High-density electromyographic signal acquisition system capable of expanding and cutting channels

Abstract

The invention provides a high-density electromyographic signal acquisition system capable of expanding and cutting channels. The high-density electromyographic signal acquisition system comprises an acquisition upper computer, a wireless communication module and at least one 128-channel high-density electromyographic signal acquisition system, the acquisition upper computer is in wireless communication connection with each 128-channel high-density electromyographic signal acquisition system through a wireless communication module; the 128-channel high-density electromyographic signal acquisition system comprises a main board and four 32-channel daughter boards, each 32-channel daughter board is connected with the main board through a daughter board connecting module, and each 32-channel daughter board is connected with an electromyographic sensor through an electromyographic sheet electrode interface. By means of the electromyographic signal acquisition system, the problems that in the prior art, an electromyographic signal acquisition system cannot meet the acquisition requirements of density and wider-range electromyographic signals, and portability is poor are solved.

Description

Technical Field

[0001] The present invention relates to the field of medical technology, and in particular to a high-density electromyogram signal acquisition system with expandable and customizable channels. Background Art

[0002] With the development of medical technology, rehabilitation engineering, and human-computer interaction fields, the acquisition and analysis of high-density surface electromyogram signals (HD-sEMG) have become important tools for muscle function assessment, neurorehabilitation training, and movement control research. Compared with traditional single-channel or low-channel number acquisition systems, high-density surface electromyogram signal acquisition systems can obtain electromyogram signals over a large range and at multiple points, providing richer and more detailed data support for studying the spatial distribution characteristics, activation patterns, and local muscle cooperation relationships of muscle tissues. For in-depth exploration of complex neuromuscular system diseases, more comprehensive and accurate electromyogram signal data is urgently needed.

[0003] In the prior art, common electromyogram signal acquisition systems mainly include bracelets and multiple single-channel electromyogram blocks, which cannot meet the acquisition requirements for density and a wider range of electromyogram signals. Although some electromyogram signal acquisition devices can achieve high-density electromyogram signal acquisition, they cannot control the device to only use a small part of the channels in the high-density electromyogram device to achieve efficient utilization of bandwidth. At the same time, the device has a large volume and cannot be worn on the body for portable carrying. Summary of the Invention

[0004] The present invention provides a high-density electromyogram signal acquisition system with expandable and customizable channels to solve the problems that the electromyogram signal acquisition system in the prior art cannot meet the acquisition requirements for density and a wider range of electromyogram signals and has poor portability.

[0005] The present invention provides a high-density electromyogram signal acquisition system with expandable and customizable channels, including: an acquisition host computer, a wireless communication module, and at least one 128-channel high-density electromyogram signal acquisition system;

[0006] The acquisition host computer is wirelessly communicatively connected to each of the 128-channel high-density electromyogram signal acquisition systems through the wireless communication module;

[0007] The 128-channel high-density electromyogram signal acquisition system includes a main board and 4 32-channel daughter boards. Each 32-channel daughter board is connected to the main board through a daughter board connection module, and each 32-channel daughter board is connected with an electromyogram sensor through an electromyogram patch electrode interface.

[0008] Further, the 32-channel daughter board is used to perform digital signal processing on the electromyogram signals collected by the electromyogram sensor to obtain corresponding electromyogram digital signals, and transmit the electromyogram digital signals to the main board through the daughter board connection module;

[0009] The main board is used to perform digital filtering processing on the myoelectric digital signals, and upload the myoelectric digital signals after digital filtering processing to the acquisition host computer through a wireless communication module.

[0010] Further, the daughter board connection module includes a flexible connector, and the flexible connector adopts a buckle design;

[0011] When transmitting the myoelectric digital signals, the flexible connector uses the SPI protocol for signal transmission.

[0012] In some embodiments, each of the 128-channel high-density myoelectric signal acquisition systems is provided with a wireless communication module, and each wireless communication module is wirelessly communicatively connected to the acquisition host computer through the TCP / IP protocol.

