CN209360687U - A kind of myoelectricity inertial signal and video information synchronous acquisition device - Google Patents
A kind of myoelectricity inertial signal and video information synchronous acquisition device Download PDFInfo
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Abstract
The utility model discloses a kind of myoelectricity inertial signal and video information synchronous acquisition devices, including power module, electromyography signal sensing module, electromyography signal A/D module, Inertia information acquisition module, data transmission module (2.0 module of bluetooth, UART module), video acquisition module, synchronous acquisition module, lower computer control system, upper computer control system (Windows or android system).The utility model is by the real-time acquisition to electromyography signal, inertial signal and video image and saves, the relationship of electromyography signal caused by human body limb muscle corresponding under different athletic postures, movement velocity can accurately be analyzed, real time communication can be carried out with a variety of host computers by wireless blue tooth module, meet the acquisition demand of different platform (Windows/Android), distinct device (PC/ mobile phone/plate).
Description
Technical field
The utility model relates to signal synchronous collection technical fields, and in particular to a kind of myoelectricity inertial signal and video information
Synchronous acquisition device.
Background technique
Surface electromyogram signal (surface electromyography, sEMG) is that human body completes various limb action processes
In, for the electrical activity during limbs superficial muscle and nerve conduction in the accumulation electrical effect of skin surface, it is common in human body master
Skeletal muscle surface relevant to movement in dynamic motion process, is generally recorded by the way that electrode slice is pasted onto muscle surface.?
Under the premise of obtaining good electromyography signal, the integrated informations such as the energy variation of surface electromyogram signal and frequency range, energy
The enough largely quantitative physiology for reflecting tested muscle and mechanism state, by means of electromyography signal processing method, according to
Signal presentation extracts the feature of profound mechanism principle, can effectively describe muscular movement degree of fatigue, limb action
Pattern refactoring, muscular movement functional evaluation and electromyography signal and nerve center coupled relation, the research to electromyography signal, can
Deeper into the inherent mechanism for seeking Neuscience, deepen to the understanding of human body itself.
Inertial measurement method realizes the continuous detection of movement by inertial sensor combination of nodes.With sensor technology
Continuous development, inertial sensor volume is smaller and smaller, portability is become better and better, inertial data is more and more abundant, power consumption is more next
Lower, therefore, inertial sensor has been applied to each professional domain.Common inertial sensor mainly has accelerometer, gyro
Instrument, geomagnetic sensor etc..
With being constantly progressive for science and technology, video image has become the important carrier of information in modern society.Depending on
Generally contain a large amount of human action information in frequency information.Video human action recognition can provide various sides for people
It helps.Its core is the process of the cumbersome manual identified video of liberation, allows computer can be by the analysis to video, to therein
Human action, which can have, more accurately identifies there is different degrees of application in many fields at present.At present had more at
Ripe method extracts the motion informations such as the movement orientation of human body, posture by video image, so video image and myoelectricity, used
Property signal compared to richer human motion and external information can be provided, be bonded to more preferably carry out human action identification
Research.Video image, electromyography signal, inertial signal are different types of information, and different hardware can be used to acquire, but such as
Fruit acquisition data cannot synchronize, and the research significance of data will greatly reduce.
Patent 201610825647.7 provides a kind of electromyography signal and Inertia information synchronous acquisition device, including believes more
Breath acquisition sensor, embedded microprocessing systems, wireless multi-platform application interface, power module and data application platform.It is more
The myoelectric information acquired in real time and Inertia information are transferred to embedded by information acquisition sensor by the synchronous input interface of signal
Microprocessing systems, myoelectricity and Inertia information advanced optimize processing through microprocessing systems, and by wireless multi-platform interface with nothing
The mode of line communication is transmitted to data application platform.Utility model device has the function of that communication signal is stable, extension is strong, light
The series of advantages such as portable, easy to operate can be effectively adapted to electromyography signal and the acquisition of Inertia information real-time synchronization in movement,
And the wireless data for a variety of data application platforms such as meet PC machine, mobile phone simultaneously receives process demand, is human body limb during exercise
The clinical research of body Collaboration mode provides great convenience.
