Method and device for identifying motion time of surface myoelectric signal, equipment and medium

Abstract

The application discloses a method, device and equipment for identifying a movement time point of a surface electromyogram signal and a medium. The method comprises the following steps: acquiring a to-be-detected force platform signal corresponding to a to-be-detected surface electromyogram signal; wherein the acquisition time points of the to-be-detected surface electromyogram signal and the to-be-detected force platform signal are synchronous; determining a positive slope cumulative function according to the to-be-detected force platform signal, and performing first-order derivation on the positive slope cumulative function to obtain a positive slope change rate function; determining a movement time point of a movement event corresponding to the to-be-detected surface electromyogram signal according to the positive slope change rate function and a movement change rate threshold; wherein the independent variable and the dependent variable of the positive slope cumulative function are the acquisition time point of the to-be-detected force platform signal and the cumulative positive slope respectively, and the movement time point is a starting time point or an ending time point. The embodiment of the application solves the problem that the traditional identification method is susceptible to noise interference of the surface electromyogram signal, and improves the identification accuracy of the movement time point.

Description

Technical Field

[0001] This invention relates to the field of signal processing technology, and in particular to a method, apparatus, device, and medium for identifying the motion timing of surface electromyography signals. Background Technology

[0002] Identifying the moment of motion in surface electromyography (sEMG) signals is an important prerequisite for applied research such as human movement intention recognition, muscle function analysis, muscle fatigue analysis, and prosthetic control.

[0003] Currently, the identification of movement moments is mainly achieved by analyzing the frequency domain and / or time domain signal features contained in the surface electromyography (EMG) signal. However, the above identification methods are quite sensitive to noise interference on the surface EMG signal, which can easily lead to misjudgment and error accumulation. Summary of the Invention

[0004] This invention provides a method, apparatus, device, and medium for identifying the motion timing of surface electromyography (EMG) signals, in order to solve the problem that traditional identification methods are easily affected by noise interference from surface EMG signals and improve the accuracy of motion timing identification.

[0005] According to one embodiment of the present invention, a method for identifying the motion moment of surface electromyography signals is provided, the method comprising:

[0006] Acquire the force stage signal corresponding to the electromyography signal of the surface to be tested; wherein the acquisition time of the electromyography signal of the surface to be tested and the force stage signal are synchronized.

[0007] Based on the signal from the force measuring table to be measured, the positive slope accumulation function is determined, and the first derivative of the positive slope accumulation function is taken to obtain the positive slope change rate function.

[0008] Based on the positive slope rate of change function and the motion rate of change threshold, the motion moment of the motion event corresponding to the electromyographic signal of the surface to be tested is determined;

[0009] Wherein, the independent variable and dependent variable of the positive slope accumulation function are the acquisition time and the cumulative positive slope of the force table signal to be measured, respectively, and the motion time is the start time or the end time.

[0010] According to another embodiment of the present invention, a device for identifying the motion moment of surface electromyography signals is provided, the device comprising:

[0011] The test force stage signal acquisition module is used to acquire the test force stage signal corresponding to the test surface electromyography signal; wherein, the acquisition time of the test surface electromyography signal and the test force stage signal is synchronized.

[0012] The positive slope accumulation function determination module is used to determine the positive slope accumulation function based on the force table signal to be measured, and to perform first-order differentiation on the positive slope accumulation function to obtain the positive slope change rate function.

[0013] The motion timing determination module is used to determine the motion timing of the motion event corresponding to the electromyographic signal of the surface under test based on the positive slope change rate function and the motion change rate threshold.

[0014] Wherein, the independent variable and dependent variable of the positive slope accumulation function are the acquisition time and the cumulative positive slope of the force table signal to be measured, respectively, and the motion time is the start time or the end time.

[0015] According to another embodiment of the present invention, an electronic device is provided, the electronic device comprising:

[0016] At least one processor; and

[0017] A memory communicatively connected to the at least one processor; wherein,

[0018] The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the method for identifying the movement timing of surface electromyography signals according to any embodiment of the present invention.

[0019] According to another embodiment of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions, the computer instructions being configured to cause a processor to execute and implement the method for identifying the motion moment of surface electromyography signals as described in any embodiment of the present invention.

