Myoelectric signal acquisition device and control method, electronic equipment

Abstract

The present invention discloses an electromyographic signal acquisition device and control method, and an electronic device. The method comprises: acquiring electromyographic signals at multiple positions of the wrist; judging whether the wrist is in an action-holding state according to the electromyographic signals; judging whether the electromyographic signals contain action information in the action-holding state; obtaining corresponding manipulation actions according to the electromyographic signals when it is judged that the electromyographic signals contain action information; and generating a control signal according to the manipulation action to control a target device.

Description

Technical Field

[0001] The present invention relates to the field of intelligent control technology, and more specifically, to an electromyographic signal acquisition device and control method, and electronic equipment. Background Art

[0002] In scenes such as riding, driving, and joystick control, users often need to hold physical objects in their hands. At this time, if the user uses the mobile phone, such as answering a call or switching the music played on the mobile phone, the user needs to release his hand before operating. This operation method brings inconvenience to the user. Summary of the invention

[0003] An object of the present invention is to provide a new technical solution for myoelectric signal acquisition.

[0004] According to a first aspect of the present invention, a control method for an electromyographic signal acquisition device is provided, the method comprising:

[0005] Acquire electromyographic signals at multiple locations of the wrist;

[0006] Determining whether the action is in a hold state according to the electromyographic signal;

[0007] In the action holding state, determining whether the electromyographic signal contains action information;

[0008] When it is determined that the electromyographic signal contains action information, obtaining a corresponding control action according to the electromyographic signal;

[0009] A control signal is generated according to the manipulation action to control the target device.

[0010] Optionally, judging whether the state is in the action holding state according to the electromyographic signal includes:

[0011] Acquire a first window signal from the electromyographic signal through a sliding window;

[0012] Calculating a first mean value and a first zero-crossing rate of the first window signal amplitude;

[0013] If the first average value exceeds a first threshold value and the first zero-crossing rate exceeds a second threshold value, it is determined that the operation is in an action holding state.

[0014] Optionally, in the action holding state, determining whether the electromyographic signal contains action information includes:

[0015] Acquire a second window signal from the electromyographic signal by sliding a window; wherein the second window signal is a signal that follows the first window signal in time sequence;

[0016] Calculating a second mean value and a second zero-crossing rate of the second window signal amplitude;

[0017] If the second mean value exceeds the third threshold value and the second zero-crossing rate exceeds the fourth threshold value, it is determined that the electromyographic signal contains motion information.

[0018] Optionally, before judging whether the action is in the hold state according to the electromyographic signal, the method further includes:

[0019] Performing noise estimation on the electromyographic signal to obtain an initial noise value;

[0020] Performing a fast Fourier transform on the electromyographic signal, and calculating a signal-to-noise ratio according to a fast Fourier transform result and the initial value of the noise;

[0021] Calculating a denoising coefficient according to the signal-to-noise ratio;

[0022] De-noising the electromyographic signal according to the de-noising coefficient.

[0023] Optionally, acquiring a corresponding control action according to the electromyographic signal includes:

[0024] Performing dimension-upgrading processing on the electromyographic signal to obtain an electromyographic signal after dimension-upgrading;

[0025] According to the upgraded electromyographic signal, the corresponding control action is obtained.

[0026] Optionally, performing dimension-upgrading processing on the electromyographic signal to obtain the electromyographic signal after dimension-upgrading includes:

[0027] Performing short-time Fourier transform or wavelet transform on each channel data of the electromyographic signal to obtain frequency domain information of the electromyographic signal;

[0028] According to the spatial information of the channel, the frequency domain information of the electromyographic signal and the time domain information of the electromyographic signal, an electromyographic signal after dimensionality increase is obtained.

[0029] Optionally, acquiring a corresponding manipulation action according to the dimension-upgraded electromyographic signal includes:

[0030] The upgraded electromyographic signal is identified according to a preset identification model to obtain the control action.

[0031] Optionally, collecting electromyographic signals at multiple positions of the wrist includes:

[0032] applying a bias voltage to the skin surface;

[0033] The electromyographic signals at multiple locations of the wrist are collected during the process of applying the bias voltage.

