CN114668563B - Multi-level regulation method for sampling frequency of electromyographic signals - Google Patents
Multi-level regulation method for sampling frequency of electromyographic signals Download PDFInfo
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- CN114668563B CN114668563B CN202210581345.5A CN202210581345A CN114668563B CN 114668563 B CN114668563 B CN 114668563B CN 202210581345 A CN202210581345 A CN 202210581345A CN 114668563 B CN114668563 B CN 114668563B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
- A61F2/72—Bioelectric control, e.g. myoelectric
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2/58—Elbows; Wrists ; Other joints; Hands
- A61F2/583—Hands; Wrist joints
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2/58—Elbows; Wrists ; Other joints; Hands
- A61F2/583—Hands; Wrist joints
- A61F2/586—Fingers
Abstract
The invention discloses a multi-level regulation method for the sampling frequency of an electromyographic signal, which comprises the steps of acquiring a first electromyographic signal, and regulating the electromyographic sampling frequency of a bionic hand down according to a first numerical value when a target action corresponding to the first electromyographic signal is determined as a continuous action; acquiring a second electromyographic signal, and acquiring accumulated continuous times of the target electromyographic signal when the second electromyographic signal is determined to be the target electromyographic signal, wherein the second electromyographic signal is an electromyographic signal acquired after the first electromyographic signal, and the target electromyographic signal is one of a plurality of high-frequency electromyographic signals; and determining an up-regulation value according to the accumulated continuous times, and up-regulating the electromyography sampling frequency according to the up-regulation value. The invention can adjust the electromyographic sampling frequency of the bionic hand on the ground in multiple levels according to different conditions. The problem of only have the adjustment scheme that reduces imitative biological hand flesh electricity sampling frequency among the prior art, cause the flesh electricity sampling frequency to reduce overlength time easily, and then lead to the execution precision of imitative biological hand to reduce is solved.
Description
Technical Field
The invention relates to the field of signal processing, in particular to a multi-level regulation method for the sampling frequency of an electromyographic signal.
Background
The bionic hand is a high-integration and high-intelligence electromechanical integrated system and has wide application prospect in the fields of robot remote control, medical rehabilitation of disabled people and the like as an end effector. The surface electromyographic signals are a complex result of sub-epidermal muscle activity at the skin surface, which can be collected by surface electrodes and avoid pain and cross-infection to the patient due to the needle electrodes penetrating the muscle. The myoelectricity controlled bionic hand has the characteristics of directness and naturalness, and the bionic hand controlled by utilizing the surface myoelectricity becomes a class with more application quantity in the external power bionic hand. However, the myoelectricity bionic hand needs to be provided with a myoelectricity collecting device, and the myoelectricity collecting device usually runs at a fixed high myoelectricity sampling frequency, so that the myoelectricity bionic hand is easy to generate excessive power consumption.
Thus, there is still a need for improvement and development of the prior art.
Disclosure of Invention
The technical problem to be solved by the present invention is to provide a multi-level adjustment method for the sampling frequency of the electromyographic signal, aiming at solving the problem that the execution accuracy of the bionic hand is reduced due to the fact that the electromyographic sampling frequency is easily reduced for too long time only by a frequency adjustment scheme for reducing the electromyographic sampling frequency of the bionic hand in the prior art.
The technical scheme adopted by the invention for solving the problems is as follows:
in a first aspect, an embodiment of the present invention provides a method for adjusting a sampling frequency of an electromyographic signal in multiple levels, where the method includes:
acquiring a first electromyographic signal, and adjusting the electromyographic sampling frequency of the bionic hand down according to a first numerical value when a target action corresponding to the first electromyographic signal is determined as a continuous action, wherein the continuous action is an action with the execution time length being greater than a first threshold value;
acquiring a second electromyographic signal, and acquiring the accumulated continuous times of the target electromyographic signal when the second electromyographic signal is determined to be the target electromyographic signal, wherein the second electromyographic signal is an electromyographic signal acquired after the first electromyographic signal, the target electromyographic signal is one of a plurality of high-frequency electromyographic signals, the plurality of high-frequency electromyographic signals correspond to different high-frequency actions respectively, and the high-frequency action is an action of which the execution time is greater than a second threshold and the execution time is less than or equal to the first threshold;
and determining an up-regulation value according to the accumulated continuous times, and up-regulating the electromyographic sampling frequency according to the up-regulation value.