[0020] The technical solution of this invention uses the force stage signal synchronized with the acquisition time of the surface electromyography (EMG) signal as the data source for feature analysis. Based on the force stage signal to be measured, a positive slope accumulation function is determined, and the first derivative of the positive slope accumulation function is obtained to obtain the positive slope rate of change function. Based on the positive slope rate of change function and the motion rate of change threshold, the motion time of the motion event corresponding to the surface EMG signal to be measured is determined. Since the force stage signal is more stable and has less noise than the surface EMG signal, it solves the problem that traditional recognition methods are easily interfered with by the noise of the surface EMG signal, thus improving the accuracy of motion time recognition. Furthermore, the force stage signal is easy to acquire and the signal is simple, which can also reduce the recognition difficulty and improve the recognition efficiency of the recognition method, thereby improving the practicality of the recognition method.

[0021] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 A flowchart illustrating a method for identifying the motion moment of surface electromyography signals according to an embodiment of the present invention;

[0024] Figure 2 This is a signal waveform diagram of a force measuring table signal provided in one embodiment of the present invention;

[0025] Figure 3 A flowchart illustrating another method for identifying the motion moment of surface electromyography signals according to an embodiment of the present invention;

[0026] Figure 4 A flowchart illustrating a method for segmenting surface electromyography signals according to an embodiment of the present invention;

[0027] Figure 5 This is a schematic diagram illustrating the division of surface electromyography signals and force table signals according to an embodiment of the present invention;

[0028] Figure 6 This is a schematic diagram of the structure of a device for recognizing the motion time of surface electromyography signals according to an embodiment of the present invention;

[0029] Figure 7 This is a schematic diagram of the structure of an electronic device provided in one embodiment of the present invention. Detailed Implementation

[0030] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0031] It should be noted that the terms "first," "second," "target," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0032] Figure 1 This is a flowchart illustrating a method for identifying the motion timing of surface electromyography (EMG) signals according to an embodiment of the present invention. This embodiment is applicable to situations involving the identification of motion timing of surface EMG signals, particularly for surface EMG signals of the lower limbs. The method can be executed by a device for identifying the motion timing of surface EMG signals, which can be implemented in hardware and / or software and can be configured in a terminal device. Figure 1 As shown, the method includes:

[0033] S110. Acquire the force stage signal corresponding to the electromyographic signal of the surface to be tested.

[0034] Specifically, the surface electromyography (EMG) signal to be tested is used to characterize the electrical activity information of muscle fibers in the lower limb muscles of the subject during the signal acquisition process. For example, the lower limb muscles include, but are not limited to, the hip muscles, thigh muscles, calf muscles, or foot muscles. The lower limb muscles characterized by the surface EMG signal to be tested are not limited here, and can be customized according to actual needs.

[0035] Specifically, the force station signal is used to characterize the ground reaction force (GRF) information collected by the pressure sensor when the object under test applies a force to the pressure sensor during the signal acquisition process.

[0036] In this embodiment, the acquisition time of the electromyography (EMG) signal on the surface to be measured is synchronized with that of the force stage signal. Specifically, the acquisition parameters, such as the start time, acquisition frequency, and number of sampling points, are the same for the EMG signal on the surface to be measured and the force stage signal.

[0037] In one optional embodiment, acquiring the force stage signal corresponding to the electromyography (EMG) signal of the surface to be tested includes: using the left force stage signal corresponding to the EMG signal of the surface to be tested as the force stage signal, or using the right force stage signal corresponding to the EMG signal of the surface to be tested as the force stage signal; wherein the acquisition time of the EMG signal of the surface to be tested is synchronized with that of the left force stage signal, or the acquisition time of the EMG signal of the surface to be tested is synchronized with that of the right force stage signal.

[0038] Specifically, the signal from the left or right force platform is used to characterize the ground reaction force information for the unilateral lower limb collected by the unilateral pressure sensor.

[0039] In another optional embodiment, acquiring the force stage signal corresponding to the electromyography signal of the surface to be tested includes: acquiring the left force stage signal and the right force stage signal corresponding to the electromyography signal of the surface to be tested; wherein the acquisition time of the electromyography signal of the surface to be tested, the left force stage signal, and the right force stage signal is synchronized; and the force stage signal with difference between the left force stage signal and the right force stage signal is used as the force stage signal to be tested.

[0040] Specifically, the acquisition parameters such as the start time, acquisition frequency, and number of sampling points are the same for the electromyography signal of the surface to be measured, the force stage signal of the left side, and the force stage signal of the right side. The difference force stage signal can be obtained by subtracting the right force stage signal from the left force stage signal, or by subtracting the left force stage signal from the right force stage signal.

[0041] Figure 2 This is a signal waveform diagram of a force measuring table signal provided in one embodiment of the present invention. Specifically, Figure 2 In the signal waveform diagram, the horizontal axis represents the acquisition time, and the vertical axis represents the reaction force. The blue signal waveform diagram represents the force measuring station signal on one side, the red signal waveform diagram represents the force measuring station signal on the other side, and the black signal waveform diagram represents the force measuring station signal to be measured obtained by subtracting the signals from the two force measuring stations.

