KR101950453B1 - Apparatus and method for wearing position proposal of measuring sensor - Google Patents

Abstract

The present invention relates to an apparatus for wearing position proposal, and an apparatus for wearing position proposal comprises: a receiving unit for receiving an electromyogram signal according to a muscle activation operation of a user through a plurality of electrode channels included in a sensor measuring device worn by a part of body of a user; a calculating unit for calculating a root mean square (RMS) value for each of the electrode channels using the received electromyogram signal and calculating an RMS ratio corresponding to the muscle activation operation using the calculated RMS for each of the electrode channels; and a proposal unit for suggesting a wearing position of the sensor measuring device in consideration of a difference between the calculated RMS ratio and a predetermined reference RMS ratio, wherein the proposal unit can suggest a position where the difference between the RMS ratio and the predetermined reference RMS ratio is minimized as a wearing position.

Description

TECHNICAL FIELD [0001] The present invention relates to an apparatus for measuring position of a sensor,

The present invention relates to an apparatus and method for suggesting a wear position of a sensor measuring instrument.

Recently, studies have been actively carried out to control objects using a bio-related signal (for example, an EMG signal) acquired from a sensor device after wearing (or attaching) the sensor device to the user's body have.

Since the EMG sensor has different positions to be worn according to the muscle to be measured and the signal measurement result is different according to the position where the EMG sensor is worn for the same muscle, It is necessary to place it at the position of the wearer's body.

In addition, even if the present position of the sensor device is the optimum position for wearing the sensor device, there is a limitation in providing an optimal position for wearing the sensor device every time when the sensor device is used a plurality of times. There is a problem that takes considerable time.

The background technology of the present application is disclosed in Korean Patent Laid-Open Publication No. 1646914 (registered on Aug. 20, 2016).

SUMMARY OF THE INVENTION It is an object of the present invention to provide an apparatus and method for proposing a sensor wear position capable of proposing an optimum position for wearing a sensor device.

SUMMARY OF THE INVENTION It is an object of the present invention to provide an apparatus and method for proposing a sensor wearing position which can easily suggest an optimum wearing position at all times even when a sensor device is repeatedly used a plurality of times .

It should be understood, however, that the technical scope of the embodiments of the present invention is not limited to the above-described technical problems, and other technical problems may exist.

According to an aspect of the present invention, there is provided an apparatus for proposing a wearer's position of a sensor measuring instrument according to an embodiment of the present invention. The apparatus includes a plurality of electrode channels, (RMS) value for each of the electrode channels using the received EMG signal, and calculates an RMS value for each of the electrode channels using the calculated RMS And a proposal unit for suggesting a wearing position of the sensor measuring device in consideration of a difference between the calculated RMS ratio and a preset reference RMS ratio, And a position where the difference between the ratio and the preset reference RMS ratio is minimized.

In addition, the receiving unit may receive an EMG signal according to at least two muscle active actions.

Also, the operation unit may extract a muscle activity period from the received EMG signal, and calculate an RMS value for each of the electrode channels in the extracted muscle activity period.

Also, the operation unit may calculate the RMS value corresponding to the muscle activity based on the RMS ratio for each of the electrode channels, which is calculated by dividing the RMS value for each of the electrode channels by the average value of the RMS values for the electrode channels, The ratio can be calculated.

The RMS ratio may be a ratio between the plurality of electrode channels calculated based on a maximum RMS value among the RMS values of the electrode channels.

The receiving unit may further receive an inertial signal through an inertial measurement unit included in the sensor measuring device, and the calculating unit may calculate position-related information for the inertial measurement unit using the received inertial signal, The controller can suggest correction information for correcting the wearing position of the sensor measuring device in consideration of the position related information.

Further, the position-related information includes a roll angle, a pitch angle, a yaw angle and a slope of the inertia measurement unit, and the proposing unit compares the position-related information with preset reference position-related information corresponding to the reference RMS ratio So that the correction information can be proposed.

The proposing unit may suggest, as the correction information, a rotation amount from a position of the sensor measuring instrument corresponding to the position-related information to a position of the sensor measuring instrument corresponding to the reference position-related information and a rotation direction.

The calculation unit may calculate an orientation initial value of the inertia measurement unit and an orientation value of the inertia measurement unit according to real-time reception of the inertia signal using the inertia signal, and based on the orientation initial value, The position-related information for the inertial measurement unit can be calculated using the determined reference vector and the motion vector determined based on the orientation value.

The sensor measuring instrument may further comprise: a band to be worn to surround a part of the human body; a plurality of electrodes spaced apart from each other so as to face a part of the human body along the inner periphery of the band; The inertial measurement unit may include a three-axis acceleration sensor, a three-axis angular velocity sensor, and a three-axis geomagnetic sensor.

Meanwhile, a method of proposing a wearable position of a sensor measuring instrument according to an embodiment of the present invention includes receiving an EMG signal according to a muscle activity of the user through a plurality of electrode channels included in a sensor measuring instrument worn on a part of a user's body Calculating an RMS (Root Mean Square) value for each of the electrode channels using the received EMG signal, and calculating an RMS ratio corresponding to the muscle activity using the calculated RMS for each of the electrode channels And proposing a wearing position of the sensor measuring device in consideration of a difference between the calculated RMS ratio and a preset reference RMS ratio, wherein the proposing step includes the steps of: comparing the RMS ratio with the preset reference RMS ratio It is possible to suggest the wearing position to a position where the difference is minimized.

In addition, the receiving step may receive an EMG signal according to at least two muscle active actions.