[0034] According to a second aspect of the present invention, there is provided an electromyographic signal acquisition device, the device adopts the control method described in the first aspect of the present invention, the device comprises an electromyographic signal acquisition circuit, the circuit comprises:

[0035] Amplifier circuit, conversion circuit, processor, communication circuit;

[0036] The amplifier circuit is used to receive the electromyographic signal and generate an amplified signal according to the electromyographic signal;

[0037] The conversion circuit comprises an analog-to-digital converter, wherein a first end of the analog-to-digital converter is used to receive the amplified signal, and a second end of the analog-to-digital converter is used to output a digital signal, wherein the digital signal is generated by the analog-to-digital converter according to the amplified signal;

[0038] The first end of the processor is used to receive the digital signal, and the second end of the processor is used to output a control signal, wherein the control signal is generated by the processor according to the digital signal;

[0039] The processor is used to determine whether the electromyographic signal is in an action holding state according to the electromyographic signal; in the action holding state, determine whether the electromyographic signal contains action information; if it is determined that the electromyographic signal contains action information, obtain a corresponding control action according to the electromyographic signal; and generate a control signal according to the control action;

[0040] The first end of the communication circuit is used to receive the control signal, and the second end of the communication circuit is used to send the control signal to the target device.

[0041] According to a third aspect of the present invention, there is provided an electronic device comprising a processor and a memory, wherein the memory stores programs or instructions executable by the processor, and when the programs or instructions are executed by the processor, the control method of the electromyographic signal acquisition device as described in the first aspect of the present invention is implemented.

[0042] According to one embodiment of the present invention, the present invention collects electromyographic signals at multiple positions of the wrist, and controls the target device according to the motion information contained in the electromyographic signals while the action is maintained. The user does not need to release his hands from the object. The target device can be controlled while the user's hands are holding the object, thereby improving the convenience of user operation.

[0043] Further features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.

[0045] Figure 1 It is a flow chart of the control method of the electromyographic signal acquisition device of the present invention.

[0046] Figure 2 It is a module diagram of an electromyographic signal acquisition circuit of the present invention.

[0047] Figure 3 It is a module diagram of the amplifier circuit of the present invention.

[0048] Figure 4 It is a schematic diagram of the first-stage amplifier circuit of the present invention.

[0049] Figure 5 This is a schematic diagram of the first filtering circuit of the present invention.

[0050] Figure 6 It is a schematic diagram of the secondary amplifier circuit of the present invention.

[0051] Figure 7 It is a schematic diagram of the right leg circuit of the present invention.

[0052] Figure 8 It is a schematic diagram of the electromyographic signal acquisition device of the present invention.

[0053] Fig. 9 It is a schematic diagram of circuit connection in the electromyographic signal acquisition device of the present invention. DETAILED DESCRIPTION

[0054] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention unless otherwise specifically stated.

[0055] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0056] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0057] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0058] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0059] like Figure 1 As shown, the embodiment of the present invention introduces a control method for an electromyographic signal acquisition device, which includes steps S101-S105.

[0060] S101: Acquire electromyographic signals at multiple locations of the wrist.

[0061] The present invention collects electromyographic signals through an electromyographic signal collection device. The user wears the electromyographic signal collection device on the wrist, that is, the wrist part. The electromyographic signal collection device can collect electromyographic signals at multiple positions of the user's wrist.

[0062] There are multiple muscles in the arm that work together to control the extension, bending, and swinging of the fingers. The electromyographic signal acquisition device contains multiple sets of electrodes that can collect electromyographic signals from different muscles. The combination of electromyographic signals collected by different electrodes can reflect the movement state of the muscles, and then reflect the current gesture action.

[0063] S102: Determine whether the action is in a hold state according to the electromyographic signal.

[0064] The action hold state refers to the state in which the hand maintains a movement by exerting force on the hand muscles. In scenarios such as riding, driving, or AR handle manipulation, the user's hand will enter the action hold state from the relaxed state. For example, when the user's hand is holding the vehicle steering wheel, the hand is in the action hold state. When the user's hand releases from the vehicle steering wheel, the hand changes from the action hold state to the relaxed state.

[0065] S103: In the action holding state, determine whether the electromyographic signal contains action information.

[0066] The above motion information may be generated by the user's finger force, which may be one finger force or multiple fingers force. For example, when the user's hand is holding the steering wheel of the vehicle, if one of the user's fingers exerts force, a corresponding electromyographic signal containing the motion information will be generated.

