KR20160006279A - Diagnostic system for the myoelectic hand - Google Patents

Abstract

Disclosed is a system for diagnosing a myoelectric hand. According to an embodiment of the present invention, the system for diagnosing a myoelectric hand comprises: a bridge module connected to a socket worn by a user for interconnecting a battery, a plurality of electromyographic sensors installed on the socket, and attached to the skin of the user, and a control unit for controlling a gripping tool unit; a vision feedback unit connected to the bridge module for inspecting battery conditions, signal processing electromyographic signals transmitted from the electromyographic sensors, and calculating and transmitting control signals on the basis of the electromyographic signals; a display unit for displaying waveform of the electromyographic signals on a screen; and a gripping tool unit controlled with respect to the control signals.

Description

{DIAGNOSTIC SYSTEM FOR THE MYOELECTIC HAND}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a diagnostic system, and more particularly, to a diagnostic system for maintaining the number of myoelectric handles quickly and reliably.

The myoelectic hand for the upper limb amputee uses the electrical signal from the arm's muscles to move the artificial hand so that it can be gripped by the hand, thereby ensuring independent social activities and daily living of the handicapped. It is a representative rehabilitation assistance device. The number of electromyograms is similar to that of human hands and has the advantage of being very convenient to use because it utilizes the near-end signal generated by the remaining muscle movement without additional devices (gestures, buttons) for gripping .

The number of electromyograms can be divided into three finger types, which are gripped by three fingers, and five finger types, which are gripped by five fingers. In the latter case, there is an advantage that it is possible to grasp precisely, but the holding force is weak and the price is high. Therefore, the number of 3-finger type electromyograms which have simple gripping function but relatively strong gripping force and low maintenance are generally used.

The number of electromyograms is divided into three parts. A wrist and gripping mechanism based on automatic locking and strong gripping force, and a wrist and gripping mechanism based on an automatic locking and a strong gripping force. And the controller is used by the patient to drive the mechanism with ease and ease.

The number of these electromyograms is a representative rehabilitation aid device, so maintenance is very important. This is because it greatly affects the daily life of people with disabilities. However, in the past, when the number of the electrified electric motors is malfunctioning or does not operate, it takes a long time to diagnose the cause, so that there is a problem that quick and reliable maintenance can not be performed.

 Park, Se-hoon, Hong, Beom-kee, et al., Development of a number of electromyographic motor with two-degree-of-freedom automatic wrist joint, Journal of Control, Robotics and Systems Vol.17 No.8, 2011.8, pp.824-832

Embodiments of the present invention are intended to provide a system for diagnosing the number of electromyograms that can easily diagnose the cause of erroneous operation or inoperability when the number of electromyogram electromotive force is rapidly and reliably maintained for the number of electromyograms.

A bridge module connected to a socket to be worn by a user and interconnecting a battery, a plurality of electromyography sensors mounted on the socket and attached to the skin of the user, and a controller for controlling the gripping mechanism; A visual feedback unit connected to the bridge module for checking the state of the battery, signal processing and transmitting an EMG signal transmitted from the EMG sensor, and calculating and transmitting a control signal based on the EMG signal; A display unit for displaying a waveform of the electromyogram signal on a screen; And a gripping mechanism part controlled in accordance with the control signal.

At this time, the bridge module includes a socket connecting portion connected to the socket, a circuit board mounted on the socket connecting portion and having a terminal for connection between the battery, the EMG sensor and the control portion, and a cover covering the circuit board can do.

The time feedback unit may include a first module for wirelessly transmitting the EMG signal and a second module for wirelessly receiving the EMG signal.

In this case, the first module is connected to the socket or the bridge module, and includes a first MCU module, an ADC (Analog Digital Converter) module for converting the EMG signal into a digital signal, a transmission And a control unit for calculating a control signal for controlling the gripping unit based on the EMG signal.

Also, the second module may include a second MCU module connected to the display unit, and a receiving module for wirelessly receiving the EMG signal.

The electromyogram signal includes a first signal and a second signal, and the waveform of the electromyogram signal includes an offset voltage mode in which the first signal and the second signal have an offset voltage waveform, a Low voltage mode in which the sub- An overlapping mode having a waveform and a normal mode having a normal waveform of a voltage exceeding the reference value.

