WO2015149197A1 - 一种用于智能假肢的非接触式电容传感系统 - Google Patents

一种用于智能假肢的非接触式电容传感系统 Download PDF

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Publication number
WO2015149197A1
WO2015149197A1 PCT/CN2014/000477 CN2014000477W WO2015149197A1 WO 2015149197 A1 WO2015149197 A1 WO 2015149197A1 CN 2014000477 W CN2014000477 W CN 2014000477W WO 2015149197 A1 WO2015149197 A1 WO 2015149197A1
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Prior art keywords
module
capacitance
signal
sensing system
contact
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PCT/CN2014/000477
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English (en)
French (fr)
Inventor
郑恩昊
王启宁
魏坤琳
王龙
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Peking University
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Peking University
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Priority to US14/771,136 priority Critical patent/US10111763B2/en
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A61F2/72—Bioelectric control, e.g. myoelectric
    • 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]
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/78—Means for protecting prostheses or for attaching them to the body, e.g. bandages, harnesses, straps, or stockings for the limb stump
    • A61F2/7812—Interface cushioning members placed between the limb stump and the socket, e.g. bandages or stockings for the limb stump
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/78—Means for protecting prostheses or for attaching them to the body, e.g. bandages, harnesses, straps, or stockings for the limb stump
    • A61F2/80—Sockets, e.g. of suction type
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
    • A61F2002/7615—Measuring means

Definitions

  • the invention relates to a capacitive sensing system in the field of lower limb intelligent prosthesis control, in particular to a non-contact capacitive sensing system for intelligent prosthesis in human motion modal recognition.
  • the lower limb intelligent prosthesis is an emerging technology developed from the end of the 20th century to the beginning of the 21st century. With its independent control system and special mechanical structure, it can simulate the angle curve and torque characteristics of each joint during walking, which can greatly expand the athletic ability of disabled people.
  • the lower limb intelligent prosthetic control system adopts a layered control strategy, which is also the core technology and research difficulty in this field.
  • the upper controller automatically determines the motion intention of the person and distinguishes different motion modes;
  • the middle controller calculates the angle curve and the torque curve according to the corresponding motion mode;
  • the bottom controller controls the driving device (motor, hydraulic The device or pneumatic device) achieves the corresponding dynamics.
  • Sensing methods and sensing systems are essential for real-time and accurate extraction of human motion information.
  • the most common prior art in this field is a sensing system based on surface EMG signals and an identification method based on EMG signals.
  • EMG signals have the advantage of small delay and accurate information (directly reflecting muscle contraction).
  • the EMG signal electrode needs to be attached to the measured muscle position to measure the effective signal. Some people with disabilities have some muscle loss and residual muscle atrophy due to amputation. It is difficult to get a sufficient number of effective EMG signals.
  • the EMG signal electrode is in direct contact with the skin. If it is used for intelligent prosthetic control, it needs to be placed inside the receiving cavity.
  • the pressure of the measuring point on the stump causes skin ulcers and damage. Skin sweat also affects the EMG signal quality and is seriously reduced. Identify the results. 3.
  • the amplitude of the EMG signal is weak (uV level), and the frequency is relatively high (1 kHz).
  • the processing system is complex and requires multiple amplifiers. Simultaneous use of multiple channels can greatly increase system cost and computational complexity.
  • the method based on the capacitive sensing system to recognize the human motion mode is to identify the deformation of the leg muscle according to the capacitance ring, and has the potential to replace the electromyogram signal for human motion recognition, and can be widely applied to the control of the intelligent limb field such as the exoskeleton. And human movement recognition of healthy people.
  • the electrode pads of the capacitor ring are in direct contact with the skin, which may be affected by the potential of sweat; repeated wear requires calibration position, which increases the difficulty of actual use.
  • the capacitor ring cannot be installed inside the receiving cavity. So right For the disabled in the calf amputation, only the thigh ring can be fixed. For the disabled person with thigh amputation, the length of the residual limb can not be used. Summary of the invention
  • the present invention provides a non-contact capacitive sensing system for an intelligent prosthesis, which aims to provide a non-contact with good signal repeatability, no skin sweat, high wear stability and low cost.
  • Capacitive sensing system The second objective is to provide a non-contact capacitive sensing system that accommodates various types of lower extremity amputation and various residual limb lengths.
  • a non-contact capacitive sensing system for an intelligent prosthesis comprising: a test front end, a signal acquisition unit and a signal processing unit; Forming a coupling capacitor with the human body; the signal acquisition unit is configured to acquire a coupling signal to obtain a valid signal; the signal processing unit is configured to process the effective signal collected by the signal acquisition unit, and then transmit the signal to the non-contact capacitor a controller external to the sensing system; the test front end includes a plurality of capacitive electrode sheets of the channel, and the capacitive electrode sheets of each channel are respectively fixed between the prosthetic receiving cavity and the prosthetic inner bushing, and are coupled with the human body to form a test piece a capacitor electrode; the capacitor electrode piece is located inside the prosthetic receiving cavity, is fixed on the outer side of the prosthetic inner liner via a conductive double-sided tape, is separated from the prosthetic receiving cavity by an insulating glue, and each of the capacitor electrode pieces Both are connected to the signal acquisition unit through
  • the capacitive electrode sheets of each channel are made of a copper mesh.