[0013] In some embodiments, the 32-channel daughter board includes: myoelectric patch electrode interfaces, low-noise instrumentation amplifiers, low-noise buffer amplifiers, and ADC analog-to-digital converters;

[0014] The myoelectric patch electrode interfaces include 32 electrode interfaces, the low-noise instrumentation amplifiers include 32 amplification units, the low-noise buffer amplifiers include 16 amplification and filtering units, and the ADC analog-to-digital converters include 4 ADC chips.

[0015] Further, the 32-channel daughter board includes 32 acquisition channels, each acquisition channel corresponds to an electrode interface, and each ADC chip in the ADC analog-to-digital converter is used to control the data transmission of 8 acquisition channels.

[0016] Further, the digital signal processing process of the 32-channel daughter board includes:

[0017] Obtain myoelectric signals of 32 acquisition channels from the myoelectric sensors through 32 electrode interfaces;

[0018] Transmit the myoelectric signals of the 32 acquisition channels to 32 amplification units respectively, and perform first-stage amplification processing on the myoelectric signals through the amplification units to obtain preliminarily amplified signals;

[0019] Input the preliminarily amplified signals obtained by every two adjacent amplification units into an amplification and filtering unit for second-stage amplification processing to obtain corresponding amplified analog signals;

[0020] Transmit the amplified analog signals output by 16 amplification and filtering units to the ADC analog-to-digital converter for analog-to-digital conversion to obtain corresponding myoelectric digital signals.

[0021] In some embodiments, the main board includes: a processor chip, a signal processing module, and a power supply module;

[0022] The power supply module is used to supply power to the processor chip, the ADC analog-to-digital converter in the 32-channel daughter board, and the wireless communication module;

[0023] The signal processing module is used to perform digital filtering on the EMG digital signals received by the processor chip;

[0024] The processor chip is used to receive the EMG digital signals transmitted by each 32-channel daughter board from the daughter board transmission module, and upload the EMG digital signals after digital filtering to the acquisition host computer through the wireless communication module.

[0025] Furthermore, the processor chip is also used to control the transmission parameters of the EMG digital signals, and the transmission parameters include at least one of the following: the acquisition frequency of the EMG digital signals; the number of acquisition channels of the EMG digital signals; the transmission rate of the EMG digital signals.

[0026] Furthermore, the main board further includes a control and debugging module, and the control and debugging module is provided with a plurality of LED display lights, a debugging interface, and a reset button;

[0027] The LED display lights are used to display the circuit operation status of the main board and the 32-channel daughter board;

[0028] The debugging interface is used to perform program debugging on the processor chip;

[0029] The reset button is used to start the pull-up resistor to perform initialization of the processor chip.

[0030] The channel-expandable and cuttable high-density EMG signal acquisition system provided by the present invention, by designing three parts of modules including an acquisition host computer, a wireless communication module, and at least one 128-channel high-density EMG signal acquisition system, through an expandable frame structure, can set the number of 128-channel high-density EMG signal acquisition systems according to the channel acquisition requirements of EMG signals, so as to achieve on-demand data acquisition and ensure the efficient use of bandwidth. And the embodiments of the present invention realize the acquisition and data transmission of high-density EMG signals with more than 128 channels, which can improve the information density of EMG signal acquisition. In addition, the acquisition host computer and the 128-channel high-density EMG signal acquisition system realize remote data upload through wireless communication, with good portability and expanding the applicable scenarios of EMG signal data acquisition. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art one by one. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0032] Figure 1 It is the structural framework diagram of the high-density EMG signal acquisition system with channel-expandable and cuttable channels provided by the present invention.

[0033] Figure 2 It is the framework structure diagram of the main board in the 128-channel high-density EMG signal acquisition system provided by the present invention.

[0034] Figure 3 It is the structural schematic diagram of the 32-channel daughter board in the 128-channel high-density EMG signal acquisition system provided by the present invention. Detailed implementation manners

[0035] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings in the present invention. Obviously, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without creative efforts shall fall within the protection scope of the present invention.

