WO2015137629A1 - Système de détection d'électromyographie et de mouvement, son procédé de commande - Google Patents

Système de détection d'électromyographie et de mouvement, son procédé de commande Download PDF

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Publication number
WO2015137629A1
WO2015137629A1 PCT/KR2015/001265 KR2015001265W WO2015137629A1 WO 2015137629 A1 WO2015137629 A1 WO 2015137629A1 KR 2015001265 W KR2015001265 W KR 2015001265W WO 2015137629 A1 WO2015137629 A1 WO 2015137629A1
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WIPO (PCT)
Prior art keywords
signal
sensing device
sensing
emg
angle
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PCT/KR2015/001265
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English (en)
Korean (ko)
Inventor
김영호
김정윤
손종상
신이수
유제성
안순재
박선우
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연세대학교 원주산학협력단
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Publication of WO2015137629A1 publication Critical patent/WO2015137629A1/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/45—For evaluating or diagnosing the musculoskeletal system or teeth
    • A61B5/4519—Muscles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
    • A61B5/316—Modalities, i.e. specific diagnostic methods
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
    • A61B5/316—Modalities, i.e. specific diagnostic methods
    • A61B5/318—Heart-related electrical modalities, e.g. electrocardiography [ECG]
    • A61B5/346—Analysis of electrocardiograms
    • A61B5/349—Detecting specific parameters of the electrocardiograph cycle
    • A61B5/352—Detecting R peaks, e.g. for synchronising diagnostic apparatus; Estimating R-R interval
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
    • A61B5/316—Modalities, i.e. specific diagnostic methods
    • A61B5/389—Electromyography [EMG]
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2560/00—Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
    • A61B2560/04—Constructional details of apparatus
    • A61B2560/0462—Apparatus with built-in sensors
    • A61B2560/0468—Built-in electrodes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
    • A61B5/25—Bioelectric electrodes therefor
    • A61B5/279—Bioelectric electrodes therefor specially adapted for particular uses
    • A61B5/296—Bioelectric electrodes therefor specially adapted for particular uses for electromyography [EMG]

Definitions

  • the present invention relates to a system for detecting EMG and motion, and a control method thereof.
  • EMG is a curve that records the action potential of muscles.
  • needle electrode method which detects activity of the exercise unit by drawing an action potential generated at a point in the muscle by inserting a needle electrode into the muscle.
  • Korean Patent Publication No. 2013-0073361 which is a prior art, discloses an apparatus and method for classifying EMG signals.
  • the inertial sensor may include at least one of a gyro sensor, an acceleration sensor, and a geomagnetic field sensor.
  • a motion measuring method may not only attach a plurality of sensors to the body, but also may cause inconvenience in measurement because the cables connected to the plurality of sensors are intricately intertwined. Therefore, no cable is required, and a portable EMG and body motion measuring device including an inertial sensor and an EMG sensor is required.
  • An object of the present invention is to provide a system for detecting EMG and motion that can estimate muscle strength during exercise and a control method thereof.
  • An object of the present invention is to provide a system and a control method for detecting EMG and motion that can confirm muscle fatigue.
  • the present invention provides a system and a control method for detecting EMG and motion that can compare the correlation between the joint angle and muscle strength of a normal person and a patient group.
  • an embodiment of the present invention includes a case including a groove for positioning the electrode on one side of the outer side of the case, the electrode located in the groove in contact with a portion of the object, the case of A sensing unit including an sensing unit located inside to sense an EMG and an operation of an object, transmitting an EMG signal and an operation signal corresponding to a sensing result to a receiving device, and a battery supplying power to the sensing unit;
  • a sensing system may include a receiving device that receives an EMG signal and an operation signal and outputs sensing data corresponding to the received EMG signal and the operation signal.
  • the sensing unit detects the motion of the object through a plurality of motion sensors, and generates a motion signal based on the detection result, the EMG signal for generating the EMG signal of the object through the plurality of electrodes It may include a signal generator and a communication unit for transmitting the operation signal and the EMG signal to the receiving device.
  • the sensing device may further include a button unit for turning on or off an operation of the sensing unit, a light generating unit for generating light related to the operation of the sensing unit, and a charging terminal unit for charging a battery.
  • the communication unit may transmit the EMG signal and the operation signal to the receiving device through wireless communication.
  • the electrode has a cylindrical rod shape, a portion of the center portion of the electrode is accommodated in the groove, and the other portion of the center portion is exposed to contact the portion of the object, the electrode is bent inwardly of the case from the center portion Including two extensions extending, each of the two extensions can be connected to the sensing unit.
  • the case includes three grooves for positioning each of the first electrode, the second electrode, and the third electrode, and the sensing unit detects EMG through the first electrode, the second electrode, and the third electrode. can do.
  • the motion sensor may include a gyro sensor, an acceleration sensor, and a geomagnetic field sensor.
  • the sensing device is a first sensing device attached to a first position of the object
  • the receiving device is first sensing data corresponding to the first EMG signal and the first operation signal received from the first sensing device.
  • the receiving device may generate evaluation data associated with the posture of the object based on the first sensing data and the second sensing data, and output the generated evaluation data.
  • the apparatus may further include an evaluation data output device configured to generate evaluation data associated with the posture of the object based on the output first sensing data and output second sensing data, and output the generated evaluation data. have.
  • the receiving device receives at least one or more of the first EMG signal, the first operation signal and the first sensing data through the first antenna, the second EMG signal, the second operation signal and the second sensing At least one of the data may be received through the second antenna.