In one embodiment, the acquiring the second electromyographic signal, and when it is determined that the second electromyographic signal is the target electromyographic signal, acquiring the accumulated continuous times that the target electromyographic signal is collected, includes:
acquiring the second electromyographic signal, and comparing the second electromyographic signal with a preset action database, wherein the action database comprises a plurality of action templates, and each action template corresponds to one high-frequency electromyographic signal and one high-frequency action;
and when the second electromyographic signal is successfully compared with any one action template, acquiring the accumulated continuous times.
In one embodiment, the determining an up-regulation value corresponding to the electromyography sampling frequency according to the accumulated continuous times includes:
acquiring the accumulated acquisition duration corresponding to the accumulated continuous times;
and determining the up-regulation value according to the accumulated continuous times and the accumulated acquisition duration.
In one embodiment, said determining said adjusted value according to said accumulated number of consecutive times and said accumulated collecting time period includes:
determining the single average acquisition time corresponding to the acquired target electromyographic signals according to the accumulated continuous times and the accumulated acquisition time;
and determining the up-regulation value according to the accumulated continuous times and the single average acquisition time length.
In one embodiment, the determining the up-regulation value according to the accumulated consecutive times and the single average acquisition time length includes:
when the accumulated continuous times are larger than or equal to a third threshold value, determining the up-regulation value as a second value, wherein the second value is equal to the first value;
when the accumulated continuous times are smaller than a third threshold and the single average acquisition time length is smaller than or equal to a fourth threshold, determining the up-regulation value as a third value, wherein the third value is smaller than the second value;
and when the accumulated continuous times are less than the third threshold and the single average acquisition time length is greater than a fourth threshold, determining the up-regulation value as a fourth value, wherein the fourth value is less than the third value.
In one embodiment, the method further comprises:
acquiring a third electromyographic signal, wherein the third electromyographic signal is an electromyographic signal acquired after the second electromyographic signal;
and when the third electromyographic signal is the same as the first electromyographic signal and the accumulated continuous times are smaller than a fifth threshold value, adjusting the electromyographic sampling frequency downwards again according to the first numerical value, wherein the fifth threshold value is smaller than the third threshold value.
In a second aspect, an embodiment of the present invention further provides a multi-level adjustment apparatus for a sampling frequency of an electromyographic signal, where the apparatus includes:
the system comprises a down-regulation module, a first myoelectric signal processing module and a second myoelectric signal processing module, wherein the down-regulation module is used for acquiring the first myoelectric signal, and when a target action corresponding to the first myoelectric signal is determined as a continuous action, the down-regulation module is used for down-regulating the myoelectric sampling frequency of a bionic hand according to a first numerical value, and the continuous action is an action with the execution duration being greater than a first threshold;
the system comprises an up-regulation module, a first electromyographic signal acquisition module and a second electromyographic signal acquisition module, wherein the up-regulation module is used for acquiring a second electromyographic signal and acquiring accumulated continuous times of the target electromyographic signal when the second electromyographic signal is determined to be the target electromyographic signal, the second electromyographic signal is an electromyographic signal acquired after the first electromyographic signal, the target electromyographic signal is one of a plurality of high-frequency electromyographic signals, the plurality of high-frequency electromyographic signals correspond to different high-frequency actions respectively, and the high-frequency action is an action of which the execution times is greater than a second threshold and the execution time length is less than or equal to a first threshold;
and determining an up-regulation value according to the accumulated continuous times, and up-regulating the electromyographic sampling frequency according to the up-regulation value.
In one embodiment, the upscaling module includes:
the comparison unit is used for acquiring the second electromyographic signal and comparing the second electromyographic signal with a preset action database, wherein the action database comprises a plurality of action templates, and each action template corresponds to one high-frequency electromyographic signal and one high-frequency action;
and the counting unit is used for acquiring the accumulated continuous times when the second electromyographic signal is successfully compared with any one action template.
In one embodiment, the upscaling module further comprises:
the timing unit is used for acquiring the accumulated acquisition duration corresponding to the accumulated continuous times;
and the up-regulation determining unit is used for determining the up-regulation numerical value according to the accumulated continuous times and the accumulated acquisition duration.
In one embodiment, the up-regulation determining unit includes:
the average value determining subunit is used for determining the single average acquisition time length corresponding to the acquired target electromyographic signal according to the accumulated continuous times and the accumulated acquisition time length;
and the comprehensive determining subunit is used for determining the up-regulation value according to the accumulated continuous times and the single average acquisition time length.