  • the capacitive electrode sheets are preferably six, and the positions of the capacitor electrodes are respectively: front end of the humerus, lower side of the patellar ligament; anterior side of the residual limb; posterior side of the residual limb; corresponding position of the upper side of the gastrocnemius; femur Medial side; lateral femur.
  • the CTD module includes a gating unit, a Schmitt triggering unit, and an arithmetic unit; the gating unit strobes the capacitance to be tested and the reference capacitor of the plurality of channels in a time-sharing manner, and the gated to-be-measured capacitance to be tested is
  • the reference capacitor signal is transmitted to the Schmitt trigger unit, and the capacitor discharge waveform is converted into a square wave of duty cycle variation and transmitted to the operator, and the square wave is measured by the operator to obtain a digital The amount of capacitance changes the signal.
  • the communication between the CTD module and the control module uses an SPI bus.
  • the digital filtering module uses an STM32 control chip of STMicroelectronics; the digital filtering module uses a three-stage digital filter: the first stage filter is a median value filter, and the second stage filter is a first order DC notch filter.
  • the third-stage filter is a second-order Butterworth low-pass filter.
  • the specific method of the median value filtering is to take the median value in the sliding window of length N as the signal value of the point.
  • the communication module uses an nRF24L01 communication chip manufactured by Nordic Corporation, and the chip has a maximum over-the-air data rate of 2 MHz, which communicates with the filtering module through the SPI bus.
  • the test front end used in the present invention will receive a capacitor by receiving a capacitive electrode sheet in the cavity and the human body.
  • Non-contact wear overcomes the effects of skin sweat, while the use of a soft copper mesh on the capacitor pads ensures that the system is worn without localized pressure points and affects normal motion.
  • the invention provides a CTD module in the signal acquisition unit, and calculates the actual capacitance value by calculating the capacitance discharge time difference by the CTD module, and the accuracy of the measurement capacitance can reach the fF level.
  • the invention adopts a three-stage digital filter in the filtering module in the signal processing unit, wherein the second-order filter is a first-order DC trap, and the first-order DC trap can effectively remove the capacitance caused by the temperature change. Signal baseline drift.
  • the signal distortion caused by the first-order DC trap is much smaller than that of the high-pass filter and the band-pass filter. Therefore, the signal for filtering noise is reproducible and the distortion is small.
  • the measuring points used in the present invention are respectively located on the radial surface and the knee sides, and fully extract the effective information of the lower limb movement of the human body.
  • the invention can be widely applied in the field of intelligent prosthetic control.
  • Figure 1 is a schematic view showing the structure of the system of the present invention
  • Figure 2 is a schematic diagram of the capacitance of the present invention
  • FIG. 3 is a schematic view showing the position of each electrode sheet before the measurement in the prosthetic receiving cavity of the present invention
  • FIG. 4 is a schematic structural view of the CTD module of the present invention
  • Figure 5 is a block diagram of a first-order DC trap of the present invention.
  • Figure 6 is a schematic diagram of signals measured in an embodiment of the present invention. Best mode for carrying out the invention
  • the invention utilizes the principle of capacitance recognition, installs the electrode piece in the prosthetic receiving cavity, couples with the human body to form a capacitance, and then uses the change of the capacitance to reflect the motion information, thereby realizing the motion mode recognition.
  • the non-contact capacitive sensing system belongs to the upper layer controller and its function is to identify the motion mode and provide accurate motion intent information for the lower layer controller.
  • the present invention includes a test front end 1, a signal acquisition unit 2, and a signal processing unit 3.
  • the test front end 1 is used to form a coupling capacitance with the human body;
  • the signal acquisition unit 2 is configured to acquire a coupling capacitance change to obtain an effective signal;
  • the signal processing unit 3 is configured to process the effective signal collected by the signal acquisition unit 2, and then transmit the same to the present invention.
  • a controller external to the contactless capacitive sensing system that provides accurate motion intent information to the controller.
  • the test front end 1 of the present invention includes a plurality of capacitive electrode sheets 4, and the capacitive electrode sheets of each channel are respectively fixed between the prosthesis receiving chamber 5 and the prosthetic inner liner 6, and are coupled with the human body 7.
  • the capacitive electrode sheet 4 is located inside the prosthetic receiving cavity 5, is fixed on the outer side of the prosthetic inner liner 6 via the conductive double-sided adhesive, is separated from the prosthetic receiving cavity 5 by the insulating glue, is not in contact with the skin, and each capacitive electrode sheet 4 Both are connected to the signal acquisition unit 2 through a shielded wire.
  • the artificial inner liner 6 is a dielectric that is coupled between the capacitors to be tested, and the material is determined according to the wearing habit of the disabled.
  • the inner liner 6 of the prosthesis is made of silica gel.
  • Individual disabled people suffer from muscle atrophy after wearing a prosthetic for a long time, so they will wear extra-legged stockings.
  • the disabled person in the experimental wears an additional residual body stock made of nylon.
  • the residual muscles and ligaments of the residual limb contract to cause muscle deformation.
