CN213241078U - Limb action sensing device, system and wearable equipment - Google Patents
Limb action sensing device, system and wearable equipment Download PDFInfo
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Abstract
The utility model discloses a limb movement sensing device, a system and wearable equipment, wherein the device comprises a myoelectricity measuring unit, an inertia measuring unit and a processing device with a wireless communication module, and the signal output end of the inertia measuring unit is connected with the first signal input end of the processing device; the myoelectricity measuring unit comprises a first amplifying circuit, a band-pass filtering circuit and a second amplifying circuit; the input end of the first amplifying circuit is connected with the signal input electrode of the myoelectricity measuring unit, the output end of the first amplifying circuit is connected with the input end of the band-pass filter circuit, the output end of the band-pass filter circuit is connected with the input end of the second amplifying circuit, and the output end of the second amplifying circuit is connected with the second signal input end of the processing device.
Description
Technical Field
The embodiment of the disclosure relates to the technical field of sensing, in particular to a limb action sensing device, a limb action sensing system and wearable equipment.
Background
Currently, more and more application scenarios allow people to interact with peripheral devices or environments through body movements, which is called somatosensory control. In the current stage, the somatosensory control is realized by mainly acquiring a user image through a camera and analyzing the image through a processor to determine the hardware structure of the limb action of the user. The hardware structure for acquiring the user image through the camera to determine the limb movement of the user has limited moving range, and the problem of slow response speed of the body sensing control based on the structure is caused because a processor needs to analyze the image for a long time, so that a new device capable of sensing the limb movement is needed to be provided for supporting the body sensing control.
SUMMERY OF THE UTILITY MODEL
It is an object of the disclosed embodiments to provide a new device capable of sensing limb movements to achieve somatosensory control.
According to one aspect of the present disclosure, a limb movement sensing device is provided, which includes a myoelectricity measuring unit, an inertia measuring unit, and a processing device having a wireless communication module, wherein a signal output end of the inertia measuring unit is connected with a first signal input end of the processing device; the myoelectricity measuring unit comprises a first amplifying circuit, a band-pass filtering circuit and a second amplifying circuit;
the input end of the first amplifying circuit is connected with the signal input electrode of the myoelectricity measuring unit, the output end of the first amplifying circuit is connected with the input end of the band-pass filter circuit, the output end of the band-pass filter circuit is connected with the input end of the second amplifying circuit, and the output end of the second amplifying circuit is connected with the second signal input end of the processing device.
Optionally, the band-pass filter circuit includes a high-pass filter circuit and a first low-pass filter circuit, the input end of the high-pass filter circuit is the output end of the band-pass filter circuit, the output end of the high-pass filter circuit is connected with the input end of the first low-pass filter circuit, and the output end of the first low-pass filter circuit is the output end of the band-pass filter circuit.
Optionally, a signal voltage value of the output terminal of the first low-pass filter circuit is higher than a signal voltage value of the input terminal of the first low-pass filter circuit.
Optionally, the myoelectricity measurement unit further includes a second low-pass filter circuit, an input end of the second low-pass filter circuit is connected to the signal input electrode of the myoelectricity measurement unit, and an output end of the second low-pass filter circuit is connected to an input end of the first amplification circuit.
Optionally, the myoelectric measurement unit further includes a buffer circuit connected between the output end of the second low-pass filter circuit and the input end of the first amplification circuit.
Optionally, the myoelectricity measuring unit further includes a driving circuit, an input end of the driving circuit is connected to an output end of the first amplifying circuit, and an output end of the driving circuit is connected to the signal input electrode.
Optionally, the sensing device further includes a power supply module, and the power supply module is in power supply connection with the myoelectricity measuring unit and the inertia measuring unit.
Optionally, the limb movement sensing device further comprises a shell, the myoelectricity measuring unit, the inertia measuring unit and the processing device are arranged in the shell, and the signal input electrode is exposed through the shell;
the signal input electrode protrudes outwards relative to the surface of the shell;
the signal input electrode comprises a central part and branch parts extending outwards from the central part;
the free ends of the branch parts of the signal input electrode comprise two hook parts, and the two hook parts are bent towards opposite directions so as to form an interval which is folded towards the central part between the two adjacent branch parts.