In one embodiment, the processing logic corresponding to the comprehensive determination subunit is:
when the accumulated continuous times is larger than or equal to a third threshold value, determining the up-regulation value as a second value, wherein the second value is equal to the first value;
when the accumulated continuous times are smaller than a third threshold value and the single average acquisition time length is smaller than or equal to a fourth threshold value, determining the up-regulation value as a third value, wherein the third value is smaller than the second value;
and when the accumulated continuous times are smaller than the third threshold and the single average acquisition time is larger than a fourth threshold, determining the up-regulation value as a fourth value, wherein the fourth value is smaller than the third value.
In one embodiment, the apparatus further comprises:
the error correction module is used for acquiring a third electromyographic signal, wherein the third electromyographic signal is an electromyographic signal acquired after the second electromyographic signal;
and when the third electromyographic signal is the same as the first electromyographic signal and the accumulated continuous frequency is 1, determining to adjust the electromyographic sampling frequency downwards according to the first numerical value.
In a third aspect, an embodiment of the present invention further provides a terminal, where the terminal includes a memory and one or more processors; the memory stores one or more programs; the program contains instructions for executing a multi-level regulation method of the sampling frequency of the electromyographic signal as described in any of the above; the processor is configured to execute the program.
In a fourth aspect, the embodiment of the present invention further provides a computer readable storage medium, on which a plurality of instructions are stored, where the instructions are adapted to be loaded and executed by a processor, so as to implement the steps of the method for multi-level adjustment of the sampling frequency of an electromyographic signal described above.
The invention has the beneficial effects that: the embodiment of the invention can adjust the electromyographic sampling frequency of the bionic hand on the ground in multiple levels according to different conditions. The problem of only have the frequency adjustment scheme that reduces imitative hand flesh electricity sampling frequency among the prior art, cause the flesh electricity sampling frequency to reduce overlength easily, and then lead to the execution precision of imitative hand to reduce is solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of a method for adjusting a sampling frequency of an electromyographic signal in multiple levels according to an embodiment of the present invention.
Fig. 2 is an internal block diagram of a multi-level modulation apparatus for sampling frequency of an electromyographic signal according to an embodiment of the present invention.
Fig. 3 is a schematic block diagram of a terminal according to an embodiment of the present invention.
Detailed Description
The invention discloses a multi-level regulation method for the sampling frequency of an electromyographic signal, which is further described in detail below by referring to the attached drawings and embodiments in order to make the purpose, the technical scheme and the effect of the invention clearer and clearer. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The bionic hand is a high-integration and high-intelligence electromechanical integrated system, and has wide application prospects in the fields of robot remote control, medical rehabilitation of disabled people and the like as an end effector. The surface electromyographic signals are a complex result of sub-epidermal muscle activity at the skin surface, which can be collected by surface electrodes and avoid pain and cross-infection to the patient due to the needle electrodes penetrating the muscle. The myoelectricity controlled bionic hand has the characteristics of directness and naturalness, and the bionic hand controlled by utilizing the surface myoelectricity becomes a class with more application quantity in the external power bionic hand. However, the myoelectricity bionic hand needs to be provided with a myoelectricity collecting device, and the myoelectricity collecting device usually runs at a fixed high myoelectricity sampling frequency, so that the myoelectricity bionic hand is easy to generate excessive power consumption. In the prior art, although a scheme for adjusting the sampling frequency of the bionic hand myoelectricity exists, the purpose of adjustment is basically focused on reducing the myoelectricity sampling frequency. However, the myoelectric sampling frequency is reduced for a long time, which may result in a reduction in the execution accuracy of the bionic hand.
In order to overcome the defects of the prior art, the invention provides a multi-level regulation method for the sampling frequency of an electromyographic signal, which comprises the steps of acquiring a first electromyographic signal, and when a target action corresponding to the first electromyographic signal is determined as a continuous action, regulating the electromyographic sampling frequency of a bionic hand down according to a first numerical value, wherein the continuous action is an action with the execution duration being greater than a first threshold value; acquiring a second electromyographic signal, and acquiring the accumulated continuous times of the target electromyographic signal when the second electromyographic signal is determined to be the target electromyographic signal, wherein the second electromyographic signal is an electromyographic signal acquired after the first electromyographic signal, the target electromyographic signal is one of a plurality of high-frequency electromyographic signals, the plurality of high-frequency electromyographic signals correspond to different high-frequency actions respectively, and the high-frequency action is an action of which the execution time is greater than a second threshold and the execution time is less than or equal to the first threshold; and determining an up-regulation value according to the accumulated continuous times, and up-regulating the myoelectricity sampling frequency according to the up-regulation value. The invention can adjust the electromyographic sampling frequency of the bionic hand on the ground in multiple levels according to different conditions. The problem of only have the frequency adjustment scheme that reduces imitative biological hand flesh electricity sampling frequency among the prior art, cause the flesh electricity sampling frequency to reduce overlength time easily, and then lead to imitative biological hand's execution precision to reduce is solved.
