Auxiliary equipment control methods, devices, auxiliary equipment and storage media

Abstract

This application provides an assistive device control method, apparatus, assistive device, and storage medium, relating to the field of medical device technology. The method includes: acquiring a user's bioelectrical impedance and electromyography (EMG) signals; determining characteristic parameters based on a first change parameter of the bioelectrical impedance and a second change parameter of the EMG signals; wherein the characteristic parameters include EMG signal voltage change, impedance value change, and impedance phase change; determining device control parameters based on the EMG signal voltage change, impedance value change, and impedance phase change, so as to control the assistive device to perform corresponding actions based on the device control parameters. This application can provide corresponding activity assistance to users who cannot express themselves but can perform simple activities.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to an auxiliary device control method, apparatus, auxiliary device, and storage medium. Background Technology

[0002] People with disabilities, as a particularly vulnerable group, may face obstacles in their daily lives. To improve their quality of life, nursing robots designed for people with disabilities are currently used to assist them. However, due to the varying circumstances of different users, voice control or brainwave control technologies present corresponding technical challenges: voice control may not be suitable for users who cannot express themselves normally; brainwave control suffers from the difficulty of extracting feature values. Therefore, some existing devices may have limited applicability. Summary of the Invention

[0003] The purpose of this application is to provide an auxiliary device control method, apparatus, auxiliary device, and storage medium that can provide corresponding activity assistance to users who cannot express themselves but can perform simple activities.

[0004] In a first aspect, the present invention provides an assistive device control method, the method being applied to an assistive device, the method comprising: acquiring a user's bioelectrical impedance and electromyography (EMG) signals; determining characteristic parameters based on a first change parameter of the bioelectrical impedance and a second change parameter of the EMG signals; wherein the characteristic parameters include an EMG signal voltage change, an impedance value change, and an impedance phase change; determining device control parameters based on the EMG signal voltage change, impedance value change, and impedance phase change, so as to control the assistive device to perform corresponding actions based on the device control parameters.

[0005] In an optional implementation, acquiring the user's bioelectrical impedance and electromyography (EMG) signals includes: acquiring the user's bioelectrical impedance through an electrode ring set on the assistive device, and acquiring the user's EMG signals through the electrode ring; wherein the electrode ring includes a preset number of acquisition channels, and each acquisition channel includes a first preset number of first electrode pads and a second preset number of second electrode pads.

[0006] In an optional implementation, acquiring the user's bioelectrical impedance and electromyography (EMG) signals includes: acquiring the user's bioelectrical impedance through an electrode ring disposed on the assistive device, and determining whether a first change parameter of the bioelectrical impedance is detected; if so, acquiring the user's EMG signals through the electrode ring disposed on the assistive device.

[0007] In an optional implementation, the feature parameters are determined based on a first change parameter of bioelectrical impedance and a second change parameter of electromyography (EMG) signal, including: performing feature extraction on the first change parameter to determine the change in impedance value and the change in impedance phase corresponding to the bioelectrical impedance; and performing feature extraction on the second change parameter to determine the change in EMG signal voltage.

[0008] In an optional implementation, determining device control parameters based on changes in electromyographic signal voltage, impedance value, and impedance phase includes: determining whether the changes in impedance value and impedance phase satisfy a preset permutation; if so, determining a first control posture category based on the permutation range to which the permutation belongs; wherein the control posture category is used to characterize the category of actions performed by the auxiliary device; determining whether a second change parameter of the electromyographic signal satisfies a preset change range; if so, determining a second control posture category under the first control posture category based on the change range to which the change range belongs; and determining device control parameters based on the second control posture category.

[0009] In an optional implementation, the method further includes: pre-configuring a matching relationship between muscle movements and device control parameters; wherein the muscle movements are muscle movements generated by the user in pre-training, and the types of muscle movements include a variety of pre-configured fixed types.

[0010] In an optional implementation, the device control parameters are determined based on the changes in electromyographic signal voltage, impedance value, and impedance phase, including: determining the target motion component based on the changes in electromyographic signal voltage, impedance value, impedance phase, and matching relationship; determining the motion type and motion amplitude of the target motion component based on a preset change intensity threshold; and determining the device control parameters based on the motion type and motion amplitude corresponding to the target motion component.

