CN205568954U - A sensor circuit for gathering human motion signal - Google Patents
A sensor circuit for gathering human motion signal Download PDFInfo
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- CN205568954U CN205568954U CN201520873823.5U CN201520873823U CN205568954U CN 205568954 U CN205568954 U CN 205568954U CN 201520873823 U CN201520873823 U CN 201520873823U CN 205568954 U CN205568954 U CN 205568954U
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Abstract
The utility model discloses a sensor circuit for gathering human motion signal, move signal modules and bluetooth module including microcontroller, motion seizure circuit, flesh electricity signal circuit, flesh. The utility model discloses an use the accelerometer based on the MEMS technique, gyroscope and magnetometer, in order to acquire human acceleration in the motion process, physical quantitys such as angular speed, it obtains human motion attitude parameter to handle these information through data fusion algorithm, use three surface electromyography electrode pair muscle telecommunications collection, enlarge the signal through circuit design, multistage gain is adjustable and hardware filtering, improve the SNR, paste on human skin surface through the digital microphone wind that uses the MEMS technique, in order to gather the transverse vibration mechanics information of muscle when initiatively contracting.
Description
Technical field
This utility model relates to a kind of sensor circuit, particularly relates to a kind of for gathering human motion signal
Sensor circuit.
Background technology
Under the overall situation of technology of Internet of things fast development, human body behavior or state are digitized, especially
It it is the research of kinesiology and terms of mechanics, it is proposed that new technology requirement.It is better understood when and divides
Analysis human motion state, sets up correct mathematical model to it, grasps between kinematic parameter and mechanics parameter
Relation, changes each other, compensates and verifies, then firstly the need of have equipment can quantify the joint motions of human body with
And muscle tendons power state.
Currently for kinesiology or the instrument of mechanical analysis, such as motion capture system based on photographic head technology,
Or based on electrode gather myoelectric sensor, itself all can only solely detect attitude information or muscle electricity
Information.China's researcher has been carried out some at medical field and has been moved signal combination to realize about myoelectricity and flesh
The research that multi-freedom artificial limb controls, these researchs establish the muscle signal detection model on some bases, with
Realize the assessment of body mechanics's aspect parameter, but owing to lacking motion-captured function, it is impossible to study with kinesiology
Unify, and achievement in research forms industry the most further.External by motion-captured and muscle letter
The technology such as number analysis are applied in industry, but product mostly is motion analysis or the mechanical analysis system of function singleness,
Lack the function that both blend, need to buy two or more equipment simultaneously and be just provided that kinesiology and Li
Detection data needed for are to support founding mathematical models.
Utility model content
The purpose of this utility model is that provides a kind of for gathering human motion to solve the problems referred to above
The sensor circuit of signal.
This utility model is achieved through the following technical solutions above-mentioned purpose:
This utility model includes that microcontroller, motion-captured circuit, electromyographic signal circuit, flesh move signaling module
And bluetooth module, described motion-captured circuit, described electromyographic signal circuit and described flesh move the letter of signaling module
Number outfan all signal input parts with described microcontroller are connected, the signal output part of described microcontroller with
The signal input part of described bluetooth module connects.
This utility model is preferred, and described motion-captured circuit includes Inertial Measurement Unit and magnetic sensor,
The SDA end of described Inertial Measurement Unit and the SDA/SDO end of described magnetic sensor are micro-with described after connecting
The PB3 end of controller connects, the SCL end of described Inertial Measurement Unit and described magnetic sensor
SCL/SPC end is connected with the PB10 end of described microcontroller after connecting, the INT1 of described Inertial Measurement Unit
End is connected with the PA1 end of described microcontroller, the INT2 end of described Inertial Measurement Unit and described microcontroller
PA0 end connect.