Patent 201680037446.9 provides a kind of equipment physics interaction virtualization technology, single (general) is allowed can to wear
The physics worn between platform simulation user and (a variety of) input equipment interacts.The utility model is intended to provide unique human-centred
" super UI (user interface) ", it is integrated as " high speed/parallel " input/interaction capabilities intuitive between people and plurality of devices
Point.The utility model includes can be by other wearable devices for gesture correlated inputs/output purpose method and apparatus and its
Its movement/wearable device (such as smartwatch/smart phone) is integrated to provide nature/intuitive, context-sensitive gesture
Input, one-handed performance and high-speed parallel input/interaction (can have tactile/pressure pattern and visual/audio to feed back) for twocouese
For the ease of more general use and Function Extension, it is proposed that wearable device (class glove-type is wearable) be also likely to be modularization
Design, make platform (pluggable) it is easy to clean/maintenance or with new hardware expanding.
Utility model content
(1) the technical issues of solving
The purpose of this utility model is to provide one kind be suitable for human body can it is portable it is wearable, have wireless transmission interface
, the synchronous acquisition device that Double tabletop (Android/Windows) can be applied in real time.
(2) technical solution
In order to achieve the above object, the utility model is achieved by the following technical programs:
A kind of myoelectricity inertial signal and video information synchronous acquisition device, including power module, electromyography signal sensing module,
Electromyography signal A/D module, Inertia information acquisition module, data transmission module, video acquisition module, synchronous acquisition module, bottom
Machine control system, upper computer control system；
The power module is connected with electromyography signal sensing module, lower computer control system, for providing power supply for it；
The lower computer control system include master controller MCU, rechargeable battery, power regulator module, filter amplification circuit,
UART and I2C serial communication modular, rechargeable battery, power regulator module, filter amplification circuit, UART and I2C serial communication mould
The peripheral circuit that block is master controller MCU is connected respectively at master controller MCU；The master controller MCU uses Texas Instrument
MSP430F149 has 12 A/D converters；
The electromyography signal sensing module uses electromyographic electrode, introduces electromyography signal A/D module through electromyography signal connecting line,
It is connect after electromyography signal A/D module makees A/D conversion with lower computer control system, obtains electromyography signal；
The Inertia information acquisition module includes MPU9250 chip, Inertia information acquisition module and lower computer control system
Connection acquires nine-degree of freedom motional inertia information data amount in real time and is filtered；
The data transmission module includes 2.0 module of bluetooth, UART module, and UART module and lower computer control system connect
It connects, lower computer control system carries out wireless data communication by 2.0 module of bluetooth and upper computer control system；
The video acquisition module, synchronous acquisition module are connected with upper computer control system, and upper computer control system includes
Message processing module, memory module and display module, upper computer control system carry out video information, sensor signal acquisition with
Display forms electromyography signal, the synchrodata of inertial signal and video, and stores in a storage module.
An embodiment according to the present utility model, the electromyography signal sensing module include electromyographic signal collection sensor,
Sensor uses Ag/AgCl surface electrode, accesses in lower computer control system through electromyography signal connecting line, then through filter and amplification electricity
After the processing of road, master system is radioed to by bluetooth module；The electromyographic electrode is made of the electrode that two panels is parallel to each other,
Constitute Differential Input.
An embodiment according to the present utility model, the filter amplification circuit include operational amplifier U6, resistance R16, electricity
Hinder R17, resistance R21, capacitor C30,3.3V power supply, 2.5V power supply；Sampled signal AIN3 is connected with the one end resistance R16, resistance
The R16 other end is connected with the one end resistance R17, the one end resistance R21, resistance R21 other end ground connection, the resistance R17 other end and operation
The 1 foot output end of amplifier U6 is connected；8 feet of operational amplifier U6 connect 3.3V power supply, the one end capacitor C30, and capacitor C30 is another
End ground connection, the 4 feet ground connection of operational amplifier U6, the 3 foot homophase inputs of operational amplifier U6 terminate 2.5V power supply, operational amplifier
The 2 foot inverting input terminals of U6 are connected with 1 foot output end.
An embodiment according to the present utility model, the Inertia information acquisition module are 2 channel MPU9250 chip controls
Nine-degree of freedom inertial signal acquisition module, inertial signal acquisition module is by inertial sensor unit and data transmission bus module
Composition acquires nine-degree of freedom motional inertia information data amount in real time and is filtered；Inertial sensor unit includes acceleration
Meter, gyroscope and geomagnetic sensor export nine axis Inertia informations, acceleration, angular speed, angle are obtained after attitude algorithm
Parameter.