[0011] Secondly, the present invention provides an assistive device control apparatus, which is applied to an assistive device. The apparatus includes: an acquisition module for acquiring the user's bioelectrical impedance and electromyography (EMG) signals; a determination module for determining characteristic parameters based on a first change parameter of the bioelectrical impedance and a second change parameter of the EMG signal; wherein the characteristic parameters include the EMG signal voltage change, the impedance value change, and the impedance phase change; and a control module for determining device control parameters based on the EMG signal voltage change, the impedance value change, and the impedance phase change, so as to control the assistive device to perform corresponding actions based on the device control parameters.

[0012] Thirdly, the present invention provides an auxiliary device, including a processor and a memory, wherein the memory stores computer-executable instructions that can be executed by the processor, and the processor executes the computer-executable instructions to implement the auxiliary device control method of any of the foregoing embodiments.

[0013] Fourthly, the present invention provides a computer-readable storage medium storing computer-executable instructions, which, when invoked and executed by a processor, cause the processor to implement the auxiliary device control method of any of the foregoing embodiments.

[0014] The assistive device control method, apparatus, assistive device, and storage medium provided in this application, in practice, first acquire the user's bioelectrical impedance and electromyography (EMG) signals, then determine characteristic parameters based on a first change parameter of the bioelectrical impedance and a second change parameter of the EMG signals. These characteristic parameters include the EMG signal voltage change, impedance value change, and impedance phase change. Furthermore, device control parameters are determined based on these parameters to control the assistive device to perform corresponding actions. This method controls the assistive device to perform corresponding actions using the acquired user's bioelectrical impedance and EMG signals. For users who cannot express themselves normally, simple muscle training can enable device control, allowing them to perform some daily activities through the assistive device. This provides activity assistance to users who cannot express themselves but can perform simple activities. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0016] Figure 1 A flowchart illustrating an auxiliary equipment control method provided in this application embodiment;

[0017] Figure 2 This is a schematic diagram of an electrode arrangement provided in an embodiment of this application;

[0018] Figure 3 A schematic diagram of signal acquisition principle provided in an embodiment of this application;

[0019] Figure 4 A schematic diagram illustrating the voltage change, impedance change, and impedance phase change of an electromyographic signal provided in an embodiment of this application;

[0020] Figure 5 A schematic diagram illustrating the voltage and impedance changes of electromyographic signals corresponding to different muscle movements, provided for embodiments of this application.

[0021] Figure 6 A flowchart illustrating another auxiliary equipment control method provided in this application embodiment;

[0022] Figure 7 An overall processing flowchart is provided for an embodiment of this application;

[0023] Figure 8 A structural diagram of an auxiliary equipment control device provided in an embodiment of this application;

[0024] Figure 9 This is a rendering of an electronic device provided in an embodiment of this application. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0026] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0027] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0028] With economic development, people are paying increasing attention to vulnerable groups. People with disabilities, as a particularly vulnerable group, have naturally received widespread attention from all sectors of society. To improve the quality of life for people with disabilities, assistive devices such as care robots can be used. However, in reality, due to the relatively small number of people with disabilities and the varying circumstances of each individual, the applicability of some assistive products is limited.

[0029] Voice control is a popular technology that allows users to control the movement of wheelchairs and care robots using voice commands. However, voice control has drawbacks such as poor real-time performance and susceptibility to interference. Furthermore, not all people with disabilities possess language abilities, making voice control unsuitable for everyone.

[0030] In addition, brainwave analysis can be used to control related equipment. However, brainwaves contain a considerable amount of information, which presents challenges such as difficulty in feature extraction and high technical barriers.

[0031] Based on this, embodiments of this application provide an assistive device control method, apparatus, assistive device, and storage medium. By acquiring the user's electromyographic signals and bioelectrical impedance, the assistive device is controlled to perform corresponding actions. For users who cannot express themselves normally, the device can be controlled by simply training some muscle movements, so that they can complete some actions in daily life through the device. Thus, it can provide corresponding activity assistance for users who cannot express themselves but can perform simple activities.

[0032] This application provides an auxiliary equipment control method, which is applied to auxiliary equipment. See [link to relevant documentation]. Figure 1 As shown, the method mainly includes the following steps:

[0033] Step S102: Acquire the user's bioelectrical impedance and electromyography signals;

[0034] Step S104: Determine characteristic parameters based on the first change parameter of bioelectrical impedance and the second change parameter of electromyography signal; wherein, the characteristic parameters include the change in electromyography signal voltage, the change in impedance value, and the change in impedance phase.