[0067] S104: When it is determined that the electromyographic signal contains action information, a corresponding control action is acquired according to the electromyographic signal.

[0068] The control action is performed by the user in the state of holding the action. For example, when the user's hand is holding the steering wheel of the vehicle, the hand is in the state of holding the action. The user exerts force with his fingers while holding the steering wheel of the vehicle, and the control action indicates the exertion of force by the fingers. Specifically, it can be "exerting force with the index finger of the left hand", "exerting force with the middle finger of the left hand", or other actions.

[0069] S105: Generate a control signal according to the manipulation action to control the target device.

[0070] Different manipulation actions can control the target device to complete different functions. The correspondence between the manipulation actions and the target device control signals is stored in advance. After obtaining the manipulation actions, the corresponding target device control signals are obtained, and the obtained target device control signals are sent to the target device to complete the control of the target device. For example, when the target device is a mobile phone, the manipulation action is "exerting force with the index finger of the left hand", and the corresponding target device control signal is "answering the call"; the manipulation action is "exerting force with the middle finger of the left hand", and the corresponding target device control signal is "rejecting the call". When the mobile phone calls, the user can answer the call by applying force with the index finger of the left hand, or reject the call by applying force with the middle finger of the left hand.

[0071] The present invention collects electromyographic signals from multiple positions of the wrist when the user's hand holds the object, and controls the target device through the electromyographic signals. The user does not need to release his hand from the object. The target device can be controlled while the user's hand is holding the object, which is convenient for the user to use.

[0072] In one embodiment of the present invention, step S102 includes: obtaining a first window signal from the electromyographic signal through a sliding window; calculating a first mean and a first zero-crossing rate of the first window signal; if the first mean exceeds a first threshold and the first zero-crossing rate exceeds a second threshold, determining that the action is in a hold state.

[0073] In scenarios such as riding, driving, or operating an AR handle, the user's hands will go from a relaxed state to a motion-holding state. In the relaxed state, the amplitude of the electromyographic signal generated by the human body is low, similar to a noise signal. In cases such as grasping, since muscles are involved in motion holding, electromyographic signals containing muscle motion information of a certain amplitude will be generated in the 20-500Hz frequency domain depending on the strength used. Compared with the relaxed state, the amplitude of the electromyographic signal in the motion-holding state is larger.

[0074] In order to identify whether the post-grasp action is maintained, the mean and zero-crossing rate of each channel of the electromyographic signal can be calculated. The mean can reflect the current muscle strength, and the zero-crossing rate can partially reflect the muscle activity. The zero-crossing rate indicates the number of times the signal passes through zero per second. The first window signal is obtained through a sliding window, and the first mean and the first zero-crossing rate are calculated based on the first window signal. According to the pre-set first threshold and second threshold, it is determined whether it is in the action-maintaining state. If the first mean exceeds the first threshold and the first zero-crossing rate exceeds the second threshold, it is considered to be in the action-maintaining state, otherwise it is considered not to be in the action-maintaining state. If it is determined to be in the action-maintaining state, the current state can be marked and tracked in real time.

[0075] In one embodiment of the present invention, step S103 includes: obtaining a second window signal from the electromyographic signal through a sliding window; calculating a second mean and a second zero-crossing rate of the second window signal amplitude; if the second mean exceeds a third threshold and the second zero-crossing rate exceeds a fourth threshold, it is determined that the electromyographic signal contains action information.

[0076] When the fingers exert force while the action is maintained, an instantaneous energy waveform with a large amplitude change will be generated in the time domain. This energy waveform contains muscle action information and can describe the current action state.

[0077] In the action holding state, a second window signal is obtained from the electromyographic signal through a sliding window. The second window signal is a signal that follows the first window signal in chronological order, such as a sliding interval between the second window signal and the first window signal. The second mean and the second zero-crossing rate are calculated according to the second window signal. According to the pre-set third threshold and fourth threshold, it is determined whether the electromyographic signal contains action information. If the second mean exceeds the third threshold and the second zero-crossing rate exceeds the fourth threshold, it is considered that the electromyographic signal contains action information, otherwise it is considered that the electromyographic signal does not contain action information.