The time feedback unit may further include a sensor control module for increasing or decreasing a gain of the electromyogram sensor when the waveform of the electromyogram signal corresponds to the offset voltage mode, the low voltage mode, or the overlap mode.

In the EMG number diagnostic system according to the embodiments of the present invention, it is possible to diagnose the abnormality of each component constituting the number of the EMG motor by the step, so that the malfunction of the EMG number or malfunction of the EMG motor is caused by the battery, It can be easily grasped whether it is caused by the control section, the socket or the gripping mechanism section. Therefore, it is possible to quickly and reliably maintain the number of electromotive forces.

FIG. 1 is a conceptual diagram schematically illustrating a number-of-ovum-number diagnostic system according to an embodiment of the present invention.
Figure 2 is an exploded perspective view of the bridge module shown in Figure 1;
3 is a block diagram of the visual feedback unit shown in FIG.
FIG. 4 is a flowchart showing a process of diagnosing the number of electromyograms in the number-of-electromyogram diagnosis system of FIG. 1; FIG.
5 is a graph showing an example of a waveform mode of the electromyogram signal shown in FIG.

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

Fig. 1 is a conceptual diagram schematically showing a number-of-ovine-motorized-number diagnostic system 100 (hereinafter referred to as a diagnostic system) according to an embodiment of the present invention.

Referring to FIG. 1, the number of electromotive forces is divided into three parts. A control unit (not shown) for calculating a control signal based on the electromyogram sensor, and a gripping unit 140 (not shown) driven according to a control signal obtained from the control unit, ). The diagnostic system 100 according to an embodiment of the present invention integrates with the basic configurations of the number of EMGs to perform maintenance for the maintenance of the number of EMGs.

The diagnostic system 100 includes a bridge module 110 for interconnecting the battery 20, the EMG sensor 30 and a control unit (not shown), a visual feedback unit 120 connected to the bridge module 110, A display unit 130 for receiving an EMG signal from the feedback unit 120 and displaying the electromyogram signal on the screen and a gripping unit 140 for receiving and controlling the control signal from the time feedback unit 120.

The electromyogram sensor 30 generates an electrical signal (electromyogram signal) by grasping the movement of the minute muscles from the remaining muscles of the upper limb amputees (hereinafter referred to as patients) in order to operate the number of electromyograms. The types of the electromyogram sensor 30 are various, and the electromyogram sensor 30 in the present invention is not limited to a specific kind. For example, the electromyogram sensor 30 may be a dry electromyographic sensor having an envelope shape.

The electromyogram sensor 30 can be mounted on the socket 10. [ Here, the socket 10 corresponds to a connecting part provided for wearing the number of electromyograms at the cut portion of the limb-cutting patient. For example, in the socket 10, when the patient wears the socket 10 by providing the space in which the EMG sensor 30 can be mounted, the EMG sensor 30 is attached to the patient's skin. The gripping mechanism 140 may be coupled to the end of the socket 10 because the main purpose of the present invention is to diagnose maintenance of the electromotive force. It does not have to be.

The electromyogram sensor 30 may be plural. For example, after the two electromyographic sensors 30 are attached to the skin having extensor digitorum and flexor carpi ulnaris, respectively, the threshold values of the electromyogram signal detected by the electromyogram sensor 30 and the preset electromyogram signal A comparison method can be used. Of course, three or more EMG sensors 30 may be used in some cases.

An example of the manner in which the electromyogram sensor 30 operates will be described as follows. The electromyogram sensor 30 first passes a bandpass filter (0 to 1 kHz) to use a fine signal of 10 mV or less from the patient's residual muscle as a control signal (0 to 5 V) Noise and other high-frequency noise are removed. In order to remove the commercial noise of household appliances used in everyday life after the first amplification, the pure electromyogram signal is amplified to 0 ~ 5V by the 60Hz notch filter and used as the control signal of the number of the electromotive force do. If the EMG sensor 30 is a dry EMF sensor having an envelope shape, a 500 Hz low-pass filter can be additionally provided to obtain an envelope-shaped EMG signal.

The bridge module 110 is connected to the end of the socket 10 to be worn by the patient. The bridge module 110 includes a battery 20, a plurality of electromyography sensors 30 attached to the socket 10 to be attached to the patient's skin, and a controller (not shown) for controlling the gripping mechanism 140 Function. The detailed configuration of the bridge module 110 will be described later with reference to other drawings.