[0035] Step S106: Determine the device control parameters based on the changes in electromyographic signal voltage, impedance value, and impedance phase, and control the auxiliary device to perform corresponding actions based on the device control parameters.

[0036] The assistive device control method provided in this application acquires the user's bioelectrical impedance and electromyography (EMG) signals, and generates corresponding device control parameters based on the bioelectrical impedance and EMG signals. The assistive device is then controlled to perform corresponding actions through these device control parameters. For users who cannot express themselves normally, the device can be controlled by simply training some muscle movements, so that they can perform some actions in daily life through the device. This method can provide corresponding activity assistance for users who cannot express themselves but can perform simple activities.

[0037] In an optional embodiment, the acquisition of the user's bioelectrical impedance and electromyography (EMG) signals is specifically implemented by acquiring the user's bioelectrical impedance through an electrode ring on an auxiliary device, and acquiring the user's EMG signals through the electrode ring. The electrode ring includes a preset number of acquisition channels, and each acquisition channel includes a first preset number of first electrode pads and a second preset number of second electrode pads. The first electrode pads can be used for acquiring bioelectrical impedance, and the second electrode pads can be used for acquiring EMG signals. In each channel, the first preset number of first electrode pads (i.e., the number of first electrode pads) can be one or more; the second preset number of second electrode pads (i.e., the number of second electrode pads) can be one or more. Optionally, the first preset number and the second preset number can be the same or different, and can be set according to actual acquisition needs; this is not limited here.

[0038] When acquiring bioelectrical impedance and electromyographic (EMG) signals, a four-channel electrode ring can be used for data acquisition. Each channel is responsible for measuring changes in bioelectrical impedance and EMG signals in one direction. The number of channels can be increased or decreased depending on the measurement location and product requirements. When setting up the channels, the four channels can be placed at designated locations on the forearm, such as locations where muscle movement is evident on the ulnar and radial sides.

[0039] When using four channels, channel 1 is positioned on the radial side of the forearm, channel 2 on the ulnar side of the forearm, channel 3 on the ulnar side of the back of the forearm, and channel 4 on the radial side of the back of the forearm. In practical applications, following the principle of scientific distribution, the channels should be placed in areas where muscle movement is most pronounced.

[0040] In one implementation, see Figure 2 The diagram shows the electrode arrangement. Each channel can be equipped with four electrodes (I+, I-, V+, V-). I+ and I- are used as electrodes for stimulating current in the bioelectrical impedance measurement equipment, while V+ and V- are used as electrodes for measuring the potential difference of bioelectrical impedance at that point in the bioelectrical impedance measurement equipment.

[0041] Once the acquisition channel and electrodes are determined, the user can wear a wristband with electrodes to ensure that the electrodes are attached to the arm, thereby enabling accurate acquisition of bioelectrical impedance and electromyographic signals.

[0042] The acquisition of the user's bioelectrical impedance and electromyographic signals, in practice, may include the following steps 1.1) and 1.2):

[0043] Step 1.1): Obtain the user's bioelectrical impedance through the electrode ring set on the auxiliary device, and determine whether the first change parameter of bioelectrical impedance is detected;

[0044] Step 1.2), if so, acquire the user's electromyographic signals through the electrode rings set on the auxiliary device.

[0045] After measuring bioelectrical impedance, electromyography (EMG) signals are measured. Therefore, when measuring EMG signals, the stimulation current source, I+, can be turned off first. In the EMG measurement equipment, V+ and V- are also used as electrodes to measure the potential difference in EMG, while I- serves as the ground electrode. Its working principle diagram is shown below. Figure 3 As shown in Figure I. BioZ Z is the stimulation current used to measure bioelectrical impedance. Bio As an electrical impedance in the human body, V EMG(Meas) As a measure of electromyographic signal voltage, V EMG As the power source for electromyographic signals, |Z Bio | is the magnitude of bioelectrical impedance and φ(Z) Bio ) is the phase of bioelectrical impedance.

[0046] Furthermore, the characteristic parameters are determined based on the first change parameter of bioelectrical impedance and the second change parameter of electromyographic signal. In specific implementation, this may include the following steps 2.1) and 2.2):

[0047] Step 2.1) Perform feature extraction on the first changing parameter to determine the change in impedance value and the change in impedance phase corresponding to the bioelectrical impedance;

[0048] Step 2.2) Perform feature extraction on the second changing parameter to determine the change in electromyographic signal voltage.