[0078] In one embodiment of the present invention, before step S102, it also includes: estimating the noise of the electromyographic signal to obtain an initial noise value; performing a fast Fourier transform on the electromyographic signal, and calculating the signal-to-noise ratio of the window data according to the fast Fourier transform result and the initial noise value; calculating a denoising coefficient according to the signal-to-noise ratio; and removing noise from the electromyographic signal according to the denoising coefficient.

[0079] The electromyographic signal is the cumulative result of the electrical signals of each muscle fiber and is a standard superposition signal. When the hand is in a grasping state, the noise of the electromyographic signal is relatively large, and the noise signal will be superimposed on the action. The noise can be identified through spectrum analysis, and the noise reduction of the electromyographic signal can greatly improve the recognition accuracy.

[0080] In the process of denoising the electromyographic signal, multiple window data can be obtained from the electromyographic signal through a sliding window, and each window data is denoised in turn. Specifically, the sampling rate and the sliding window are initialized, and a window data is obtained from the electromyographic signal through the sliding window. The above window data is subjected to noise estimation to obtain the initial noise value corresponding to the window data. The collected electromyographic signal is a time domain signal. The window data is subjected to a fast Fourier transform (FastFourier Transform, FFT) operation to transform the signal from the time domain to the frequency domain, and the signal-to-noise ratio of the window data is calculated according to the fast Fourier transform result and the initial noise value. The denoising coefficient is calculated according to the signal-to-noise ratio, and the higher the signal-to-noise ratio, the smaller the denoising coefficient. The window data is denoised by the denoising coefficient, specifically, the noise component of the corresponding component is subtracted from the window data. The denoised window data is subjected to an inverse fast Fourier transform (Inverse Fast Fourier Transform, IFFT), and the signal is restored to a time domain signal, which is a signal after denoising corresponding to the above window data. The denoised electromyographic signal can be obtained according to the denoised signal corresponding to all window data.

[0081] In one embodiment of the present invention, step S104 includes: performing dimensionality-upgrading processing on the electromyographic signal to obtain the electromyographic signal after dimensionality-upgrading; and obtaining the corresponding control action according to the electromyographic signal after dimensionality-upgrading.

[0082] The collected electromyographic signal can be represented by a one-dimensional array. The interpretability of the electromyographic signal is relatively poor, and the action information that can be directly extracted is relatively small, and it is not easy to interpret. Therefore, the electromyographic signal can be processed by upscaling to extract more information features. The upscaled electromyographic signal can be represented by a spatial matrix containing multiple action information.

[0083] In this embodiment, the electromyographic signal is subjected to dimensionality upgrading processing to obtain the electromyographic signal after dimensionality upgrading, including: performing short-time Fourier transform or wavelet transform on each channel data of the electromyographic signal to obtain the frequency domain information of the electromyographic signal; and obtaining the electromyographic signal after dimensionality upgrading based on the spatial information of the channel, the frequency domain information of the electromyographic signal and the time domain information of the electromyographic signal.

[0084] The collected electromyographic signal is a time domain signal, and the time domain information of the electromyographic signal can be obtained. The electromyographic signal is transformed, and the time domain signal is transformed into a frequency domain signal, and the frequency domain information of the electromyographic signal can be obtained.

[0085] The electromyographic signal is collected by the sampling electrodes on the electromyographic signal collection device, and each group of sampling electrodes is used as a channel. In the process of collecting electromyographic signals, different sampling electrodes are attached to different positions of the user's body to collect electromyographic signals at different positions, and there is a spatial relationship between each channel. The time domain information, frequency domain information, and spatial information of the electromyographic signal are combined to obtain a spatial matrix containing the time domain information, frequency domain information, and spatial information of the channel of the electromyographic signal. The above spatial matrix can be used to represent the electromyographic signal after dimensionality increase.

[0086] In one embodiment of the present invention, the corresponding control action is obtained according to the upgraded electromyographic signal, including: recognizing the upgraded electromyographic signal according to a preset recognition model to obtain the control action.

[0087] The present invention is preset with an artificial intelligence recognition model for identifying the manipulation actions contained in the electromyographic signal. After the manipulation action is identified, the manipulation action is mapped into a control signal to control the target device. For example, if the target device is a mobile phone, the mobile phone can be controlled to perform functions such as answering calls, rejecting calls, and switching music. The recognition model is obtained by putting the spatial matrix information after the action conversion in the sample library into a deep learning network for training and learning. Using this recognition model, good classification information of the manipulation action can be obtained, thereby completing the classification of the action.