  • the evaluation data includes an angle with respect to the object, the angle being calculated based on the first motion signal and the second motion signal, wherein the first motion signal is a first gyro sensor signal, a first acceleration sensor.
  • the signal may be generated based on the signal and the first geomagnetic sensor signal, and the second operation signal may be generated based on the second gyro sensor signal, the second acceleration sensor signal, and the second geomagnetic sensor signal.
  • the first operational signal comprises a first orientation and the second operational signal comprises a second orientation, wherein the angle is based on a product between the inverse of the first orientation and the second orientation.
  • Computed, where the first orientation is quaternion and the angle may be Euler angle.
  • the sensing device may determine at least one angle corresponding to the sensing device based on the gyro sensor signal of the sensing device, and generate the operation signal based on the at least one angle. have.
  • the at least one angle may include a roll angle, a pitch angle and a yaw angle corresponding to the sensing device.
  • the sensing device may correct the at least one angle based on at least one of an acceleration sensor signal of the sensing device and a geomagnetic field sensor signal of the sensing device.
  • the sensing device determines the roll angle, the pitch angle and the yaw angle corresponding to the sensing device based on the gyro sensor signal of the sensing device, and uses the acceleration sensor signal of the sensing device. Correcting the roll angle and the pitch angle, correcting the yaw angle using the geomagnetic sensor signal of the sensing device, and based on the corrected roll angle, the corrected pitch angle and the corrected yaw angle An operation signal can be generated.
  • An embodiment of the present invention includes a case including a groove for positioning the electrode on one side of the outer side of the case, the electrode is located in the groove in contact with a portion of the object, the inside of the case to detect the EMG and motion of the object
  • the present invention may provide a sensing device including a sensing unit which transmits an EMG signal and an operation signal corresponding to a sensing result to a receiving apparatus, and a battery which supplies power to the sensing unit.
  • the sensing unit detects the motion of the object through a plurality of motion sensors, and generates a motion signal based on the detection result, the EMG signal for generating the EMG signal of the object through the plurality of electrodes It may include a signal generator and a communication unit for transmitting the operation signal and the EMG signal to the receiving device.
  • a method of generating an EMG signal based on a sensing result through an electrode in a sensing device generating an operation signal based on a sensing result through a motion sensor in a sensing device, an EMG signal in a sensing device, and
  • the method may include transmitting an operation signal to a receiving device, wherein the electrode is located in a groove formed on one surface of the outside of the case of the sensing device and may contact a part of the object.
  • any one of the problem solving means of the present invention described above it is possible to provide a system and a control method for detecting the EMG and motion that can estimate the muscle strength during exercise. According to any one of the problem solving means of the present invention described above, it is possible to provide a system for detecting EMG and motion that can confirm the fatigue of the muscle and a control method thereof. According to any one of the above-described means for solving the problems of the present invention, it is possible to provide a system and a control method for detecting the EMG and the motion that can compare the correlation between the joint angle and muscle power of the normal group and the patient group.
  • any one of the above-described problem solving means of the present invention by attaching a sensing device to the joints of the whole body, to provide a system and a control method for detecting the EMG and motion that enables analysis of various and complex motions Can be.
  • FIG. 1 is a diagram illustrating an EMG and a motion detection system according to an exemplary embodiment of the present invention.
  • FIG. 2 is a block diagram illustrating a sensing device according to an embodiment of the present invention.
  • 3A to 3C illustrate a sensing device according to an embodiment of the present invention.
  • 4A to 4B are diagrams for explaining an example of a process of determining an orientation.
  • 5A to 5B illustrate a receiving apparatus according to an embodiment of the present invention.
  • FIG. 6 is a view illustrating evaluation data associated with a posture of an object according to an embodiment of the present invention.
  • FIG. 7 is a flowchart illustrating a method of controlling EMG and motion detection according to an embodiment of the present invention.
  • the term 'unit' includes a unit realized by hardware, a unit realized by software, and a unit realized by both.
  • one unit may be realized using two or more pieces of hardware, and two or more units may be realized by one piece of hardware.
  • the EMG and motion detection system 1 is a diagram illustrating an EMG and a motion detection system according to an exemplary embodiment of the present invention.
  • the EMG and motion detection system 1 includes a control device 100, a reception device 200, and an evaluation data output device 300.
  • the EMG and motion detection system 1 may be configured differently from FIG. 1.
  • the EMG and motion detection system 1 may further include a plurality of sensors or may further include a separate communication device (not shown).
  • the sensing device 100 may be attached to a part of the object to detect the EMG and the motion of the object.
  • the sensing device 100 may be configured in plural and attached to a part of the object.
  • the sensing device 100 may simultaneously measure EMG and motion of 6 channels or more.
  • the sensing device 100 may detect the motion of the object through a plurality of motion sensors and generate an motion signal based on the detection result.
  • the plurality of motion sensors may include, for example, an acceleration sensor, a gyro sensor, a geomagnetic field sensor, and the like.
  • the sensing device 100 may generate an EMG signal of the object through the plurality of electrodes.
  • the electrode largely includes a surface electrode for sensing the current of the skin through the skin contact surface and an insertion electrode for inserting a line or a needle, and is composed of a monopolar using one electrode and a bipolar using two electrodes. Can be.
  • the electrode included in the sensing device 100 may have a cylindrical rod shape, and a portion of the center portion of the electrode may be accommodated in the groove using the surface electrode, and the other portion of the center portion may be exposed to contact a portion of the object.
  • Such an electrode may be attached to the mitral muscle, deltoid muscle, waist portion, arm portion, lower leg portion and leg portion of the upper limb.