[0049] In one example, muscle movement could be the movement of the forearm flexor muscles. Figure 4 The figures shown, from top to bottom, represent the voltage change, impedance change, and impedance phase change of the electromyographic signal. (See also...) Figure 4 As shown in Table 1, when a muscle contracts, the voltage, impedance, and phase changes of the electromyographic (EMG) signal all change. However, when mechanical interference occurs, such as pressing the electrodes, the voltage of the EMG signal also changes, but the impedance and phase remain unchanged. Since only relative values ​​are considered for EMG signals, the arbitrary unit (au) is used. au is a dimensionless unit; for example, to make the minimum value 1, all values ​​are divided by the minimum value to obtain the au value.

[0050] Table 1. Changes in electromyographic signals, impedance values, and impedance phases corresponding to different muscle states.

[0051]

[0052] from Figure 5 It can also be seen that for different arm movements, the voltage and impedance changes of the generated electromyographic signals are different, and the impedance phase changes are also different, with the phase changes being between ±2°. Since the diagram cannot clearly show this, it is not shown in the figure. However, in reality, the voltage, impedance, and impedance phase changes all change to some extent with the movement of the muscles.

[0053] Therefore, this embodiment can determine the equipment control parameters by identifying the differences and corresponding ranges of voltage change, impedance change, and impedance phase change, in order to perform corresponding control.

[0054] Furthermore, the aforementioned muscle movements can also include other actions and movements of other body parts. To accurately identify the user's activity needs, in an optional implementation, a matching relationship between muscle movements and device control parameters can be pre-configured. For ease of processing, the muscle movements are those generated by pre-trained user muscle movements to express actual needs. The types of muscle movements include various pre-configured fixed types, such as clicking up and down of a finger, curling, hooking the finger together, waving, clenching or unclenching a fist, etc. For example, when the user bends their right index finger, it can be used to match the action of drinking water; when the user hooks their finger together, it can be used to represent the user wanting to sit up, and so on. In practical applications, the corresponding matching relationships can be pre-configured so that after training the user to learn the corresponding simple movements, the user can execute the corresponding actions by controlling the assistive device (such as a nursing robot).

[0055] In an optional implementation, the device control parameters are determined based on the changes in electromyographic signal voltage, impedance value, and impedance phase. In specific implementations, this may include steps 3.1) to 3.5):

[0056] Step 3.1) Determine whether the change in impedance value and the change in impedance phase satisfy the preset permutation combination;

[0057] Step 3.2): If yes, determine the first control posture category based on the permutation and combination range to which the permutation and combination belongs; wherein, the control posture category is used to characterize the category of the action performed by the auxiliary device;

[0058] Step 3.3) Determine whether the second change parameter of the electromyographic signal meets the preset change range;

[0059] Step 3.4): If so, determine the second control attitude category under the first control attitude category based on the range of the change interval to which the change interval belongs;

[0060] Step 3.5) Determine the device control parameters based on the second control attitude category.

[0061] When performing a fixed movement, the muscle changes are constant because movement is generated by muscle traction; each specific movement is generated by specific muscles. When muscles move, bioelectrical impedance changes. Therefore, in practical use, patients can be trained to make specific directional changes in their muscles. For example, wrist movements are generated by specific forearm muscles, so when a specific wrist movement occurs, the forearm muscles will also undergo specific changes, resulting in specific changes in our bioelectrical impedance measurements. Even if the user has lost an arm, they can still control the corresponding muscle changes through mental focus. Because the changes in bioelectrical impedance are very small, we only assess whether bioelectrical impedance has changed at all here.

[0062] It's important to note that while each posture involves specific muscle changes, not every muscle change results in a single, fixed posture. From a muscle movement perspective, different muscle changes produce different postures. Since bioelectrical impedance analysis (BIA) instruments can only measure whether bioelectrical impedance changes occur, not the precise magnitude of those changes, in practical applications, after a change in bioelectrical impedance is detected, electromyography (EMG) signals are introduced as a second auxiliary signal.

[0063] In one implementation, bioelectrical impedance can be used as a prerequisite signal for the control device, meaning that electromyography signals are only collected and analyzed after the bioelectrical impedance signal changes.