The visual feedback unit 120 is connected to the bridge module 110 to check the state of the battery 20, processes the electromyogram signal transmitted from the electromyogram sensor 30, and wirelessly transmits the electromyogram signal to the display unit 130. And calculates a control signal for controlling the gripping mechanism 140 based on the EMG signal and transmits the control signal to the gripping mechanism 140. The transmission of the control signal may be performed in a wireless or wired manner. In the present specification, the transmission of the control signal is performed in a wired manner.

The visual feedback unit 120 includes a first module 121 and a second module 122. The first and second modules 121 and 122 may include a plurality of modules having different functions. Detailed modules constituting the first and second modules 121 and 122 will be described later with reference to other drawings.

The first module 121 may be connected to the socket 10 or the bridge module 110 and the second module 122 may be connected to the display unit 130. The first module 121 and the second module 122 wirelessly transmit and receive data. Accordingly, when the EMG signal data is wirelessly transmitted from the first module 121 to the second module 122, the EMG signal waveform can be output to the screen through the display unit 130 connected to the second module 122.

Specifically, an EMG signal generated from the EMG sensors 30 mounted on the socket 10 is transmitted to the first module 121 via the bridge module 110 (via the E line shown in FIG. 1). The EMG signal may be signal processed in the first module 121 and wirelessly transmitted to the second module 122. Also, the first module 121 may calculate a control signal based on the EMG signal. The control signal is used to control the gripping mechanism 140 via the bridge module 110 (through the line C shown in FIG. 1).

The power of the first module 121 can be supplied from the battery 20. Therefore, if the power supply state of the visual feedback unit 120 is poor, it can be estimated that an abnormality has occurred in the battery 20. [ The power of the second module 122 may be supplied from the display unit 130.

The display unit 130 displays the waveform of the EMG signal on the screen on the basis of the EMG signal data transmitted from the time feedback unit 120. The display unit 130 may be any type of terminal having a screen. For example, the display unit 130 may be a desktop PC, a notebook, a mobile device (smart phone, tablet PC, etc.), a display device such as an LCD / LED / The types of waveforms of the electromyogram signals displayed on the display unit 130 will be described later with reference to other drawings.

The gripping mechanism unit 140 corresponds to the number of electric motions and is controlled according to the control signal calculated by the first module 121 based on the EMG signal. The gripping mechanism unit 140 may be of a three finger type gripping with three fingers, a five finger type gripping with five fingers, and the like. In FIG. 1, the gripping mechanism unit 140 is of the three finger type. The gripping mechanism unit 140 may include a frame for gripping an object, and a power transmission mechanism (composed of a motor and a gear) for transmitting power to the frame. The configuration of the gripping mechanism unit 140 is described in Non-patent Document 1 (Park, Se-Hoon, Hong Bum, et al., Development of a Number of Electromyographical Motor with Two-Degree-of-Freedom Wrist Joints, Control Robot System Society, Vol. 17, No. 8, 2011.8, pp. 824-832), and the specific configuration of the gripping mechanism 140 is different from the technical concept of the present invention, so a detailed description thereof will be omitted.

Hereinafter, the bridge module 110 will be described in detail.

2 is an exploded perspective view of the bridge module 110 shown in FIG. 2, the bridge module 110 includes a socket connecting portion 111 connected to the socket 10, a circuit board 112 mounted on the socket connecting portion 111, a cover (not shown) covering the circuit board 112 113).

The socket connecting portion 111 is engaged with the end portion of the socket 10. A socket for connecting the socket 10 and the gripping mechanism 140 may be provided at an upper portion of the socket connecting portion 111, Can be formed.

The circuit board 112 has terminals for connection between the battery 10 (see FIG. 1), the electromyogram sensor 30 (see FIG. 1), and the control unit (not shown). The circuit board 112 may be a general printed circuit board (PCB). For example, as shown in FIG. 2, the circuit board 112 may be formed in a donut shape. A sensor terminal 112a for connecting the two electromyographic sensors 30 along the upper surface, a battery terminal 112b for connecting the battery 20 and a control terminal 112c for connecting the control section are provided, respectively .

The cover 113 functions to cover the circuit board 112. When the circuit board 112 is received in the space provided at the upper portion of the socket connection part 111, the cover 113 covers the upper part of the circuit board 112, (Not shown). A terminal hole 113a for receiving terminals formed on the circuit board 112 is formed along the upper surface of the cover 113 so as to form a hole .