[0036] The high-density EMG signal acquisition system with channel-expandable and cuttable channels of the present invention will be described below with reference to the accompanying drawings. Figure 1 It is the structural framework diagram of the high-density EMG signal acquisition system with channel-expandable and cuttable channels provided by the present invention. As Figure 1 shown, the high-density EMG signal acquisition system with channel-expandable and cuttable channels includes: an acquisition host computer, a wireless communication module, and at least one 128-channel high-density EMG signal acquisition system.

[0037] Specifically, the acquisition host computer is wirelessly communicatively connected to each 128-channel high-density EMG signal acquisition system through the wireless communication module. The host computer can be a terminal such as a computer, a tablet or a mobile device, etc. The wireless communication module can be implemented through a WIFI module or a Bluetooth module.

[0038] The 128-channel high-density EMG signal acquisition system can support the acquisition of 128-channel EMG signals. Its specific architecture adopts a master-slave structure design, and specifically includes a main board and 4 32-channel daughter boards. Each 32-channel daughter board is connected to the main board through a daughter board connection module to ensure the normal acquisition and transmission of signal data. Each 32-channel daughter board is connected with an EMG sensor through an EMG patch electrode interface. The EMG sensor can act on the measured muscle part, and the weak EMG signal on the muscle part can be sensitively captured through the EMG patch therein.

[0039] Furthermore, the high-density EMG signal acquisition system with expandable and customizable channels adopts an expandable structural framework, that is, the number of 128-channel high-density EMG signal acquisition systems is not specifically limited, and it can support real-time increase or decrease in the number of 128-channel high-density EMG signal acquisition systems. The maximum number is limited by the bottleneck of signal acquisition and reception of the host computer. In the embodiment of the present invention, it is set to 4 128-channel high-density EMG signal acquisition systems. In this way, the number of EMG signal acquisition channels of the entire acquisition system can reach an integer multiple of 128 (such as 128, 256, 296, 512, etc.), which can achieve the expansion of the number of channels and also realize the acquisition of EMG signals from different parts at a relatively long distance.

[0040] In the high-density EMG signal acquisition system with expandable and customizable channels according to the embodiment of the present invention, three modules are designed: an acquisition host computer, a wireless communication module, and at least one 128-channel high-density EMG signal acquisition system. Adopting an expandable framework structure, it can set the number of 128-channel high-density EMG signal acquisition systems according to the channel acquisition requirements of EMG signals to achieve on-demand data acquisition and ensure the efficient use of bandwidth. And it realizes the acquisition and data transmission of high-density EMG signals with more than 128 channels, which can improve the information density of EMG signal acquisition. In addition, the acquisition host computer and the 128-channel high-density EMG signal acquisition system realize remote data upload through wireless communication, with good portability and expanding the applicable scenarios of EMG signal data acquisition.

[0041] In some embodiments, the acquisition of EMG signals depends on a 128-channel high-density EMG signal acquisition system. As Figure 2 shown, the 128-channel high-density EMG signal acquisition system includes a main board and 4 32-channel daughter boards. For portability, the side length dimensions of the circuit boards used for the main board and the 4 32-channel daughter boards in the embodiment of the present invention are both less than 10 cm, finally making the entire 128-channel high-density EMG signal acquisition system have the advantages of low size and good portability, and being able to adapt to the data acquisition requirements of more scenarios.

[0042] The 32-channel daughter board is used to perform digital signal processing on the EMG signals collected by the EMG sensors to obtain corresponding EMG digital signals, and transmit the EMG digital signals to the main board through the daughter board connection module.

[0043] The main board is used to perform digital filtering processing on the EMG digital signals and upload the digitally filtered EMG digital signals to the acquisition host computer through the wireless communication module.

[0044] Here, during the process of electromyogram (EMG) signal acquisition, the EMG signals collected by the EMG sensor are first transmitted to the 32-channel daughter board for digital signal processing, including signal amplification, filtering, noise reduction, and digital signal conversion, etc., to obtain the corresponding EMG digital signals. The EMG digital signals are then transmitted to the main board through the daughter board connection module for further digital filtering processing, such as further noise reduction processing or extracting the corresponding characteristic parameters to meet the signal data requirements of downstream task scenarios. The EMG digital signals after digital filtering processing are uploaded to the acquisition host computer through the wireless communication module.