An embodiment according to the present utility model, the MPU9250 chip periphery circuit include MPU9250 chip U7, electricity
Hinder R34, resistance R35, resistance R36, capacitor C3, capacitor C6, capacitor C17,3.3V power supply；1 foot of MPU9250 chip U7,8 feet,
13 feet are connected with 3.3V power supply, and 22 feet of MPU9250 chip U7 are connected with resistance R34 one end, the resistance R34 other end and 3.3V electricity
Source is connected, and 3.3V power supply is also connected with the one end capacitor C3, the one end capacitor C6, the capacitor C3 other end, capacitor C6 other end ground connection；
9 feet of MPU9250 chip U7 are connected with the one end resistance R36, and 11 feet of MPU9250 chip U7 are connected with the one end resistance R35,
10 feet of MPU9250 chip U7 are connected with the one end capacitor C17,18 feet of MPU9250 chip U7,20 feet, the resistance R35 other end,
The resistance R36 other end, capacitor C17 other end ground connection.
An embodiment according to the present utility model, the video acquisition module are connected to host computer by a high-definition camera
Control system.
(3) beneficial effect
The utility model has the beneficial effects that a kind of myoelectricity inertial signal and video information synchronous acquisition device, by flesh
The real-time acquisition and preservation of electric signal, inertial signal and video image, can accurately analyze human body limb in different fortune
The relationship of electromyography signal caused by corresponding muscle under dynamic posture, movement velocity, for further investigation different human body myoelectricity letter
Number provide significant data；Slave computer can carry out real time communication with a variety of host computers by wireless blue tooth module, meet different flat
The acquisition demand of platform (Windows/Android), distinct device (PC/ mobile phone/plate)；Electromyography signal, inertial signal are adopted
Collection is integrated together, and reduces the volume and weight of acquisition equipment, alleviates acquisition equipment to the adverse effect of human action；It will
Acquire data to transmit by wireless blue tooth, acquisition separated with storage, the convenience of experiment is substantially increased, and be able to achieve grow away from
From experiment.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is utility model device functional block diagram.
Fig. 2 is filter amplification circuit schematic diagram.
Fig. 3 is MPU9250 chip periphery circuit diagram.
Fig. 4 is method of synchronization timing diagram.
Fig. 5 is upper computer control system man-machine interface figure.
Specific embodiment
It is practical new below in conjunction with this to keep the objectives, technical solutions, and advantages of the embodiments of the present invention clearer
Attached drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that is retouched
The embodiment stated is the utility model a part of the embodiment, instead of all the embodiments.Based on the implementation in the utility model
Example, every other embodiment obtained by those of ordinary skill in the art without making creative efforts belong to
The range of the utility model protection.
In conjunction with Fig. 1, a kind of myoelectricity inertial signal and video information synchronous acquisition device, including power module, electromyography signal
Sensing module, electromyography signal A/D module, Inertia information acquisition module, data transmission module (2.0 module of bluetooth, UART module),
Video acquisition module, synchronous acquisition module, lower computer control system, upper computer control system (Windows or Android system
System).
Power module is connected with electromyography signal sensing module, lower computer control system, for providing power supply for it.
Lower computer control system includes master controller MCU, rechargeable battery, power regulator module, filter amplification circuit, UART
With I2C serial communication modular, rechargeable battery, power regulator module, filter amplification circuit, UART and I2C serial communication modular are
The peripheral circuit of master controller MCU is connected respectively at master controller MCU.Master controller MCU uses Texas Instrument MSP430F149,
With 12 A/D converters.Rechargeable battery, power regulator module can perceive mould in the case where not external power supply for electromyography signal
Block, master controller and transmission module power supply, greatly promote the convenience of entire acquisition device.
Electromyography signal sensing module is 4 channel electromyographic signal collection modules, and each channel uses electromyographic electrode, believes through myoelectricity
Number connecting line introduces lower computer control system, obtains electromyography signal.Electromyography signal sensing module includes electromyographic signal collection sensing
Device, sensor use Ag/AgCl surface electrode, introduce myoelectricity through electromyography signal connecting line and make signal A/D module, through A/D mould
Block is passed to lower computer control system after making A/D conversion.One electromyographic electrode is made of the electrode that two panels is parallel to each other, and constitutes difference
Input.In addition, 4 channel electromyography signals effectively reduce noise jamming there are one reference ground, reference ground electrode is shared,
Common mode inhibition capacity is improved, the myoelectricity voltage signal of acquisition is transmitted to lower computer control system after digitlization through A/D module.
