KR20120064571A - Apparatus and method for controlling walking assist robot using an electromyograph signals - Google Patents

Abstract

PURPOSE: Apparatus and method for controlling waking assist robot is provided to assist the walk of a user by recognizing the walking intention of a user by using electromyography signals. CONSTITUTION: Apparatus for controlling waking assist robot comprises a sensor unit(110), a generating unit(120), and a control unit(130). The sensor unit comprises an electromyography sensor, and an analysis part(112). The electromyography sensor is attached to a human body for obtain signals. The analysis section analyzes signals generated from the sensor unit. The signal generating unit generates a walk intention signal by sensing the contraction change of muscle over specific value through electromyography signal. The control unit set and controls the walking mode of the waking assist robot through the generated signal.

Description

Ambulatory assist robot control device and method using EMG signal {APPARATUS AND METHOD FOR CONTROLLING WALKING ASSIST ROBOT USING AN ELECTROMYOGRAPH SIGNALS}

The present invention relates to a walking aid robot, and more particularly, to an apparatus and method for controlling a walking aid robot using an EMG signal for assisting a user's walking by recognizing a walking intention of a user using a walking aid robot. .

As the number of patients with acquired paraplegia due to diseases and accidents increases year by year, problems related to their rehabilitation and return to normal life are emerging worldwide. Recently, a walking aid robot using a synchronization between a user and a robot for paraplegic patients has been developed, and in particular, a study for controlling a system based on a user's intention to improve stability and reliability has been made. In order to recognize the user's intention, an interface based on video and audio may be used. However, in case of an interface using a button for triangular walking, the user is required to stop each time the button is pressed because the user is holding the clutch on both hands while walking. There are disadvantages, and since the voice-based interface is easily affected by the ambient noise and the surrounding environment, it is difficult to apply it in practice.

For this reason, recently, biosignals such as electromyography and brain waves have been utilized to recognize the intention of the user. Among these biosignals, EMG signals have been widely applied to rehabilitation systems because of their advantages of greater amplitude and stronger noise than other biosignals.

As such, the EMG signal refers to an electrical signal generated along the muscle fibers from the muscle surface as the body moves. Most of these EMG signals are less than 10mV and the frequency range is less than 500Hz, which can be measured by inserting the needle directly into the muscle or by attaching an electrode to the skin surface near the muscle. When using EMG for the control of a computer or mobile device, the surface EMG method is used in consideration of practicality. Surface EMG is a method of measuring the EMG signal on the skin surface.

In addition, EMG signals are used for the purpose of detecting a user signal for walking, but in most studies, these signals attach an EMG sensor to the lower extremity muscles near the thighs or knees to detect changes in leg muscles.

However, in the related art, paraplegic patients could not detect walking intention more accurately by using the EMG signal, and there was an inconvenience in that the paralyzed patient should intentionally perform a separate action when walking. In addition, conventionally, not only can be obtained at a place, but also has a problem that cannot be easily carried.

Accordingly, the present invention is to solve the conventional problems as described above, the gait assist robot control apparatus using the EMG signal to assist the user walking by recognizing the walking intention of the user using the gait assist robot using the EMG signal And providing a method.

As a technical means for achieving the above technical problem, the first embodiment of the present invention, in the walking aid robot control apparatus, a sensor unit for detecting an input EMG signal, and analyzing the detected EMG signal, and the analyzed A signal generator for generating a walking signal according to the degree of change of muscle contraction through the EMG signal, and a control unit for controlling the walking aid robot using the generated walking signal.

Preferably, the sensor unit amplifies and filters the input EMG signal, converts the filtered EMG signal into a digital signal, and transmits the converted EMG signal to the human body, when the digital signal is received and the received digital signal is received. Amplifying and filtering the digital signal, and analyzing the EMG signal through the filtered digital signal.

Preferably, the signal generation unit according to the first EMG signal generated by muscle contraction when the ground is pushed forward by the crutch for walking and by the second EMG signal generated by muscle contraction when the ground is continued without moving the crutch. Generate different walking signals.

Preferably, the first EMG signal includes a third EMG signal generated when operating the right foot for walking and a fourth EMG signal generated when operating the left foot.