This utility model is preferred, and described electromyographic signal circuit includes the first amplifier, the second amplifier and filter
Ripple device, is connected with the first probe after VIN-end series connection the 30th capacitor of described first amplifier, described the
It is connected with the second probe after VIN+ end series connection the 35th capacitor of one amplifier, described first amplifier
VOUT end respectively with the REF end of described first amplifier, the IND+ end of described second amplifier and described
The OUTC end of the second amplifier connects, the INB-end of described second amplifier respectively with described second amplifier
INA-end, the OUTA end of described second amplifier, the OUTB end of described second amplifier and the 3rd visit
Head connects, the INB+ end of described second amplifier respectively with the INC+ end of described second amplifier, described the
The INC-end of two amplifiers, the OUTD end of described second amplifier, the PB12 end of described microprocessor and
The IN end of described wave filter connects, and the CLK end of described wave filter is connected with the PC14 end of described microprocessor,
The SHDN end of described wave filter is connected with the PC13 end of described microprocessor, the OUT terminal of described wave filter
It is connected with the PC15 end of described microprocessor.
This utility model is preferred, and described flesh moves signaling module and includes the first digital microphone and the second numeral wheat
Gram wind, the LCK end of described first digital microphone respectively with the LCK end of described second digital microphone and
The PB13 end of described microprocessor connects, and the DOUT end of described first digital microphone is respectively with described the
The DOUT end of two digital microphones and the PB15 of described microprocessor connect.
This utility model is preferred, and described bluetooth module includes Bluetooth chip, the RESET of described Bluetooth chip
End is connected with the PA8 end of described microprocessor, the TXD end of described Bluetooth chip and described microprocessor
PA10 end connects, and the RXD end of described Bluetooth chip is connected with the PA9 end of described microprocessor, described indigo plant
The RTS end of tooth chip is connected with the PA11 end of described microprocessor, the CTS end of described Bluetooth chip and institute
The PA12 end stating microprocessor connects, the LPO end of described Bluetooth chip and the PA14 end of described microprocessor
Connect.
This utility model is preferred, and described microprocessor connects reset circuit, passes through connector between it
Connect, the PA13 end of described microcontroller respectively with the 3rd end of described connector and the 4th two-phase diode
First end connects, the second end of described 4th two-phase diode respectively with the 5th end of described connector, the 5th
First end of the first end of two-phase diode and the 3rd two-phase diode connect after ground connection, the of described connector
One end the second end with DC source and described 3rd two-phase diode respectively is connected, described microcontroller
PA14 end respectively with the second end and the three-terminal link of described connector of described 5th two-phase diode.
This utility model is preferred, and described reset circuit includes the first reset chip, the second reset chip and answers
Bit switch, the IN end of described first reset chip respectively with the GND end of the first reset chip, described second
First end of the VCC end of reset chip, the first end of reset switch and described connector connects, described reset
Second end of switch is connected with the IN end of described second reset chip, the EN end string of described first reset chip
After joining the second diode, the OUT terminal with described second reset chip is connected, the OUT of described first reset chip
End is connected with DC source.
The beneficial effects of the utility model are:
This utility model is by using accelerometer based on MEMS technology, gyroscope and magnetometer, to obtain
The physical quantitys such as human body acceleration in motor process, angular velocity, by data anastomosing algorithm these information
Carry out process and obtain human motion attitude parameter, use three surface myoelectric electrodes that muscle telecommunications is acquired,
Be amplified by signal by circuit design, multistage gain is adjustable and hardware filtering, improves signal to noise ratio, passes through
The digital microphone using MEMS technology is attached to human skin, to gather muscle when actively shrinking
Oscillation crosswise mechanical information.
Accompanying drawing explanation
Fig. 1 is the circuit diagram that flesh described in the utility model moves signaling module；
Fig. 2 is the circuit diagram of electromyographic signal circuit described in the utility model；
Fig. 3 is the circuit diagram of motion-captured circuit described in the utility model；
Fig. 4 is the circuit diagram of microcontroller described in the utility model；
Fig. 5 is the circuit diagram of bluetooth module described in the utility model；
Fig. 6 is the circuit diagram of filter circuit described in the utility model；
Fig. 7 is the circuit diagram of reset circuit described in the utility model.
Detailed description of the invention
The utility model is described in further detail below in conjunction with the accompanying drawings:
This utility model includes that microcontroller, motion-captured circuit, electromyographic signal circuit, flesh move signaling module
And bluetooth module, motion-captured circuit, electromyographic signal circuit and flesh move the signal output part of signaling module all with
The signal input part of microcontroller connects, the signal output part of microcontroller and the signal input part of bluetooth module
Connect.