4 channel electromyographic signal collection modules, when acquiring human body surface myoelectric, by each two Ag/AgCl tables in each channel
Face electrode is placed in respectively along muscle fibre direction to be needed on the muscle that acquires, with reference to ground electrode be placed in apart from acquisition electrode compared with
It is close without muscle region (such as elbow, knee).Collected surface electromyogram signal accesses lower computer control system through connecting line
In, then after the processing of the filter amplification circuit of lower computer control system, master system is radioed to by bluetooth module.
As shown in Fig. 2, filter amplification circuit includes operational amplifier U6, resistance R16, resistance R17, resistance R21, capacitor
C30,3.3V power supply, 2.5V power supply；Sampled signal AIN3 is connected with the one end resistance R16, the resistance R16 other end and resistance R17 mono-
End, the one end resistance R21 are connected, resistance R21 other end ground connection, 1 foot output end of the resistance R17 other end and operational amplifier U6
It is connected；8 feet of operational amplifier U6 meet 3.3V power supply, the one end capacitor C30, capacitor C30 other end ground connection, operational amplifier U6
4 feet ground connection, the 3 foot homophase inputs of operational amplifier U6 terminate 2.5V power supply, the 2 foot inverting input terminals of operational amplifier U6 with
1 foot output end is connected.
Inertia information acquisition module is connect with lower computer control system, acquires nine-degree of freedom motional inertia information data in real time
It measures and is filtered.Inertia information module is the nine-degree of freedom inertial signal acquisition module of 2 channel MPU9250 chip controls,
Each channel is made of inertial sensor unit and data transmission bus module, can acquire nine-degree of freedom motional inertia information in real time
Data volume is simultaneously filtered.Inertia information acquisition sensor is mainly made of accelerometer, gyroscope and geomagnetic sensor,
The Inertia information that nine axis can be exported obtains the parameters such as acceleration, angular speed, angle after attitude algorithm.
2 channel, 9 freedom degree inertial signal acquisition module is made of 2 MPU9250 chips, and available sensing chip adds
Speed, angular speed and magnetic force value.Angular speed can know the velocity of rotation of chip, acceleration be known that chip motion away from
From, speed conditions, and magnetometer is known that the direction of motion of object chip.In addition MPU9250 built-in chip type posture fusion device, can
In the case where not being related to algorithm, to directly read out the quaternary number for describing object state, to obtain the three dimensional angular of object
Degree -- course angle, roll angle, pitch angle.3 axle accelerations separately can be obtained, 3 axle speeds, 3 axial displacements can be obtained after integral.MPU9250
Chip and lower computer control system are installed together, and fixed on human body limb, and the inertial data of acquisition is sent out by I2C interface
Master controller is given, then upper computer control system is sent to by bluetooth after being handled by master controller and stored, show and together
Step.
In conjunction with Fig. 3, MPU9250 chip periphery circuit include MPU9250 chip U7, resistance R34, resistance R35, resistance R36,
Capacitor C3, capacitor C6, capacitor C17,3.3V power supply；1 foot, 8 feet, 13 feet of MPU9250 chip U7 are connected with 3.3V power supply,
22 feet of MPU9250 chip U7 are connected with resistance R34 one end, and the resistance R34 other end is connected with 3.3V power supply, and 3.3V power supply is also
It is connected with the one end capacitor C3, the one end capacitor C6, the capacitor C3 other end, capacitor C6 other end ground connection；9 feet of MPU9250 chip U7
Be connected with the one end resistance R36,11 feet of MPU9250 chip U7 are connected with the one end resistance R35,10 feet of MPU9250 chip U7 with
The one end capacitor C17 is connected, 18 feet, 20 feet, the resistance R35 other end, the resistance R36 other end, capacitor of MPU9250 chip U7
C17 other end ground connection.
Data transmission module is connect with lower computer control system, and carries out wireless data communication with upper computer control system.
Data transmission module is made of bluetooth module and UART (universal asynchronous receiving-transmitting transmitter) module.Wherein UART module is and the next
The master controller MCU of machine control system is integrated.The data of acquisition are transferred to bluetooth mould by UART by master controller MCU
Block, then the bluetooth receiving module of host computer is radioed to by bluetooth module, it is received by host computer, display, processing data.