[0045] In the 128-channel high-density EMG signal acquisition system according to the embodiment of the present invention, a master-slave modular architecture of the main board and the daughter board is adopted. The main board is responsible for data processing, wireless transmission, and system control, while the daughter board focuses on the acquisition of EMG signals, with clear division of labor. Moreover, each of the 32-channel daughter boards uses the daughter board connection module to achieve data transmission with the main board, and there will be no interference between them, ensuring the stability of signal data acquisition and transmission.

[0046] Further, in some other embodiments, considering that the 32-channel daughter board is generally connected to the EMG sensor, and the EMG sensor acts on the muscle part of the human body. In the case of human activities, relative movement may occur between the 32-channel daughter board and the main board. Therefore, the design requirements for the daughter board connection module are relatively strict.

[0047] Here, the daughter board connection module includes a flexible connector, that is, the daughter board connection module is designed as a flexible connector. The flexible connector adopts a special cable design, with good flexibility and signal transmission performance, and can adapt to the relative movement between the 32-channel daughter board and the main board while ensuring signal integrity. Further, the flexible connector adopts a buckle design to ensure that the flexible connector can still work stably during vibration or movement. For example, during daily activities of a person, the flexible connector can bend or stretch with the body movements through the buckle without causing signal interruption or distortion.

[0048] In addition, when the flexible connector transmits the EMG digital signal, it uses the SPI protocol for signal transmission. That is to say, the 32-channel daughter board transmits the EMG digital signal to the main board through the flexible connector according to the SPI communication protocol, and the communication interface circuit on the main board is responsible for receiving the EMG digital signal transmitted by the 32-channel daughter board. This can ensure the fast and accurate transmission of signal data, improve the reliability of data transmission, and at the same time have a certain error correction ability to cope with possible signal interference or transmission errors.

[0049] In some embodiments, for the high-density electromyogram (EMG) signal acquisition system with channel-expandable clipping, a scalable frame structure is adopted, and the number of 128-channel high-density EMG signal acquisition systems is not limited. Therefore, in the embodiments of the present invention, each 128-channel high-density EMG signal acquisition system is provided with a wireless communication module, and each wireless communication module is wirelessly communication-connected to the acquisition host computer through the TCP / IP protocol. In this way, the signal acquisition process of each 128-channel high-density EMG signal acquisition system is isolated, which can ensure that the newly added 128-channel high-density EMG signal acquisition system can also collect EMG signals in real time and upload them to the acquisition host computer without affecting the data acquisition of other acquisition systems.

[0050] In the embodiments of the present invention, the wireless communication module is set in each 128-channel high-density EMG signal acquisition system, and then wirelessly communication-connected to the acquisition host computer through the TCP / IP protocol. In this way, all 128-channel high-density EMG signal acquisition systems can be connected to the same local area network to realize the expansion of the number of EMG signal acquisition channels, and the data is uploaded through the TCP / IP protocol, which also ensures the reliability and security of the EMG signal transmission.

[0051] In some embodiments, the 32-channel daughter board is mainly responsible for the data acquisition and digital signal processing of EMG signals. The specific structure of the 32-channel daughter board is introduced below. As Figure 3 shown, the 32-channel daughter board includes: EMG patch electrode interfaces, low-noise instrumentation amplifiers, low-noise buffer amplifiers, and ADC analog-to-digital converters.

[0052] Specifically, the EMG patch electrode interface includes 32 electrode interfaces, such as Figure 3 EMG signal acquisition CH1 to EMG signal acquisition CH32 in, and the low-noise instrumentation amplifier includes 32 amplification units, such as Figure 3 amplification unit 1 to amplification unit 32 in, and each amplification unit corresponds to an electrode interface.

[0053] The low-noise buffer amplifier includes 16 amplification and filtering units, and each amplification and filtering unit corresponds to two amplification units. The ADC analog-to-digital converter includes 4 analog-to-digital converter (ADC) chips, such as Figure 3 ADC1, ADC2, ADC3, and ADC4 in.