Hereinafter, the time feedback unit 120 will be described in detail.

3 is a block diagram of the visual feedback unit 120 shown in FIG. As described above, the visual feedback unit 120 includes a first module 121 and a second module 122, and redundant description of the first and second modules 121 and 122 is omitted. Explain.

The first module 121 is connected to the socket 10 or the bridge module 110. The first module 121 may include a first MCU module 121a, an ADC module 121b, a transmitting module 121c and a controller 121d. The first module 121 may include a signal processing module (not shown) And the like.

The first MCU module 121a controls various modules included in the first module 121, and the MCU (Micro Controller Unit) is a general module, so a detailed description will be omitted.

The ADC (Analog Digital Converter) module 121b converts the electromyogram signal transmitted from the electromyogram sensor 30 into a digital signal. When the two electromyogram sensors 30 are provided as described above, two ADC modules 121b may be similarly provided corresponding to the respective electromyographic sensors 30. [

The transmitting module 121c wirelessly transmits the electromyogram signal data converted into digital form by the ADC module 121b to the second module 122. [ The transmission module 121c may include various communication chips such as a Wi-Fi chip, a Bluetooth chip, an NFC chip, and a wireless communication chip. At this time, the Wi-Fi chip, the Bluetooth chip, and the NFC chip communicate with each other using the WiFi method, the Bluetooth method, and the NFC method. Among these, the NFC chip refers to a chip operating in an NFC (Near Field Communication) system using 13.56 MHz band among various RF-ID frequency bands such as 135 kHz, 13.56 MHz, 433 MHz, 860 to 960 MHz and 2.45 GHz. When a Wi-Fi chip or a Bluetooth chip is used, various connection information such as an SSID and a session key may be transmitted and received first, and communication information may be used to transmit and receive various information. The wireless communication chip refers to a chip that performs communication according to various communication standards such as IEEE, ZigBee, 3G (3rd Generation), 3rd Generation Partnership Project (3GPP), LTE (Long Term Evolution)

The control unit 121d calculates a control signal for controlling the gripping mechanism 140 (see FIG. 1) based on the EMG signal. The control unit 121d corresponds to a normal configuration related to driving of the number of electromyograms. For example, the electromyogram signal converted to digital is subjected to signal processing and is recognized as driving information of the gripping mechanism unit 140, (Pulse width modulation) level for driving the motor for controlling the motor 140 is determined. The PWM level may be determined from a signal processing module (not shown) in the first module 121. Also, the controller 121d continuously monitors the state of the finger using the position and current information detected in the driving process of the motor, and controls the patient to perform a desired operation.

The control signal calculated by the control unit 121d is transmitted to the holding mechanism unit 140 via the bridge module 110 (see FIG. 1) (through the C line indicated in FIG. 1) (through the C line indicated in FIG. 1) .

The second module 122 is connected to the display unit 130. The second module 122 may include a second MCU module 122a and a receiving module 122b.

The second MCU module 122a controls various modules included in the second module 122, and the MCU (Micro Controller Unit) is a typical module, so a detailed description will be omitted.

The receiving module 122b receives the EMG signal data wirelessly transmitted from the transmitting module 121c of the first module 121. [ Like the transmitting module 121c, the receiving module 122b may include various communication chips, and redundant description is omitted.

Hereinafter, a process of diagnosing the number of electromyograms in the diagnostic system 100 will be described.

FIG. 4 is a flowchart illustrating a process of diagnosing the number of electromyograms in the diagnostic system 100 of FIG. 1. FIG. 5 is a graph illustrating an example of a waveform mode of the electromyogram signal shown in FIG.

Referring to FIG. 4, the patient wears a socket 10 (see FIG. 1) in order to diagnose the number of myopathies. 1) is connected to the end of the socket 10 and the first module 121 (see FIG. 1) is connected to the socket 10 or the bridge module 110 and the second module 122, see FIG. 1) is connected to the display unit 130 (see FIG. 1), thereby providing a visual feedback unit 120.

At the time of diagnosing the number of electrified electromotive force, the power state of the time feedback unit 120 is first checked. The visual feedback unit 120 receives power from the battery 20 (see FIG. 1) connected to the bridge module 110. If the power supply state of the visual feedback unit 120 is good, there is no problem. However, if the power supply state is bad, it can be estimated that the battery 20 has a problem. Therefore, in the latter case, it is possible to take measures to replace the battery 20 (step S10).