[0064] See Figure 6 As shown, after acquiring bioelectrical impedance, it first determines whether a change in bioelectrical impedance has been acquired. If a change in bioelectrical impedance has occurred, it further determines whether a preset combination of bioelectrical impedances is satisfied. If satisfied, it further acquires muscle signals and determines whether a preset combination of electromyographic signals is satisfied. If satisfied, a control command is issued.

[0065] In one implementation, the postures that need to be controlled can be divided into several major categories, each corresponding to different combinations of bioelectrical impedance changes. In practical applications, to make it more convenient for users, the muscle movement directions that are easily achieved by the patient can be selected based on the patient's condition and human kinematics. Therefore, changes in bioelectrical impedance phase can be introduced to increase the classification of posture control.

[0066] Furthermore, by analyzing electromyographic signals, control is achieved for the subcategories within each major category. Here, we select channel signals with prominent eigenvalues ​​as the primary evaluation signals and assign them greater weight. Finally, after receiving the posture classification, the device issues control commands to make the corresponding response.

[0067] Regarding the steps described above for determining equipment control parameters based on changes in electromyographic signal voltage, impedance, and impedance phase, in practical implementation, the following steps 4.1) to 4.3) may be included:

[0068] Step 4.1) determines the target motion component based on the changes in electromyographic signal voltage, impedance value, and impedance phase, as well as the matching relationship. This target motion component is the motion component of the assistive device. For example, when a user's muscle movements are used to match the action of drinking water, the motion component is the component corresponding to the action of picking up the cup, pouring water, and moving it to the user's position. The appropriate changes in electromyographic signal voltage, impedance value, impedance phase, and the matching relationship with the target motion component are determined according to a pre-configured system.

[0069] Step 4.2) Determine the motion type and amplitude of the target motion component based on a preset change intensity threshold. The preset change intensity threshold is related to the motion amplitude and response urgency. For example, when the user's muscle movement amplitude is large, the change in the above parameters may also be large. If it exceeds the preset change intensity threshold, it indicates that the user is more urgent, thus enabling the device to respond quickly, improving the user experience and the response effect to the user's needs.

[0070] Step 4.3) Determine the equipment control parameters based on the action type and amplitude corresponding to the target moving part. The equipment control parameters can be determined by the action type and amplitude. Once the action type and amplitude corresponding to the target moving part are determined, the corresponding control command can be sent to the target moving part to perform the corresponding equipment control.

[0071] Therefore, in an optional implementation, after determining the above-mentioned device control parameters, the method further includes steps 5.1) and 5.2):

[0072] Step 5.1): Generate control commands based on the action type and action amplitude;

[0073] Step 5.2) Send control commands to the target motion component so that the target motion component performs the target motion.

[0074] In practical applications, the overall processing flow can also be found in [reference needed]. Figure 7 As shown, when a patient (i.e., the user) has a need, they can express that need through muscle contractions. By analyzing the collected electromyographic signals, bioelectrical impedance, and the phase of the bioelectrical impedance through a preset control algorithm, control signals can be automatically generated for the machine (i.e., the aforementioned auxiliary equipment). Upon receiving the command, the equipment responds accordingly. After receiving the service from the equipment, the patient can also make their preferred adjustments and determine the next action of the equipment.

[0075] Compared to previous single-mode control methods such as voice or brainwaves, electromyography (EMG) signal and bioelectrical impedance control offer advantages such as high stability, good security, strong anti-interference capabilities, and great development potential. Furthermore, the recognition and control methods based on EMG signals and bioelectrical impedance are highly versatile, allowing for assistance to users who cannot express themselves but can perform simple activities.

[0076] Based on the above method embodiments, this application also provides an auxiliary equipment control device, which is applied to auxiliary equipment. See [link to relevant documentation]. Figure 8 As shown, the device mainly includes the following parts:

[0077] Acquisition module 82 is used to acquire the user's bioelectrical impedance and electromyography signals;

[0078] The determination module 84 is used to determine characteristic parameters based on a first change parameter of bioelectrical impedance and a second change parameter of electromyography signal; wherein, the characteristic parameters include the change in electromyography signal voltage, the change in impedance value, and the change in impedance phase;

[0079] The control module 86 is used to determine the device control parameters based on the changes in electromyographic signal voltage, impedance value, and impedance phase, so as to control the auxiliary device to perform corresponding actions based on the device control parameters.