  • the first sensing device 100a may be attached to the lower arm of the object, and the second sensing device 100b may be attached to the upper arm of the object.
  • the first sensing device 100a and the second sensing device 100b may move the EMG and the motion of the object. Can be detected.
  • the sensing device 100 may be attached to a portion where the spine is located to measure motion, but is attached to a part of a muscle, such as an arm or a leg, and when walking or taking an elbow, shoulder, knee, thigh. You can measure your back movement and muscle activity signals.
  • the sensing device 100 may generate an EMG signal and an operation signal corresponding to the sensing result.
  • the first sensing device 100a and the second sensing device 100b may generate an EMG signal and an operation signal corresponding to the sensing result.
  • the first operation signal may be generated based on the first gyro sensor signal, the first acceleration sensor signal, and the first geomagnetic field sensor signal, and the first operation signal may include a first orientation.
  • the second operation signal may be generated based on the second gyro sensor signal, the second acceleration sensor signal, and the second geomagnetic sensor signal, and the second operation signal may include a second orientation.
  • the first orientation may be a quaternion.
  • the sensing device 100 may transmit an EMG signal and an operation signal corresponding to the sensing result to the receiving device 200.
  • each of the first sensing device 100a and the second sensing device 100b may transmit an EMG signal and an operation signal corresponding to the sensing result to the receiving device 200.
  • the sensing device 100 may transmit the EMG signal and the operation signal to the receiving device 200 through wireless communication (for example, RF communication).
  • the receiving device 200 may receive an EMG signal and an operation signal from the sensing device 100.
  • the receiving device 200 receives at least one or more of the first EMG signal, the first operation signal, and the first sensing data through the first antenna, and the second EMG signal, the second operation signal, and the second sensing data. At least one may be received through the second antenna.
  • the receiving device 200 may output sensing data corresponding to the received EMG signal and the operation signal.
  • the reception apparatus 200 may include first sensing data corresponding to the first EMG signal and the first operation signal received from the first sensing apparatus 100a, and a second sensing apparatus attached to a second position of the object.
  • the second sensing data corresponding to the second EMG signal and the second operation signal received from 100b may be output.
  • the receiving device 200 may generate evaluation data associated with a posture of the object based on the first sensing data and the second sensing data, and output the generated evaluation data.
  • the evaluation data may be generated by the sensing device 100 and transmitted to the receiving device 200.
  • the evaluation data output apparatus 300 may receive and output evaluation data generated from the reception apparatus 200. In addition, the evaluation data output apparatus 300 may generate evaluation data associated with the posture of the object based on the output first sensing data and output second sensing data and output the generated evaluation data.
  • the evaluation data output device 300 displays evaluation data through a display, and the display may further include a touch panel for processing a user's touch input as well as a portion for displaying an image such as an LCD and an LED.
  • the sensing apparatus 100 may include a sensing unit 110, a battery (not shown), an electrode (not shown), and a case (not shown).
  • the sensing device 100 shown in FIG. 2 is just one implementation example of the present application, and may be modified in various forms based on the components shown in FIG. 2.
  • anyone with knowledge of can understand. For example, components and functionality provided within those components may be combined into a smaller number of components or further separated into additional components.
  • the case (not shown) includes a groove for locating the electrode on one surface of the outside of the case (not shown), and the electrode (not shown) may be positioned in the groove to contact a part of the object.
  • the battery 120 may supply power to the sensing device 100 or the sensing unit 110.
  • Such a case (not shown), an electrode (not shown), and a battery (not shown) will be described below in more detail with reference to FIGS. 3A to 3C.
  • the sensing unit 110 is located inside the case (not shown) to detect the EMG and the motion of the object, generates an EMG signal and an operation signal corresponding to the detection result, and receives the generated EMG signal and the operation signal ( 200).
  • the object is the body.
  • the detector 110 may include an operation signal generator 111, an EMG signal generator 112, and a communicator 113.
  • the sensing unit 110 illustrated in FIG. 2 is just one embodiment of the present disclosure, and may be modified in various forms based on the components illustrated in FIG. 2.
  • the motion signal generator 111 may detect the motion of the object through a plurality of motion sensors and generate an motion signal corresponding to the detection result.
  • the motion sensor may include at least one of a gyro sensor, an acceleration sensor, and a geomagnetic field sensor.
  • at least one of the gyro sensor, the acceleration sensor and the geomagnetic field sensor is any one of the motion signal generator 111, the detector 110 or the sensing device 100 in the form of a hardware module, a software module or a combination of the two. Can be included.
  • the operation signal generated by the operation signal generator 111 may be an output signal of one sensor.
  • the operation signal may be a gyro sensor signal which is an output signal of the gyro sensor.
  • the operation signal generated by the operation signal generator 111 may be output signals of at least two sensors or a combination thereof.
  • the operation signal may be a combination of a gyro sensor signal that is an output signal of the gyro sensor and a geomagnetic sensor signal that is an output signal of the geomagnetic sensor.
  • the operation signal generated by the operation signal generator 111 may be a separate signal calculated or generated based on output signals of at least one or more sensors.
  • the operation signal may be an orientation signal generated based on a gyro sensor signal, an acceleration sensor signal, or a geomagnetic sensor signal. Basically, the operation signal may reflect the motion of the body detected by the sensing device 100.
  • the EMG signal generator 112 may detect EMG of the object.
  • the EMG signal may be an electrical signal generated along the muscle fibers from the muscle surface as the body moves, but is not limited to this definition.
  • An example of the magnitude of the EMG signal is 10 mV or less, and an example of the frequency of the EMG signal is a frequency of less than 500 Hz.