[0042] The advantage of this setup is that, since the reaction forces of the two force stage signals are negatively correlated, the signal characteristics contained in the difference force stage signal are more obvious. Using the difference force stage signal as the force stage signal to be measured can further improve the accuracy of motion moment identification.

[0043] S120. Based on the signal from the force table to be measured, determine the positive slope cumulative function, and perform the first derivative of the positive slope cumulative function to obtain the positive slope rate of change function.

[0044] Specifically, the positive slope accumulation function is used to characterize the change in the positive slope of the force stage signal under test as it accumulates with the acquisition time. In this embodiment, the independent and dependent variables of the positive slope accumulation function are the acquisition time and the accumulated positive slope of the force stage signal under test, respectively.

[0045] In an optional embodiment, determining the positive slope accumulation function based on the force stage signal to be measured includes: taking the first derivative of the force stage signal to be measured to obtain the force stage slope function; for each acquisition time in the force stage signal to be measured, obtaining the previous cumulative positive slope in the positive slope accumulation function corresponding to the previous acquisition time; if the current force stage slope in the force stage slope function corresponding to the current acquisition time is greater than zero, then the sum of the previous cumulative positive slope and the current force stage slope is taken as the current cumulative positive slope in the positive slope accumulation function corresponding to the current acquisition time; if the current force stage slope is less than or equal to zero, then the previous cumulative positive slope is taken as the current cumulative positive slope in the positive slope accumulation function corresponding to the current acquisition time.

[0046] Specifically, the positive slope accumulation function can start from the second acquisition time, or the positive slope accumulation function and the cumulative positive slope corresponding to the first acquisition time can be set to a preset value, such as 0. There is no limitation on the preset value here, and it can be customized according to actual needs.

[0047] For example, the positive slope accumulation function Y + [n] satisfies the formula:

[0048]

[0049] Where y[n] represents the reaction force corresponding to the nth acquisition time in the force stage signal to be measured. The slope function represents the slope of the force platform corresponding to the nth acquisition time. max() means to retain the slope of the force platform that is greater than zero and set the slope of the force platform that is less than zero to zero.

[0050] Specifically, the positive slope rate of change function is used to characterize the rate of change of the cumulative positive slope in the positive slope accumulation function with respect to the acquisition time. The independent and dependent variables of the positive slope rate of change function are the acquisition time of the force table signal under test and the positive slope rate of change, respectively.

[0051] S130. Based on the positive slope rate of change function and the motion rate of change threshold, determine the motion time of the motion event corresponding to the electromyographic signal of the surface to be tested.

[0052] In one optional embodiment, the motion change rate threshold is preset based on experience, such as a motion change rate threshold of 0.8. The specific parameter value of the motion change rate threshold is not limited here, and can be customized according to actual needs.

[0053] In another optional embodiment, the method further includes: obtaining the maximum cumulative positive slope and the average cumulative positive slope corresponding to the positive slope accumulation function; taking the product between the preset ratio and the average cumulative positive slope as the proportional cumulative positive slope, and taking the positive slope of the difference between the maximum cumulative positive slope and the proportional cumulative positive slope as the motion change rate threshold.

[0054] For example, the preset ratio can be 0.1 or 0.2. There is no limitation on the preset ratio here. It can be customized according to actual needs.

[0055] For example, the threshold of the rate of change of motion Th satisfies the formula:

[0056] Th = max(Y) + [n])-0.1*mean(Y + [n])

[0057] Where max(Y) + [n]) represents the maximum cumulative positive slope, mean(Y) + [n]) represents the average cumulative positive slope.

[0058] The advantage of this setting is that it minimizes the human error in setting the motion change rate threshold, thereby further improving the accuracy of motion moment recognition.

[0059] Specifically, a motion event is used to characterize the action potential range in the electromyographic (EMG) signal of the test subject during signal acquisition. In this embodiment, the motion time is either the start time or the end time. The start time represents the time node in the EMG signal of the test subject where the motion event occurs, and the end time represents the time node in the EMG signal of the test subject where the motion event ends.