According to a second aspect of the present disclosure, there is also provided a wearable device comprising a strap and at least one limb movement sensing means according to the first aspect of the present disclosure, the limb movement sensing means being attached to the strap.
According to a second aspect of the present disclosure, there is also provided a limb movement sensing system, comprising an upper computer and at least one limb movement sensing device according to the first aspect of the present disclosure, the limb movement sensing device being in wireless communication connection with the upper computer; or,
the limb action sensing system comprises an upper computer and at least one wearable device according to the second aspect of the disclosure, and the upper computer is in wireless communication connection with the limb action sensing device of the wearable device.
The limb movement sensing device has the advantages that the limb movement sensing device comprises the myoelectricity measuring unit and the inertia measuring unit, myoelectricity signals reflecting limb movements can be measured through the myoelectricity measuring unit, inertia signals reflecting limb movements can be measured through the inertia measuring unit, and therefore the limb movement sensing device can provide myoelectricity data and inertia data reflecting limb movements, so that the limb movement sensing system can determine corresponding limb movements according to the myoelectricity data and the inertia data, and further realize somatosensory control. For the limb motion sensing device of the embodiment, as the limb motion sensing device is in contact with the skin of the user to sense the limb motion, when the user wears the limb motion sensing device to perform somatosensory control, the range of motion of the user is not limited, so that the limb motion sensing device can adapt to more application scenes; in addition, the body feeling control is carried out through the body action sensing device, image recognition through a complex algorithm can be omitted, the response speed of the body action sensing system to the body feeling control can be obviously improved, and the user experience is further improved.
Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments of the invention, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.
FIG. 1 is a schematic diagram of a limb movement sensing device according to one embodiment;
FIG. 2 is a schematic diagram of a limb movement sensing device according to another embodiment;
FIG. 3 is a schematic diagram of a limb movement sensing device according to yet another embodiment;
FIG. 4 is a schematic diagram of a limb movement sensing device according to yet another embodiment;
FIG. 5 is a schematic structural diagram of a wearable device according to one embodiment;
FIG. 6 is a schematic diagram of a structure of a signal input electrode according to one embodiment;
fig. 7 is a schematic diagram of the components of a limb movement sensing system according to an embodiment.
Detailed Description
Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: unless specifically stated otherwise, the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present invention.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
< sensing device embodiment >
Fig. 1 is a schematic structural diagram of a limb movement sensing device according to an embodiment. As shown in fig. 1, the limb movement sensing device 100 includes an electromyography unit 110, an inertial measurement unit 120, and a processing device 130 having a wireless communication module, wherein a signal output terminal of the inertial measurement unit 120 is connected to a first signal input terminal of the processing device 130 to output an inertial signal to the processing device 130, and a signal output terminal of the electromyography unit 110 is connected to a second signal input terminal of the processing device 130 to output an electromyography signal to the processing device 130.
The processing device 130 can obtain electromyographic data reflecting limb movement according to the electromyographic signals, obtain inertial data reflecting limb movement according to the inertial signals, and send the electromyographic data and the inertial data to the upper computer through the wireless communication module, so that the upper computer can determine corresponding limb movement, such as corresponding gesture movement, according to the electromyographic data and the inertial data, and further realize somatosensory control.
In this embodiment, the electromyography unit is configured to collect an electrical signal representing a sequence of action potentials generated by a user during a limb action, and perform signal processing on the electrical signal to obtain an electromyography signal reflecting the limb action.