  • the EMG signal generator 112 may detect EMG of the object through at least one electrode.
  • the EMG signal generator 112 may detect EMG of the object through three electrodes contacting different positions of the body.
  • the three electrodes may be three monopole electrodes that are independent of each other, or may be two bipolar electrodes and one monopole electrode.
  • all three electrodes may be used for one EMG sensor measurement channel.
  • Each of the three electrodes may also be used for each of the different EMG sensor measurement channels.
  • the shape of the electrode may be determined by one of various shapes such as a surface electrode, a needle electrode or a line electrode, and the shape thereof may also be determined by one of various shapes such as a cylindrical shape and a rod shape. If it is assumed that each of the plurality of electrodes has a cylindrical rod shape, a part of the center portion of the electrode is accommodated in the groove of the sensing device 100 or a case (not shown), and the other portion of the center portion of the electrode is used to contact a part of the object. May be exposed.
  • the electrode includes two extension parts that extend from the center to the inner side of the case, and the EMG signal generator 112 may be connected to each of the two extension parts to detect EMG. For example, when the sensing device 100 is attached to the object, the EMG signal generator 112 may measure the EMG of the object through the first electrode, the second electrode, and the third electrode of the sensing device 100 in contact with the object. It can be detected.
  • the communication unit 113 may transmit an operation signal and an EMG signal to the receiving device 200. At this time, the communication unit 113 may transmit the EMG signal and the operation signal to the receiving device 200 through wireless communication, an example of a network capable of such wireless communication, Wi-Fi, Internet (Internet), LAN ( Local Area Network (WLAN), Wireless Local Area Network (WLAN), Wide Area Network (WAN), Personal Area Network (PAN), 3G, 4G, LTE, and the like, but are not limited thereto.
  • a network capable of such wireless communication, Wi-Fi, Internet (Internet), LAN ( Local Area Network (WLAN), Wireless Local Area Network (WLAN), Wide Area Network (WAN), Personal Area Network (PAN), 3G, 4G, LTE, and the like, but are not limited thereto.
  • the sensing device 100 may include a sensing unit 110, a battery 120, a case 130, and an electrode 140.
  • the sensing device 100 illustrated in FIGS. 3A to 3C is just one embodiment of the present disclosure, and various modifications may be made based on the components illustrated in FIGS. 3A to 3C. Those skilled in the art can understand. For example, components and functionality provided within those components may be combined into a smaller number of components or further separated into additional components.
  • the front part of the sensing device 100 may include an upper case 131, a button part 121, and a light generator 122.
  • the upper case 131 serves to protect the internal circuit that controls the sensing device 100 in combination with the lower case 132 of the rear portion.
  • the upper case 131 may be made of a material such as plastic, PVC, synthetic resin.
  • the button unit 121 may turn on or off the operation of the sensing unit 110.
  • the light generator 122 may generate light related to the operation of the detector 110.
  • the light generator 122 may use a light emitting diode (LED) to generate light associated with the operation.
  • LED light emitting diode
  • the side of the sensing device 100 includes a charging terminal 123, it is possible to charge the battery built in the sensing device 100 through the charging terminal 123.
  • FIG. 3B is a diagram illustrating a rear part and a side part of the sensing device 100.
  • the rear surface of the sensing device 100 may include a lower case 132, an electrode 140, and a groove 150.
  • the lower case 132 may include a groove 150 for positioning the electrode 140 on one surface of the outside of the case.
  • the lower case 132 may include three grooves for positioning each of the first electrode 141, the second electrode 142, and the third electrode 143.
  • the lower case 132 may be made of a material such as plastic, PVC, synthetic resin.
  • Each of the first electrode 141, the second electrode 142, and the third electrode 143 may be a conductive metal, and an example of the conductive metal is copper, silver, or an alloy of two or more metals, but is not limited thereto.
  • the electrode 140 may be positioned in the plurality of grooves 150 recessed in the lower case 132 to contact a part of the object.
  • the electrode 140 may include at least one electrode 140.
  • the electrode 140 has a cylindrical rod shape, a part of the center of the electrode is received in the groove 150, and the other part of the center is exposed to contact the part of the object, the electrode is bent inwardly extending from the center of the case It may include two extensions. In this case, each of the two extension parts may be connected to the sensing part 110.
  • the lower case 132 may include three grooves 150.
  • the first electrode 141 is connected to the sensing unit 110 through the first groove 151
  • the second electrode 142 is connected to the sensing unit 110 through the second groove 152.
  • the third electrode 143 may be connected to the sensing unit 110 through the third groove 153.
  • the sensing device 100 includes a sensing unit 110, a battery 120, a button unit 121, a light generating unit 122, a charging terminal unit 123, and an electrode 140. can do.
  • the button unit 121, the light generating unit 122, the charging terminal unit 123, and the electrode 140 are connected to the sensing unit 110, and have the same functions as those of FIGS. 3A to 3B. I'll skip it because it does.
  • the sensing unit 110 may be located inside the case 130 to detect EMG and motion of the object, and transmit an EMG signal and an operation signal corresponding to the detection result to the receiving device.
  • the sensing unit 110 may be configured of a circuit (or a circuit device) consisting of one or more electronic components.
  • the sensing device 100 or the sensing unit 110 may receive power through the battery 120 included in the sensing device 100, and the battery 120 may be disposed between the charging terminal unit 123 and the external power supply device. It can be charged via a connection (or connecting line).
  • the first sensing device 100a calculates an angle with respect to an object by using the first operation signal generated by the operation signal generator 111 and the second operation signal received from the second sensing device 100b. I will explain the assumptions. However, as will be described below, according to another embodiment of the present invention, the angle with respect to the object may be calculated by the receiving device 200 or the evaluation data output device 300.