As shown in fig. 1, the method comprises the steps of:
step S100, obtaining a first electromyographic signal, and adjusting the electromyographic sampling frequency of the bionic hand down according to a first numerical value when a target action corresponding to the first electromyographic signal is determined to be a continuous action, wherein the continuous action is an action with the execution duration being greater than a first threshold value.
Specifically, the first electromyographic signal in this embodiment may be any one of signals currently acquired by a bionic hand. After the first electromyographic signal is acquired, firstly, signal recognition is carried out, and a target action corresponding to the first electromyographic signal is judged. And then determining the execution time length corresponding to the target action, and judging whether the first electromyographic signal is a persistent action or not according to the execution time length. For example, if the time threshold is set to 3 seconds, the fist is closed for 5 seconds, which is the continuous action. When the fact that the action currently executed by the bionic hand is the continuous action is detected, the fact that the action executed by the bionic hand cannot be changed within a period of time is shown, and therefore the electromyographic sampling frequency of the bionic hand is adjusted downwards according to the preset first numerical value, and the power consumption of the bionic hand is reduced.
As shown in fig. 1, the method further comprises the steps of:
step S200, acquiring a second electromyographic signal, and acquiring accumulated continuous times of the target electromyographic signal when the second electromyographic signal is determined to be the target electromyographic signal, wherein the second electromyographic signal is an electromyographic signal acquired after the first electromyographic signal, the target electromyographic signal is one of a plurality of high-frequency electromyographic signals, the plurality of high-frequency electromyographic signals correspond to different high-frequency actions respectively, and the high-frequency action is an action that the execution times is greater than a second threshold value, and the execution time length is less than or equal to the first threshold value.
The present embodiment defines an electromyographic signal acquired subsequent to the first electromyographic signal as a second electromyographic signal. When the second electromyographic signal is acquired, whether the second electromyographic signal belongs to the target electromyographic signal or not needs to be judged firstly. Specifically, a plurality of preset high-frequency electromyographic signals are compared with the second electromyographic signal, wherein each high-frequency electromyographic signal corresponds to different actions with high occurrence frequency and short execution time. If one of the high-frequency electromyographic signals is successfully compared with the second electromyographic signal, the second electromyographic signal is an effective signal, the real movement intention of the target user can be reflected, and the accumulated continuous times of the currently acquired target electromyographic signal are determined. It should be understood that the accumulated continuous times are used for reflecting the times of continuously obtaining the electromyographic signals corresponding to the high-frequency transient actions, so that the exercise intention preference of the target user in the current time period can be reflected to a certain extent, and the time interval from the previous execution of the persistent action can also be reflected. If none of the high-frequency electromyographic signals is successfully compared with the second electromyographic signal, the second electromyographic signal is an invalid signal and cannot reflect the real movement intention of the target user, and the current electromyographic sampling frequency is kept.
In one implementation, the step S200 specifically includes the following steps:
step S201, acquiring the second electromyographic signal, and comparing the second electromyographic signal with a preset action database, wherein the action database comprises a plurality of action templates, and each action template corresponds to one high-frequency electromyographic signal and one high-frequency action;
step S202, when the second electromyographic signal is successfully compared with any one action template, acquiring the accumulated continuous times.
Specifically, the present embodiment pre-constructs a motion database, which includes motion templates corresponding to high-frequency motions, and each motion template includes a signal tag, where the signal tag is used to reflect a high-frequency electromyogram signal corresponding to the motion template. And searching an action template corresponding to the second electromyographic signal in an action database, and if the action template is successfully searched and the second electromyographic signal is effective, acquiring the accumulated continuous times.
As shown in fig. 1, the method further comprises the steps of:
and S300, determining an up-regulation value according to the accumulated continuous times, and up-regulating the electromyographic sampling frequency according to the up-regulation value.
The accumulated continuous times are used for reflecting the times of continuously obtaining the electromyographic signals corresponding to the high-frequency transient actions, so that the movement intention preference of the target user in the current time period can be reflected to a certain extent. If the accumulated continuous times are more, the fact that the last executed continuous action is executed is indicated to be finished, and the current target user prefers to operate the bionic hand to execute the transient action. When the target user is inclined to execute the transient action, more myoelectric signals can be generated in a short time, so that the embodiment needs to determine the specific numerical value of the sampling frequency up-regulation by accumulating the continuous times, thereby realizing the multi-level regulation of the myoelectric sampling frequency, reducing the power consumption and simultaneously ensuring the execution precision of the bionic hand.