Video acquisition module is connected to upper computer control system, the same myoelectricity of video image, inertia by a high-definition camera
The synchronization signal that synchronizing information acquisition module issues controls.Video acquisition module is used for when receiving trigger signal according to setting
The sample frequency set shoots acquisition target, and the video of shooting and electromyography signal, inertial signal are carried out absolute time
It is corresponding.
Synchronous acquisition module controls issuing acquisition by upper computer control system with stop signal, logical by wireless blue tooth
Believe synchronous with lower computer control system signal acquisition；Each signal sampling rate: electromyography signal sample frequency is 1000Hz；Inertia letter
Number sample frequency is 25Hz；Video sampling rate is 25FPS.Method of synchronization timing diagram is as shown in Figure 4.
Upper computer control system includes message processing module, memory module and display module, carries out video information, sensor
The acquisition and display of signal form electromyography signal, the synchrodata of inertial signal and video, and store in a storage module.
Lower computer control system can carry out real time communication with a variety of upper computer control systems by wireless blue tooth module, meet
The acquisition demand of different platform (Windows/Android), distinct device (PC/ mobile phone/plate).
Compared with traditional Kalman filter, the utility model filters inertial signal using extended Kalman filter
Wave processing, and be converted to pitch angle, rotation angle and yaw angle.
Electromyographic signal collection sensor is dry electric pole type contact sensor, compares adhesive type myoelectric sensor, dry electric pole type
Contact sensor dress speed faster, it is more convenient.
Upper computer control system, is responsible for the transimission and storage of video image, and the triggering of synchronizing information controls system with slave computer
System communication, myoelectricity, the reception of inertial signal, display and storage.Upper computer control system man-machine interface figure is as shown in Figure 5.
In conclusion the utility model embodiment, myoelectricity inertial signal and video information synchronous acquisition device, to storage
Transport cargo carries out cargo feature and is identified by multisensor to the acquisition process of information data；Touch sensor, pressure sensing
The detection of device, weight sensor to goods information, while information is fed back into controller, controller issues corresponding instruction, control
The clamping cargo of the mechanical folder accurate stable of system realizes robot identification, clamping, stacking Automatic Control in fact in palletization,
The working efficiency and accuracy rate for improving robot palletizer, enhance robot palletizer automatization level, reduce manpower and material resources
Loss；The utility model robot palletizer operation range it is very big, have a safety feature, be convenient to overhaul and safeguard, have compared with
High economic benefit and social benefit.
Above embodiments are only to illustrate the technical solution of the utility model, rather than its limitations；Although referring to aforementioned reality
Example is applied the utility model is described in detail, those skilled in the art should understand that: it still can be to preceding
Technical solution documented by each embodiment is stated to modify or equivalent replacement of some of the technical features；And these
It modifies or replaces, the spirit and model of various embodiments of the utility model technical solution that it does not separate the essence of the corresponding technical solution
It encloses.
Claims (6)
1. a kind of myoelectricity inertial signal and video information synchronous acquisition device, it is characterised in that: including power module, electromyography signal
Sensing module, electromyography signal A/D module, Inertia information acquisition module, data transmission module, video acquisition module, synchronous acquisition
Module, lower computer control system, upper computer control system；
The power module is connected with electromyography signal sensing module, lower computer control system, for providing power supply for it；
The lower computer control system includes master controller MCU, rechargeable battery, power regulator module, filter amplification circuit, UART
With I2C serial communication modular, rechargeable battery, power regulator module, filter amplification circuit, UART and I2C serial communication modular are
The peripheral circuit of master controller MCU is connected respectively at master controller MCU；The master controller MCU uses Texas Instrument
MSP430F149 has 12 A/D converters；
The electromyography signal sensing module uses electromyographic electrode, electromyography signal A/D module is introduced through electromyography signal connecting line, through flesh
Electric signal A/D module is connect after making A/D conversion with lower computer control system, obtains electromyography signal；
The Inertia information acquisition module includes MPU9250 chip, and Inertia information acquisition module is connect with lower computer control system,
Nine-degree of freedom motional inertia information data amount is acquired in real time and is filtered；
The data transmission module includes 2.0 module of bluetooth, UART module, and UART module is connect with lower computer control system, under
Position machine control system carries out wireless data communication by 2.0 module of bluetooth and upper computer control system；
The video acquisition module, synchronous acquisition module are connected with upper computer control system, and upper computer control system includes information
Processing module, memory module and display module, upper computer control system carry out video information, the acquisition of sensor signal and aobvious
Show, forms electromyography signal, the synchrodata of inertial signal and video, and store in a storage module.