  • the receiving device 200 calculates an angle with respect to the object
  • An angle with respect to the object may be calculated using the motion signal.
  • the evaluation data output apparatus 300 calculates an angle with respect to the object
  • the second operation signal may be received from the second operation signal
  • the angle of the object may be calculated based on the received first operation signal and the second operation signal
  • the first operation signal and the second operation signal may be received from the receiving device 200. This may be used to calculate an angle with respect to the object.
  • the first sensing device 100a uses the first operation signal generated by the operation signal generator 111 and the second operation signal received from the second sensing device 100b.
  • the following description assumes a configuration for calculating an angle with respect to.
  • the motion signal generator of the first sensing device 100a or the first sensing device 100a may detect the motion of the object through a plurality of motion sensors.
  • the motion sensor may include a gyro sensor, an acceleration sensor, and a geomagnetic field sensor.
  • each of the first sensing device 100a or the second sensing device 100b will be described as performing an operation, but the operation signal generator or the second sensing device of the first sensing device 100a ( Each operation signal generator of 100b may perform the same operation.
  • the first sensing device 100a when the first sensing device 100a is attached to the upper arm of the body of the object and the second sensing device 100b is attached to the lower arm, the first sensing device 100a generates the first operation signal.
  • the second sensing device 100b may generate a second operation signal.
  • the first operation signal may be generated based on the first gyro sensor signal, the first acceleration sensor signal, and the first geomagnetic sensor signal
  • the second operation signal may be the second gyro sensor signal or the second acceleration sensor signal.
  • a second earth magnetic field sensor signal a second earth magnetic field sensor signal.
  • the first sensing device 100a may calculate an angle with respect to the object based on the first operation signal and the second operation signal.
  • the first sensing device 100a may include a roll angle of the first sensing device 100a corresponding to a roll rotation based on at least one of the first gyro sensor signal, the first acceleration sensor signal, and the first geomagnetic sensor signal.
  • the pitch angle of the first sensing device 100a corresponding to the pitch rotation and the yaw angle of the first sensing device 100a corresponding to the yaw rotation may be calculated.
  • the roll means rotation about the x axis
  • the pitch means rotation about the y axis
  • the yaw means rotation about the z axis.
  • the second sensing device 100b may further include a roll angle of the second sensing device 100b and a second sensing device based on at least one of a second gyro sensor signal, a second acceleration sensor signal, and a second geomagnetic sensor signal.
  • the pitch angle of 100b and the yaw angle of the second sensing device 100b may be calculated.
  • the first sensing device 100a may calculate an angle with respect to the object based on the roll angle, the pitch angle and the yaw angle of the first sensing device 100a and the roll angle, the pitch angle and the yaw angle of the second sensing device 100b. Can be.
  • the first sensing device 100a integrates the angular velocity signal on the x axis of the first sensing device 100a, the angular velocity signal on the y axis of the first sensing device 100a, and the angular velocity signal on the z axis of the first sensing device 100a.
  • the yaw angle of the device 100a can be calculated.
  • the first sensing device 100a calculates the roll angle of the first sensing device 100a through integration of the angular velocity signal on the x axis of the first sensing device 100a, and the first sensing device 100a.
  • the second sensing device 100b may be configured for the angular velocity signal of the x axis of the second sensing device 100b, the angular velocity signal of the y axis of the second sensing device 100b, and the angular velocity signal of the z axis of the second sensing device 100b.
  • the roll angle of the second sensing device 100b corresponding to the roll rotation through the integration, the pitch angle and the yaw rotation of the second sensing device 100b corresponding to the pitch rotation. 2 yaw angle of the sensing device (100b) can be calculated.
  • the first sensing device 100a uses the acceleration signal on the x axis of the first sensing device 100a, the acceleration signal on the y axis of the first sensing device 100a, and the acceleration signal on the z axis of the first sensing device 100a.
  • the initial value of the roll angle of the first sensing device 100a and the initial value of the pitch angle of the first sensing device 100a may be determined.
  • an example of determining the initial value of the roll angle and the initial value of the pitch angle by the first sensing device 100a through Equations 1 and 2 will be described.
  • the first sensing device (100a) is a pie (roll angle) ), The pitch angle theta ( )
  • the transformation matrix May refer to a navigation coordinate system indicating a transformation from a reference coordinate system to a fuselage coordinate system.
  • the transformation matrix Can have a transformation of the roll angle, the pitch angle and the yaw angle as elements, and the roll angle, the pitch angle and yaw angle , , It can be expressed as.
  • the first sensing device 100a has a value of 1 (g: gravitational acceleration) in which the z-axis of the three axes of the x-axis, the y-axis, and the z-axis coincides with the middle acceleration direction. ) And each of the other two axes, x and y, is 0. ),
  • the pitch angle theta Can be calculated.
  • the first sensing device 100a is a pie, which is a calculated roll angle. ),
  • the pitch angle theta ( ) Can be determined as the initial value of the roll angle and the initial value of the pitch angle.
  • the yaw angle is Psi ( Can be expressed as
  • the first sensing device 100a receives the geomagnetic field signal of the x axis of the first sensing device 100a, the geomagnetic field signal of the y axis of the first sensing device 100a, and the z magnetic field signal of the z axis of the first sensing device 100a.
  • the initial value of the yaw angle of the first sensing device 100a may be determined.