Preferably, in case of walking, the controller compares the magnitudes of the third EMG signal and the fourth EMG signal, and operates the corresponding foot first according to a comparison result.

In addition, as a technical means for achieving the above-described technical problem, the second embodiment of the present invention, in the walking aid robot control method, detecting the input EMG signal, and analyzing the detected EMG signal, and the analysis And generating a walking signal according to the degree of change of muscle contraction through the used EMG signal, and controlling the walking assistance robot using the generated walking signal.

Preferably, the analyzing process includes amplifying and filtering the input EMG signal, converting the filtered EMG signal into a digital signal and transmitting the digital signal, and amplifying the received digital signal when the converted digital signal is received. Filtering and analyzing the EMG signal through the filtered digital signal.

Preferably, the generating process is a process in which the first EMG signal is generated by muscle contraction when the ground is pushed forward by the crutch for walking, and by the muscle contraction when the ground is continuously applied without moving the crutch. It includes the process that occurs.

Preferably, the first EMG signal includes a third EMG signal generated when operating the right foot for walking and a fourth EMG signal generated when operating the left foot.

Preferably, the control process compares the magnitudes of the third EMG signal and the fourth EMG signal in the case of walking, and operates the corresponding foot first according to the comparison result.

According to the above-described problem solving means of the present invention by using the EMG signal to recognize the walking intention of the user using the walking aid robot by providing a walking aid robot control apparatus and method using the EMG signal to assist the user walking In order to express the degree, the user can check the walking intention without intentionally performing a separate action.

1 is a block diagram showing a walking aid robot control apparatus according to an embodiment of the present invention,
2 is a block diagram showing a detailed configuration of a sensor unit for analyzing an EMG signal according to an embodiment of the present invention;
Figure 3 is an exemplary view showing a walking intention signal generated differently according to the degree of muscle contraction change according to an embodiment of the present invention,
4 is a flowchart illustrating a walking assist robot control method using EMG signals according to an embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art may easily implement the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In the drawings, parts irrelevant to the description are omitted in order to clearly describe the present invention, and like reference numerals designate like parts throughout the specification.

Throughout the specification, when a part is referred to as being "connected" to another part, it includes not only "directly connected" but also "electrically connected" with another part in between . In addition, when a part is said to "include" a certain component, which means that it may further include other components, except to exclude other components unless otherwise stated.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram showing a walking aid robot control apparatus according to an embodiment of the present invention.

As shown, the walking aid robot control apparatus 100 according to an embodiment of the present invention is an EMG sensor 111 attached to the human body in order to obtain an EMG signal and an analysis unit for analyzing the signal generated from the sensor unit ( A sensor unit 110 including a sensor unit 110, a signal generator unit 120 generating a walking intention signal by detecting a change in muscle contraction by a predetermined value or more through an EMG signal analyzed by the sensor unit 110, and And a controller 130 for setting and controlling a walking mode of the walking assistance robot through the generated signal.

Hereinafter, referring to FIG. 1, a walking assistance robot control apparatus according to an exemplary embodiment of the present invention will be described in detail.

Walking aid robot control apparatus according to the present invention uses the EMG signal generated by the movement of the muscle. For example, when walking using a walking aid robot, muscle contraction when walking and muscle contraction when stationary are different, and different EMG signals are generated according to each case. In other words, the EMG signal is roughly divided into EMG signals generated when walking is started (hereinafter referred to as a first walking intention) and EMG signals generated when stopping walking (hereinafter referred to as a second walking intention). Can be. The first walking intention is an operation in which the user pushes the ground forward by lifting the clutch for walking, and the second walking intention is an operation in which the user keeps touching the ground without moving the clutch for a predetermined time to stop walking.

In addition, the first walking intention is divided into a first-first walking intention to walk by operating the right foot first and a second-walking intention to operate the left foot first. On the premise that the walking aid robot to which the present invention is applied is a right foot walking, in some cases, when the right foot and left foot walking intention signal is requested, the first EMG signal generated by the first walking city and the second walking city are generated. 2 Compare the magnitude of EMG signal values to distinguish whether the right foot is going out first or the left foot is going out first. When the first EMG signal is greater than the second EMG signal, the right foot is determined to be the first walking gait first, and when the second EMG signal is greater than the first EMG signal, the left foot is first walking the 1-2 gait intention Judging by intention

In this way, the EMG signal is different depending on the case where the user is walking and standing, as well as when the left foot first walks out and the right foot first goes out when walking.

