensors in the shoulder sensing submodule are secured to the elastic band using medical tape.
6. The wearable rehabilitation evaluation device based on the surface myoelectric and inertial sensors, according to claim 1, wherein the core control module comprises a power supply, a core control board and an antenna, the power supply supplies power to the core control board, and the core control board outputs power to each sensor through a power supply conditioning circuit.
7. The wearable rehabilitation evaluation device based on the surface electromyography and the inertial sensor of claim 6, wherein the line connections among the dry electrode type surface electromyography, the inertial sensor and the core circuit board are connected in a flexible flat cable manner, and the core control board, the sensor and the flexible flat cable are connected through pluggable wire pressing heads.
8. The wearable rehabilitation evaluation device based on the surface myoelectricity and inertial sensor of claim 6, wherein the core control board comprises an ADC (analog to digital converter), a MCU (micro control unit) and a WIFI (wireless fidelity) module, the ADC is used for converting analog signals collected by each sensor into digital signals, the MCU is used for converting the surface myoelectricity signals of the sensor module into signal frames and forwarding the signal frames to the WIFI module through the SPI, and the WIFI module is used for transmitting the converted digital signals to the upper computer module.
9. The wearable rehabilitation assessment device based on surface myoelectricity and inertial sensors according to claim 8, wherein the WIFI module performs data interaction with the upper computer module through a UDP communication protocol.
10. The wearable rehabilitation assessment device based on surface electromyography and inertial sensor according to any one of claims 1-9, wherein the upper computer module comprises a filtering module and a data visualization module, wherein the filtering module is used for filtering the collected surface electromyography signals and inertial sensor signals in real time, and the data visualization module is used for displaying the waveform change of each sensor signal in real time.
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| CN202111308957.9A CN114209296A (en) | 2021-11-05 | 2021-11-05 | Wearable rehabilitation evaluation equipment based on surface myoelectricity and inertial sensor |
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| CN202111308957.9A CN114209296A (en) | 2021-11-05 | 2021-11-05 | Wearable rehabilitation evaluation equipment based on surface myoelectricity and inertial sensor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114669013A (en) * | 2022-04-06 | 2022-06-28 | 苏州市立医院 | Evaluation and rehabilitation device and evaluation and training method for tongue muscles and orofacial muscles |
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| CN105496418A (en) * | 2016-01-08 | 2016-04-20 | 中国科学技术大学 | Arm-belt-type wearable system for evaluating upper limb movement function |
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