Also, the calculating step may extract a muscle activity section from the received EMG signal, and calculate an RMS value for each of the electrode channels in the extracted muscle activity section.

Also, the calculating may include calculating an RMS value for each of the electrode channels based on an RMS ratio for each of the electrode channels calculated by dividing an RMS value for each of the electrode channels by an average value of RMS values for each of the electrode channels, The RMS ratio can be calculated.

The RMS ratio may be a ratio between the plurality of electrode channels calculated based on a maximum RMS value among the RMS values of the electrode channels.

The receiving step may further receive an inertia signal through an inertial measurement unit included in the sensor measuring device, and the calculating step may calculate the position related information for the inertial measurement unit using the received inertia signal And the proposing step may propose correction information for correcting the wearing position of the sensor measuring device in consideration of the position related information.

Further, the position-related information includes a roll angle, a pitch angle, a yaw angle, and a slope of the inertia measurement unit, and the suggesting step includes: So that the correction information can be proposed.

The proposed step may suggest, as the correction information, the amount of rotation from the position of the sensor measuring instrument corresponding to the position related information to the position of the sensor measuring instrument corresponding to the reference position related information and the rotation direction have.

The calculating step may include calculating an orientation initial value of the inertia measurement unit and an orientation value of the inertia measurement unit according to real-time reception of the inertia signal using the inertia signal, The position-related information for the inertial measurement unit can be calculated using the motion vector determined based on the reference vector and the orientation value determined on the basis of the orientation vector.

The sensor measuring instrument may further comprise: a band to be worn to surround a part of the human body; a plurality of electrodes spaced apart from each other so as to face a part of the human body along the inner periphery of the band; The inertial measurement unit may include a three-axis acceleration sensor, a three-axis angular velocity sensor, and a three-axis geomagnetic sensor.

The above-described task solution is merely exemplary and should not be construed as limiting the present disclosure. In addition to the exemplary embodiments described above, there may be additional embodiments in the drawings and the detailed description of the invention.

According to the above-mentioned problem solving means of the present invention, an EMG signal corresponding to a muscle active action of a user is received from a sensor measuring instrument worn on a part of a user's body to calculate an RMS ratio corresponding to muscle activity, It is possible to propose an optimum wearing position of the sensor measuring apparatus considering the difference between the predetermined RMS ratios.

According to an aspect of the present invention, there is provided an inertial measurement unit comprising: an inertial measurement unit included in a sensor measuring device worn by a part of a user's body; It is possible to propose correction information for correcting the wearing position in consideration of the ratio, and to suggest an optimal wearing position of the sensor measuring apparatus.

According to the above-mentioned problem solving means of the present invention, it is possible to propose a rotation amount and a rotation direction as correction information, and to propose an optimum wearing position of the sensor measuring instrument in repeated wear.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a diagram schematically showing the overall configuration of a device for proposing a wearing position of a sensor measuring instrument according to an embodiment of the present invention; FIG.
2 is a diagram illustrating a sensor measurement apparatus according to an embodiment of the present invention.
FIG. 3 is a diagram illustrating an example of detection of a muscle activity section and an operation activity section in a device for proposing a wearer's position of a sensor measuring instrument according to an embodiment of the present invention.
4 is a schematic flow chart for suggesting a wear position of a sensor measuring instrument according to an embodiment of the present invention.
5 is a schematic flowchart illustrating a method of proposing a wear position of a sensor measuring instrument according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention. It should be understood, however, that the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In the drawings, the same reference numbers are used throughout the specification to refer to the same or like parts.

Throughout this specification, when a part is referred to as being "connected" to another part, it is not limited to a case where it is "directly connected" but also includes the case where it is "electrically connected" do.

It will be appreciated that throughout the specification it will be understood that when a member is located on another member "top", "top", "under", "bottom" But also the case where there is another member between the two members as well as the case where they are in contact with each other.

Throughout this specification, when an element is referred to as " including " an element, it is understood that the element may include other elements as well, without departing from the other elements unless specifically stated otherwise.

Prior to the detailed description, the EMG sensor needs to be placed at different positions according to the muscle to be measured, and the signal measurement result is different depending on the position where the EMG sensor is worn for the same muscle. Therefore, There is a problem that needs to be done.

As a method of suggesting a wear (attachment) position of a sensor using an electromyogram sensor, there is a method of suggesting a wear position by comparing a signal according to a wrist swing operation with an threshold value after wearing the electromyogram sensor. It is not possible to activate all the muscles in the part where the sensor is located, so that it is difficult for the user to recognize the exact motion. In addition, since the EMG signal has a different maximum sensing value per muscle according to the individual difference, the value of the same person is also measured according to the user's state or measurement time, so that the optimum position of wearing the EMG sensor is suggested There is a problem that can not be done.

In order to solve such a problem, the present invention provides an apparatus and method for suggesting a wearing position of a sensor measuring instrument that always suggests an optimum wearing position even when repeatedly using a sensor measuring instrument using an EMG signal and an inertial signal.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic view illustrating an overall configuration of a device for proposing a wearing position of a sensor measuring apparatus according to an embodiment of the present invention; FIG. 2 is a view showing a sensor measuring apparatus according to an embodiment of the present invention;

Referring to FIG. 1, an apparatus 100 for providing a wearer's position of a sensor measuring instrument according to an embodiment of the present invention may include a receiving unit 110, an arithmetic unit 120, and a proposal unit 130.

The receiving unit 110 may receive the user's EMG signal and inertial signal from the sensor measuring device 10 worn by a part of the user's body.