The EMG sensor 111 detects EMG signals generated from the muscles of the user according to various such cases. The EMG sensor 111 is attached to the first and second muscles included between the elbows and the cuffs to obtain muscle contraction signals that appear when a force is applied to the clutch for walking. The EMG sensor detects when the muscle is relaxed or contracted and generates an EMG signal. To this end, the first EMG signal of the first muscle and the second EMG signal of the second muscle generated during walking are input to the analysis unit 110 through wireless communication. The analyzer 110 analyzes the EMG signal received through the signal processing process and transmits the signal to the signal generator 120 generating the walking intention signal.

In more detail, the analyzer 112 amplifies the EMG signal received from the EMG sensor 111 and filters the amplified signal. In other words, the amplified signal is blocked by a high pass filtering to cut a frequency below 10 Hz or by a low pass filtering to cut a frequency above 60 Hz or 500 Hz. A / D conversion of the signal output through this filtering, and transmits to the signal generator 120. A more detailed description of the sensor unit 110 will be described later with reference to FIG. 2.

The signal generator 120 is a device for generating a walking intention signal through the EMG signal received from the sensor unit 110. That is, the muscle movement is detected through the EMG sensor attached to the skin, and the walking intention signal is generated using the EMG signal generated by the muscle movement. In this way, muscle contraction when walking and muscle contraction when stationary are different, and different EMG signals are generated in each case.

For example, different EMG signals are generated when the user pushes the ground forward by lifting the crutch for walking and when the user keeps touching the ground without moving the clutch for a certain time to stop walking. In addition, different EMG signals are generated when the right foot is operated first and the left foot is operated first.

As described above, the walking intention signal is different depending on the case where the user is walking and standing, and also depends on the case of leaving the left foot first and the case of leaving the right foot first.

In more detail, the signal generator 120 generates a walking signal according to the degree of muscle contraction change. 3 illustrates a walking intention signal generated differently according to the degree of change in muscle contraction.

2 is a block diagram showing a detailed configuration of a sensor unit for analyzing an EMG signal according to an embodiment of the present invention.

As shown, the sensor unit 110 according to the embodiment of the present invention is composed of the EMG sensor 210 and the analysis unit 220. And, the EMG sensor, as shown in Figure 2a, the amplifying unit 211 for amplifying the input EMG signal, the filter unit 212 for filtering the amplified EMG signal, and converts the filtered EMG signal into a digital signal The converter 213 and the transmitter 214 which transmits the converted digital signal to the analyzer 112 are comprised. The EMG sensor 210 is directly attached to the human body, and transmits and receives a signal through the wired and wireless communication with the analysis unit 220. In addition, as illustrated in FIG. 2B, the analyzer 220 may include a receiver 221 for receiving a signal received from the EMG sensor, an amplifier 222 for amplifying the received signal, and a filter for digitally filtering the amplified signal. A unit 223 and an analysis unit 224 for analyzing the EMG signal through the filtered digital signal.

The filter unit 212 of the EMG sensor 210 filters the amplified signal into a low band or a high band to pass a desired signal. In addition, the converter 213 converts the filtered signal into a digital signal through a sampling process.

In addition, the amplifying unit 222 of the analysis unit 220 amplifies the digital signal received through the receiving unit, and the filter unit 223, like the filter unit 212 of the EMG sensor, low or high band amplified signal Filter through to pass the desired signal. In addition, the analyzer 224 analyzes the EMG signal through the signals generated through the series of processes. The process of analyzing the EMG signal is omitted because it has been described above.

3 is an exemplary view showing a walking intention signal generated differently according to the degree of muscle contraction change according to an embodiment of the present invention.