[0054] In the embodiment of the present invention, 32 electrode interfaces are provided in a 32-channel daughter board. After the electrode interfaces, data processing and signal transmission are carried out through an amplification unit, an amplification and filtering unit, and an ADC chip, ensuring that each electrode interface can successfully collect and process EMG signals. Moreover, each electrode interface and the subsequent processing modules are independent of each other and do not interfere with each other, finally realizing the acquisition of 32-channel EMG signals.

[0055] Further, the 32-channel daughter board includes 32 acquisition channels, and each acquisition channel corresponds to an electrode interface, so as to ensure that each 32-channel daughter board can collect 32-channel EMG signals. Each ADC chip in the ADC analog-to-digital converter is used to control the data transmission of 8 acquisition channels, so that the EMG digital signals transmitted to the main board are 32-channel, and finally ensuring that 4 32-channel daughter boards in a 128-channel high-density EMG signal acquisition system complete the acquisition of 128-channel EMG digital signals.

[0056] The following introduces the digital signal processing process of the 32-channel daughter board. This process is implemented in the following steps 101 to 104, and the following is a specific description.

[0057] Step 101: Obtain EMG signals of 32 acquisition channels from the EMG sensor through 32 electrode interfaces.

[0058] First, obtain the EMG signals of the muscle part through the EMG sensor. The 32-channel daughter board has 32 electrode interfaces, and these electrode interfaces are all connected to the EMG sensor. Each electrode interface corresponds to a data acquisition channel. Therefore, the 32-channel daughter board can obtain the EMG signals of 32 acquisition channels from the EMG sensor through 32 electrode interfaces.

[0059] Step 102: Transmit the EMG signals of 32 acquisition channels to 32 amplification units respectively, and perform the first-stage amplification processing on the EMG signals through the amplification units to obtain the preliminarily amplified signals.

[0060] The electromyography (EMG) signals obtained from the EMG sensors for 32 acquisition channels are generally weak electrical signals. Here, the signals are first amplified by a low-noise instrumentation amplifier while eliminating the interference of noise. The EMG signals of the 32 acquisition channels are respectively transmitted to 32 amplification units in the low-noise instrumentation amplifier, and each acquisition channel corresponds to one amplification unit. As the first-stage amplifier, the low-noise instrumentation amplifier has a high common-mode rejection ratio, such as exceeding 110 dB, for suppressing power supply interference, and its input impedance is very high (e.g., greater than 100 GΩ||2 pF) to prevent the load effect caused by high-impedance electrodes, eliminating the thermal noise and impedance mismatch error caused by the input resistance. The gain of the low-noise instrumentation amplifier is set to 20 dB, and it is powered by ±5V at the front end, capable of tolerating a DC offset of ±600 mV, thus avoiding the problem of amplifier saturation caused by the input offset generated by the electrode-skin interface.

[0061] To further suppress the residual DC offset and motion artifacts, in the embodiment of the present invention, the low-noise instrumentation amplifier is designed as a second-order Sallen-Key Butterworth high-pass filter with a cut-off frequency set to 20 Hz. By combining with an active AC coupling circuit, the high-pass filter constitutes a third-order Bessel high-pass filter with a cut-off frequency of 23 Hz, which has a higher roll-off and a similar transient response compared to the second-order filter.

[0062] Here, the EMG signals are amplified by the amplification units in the third-order Bessel high-pass filter to obtain a preliminarily amplified signal.

[0063] Step 103: Input the preliminarily amplified signals obtained from every two adjacent amplification units into an amplification and filtering unit for second-stage amplification processing to obtain corresponding amplified analog signals.

[0064] Next, in the embodiment of the present invention, a low-noise buffer amplifier is also provided to perform second-stage amplification processing on the preliminarily amplified signals. A first-order low-pass filter with a cut-off frequency of 4 kHz is designed in the low-noise buffer amplifier to prevent aliasing effects, and it provides more than 40 dB of attenuation for the interference on the modulator harmonics. The low-noise buffer amplifier also has an integrated input overvoltage protection function and shares a ±2.5V power supply with the ADC chip of the ADC analog-to-digital converter. Adding this buffer stage can protect the ADC analog-to-digital converter from input signals exceeding ±2.5V.