As shown in Figure 3 and Figure 4, motion-captured circuit includes Inertial Measurement Unit U14 and magnetic sensor U13,
With microcontroller after the SDA end of Inertial Measurement Unit U14 and the SDA/SDO end connection of magnetic sensor U13
The PB3 end of device U18 connects, the SCL end of Inertial Measurement Unit U14 and magnetic sensor U13's
SCL/SPC end is connected with the PB10 end of microcontroller U18 after connecting, the INT1 of Inertial Measurement Unit U14
End is connected with the PA1 end of microcontroller U18, the INT2 end of Inertial Measurement Unit U14 and microcontroller U18
PA0 end connect.
As shown in Fig. 2, Fig. 4 and Fig. 6, electromyographic signal circuit includes the first amplifier U8, the second amplifier
With first after VIN-end series connection the 30th capacitor C30 of U12 and wave filter U20, the first amplifier U8
Probe E4 connects, and visits with second after VIN+ end series connection the 35th capacitor C35 of the first amplifier U8
Head E5 connects, the VOUT end of the first amplifier U8 respectively with the REF end of the first amplifier U8, second
The IND+ end of amplifier U12 and the OUTC end of the second amplifier U12 connect, the second amplifier U12's
INB-end respectively with the INA-end of the second amplifier U12, the OUTA end of the second amplifier U12, second
The OUTB end of amplifier U12 and the 3rd probe E6 connect, the INB+ end of the second amplifier U12 respectively with
The INC+ end of the second amplifier U12, the INC-end of the second amplifier U12, the second amplifier U12
The IN end of OUTD end, the PB12 end of microprocessor U18 and wave filter U20 connects, wave filter U20
CLK end be connected with the PC14 end of microprocessor U18, the SHDN end of wave filter U20 and microprocessor
The PC13 end of U18 connects, and the OUT terminal of wave filter U20 is connected with the PC15 end of microprocessor U18.
As shown in Figure 1 and Figure 4, flesh move signaling module include the first digital microphone U11 and second numeral wheat
Gram wind U15, the LCK end of the first digital microphone U11 respectively with the LCK of the second digital microphone U15
The PB13 end of end and microprocessor U18 connects, and the DOUT end of the first digital microphone U11 is respectively with the
The DOUT end of two digital microphone U15 and the PB15 of microprocessor U18 connect.
As shown in Figure 4 and Figure 5, bluetooth module includes Bluetooth chip U21, the RESET of Bluetooth chip U21
End is connected with the PA8 end of microprocessor U18, and the TXD end of Bluetooth chip U21 is with microprocessor U18's
PA10 end connects, and the RXD end of Bluetooth chip U21 is connected with the PA9 end of microprocessor U18, bluetooth core
The RTS end of sheet U21 is connected with the PA11 end of microprocessor U18, the CTS end of Bluetooth chip U21 with
The PA12 end of microprocessor U18 connects, the LPO end of Bluetooth chip U21 and the PA14 of microprocessor U18
End connects.
As shown in figs. 4 and 7, on microprocessor U18, connection has reset circuit, passes through connector between it
CN1 connects, the PA13 end of microcontroller U18 respectively with the 3rd end and the 4th two-phase two of connector CN1
Pole pipe D4 first end connect, second end of the 4th two-phase diode D4 respectively with the 5th of connector CN1
Ground connection after the first end connection of end, first end of the 5th two-phase diode D5 and the 3rd two-phase diode D5
First end of GND, connector CN1 is respectively with second end of DC source and the 3rd two-phase diode D3 even
Connect, the PA14 end of microcontroller U18 respectively with the second end and the connector CN1 of the 5th two-phase diode D5
Three-terminal link.
As it is shown in fig. 7, reset circuit includes that the first reset chip U9, the second reset chip U10 and reset are opened
Close SW1, the IN end of the first reset chip U9 respectively with the GND end of the first reset chip U9, second multiple
First end of the position VCC end of chip U10, first end of reset switch SW1 and connector CN1 connects,
Second end of reset switch SW1 and the IN end of the second reset chip U10 connect, the first reset chip U9
EN end connect and be connected with the OUT terminal of the second reset chip U10 after the second diode D2, first resets
The OUT terminal of chip U9 is connected with DC source.