The actions of the human body are controlled by skeletal muscle fibers in a unified way, the skeletal muscle fibers are mutually converted between a relaxation state and a contraction state, and the actions are generated when all the skeletal muscle fibers on the surface of the limb are coordinated and matched to change the states. The motor nerve directly acts on skeletal muscle fibers, one motor neuron and all the skeletal muscle fibers controlled by the motor neuron form a motor unit, and a plurality of the motor units form a skeletal muscle motor system. When the brain of a human body wants to control limb movement, the intention signal is conducted through nerves, and the motor neuron is controlled to emit a biological electric signal, so that the movement of the skeletal muscle fiber is stimulated. The process can cause the ion concentration inside and outside the muscle cell membrane to change, thereby causing the potential difference on the muscle cell membrane to change, when the potential differences are accumulated to a certain degree, the potential is formed, the accumulation of all the potentials in one movement unit is the action potential, and the continuous action forms an action potential sequence.
As shown in fig. 1, the electromyography unit 110 may include a first amplification circuit 111, a band-pass filter circuit 112, and a second amplification circuit 113.
The input of the first amplification circuit 111 is connected to a signal input electrode J1 of the electromyography unit, which signal input electrode J1 is intended to be in contact with the skin of the user to receive an electrical signal representing a sequence of action potentials. The output of the first amplifier circuit 111 is connected to the input of the band-pass filter circuit 112. The output end of the band-pass filter circuit 112 is connected to the input end of a second amplifying circuit 113, and the output end of the second amplifying circuit 113 is connected to a second signal input end of the processing device 130 as the signal output end of the electromyography unit 110.
In this embodiment, the first amplifying circuit 111 serves as a preceding stage amplifying circuit, and is configured to suppress a common mode signal in the received electrical signals and retain a differential mode signal in the received electrical signals, where the electrical signals used for forming the electromyographic signals are the differential mode signals.
The first amplification circuit 111 may employ a differential amplification circuit.
The first amplification circuit 111 may include an instrumentation amplifier. Here, it is a prior art means to form an amplifying circuit by using an instrumentation amplifier and devices such as a resistor and a capacitor, and details are not described herein.
The amplification factor of the first amplification circuit 111 is, for example, 500 times.
In this embodiment, the band-pass filter circuit 112 is used to filter unwanted signals in the received signals, so as to obtain a better quality myoelectric signal. The band pass filter circuit 112 may employ an active filter circuit.
The band pass range of the band pass filter circuit 112 is, for example, greater than or equal to 0.5Hz and less than or equal to 500 Hz.
In one embodiment, as shown in fig. 1, the band-pass filter circuit 112 may include a high-pass filter circuit 1121 and a first low-pass filter circuit 1122 connected in series, where an input terminal of the high-pass filter circuit 1121 is an output terminal of the band-pass filter circuit, that is, an input terminal of the high-pass filter circuit 1121 is connected to an output terminal of the first amplifier circuit 111, an output terminal of the high-pass filter circuit 1121 is connected to an input terminal of the first low-pass filter circuit 1122, and an output terminal of the first low-pass filter circuit 1122 is an output terminal of the band-pass filter circuit 112, that is, an output terminal of the first low-pass filter circuit 1122 is connected to an input terminal of the second amplifier circuit 113.
In this embodiment, the high pass filter circuit includes at least one operational amplifier and the first low pass filter circuit also includes at least one operational amplifier. For example, the high-pass filtering amplification circuit may employ an integral feedback circuit implemented by an operational amplifier. For example, the first low-pass filter circuit may be a butterworth second-order low-pass filter circuit, and the like, which is not limited herein.
In one embodiment, the voltage value of the signal at the output of the first low-pass filter circuit 1122 may be higher than the voltage value of the signal at the input of the first low-pass filter circuit 1122. This means that the first low-pass filter circuit 1122 can perform low-pass filtering and signal amplification, perform two-stage amplification between the first amplification circuit 111 and the second amplification circuit 113, and provide signal quality.
In another embodiment, the band-pass filter circuit 112 may also be implemented by an operational amplifier, which is not limited herein.
In this embodiment, the second amplifying circuit 113 is configured to boost the voltage of the received electrical signal to obtain a high-quality electromyographic signal, so that the processing device 130 can perform analog-to-digital conversion on the electromyographic signal more efficiently, thereby improving the sampling accuracy.