  • the interaction between the residual limb and the prosthetic receiving chamber 5 during the landing of the prosthesis will cause the distance between the capacitive electrode 4 and the human body to occur. The change, which in turn causes a change in the value of the capacitor to be tested.
  • the capacitive electrode sheets 4 of each channel are made of a copper mesh.
  • the area and the specific position of the capacitive electrode sheet 4 of each channel are determined according to the ratio of the residual limb of the disabled person (in this embodiment, the residual weight ratio of the disabled person in the experimental subject is 32%).
  • the electrode sheets are 5 ⁇ *4 ⁇ Using a 0. lmm thick copper mesh, the size is 3. 5cm * 4cm. Taking the left calf prosthesis receiving cavity as an example (as shown in Fig. 3), the capacitive electrode sheets 4 of the six channels A to F are used, and the positions of the capacitive electrode sheets 4 of the respective channels are respectively: 1.
  • the specific setting position is as follows:
  • the capacitive electrode sheets 4 of channel A and channel B are located in the coronal plane I, respectively located on the inner side of the femur and outside the femur, that is, on both sides of the knee; the capacitive electrode sheets 4 of the channel D and the channel E are located on the radial plane.
  • the inner anterior side of the II, the inferior aspect of the patellar ligament and the anterior humerus near the end of the residual limb; the capacitive electrode sheets 4 of the channel C and the channel F are located on the posterior side of the radial plane II, respectively on the upper and lower sides of the gastrocnemius (relative position) , that is, the posterior side of the end of the limb. Most of the lower limb motion modes occur in the radial plane II, so more motion information can be recorded at the four locations.
  • the two capacitive electrode sheets 4 are located on both sides of the femur, and the knee ligament G contracts significantly during exercise, and is relatively complete for most calf amputation disabled persons, so that the knee joint bending and other motion information can be fully collected.
  • the signal acquisition unit 2 of the present invention comprises a CTD (capacitance digital conversion) module 8 and a control module 9, wherein a reference capacitor is disposed in the CTD module 8, and the CTD module 8 determines the count clock and the discharge resistance value based on the capacitance value of the reference capacitor ⁇ .
  • the CTD module 8 measures the difference between the charge and discharge time of the capacitor to be tested and the reference capacitor, that is, converts the capacitance change signal into a digital signal and transmits it to the control module 9.
  • control module 9 The function of the control module 9 is to calculate the ratio of the capacitance ⁇ to the reference capacitance ⁇ according to the time difference value transmitted by the CTD module 8, and then calculate the actual capacitance to be measured according to the reference capacitance value, and transmit the actual capacitance value to be tested. To the signal processing unit 3. Where the control module 9
  • the transmission timing transmitted to the signal processing unit 3 is determined based on the sampling frequency.
  • the sampling frequency of the priority control module 9 of the present invention is 100 Hz, that is, the result is updated every 10 ms.
  • the CTD module 8 includes a gating unit 81, a Schmitt trigger unit 82, and an arithmetic unit 83.
  • the strobe unit 81 sequentially strobes the capacitor ⁇ and the reference capacitor of the plurality of channels, and transmits the calibrated capacitor C and the reference capacitor signal to the Schmitt trigger unit 82 to convert the capacitor discharge waveform into
  • the square wave of the duty cycle is transmitted to the arithmetic unit 83, and the square wave high time is measured by the arithmetic unit 83, thereby measuring the capacitance discharge time, that is, the digital capacitance change signal is obtained.
  • the arithmetic unit 83 employs a method of multiple sampling averaging to remove random noise.
  • the present invention preferably collects 10 averaging for each channel capacitance.
  • the communication between the CTD module 8 and the control module 9 uses an SPI bus.
  • all the capacitances of the measurement front end 1 share the same discharge resistance.
  • the reference capacitor is connected to the human body 7 to achieve common ground, and the capacitance of the reference capacitor is determined according to the test, and is generally affected by the area of the capacitor electrode 4 and the inner liner 6 of the prosthesis.
  • the reference fiber is made of conductive fibers and is fixed to the inside of the disabled limb stockings. Therefore, the disabled person can directly wear the capacitance of the CTD module 8 and the measuring front end 1.
  • the capacitance of the reference capacitor is 100pF, and the resistance of the discharge resistor is determined according to the following formula:
  • V. It is the reference capacitor initial voltage
  • V t is the reference capacitor voltage at time t.
  • the CTD module 8 determines V t and V. The size is measured to measure the discharge time t, so the discharge resistance needs to be determined based on the final sampling frequency and the counting frequency.
  • the control module 9 has a counting frequency of 48 MHz, a final sampling frequency of 100 Hz, and a sampling resistance value of 180 ⁇ .
  • the signal processing unit 3 of the present invention includes a digital filtering module 10 and a communication module 11.
  • the digital filtering module 10 is configured to filter out the noise in the received actual capacitance signal to be tested, and transmit the filtered signal to the external controller through the communication module 11.
  • the digital filtering module 10 uses the STM32 control chip of STMicroelectronics.
  • the digital filtering module 10 uses a three-stage digital filter: the first stage filter is a median value filter, the second stage filter is a first order DC notch filter, and the third stage filter is a second order Butterworth low pass filter. .
  • the communication module transmits the filtered capacitor signal to an external controller.