[0088] Moreover, after the recognition model is established through training and learning, after using the recognition model to accurately recognize the electromyographic signals in real time, the electromyographic signals and recognition results recognized this time can be used as learning samples to conduct secondary learning on the above-mentioned artificial intelligence recognition model, so as to further optimize the recognition ability of the artificial intelligence recognition model.

[0089] In one embodiment of the present invention, step S101 includes: applying a bias voltage to the skin surface; and collecting electromyographic signals at multiple positions of the wrist during the process of applying the bias voltage.

[0090] The amplitude of the electromyographic signal is low, for example, between 0-5mV, so a bias voltage needs to be added to the skin as a reference to raise the DC component of the signal. When collecting electromyographic signals, first apply a bias voltage to the skin surface, and then collect the electromyographic signals. After stopping collecting the electromyographic signals, stop applying the bias voltage.

[0091] The embodiment of the present invention introduces a myoelectric signal acquisition device, which adopts the control method of any embodiment of the present invention. The device includes an myoelectric signal acquisition circuit, such as Figure 2 As shown, the circuit includes an amplifying circuit, a converting circuit, a processor, and a communication circuit.

[0092] The amplifier circuit is used for receiving the electromyographic signal and generating an amplified signal according to the electromyographic signal.

[0093] Usually the amplitude of the electromyographic signal is low, for example, the amplitude range of the electromyographic signal is 0-5mV. The electromyographic signal needs to be amplified in order to identify it, and the amplification factor can be hundreds to thousands of times.

[0094] The conversion circuit includes an analog-to-digital converter, a first end of the analog-to-digital converter is used to receive the amplified signal, and a second end of the analog-to-digital converter is used to output a digital signal, and the digital signal is generated by the analog-to-digital converter according to the amplified signal.

[0095] The collected electromyographic signal is an analog signal, which is converted into a digital signal through an analog-to-digital converter for subsequent processing.

[0096] The first end of the processor is used to receive the digital signal, and the second end of the processor is used to output the control signal, which is generated by the processor according to the digital signal.

[0097] The processor is used to determine whether the state is in motion holding state according to the electromyographic signal; in the motion holding state, determine whether the electromyographic signal contains motion information; when it is determined that the electromyographic signal contains motion information, obtain the corresponding control action according to the electromyographic signal; and generate a control signal according to the control action.

[0098] The processor is used to analyze and process the received digital signal, identify the action information contained in the electromyographic signal, and generate corresponding control signals based on the action information. The control signals are used to control the target device. For example, if the target device is a mobile phone, the mobile phone can be controlled to answer or reject calls, or to perform other functions. The processor can be an MCU (Microcontroller Unit) chip.

[0099] The first end of the communication circuit is used to receive the control signal, and the second end of the communication circuit is used to send the control signal to the target device.

[0100] The communication circuit forwards the received control signal to the target device, and the target device performs a corresponding function after receiving the control signal.

[0101] In this embodiment, an amplifier circuit is provided to amplify the collected electromyographic signal, thereby facilitating identification of the electromyographic signal.

[0102] like Figure 3 As shown, in an embodiment of the present invention, the amplifier circuit includes a primary amplifier circuit, a first filter circuit, and a secondary amplifier circuit. The input end of the primary amplifier circuit receives the electromyographic signal, the input end of the first filter circuit is connected to the output end of the primary amplifier circuit, the input end of the secondary amplifier circuit is connected to the output end of the first filter circuit, and the output end of the secondary amplifier circuit is connected to the first end of the analog-to-digital converter.

[0103] The first-stage amplifier circuit receives the collected electromyographic signal, which is a differential signal. The first-stage amplifier circuit can convert the differential signal into a single-ended signal, which can improve the anti-interference ability of the signal. The first-stage amplifier circuit preliminarily amplifies the electromyographic signal and outputs a first amplified signal, which is a single-ended signal.

[0104] The frequency range of the collected electromyographic signal is relatively large, for example, signals in the frequency range of 0 Hz to several thousand Hz can be collected, which contain a large number of clutter signals. The frequency range of the effective signal is relatively small, for example, the signal in the frequency range of 20-500 Hz is a valid signal. The clutter signal can be filtered out by the first filtering circuit, and only the effective signal is retained.