[0080] The assistive device control device provided in this application acquires the user's bioelectrical impedance and electromyography signals, and generates corresponding device control parameters based on the bioelectrical impedance and electromyography signals. The device control parameters are used to control the assistive device to perform corresponding actions. For users who cannot express themselves normally, the device can be controlled by simply training some muscle movements, so that they can complete some actions in daily life through the device. Thus, it can provide corresponding activity assistance for users who cannot express themselves but can perform simple activities.

[0081] In one feasible implementation, the acquisition module 82 is further configured to:

[0082] The user's bioelectrical impedance is acquired through an electrode ring set on the auxiliary device, and the user's electromyographic signal is also acquired through the electrode ring; wherein, the electrode ring includes a preset number of acquisition channels, and each acquisition channel includes a first preset number of first electrode pads and a second preset number of second electrode pads.

[0083] In one feasible implementation, the acquisition module 82 is further configured to:

[0084] The user's bioelectrical impedance is acquired through an electrode ring set on the auxiliary device, and it is determined whether a first change parameter of bioelectrical impedance is detected; if so, the user's electromyographic signal is acquired through the electrode ring set on the auxiliary device.

[0085] In one feasible implementation, the determining module 84 is further configured to:

[0086] Feature extraction is performed on the first changing parameter to determine the change in impedance value and the change in impedance phase corresponding to the bioelectrical impedance; feature extraction is performed on the second changing parameter to determine the change in electromyographic signal voltage.

[0087] In one feasible implementation, the control module 86 is further configured to:

[0088] Determine whether the change in impedance value and the change in impedance phase satisfy a preset permutation; if so, determine the first control posture category based on the permutation range to which the permutation belongs; wherein, the control posture category is used to characterize the category of the action performed by the auxiliary device; determine whether the second change parameter of the electromyographic signal satisfies a preset change range; if so, determine the second control posture category under the first control posture category based on the change range to which the change range belongs; determine the device control parameters based on the second control posture category.

[0089] In one feasible embodiment, the above-described apparatus further includes: a configuration module, configured to:

[0090] The matching relationship between muscle movements and device control parameters is pre-configured; where muscle movements are the muscle movements generated by the user in advance, and the types of muscle movements include a variety of pre-configured fixed types.

[0091] In one feasible implementation, the control module 86 is further configured to:

[0092] The target moving part is determined based on the changes in voltage, impedance, and phase of the electromyographic signal, as well as the matching relationship; the movement type and amplitude of the target moving part are determined based on a preset change intensity threshold; and the equipment control parameters are determined based on the movement type and amplitude corresponding to the target moving part.

[0093] The auxiliary equipment control device provided in this application embodiment has the same implementation principle and technical effect as the aforementioned method embodiment. For the sake of brevity, any parts of the auxiliary equipment control device embodiment not mentioned can be referred to the corresponding content in the aforementioned auxiliary equipment control method embodiment.

[0094] This application also provides an electronic device, such as... Figure 9 The diagram shows the structure of the electronic device 100, which includes a processor 91 and a memory 90. The memory 90 stores computer-executable instructions that can be executed by the processor 91. The processor 91 executes the computer-executable instructions to implement any of the above-mentioned auxiliary device control methods.

[0095] exist Figure 9 In the illustrated embodiment, the electronic device further includes a bus 92 and a communication interface 93, wherein the processor 91, the communication interface 93, and the memory 90 are connected via the bus 92.

[0096] The memory 90 may include high-speed random access memory (RAM) or non-volatile memory, such as at least one disk storage device. Communication between this system network element and at least one other network element is achieved through at least one communication interface 93 (which can be wired or wireless), such as the Internet, wide area network, local area network, metropolitan area network, etc. The bus 92 may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. The bus 92 can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 9 The symbol is represented by a single double-headed arrow, but this does not mean that there is only one bus or one type of bus.

[0097] The processor 91 may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method can be completed by the integrated logic circuitry in the hardware of the processor 91 or by instructions in software form. The processor 91 can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the embodiments of this application can be directly embodied in the execution of a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. The storage medium is located in the memory. The processor 91 reads the information in the memory and, in conjunction with its hardware, completes the steps of the auxiliary device control method of the aforementioned embodiment.

[0098] This application also provides a computer-readable storage medium storing computer-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions cause the processor to implement the above-described auxiliary device control method. For specific implementation, please refer to the foregoing method embodiments, which will not be repeated here.