  • the first sensing device 100a is m x , which is the geomagnetic signal on the x-axis of the first sensing device 100a, m y , which is the y-axis signal on the y-axis of the first sensing device 100a, and 1 m z , the transformation matrix, which is the geomagnetic signal on the z-axis of the sensing device 100a And the earth angle Psi (m 1, m 2 , m 3 ) We can calculate the initial value of).
  • Equation 1 ( ) Can be represented by C 1 associated with the roll angle and pitch angle and C 2 associated with the yaw angle, as shown in Equation 4, and Equation 1 is converted into Equation 5 and Equation 6.
  • the first sensing device 100a has a pie angle of roll in Equation 8 ) And the pitch angle theta ( )
  • the initial value of yaw angle can be obtained by substituting m x , m y and m z , which are the geomagnetic signals when each is 0, and m 1 , m 2 and m 3 , which are the values of the earth's geomagnetic vector.
  • the first sensing device 100a may determine the initial value of the determined roll angle of the first sensing device 100a, the initial value of the pitch angle of the first sensing device 100a, and the initial value of the yaw angle of the first sensing device 100a. Based on the integration, the angular velocity signal on the x axis of the first sensing device 100a, the angular velocity signal on the y axis of the first sensing device 100a, and the angular velocity signal on the z axis of the first sensing device 100a may be integrated.
  • the first sensing device 100a performs the integration on the angular velocity signal of the x-axis of the first sensing device 100a based on the determined initial value of the roll angle of the first sensing device 100a, and determines the determined first value.
  • the integration of the angular velocity signal on the y-axis of the first sensing device 100a is performed based on the initial value of the pitch angle of the first sensing device 100a, and based on the determined initial value of the yaw angle of the first sensing device 100a.
  • the second sensing device 100b uses the x-axis geomagnetic signal of the second sensing device 100b, the y-axis signal of the y-axis of the second sensing device 100b, and the z-axis geomagnetic signal of the second sensing device 100b.
  • the initial value of the yaw angle of the second sensing device 100b may be determined.
  • the second sensing device 100b uses an acceleration signal on the x axis of the second sensing device 100b, an acceleration signal on the y axis of the second sensing device 100b, and an acceleration signal on the z axis of the second sensing device 100b.
  • the initial value of the roll angle of the second sensing device 100b and the initial value of the pitch angle of the second sensing device 100b may be determined.
  • the second sensing device 100b performs integration on the angular velocity signal of the x-axis of the second sensing device 100b based on the determined initial value of the roll angle of the second sensing device 100b, and determines the determined second sensing.
  • 2 may integrate the angular velocity signal of the z-axis of the sensing device (100b).
  • a method of measuring the angular velocity using a gyro sensor and calculating the angle by integrating the measured angular velocity may cause a drift due to a cumulative error.
  • the drift phenomenon means that the angle of the object gradually increases or decreases from the central axis even when the object is still.
  • an acceleration sensor can be used to correct this.
  • the acceleration sensor can also be used as a tilt sensor because gravity acceleration is always present.
  • the first sensing device 100a may correct the roll angle and the pitch angle calculated using the acceleration signal. At this time, the first sensing device 100a receives the acceleration signal on the x axis of the first sensing device 100a, the acceleration signal on the y axis of the first sensing device 100a, and the acceleration signal on the z axis of the first sensing device 100a. The roll angle of the first sensing device 100a and the pitch angle of the first sensing device 100a may be corrected.
  • the first sensing device 100a may be one of an acceleration signal on the x axis of the first sensing device 100a, an acceleration signal on the y axis of the first sensing device 100a, and an acceleration signal on the z axis of the first sensing device 100a.
  • the first sensing device 100a may correct the roll angle and the pitch angle calculated using the acceleration signal in order to correct drift according to the time generated by the first sensing device 100a.
  • the first sensing device 100a has a gravity acceleration vector And the acceleration signal
  • a correction equation using the gravity acceleration vector may be derived as in Equation 9.
  • the correction formula a x, a y, a z represents the value of the actual acceleration sensor, q 1, q 2, q 3, q 4 may indicate a quaternion value of the current angle. Also, of , , May mean the value of the acceleration sensor expected at the current angle.
  • the second sensing device 100b uses an acceleration signal on the x axis of the second sensing device 100b, an acceleration signal on the y axis of the second sensing device 100b, and an acceleration signal on the z axis of the second sensing device 100b. By doing so, the roll angle of the second sensing device 100b and the pitch angle of the second sensing device 100b may be corrected.
  • the first sensing device 100a may correct the yaw angle calculated using the geomagnetic signal.
  • the first sensing device 100a may include a geomagnetic field signal on the x-axis of the first sensing device 100a, a geomagnetic field signal on the y-axis of the first sensing device 100a, and a z-axis of the first sensing device 100a.
  • the yaw angle of the first sensing device 100a calculated using the system signal may be corrected.
  • the first sensing device 100a may include a geomagnetic signal on the x axis of the first sensing device 100a, a geomagnetic signal on the y axis of the first sensing device 100a, and a geomagnetic field on the z axis of the first sensing device 100a.
  • the yaw angle may be first obtained using at least one of the signals, and the yaw angle of the first sensing device 100a calculated using the obtained yaw angle may be corrected.
  • the first sensing device 100a may correct the yaw angle calculated by using the acceleration signal in order to correct drift with respect to time generated by the first sensing device 100a.
  • the first sensing device 100a has a geomagnetic vector And the geomagnetic signal
  • the correction equation using the geomagnetic field vector can be derived as in Equation 10.
  • m 1 , m 2 , m 3 of the correction equation represents the actual geomagnetic field sensor, and represents the quaternion value of the current angle. At this time, of , , Indicates the value of the geomagnetic sensor expected at the current angle.