In one implementation, the step S300 specifically includes the following steps:
s301, acquiring accumulated acquisition duration corresponding to the accumulated continuous times;
and S302, determining the up-regulation value according to the accumulated continuous times and the accumulated acquisition time.
Specifically, in order to accurately determine the time interval from the previous execution of the persistent gesture, the present embodiment needs to acquire the accumulated acquisition duration corresponding to the continuously acquired target electromyographic signals. It will be appreciated that the longer the accumulated collection time, the longer the time interval representing the current time from the previous execution of the persistent action, and may also reflect the time span over which the targeted user prefers to execute the transient action. Therefore, whether the previous continuous action is executed or not and the exercise intention preference of the current target user can be reliably judged according to the accumulated continuous times and the accumulated collection duration, and the up-regulation value of the myoelectricity sampling frequency of the bionic hand is further determined. The execution precision of the bionic hand is guaranteed while the power consumption is reduced.
In an implementation manner, the step S302 specifically includes the following steps:
step S3021, determining single average acquisition time corresponding to the acquired target electromyogram signal according to the accumulated continuous times and the accumulated acquisition time;
and S3022, determining the up-regulation value according to the accumulated continuous times and the single average acquisition time.
Specifically, the time required for acquiring the target electromyographic signal at a single time can be determined by matching the accumulated acquisition time with the accumulated continuous times, and the average acquisition time of the single time is obtained. It can be understood that the shorter the single average acquisition time, the higher the density of the current actions performed by the bionic hand; the longer the single average acquisition time is, the less dense the actions currently performed by the bionic hand is. Since the accumulated number of consecutive times may reflect the current athletic intent preference of the target user, the single average acquisition duration may reflect the current density of performance actions of the target user. Therefore, the up-regulation value of the myoelectricity sampling frequency is determined according to the accumulated continuous times and the single average acquisition time length, and the problem that the execution precision of the bionic hand is reduced due to the fact that the myoelectricity sampling frequency is too low can be solved.
In one implementation manner, the step S3022 specifically includes the following steps:
step S30221, when the accumulated consecutive number of times is greater than or equal to a third threshold, determining that the upward adjustment value is a second value, where the second value is equal to the first value;
step S30222, when the accumulated consecutive times are smaller than the third threshold and the average acquisition duration for a single time is smaller than or equal to a fourth threshold, determining that the up-regulation value is a third value, where the third value is smaller than the second value;
step S30223, when the accumulated consecutive times are smaller than the third threshold and the average acquisition duration for a single time is greater than a fourth threshold, determining that the up-regulation value is a fourth value, where the fourth value is smaller than the third value.
Specifically, the present embodiment is directed to classifying combinations of various accumulated continuous times and various accumulated acquisition durations into four scenes. The first is that when the accumulated continuous times is greater than or equal to the third threshold, the target user has performed a large number of transient actions continuously, and because the number of transient actions is large, the reason that the transient actions are generated due to the fluctuation of the electromyographic signals can be eliminated, so that the fact that the persistent actions have been performed can be determined, the target user prefers to perform the transient actions currently, and the decreased electromyographic sampling frequency is adjusted back to the original frequency. The second is that when the accumulated continuous times is less than a third threshold and the single average acquisition time is less than or equal to a fourth threshold, the number of transient actions is not enough, and it is difficult to determine whether the myoelectric sampling frequency is caused by the fluctuation of the myoelectric signal, so that the decreased myoelectric sampling frequency cannot be directly adjusted back to the original frequency. In addition, since the single average acquisition time is short, which indicates that the density of actions performed by the bionic hand in the current time period is high, it is still necessary to increase the current myoelectric sampling frequency to avoid the insufficient execution accuracy of the bionic hand. And thirdly, when the accumulated continuous times are less than a third threshold value and the single average acquisition time length is greater than a fourth threshold value, whether the electromyographic signal fluctuation is caused is difficult to determine due to insufficient number of transient actions, so that the electromyographic sampling frequency after the decline is not directly adjusted back to the original frequency. In addition, since the single average acquisition time is short, which means that the density of actions performed by the bionic hand in the current time period is low, although the current electromyography sampling frequency needs to be increased, the rising value is smaller than that in the second case, so as to avoid wasting the power consumption of the bionic hand.
In one implementation, the method further comprises:
step S400, acquiring a third electromyographic signal, wherein the third electromyographic signal is an electromyographic signal acquired after the second electromyographic signal;
and S500, when the third electromyographic signal is the same as the first electromyographic signal and the accumulated continuous times are smaller than a fifth threshold value, re-adjusting the electromyographic sampling frequency according to the first numerical value, wherein the fifth threshold value is smaller than the third threshold value.