[0065] As Figure 3 shown, the low-noise buffer amplifier includes 16 amplification and filtering units. Thus, the preliminarily amplified signals obtained from every two adjacent amplification units are transmitted to an amplification and filtering unit for second-stage amplification processing to obtain corresponding amplified analog signals.

[0066] Step 104: Transmit the amplified analog signals output by the 16 amplification and filtering units to the ADC analog-to-digital converter for analog-to-digital conversion to obtain corresponding EMG digital signals.

[0067] Here, the amplified analog signals output by the 16 amplification and filtering units are uniformly transmitted to the ADC analog-to-digital converter, and each ADC chip in the ADC analog-to-digital converter is used to control the data transmission of 8 acquisition channels. Thus, the digital signal conversion of 32-channel amplified analog signals is realized. During the digital signal conversion process, the analog signals are converted into corresponding digital signals, so that the EMG digital signals transmitted to the main board are 32 channels.

[0068] In the embodiment of the present invention, on each 32-channel daughter board, by performing multi-stage amplification processing on the EMG signals received by the electrode interface, noise interference and electrical signal interference can be effectively eliminated, ensuring the data quality of the EMG signals. Cooperating with a high-performance ADC analog-to-digital converter, the accurate digitization of 128-channel EMG signals is realized.

[0069] Continue to refer to Figure 2 , in some embodiments, the main board includes: a processor chip, a signal processing module, and a power supply module. Among them, the processor chip is an STM32 chip, specifically an STM32H743 CPU. The signal processing module can be set on the STM32 chip, and the power supply module can be an external charger or a lithium battery.

[0070] The power supply module is used to supply power to the processor chip, the ADC analog-to-digital converter in the 32-channel daughter board, and the wireless communication module. The input power of the power supply module can be supplied by an external charger or a 12V lithium battery, and it can output various types of power. Among them, the 3.3V power supplies the STM32 chip, the ADC chip, the Bluetooth module, and the WIFI module, while the ±2.5V and ±5V powers supply the low-noise instrumentation amplifier and the low-noise buffer amplifier respectively.

[0071] The signal processing module is used to perform digital filtering processing on the EMG digital signals received in the processor chip. The signal processing module is deployed on the STM32 chip and can be a computing unit, in which a pre-set digital filtering algorithm is stored. The digital filtering algorithm is used to perform digital filtering processing on the EMG digital signals received by the STM32 chip. The purpose of the digital filtering processing is to further remove the noise interference in the EMG digital signals or to extract the signal feature parameters therein for other applications in the downstream task scenario.

[0072] The processor chip is used to receive the EMG digital signals transmitted by each 32-channel daughter board from the daughter board transmission module and upload the EMG digital signals after digital filtering processing to the acquisition host computer through the wireless communication module.

[0073] The EMG digital signals of the 32-channel daughter board are transmitted to the STM32 chip of the daughter board through the SPI protocol of the flexible connector, and the STM32 chip receives them through the communication interface of the SPI protocol. After digital filtering processing in the signal processing module, the EMG digital signals after digital filtering processing are quickly and stably uploaded to the acquisition host computer through the Bluetooth module and the WIFI module.

[0074] In the embodiment of the present invention, through the processor chip in the main board, the transmission of EMG digital signals and further digital filtering processing are controlled, and then uploaded to the acquisition host computer through the wireless communication module, realizing real-time monitoring and analysis of signal data. And through the reasonable control of the power supply module for the supply voltage, in the low-power mode, the power consumption of some modules can be automatically reduced, extending the battery life.

[0075] Furthermore, the processor chip serves as the control center of the main board and is responsible for controlling the acquisition and transmission of EMG digital signals. Specifically, the processor chip is also used to control the transmission parameters of the EMG digital signals, and the transmission parameters include at least one of the following: the acquisition frequency of the EMG digital signals; the number of acquisition channels of the EMG digital signals; the transmission rate of the EMG digital signals.