[0060] In an optional embodiment, the motion moment of the motion event corresponding to the surface electromyography signal to be tested is determined according to the positive slope rate of change function and the motion rate of change threshold, including: obtaining a target positive slope rate of change greater than the motion rate of change threshold in the positive slope rate of change function; taking the acquisition moment corresponding to the target positive slope rate of change in the positive slope rate of change function as the motion moment of the motion event corresponding to the surface electromyography signal to be tested; wherein, when the acquisition moment in the force stage signal to be tested is in positive time sequence, the motion moment is the start moment, and when the acquisition moment in the force stage signal to be tested is in reverse time sequence, the motion moment is the end moment.

[0061] Specifically, positive timing means that the acquisition time in the force measuring station signal is arranged from the start acquisition time to the end acquisition time, such as 8:00-8:10, while negative timing means that the acquisition time in the force measuring station signal is arranged from the end acquisition time to the start acquisition time, such as 8:10-8:00.

[0062] When the acquisition time in the force stage signal is in positive time sequence, if the positive slope rate of change function shows a positive slope rate of change greater than the motion rate of change threshold, it indicates that a motion event has occurred. The principle for the termination of a motion event corresponds similarly to the principle for its occurrence. When the acquisition time in the force stage signal is in reverse time sequence, if the positive slope rate of change function shows a positive slope rate of change greater than the motion rate of change threshold, it indicates that the motion event has ended.

[0063] It should be noted that there is no limit to the number of motion moments identified from the electromyography (EMG) signal of the surface under test. It is understood that, in one embodiment, if the positive slope rate of change function contains multiple target positive slope rates of change that are greater than the motion rate of change threshold, it indicates that the EMG signal of the surface under test contains multiple motion events, and correspondingly, the number of motion moments identified is multiple.

[0064] The technical solution of this embodiment uses the force stage signal synchronized with the acquisition time of the surface electromyography (EMG) signal as the data source for feature analysis. Based on the force stage signal to be measured, a positive slope accumulation function is determined, and the first derivative of the positive slope accumulation function is obtained to obtain the positive slope rate of change function. Based on the positive slope rate of change function and the motion rate of change threshold, the motion time of the motion event corresponding to the surface EMG signal to be measured is determined. Since the force stage signal is more stable and has less noise than the surface EMG signal, it solves the problem that traditional recognition methods are easily interfered with by the noise of the surface EMG signal, thus improving the accuracy of motion time recognition. Furthermore, the force stage signal is easy to acquire and the signal is simple, which can also reduce the recognition difficulty and improve the recognition efficiency of the recognition method, thereby improving the practicality of the recognition method.

[0065] Figure 3 This is a flowchart illustrating another method for identifying the motion timing of surface electromyography (EMG) signals according to an embodiment of the present invention. This embodiment further refines the method for identifying the motion timing of surface EMG signals described in the above embodiment. For example... Figure 3 As shown, the method includes:

[0066] S210. Acquire the force stage signal corresponding to the electromyographic signal of the surface to be tested.

[0067] S220. Based on the signal from the force table to be measured, determine the positive slope cumulative function, and perform the first derivative of the positive slope cumulative function to obtain the positive slope change rate function.

[0068] S230. Determine the motion time of the motion event corresponding to the electromyographic signal of the surface to be tested based on the positive slope rate of change function and the motion rate of change threshold.

[0069] S210-S230 in this embodiment are the same as those in the above embodiments. Figure 1 The S110-S130 shown are the same or similar, and will not be described again in this embodiment.

[0070] S240. Based on the number of motor events corresponding to the electromyographic signals of the surface to be tested, at least one start time and at least one end time are paired and combined to obtain at least one combination of events to be tested.

[0071] In this embodiment, the force stage signal with positive timing is used as the force stage signal to be tested, and S210-S230 is executed to obtain at least one start time; and the force stage signal with negative timing is used as the force stage signal to be tested, and S210-S230 is executed to obtain at least one end time.

[0072] In this embodiment, the event combination to be tested includes an event time period consisting of a start time and an end time. Specifically, the conditions for pairing combinations include at least the number of event time periods in the event combination being equal to the number of events and the absence of overlapping time periods between different event time periods. For example, if event time period A is 8:00-8:27 and event time period B is 8:20-8:56, then the two event time periods overlap in the time period 8:20-8:27.

[0073] In one specific embodiment, if the number of start times and the number of end times are the same as the number of events, then the number of combinations of events to be tested is one. For example, assuming there are 3 events, with start times including 8:00, 8:20, and 8:50, and end times including 8:03, 8:27, and 8:56, then the combinations of events to be tested include 3 event time periods: 8:00-8:03, 8:20-8:27, and 8:50-8:56.