  • Equation 11 a final correction equation such as Equation 11 may be derived using the acceleration sensor value and the geomagnetic field sensor value expected at the current angle.
  • the second sensing device 100b may include the x-axis geomagnetic signal of the second sensing device 100b, the y-axis signal of the y-axis of the second sensing device 100b, and the z-axis geomagnetic field of the second sensing device 100b.
  • the yaw angle of the second sensing device 100b may be corrected using the signal.
  • the first sensing device 100a is configured based on the roll angle of the corrected first sensing device 100a, the pitch angle of the corrected first sensing device 100a, and the yaw angle of the corrected first sensing device 100a.
  • the first orientation corresponding to the first sensing device 100a may be determined.
  • the second sensing device 100b is based on the roll angle of the corrected second sensing device 100b, the pitch angle of the corrected second sensing device 100b, and the yaw angle of the corrected second sensing device 100b. As a result, a second orientation corresponding to the second sensing device 100b may be determined.
  • 4A to 4B are diagrams for explaining an example of a process of determining an orientation.
  • the first sensing device 100a may include a gyro signal ( ) Is integrated. In this case, the first sensing device 100a may measure an angle change by integrating a signal value of the gyro sensor.
  • the first sensing device 100a filters the signal of the geomagnetic field sensor, and as shown in S430 of FIG. 4A, the acceleration signal, which is actual sensor data ( ) And filtered geomagnetic signal ( ) Can be used to calculate the difference between the expected sensor values at the current angle.
  • the first sensing device 100a may include a gyro signal ( ) May determine the orientation value S440 corresponding to the sensor using the difference between the integration result and the sensor value expected at the current angle.
  • the gyro signal ( The roll angle, pitch angle, yaw angle, which is an integral value of)
  • the acceleration signal and the geomagnetic field signal so that the corrected roll angle, pitch angle, yaw angle corresponding to the sensor can be derived in the form of quaternion.
  • the first sensing device 100a may determine orientation through a quaternion.
  • the first sensing device 100a may express the first orientation corresponding to the first sensing device 100a as four quaternion elements q 1 , q 2 , q 3 , and q 4 .
  • the four elements may be composed of x, y, z values and the rotation angle of the rotation axis.
  • the first sensing device 100a may determine an angle with respect to the object based on the first orientation and the second orientation corresponding to the second sensing device 100b.
  • the first orientation and the second orientation may be quaternions.
  • the first sensing device 100a may determine an angle with respect to the organ of the body based on the product between the first orientation of the first sensing device 100a and the second orientation of the second sensing device 100b. For example, quaternions from C to A ( ) Is the rotating quaternion (C to B) ) And quaternions from B to A ( Can be found as the product of In this case, the product of quaternions is It can be expressed as, and if it is developed, the result as shown in Equation 13 can be obtained.
  • the inverse of the first orientation is It can be expressed as
  • the first sensing device 100a may convert the result obtained from the product of the inverse of the first orientation and the second orientation from the quaternion to the Euler angle.
  • the angle with respect to the object may be an Euler angle.
  • the first sensing device 100a can convert the Euler angle into an angle that can be recognized by a human. For this purpose, the first sensing device 100a converts a quaternion into a rotation matrix. Can be converted to). At this time, And theta is 90 degrees ( ), , , Theta is -90 degrees ( ), , If theta is not 90 degrees or -90 degrees, , It can be calculated as
  • any one of the first sensing device 100a, the second sensing device 100b, the receiving device 200, or the evaluation data output device 300 may include an operation signal of each of at least one sensing device attached to the body. Or an orientation signal) or at least one or more other signals to calculate an angle to an organ of the body.
  • 5A to 5B illustrate a receiving apparatus according to an embodiment of the present invention.
  • 5A is a diagram illustrating an external appearance of the reception device 200.
  • 5B is a view illustrating the inside of the receiving device 200 in which the upper case and the lower case are separated.
  • the receiving device 200 may include a case 500, an antenna 510, a power switch 520, a memory card 530, and a USB communication and charging terminal 540.
  • the memory card 530 is a MicroSD card.
  • the case 500 of the receiver 200 serves to protect an internal circuit in which the upper case is combined with the lower case to control the receiver 200.
  • the case 500 may be made of a material such as plastic, PVC, synthetic resin.
  • the receiving device 200 may receive an EMG signal and an operation signal from the sensing device 100 through the antenna 510.
  • the receiving device 200 may receive the sensing data corresponding to at least one of the EMG signal and the operation signal from the sensing device 100.
  • the sensing data may be an analog signal or a digital signal converted from at least one of an EMG signal and an operation signal.
  • the receiving device 200 is provided through the first antenna 511.
  • One or more of the first EMG signal, the first operation signal, or the first sensing data for the first sensing device 100a may be received, and the receiving device 200 may receive the second sensing device ( One or more of the second EMG signal, the second operation signal, or the second sensing data for 100b) may be received.
  • the receiving device 200 may communicate with three sensing devices through the first antenna 511 and communicate with three other sensing devices through the second antenna 512.
  • the power switch 520 of the receiver 200 may turn on or off an operation of the receiver 500.
  • the receiving device 200 may output sensing data corresponding to the received EMG signal and the operation signal.
  • the reception apparatus 200 may include first sensing data corresponding to the first EMG signal and the first operation signal received from the first sensing apparatus 100a and a second sensing apparatus attached to a second position of the object. Second sensing data corresponding to the second EMG signal and the second operation signal received from 100b) may be output.