[0105] The secondary amplifier circuit further amplifies the first amplified signal after filtering, and amplifies the signal to within the sampling range of the analog-to-digital converter for easy collection and identification.

[0106] like Figure 4 As shown, the primary amplification circuit includes an instrumentation amplifier, a first signal input terminal NODE1 and a second signal input terminal NODE2. The first signal input terminal NODE1 and the second signal input terminal NODE2 are used to collect electromyographic signals, the first terminal and the second terminal of the instrumentation amplifier are respectively connected to the first signal input terminal NODE1 and the second signal input terminal NODE2, and the output terminal of the instrumentation amplifier is connected to the output terminal VOUT1 of the primary amplification circuit.

[0107] The first signal input terminal NODE1 and the second signal input terminal NODE2 may be metal electrodes, and when in use, the metal electrodes corresponding to the first signal input terminal NODE1 and the second signal input terminal NODE2 are attached to the user's skin. For example, when collecting electromyographic signals of the wrist, the metal electrodes corresponding to the first signal input terminal NODE1 and the second signal input terminal NODE2 are attached to the user's wrist, and then the electromyographic signals are collected and transmitted.

[0108] like Figure 4 As shown, matching resistors R4 and R6 are provided between the first signal input terminal NODE1 and the first end of the instrumentation amplifier, and matching resistors R5 and R7 are also provided between the second signal input terminal NODE2 and the second end of the instrumentation amplifier. Resistors R4 and R6 are connected in series between the first signal input terminal NODE1 and the first end of the instrumentation amplifier, and resistors R5 and R7 are connected in series between the second signal input terminal NODE2 and the second end of the instrumentation amplifier. Matching resistors R4, R5, R6, and R7 are used to match circuit impedance.

[0109] like Figure 5As shown, the filter circuit is a bandpass filter circuit, specifically comprising: a first resistor R1, a second resistor R3, a first filter capacitor C5, and a second filter capacitor C6. The first end of the first filter capacitor C5 is connected to the output end VOUT1 of the first-stage amplifier circuit, the second end of the first filter capacitor C5 is respectively connected to the first end of the first resistor R1 and the first end of the second resistor R3, the second filter capacitor C6 is arranged between the second end of the first resistor R1 and the second end of the second resistor R3, the second end of the first resistor R1 is connected to the reference voltage input end VREF of the bandpass filter circuit, and the second end of the second resistor R3 is connected to the output end VOUT2 of the bandpass filter circuit.

[0110] Since the collected electromyographic signals contain a large number of clutter signals, only valid signals within the specified frequency range are needed for identification, and the signals outside the useful bandwidth can be filtered out by the bandpass filter circuit. The bandpass filter circuit receives the output signal VOUT1 of the first-stage amplifier circuit and outputs the filtered signal VOUT2.

[0111] like Figure 6 As shown, the secondary amplifier circuit includes an operational amplifier, a second filter circuit, a third filter circuit, and a first voltage input terminal VF1. The first input terminal of the operational amplifier is connected to the output terminal VOUT2 of the first filter circuit, the second input terminal of the operational amplifier is connected to the first terminal of the second filter circuit, the second input terminal of the operational amplifier is connected to the first voltage input terminal VF1, the second terminal of the second filter circuit is connected to the output terminal of the operational amplifier, the output terminal of the operational amplifier is connected to the first terminal of the third filter circuit, and the second terminal of the third filter circuit is connected to the output terminal VOUT of the secondary amplifier circuit.

[0112] The power supply terminal of the operational amplifier is connected to the second voltage input terminal VCC, and the power supply terminal of the operational amplifier is grounded via the capacitor C3.

[0113] In this embodiment, the third filter circuit includes a third resistor R9 and a third capacitor C2, and the third filter circuit is a low-pass filter circuit. The first end of the third resistor R9 is connected to the output end of the operational amplifier, the second end of the third resistor R9 is connected to the first end of the third capacitor C2, the second end of the third capacitor C2 is grounded, and the first end of the third capacitor C2 is connected to the output end VOUT of the secondary amplifier circuit.

[0114] In this embodiment, the second filtering circuit includes a fourth resistor and a fourth capacitor C4, the fourth resistor and the fourth capacitor C4 are connected in parallel, the first end of the fourth resistor is connected to the second input end of the operational amplifier, and the second end of the fourth resistor is connected to the output end of the operational amplifier.