The second amplifier circuit 113 is a subsequent amplifier circuit, and its amplification factor may be much lower than that of the first amplifier circuit 111. The amplification factor of the second amplification circuit 113 may be determined according to the voltage range of the processing device 130, so that the level of the electromyographic signal is raised to meet the signal acquisition requirement of the processing device 130.
The second amplification circuit 113 may be an amplification circuit implemented by an operational amplifier, for example.
In this embodiment, the wireless communication module, the microcontroller, the analog-to-digital conversion module, and the like of the processing device 130 may all be integrated in one chip. The processing device 130 may be, for example, a wireless single chip, or referred to as a wireless SOC.
In another embodiment, the processing device 130 may also include a wireless communication module provided separately from the microcontroller, and the signal output terminal of the microcontroller is connected to the wireless communication module.
In this embodiment, the wireless communication module of the processing device 130 may be a WI-FI communication module.
In another embodiment, the wireless communication module may also be a communication module based on a mobile communication network such as GPRS, which is not limited herein.
In this embodiment, the inertial measurement unit 120 may include a three-axis acceleration sensor and a three-axis gyroscope, and correspondingly, the inertial signal output by the inertial measurement unit 120 to the processing device 130 may include an acceleration signal and an angular velocity signal. Here, when the user wears the limb movement sensing apparatus 100, the inertial signal output from the inertial measurement unit 120 can reflect the movement posture of the user, and therefore, the inertial data reflecting the limb movement can be obtained from the inertial signal.
In this embodiment, as shown in fig. 1, the limb movement sensing device 100 may further include a power supply module 140, and the power supply module 140 is electrically connected to the myoelectric measurement unit 110 and the inertial measurement unit 120 to provide working voltage for electrical appliances of the myoelectric measurement unit 110 and the inertial measurement unit 120.
In this embodiment, the power module 140 may include a battery module and a low dropout regulator, and the voltage output by the battery module is converted into the operating voltage required by the electrical devices of the myoelectricity measuring unit 110 and the inertia measuring unit 120 by the low dropout regulator.
In another embodiment, the limb movement sensing apparatus 100 may also be powered by an external power source, which is not limited herein.
According to the limb motion sensing device 100 of the embodiment shown in fig. 1, since the limb motion is sensed by contacting with the skin of the user, when the user wears the limb motion sensing device for body sensing control, the range of motion of the user is not limited, which enables the limb motion sensing device to adapt to more application scenarios.
In addition, according to the body motion sensing device 100 of the embodiment shown in fig. 1, the body motion sensing control is performed by the body motion sensing device, so that image recognition through a complex algorithm can be omitted, the response speed of the user for performing the body motion sensing control can be obviously increased, and the user experience can be further improved.
Since the signal input electrode J1 of the electromyography unit 110 is in contact with air and human skin, and there are many electromyography signals with effective noise interference in air and human, in one embodiment, a first-level low-pass filter circuit may be added at the foremost end of the electromyography unit 110 to improve the anti-noise performance of the electromyography unit 110 against noise.
In this embodiment, as shown in fig. 2, the myoelectric measurement unit 110 may further include a second low-pass filter circuit 114, an input terminal of the second low-pass filter circuit 114 is connected to the signal input electrode J1 of the myoelectric measurement unit 110, and an output terminal of the second low-pass filter circuit 114 is connected to an input terminal of the first amplification circuit 111.
The cut-off frequency of the second low-pass filter circuit 114 may be 760Hz, for example.
In one embodiment, in order to be able to extract more effective electrical signals from the human skin, the electromyography unit 110 may add a buffer circuit 115 between the second low-pass filter circuit 114 and the first amplification circuit 111, as shown in fig. 3.
The buffer circuit can be realized by a dual-channel operational amplifier to extract more effective electromyographic signals from human skin by matching input impedance, and simultaneously solve the problem of unbalanced input caused by larger contact impedance between a signal input electrode and the skin.