  • the specific method of median filtering is to take the median value in the sliding window of length N.
  • the transfer function of the first-order DC trap is (as shown in Figure 5):
  • the preferred coefficient of the invention is 0.95, coefficient? It is 2. 5
  • the temperature change will cause the capacitance to change, which is reflected as the baseline drift in the measured signal.
  • a high-pass filter or band-pass filter is used, the amplitude-frequency characteristic near the amputation frequency will be affected by the filter order.
  • the effective signal itself has a very low frequency (within 10 Hz), and the high-pass filter causes severe distortion of the useful signal, which affects the recognition accuracy.
  • the invention adopts the first-order DC trap to remove only the signals of the frequency near the direct current and the direct current, and does not cause large distortion to the useful signal.
  • a second-order Butterworth low-pass filter is used to remove high frequency interference in the signal, which is preferably 10 Hz in the present invention.
  • the communication module 11 employs an nRF24L01 communication chip manufactured by Nordic, which has a maximum over-the-air data rate of 2 MHz, which communicates with the filtering module 6 via the SPI bus.
  • the present invention adopts a CRC checksum and an automatic retransmission policy, that is, after completing one frame of data transmission, the receiver returns a CRC check code, and if it does not match the sender, it is resent once.
  • the maximum number of retransmissions is set to five in the present invention.
  • the capacitance signals of different motion modes were actually tested by the following examples:
  • the disabled person was 170 cm tall, 71 kg in weight, unilateral left leg amputation, 8 years after amputation, subjects Wear your own prosthesis in the experiment.
  • a pressure insole is added to the prosthetic side to record the moment of foot contact and ground separation based on the pressure.
  • the subjects were asked to complete five common sports modalities in life, including: normal walking, up and down stairs and up and down slopes.
  • the experiment was divided into 10 groups. Each group measured all the motion modalities twice, requiring disabled people to Take at least two steps in each gait mode. In order to bring the experiment closer to the real environment, it is required that the disabled randomly alternate between different motion modes.