[0074] In another specific embodiment, if the number of start times and / or the number of end times are greater than the number of events, the number of combinations of events to be tested may be one. For example, assuming the number of start times is greater than the number of events, and there are 3 events, with start times including 8:00, 8:20, 8:50, and 8:57, and end times including 8:03, 8:27, and 8:56, since there is no end time later than 8:57, there is only one combination of events to be tested, and it consists of three event time periods: 8:00-8:03, 8:20-8:27, and 8:50-8:56.

[0075] S250. When the number of combinations of events to be tested is one, the electromyographic signals of the surface to be tested are divided according to the combination of events to be tested to obtain the number of motor surface electromyographic signals of the events.

[0076] Specifically, based on the time period of each event in the combination of events to be tested, the electromyographic signals on the surface to be tested are divided to obtain the electromyographic signals on the motor surface.

[0077] Based on the above embodiments, optionally, after pairing at least one start time and at least one end time to obtain at least one combination of events to be tested according to the number of events corresponding to the surface electromyography (EMG) signals to be tested, the method further includes: when the number of combinations of events to be tested is at least two, for each combination of events to be tested, dividing the force stage signal to be tested according to the combination of events to be tested to obtain at least two segmented force stage signals; determining the force stage correlation coefficient according to each segmented force stage signal; taking the combination of events to be tested corresponding to the largest force stage correlation coefficient as the target event combination of the surface EMG signal; dividing the surface EMG signal to be tested according to the target event combination to obtain the number of events of the motion surface EMG signal.

[0078] In another alternative embodiment, if the number of start times and / or the number of end times are greater than the number of events, the number of combinations of events to be tested may be at least two. Taking the case where the number of start times is greater than the number of events, assuming there are 3 events, with start times including 8:00, 8:20, 8:30, and 8:50, and end times including 8:03, 8:27, and 8:56, then event combination A to be tested contains 3 event time periods: 8:00-8:03, 8:20-8:27, and 8:30-8:56. Similarly, event combination A to be tested contains 3 event time periods: 8:00-8:03, 8:20-8:27, and 8:50-8:56.

[0079] Specifically, for each combination of events to be tested, the force stage signal to be tested is divided into segments based on the time period of each event in the combination of events to be tested.

[0080] Specifically, the force stage correlation coefficient is used to characterize the signal similarity between multiple segmented force stage signals corresponding to the combination of events to be measured. For example, the correlation coefficient algorithm used for the force stage correlation coefficient includes, but is not limited to, Pearson correlation coefficient algorithm, cross-correlation coefficient algorithm and machine learning algorithm. The correlation coefficient algorithm used here is not limited, and can be customized according to actual needs.

[0081] In an optional embodiment, the force stage correlation coefficient ρ satisfies the formula:

[0082]

[0083] Among them, X i X represents the i-th segmented force stage signal corresponding to the combination of events to be measured. jThis represents the j-th segmented force stage signal corresponding to the combination of events to be measured, where n represents the number of events.

[0084] The advantage of this setup is that if there are false triggering events during signal acquisition, the number of start times and / or end times identified will be greater than the number of events. This results in the event combinations obtained by pairing and combining being non-unique. This embodiment utilizes the high similarity between signals from different segmented force measuring platforms in real-world scenarios to not only filter out incorrectly identified motion moments but also incorrectly identified false triggering events, thereby ensuring the uniqueness of surface electromyography (EMG) signal segmentation and improving the stability and accuracy of EMG signal segmentation.

[0085] The embodiments of the present invention were validated on the SIAT-LLMD dataset in the article Wei, Wenhao, et al. "Surface electromyogram, kinematic, and kinetic dataset of lower limb walking for motion intent recognition." ScientificData10 (2023). The results of the embodiments demonstrate the feasibility and accuracy of the embodiments of the present invention.

[0086] Figure 4 This is a flowchart illustrating a method for segmenting surface electromyography (EMG) signals according to an embodiment of the present invention. Specifically, EMG signals and bilateral force stage signals are acquired simultaneously. The difference force stage signal corresponding to the bilateral force stage signal is obtained, and the positive slope accumulation function of the difference force stage signal is calculated. The first derivative of the positive slope accumulation function is taken to obtain the positive slope rate of change function. Based on the motion rate of change threshold and the positive slope rate of change function, the motion time of motion events in the EMG signal is identified. Multiple event combinations are obtained by pairing multiple start times and multiple end times. Based on the difference force stage signal, the force stage correlation coefficient corresponding to each event combination is determined. The event combinations are filtered based on the force stage correlation coefficient, and the EMG signals are labeled and segmented based on the filtered event combinations.