Referring to FIG. 2, a sensor measuring instrument 10 used for obtaining an EMG signal and an inertial signal may be worn on a part of the user's body. Here, a part of the human body may mean a part of the user's arm, for example. In particular, the arm portion may mean a forearm portion between the wrist and the elbow, and may mean an upper arm portion between the elbow and the shoulder. In addition, for example, the body part may mean the leg part of the user, but is not limited thereto.

The sensor measuring instrument 10 includes a band 11, a plurality of electrodes (e.g., a first electrode 1, a second electrode 2, a third electrode 3, ...) and an inertial measurement unit (IMU, Intertial Measurement Unit (12). The band 11 may be a band worn so that the sensor measuring instrument 10 surrounds a part of the user's body. The band 11 may be a material that can expand or contract depending on the body part of the user to which the sensor measuring instrument 10 is worn.

The plurality of electrodes 1, 2, 3, ... may be arranged at intervals so as to face a part of the human body at intervals along the inner periphery of the band 11. The plurality of electrodes 1, 2, 3, ... may be electromyogram electrodes. The inertial measurement unit 12 may be formed in one area of the sensor measuring instrument 10. [ The inertial measurement unit 12 may include a triaxial accelerometer, a triaxial gyroscope, and a triaxial geomagnetic sensor.

The receiving unit 110 may receive an EMG signal according to a user's muscle activity through a plurality of electrode channels. Here, the plurality of electrode channels may mean a channel corresponding to each of the plurality of electrodes 1, 2, 3, ....

In addition, the receiving unit 110 can receive EMG signals according to at least two muscle activation actions.

The position of the sensor measuring instrument 10 for accurately recognizing (identifying) the action taken by the user (which means a gesture, an action, and the like, which may mean an operation such as hydration, In the case of using only the EMG signal according to a single operation, all the muscles in the portion where the EMG sensor is located are not activated by the same operation only, so that the recognition of the action taken by the user may not be accurately performed.

In consideration of this, the receiving unit 110 includes at least two or more muscular actuators (not shown) for activating all the muscles associated with a part of the human body to which the sensor measuring instrument 10 is worn (or for activating all the muscles of the human body worn by the sensor measuring instrument) The EMG signal can be received. Herein, the muscle active operation may mean, for example, an operation referred to as jelly, jelly, or pa, but is not limited thereto.

The calculation unit 120 calculates a root mean square (RMS) value for each of the electrode channels using the received EMG signal, and calculates an RMS ratio corresponding to the muscle activity using the RMS for each of the calculated electrode channels .

Here, the Root Mean Square (RMS) value may be referred to as an effective value, an effective output value, or the like.

Specifically, the calculating unit 120 may extract an EMG signal spectrum by applying an EMG bandpass filter of 10 to 450 Hz to the EMG signal before calculating the RMS value.

The operation unit 120 can extract the muscle activity section from the received EMG signal.

The arithmetic unit 120 performs linear envelope processing that simplifies an EMG signal by performing a band pass filter, a low pass filter, a TKEO technique, a rectification, and an RMS output of synthesized data on the EMG signal received by the receiver 110. [ Signal can be obtained. Then, the extracting unit 120 can extract the muscle active section based on the linear envelope signal. An example of extraction of the muscle active section can be more easily understood with reference to Fig. 3 (a).

FIG. 3 is a diagram illustrating an example of detection of a muscle activity section and an operation activity section in a device for proposing a wearer's position of a sensor measuring instrument according to an embodiment of the present invention. Particularly, FIG. 3 (a) shows an example of detection of a muscle activity section in an EMG signal, and FIG. 3 (b) shows an example of detection of an active active section in an inertia signal. Hereinafter, an example of detection of the active section will be described first, and an example of detection of the active section will be described later in more detail.

Referring to FIG. 3 (a), a threshold value for detecting a muscle activity interval may be preset by user input. The threshold value can be defined as 'Baseline average + J * standard deviation'. In this case, the baseline means an electromyogram signal measured when the user is not giving a force, and j means a constant value.

The threshold value is a measure for determining whether or not the muscles of the subject are muscular active. If the measured value of the electromyogram signal is greater than or equal to the threshold value, the threshold value is determined to be the muscle active ON state. , It can be determined that the muscle is in the active OFF state.

In Fig. 3 (a), a point represents a point where muscle activity is ON, and a point b represents a point where muscle activity is OFF. Therefore, the section between point a and point b can be said to be the muscle active section. Through the above process, the operation unit 120 can extract, as a muscle activity period, an interval that is equal to or greater than a preset muscle activity threshold value in the EMG signal.

Thereafter, the operation unit 120 may calculate an RMS value for each of the electrode channels in the extracted muscle active period.

The calculation unit 120 can calculate the effective output value (FRMS _C ) of the EMG signal for each channel in the muscle activity section through the following equation (1).

[Equation 1]

At this time, C represents the channel number of the electrode and τ represents the muscle active period. For example, the channel number of the first electrode 1 may be 1, and the channel number of the second electrode 2 may be 2.

The calculating unit 120 calculates an RMS ratio corresponding to the muscle activity based on the RMS ratio for each of the electrode channels calculated by dividing the RMS value for each of the electrode channels by the average value of the RMS values for each of the electrode channels can do.

Specifically, the computing unit 120 may calculate an average value (RMS AVG) of RMS values by dividing the effective output value (FRMS _C ) by the number of electrode channels through the following equation (2).

&Quot; (2) "

In this case, N represents the number of electrode channels, and C represents the channel number of the electrode.