  • the X-axis represents the percentage of gait cycle
  • the y-axis represents the capacitance signal
  • the thick solid line represents the mean of the signal
  • the thin solid line represents the signal standard deviation
  • each column subgraph represents a motion modality, including flat Walking, up and down stairs, and up and down slopes
  • each row of subgraphs represents the signal of a capacitive channel.
  • the non-contact capacitive sensing system provided by the present invention overcomes the limitations of the prior art means (the electromyographic signal-based sensing system and the existing human motion recognition capacitance system). Accurate and stable recording of the change of the capacitance signal of the disabled in different motion modes. Can meet the needs of human motion modal recognition.

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  • Animal Behavior & Ethology (AREA)
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Abstract

一种用于智能假肢的非接触式电容传感系统，它包括测量前端（1）、信号采集单元（2）和信号处理单元（3）。测量前端（1）由置于假肢接受腔内部电容电极片（4）组成，电容电极片（4）位于假肢接受腔（5）和内衬套（6）之间，与皮肤非接触，每一个电容电极片（4）与人体（7）耦合形成电容。信号采集单元（2）包括CTD模块（8）和控制模块（9），CTD模块（8）采用测量待测电容和参考电容放电时间比值的方法来测量电容量。信号处理单元（3）由滤波模块（10）和通信模块（11）组成。本系统信号重复性好、不受皮肤汗液影响、穿戴稳定性强、成本低，能适应各种下肢残肢截肢类型和各种残肢长度，可以广泛在智能假肢控制领域中应用。

Description

一种用于智能假肢的非接触式电容传感系统 技术领域
本发明涉及一种下肢智能假肢控制领域中的电容传感系统， 特别是关 于一种在人体运动模态识别中的用于智能假肢的非接触式电容传感系统。 背景技术
下肢智能假肢是在 20世纪末到 21世纪初发展起来的新兴技术。 其具 有独立的控制系统和特殊的机械结构， 能够模拟人在行走过程中各个关节 的角度曲线和力矩特性， 能极大扩展残疾人的运动能力。 下肢智能假肢控 制系统采用分层控制策略， 这也是该领域的核心技术和研究难点。 在分层 控制策略中， 上层控制器自动判断人的运动意图， 区分不同的运动模态； 中层控制器根据相应的运动模态计算角度曲线和力矩曲线； 底层控制器控 制驱动装置 （电机、 液压装置或气压装置） 实现相应动力学特性。
传感方法和传感系统对人体运动信息实时准确的提取至关重要。 该领 域中最常见的现有技术是基于表面肌电信号的传感系统和基于肌电信号 的识别方法。 肌电信号具有延时小、 信息准确 （直接反映肌肉收缩） 的优 点。 但是在智能假肢控制方面， 肌电信号采集手段存在着诸多局限： 1、 肌电信号电极需要贴在被测肌肉位置才能测得有效信号， 残疾人由于截肢 原因造成部分肌肉缺失和残余肌肉萎缩， 很难得到足够数量的有效肌电信 号。 2、 肌电信号电极与皮肤直接接触， 如果用于智能假肢控制需要放置 在接收腔内部， 因此测量点对残端的压力对造成皮肤溃疡和损伤； 皮肤汗 液也会影响肌电信号质量， 严重降低识别结果。 3、肌电信号幅值微弱（uV 级别）， 而且频率相对较高 （1kHz ) , 处理系统复杂， 需要多级放大器。 多 个通道同时使用会大大增加系统成本和计算复杂度。
目前， 基于电容传感系统识别人体运动模态的方法是根据电容环来识别腿 部肌肉形变， 具有替代肌电信号进行人体运动识别的潜力， 可以广泛应用 于外骨骼等智能肢体领域内的控制和健康人的人体运动识别。 但是针对智 能假肢应用， 其存在一些局限： 1、 电容环的电极片与皮肤直接接触， 会 受到汗液的潜在影响； 反复穿戴需要标定位置， 增加了实际使用的难度。 2、 对于下肢截肢的残疾人来说， 电容环不能加装在接受腔内部。 因此对 于小腿截肢残疾人来说只能固定大腿环， 对于大腿截肢残疾人则受到残肢 长短的限制无法使用。 发明内容
针对上述问题， 本发明提供一种用于智能假肢的非接触式电容传感系 统， 其目一是提供一种信号重复性好、 不受皮肤汗液影响、 穿戴稳定性强 和成本低的非接触式电容传感系统。 目的二是提供一种适应各种下肢残肢 截肢类型和各种残肢长度的非接触式电容传感系统。