[0087] Figure 5 This is a schematic diagram illustrating the division of surface electromyography (EMG) signals and force plate signals according to an embodiment of the present invention. Specifically, Figure 5 The upper image in the diagram represents surface electromyography (EMG) signals, and the lower image represents bilateral force plate signals. In both images, the black vertical lines correspond to the start time of the acquisition, and the red vertical lines correspond to the end time. Each set of black and red vertical lines represents a time period of the event. Figure 5 The surface electromyography signals shown contain five motor events.

[0088] The technical solution of this embodiment obtains at least one combination of events to be tested by pairing at least one start time and at least one end time according to the number of events corresponding to the surface electromyography (EMG) signal to be tested. When the number of combinations of events to be tested is one, the surface EMG signal to be tested is divided according to the combination of events to be tested to obtain the number of events in the motion surface EMG signal. This solves the problem of dividing motion events in surface EMG signal, improves the accuracy of surface EMG signal division, and provides reliable data support for subsequent muscle state identification and analysis.

[0089] It should be noted that the collection, use, storage, sharing and transfer of user personal information involved in the technical solution of the present invention all comply with the provisions of relevant laws and regulations, and require notification to users and obtaining their consent or authorization. When applicable, user personal information is subjected to de-identification and / or anonymization and / or encryption technical processing.

[0090] The following are embodiments of the device for identifying the movement time of surface electromyography (EMG) signals provided in this invention. This device and the method for identifying the movement time of EMG signals described in the above embodiments belong to the same inventive concept. For details not described in detail in the embodiments of the device for identifying the movement time of EMG signals, please refer to the content of the method for identifying the movement time of EMG signals described in the above embodiments.

[0091] Figure 6 This is a schematic diagram of a device for recognizing the movement timing of surface electromyography signals according to an embodiment of the present invention. Figure 6 As shown, the device includes: a signal acquisition module 310 for the force stage under test, a positive slope accumulation function determination module 320, and a motion time determination module 330.

[0092] The test force stage signal acquisition module 310 is used to acquire the test force stage signal corresponding to the test surface electromyography signal; wherein the acquisition time of the test surface electromyography signal and the test force stage signal is synchronized.

[0093] The positive slope accumulation function determination module 320 is used to determine the positive slope accumulation function based on the force table signal to be measured, and to perform first derivative of the positive slope accumulation function to obtain the positive slope change rate function.

[0094] The motion timing determination module 330 is used to determine the motion timing of the motion event corresponding to the electromyographic signal of the surface to be measured based on the positive slope rate of change function and the motion rate of change threshold.

[0095] In this function, the independent and dependent variables of the positive slope accumulation function are the acquisition time and the cumulative positive slope of the force table signal to be measured, respectively, and the motion time is the start time or the end time.

[0096] The technical solution of this embodiment uses the force stage signal synchronized with the acquisition time of the surface electromyography (EMG) signal as the data source for feature analysis. Based on the force stage signal to be measured, a positive slope accumulation function is determined, and the first derivative of the positive slope accumulation function is obtained to obtain the positive slope rate of change function. Based on the positive slope rate of change function and the motion rate of change threshold, the motion time of the motion event corresponding to the surface EMG signal to be measured is determined. Since the force stage signal is more stable and has less noise than the surface EMG signal, it solves the problem that traditional recognition methods are easily interfered with by the noise of the surface EMG signal, thus improving the accuracy of motion time recognition. Furthermore, the force stage signal is easy to acquire and the signal is simple, which can also reduce the recognition difficulty and improve the recognition efficiency of the recognition method, thereby improving the practicality of the recognition method.

[0097] In an optional embodiment, the positive slope accumulation function determination module 320 is specifically used for:

[0098] The first derivative of the force stage signal is taken to obtain the force stage slope function;

[0099] For each acquisition time in the force table signal under test, obtain the previous cumulative positive slope in the positive slope accumulation function corresponding to the previous acquisition time;

[0100] If the current slope of the force measuring table corresponding to the current acquisition time in the slope function of the force measuring table is greater than zero, then the sum of the previous cumulative positive slope and the current slope of the force measuring table is taken as the current cumulative positive slope corresponding to the current acquisition time in the positive slope accumulation function.

[0101] If the current slope of the force measuring platform is less than or equal to zero, then the previous cumulative positive slope is used as the current cumulative positive slope corresponding to the current acquisition time in the positive slope accumulation function.

[0102] In an optional embodiment, the device further includes:

[0103] The motion change rate threshold determination module is used to obtain the maximum cumulative positive slope and the average cumulative positive slope corresponding to the positive slope accumulation function;

[0104] The product of the preset ratio and the average cumulative positive slope is used as the proportional cumulative positive slope, and the difference between the maximum cumulative positive slope and the proportional cumulative positive slope is used as the motion change rate threshold.