Specifically, in this embodiment, the electromyographic signal acquired after the second electromyographic signal is defined as a third electromyographic signal, and if the third electromyographic signal is the same as the first electromyographic signal and the current accumulated number of consecutive times is less than a fifth threshold, it indicates that the last action performed may be an interruption due to fluctuation of the electromyographic signal, and the execution is not completed. The electromyographic sampling frequency is therefore reduced again to the low-power-consumption sampling frequency employed when performing the persistence action.
Based on the above embodiment, the present invention further provides a multi-level adjustment device for a sampling frequency of an electromyographic signal, as shown in fig. 2, the device includes:
the lower adjusting module 01 is used for acquiring a first electromyographic signal, and when it is determined that a target action corresponding to the first electromyographic signal is a continuous action, adjusting the electromyographic sampling frequency of the bionic hand down according to a first numerical value, wherein the continuous action is an action with the execution duration being greater than a first threshold;
the up-regulation module 02 is used for acquiring a second electromyogram signal, and acquiring accumulated continuous times of the acquisition of the target electromyogram signal when the second electromyogram signal is determined to be the target electromyogram signal, wherein the second electromyogram signal is an electromyogram signal acquired after the first electromyogram signal, the target electromyogram signal is one of a plurality of high-frequency electromyogram signals, the plurality of high-frequency electromyogram signals correspond to different high-frequency actions respectively, and the high-frequency actions are actions with execution times larger than a second threshold value and execution duration smaller than or equal to the first threshold value;
and determining an up-regulation value according to the accumulated continuous times, and up-regulating the electromyographic sampling frequency according to the up-regulation value.
In one implementation, the upscaling module includes:
the comparison unit is used for acquiring the second electromyographic signal and comparing the second electromyographic signal with a preset action database, wherein the action database comprises a plurality of action templates, and each action template corresponds to one high-frequency electromyographic signal and one high-frequency action;
and the counting unit is used for acquiring the accumulated continuous times when the second electromyographic signal is successfully compared with any one action template.
In one implementation, the tuning-up module further includes:
the timing unit is used for acquiring the accumulated acquisition duration corresponding to the accumulated continuous times;
and the up-regulation determining unit is used for determining the up-regulation value according to the accumulated continuous times and the accumulated acquisition duration.
In one implementation, the up-regulation determining unit includes:
the average value determining subunit is used for determining the single average acquisition time length corresponding to the acquired target electromyographic signals according to the accumulated continuous times and the accumulated acquisition time length;
and the comprehensive determining subunit is used for determining the up-regulation value according to the accumulated continuous times and the single average acquisition time length.
In one implementation manner, the processing logic corresponding to the comprehensive determination subunit is:
when the accumulated continuous times is larger than or equal to a third threshold value, determining the up-regulation value as a second value, wherein the second value is equal to the first value;
when the accumulated continuous times are smaller than a third threshold value and the single average acquisition time length is smaller than or equal to a fourth threshold value, determining the up-regulation value as a third value, wherein the third value is smaller than the second value;
and when the accumulated continuous times are less than the third threshold and the single average acquisition time length is greater than a fourth threshold, determining the up-regulation value as a fourth value, wherein the fourth value is less than the third value.
In one implementation, the apparatus further comprises:
the error correction module is used for acquiring a third electromyographic signal, wherein the third electromyographic signal is an electromyographic signal acquired after the second electromyographic signal;
and when the third electromyographic signal is the same as the first electromyographic signal and the accumulated continuous times are smaller than a fifth threshold value, adjusting the electromyographic sampling frequency downwards again according to the first numerical value, wherein the fifth threshold value is smaller than the third threshold value.
Based on the above embodiments, the present invention further provides a terminal, and a schematic block diagram thereof may be as shown in fig. 3. The terminal comprises a processor, a memory, a network interface and a display screen which are connected through a system bus. Wherein the processor of the terminal is configured to provide computing and control capabilities. The memory of the terminal comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the terminal is used for connecting and communicating with an external terminal through a network. The computer program is executed by a processor to implement a multi-level adjustment method of the sampling frequency of the electromyographic signal. The display screen of the terminal can be a liquid crystal display screen or an electronic ink display screen.
It will be understood by those skilled in the art that the block diagram shown in fig. 3 is a block diagram of only a portion of the structure associated with the inventive arrangements and is not intended to limit the terminals to which the inventive arrangements may be applied, and that a particular terminal may include more or less components than those shown, or may have some components combined, or may have a different arrangement of components.