Operation principle of the present utility model is as follows:
As shown in Fig. 1-Fig. 7, operation principle of the present utility model is as follows:
This utility model mainly includes motion-captured circuit, electromyographic signal circuit, flesh move signaling module, micro-
Controller and the big hardware components of bluetooth module five, in motion-captured circuit, Inertial Measurement Unit U14 mainly collects
Accelerometer and gyroscope, magnetic sensor U13 has been become to be integrated with magnetometer, by suitable algorithm number
According to fusion, to obtain kinematics parameters；Electromyographic signal main circuit will be by the bio electricity faint to human muscle
Signal is amplified and filters, to obtain the state that muscle is energized in motor process；Flesh moves signaling module
Mainly by using digital microphone to be attached to muscle skin surface, to obtain muscle oscillation crosswise in motor process
Mechanics parameter；The data that each module transfer is mainly come by microcontroller are demarcated, correct, are merged, so
By bluetooth module, the data processed are sent to upper main control computer afterwards show in real time, analyze and preserve.
In above process, Inertial Measurement Unit U14 and magnetic sensor U13 collects acceleration respectively,
Angular velocity and magnetic direction, be transferred to microcontroller U18 by IIC interface；Digital microphone U11 and U15
The flesh collected moves signal and is transferred to microcontroller U18, the first amplifier amplifier U8 and the second amplifier U12
The electromyographic signal collected is transferred to microcontroller U18, microcontroller U18 handle after being filtered by wave filter U20
The data collected carry out data fusion, finally the data after process are transferred to by bluetooth module U21
Position machine.
By selecting three axis accelerometer based on MEMS technology, three-axis gyroscope and three axle magnetometers also use
32 Cortex-A4 High Speed Microcontroller carry out algorithm fusion to realize human body motion capture and analysis to data
Function, selects signal amplification circuit based on MEMS technology and filter circuit to carry out surface electromyogram signal acquisition,
Realize noise suppression and the adjustable function of signal amplification factor, select digital microphone elegance based on MEMS technology
Collection flesh moves signal, and the accelerometer mode more single than tradition has higher resolution and sensitivity, sensor
Weight less than legacy equipment volume is light, can conveniently be worn on human body limb and examine at indoor or outdoors
Survey and use.
In sum, this utility model is by using accelerometer based on MEMS technology, gyroscope and magnetic force
Meter, to obtain the physical quantitys such as human body acceleration in motor process, angular velocity, passes through data anastomosing algorithm
These information are carried out process and obtains human motion attitude parameter, use three surface myoelectric electrodes to muscle electricity
Letter is acquired, and is amplified by signal by circuit design, multistage gain is adjustable and hardware filtering, improves
Signal to noise ratio, by using the digital microphone of MEMS technology to be attached to human skin, exists gathering muscle
Oscillation crosswise mechanical information when actively shrinking.
Those skilled in the art, without departing from essence of the present utility model and spirit, can have various deformation scheme real
Existing this utility model, the foregoing is only the embodiment that this utility model is the most feasible, not thereby office
Limit interest field of the present utility model, the equivalence knot that all utilization this utility model description and accompanying drawing content are made
Structure changes, within being both contained in interest field of the present utility model.
Claims (7)
1. the sensor circuit being used for gathering human motion signal, it is characterised in that: include microcontroller, fortune
Dynamic seizure circuit, electromyographic signal circuit, flesh move signaling module and bluetooth module, described motion-captured electricity
Road, described electromyographic signal circuit and described flesh move the signal output part of signaling module all with described microcontroller
The signal input part of device connects, the signal output part of described microcontroller and the signal of described bluetooth module
Input connects.
A kind of sensor circuit for gathering human motion signal the most according to claim 1, its feature exists
In: described motion-captured circuit includes Inertial Measurement Unit and magnetic sensor, described inertia measurement list
With described microcontroller after the SDA end of unit and the SDA/SDO end connection of described magnetic sensor
PB3 end connects, the SCL end of described Inertial Measurement Unit and the SCL/SPC end of described magnetic sensor
After connection, the PB10 end with described microcontroller is connected, the INT1 end of described Inertial Measurement Unit and institute
The PA1 end stating microcontroller connects, the INT2 end of described Inertial Measurement Unit and described microcontroller
PA0 end connects.