[0105] In one optional embodiment, the signal acquisition module 310 of the force stage under test is specifically used for:

[0106] Acquire the left and right force stage signals corresponding to the electromyography (EMG) signals of the surface under test; wherein the acquisition times of the EMG signals of the surface under test, the left force stage signal, and the right force stage signal are synchronized;

[0107] The difference between the force stage signal on the left and the force stage signal on the right is taken as the force stage signal to be measured.

[0108] In an optional embodiment, the motion timing determination module 330 is specifically used for:

[0109] Obtain the target positive slope rate of change that is greater than the threshold of the rate of change of motion in the positive slope rate of change function;

[0110] The acquisition time corresponding to the target positive slope rate of change in the positive slope rate of change function is taken as the motion time of the motion event corresponding to the electromyographic signal of the surface to be measured.

[0111] Wherein, when the acquisition time in the force stage signal is in positive time sequence, the motion time is the start time; when the acquisition time in the force stage signal is in reverse time sequence, the motion time is the end time.

[0112] In an optional embodiment, the device further includes:

[0113] The test event combination determination module is used to pair and combine at least one start time and at least one end time to obtain at least one test event combination based on the number of motor events corresponding to the surface electromyography signal to be tested; wherein, the test event combination includes an event time period consisting of a start time and an end time.

[0114] The first motor surface electromyography signal determination module is used to divide the motor surface electromyography signal according to the combination of the events to be tested when the number of combinations of the events to be tested is one, so as to obtain the number of events of the motor surface electromyography signal.

[0115] In an optional embodiment, the device further includes:

[0116] The second motor surface electromyography signal determination module is used to, after pairing and combining at least one start time and at least one end time to obtain at least one combination of events to be tested according to the number of events corresponding to the motor events of the surface electromyography signal to be tested, and when the number of combinations of events to be tested is at least two, divide the force stage signal to be tested according to the event stage signal to be tested for each event stage to obtain at least two segmented force stage signals.

[0117] Determine the correlation coefficient of the force measuring station based on the signals from each segmented force measuring station;

[0118] The combination of events to be measured corresponding to the largest force stage correlation coefficient is taken as the target event combination of surface electromyography signal.

[0119] Based on the target event combination, the surface electromyography (EMG) signals to be tested are divided to obtain the number of events in the motor surface EMG signals.

[0120] The device for identifying the movement timing of surface electromyography signals provided in this embodiment of the invention can execute the method for identifying the movement timing of surface electromyography signals provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method.

[0121] Figure 7 This is a schematic diagram of an electronic device provided according to one embodiment of the present invention. The electronic device 10 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0122] like Figure 7 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor 11. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0123] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information or data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0124] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the method for identifying the motion moments of surface electromyography signals provided in the above embodiments.

[0125] In some embodiments, the method for identifying the motion timing of surface electromyography (EMG) signals provided in the above embodiments can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the method for identifying the motion timing of EMG signals described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the method for identifying the motion timing of EMG signals by any other suitable means (e.g., by means of firmware).

[0126] Various embodiments of the systems and techniques described above herein can be implemented in the following systems or combinations thereof: digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard parts (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0127] Computer programs for implementing the method of identifying the moment of motion of surface electromyography signals according to the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The computer programs can be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0128] In the context of this application, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable storage medium. Examples of machine-readable storage media include, based on an electrical connection of at least one wire, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, compact disc read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0129] To provide interaction with a user, the systems and techniques described herein can be implemented on a terminal device having: a display device for displaying information to the user (e.g., a cathode-ray tube (CRT) or liquid crystal display (LCD) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the terminal device. Other types of devices can also provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0130] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication (e.g., communication networks) of any form or medium. Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0131] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system. It addresses the shortcomings of traditional physical hosts and Virtual Private Server (VPS) services, such as high management difficulty and weak business scalability.

[0132] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0133] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for identifying the moment of motion in surface electromyography (EMG) signals, characterized in that, include: Acquire the force stage signal corresponding to the electromyography signal of the surface to be tested; wherein the acquisition time of the electromyography signal of the surface to be tested and the force stage signal are synchronized. Based on the signal from the force measuring table to be measured, the positive slope accumulation function is determined, and the first derivative of the positive slope accumulation function is taken to obtain the positive slope change rate function. Based on the positive slope rate of change function and the motion rate of change threshold, the motion moment of the motion event corresponding to the electromyographic signal of the surface to be tested is determined; Wherein, the independent variable and dependent variable of the positive slope accumulation function are the acquisition time and the cumulative positive slope of the force table signal to be measured, respectively, and the motion time is the start time or the end time.