In one embodiment, as shown in fig. 4, the electromyography unit 110 may further include a driving circuit 116 having an input terminal connected to an output terminal of the first amplification circuit 111 and an output terminal connected to the signal input electrode J1 of the electromyography unit 110. The driving circuit can be realized by a dual-channel operational amplifier, for example.
In this embodiment, the driving circuit 116 may reversely output the common mode signal output by the first amplifying circuit 111 to the skin of the user through the signal input electrode J1, so as to adjust the dynamic range of the first amplifying circuit 111 and increase the dynamic performance of the first amplifying circuit 111, and simultaneously may cancel a part of the common mode noise that is not cancelled in the first amplifying circuit 111 to increase the anti-noise performance of the electromyographic measuring unit 110.
In one embodiment, the limb movement sensing apparatus 100 may further include an indicator light circuit, and a control terminal of the indicator light circuit is connected to the processing apparatus 130 to perform a status indication according to the control of the processing apparatus 130, for example, a connection status indication when the limb movement sensing apparatus 100 performs WI-FI connection, and the like.
< apparatus embodiment >
Fig. 5 is a schematic structural diagram of a wearable device according to an embodiment. As shown in fig. 5, the wearable device 500 includes a strap 510 and at least one limb movement sensing device 100, wherein the limb movement sensing device 100 is connected to the strap 510.
The limb movement sensing device 100 may be movably connected to the strap 510, or may be fixedly connected to the strap 510, which is not limited herein.
For example, the limb movement sensing device 100 includes a housing 180 as shown in fig. 5, the upper myoelectric measuring unit 110, the inertial measuring unit 120 and the processing device 130 are all disposed in the housing 180, and the signal input electrode J1 of the myoelectric measuring unit 110 is exposed through the housing 180. The housing 180 may be provided with a hole 181 through which the strap 510 passes, and the limb motion sensing apparatus 100 may be coupled to the strap 510 through the hole 181.
In one embodiment, the signal input electrode J1 of the electromyography unit 110 may protrude outward with respect to the surface of the case 180 to improve the reliability of the contact between the signal input electrode J1 and the skin of the human body.
In one embodiment, as shown in fig. 6, the signal input electrode J1 may include a central portion J11 and branch portions J12 extending outward from the central portion J11, so that the signal input electrode J1 can contact the skin of the human body with a larger area, thereby improving the reliability of the contact between the signal input electrode J1 and the skin of the human body.
In one embodiment, as shown in fig. 6, the free end of the branch portion J12 of the signal input electrode J1 may include two hook portions J121, and the two hook portions J121 are bent in opposite directions to form a region a1 between the adjacent two branch portions J12, which is closed toward the central portion J11, wherein the free end of the branch portion J12 is the other end opposite to the first end connected to the central portion J11. Through the structure, the contact viscosity between the signal input electrode J1 and the skin of a human body can be increased, the joint force is improved, and the contact reliability between the signal input electrode J1 and the skin of the human body is further ensured.
The band 510 may be provided with a hook and loop fastener at both ends thereof to fix the wearable device 500 to the limb.
When the user needs to wear the wearable device 500, the limb movement sensing apparatus 100 may be fixed on the user's limb, such as the user's upper arm, lower arm, thigh, or lower leg, by the strap 510, so as to sense the user's limb movement by the limb movement sensing apparatus 100.
< System embodiment >
Fig. 7 is a schematic diagram of the components of a limb movement sensing system according to an embodiment. As shown in fig. 7, the limb movement sensing system 700 includes an upper computer 710 and at least one limb movement sensing device 700, and the limb movement sensing devices 700 are in wireless communication connection with the upper computer 710 through their own wireless communication modules, so as to transmit electromyographic data and inertial data to the upper computer 710.
The upper computer 710 may be a terminal device such as a PC or a notebook, a local server, or a remote server, and is not limited herein.
In another embodiment, the limb movement sensing system may further include an upper computer 710 and at least one wearable device 510, and different wearable devices 510 may have the same number of limb movement sensing devices 100, or may have different numbers of limb movement sensing devices 100, which is not limited herein.