The operation unit 120 may calculate the RMS ratio for each of the plurality of electrode channels by dividing the RMS value for each of the plurality of electrode channels by the average value of the RMS values calculated in Equation (2). The operation unit 120 may calculate the RMS rate _C for each of the plurality of electrode channels through the following equation (3).

&Quot; (3) "

Here, C represents the channel number of the electrode.

The calculation unit 120 may calculate the RMS ratio corresponding to the muscle activation action of the user based on the RMS ratio for each of the plurality of electrode channels.

Here, the RMS ratio may be a ratio between a plurality of electrode channels calculated based on the maximum RMS value among the RMS values of the electrode channels.

In particular, the RMS ratio may refer to a ratio of RMS values between a plurality of electrode channels based on a maximum RMS value among RMS values for each of a plurality of electrode channels. In other words, it can mean the ratio of the RMS value magnitude per a plurality of electrode channels.

Also, the RMS ratio may mean a ratio between a plurality of electrode channels calculated based on a maximum RMS ratio in an RMS ratio calculated for each electrode channel, and the description is based on the maximum RMS value described above RMS ratio, the description thereof will be omitted.

The proposing unit 130 may suggest the wearing position of the sensor measuring device 10 in consideration of the difference between the calculated RMS ratio and the preset reference RMS ratio. The proposing unit 130 may suggest a wearing position to a position where the difference between the RMS ratio and the predetermined reference RMS ratio is minimized.

Here, the reference RMS ratio corresponds to a position at which the sensor measuring instrument 10 is worn by a part of the user's body so that the corresponding position where the sensor measuring instrument 10 is worn is determined as the optimal wearing position RMS < / RTI > The setting of the reference RMS ratio may be preset by user input or the like.

The proposing unit 130 may propose the wearing position of the sensor measuring instrument as an optimal wearing position to a position where the difference between the preset reference RMS ratio and the RMS ratio calculated through the calculating unit 120 is minimized. The information on the initial wearing position (RMS ratio, tilt, angle value, etc., for each EMG channel) may be stored in a storage unit (not shown) of the wear position suggesting apparatus 100 and stored in a storage unit Based on the stored information, it is possible to suggest a wearing position so that the sensor measuring device 10 can be worn at the same position even when repeatedly used. Here, the initial wearing position may refer to a reference wearing position corresponding to the reference RMS ratio (in other words, a preset optimum wearing position). Accordingly, the information on the initial wearing position may refer to a reference position related information to be described later including a reference RMS ratio, a slope value of the inertia sensor at the reference wearing position, and an angle value.

The present invention proposes a wearing position of the sensor measuring instrument based on the RMS ratio in consideration of the fact that the RMS ratio is kept constant even when the maximum RMS value is changed due to the change of the user's muscle state due to the muscle fatigue or the like, When the device is used repeatedly a plurality of times, the user can be suggested to always place the sensor measuring device at the optimum wearing position.

Meanwhile, the receiving unit 110 may receive the inertia signal through the inertial measurement unit 12 included in the sensor measuring instrument 10. [

The receiving unit 110 may receive the inertial signal according to the user's operation through the inertial measurement unit 12 included in the sensor measuring device 10. [

The operation unit 120 may apply an IMU band-pass filter of 5 to 50 Hz to the inertia signal to extract the acceleration, angular velocity, and signal spectrum of the geomagnetism sensor included in the inertia measurement unit 12.

Also, the operation unit 120 can extract an active active period from the received inertia signal. An example of extracting the active active period can be more easily understood with reference to Fig. 3 (b).

Referring to FIG. 3B, the receiving unit 120 determines that the time during which the inertial signal obtained from the sensor measuring instrument 10 rises above a predetermined threshold value is an active ON state, Can be judged to be in the active active OFF state.

In FIG. 3 (b), the point a indicates the point where the operation activity is ON, and the point b indicates the point where the operation activity is OFF. Therefore, the interval between point a and point b can be referred to as the active active period.

The operation unit 120 sets a point at which the inertial signal received by the receiving unit 110 rises above a threshold value to an active active ON point (for example, a point) OFF point (for example, point b), the operation activation period can be extracted.

Through the process described above, the operation unit 120 can extract, as an active active period, a period that is equal to or greater than a preset motion threshold value in the inertia signal.

Further, the calculation unit 120 can calculate the position-related information for the inertia measurement unit 12 using the received inertia signal. The position-related information may include a roll angle, a pitch angle, a yaw angle, and a slope of the inertia measurement unit 12. [

The calculation unit 120 can calculate the position-related information for the inertia measurement unit 12 in the active active period.

The calculating unit 120 can calculate an orientation initial value of the inertia measurement unit 10 and an orientation value of the inertia measurement unit 12 according to real-time reception of the inertia signal using the inertia signal.

), 피치(Pitch) 회전에 대응하는 피치 각도(쎄타,

) 및 요(Yaw) 회전에 대응하는 요 각도(프사이,

)를 포함할 수 있다.The calculating unit 120 may calculate an initial value of the orientation of the inertial measurement unit 12 using the inertia signal measured through the inertial measurement unit 12. [ The orientation initial values of the inertia measurement unit 12 include roll angles (pi,

), A pitch angle corresponding to the pitch rotation (theta,

) And a yaw angle corresponding to the yaw rotation

).

Hereinafter, an example of calculating the initial orientation value of the inertia measurement unit 12 through the equations (4) to (11) will be described.