In one implementation, one or more programs are stored in a memory of the terminal and configured to be executed by one or more processors, the one or more programs including instructions for performing a multi-level adjustment method of a sampling frequency of an electromyographic signal.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, databases or other media used in the embodiments provided herein may include non-volatile and/or volatile memory. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
In summary, the invention discloses a method for adjusting the sampling frequency of an electromyographic signal in multiple levels, which includes acquiring a first electromyographic signal, and when a target action corresponding to the first electromyographic signal is determined as a persistence action, adjusting the electromyographic sampling frequency of a bionic hand down according to a first numerical value, wherein the persistence action is an action with the execution duration being greater than a first threshold; acquiring a second electromyographic signal, and acquiring the accumulated continuous times of the target electromyographic signal when the second electromyographic signal is determined to be the target electromyographic signal, wherein the second electromyographic signal is an electromyographic signal acquired after the first electromyographic signal, the target electromyographic signal is one of a plurality of high-frequency electromyographic signals, the plurality of high-frequency electromyographic signals correspond to different high-frequency actions respectively, and the high-frequency action is an action of which the execution time is greater than a second threshold and the execution time is less than or equal to the first threshold; and determining an up-regulation value according to the accumulated continuous times, and up-regulating the electromyographic sampling frequency according to the up-regulation value. The invention can adjust the myoelectricity sampling frequency of the bionic hand on the ground in multiple levels according to different conditions. The problem of only have the frequency adjustment scheme that reduces imitative hand flesh electricity sampling frequency among the prior art, cause the flesh electricity sampling frequency to reduce overlength easily, and then lead to the execution precision of imitative hand to reduce is solved.
It is to be understood that the invention is not limited to the examples described above, but that modifications and variations may be effected thereto by those of ordinary skill in the art in light of the foregoing description, and that all such modifications and variations are intended to be within the scope of the invention as defined by the appended claims.
Claims (8)
1. A method for multi-level regulation of the sampling frequency of an electromyographic signal, the method comprising:
acquiring a first electromyographic signal, when a target action corresponding to the first electromyographic signal is determined to be a continuous action, indicating that the action executed by the bionic hand is not changed within a period of time, and adjusting down the electromyographic sampling frequency of the bionic hand according to a first numerical value, wherein the continuous action is an action with the execution time length being greater than a first threshold value;
acquiring a second electromyographic signal, and acquiring the accumulated continuous times of the target electromyographic signal when the second electromyographic signal is determined to be the target electromyographic signal, wherein the second electromyographic signal is an electromyographic signal acquired after the first electromyographic signal, the target electromyographic signal is one of a plurality of high-frequency electromyographic signals, the plurality of high-frequency electromyographic signals correspond to different high-frequency actions respectively, and the high-frequency action is an action of which the execution time is greater than a second threshold and the execution time is less than or equal to the first threshold;
acquiring accumulated acquisition time corresponding to the accumulated continuous times, wherein the longer the accumulated acquisition time is, the longer the time interval between the current time and the previous time for executing the continuous action is;
determining single average acquisition time corresponding to the acquired target electromyographic signals according to the accumulated continuous times and the accumulated acquisition time, wherein the accumulated continuous times and the accumulated acquisition time are used for reflecting whether the previous continuous action is executed and the current movement intention preference of the target user;
when the accumulated continuous times are larger than or equal to a third threshold value, determining an up-regulation value as a second value, wherein the second value is equal to the first value;
when the accumulated continuous times are smaller than a third threshold value and the single average acquisition time length is smaller than or equal to a fourth threshold value, determining the up-regulation value as a third value, wherein the third value is smaller than the second value;
when the accumulated continuous times are smaller than the third threshold and the single average acquisition duration is larger than a fourth threshold, determining that the up-regulation value is a fourth value, wherein the fourth value is smaller than the third value;
and the electromyographic sampling frequency is up-regulated according to the up-regulation value.
2. The method for multi-level regulation of sampling frequency of electromyographic signals according to claim 1, wherein the acquiring a second electromyographic signal, the accumulated number of consecutive times that the target electromyographic signal was acquired when it was determined that the second electromyographic signal was the target electromyographic signal, comprises:
acquiring the second electromyographic signal, and comparing the second electromyographic signal with a preset action database, wherein the action database comprises a plurality of action templates, and each action template corresponds to one high-frequency electromyographic signal and one high-frequency action;
and when the second electromyographic signal is successfully compared with any one action template, acquiring the accumulated continuous times.