为实现上述目的， 本发明采取以下技术方案： 一种用于智能假肢的非 接触式电容传感系统， 其特征在于： 它包括测试前端、 信号采集单元和信 号处理单元； 所述测试前端用于与人体形成耦合电容； 所述信号采集单元 用于采集耦合电容变化得到有效信号； 所述信号处理单元用于对所述信号 采集单元采集到的有效信号处理后， 传输至所述非接触式电容传感系统外 部的控制器； 所述测试前端包括多个通道的电容电极片， 每个通道的所述 电容电极片分别固定在假肢接收腔和假肢内衬套之间， 与人体耦合形成待 测电容； 所述电容电极片位于所述假肢接收腔内部， 经导电双面胶固定在 所述假肢内衬套外侧， 通过绝缘胶与所述假肢接收腔隔开， 且每个所述电 容电极片都通过屏蔽线与所述信号采集单元连接； 所述信号采集单元包括 CTD模块和控制模块， 所述 CTD模块内设置有一参考电容； 所述 CTD模块 测量待测电容和参考电容充放电时间的差值， 并传输至所述控制模块内； 所述控制模块根据所述 CTD模块传输至的时间差值来计算待测电容和参考 电容的比值， 根据参考电容值计算出实际待测电容值， 并将实际待测电容 值传输至所述信号处理单元； 所述信号处理单元包括数字滤波模块和通信 模块； 所述数字滤波模块用于滤除接收到的实际待测电容信号中的噪音， 并将滤波后的信号通过所述通信模块传输至外部的控制器。
每个通道的所述电容电极片均采用铜网制成。
所述电容电极片优选为六个， 各个所述电容电极片的设置位置分别 为： 胫骨前端， 髌靭带下侧； 残肢末端前侧； 残肢末端后侧； 腓肠肌上侧 对应位置； 股骨内侧； 股骨外侧。
所述 CTD模块包括选通单元、 施密特触发单元和运算器； 所述选通单 元分时选通多个通道的待测电容和参考电容， 将选通采集到的待测电容和 参考电容信号传输至所述施密特触发单元内， 将电容放电波形转换为占空 比变化的方波并传输至所述运算器内， 经所述运算器测量方波高电平时 间， 得到数字量的电容变化信号。
所述 CTD模块与所述控制模块之间通信采用 SPI总线。
所述数字滤波模块采用意法半导体公司的 STM32控制芯片； 所述数字 滤波模块采用三级数字滤波器： 第一级滤波器为中位值滤波， 第二级滤波 器为一阶直流陷波器， 第三级滤波器为二阶巴特沃斯低通滤波器。
所述中位值滤波的具体方法是在长度为 N的滑动窗中取中位值， 作为 该点的信号值。 所述一阶直流陷波器的传递函数为： 11 (2) = ^ ， 其中系数 确
Figure imgf000005_0001
定了陷波器的频率特性， 系数？确定整体的增益。 所述通信模块采用 Nordic公司生产的 nRF24L01通信芯片， 该芯片最 大空中数据率 2MHz， 其通过 SPI总线与所述滤波模块通信。
本发明由于采取以上技术方案， 其具有以下优点： 1、 本发明采用的 测试前端将接受腔内的电容电极片与人体耦合形成电容。 残肢靭带和肌肉 的收缩引起的形变， 以及在运动过程中对接受腔的挤压造成了电容发生变 化。 非接触式穿戴克服了皮肤汗液的影响， 同时电容电极片采用柔软的铜 网也保证了系统穿戴不会出现局部压力点而影响正常运动。 2、 本发明在 信号采集单元内设置有 CTD模块， 通过 CTD模块计算电容放电时间差来计 算实际电容值， 测量电容的精度可以达到 fF 级别。 由于采用数字采样的 方式， 因此避免了多级放大带来的噪声。 3、 本发明在信号处理单元内的 滤波模块中采用三级数字滤波器， 其中第二阶滤波器为一阶直流陷波器， 采用一阶直流陷波器可以有效去除由温度变化引起的电容信号基线漂移。 一阶直流陷波器带来的信号失真远小于高通滤波器和带通滤波器。 因此滤 除噪音的信号重复性好、 失真度小。 4、 本发明采用的测量点分别位于径 向面和膝盖两侧， 充分提取人体下肢运动的有效信息。 本发明可以广泛在 智能假肢控制领域中应用。 附图说明
图 1是本发明的系统结构示意图； 图 2是本发明的电容原理图；
图 3是本发明的测量前的各电极片在假肢接受腔内位置示意图； 图 4是本发明的 CTD模块结构示意图；
图 5是本发明的一阶直流陷波器原理框图；
图 6是本发明实施例测得的信号示意图。 本发明最佳实施方式
本发明利用电容识别的原理， 将电极片安装在假肢接受腔内， 与人体 耦合形成电容，进而利用电容的变化来反映运动信息，实现运动模态识别。 该非接触电容传感系统属于上层控制器， 它的功能是识别运动模态、 为下 层控制器提供准确的运动意图信息。 下面结合附图和实施例对本发明进行 详细的描述。
如图 1所示， 本发明包括测试前端 1、 信号采集单元 2和信号处理单 元 3。 测试前端 1用于与人体形成耦合电容； 信号采集单元 2用于采集耦 合电容变化， 得到有效信号； 信号处理单元 3用于对将信号采集单元 2采 集到的有效信号处理后， 传输至本发明非接触式电容传感系统外部的控制 器， 为控制器提供准确的运动意图信息。
如图 2所示， 本发明的测试前端 1包括多个通道的电容电极片 4， 每 个通道的电容电极片分别固定在假肢接收腔 5和假肢内衬套 6之间， 与人 体 7耦合形成待测电容 ς ( i =i, 2, 3- ) , 待测电容 ς的设置数量根据不同 的截肢类型进行调整。 其中， 电容电极片 4位于假肢接收腔 5内部， 经导 电双面胶固定在假肢内衬套 6外侧， 通过绝缘胶与假肢接收腔 5隔开， 与 皮肤非接触， 且每个电容电极片 4都通过屏蔽线与信号采集单元 2连接。
上述实施例中， 假肢内衬套 6是耦合待测电容中间的电介质， 其材质 视残疾人穿戴习惯而定， 一般情况下假肢内衬套 6材质为硅胶。 个别残疾 人在长时间穿戴一套假肢后发生肌肉萎缩， 因此会额外穿残肢袜， 在本实 施例中， 实验被试残疾人额外穿了一只残肢袜， 由尼龙制成。 在残疾人运 动过程中， 残肢残余肌肉和靭带发生收缩引起肌肉形变， 在假肢着地阶段 残肢与假肢接收腔 5之间的交互力， 都会使电容电极片 4与人体之间的距 离发生变化， 进而引起待测电容值发生变化。