[0076] That is to say, through the processor chip, the acquisition frequency of the EMG digital signals can be adjusted in real time according to the actual scenario requirements, and the number of acquisition channels of the EMG digital signals can be adjusted, and the transmission rate of the EMG digital signals can also be controlled, ensuring that the acquisition host computer can accurately execute the reception operation of the EMG digital signals.

[0077] Specifically, the STM32 chip controls the acquisition frequency of the 32-channel daughter board through a preset embedded program and confirms whether the acquisition channel is open. It can also control the communication between the Bluetooth module and the WIFI module and the external local area network by restricting the bandwidth network, and limit the transmission rate of the EMG digital signals. The embedded program can be deployed in the signal processing module of the STM32 chip.

[0078] For example, when the acquisition frequency of the EMG digital signals is large, the number of acquisition channels is too high, and the transmission rate is fast, at this time, the acquisition host computer is too late or unable to accurately execute the reception function of the EMG digital signals, resulting in incomplete signal data or missing channels. At this time, the processor chip can reasonably control the acquisition frequency, the number of acquisition channels, and the transmission rate of the EMG digital signals in real time, ensuring the normal execution of the signal reception function of the acquisition host computer and reducing the load of the acquisition host computer.

[0079] In the embodiments of the present invention, the processor chip can realize the real-time control of the transmission parameters of the myoelectric digital signal as needed, ensuring that the acquisition host computer can accurately execute the reception operation of the myoelectric digital signal, meeting the acquisition requirements of more scenarios, having a certain degree of flexibility, and having good adaptability to different environments.

[0080] In some embodiments, as Figure 3 shown, the main board further includes a control and debugging module, and the control and debugging module is provided with a plurality of LED display lights, a debugging interface, and a reset button. Considering that there may be unexpected situations such as equipment (circuit) failures, insufficient power supply, or wireless network disconnections during the data acquisition process, resulting in the interruption or termination of the myoelectric signal acquisition process, the embodiments of the present invention also set up a control and debugging module to handle these possible unexpected situations.

[0081] Specifically, the LED display lights are used to display the circuit operation status of the main board and the 32-channel daughter board. For example, the normal and abnormal states of the main board and the 32-channel daughter board are respectively displayed through red and green LED display lights. The normal state is displayed as a green light, and the abnormal state is displayed as a red light, which is convenient for system monitoring and real-time troubleshooting.

[0082] The debugging interface is used to debug the program of the processor chip. The processor chip includes a signal processing module, in which a digital filtering algorithm and an embedded program are deployed. When it is necessary to update the digital filtering algorithm and the embedded program, the re-edited digital filtering algorithm and the embedded program are transmitted to the processor chip through the debugging interface, so as to adjust or update the transmission parameters of the myoelectric digital signal and the digital filtering process. The debugging interface can be SWDIO and SWCLK.

[0083] The reset button is used to start the pull-up resistor to perform the initialization of the processor chip. For example, when a failure occurs during the myoelectric signal acquisition process, the pull-up resistor is started through the reset button, and the manual reset function can be realized to perform the initialization of the processor chip, so as to restart the operation process of the processor chip and re-acquire the myoelectric signal.

[0084] In the embodiments of the present invention, through the control and debugging module of the main board, the acquisition process of the myoelectric signal can be updated and adjusted in real time, and real-time monitoring of this process is realized during the data acquisition process, so as to detect abnormalities in time, and a restart function is provided through the reset button to effectively handle the abnormalities that occur during the myoelectric signal acquisition process.

[0085] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A high-density electromyographic signal acquisition system with expandable and trimmable channels, characterized in that: include: Acquisition host computer, wireless communication module, at least one 128-channel high-density electromyographic signal acquisition system; The acquisition host computer is respectively connected to each of the 128-channel high-density electromyographic signal acquisition systems through the wireless communication module for wireless communication; The 128-channel high-density electromyographic signal acquisition system includes a main board and four 32-channel daughter boards, each of the 32-channel daughter boards is connected to the main board via a daughter board connection module, and each of the 32-channel daughter boards is connected to an electromyographic sensor via an electromyographic sheet electrode interface.