[0115] In this embodiment, the circuit further includes a right leg circuit, which is used to apply a bias voltage to the skin surface.

[0116] Since the amplitude of the electromyographic signal is low, in order to effectively amplify the signal, a bias voltage needs to be added to the skin as a reference to raise the DC component of the signal. The electromyographic signal is an AC signal, and after passing through the amplification circuit, the electromyographic signal becomes a single-ended signal with a DC bias voltage.

[0117] like Figure 7 As shown, the right leg circuit includes a second operational amplifier and a fourth filter circuit. The first input terminal of the second operational amplifier is connected to the reference voltage input terminal VREF of the right leg circuit, the output terminal of the second operational amplifier is connected to the first terminal of the fourth filter circuit, the second terminal of the fourth filter circuit is connected to the output terminal RLD of the right leg circuit, and the second input terminal of the second operational amplifier is connected to the output terminal of the second operational amplifier.

[0118] The power supply terminal of the second operational amplifier is connected to the third voltage input terminal VF3, and the power supply terminal of the second operational amplifier is grounded via capacitor C8. The first input terminal of the second operational amplifier is grounded via pull-down resistor R2, and a resistor R1 is provided between the second input terminal of the second operational amplifier and the reference voltage input terminal VREF.

[0119] The output terminal RLD of the right leg circuit may be a metal electrode. When in use, the metal electrode is attached to the user's skin, and the right leg circuit applies a bias voltage to the user's skin through the metal electrode.

[0120] like Figure 8 As shown, the electromyographic signal acquisition device can be a bracelet, which includes a bracelet body 701 and a strap 702, and a plurality of groups of electrodes 703 are provided on the strap 702. The electrodes 703 are made of skin-friendly and flexible materials, and can be closely attached to the skin to collect signals at multiple positions. The strap 702 has a stretchable property and can be removed from the bracelet body 701. The electrode 703 includes a reference electrode 7031 and a sampling electrode 7032, the sampling electrode 7032 is used to collect electromyographic signals, and the reference electrode 7031 is used to apply a bias voltage to the skin during the process of collecting electromyographic signals.

[0121] like Fig. 9 As shown, the electrodes arranged on the strap are connected to the circuit in the wristband body through wires, and together constitute the myoelectric signal acquisition circuit of the embodiment of the present invention. When in use, the electrodes are attached to the surface of the user's arm to obtain myoelectric signals.

[0122] The present invention may be a system, a method and / or a computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement various aspects of the present invention.

[0123] A computer-readable storage medium may be a tangible device that can hold and store instructions used by an instruction execution device. A computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples of computer-readable storage media (a non-exhaustive list) include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination of the foregoing. As used herein, a computer-readable storage medium is not to be interpreted as a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through a wire.

[0124] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing / processing device.

[0125] The computer program instructions for performing the operation of the present invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages, such as Smalltalk, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. Computer-readable program instructions may be executed entirely on a user's computer, partially on a user's computer, as an independent software package, partially on a user's computer, partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., using an Internet service provider to connect via the Internet). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), may be personalized by utilizing the state information of the computer-readable program instructions, and the electronic circuit may execute the computer-readable program instructions, thereby realizing various aspects of the present invention.

[0126] Various aspects of the present invention are described herein with reference to the flow charts and / or block diagrams of the methods, devices (systems) and computer program products according to embodiments of the present invention. It should be understood that each box of the flow chart and / or block diagram and the combination of each box in the flow chart and / or block diagram can be implemented by computer-readable program instructions.

[0127] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processor of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0128] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operating steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0129] The flow charts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the systems, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a part of a module, a program segment or an instruction, and a part of the module, a program segment or an instruction contains one or more executable instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that it is equivalent to implement it by hardware, implement it by software, and implement it by combining software and hardware.

[0130] Embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The choice of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements to the technology in the marketplace, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present invention is defined by the appended claims.