上述实施例中， 每个通道的电容电极片 4均采用铜网制成。 在实际使 用中， 每个通道的电容电极片 4的面积和具体位置根据残疾人残肢比而定 (本实施例中实验被试残疾人残肢比为 32%)， 本实施例中， 电极片均采用 0. lmm厚铜网， 大小为 3. 5cm*4cm。 以左小腿假肢接受腔为例 （如图 3所 示）， 采用 A〜F六个通道的电容电极片 4， 各个通道的电容电极片 4的设 置位置分别为： 1、 胫骨前端， 髌靭带下侧； 2、 残肢末端前侧； 3、 残肢 末端后侧， 即腓肠肌下侧对应位置； 4、 腓肠肌上侧对应位置； 5、 股骨内 侧； 6、 股骨外侧。 其具体设置位置为： 通道 A和通道 B 的电容电极片 4 位于冠状面 I内， 分别位于股骨内侧和股骨外侧， 即在膝盖两侧； 通道 D 和通道 E的电容电极片 4位于径向面 II内前侧， 髌靭带下侧和靠近残肢末 端胫骨前端处； 通道 C和通道 F的电容电极片 4位于径向面 II内后侧， 分 别位于腓肠肌 （相对位置） 上、 下两侧， 即残肢末端后侧。 下肢运动模态 大部分发生在径向面 II内， 因此在该处四个位置能够记录更多的运动信 息。 在冠状面 I内两电容电极片 4位于股骨两侧， 膝盖靭带 G在运动过程 中收缩明显， 而且对于大多数小腿截肢残疾人来说相对完整， 因此能够充 分采集膝关节弯曲等运动信息。
本发明的信号采集单元 2包括 CTD (电容数字转换） 模块 8和控制模 块 9，其中 CTD模块 8内设置有一参考电容 ， CTD模块 8根据参考电容 ς 的电容值确定计数时钟和放电电阻值。 CTD模块 8测量待测电容 ς和参考 电容 充放电时间的差值， 即将电容变化信号转换成数字量信号， 传输至 控制模块 9内。 控制模块 9的功能是根据 CTD模块 8传输至的时间差值来 计算待测电容 ς和参考电容 ς的比值，进而根据参考电容值来计算实际待 测电容值， 并将实际待测电容值传输至信号处理单元 3。 其中， 控制模块
9根据采样频率来确定向信号处理单元 3传输的传输时序， 本发明优先控 制模块 9的采样频率为 100Hz， 即每 10ms更新一次结果。
上述实施例中， 如图 4所示， CTD模块 8包括选通单元 81、 施密特触 发单元 82和运算器 83。选通单元 81分时选通多个通道的待测电容 ς和参 考电容 ，将选通采集到的待测电容 Ci和参考电容 信号传输至施密特触 发单元 82 内， 将电容放电波形转换为占空比变化的方波并传输至运算器 83 内， 经运算器 83测量方波高电平时间， 从而测量得到电容放电时间， 即得到数字量的电容变化信号。 运算单元 83 采用了多次采样取平均的方 法来去除随机噪音， 本发明优选每个通道电容采集了 10次取平均。 上述实施例中， CTD模块 8与控制模块 9之间通信采用 SPI总线。 上述实施例中， 本发明中， 测量前端 1的所有电容共用同一个放电电 阻。 在 CTD模块 8中， 参考电容地与人体 7相连实现共地， 且参考电容 的容值根据试验确定， 一般情况下受到电容电极片 4面积、 假肢内衬套 6 的影响。 本实施例中， 参考电容地采用导电纤维， 固定到残疾人残肢袜内 侧，因此残疾人直接穿戴就可以实现 CTD模块 8与测量前端 1的电容共地。 参考电容 的容值为 100pF， 则放电电阻的阻值根据如下公式确定：
=V0e- t/RC，
其中， V。是参考电容初始电压， Vt是 t时刻参考电容电压。 CTD模块 8 确定了 Vt和 V。的大小来测量放电时间 t， 因此需要根据最终采样频率和计 数频率来确定放电电阻。 在本实施例中， 控制模块 9计数频率是 48MHz, 最终采样频率是 100Hz, 采样电阻值设置为 180ΚΩ。
本发明的信号处理单元 3包括数字滤波模块 10和通信模块 11。 数字 滤波模块 10用于滤除接收到的实际待测电容信号中的噪音， 并将滤波后 的信号通过通信模块 11传输至外部的控制器。
其中， 数字滤波模块 10采用意法半导体公司的 STM32控制芯片。 数 字滤波模块 10采用三级数字滤波器： 第一级滤波器为中位值滤波， 第二 级滤波器为一阶直流陷波器， 第三级滤波器为二阶巴特沃斯低通滤波器。 通信模块将滤波后电容信号传输至外部控制器。
中位值滤波的具体方法是在长度为 N的滑动窗中取中位值， 作为该点 的信号值， 本发明优选 N=4， 通过中位值滤波可以去除在原始信号中存在 的随机跳变。
一阶直流陷波器的传递函数为 （如图 5所示）：
1一 z— 1
Η (ζ) = - ~~ - ,
l + az
其中系数 确定了陷波器的频率特性， 系数？确定整体的增益。 本发 明优选系数 为 0. 95， 系数？为 2. 5。 在采集过程中， 温度变化会引起电 容发生改变， 在测量得到的信号中反映为基线漂移， 如果使用高通滤波器 或带通滤波器， 截肢频率附近的幅频特性会受到滤波器阶数的影响， 而且 有效信号本身频率很低 （10Hz 以内）， 高通滤波器会使有用信号发生严重 的失真， 影响识别精度。 本发明采用一阶直流陷波器仅仅去除了直流以及 直流附近频率的信号， 不对有用信号造成较大失真。 二阶巴特沃斯低通滤波器用于去除信号中的高频干扰， 在本发明中优 选其截止频率为 10Hz。
上述实施例中， 通信模块 11采用由 Nordic公司生产的 nRF24L01通 信芯片，该芯片最大空中数据率 2MHz，其通过 SPI总线与滤波模块 6通信。 为保证传输数据稳定可靠， 本发明采用了 CRC校验和自动重发策略， 即在 完成一帧数据发送后， 接收端传回 CRC校验码， 如果与发送端不匹配则重 新发送一次。 本发明优选最大重发次数设置为 5。
实施例：