3. Method for the multi-level regulation of the sampling frequency of electromyographic signals according to claim 1, characterized in that it further comprises:
acquiring a third electromyographic signal, wherein the third electromyographic signal is an electromyographic signal acquired after the second electromyographic signal;
and when the third electromyographic signal is the same as the first electromyographic signal and the accumulated continuous times are smaller than a fifth threshold value, adjusting the electromyographic sampling frequency downwards again according to the first numerical value, wherein the fifth threshold value is smaller than the third threshold value.
4. A device for the multi-level regulation of the sampling frequency of electromyographic signals, the device comprising:
the system comprises a down-regulation module, a first electromyographic signal generation module and a second electromyographic signal generation module, wherein the down-regulation module is used for acquiring the first electromyographic signal, indicating that the action executed by the bionic hand is not changed within a period of time when the target action corresponding to the first electromyographic signal is determined to be the persistent action, and down-regulating the electromyographic sampling frequency of the bionic hand according to a first numerical value, wherein the persistent action is the action of which the execution duration is greater than a first threshold;
the system comprises an up-regulation module, a first electromyographic signal acquisition module and a second electromyographic signal acquisition module, wherein the up-regulation module is used for acquiring a second electromyographic signal and acquiring accumulated continuous times of the target electromyographic signal when the second electromyographic signal is determined to be the target electromyographic signal, the second electromyographic signal is an electromyographic signal acquired after the first electromyographic signal, the target electromyographic signal is one of a plurality of high-frequency electromyographic signals, the plurality of high-frequency electromyographic signals correspond to different high-frequency actions respectively, and the high-frequency action is an action of which the execution times is greater than a second threshold and the execution time length is less than or equal to a first threshold;
determining an up-regulation value according to the accumulated continuous times, and up-regulating the myoelectricity sampling frequency according to the up-regulation value;
the upward adjustment module further comprises:
the timing unit is used for acquiring the accumulated acquisition time corresponding to the accumulated continuous times, wherein the longer the accumulated acquisition time is, the longer the time interval between the current time and the previous execution of the continuous action is;
the up-regulation determining unit is used for determining the up-regulation value according to the accumulated continuous times and the accumulated acquisition duration;
the up-regulation determining unit includes:
the average value determining subunit is configured to determine a single average acquisition duration corresponding to the acquired target electromyographic signal according to the accumulated consecutive times and the accumulated acquisition duration, where the accumulated consecutive times and the accumulated acquisition duration are used to reflect whether the previous persistent action is executed completely and current movement intention preference of the target user;
the comprehensive determining subunit is used for determining the up-regulation value according to the accumulated continuous times and the single average acquisition time;
the corresponding processing logic of the comprehensive determination subunit is as follows:
when the accumulated continuous times is larger than or equal to a third threshold value, determining the up-regulation value as a second value, wherein the second value is equal to the first value;
when the accumulated continuous times are smaller than a third threshold value and the single average acquisition time length is smaller than or equal to a fourth threshold value, determining the up-regulation value as a third value, wherein the third value is smaller than the second value;
and when the accumulated continuous times are less than the third threshold and the single average acquisition time length is greater than a fourth threshold, determining the up-regulation value as a fourth value, wherein the fourth value is less than the third value.
5. The device for multi-level regulation of the sampling frequency of electromyographic signals according to claim 4, wherein the up-regulation module comprises:
the comparison unit is used for acquiring the second electromyographic signal and comparing the second electromyographic signal with a preset action database, wherein the action database comprises a plurality of action templates, and each action template corresponds to one high-frequency electromyographic signal and one high-frequency action;
and the counting unit is used for acquiring the accumulated continuous times when the second electromyographic signal is successfully compared with any one action template.
6. The apparatus for multi-level adjustment of sampling frequency of electromyographic signals according to claim 4, further comprising:
the error correction module is used for acquiring a third electromyographic signal, wherein the third electromyographic signal is an electromyographic signal acquired after the second electromyographic signal;
and when the third electromyographic signal is the same as the first electromyographic signal and the accumulated continuous frequency is 1, determining to adjust the electromyographic sampling frequency downwards according to the first numerical value.
7. A terminal, characterized in that the terminal comprises a memory and more than one processor; the memory stores more than one program; the program contains instructions for executing a multi-level regulation method of the sampling frequency of an electromyographic signal according to any one of claims 1 to 3; the processor is configured to execute the program.
8. A computer readable storage medium having stored thereon a plurality of instructions, characterized in that said instructions are adapted to be loaded and executed by a processor to implement a method for multi-level adjustment of the sampling frequency of an electromyographic signal according to any of the above claims 1 to 3.
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