Claims

1. A control method for an electromyographic signal acquisition device, characterized in that: The method comprises: Acquire electromyographic signals at multiple locations of the wrist; Determining whether the action is in a hold state according to the electromyographic signal; In the action holding state, determining whether the electromyographic signal contains action information; wherein the action holding state includes a state in which the user's hand is holding an object, and the action information is generated by the force exerted by one or more fingers of the user; When it is determined that the electromyographic signal contains action information, obtaining a corresponding control action according to the electromyographic signal; Generate a control signal according to the manipulation action to control the target device; Wherein, obtaining the corresponding control action according to the electromyographic signal includes: Performing short-time Fourier transform or wavelet transform on each channel data of the electromyographic signal to obtain frequency domain information of the electromyographic signal; Obtaining an upgraded electromyographic signal according to the spatial information of the channel, the frequency domain information of the electromyographic signal, and the time domain information of the electromyographic signal; According to the upgraded electromyographic signal, the corresponding control action is obtained.

2. The method according to claim 1, characterized in that The step of judging whether the action is in a hold state according to the electromyographic signal comprises: Acquire a first window signal from the electromyographic signal through a sliding window; Calculating a first mean value and a first zero-crossing rate of the first window signal amplitude; If the first average value exceeds a first threshold value and the first zero-crossing rate exceeds a second threshold value, it is determined that the operation is in an action holding state.

3. The method according to claim 2, characterized in that In the action holding state, judging whether the electromyographic signal contains action information includes: Acquire a second window signal from the electromyographic signal by sliding a window; wherein the second window signal is a signal that follows the first window signal in time sequence; Calculating a second mean value and a second zero-crossing rate of the second window signal amplitude; If the second mean value exceeds the third threshold value and the second zero-crossing rate exceeds the fourth threshold value, it is determined that the electromyographic signal contains motion information.

4. The method according to claim 1, characterized in that: Before judging whether the action is in the hold state according to the electromyographic signal, the method further includes: Performing noise estimation on the electromyographic signal to obtain an initial noise value; Performing a fast Fourier transform on the electromyographic signal, and calculating a signal-to-noise ratio according to a fast Fourier transform result and the initial value of the noise; Calculating a denoising coefficient according to the signal-to-noise ratio; De-noising the electromyographic signal according to the de-noising coefficient.

5. The method according to claim 1, characterized in that: The step of obtaining a corresponding control action according to the upgraded electromyographic signal includes: The upgraded electromyographic signal is identified according to a preset identification model to obtain the control action.

6. The method according to claim 1, characterized in that The collecting of electromyographic signals at multiple positions of the wrist includes: applying a bias voltage to the skin surface; The electromyographic signals at multiple locations of the wrist are collected during the application of bias voltage.

7. A myoelectric signal acquisition device, characterized in that: The device adopts the control method according to any one of claims 1 to 6, and the device includes an electromyographic signal acquisition circuit, and the circuit includes: Amplifier circuit, conversion circuit, processor, communication circuit; The amplifier circuit is used to receive the electromyographic signal and generate an amplified signal according to the electromyographic signal; The conversion circuit comprises an analog-to-digital converter, wherein a first end of the analog-to-digital converter is used to receive the amplified signal, and a second end of the analog-to-digital converter is used to output a digital signal, wherein the digital signal is generated by the analog-to-digital converter according to the amplified signal; The first end of the processor is used to receive the digital signal, and the second end of the processor is used to output a control signal, wherein the control signal is generated by the processor according to the digital signal; The processor is used to determine whether the state is in the action holding state according to the electromyographic signal; in the action holding state, determine whether the electromyographic signal contains action information; if it is determined that the electromyographic signal contains action information, obtain the corresponding manipulation action according to the electromyographic signal; generate a control signal according to the manipulation action; wherein the action holding state includes the state of the user's hand holding the object, and the action information is generated by the force of one or more fingers of the user; The processor is also used to perform short-time Fourier transform or wavelet transform on each channel data of the electromyographic signal to obtain frequency domain information of the electromyographic signal; obtain an upgraded electromyographic signal according to the spatial information of the channel, the frequency domain information of the electromyographic signal and the time domain information of the electromyographic signal; and obtain a corresponding control action according to the upgraded electromyographic signal; The first end of the communication circuit is used to receive the control signal, and the second end of the communication circuit is used to send the control signal to the target device.

8. An electronic device, characterized in that: It comprises a processor and a memory, wherein the memory stores programs or instructions executable by the processor, and when the programs or instructions are executed by the processor, the control method of the electromyographic signal acquisition device as described in any one of claims 1 to 6 is implemented.

Images