为进一步说明本发明的有效性， 通过以下实施例对不同运动模态下的 电容信号进行了实际测试： 残疾人被试身高 170cm， 体重 71kg， 单侧左腿 截肢， 截肢后 8年， 被试在实验中穿戴自己的假肢。 为了记录步态阶段， 在假肢侧加装了压力鞋垫， 根据压力和来记录脚触地和离地的时刻。 实验 中， 要求被试完成 5种生活中常见的运动模态， 包括： 正常行走， 上下楼 梯和上下斜坡， 实验分为 10组， 每组对所有的运动模态测量 2次， 要求 残疾人在每一种步态模式下至少走两步。 为了使实验更接近真实环境， 要 求残疾人随机交替进行不同的运动模态。
如图 6所示， 图中 X轴表示步态周期百分比， y轴表示电容信号， 粗 实线表示信号的均值， 细实线表示信号标准差； 每一列子图表示一个运动 模态， 包括平地行走、 上下楼梯和上下斜坡； 每一行子图表示一个电容通 道的信号。 实验得到了每种步态的 20个完整步态周期的数据， 把所有数 据在时间上归一化到一个步态周期， 计算其平均值和标准差。 由图可知， 信号重复性好， 而且不同运动模态下信号区分度高。
通过上述实施例， 证明了本发明提供的非接触式电容传感系统在克服 了现有技术手段 （基于肌电信号的传感系统和已有的用于人体运动识别电 容系统） 局限性的同时， 准确、 稳定地记录了残疾人在不同运动模态下的 电容信号变化。 能够满足人体运动模态识别的需要。
上述各实施例仅用于说明本发明， 其中各部件的结构、 连接方式和制 作工艺等都是可以有所变化的， 凡是在本发明技术方案的基础上进行的等 同变换和改进， 均不应排除在本发明的保护范围之外。

Claims

权利要求
1、 一种用于智能假肢的非接触式电容传感系统， 其特征在于： 它包 括测试前端、 信号采集单元和信号处理单元； 所述测试前端用于与人体形 成耦合电容； 所述信号采集单元用于采集耦合电容变化得到有效信号； 所 述信号处理单元用于对所述信号采集单元采集到的有效信号处理后， 传输 至所述非接触式电容传感系统外部的控制器；
所述测试前端包括多个通道的电容电极片， 每个通道的所述电容电极 片分别固定在假肢接收腔和假肢内衬套之间， 与人体耦合形成待测电容； 所述电容电极片位于所述假肢接收腔内部， 经导电双面胶固定在所述假肢 内衬套外侧， 通过绝缘胶与所述假肢接收腔隔开， 且每个所述电容电极片 都通过屏蔽线与所述信号采集单元连接；
所述信号采集单元包括 CTD模块和控制模块， 所述 CTD模块内设置有 一参考电容； 所述 CTD模块测量待测电容和参考电容充放电时间的差值， 并传输至所述控制模块内； 所述控制模块根据所述 CTD模块传输至的时间 差值来计算待测电容和参考电容的比值， 根据参考电容值计算出实际待测 电容值， 并将实际待测电容值传输至所述信号处理单元；
所述信号处理单元包括数字滤波模块和通信模块； 所述数字滤波模块 用于滤除接收到的实际待测电容信号中的噪音， 并将滤波后的信号通过所 述通信模块传输至外部的控制器。
2、如权利要求 1所述的一种用于智能假肢的非接触式电容传感系统， 其特征在于： 每个通道的所述电容电极片均采用铜网制成。
3、 如权利要求 1所述的一种用于智能假肢的非接触式电容传感系统， 其特征在于： 所述电容电极片优选为六个， 各个所述电容电极片的设置位 置分别为： 胫骨前端， 髌靭带下侧； 残肢末端前侧； 残肢末端后侧； 腓肠 肌上侧对应位置； 股骨内侧； 股骨外侧。
4、 如权利要求 2所述的一种用于智能假肢的非接触式电容传感系统， 其特征在于： 所述电容电极片优选为六个， 各个所述电容电极片的设置位 置分别为： 胫骨前端， 髌靭带下侧； 残肢末端前侧； 残肢末端后侧； 腓肠 肌上侧对应位置； 股骨内侧； 股骨外侧。
5、 如权利要求 1或 2或 3或 4所述的一种用于智能假肢的非接触式 电容传感系统， 其特征在于： 所述 CTD模块包括选通单元、 施密特触发单 元和运算器； 所述选通单元分时选通多个通道的待测电容和参考电容， 将 选通采集到的待测电容和参考电容信号传输至所述施密特触发单元内， 将 电容放电波形转换为占空比变化的方波并传输至所述运算器内， 经所述运 算器测量方波高电平时间， 得到数字量的电容变化信号。
6、 如权利要求 1或 2或 3或 4所述的一种用于智能假肢的非接触式 电容传感系统， 其特征在于： 所述 CTD模块与所述控制模块之间通信采用 SPI总线。
7、 如权利要求 1〜6任意一项所述的一种用于智能假肢的非接触式电 容传感系统，其特征在于：所述数字滤波模块采用意法半导体公司的 STM32 控制芯片； 所述数字滤波模块采用三级数字滤波器： 第一级滤波器为中位 值滤波， 第二级滤波器为一阶直流陷波器， 第三级滤波器为二阶巴特沃斯 低通滤波器。
8、 如权利要求 7所述的一种用于智能假肢的非接触式电容传感系统， 其特征在于： 所述中位值滤波的具体方法是在长度为 N的滑动窗中取中位 值， 作为该点的信号值。
9、 如权利要求 7所述的一种用于智能假肢的非接触式电容传感系统， 其特征在于： 所述一阶直流陷波器的传递函数为：
1一 z— 1
H (z) = ~~ - ,
l + az
其中系数 确定了陷波器的频率特性， 系数？确定整体的增益。
10、如权利要求 1所述的一种用于智能假肢的非接触式电容传感系统， 其特征在于： 所述通信模块采用 Nordi c公司生产的 nRF24L01通信芯片， 该芯片最大空中数据率 2MHz， 其通过 SPI总线与所述滤波模块通信。
PCT/CN2014/000477 2014-03-31 2014-05-09 一种用于智能假肢的非接触式电容传感系统 Ceased WO2015149197A1 (zh)

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