[0099] The computer program products of the auxiliary equipment control method, apparatus, auxiliary equipment and storage medium provided in the embodiments of this application include a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the methods described in the preceding method embodiments. For specific implementation, please refer to the method embodiments, which will not be repeated here.

[0100] Unless otherwise specifically stated, the relative steps, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application.

[0101] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0102] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of the invention is in use. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. In addition, the terms "first," "second," and "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0103] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0104] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. An auxiliary equipment control method, characterized in that, The method is applied to an auxiliary device, and the method includes: Acquire the user's bioelectrical impedance and electromyographic signals; Characteristic parameters are determined based on the first change parameter of the bioelectrical impedance and the second change parameter of the electromyographic signal; wherein, the characteristic parameters include the change in electromyographic signal voltage, the change in impedance value, and the change in impedance phase; Based on the changes in electromyographic signal voltage, impedance value, and impedance phase, device control parameters are determined to control the auxiliary device to perform corresponding actions. Specifically, determining the device control parameters based on the changes in electromyographic signal voltage, impedance value, and impedance phase includes: Determine whether the change in impedance value and the change in impedance phase satisfy a preset permutation combination; If so, a first control posture category is determined based on the range of permutations and combinations to which the permutations and combinations belong; wherein, the control posture category is used to characterize the category of actions performed by the auxiliary device; Determine whether the second change parameter of the electromyographic signal meets the preset change range; If so, the second control attitude category under the first control attitude category is determined based on the range of change intervals to which the change intervals belong; The device control parameters are determined based on the second control attitude category.

2. The auxiliary equipment control method according to claim 1, characterized in that, Acquire the user's bioelectrical impedance and electromyographic signals, including: The user's bioelectrical impedance is acquired through an electrode ring installed on the auxiliary device, and the user's electromyographic signal is acquired through the electrode ring; wherein, the electrode ring includes a preset number of acquisition channels, and each acquisition channel includes a first preset number of first electrode pads and a second preset number of second electrode pads.

3. The auxiliary equipment control method according to claim 1 or 2, characterized in that, Acquire the user's bioelectrical impedance and electromyographic signals, including: The user's bioelectrical impedance is obtained through the electrode ring set on the auxiliary device, and it is determined whether a first change parameter of the bioelectrical impedance is detected. If so, the user's electromyographic signals are acquired through the electrode rings provided on the auxiliary device.

4. The auxiliary equipment control method according to claim 1, characterized in that, Characteristic parameters are determined based on the first change parameter of the bioelectrical impedance and the second change parameter of the electromyographic signal, including: Feature extraction is performed on the first changing parameter to determine the change in impedance value and the change in impedance phase corresponding to the bioelectrical impedance; Feature extraction is performed on the second changing parameter to determine the amount of change in the electromyographic signal voltage.

5. The auxiliary equipment control method according to claim 1, characterized in that, The method further includes: The matching relationship between muscle movements and device control parameters is pre-configured; wherein the muscle movements are muscle movements generated by the user in pre-training, and the types of muscle movements include a variety of pre-configured fixed types.

6. The auxiliary equipment control method according to claim 5, characterized in that, The device control parameters are determined based on the changes in electromyographic signal voltage, impedance value, and impedance phase, including: The target motor component is determined based on the changes in electromyographic signal voltage, impedance value, and impedance phase, as well as the matching relationship. The motion type and motion amplitude of the target motion component are determined based on a preset change intensity threshold. The device control parameters are determined based on the action type and the action amplitude corresponding to the target action component.

7. An auxiliary equipment control device, characterized in that, The device is applied to an auxiliary device to implement the method of claim 1, the device comprising: The acquisition module is used to acquire the user's bioelectrical impedance and electromyographic signals; The determination module is used to determine characteristic parameters based on a first change parameter of the bioelectrical impedance and a second change parameter of the electromyographic signal; wherein the characteristic parameters include the change in electromyographic signal voltage, the change in impedance value, and the change in impedance phase; The control module is used to determine the device control parameters based on the changes in voltage, impedance, and phase of the electromyographic signal, so as to control the auxiliary device to perform corresponding actions based on the device control parameters.

8. An auxiliary device, characterized in that, It includes a processor and a memory, the memory storing computer-executable instructions that can be executed by the processor, the processor executing the computer-executable instructions to implement the auxiliary device control method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when invoked and executed by a processor, cause the processor to implement the auxiliary device control method according to any one of claims 1 to 6.

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