2. The high-density electromyographic signal acquisition system with expandable and trimmable channels according to claim 1 is characterized in that: The 32-channel daughter board is used to perform digital signal processing on the electromyographic signal collected by the electromyographic sensor to obtain a corresponding electromyographic digital signal, and transmit the electromyographic digital signal to the main board through the daughter board connection module; The main board is used to perform digital filtering processing on the electromyographic digital signal, and upload the electromyographic digital signal after digital filtering processing to the acquisition host computer through the wireless communication module.

3. The high-density electromyographic signal acquisition system with expandable and trimmable channels according to claim 1, characterized in that: The daughterboard connection module includes a flexible connector, and the flexible connector adopts a locking design; The flexible connector adopts the SPI protocol to transmit the signal when transmitting the electromyographic digital signal.

4. The high-density electromyographic signal acquisition system with expandable and trimmable channels according to claim 1, characterized in that: Each of the 128-channel high-density electromyographic signal acquisition systems is provided with a wireless communication module, and each wireless communication module is wirelessly connected to an acquisition host computer via the TCP / IP protocol.

5. The high-density electromyographic signal acquisition system with expandable and trimmable channels according to claim 1, characterized in that: The 32-channel daughter board includes: an electromyography electrode interface, a low-noise instrumentation amplifier, a low-noise buffer amplifier, and an ADC analog-to-digital converter; The electromyographic sheet electrode interface includes 32 electrode interfaces, the low-noise instrument amplifier includes 32 amplification units, the low-noise buffer amplifier includes 16 amplification and filtering units, and the ADC analog-to-digital converter includes 4 ADC chips.

6. The high-density electromyographic signal acquisition system with expandable and trimmable channels according to claim 5, characterized in that: The 32-channel daughter board includes 32 acquisition channels, each acquisition channel corresponds to an electrode interface, and each ADC chip in the ADC analog-to-digital converter is used to control data transmission of 8 acquisition channels.

7. The high-density electromyographic signal acquisition system with expandable and trimmable channels according to claim 6, characterized in that: The digital signal processing process of the 32-channel daughter board includes: Obtain the myoelectric signals of 32 acquisition channels from the myoelectric sensor through 32 electrode interfaces; The electromyographic signals of the 32 acquisition channels are respectively transmitted to 32 amplifying units, and the electromyographic signals are subjected to a first-stage amplification process by the amplifying units to obtain preliminary amplified signals; Inputting the preliminary amplified signals obtained from each of the two adjacent amplifying units into an amplifying and filtering unit for second-stage amplification processing to obtain corresponding amplified analog signals; The amplified analog signals output by the 16 amplification and filtering units are transmitted to the ADC analog-to-digital converter for analog-to-digital conversion to obtain the corresponding electromyographic digital signals.

8. The high-density electromyographic signal acquisition system with expandable and trimmable channels according to claim 2, characterized in that: The mainboard includes: a processor chip, a signal processing module and a power module; The power module is used to supply power to the processor chip, the ADC analog-to-digital converter in the 32-channel daughter board, and the wireless communication module; The signal processing module is used to perform digital filtering on the electromyographic digital signal received in the processor chip; The processor chip is used to receive the myoelectric digital signals transmitted by each 32-channel daughter board from the daughter board transmission module, and upload the myoelectric digital signals processed by digital filtering to the acquisition host computer through the wireless communication module.

9. The high-density electromyographic signal acquisition system with expandable and trimmable channels according to claim 8, characterized in that: The processor chip is also used to control the transmission parameters of the electromyographic digital signal, and the transmission parameters include at least one of the following: the acquisition frequency of the electromyographic digital signal; the number of acquisition channels of the electromyographic digital signal; and the transmission rate of the electromyographic digital signal.

10. The high-density electromyographic signal acquisition system with expandable and trimmable channels according to claim 8, characterized in that: The mainboard also includes a control and debugging module, which is provided with a plurality of LED display lights, a debugging interface, and a reset button; The LED display lights are used to display the circuit operation status of the main board and the 32-channel sub-board; The debugging interface is used to debug the program of the processor chip; The reset button is used to start the pull-up resistor to perform initialization of the processor chip.

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