The operation unit 120 calculates the inertia of the inertia measurement unit 12 using the acceleration signal of the x-axis of the inertia measurement unit 12, the acceleration signal of the y-axis of the inertia measurement unit 12, The initial value of the roll angle and the initial value of the pitch angle of the inertia measurement unit 12 can be determined. For example, the following equations (4) and (5) show an example in which the initial value of the roll angle and the initial value of the pitch angle are determined by the calculating unit 120. [

&Quot; (4) "

)와 피치 각도인 쎄타(

)를 구하기 위해, 관성측정유닛(12)의 x축의 가속도 신호인 a_x, 관성측정유닛(12)의 y축의 가속도 신호인 a_y 및 관성측정유닛(12)의 z축의 가속도 신호인 a_z와 중력 가속도 벡터인 g를 이용할 수 있다. 이때,

는 변환행렬을 의미할 수 있으며, 이러한

는 수학식 5 같이 나타낼 수 있다.Referring to Equation (4), the arithmetic unit 120 calculates a roll angle pie

) And the pitch angle theta (

) A, the acceleration signal z axis of the inertial measurement unit 12, x-axis acceleration signals of a _x, inertial measurement unit 12, y-axis acceleration signals of a _y and the inertial measurement unit 12 of a _z and to obtain A gravitational acceleration vector g can be used. At this time,

May refer to a transformation matrix,

Can be expressed as Equation (5).

&Quot; (5) "

는 기준 좌표계에서 동체 좌표계로의 변환을 나타내는 항법 좌표계를 의미할 수 있다. 수학식 5에 나타난 바와 같이, 변환행렬

는 롤 각도의 변환, 피치 각도의 변환 및 요 각도의 변환을 요소들로 가질 수 있으며, 롤 각도의 변환, 피치 각도의 변환 및 요 각도 각각은

,

,

로 표현될 수 있다.Referring to Equation (5), the transformation matrix

May refer to a navigation coordinate system that represents the transformation from the reference coordinate system to the body coordinate system. As shown in equation (5), the transformation matrix

Can convert the roll angle, the pitch angle, and the yaw angle, respectively, and the roll angle conversion, the pitch angle conversion, and the yaw angle, respectively,

,

,

. ≪ / RTI >

), 피치 각도인 쎄타(

)의 값을 계산할 수 있다. 연산부(120)는 계산한 롤 각도인 파이(

), 피치 각도인 쎄타(

) 각각을 롤 각도의 초기값 및 피치 각도의 초기값으로 결정할 수 있다. 한편, 요 각도는 프사이(

)로 표현될 수 있다.Referring to equations (4) and (5), the calculation unit 120 determines that the z axis among the three axes of the x axis, the y axis, and the z axis coincides with the gravity acceleration direction and determines the value of the axis as 1 (g: gravity acceleration) And the remaining two axes, the x-axis and the y-axis, are determined as 0,

), A pitch angle of theta (

) Can be calculated. The arithmetic unit 120 computes the roll angle pie

), A pitch angle of theta (

) Can be determined as the initial value of the roll angle and the initial value of the pitch angle. The yaw angle, on the other hand,

). ≪ / RTI >

The calculation unit 120 calculates the inertia measurement unit 12 using the geomagnetic signals of the x-axis of the inertia measurement unit 12, the y-axis earth signals of the inertia measurement unit 12 and the z- 12) can be determined. Hereinafter, an example of determining the initial value of the yaw angle by the calculating unit 120 through Equations (6) to (11) will be described.

및 지구의 지자계 벡터인

를 이용하여 요 각도인 프사이(

)의 초기값을 계산할 수 있다.Referring to Equation 6, the operation unit 120 is prophet x axis of the inertial measurement unit 12, the signals in the m _x, a m _y and the inertial measurement unit 12 prophet y axis system signal of the inertial measurement unit 12 M _z , the z coordinate of the z-axis, the transformation matrix

And the earth's earth system vector

(Y-axis angle)

) Can be calculated.

&Quot; (6) "

(

)은 수학식 7와 같이 롤 각도와 피치 각도와 연관된 C₁과 요 각도와 연관된 C₂로 표현될 수 있으며, 수학식 4는 수학식 8 및 수학식 9로 변환될 수 있다.Meanwhile,

(

Can be expressed as C ₁ associated with the roll angle and pitch angle and C ₂ associated with the yaw angle as shown in equation (7), and equation (4) can be transformed into equation (8) and equation (9).

&Quot; (7) "

&Quot; (8) "

&Quot; (9) "

) 및 피치 각도인 쎄타(

) 각각이 0일 때의 지자계 신호인 m_x, m_y 및 m_z와 지구의 지자계 벡터의 값인 m₁, m₂ 및 m₃를 대입하여, 요 각도의 초기값을 구할 수 있다. Substituting C ₁ and C ₂ in Equation (7) into Equation (9) yields Equation (10) and Equation (11). The arithmetic unit 120 calculates the roll angle pie

) And pitch angle theta (

M ₁ , m _2, and m ₃ , which are the values of the earth magnetic-field signals m _x , m _y, and m _z when the earth signals are zero, and the earth magnetic field vectors of the earth, respectively.