The upper computer 710 may determine corresponding limb motions, for example, a corresponding gesture motion, according to the myoelectric data and the inertial data provided by the limb motion sensing devices 100, and send a control instruction matched with the gesture motion to the controlled device, so that the controlled device performs a control response according to the control instruction, thereby implementing somatosensory control.
The controlled device may be an entertainment device, various household appliances, an unmanned aerial vehicle or an unmanned vehicle, and the like, and is not limited herein.
While various embodiments of the present invention have been described above, the above description is intended to be illustrative, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the invention is defined by the appended claims.
Claims (10)
1. A limb movement sensing device is characterized by comprising a myoelectricity measuring unit, an inertia measuring unit and a processing device with a wireless communication module, wherein the signal output end of the inertia measuring unit is connected with the first signal input end of the processing device; the myoelectricity measuring unit comprises a first amplifying circuit, a band-pass filtering circuit and a second amplifying circuit;
the input end of the first amplifying circuit is connected with the signal input electrode of the myoelectricity measuring unit, the output end of the first amplifying circuit is connected with the input end of the band-pass filter circuit, the output end of the band-pass filter circuit is connected with the input end of the second amplifying circuit, and the output end of the second amplifying circuit is connected with the second signal input end of the processing device.
2. The limb motion sensing device according to claim 1, wherein the band-pass filter circuit comprises a high-pass filter circuit and a first low-pass filter circuit, an input end of the high-pass filter circuit is an output end of the band-pass filter circuit, an output end of the high-pass filter circuit is connected with an input end of the first low-pass filter circuit, and an output end of the first low-pass filter circuit is an output end of the band-pass filter circuit.
3. A limb movement sensing device according to claim 2, wherein the signal voltage value at the output of the first low pass filter circuit is higher than the signal voltage value at the input of the first low pass filter circuit.
4. A limb movement sensing device according to claim 1, wherein the myoelectricity measuring unit further comprises a second low-pass filter circuit, wherein the input end of the second low-pass filter circuit is connected with the signal input electrode of the myoelectricity measuring unit, and the output end of the second low-pass filter circuit is connected with the input end of the first amplifying circuit.
5. A limb movement sensing device according to claim 4, wherein the myoelectric measuring unit further comprises a buffer circuit connected between the output of the second low pass filter circuit and the input of the first amplifying circuit.
6. A limb movement sensing device according to claim 1, wherein the myoelectric measuring unit further comprises a driving circuit, an input end of the driving circuit is connected with an output end of the first amplifying circuit, and an output end of the driving circuit is connected with the signal input electrode.
7. A limb movement sensing device according to any one of claims 1 to 6, further comprising a power supply module, wherein the power supply module is in power supply connection with the myoelectric measuring unit and the inertial measuring unit.
8. A limb movement sensing device according to any one of claims 1 to 6 further comprising a housing in which the myoelectric measuring unit, inertial measuring unit and processing means are disposed, the signal input electrodes being exposed through the housing;
the signal input electrode protrudes outwards relative to the surface of the shell;
the signal input electrode comprises a central part and branch parts extending outwards from the central part;
the free ends of the branch parts of the signal input electrode comprise two hook parts, and the two hook parts are bent towards opposite directions so as to form an interval which is folded towards the central part between the two adjacent branch parts.
9. Wearable device, characterized in that it comprises a limb movement sensing device according to any of claims 1-8 and a strap, to which the limb movement sensing device is attached.
10. A limb movement sensing system, which is characterized by comprising an upper computer and at least one limb movement sensing device according to any one of claims 1-8, wherein the limb movement sensing device is in wireless communication connection with the upper computer; or,
the limb motion sensing system comprises an upper computer and at least one wearable device according to claim 9, wherein the upper computer is in wireless communication connection with a limb motion sensing device of the wearable device.
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| CN202022143906.2U CN213241078U (en) | 2020-09-25 | 2020-09-25 | Limb action sensing device, system and wearable equipment |
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