2. The method according to claim 1, characterized in that, The step of determining the positive slope accumulation function based on the force stage signal to be measured includes: The slope function of the force platform is obtained by taking the first derivative of the force platform signal to be measured. For each acquisition time in the force measuring table signal under test, obtain the previous cumulative positive slope in the positive slope accumulation function corresponding to the previous acquisition time; If the current slope of the force measuring platform corresponding to the current acquisition time in the slope function of the force measuring platform is greater than zero, then the sum of the previous cumulative positive slope and the current slope of the force measuring platform is taken as the current cumulative positive slope corresponding to the current acquisition time in the positive slope accumulation function. If the current slope of the force measuring platform is less than or equal to zero, then the previous cumulative positive slope is used as the current cumulative positive slope corresponding to the current acquisition time in the positive slope accumulation function.

3. The method according to claim 1, characterized in that, The method further includes: Obtain the maximum cumulative positive slope and the average cumulative positive slope corresponding to the positive slope accumulation function; The product of the preset ratio and the average cumulative positive slope is used as the proportional cumulative positive slope, and the difference between the maximum cumulative positive slope and the proportional cumulative positive slope is used as the motion change rate threshold.

4. The method according to claim 1, characterized in that, The acquisition of the force stage signal corresponding to the electromyographic signal of the surface to be tested includes: Acquire the left and right force stage signals corresponding to the electromyography (EMG) signals of the surface to be tested; wherein the acquisition times of the EMG signals of the surface to be tested, the left force stage signal, and the right force stage signal are synchronized; The difference between the left force stage signal and the right force stage signal is taken as the force stage signal to be tested.

5. The method according to claim 1, characterized in that, The step of determining the motion moment of the motion event corresponding to the surface electromyography signal to be measured based on the positive slope rate of change function and the motion rate of change threshold includes: Obtain the target positive slope change rate that is greater than the motion change rate threshold in the positive slope change rate function; The acquisition time corresponding to the target positive slope rate of change in the positive slope rate of change function is taken as the motion time of the motion event corresponding to the electromyographic signal of the surface to be measured. Wherein, when the acquisition time in the force measuring platform signal is in positive time sequence, the motion time is the start time; when the acquisition time in the force measuring platform signal is in reverse time sequence, the motion time is the end time.

6. The method according to any one of claims 1-5, characterized in that, The method further includes: Based on the number of motor events corresponding to the electromyographic signals of the surface to be tested, at least one start time and at least one end time are paired and combined to obtain at least one combination of events to be tested; wherein, the combination of events to be tested includes the number of event time periods consisting of one start time and one end time. When the number of combinations of events to be tested is one, the electromyographic signals of the surface to be tested are divided according to the combination of events to be tested to obtain the number of motor electromyographic signals of the event.

7. The method according to claim 6, characterized in that, After obtaining at least one combination of events to be tested by pairing at least one start time and at least one end time according to the number of motor events corresponding to the electromyographic signals of the surface to be tested, the method further includes: When the number of combinations of events to be tested is at least two, for each combination of events to be tested, the force stage signal to be tested is divided according to the combination of events to be tested to obtain at least two segmented force stage signals; Based on the segmented force measuring stage signals, determine the force measuring stage correlation coefficient; The combination of events to be measured corresponding to the largest force stage correlation coefficient is taken as the target event combination of the surface electromyography signal. The electromyographic signals of the surface to be tested are divided according to the target event combination to obtain the number of motor surface electromyographic signals of the event.

8. A device for recognizing the timing of movement in surface electromyography signals, characterized in that, include: The test force stage signal acquisition module is used to acquire the test force stage signal corresponding to the test surface electromyography signal; wherein, the acquisition time of the test surface electromyography signal and the test force stage signal is synchronized. The positive slope accumulation function determination module is used to determine the positive slope accumulation function based on the force table signal to be measured, and to perform first-order differentiation on the positive slope accumulation function to obtain the positive slope change rate function. The motion timing determination module is used to determine the motion timing of the motion event corresponding to the electromyographic signal of the surface under test based on the positive slope change rate function and the motion change rate threshold. Wherein, the independent variable and dependent variable of the positive slope accumulation function are the acquisition time and the cumulative positive slope of the force table signal to be measured, respectively, and the motion time is the start time or the end time.

9. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the method for identifying the motion timing of surface electromyography signals according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the method for identifying the moment of motion of surface electromyography signals as described in any one of claims 1-7.

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