&Quot; (10) "

&Quot; (11) "

) 초기값, 피치 각도(쎄타,

) 초기값 및 요 각도(프사이,

) 초기값을 계산할 수 있다. 연산부(120)는 계산된 오퍼레이션 초기값에 기초하여 기준 벡터(Vector₀)를 결정할 수 있다. 기준 벡터를 결정함으로써 관성 신호에 대한 초기 캘리브레이션 수행이 완료될 수 있다.In this way, the calculation unit 120 calculates the initial orientation of the inertia measurement unit 12, that is, the roll angle of the inertia measurement unit 12 (pi,

) Initial value, pitch angle (theta,

) The initial value and the yaw angle

) The initial value can be calculated. The operation unit 120 can determine the reference vector (Vector ₀ ) based on the calculated operation initial value. The initial calibration for the inertial signal can be completed by determining the reference vector.

Thereafter, the arithmetic unit 120 can calculate the orientation value of the inertia measurement unit 12 according to the real-time reception of the inertia signal as it receives the inertia signal measured through the inertia measurement unit 12 in real time. That is, the operation unit 120 may calculate the orientation value of the inertia measurement unit 12 in real time through Equations (4) to (11) after calculating the operation initial value. Operation unit 120 may be using the orientation values computed in real time to determine the motion vector (Vector _move).

The calculation unit 120 calculates the position of the roll of the inertial measurement unit 12 using the motion vector (Vector _move ) determined based on the reference vector (Vector ₀ ) determined based on the orientation initial value of the inertia measurement unit 12 and the orientation value The angle, pitch angle and yaw angle can be calculated. Here is a closer look.

First, the operation unit 120 may calculate a quaternion element when rotating from a reference vector (Vector ₀ ) to a motion vector (Vector _move ). The quaternion element can be expressed as Equation (12).

&Quot; (12) "

In order to calculate the quaternion element, the operation unit 120 may apply a Half-Way Quaternion Solution that computes the quaternion element using the inner product and the outer product between the two vectors.

Accordingly, the reference vector (Vector ₀₎ and the motion vector (Vector _move) Q1 of angular components between, the product of the inner product and the vector size as shown in Equation 13, the reference vector (Vector ₀₎ and the motion vector (Vector _move) Lt; / RTI >

&Quot; (13) "

Q2, Q3 and Q4 which are the x, y and z components of the rotation axis can be derived out of the x, y and z component vectors between the reference vector (Vector ₀ ) and the movement vector (Vector _move ) Can be expressed as:

&Quot; (14) "

Then, the computing unit 120 can calculate the roll angle, the pitch angle, and the yaw angle of the inertia measurement unit 12 based on the quaternion-Euler transformation formula, which can be expressed as Equation (15).

&Quot; (15) "

In addition, the inclination can be calculated using the change in the yaw angle.

The arithmetic unit 120 calculates positional information on the inertial measurement unit 12 using the motion vector determined based on the reference vector determined based on the orientation initial value and the orientation value (i.e., the roll angle of the inertial measurement unit, , Yaw angle, and tilt).

The proposing unit 130 may suggest correction information for correcting the wearing position of the sensor measuring instrument 10 in consideration of the position related information.

The proposing unit 130 can compare the position where the user wears the sensor measuring instrument 10 from the optimum sensor wearing position to suggest correction information that can correct the wearing position of the sensor measuring instrument 10. [

The proposing unit 130 can suggest correction information by comparing the position-related information with predetermined reference position-related information corresponding to the reference RMS ratio.

The pitch angle, the yaw angle and the yaw angle of the inertia measurement unit 12 corresponding to the reference position, which is a position at which the sensor measuring instrument 10 is worn, It can mean slope. The setting of the reference position related information may be preset by user input or the like.

The proposal section 130 also receives as correction information the amount of rotation from the position of the sensor measuring instrument 10 corresponding to the position related information to the position of the sensor measuring instrument 10 corresponding to the reference position related information ) And a rotation direction (rotation direction).

The proposing unit 130 may compare the position where the user wears the sensor measuring instrument 10 from the optimum sensor wearing position as the correction information, and suggest the rotation amount and the rotation direction of the sensor measuring instrument 10.

The proposal unit 130 proposes a rotation amount (or a rotation amount) to determine how much the sensor 10 is to be rotated (or rotated) with respect to the position where the difference between the preset reference RMS ratio and the calculated RMS ratio is minimized can do. Further, it is possible to suggest a rotation direction (or a rotation direction) in which direction the sensor measuring instrument 10 should be rotated (or rotated).

Since the rotation amount and the rotation direction of the sensor measuring instrument 10 are proposed, it is possible to propose an accurate wearing position even in repeated use.

4 is a schematic flow chart for suggesting a wear position of a sensor measuring instrument according to an embodiment of the present invention.

4, the receiving unit 110 receives an EMG signal through a plurality of electrode channels and transmits an inertial signal through an inertial measurement unit 12 including a 3-axis acceleration sensor, a 3-axis angular velocity sensor, and a 3-axis geomagnetic sensor .

The arithmetic unit 120 can extract a muscle activity section (muscle activity section) from an EMG signal. The operation unit 120 may calculate the RMS value for each of the electrode channels in the extracted muscle active period, and may calculate the RMS ratio using the calculated RMS.

In addition, the operation unit 120 can extract the active active period from the inertia signal. The calculating unit 120 calculates the orientation value, and can calculate the roll angle, the pitch angle, the yaw angle, and the slope based on the orientation value of the inertia measurement unit 10 in the active active period.

The proposal unit 130 may suggest an optimum wearing position of the sensor measuring instrument 10 corresponding to the calculated RMS ratio and the roll angle, pitch angle, yaw angle, and tilt.

In addition, the proposing unit 130 may compare the current position with the optimal wearing position to suggest the rotation direction and the degree of rotation (amount of rotation).

Hereinafter, the operation flow of the present invention will be briefly described based on the details described above.