  • the receiving device 200 may directly generate evaluation data associated with the posture of the object based on the first and second sensing data and store it in the microSD card 530.
  • the receiving device 200 may receive evaluation data generated by the sensing device 100.
  • the receiving device 200 may generate evaluation data associated with the object by comparing the angle with a reference value.
  • the evaluation data may provide the angle at which the elbow of the user is bent as a result of the evaluation data through the relative angles of the first sensing device 100a and the second sensing device 100b.
  • the evaluation data can include an angle with respect to the object.
  • the angle may be calculated based on the first operating signal and the second operating signal.
  • the first operation signal may be generated based on the first gyro sensor signal, the first acceleration sensor signal, and the first geomagnetic field sensor signal for the first sensing device 100a. It may be generated based on the second gyro sensor signal, the second acceleration sensor signal and the second geomagnetic sensor signal for the second sensing device (100b).
  • the first operation signal may include a first orientation
  • the second operation signal may include a second orientation. In this case, the first orientation may be quaternion and the angle may be Euler angle.
  • the receiving device 200 may output the generated evaluation data.
  • the reception device 200 transmits the generated evaluation data to the evaluation data output device 300 connected to the USB communication and charging terminal 530, the reception device 200 may output the evaluation data received by the evaluation data output device 300.
  • the evaluation data output apparatus 300 may generate evaluation data based on a signal or data received from the sensing apparatus or the receiving apparatus.
  • the evaluation data may include elbow angle 610, biceps muscle electromyography 620, and forearm electromyography 630.
  • the muscle mainly used by the subject may be biceps.
  • the first sensing device 100a may be attached to the muscle abdominal region, which is the center of the biceps curl, and the second sensing device 100b may be attached to the lower arm of the object.
  • the receiving device 200 receives the first EMG signal, the first operation signal, and the first sensing data from the first sensing device 100a, and the second EMG signal, the second operating signal, and the second sensing device 100b.
  • the evaluation data may be generated by receiving the second sensed data.
  • the evaluation data may include an angle with respect to the object.
  • the EMG and motion detection system 1 may know the angle at which the arm of the object is bent by calculating a relative angle through the sensing device 100 and the receiving device 200.
  • the EMG signal also shows how active the biceps muscle is. For example, you know how active your muscles are when your elbows are bent at 30, 45, or 60 degrees. For another example, even if the angle of movement of the object is the same, if the weight of the dumbbell holding the object is different, it can be seen that the muscle activity signal may be greater.
  • FIG. 7 is a flowchart illustrating a method of controlling EMG and motion detection according to an embodiment of the present invention.
  • the method for controlling EMG and motion detection shown in FIG. 7 may include at least one of the EMG and motion detection system 1, the sensing device 100, the receiving device 200, and the evaluation data output device 300 described above. Is performed by. Therefore, although omitted below, at least one of the EMG and motion detection system 1, the sensing device 100, the receiving device 200, or the evaluation data output device 300 will be described with reference to FIGS. 1 to 6. The contents also apply to FIG. 6.
  • the sensing device 100 In operation S710, the sensing device 100 generates an EMG signal based on a sensing result through the electrode.
  • the electrode may be located in the groove 150 formed on one surface of the outside of the case 130 of the sensing device 100 and may contact a part of the object.
  • the sensing device 100 In operation S720, the sensing device 100 generates an operation signal based on the detection result by the motion sensor. In operation S730, the sensing device transmits the EMG signal and the operation signal to the receiving device.
  • steps S710 to S730 may be further divided into additional steps or combined into fewer steps, according to an embodiment of the present invention.
  • some steps may be omitted as necessary, and the order between the steps may be changed.
  • the above-described EMG and motion detection control method may be implemented in the form of a recording medium including instructions executable by a computer, such as a program module executed by the 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.
  • Computer readable media 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.

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Abstract

L'invention concerne un système qui permet de détecter une électromyographie et un mouvement, et qui comprend : un dispositif de détection comprenant un boîtier ayant une rainure pour positionner une électrode sur une surface de l'extérieur du boîtier, une électrode positionnée dans la rainure et en contact avec une partie d'un sujet, une unité de détection positionnée à l'intérieur du boîtier, détectant l'électromyographie et le mouvement du sujet, et transmettant à un dispositif de récepteur un signal d'électromyographie et un signal de mouvement correspondant à des résultats de détection, et une pile fournissant de l'énergie à l'unité de détection ; le dispositif de récepteur recevant le signal d'électromyographie et le signal de mouvement provenant du dispositif de détection et fournissant les données de détection correspondant au signal d'électromyographie reçu et au signal de mouvement reçu.
PCT/KR2015/001265 2014-03-14 2015-02-09 Système de détection d'électromyographie et de mouvement, son procédé de commande WO2015137629A1 (fr)

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KR101718471B1 (ko) * 2016-06-20 2017-03-21 박순응 관절의 굽힘각과 회전각 측정장치 및 그를 이용한 측정 방법
KR20180058999A (ko) * 2016-11-25 2018-06-04 알바이오텍 주식회사 보행 분석 시스템, 방법 및 컴퓨터 판독 가능한 기록매체
KR101896660B1 (ko) * 2017-02-21 2018-09-07 한림대학교 산학협력단 투구 동작 교정 장치 및 방법
KR102015553B1 (ko) 2017-12-28 2019-08-28 (주)리라이브 스마트 근전도감지기의 접촉면 증대구조
KR20230164264A (ko) 2022-05-24 2023-12-04 경북대학교 산학협력단 운동 능력 활성화를 위한 관리장치, 이를 포함하는 운동 보조 시스템 및 운동 보조 방법

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