A kind of sensor circuit for gathering human motion signal the most according to claim 1, its feature exists
The first amplifier, the second amplifier and wave filter is included in: described electromyographic signal circuit, described first
It is connected with the first probe after VIN-end series connection the 30th capacitor of amplifier, described first amplifier
It is connected with the second probe after VIN+ end series connection the 35th capacitor, the VOUT of described first amplifier
End respectively with the REF end of described first amplifier, the IND+ end of described second amplifier and described the
The OUTC end of two amplifiers connects, and the INB-end of described second amplifier amplifies with described second respectively
The INA-end of device, the OUTA end of described second amplifier, the OUTB end of described second amplifier and
3rd probe connects, the INB+ end of described second amplifier respectively with the INC+ of described second amplifier
End, the INC-end of described second amplifier, the OUTD end of described second amplifier, described micro-process
The PB12 end of device and the IN end of described wave filter connect, the CLK end of described wave filter and described micro-place
The PC14 end of reason device connects, and the SHDN end of described wave filter connects with the PC13 end of described microprocessor
Connecing, the OUT terminal of described wave filter is connected with the PC15 end of described microprocessor.
A kind of sensor circuit for gathering human motion signal the most according to claim 1, its feature exists
Move signaling module in: described flesh and include the first digital microphone and the second digital microphone, described first
The LCK end of digital microphone respectively with the LCK end of described second digital microphone and described micro-process
The PB13 end of device connects, and the DOUT end of described first digital microphone is digital with described second respectively
The DOUT end of mike and the PB15 of described microprocessor connect.
A kind of sensor circuit for gathering human motion signal the most according to claim 1, its feature exists
In: described bluetooth module includes Bluetooth chip, the RESET end of described Bluetooth chip and described micro-process
The PA8 end of device connects, and the TXD end of described Bluetooth chip is connected with the PA10 end of described microprocessor,
The RXD end of described Bluetooth chip is connected with the PA9 end of described microprocessor, described Bluetooth chip
RTS end is connected with the PA11 end of described microprocessor, and the CTS end of described Bluetooth chip is micro-with described
The PA12 end of processor connects, the LPO end of described Bluetooth chip and the PA14 end of described microprocessor
Connect.
A kind of sensor circuit for gathering human motion signal the most according to claim 1, its feature exists
In: connect on described microprocessor and have reset circuit, connected by connector between it, described micro-control
The PA13 end of device processed connects with the 3rd end of described connector and the first end of the 4th two-phase diode respectively
Connect, the second end of described 4th two-phase diode respectively with the 5th end, the 5th two-phase of described connector
First end of the first end of diode and the 3rd two-phase diode connect after ground connection, the of described connector
One end the second end with DC source and described 3rd two-phase diode respectively is connected, described microcontroller
PA14 end respectively with the 3rd end of the second end of described 5th two-phase diode and described connector even
Connect.
A kind of sensor circuit for gathering human motion signal the most according to claim 6, its feature exists
The first reset chip, the second reset chip and reset switch is included in: described reset circuit, described
The IN end of one reset chip respectively with the GND end of the first reset chip, described second reset chip
First end of VCC end, the first end of reset switch and described connector connects, described reset switch
Second end is connected with the IN end of described second reset chip, the EN end series connection of described first reset chip
After second diode, the OUT terminal with described second reset chip is connected, described first reset chip
OUT terminal is connected with DC source.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520873823.5U CN205568954U (en) | 2015-11-02 | 2015-11-02 | A sensor circuit for gathering human motion signal |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520873823.5U CN205568954U (en) | 2015-11-02 | 2015-11-02 | A sensor circuit for gathering human motion signal |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108742957A (en) * | 2018-06-22 | 2018-11-06 | 上海交通大学 | A kind of artificial limb control method of multi-sensor fusion |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108742957A (en) * | 2018-06-22 | 2018-11-06 | 上海交通大学 | A kind of artificial limb control method of multi-sensor fusion |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160914 Termination date: 20181102 |