As shown, the EMG signal value may be configured to be small (+), normal (++), large (+++) conditions according to the degree of muscle contraction, the EMG signal corresponding to the first walking intention The value of the EMG signal decreases (+) and increases (+++) of the first and second EMG for a predetermined time, and the EMG signal value corresponding to the second walking intention is the signal value of the first and second EMG for a certain time. It is formed to be normal (++) or large (+++) without this change. In addition, the EMG signal value of the 1-1 walking intention is the condition of the first EMG signal value (+++)> the second EMG signal value (++), the EMG signal value of the 1-2 walking intention is It is formed so as to satisfy the condition of 1 EMG signal value (++) <2nd EMG signal value (+++). The walking intention signal formed by the signal generator 120 is transmitted to the controller 130 to set the walking mode of the walking assistance robot according to the walking intention so that the robot is driven.

The control unit 130 receives the intention signal of the start of the gait that the first and second EMG signal values change from a predetermined time (+) to (+++) to drive the walking assistance robot. When the walking start signal is input, the walking aid robot operates the right foot first, and when the same walking start signal is input, the left foot operates. During the walking, the process is continuously repeated. The present invention has the premise that the feet in the same direction should not be repeatedly operated. When the first-first walking intention signal having the first EMG signal value (+++) is greater than the second EMG signal value (++) is input to the controller 130, the walking assistance robot operates the right foot first to operate the right foot-left foot. If the walking proceeds in the order of-right foot-..., on the contrary, if the second 1-2 walking intention signal is input, the condition that the second EMG signal value (+++) is greater than the first EMG signal value (++) The walk proceeds in the order of left foot-right foot-left foot-right foot ... When the first and second EMG signal values do not change to (++) or (+++) for a predetermined time, the signal generator 120 outputs a stop signal to the controller 130 of the walking aid robot. In step 130, only one half of the stride length that is operated during walking is operated so that the foot that is in operation reaches the same position as that of the opposite foot so as to be the first stop position.

4 is a flowchart illustrating a walking assist robot control method using EMG signals according to an embodiment of the present invention.

Hereinafter, referring to FIG. 4, a walking assistance robot control method using EMG signals according to an embodiment of the present invention will be described in detail.

When the EMG signal is input from the EMG sensor attached to the muscle of the user, the EMG signal is processed to analyze the EMG signal (S410 and S412). That is, the input EMG signal not only includes information on whether the pedestrian lifts or stops, but also includes its strength. When the EMG signal is input, the input EMG signal is amplified and the amplified signal is filtered through a low pass filter or a high pass filter. The EMG signal is analyzed by performing A / D conversion on the filtered signal.

The degree of muscle contraction change is detected through the EMG signal analyzed in step S412 (S414). In other words, the input EMG signal not only includes information on the strength according to whether the pedestrian lifts or depresses the clutch, but also includes information on whether the user faces forward or backward. The signal generator 120 generates a walking intention signal through the result detected through the information (S416). As described above, the generated walking intention signal not only indicates whether to start walking, stops, or walking, but also through the EMG signal as a signal for operating the right foot first or the left foot first. This is possible.

Then, the walking mode of the walking aid robot is controlled through the walking intention signal generated in step S416 (S418).

An embodiment of the present invention may also be implemented in the form of a recording medium including instructions executable by a computer, such as a program module executed by a computer. Computer readable media can be any available media that can be accessed by a computer and includes both volatile and nonvolatile media, removable and non-removable media. In addition, the computer-readable medium may include both computer storage media and communication media. Computer storage media includes both volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Communication media typically includes computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave, or other transmission mechanism, and includes any information delivery media.

The foregoing description of the present invention is intended for illustration, and it will be understood by those skilled in the art that the present invention may be easily modified in other specific forms without changing the technical spirit or essential features of the present invention. will be. 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 are to be construed as being included within the scope of the present invention do.

110: sensor unit 111: EMG sensor
112: analyzer 120: signal generator
130:

Claims (1)

In walking aid robot control device,
A sensor unit for detecting an input EMG signal and analyzing the detected EMG signal;
A signal generator configured to generate a walking signal according to the degree of change in muscle contraction through the analyzed EMG signal;
A walking aid robot control device including a control unit for controlling the walking aid robot by using the generated walking signal.

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