Next, the visual feedback unit 120 is operated by the electromyogram sensor 30 generating the electromyogram signal by the motion of the patient. The first module 121 of the visual feedback unit 120 converts the electromyogram signal into a digital signal, performs signal processing, etc., and wirelessly transmits the signal to the second module 122. The second module 122 receives the EMG signal data and outputs the EMG signal waveform to the display unit 130 connected to the second module 122 (step S20).

EMG signal waveforms can be broadly classified into four types (M1 to M4). These electromyogram signal waveforms are shown by signal waveforms of M1, M2, M3, and M4 in order from the left side of FIG. Referring to FIG. 5, two electromyogram signal waveforms generated from the two electromyogram sensors are displayed together on the screen. That is, the EMG signal includes the first signal 1 and the second signal 2. The electromyogram signal waveform has four modes according to the waveform types of the first signal (1) and the second signal (2).

1. Offset voltage mode (M1 mode)

The offset voltage mode (M1) means a form in which the signal of the output circuit is generated even though there is no signal of the input circuit. Offset voltage mode is one of two causes. One is that the socket 10 is worn poorly, and the other is the case where the electromyogram sensor 30 itself is poor. Therefore, when the offset voltage mode M1 appears on the display unit 130, the wear state of the socket 10 is first checked. When the state of the socket 10 is poor, the socket is replaced (step S31). On the other hand, when the socket 10 is in a good wearing state, the gain of the electromyogram sensor 30 is controlled downward. This is because the offset voltage mode can be displayed even when the gain of the electromyogram sensor 30 is set high. If the offset voltage mode M1 disappears when the gain of the electromyogram sensor 30 is controlled downward, it can be estimated that there is no sensor problem. On the other hand, even if the gain of the electromyogram sensor 30 is controlled downward, if the offset voltage mode M1 continues, the sensor can be replaced due to the problem of the sensor itself (step S32).

2. Low voltage mode (M2 mode)

The low voltage mode M2 means a case where the amplitude of the electromyogram signal waveform is equal to or lower than the reference value. The cause of occurrence of the low voltage mode may appear when the gain of the electromyogram sensor 30 is set low. Therefore, when the low voltage mode M2 is displayed on the display unit 130, the gain of the electromyogram sensor 30 is controlled upward. It can be estimated that there is no sensor problem if the low voltage mode M2 disappears when the gain of the electromyogram sensor 30 is controlled upward. On the other hand, even if the gain of the electromyogram sensor 30 is controlled upward, if the low voltage mode M2 continues, the sensor can be replaced by a problem of the sensor itself (step S41).

3. Overlapping mode (M3 mode)

The overlapping mode M3 represents a case where two electromyogram signal waveforms overlap each other. Nested mode is one of two causes. One is a case where the socket 10 is defective and the arrangement of the electromyogram sensor 30 is wrong, and the other is a case where the gains of the plurality of electromyogram sensors 30 are set incorrectly with each other. Therefore, when the overlap mode M3 is displayed on the display unit 130, the gain of the electromyogram sensors 30 is controlled upward or downward. It can be estimated that the problem is solved if the overlap mode M3 disappears by controlling the gains of the electromyogram sensors 30. [ On the other hand, even if the gain of the electromyogram sensors 30 is controlled and the superposition mode M3 is continuously displayed, it is possible to take measures to replace the socket 10 when the socket 10 is defective (step S51).

4. Normal mode (M4 mode)

In the normal mode (M4), the waveforms of two electromyogram signals do not exhibit abnormal shapes. In this case, it can be estimated that there is no problem of the socket 10 or a problem of the electromyogram sensor 30 being defective.

On the other hand, when the waveform of the EMG signal is not in the normal mode M4, there is a process of controlling the gain of the electromyogram sensor 30 in order to check the EMG sensor 30. At this time, a sensor control module (not shown) for up-controlling or down-controlling the gain of the electromyogram sensor 30 may be additionally included in the visual feedback unit 120 according to the waveform of the electromyogram signal. The sensor control module may be located in the first module 121 and may adjust the gain of the electromyogram sensor 30 through the first MCU 121a.