2. a kind of myoelectricity inertial signal as described in claim 1 and video information synchronous acquisition device, it is characterised in that: described
Electromyography signal sensing module includes electromyographic signal collection sensor, and sensor uses Ag/AgCl surface electrode, connects through electromyography signal
Wiring accesses in lower computer control system, then after filter amplification circuit is handled, radios to host computer system by bluetooth module
System；The electromyographic electrode is made of the electrode that two panels is parallel to each other, and constitutes Differential Input.
3. a kind of myoelectricity inertial signal as claimed in claim 2 and video information synchronous acquisition device, it is characterised in that: described
Filter amplification circuit includes operational amplifier U6, resistance R16, resistance R17, resistance R21, capacitor C30,3.3V power supply, 2.5V electricity
Source；Sampled signal AIN3 is connected with the one end resistance R16, and the resistance R16 other end is connected with the one end resistance R17, the one end resistance R21,
Resistance R21 other end ground connection, the resistance R17 other end are connected with the 1 foot output end of operational amplifier U6；The 8 of operational amplifier U6
Foot meets 3.3V power supply, the one end capacitor C30, capacitor C30 other end ground connection, the 4 feet ground connection of operational amplifier U6, operational amplifier U6
3 foot homophase inputs terminate 2.5V power supply, the 2 foot inverting input terminals of operational amplifier U6 are connected with 1 foot output end.
4. a kind of myoelectricity inertial signal as described in claim 1 and video information synchronous acquisition device, which is characterized in that described
Inertia information acquisition module is the nine-degree of freedom inertial signal acquisition module of 2 channel MPU9250 chip controls, inertial signal acquisition
Module is made of inertial sensor unit and data transmission bus module, acquires nine-degree of freedom motional inertia information data amount in real time
And it is filtered；Inertial sensor unit includes accelerometer, gyroscope and geomagnetic sensor, output nine axis inertia letter
Breath, obtains acceleration, angular speed, angle parameter after attitude algorithm.
5. a kind of myoelectricity inertial signal as claimed in claim 4 and video information synchronous acquisition device, which is characterized in that described
MPU9250 chip periphery circuit includes MPU9250 chip U7, resistance R34, resistance R35, resistance R36, capacitor C3, capacitor C6, electricity
Hold C17,3.3V power supply；1 foot, 8 feet, 13 feet of MPU9250 chip U7 are connected with 3.3V power supply, 22 feet of MPU9250 chip U7
Be connected with resistance R34 one end, the resistance R34 other end is connected with 3.3V power supply, 3.3V power supply also with the one end capacitor C3, capacitor C6 mono-
End is connected, the capacitor C3 other end, capacitor C6 other end ground connection；9 feet of MPU9250 chip U7 are connected with the one end resistance R36,
11 feet of MPU9250 chip U7 are connected with the one end resistance R35, and 10 feet of MPU9250 chip U7 are connected with the one end capacitor C17,
18 feet of MPU9250 chip U7,20 feet, the resistance R35 other end, the resistance R36 other end, capacitor C17 other end ground connection.
6. a kind of myoelectricity inertial signal as described in claim 1 and video information synchronous acquisition device, which is characterized in that described
Video acquisition module is connected to upper computer control system by a high-definition camera.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109171720A (en) * | 2018-09-20 | 2019-01-11 | 中国科学院合肥物质科学研究院 | A kind of myoelectricity inertial signal and video information synchronous acquisition device and method |
| CN112486320A (en) * | 2020-11-27 | 2021-03-12 | 青岛理工大学 | Assembly torque monitoring system and method based on recurrent neural network |
-
2018
- 2018-09-20 CN CN201821539195.7U patent/CN209360687U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109171720A (en) * | 2018-09-20 | 2019-01-11 | 中国科学院合肥物质科学研究院 | A kind of myoelectricity inertial signal and video information synchronous acquisition device and method |
| CN112486320A (en) * | 2020-11-27 | 2021-03-12 | 青岛理工大学 | Assembly torque monitoring system and method based on recurrent neural network |
| CN112486320B (en) * | 2020-11-27 | 2022-10-11 | 青岛理工大学 | Assembly torque monitoring system and method based on recurrent neural network |
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