5 is a schematic flowchart illustrating a method of proposing a wear position of a sensor measuring instrument according to an embodiment of the present invention. The method of proposing the wearing position of the sensor measuring apparatus shown in FIG. 5 can be performed by the apparatus 100 for suggesting the wearing position of the sensor measuring apparatus described above. Therefore, even if omitted in the following description, the description of the sensor wearing position suggesting apparatus 100 can be applied to the description of the method of suggesting the wearing position of the sensor measuring apparatus.

5, in step S510, an EMG signal according to a user's muscle activity is received through a plurality of electrode channels included in a sensor measuring instrument 10 worn on a part of a user's body through a receiving unit 110 .

In step S510, the receiving unit 110 can receive an EMG signal corresponding to at least two muscle active actions.

In addition, in step S510, the receiving unit 110 may further receive the inertial signal through the inertial measurement unit 12 included in the sensor measuring instrument 10. [

Next, in step S520, an RMS (Root Mean Square) value for each of the electrode channels is calculated using the electromyogram signal received through the calculator 120, and the RMS for each calculated electrode channel is used to correspond to the muscle activation operation The RMS ratio can be calculated.

In addition, in step S520, the operation unit 120 may extract a muscle activity period from the received EMG signal, and calculate an RMS value for each of the electrode channels in the extracted muscle activity interval.

In addition, in step S520, the operation unit 120 may calculate an RMS value corresponding to the muscle activity based on the RMS ratio for each of the electrode channels calculated by dividing the RMS value for each of the electrode channels by the average value of the RMS values for each of the electrode channels RMS ratio can be calculated. The RMS ratio may be a ratio between a plurality of electrode channels calculated based on a maximum RMS value among RMS values for each of the electrode channels.

Further, in step S520, the computing unit 120 may calculate the position-related information for the inertia measurement unit 12 using the received inertia signal. The position-related information may include a roll angle, a pitch angle, a yaw angle, and a slope of the inertia measurement unit 12. [

In step S520, the calculation unit 120 calculates an orientation initial value of the inertia measurement unit 12 and an orientation value of the inertia measurement unit 12 according to the real-time reception of the inertia signal using the inertia signal, Related information for the inertial measurement unit 12 using the motion vector determined based on the reference vector and the orientation value determined based on the orientation initial value.

Next, in step S530, it is possible to suggest a wearing position of the sensor measuring device 10 in consideration of the difference between the RMS ratio calculated through the proposing unit 130 and the predetermined reference RMS ratio. In step S530, the proposal unit 130 may suggest the wearing position to a position where the difference between the RMS ratio and the predetermined reference RMS ratio is minimized.

Also, in step S530, the proposal unit 130 may suggest correction information for correcting the wearing position of the sensor measuring instrument 10 in consideration of the position-related information.

In step S530, the proposal unit 130 may suggest correction information by comparing the position-related information with predetermined reference position-related information corresponding to the reference RMS ratio.

In step S530, the proposal unit 130 determines, as correction information, the amount of rotation from the position of the sensor measuring instrument 10 corresponding to the position related information to the position of the sensor measuring instrument corresponding to the reference position related information, . ≪ / RTI >

In the above description, steps S510 to S530 may be further divided into additional steps, or combined in fewer steps, according to embodiments of the present disclosure. Also, some of the steps may be omitted as necessary, and the order between the steps may be changed.

The method of proposing a sensor wearing position according to one embodiment of the present invention may be implemented in the form of a program command that can be executed through various computer means and recorded in a computer readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like, alone or in combination. The program instructions recorded on the medium may be those specially designed and constructed for the present invention or may be available to those skilled in the art of computer software. Examples of computer-readable media include magnetic media such as hard disks, floppy disks and magnetic tape; optical media such as CD-ROMs and DVDs; magnetic media such as floppy disks; Magneto-optical media, and hardware devices specifically configured to store and execute program instructions such as ROM, RAM, flash memory, and the like. Examples of program instructions include machine language code such as those produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the present invention, and vice versa.

Furthermore, the above-described sensor wearing position suggesting method can also be implemented in the form of a computer program or an application executed by a computer stored in a recording medium.

The above-described task solution is merely exemplary and should not be construed as limiting the present disclosure. In addition to the exemplary embodiments described above, there may be additional embodiments in the drawings and the detailed description of the invention.

It will be understood by those of ordinary skill in the art that the foregoing description of the embodiments is for illustrative purposes and that those skilled in the art can easily modify the invention without departing from the spirit or essential characteristics thereof. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive. For example, each component described as a single entity may be distributed and implemented, and components described as being distributed may also be implemented in a combined form.

The scope of the present invention is defined by the appended claims rather than the detailed description, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be construed as being included within the scope of the present invention.