The maintenance operator of the number of the electrified electromotive force can easily and quickly maintain the number of electrified electromotive force by taking measures according to each waveform mode after confirming the waveform of the electromotive force signal output to the display unit 130. [ In particular, in the case where the number of electrified electric motors is malfunctioning or inoperable, it is possible to easily grasp where the cause is caused by the battery, the electromyogram sensor or the socket.

When the waveform of the electromyogram signal output to the display unit 130 is in the normal mode M4 as described above, it can be estimated that there is no abnormality in both the battery, the EMG sensor, and the socket. And the control unit of the phage region unit 140 may be diagnosed.

After the gripping mechanism unit 140 is connected to the control unit 121d of the first module 121 and the gripping mechanism unit 140 does not react or does not respond to the control signal when a control signal is given to the gripping mechanism unit 140 It can be assumed that there is a problem with the control mechanism. If the gripping mechanism unit 140 responds to the control signal but does not smoothly perform the operation (for example, unstable operation, weak gripping force, or unstable operation), it may be estimated that the gripping mechanism unit 140 itself has a problem have. In the latter case, measures can be taken to check and check the motor, transmission, battery, brake, speed reducer, link, etc. constituting the gripping mechanism section 140 .

The process of diagnosing the control unit of the gripping mechanism unit 140 and the gripping unit 140 may be performed by measuring the consumed current after the gripping unit 140 is connected. For example, as shown in FIG. 4, the consumed current is measured after connecting the holding mechanism 140. When the measured consumed current is defective (that is, when the consumed current is out of the reference range) If the measured consumed current is good, only the gripping mechanism unit 140 itself can be further diagnosed (step S60).

As described above, in the EMG number diagnostic system according to the embodiments of the present invention, it is possible to diagnose the abnormality of each component constituting the number of EMG electric power in each step, , The electromyogram sensor, the control unit, the socket, and the gripping mechanism unit. Therefore, it is possible to quickly and reliably maintain the number of electromotive forces.

The embodiments of the present invention have been described above. It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the inventive concept as defined by the appended claims. It will be understood that various modifications may be made without departing from the scope of the present invention.

10: Socket 20: Battery
30: Electromyography sensor 100: Number of electromyogram
110: Bridge module 111: Socket connection
112: circuit board 113: cover
120: time feedback unit 121: first module
121a: first MCU 121b: ADC module
121c: transmission module 121d:
122: second module 122a: second MCU
122b: Receiving module 130:
140:

Claims (7)

A bridge module connected to a socket to be worn by a user and interconnecting a battery, a plurality of electromyography sensors mounted on the socket and attached to the skin of the user, and a controller for controlling the gripping mechanism;
A visual feedback unit connected to the bridge module for checking the state of the battery, signal processing and transmitting an EMG signal transmitted from the EMG sensor, and calculating and transmitting a control signal based on the EMG signal;
A display unit for displaying a waveform of the electromyogram signal on a screen; And
And a gripping mechanism section that is controlled in accordance with the control signal. The method according to claim 1,
Wherein the bridge module comprises: a socket connecting portion connected to the socket; a circuit board mounted on the socket connecting portion and having a terminal for connection between the battery, the electromyogram sensor and the control portion; and a cover covering the circuit board, Diagnostic System. The method according to claim 1 or 2,
Wherein the visual feedback unit includes a first module that wirelessly transmits the EMG signal and a second module that wirelessly receives the EMG signal. The method of claim 3,
The first module is connected to the socket or bridge module and includes a first MCU module, an ADC (Analog Digital Converter) module for converting the EMG signal into a digital signal, a transmission module for wirelessly transmitting the EMG signal, And a control unit for calculating a control signal for controlling the gripping unit based on the EMG signal. The method of claim 4,
Wherein the second module is connected to the display unit and includes a second MCU module and a receiving module for wirelessly receiving the EMG signal. The method according to claim 1,
Wherein the electromyogram signal includes a first signal and a second signal,
Wherein the waveform of the electromyogram signal is one of an offset voltage mode in which the first signal and the second signal have an offset voltage waveform, a Low voltage mode in a subthreshold voltage, a superposition mode in which the superposition waveform has a normal waveform, Diagnostic system of number of electrified electric motor. 6,
Wherein the time feedback unit further comprises a sensor control module for increasing or decreasing a gain of the electromyogram sensor when the waveform of the electromyogram signal corresponds to the offset voltage mode, the low voltage mode, or the overlap mode, system.

Images