100: Sensor position measuring device
110:
120:
130: Proposal Department
10: Sensor measuring instrument

Claims (21)

In a device for proposing a wear position of a sensor measuring instrument,
A receiving unit for receiving an electromyogram signal according to a muscle activity of the user through a plurality of electrode channels included in a sensor measuring instrument worn on a part of a user's body;
Calculating an RMS (Root Mean Square) value for each of the electrode channels using the received EMG signal, and calculating an RMS ratio corresponding to the muscle activity using the calculated RMS for each of the electrode channels, ;
And a proposal unit for suggesting a wearing position of the sensor measuring device in consideration of a difference between the calculated RMS ratio and a preset reference RMS ratio,
Wherein the proposing unit proposes the wearing position to a position where a difference between the RMS ratio and the preset reference RMS ratio is minimized. The method according to claim 1,
Wherein the receiving unit receives an EMG signal corresponding to at least two muscle active actions. The method according to claim 1,
The operation unit,
Extracting a muscle activity interval from the received EMG signal and calculating an RMS value for each of the electrode channels in the extracted muscle activity interval. The method of claim 3,
The operation unit,
And calculating the RMS ratio corresponding to the muscle activity based on the RMS ratio for each of the electrode channels calculated by dividing the RMS value for each of the electrode channels by the average value of the RMS values for each of the electrode channels , A device for proposing a wear position of a sensor measuring instrument. The method according to claim 1,
The RMS ratio,
And a ratio between the plurality of electrode channels calculated based on the maximum RMS value of the RMS values for each of the electrode channels. The method according to claim 1,
Wherein the receiving unit further receives the inertia signal through the inertial measurement unit included in the sensor measuring device,
Wherein the calculation unit calculates position-related information for the inertial measurement unit using the received inertia signal,
Wherein the proposing unit proposes correction information for correcting the wearing position of the sensor measuring device in consideration of the position related information. The method according to claim 6,
Wherein the position related information includes a roll angle, a pitch angle, a yaw angle and a slope of the inertia measurement unit,
[0027]
And suggests the correction information by comparing the position-related information with preset reference position-related information corresponding to the reference RMS ratio. 8. The method of claim 7,
[0027]
Related information and a rotation direction from a position of the sensor-measuring instrument corresponding to the position-related information to a position of the sensor-measuring instrument corresponding to the reference-position-related information, and a rotation direction, Proposed device. 8. The method of claim 7,
The operation unit,
Calculating an orientation initial value of the inertia measurement unit and an orientation value of the inertia measurement unit according to real-time reception of the inertia signal using the inertia signal,
Wherein the position-related information for the inertial measurement unit is calculated using a reference vector determined based on the orientation initial value and a motion vector determined based on the orientation value. The method according to claim 1,
The sensor measuring device includes:
A band worn to surround a part of the human body;
A plurality of electrodes arranged at intervals so as to face a part of the human body along an inner periphery of the band; And
An inertia measurement unit formed in one area of the sensor measurement device,
≪ / RTI >
Wherein the inertia measurement unit includes a three-axis acceleration sensor, a three-axis angular velocity sensor, and a three-axis geomagnetic sensor. In a method of proposing a wear position of a sensor measuring instrument,
Receiving an electromyogram signal according to a muscle activity of the user through a plurality of electrode channels included in a sensor measuring instrument worn on a part of a user's body;
Calculating an RMS (Root Mean Square) value for each of the electrode channels using the received EMG signal, and calculating an RMS ratio corresponding to the muscle activity using the calculated RMS for each of the electrode channels ;
And suggesting a wearing position of the sensor measuring device in consideration of a difference between the calculated RMS ratio and a predetermined reference RMS ratio,
Wherein the suggesting step proposes the wear position to a position where a difference between the RMS ratio and the preset reference RMS ratio is minimized. 12. The method of claim 11,
Wherein the receiving step receives an EMG signal according to at least two muscle active actions. 12. The method of claim 11,
Wherein the calculating step comprises:
Extracting a muscle activity period from the received EMG signal, and calculating an RMS value for each of the electrode channels in the extracted muscle activity period. 14. The method of claim 13,
Wherein the calculating step comprises:
And calculating the RMS ratio corresponding to the muscle activity based on the RMS ratio for each of the electrode channels calculated by dividing the RMS value for each of the electrode channels by the average value of the RMS values for each of the electrode channels , Suggestion of wearing position of sensor measuring instrument. 12. The method of claim 11,
The RMS ratio,
And a ratio between the plurality of electrode channels calculated based on a maximum RMS value of the RMS values for each of the electrode channels. 12. The method of claim 11,
Wherein the receiving further comprises receiving an inertia signal through an inertial measurement unit included in the sensor measuring device,
Wherein the calculating step calculates the position-related information for the inertial measurement unit using the received inertia signal,
Wherein the proposing step suggests correction information for correcting the wearing position of the sensor measuring device in consideration of the position related information. 17. The method of claim 16,
Wherein the position related information includes a roll angle, a pitch angle, a yaw angle and a slope of the inertia measurement unit,
In the proposed step,
And proposes the correction information by comparing the position-related information with preset reference position-related information corresponding to the reference RMS ratio. 18. The method of claim 17,
In the proposed step,
Related information and a rotation direction from a position of the sensor-measuring instrument corresponding to the position-related information to a position of the sensor-measuring instrument corresponding to the reference-position-related information, and a rotation direction, Proposed method. 18. The method of claim 17,
Wherein the calculating step comprises:
Calculating an orientation initial value of the inertia measurement unit and an orientation value of the inertia measurement unit according to real-time reception of the inertia signal using the inertia signal,
Wherein the position-related information for the inertial measurement unit is calculated using a reference vector determined based on the orientation initial value and a motion vector determined based on the orientation value. 12. The method of claim 11,
The sensor measuring device includes:
A band worn to surround a part of the human body;
A plurality of electrodes arranged at intervals so as to face a part of the human body along an inner periphery of the band; And
An inertia measurement unit formed in one area of the sensor measurement device,
≪ / RTI >
Wherein the inertia measurement unit includes a three-axis acceleration sensor, a three-axis angular velocity sensor, and a three-axis geomagnetic sensor. A computer-readable recording medium recording a program for executing the method of any one of claims 11 to 19 in a computer.

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