Myoelectricity gesture recognition circuit and equipment

Abstract

The embodiment of the utility model provides a myoelectricity gesture recognition circuit and equipment, and belongs to the technical field of gesture recognition. The myoelectricity gesture recognition circuit comprises a myoelectricity acquisition channel, a multiplexer, an analog-to-digital conversion driving amplifier, an analog-to-digital converter, a microcontroller and an inertial measurement module; the myoelectricity acquisition channel acquires an initial myoelectricity signal, and performs signal amplification and filtering on the initial myoelectricity signal to obtain a target myoelectricity signal; the microcontroller sends a channel selection instruction to the multiplexer, the multiplexer selects from a plurality of myoelectricity acquisition channels based on the channel selection instruction, and the selected myoelectricity acquisition channel outputs a target myoelectricity signal; the analog-to-digital converter is used for digitizing the target electromyographic signals, and the microcontroller obtains gesture signals according to the digitized target electromyographic signals and inertial data. According to the embodiment of the invention, the accuracy of gesture recognition can be improved, and portable wearing of equipment is realized.

Description

Technical Field

[0001] The present application relates to the field of gesture recognition technology, and in particular to a myoelectric gesture recognition circuit and device. Background Art

[0002] The gesture recognition device is used to collect electromyographic signals from the skin of the user's arm to identify the user's gestures. At present, gesture recognition devices usually need to use larger electrodes to obtain high-quality electromyographic signals, and need to wear gloves or visual devices, which are relatively bulky and not suitable for wearable device usage scenarios. In addition, the current miniaturized gesture recognition devices have restrictions on the volume and number of electrodes, and the quality of the collected signals is poor, making it difficult to be effectively used.

[0003] Therefore, how to improve the accuracy of gesture recognition and realize the portable wearability of the device has become a technical problem that needs to be solved urgently. Utility Model Content

[0004] The main purpose of the embodiments of the present application is to propose an electromyographic gesture recognition circuit and device, aiming to improve the accuracy of gesture recognition and realize portable wear of the device.

[0005] To achieve the above-mentioned purpose, a first aspect of an embodiment of the present application provides an electromyographic gesture recognition circuit, comprising: a plurality of electromyographic acquisition channels, a multiplexer, an analog-to-digital conversion drive amplifier, an analog-to-digital converter, a microcontroller, and an inertial measurement module;

[0006] Wherein, the multiple electromyography acquisition channels are electrically connected to the multiplexer, the multiplexer is electrically connected to the analog-to-digital conversion drive amplifier, and the analog-to-digital conversion drive amplifier is electrically connected to the analog-to-digital converter; the microcontroller is electrically connected to the multiplexer, the analog-to-digital converter and the inertial measurement module;

[0007] The electromyographic acquisition channel is used to acquire an initial electromyographic signal, and to amplify and filter the initial electromyographic signal to obtain a target electromyographic signal;

[0008] The inertial measurement module is used to obtain inertial data;

[0009] The microcontroller is used to send a channel selection instruction to the multiplexer, and the multiplexer selects from the multiple electromyographic acquisition channels based on the channel selection instruction, and the selected electromyographic acquisition channel outputs the target electromyographic signal;

[0010] The analog-to-digital converter is used to digitize the target electromyographic signal;

[0011] The microcontroller is also used to obtain a gesture signal according to the digitized target electromyographic signal and the inertial data.

[0012] In some embodiments, the electromyography acquisition channel includes an electromyography acquisition electrode, a differential amplifier, a bandpass filter, and a notch filter;

[0013] The input end of the differential amplifier is electrically connected to the electromyography acquisition electrode, the output end of the differential amplifier is electrically connected to the bandpass filter, and the bandpass filter is electrically connected to the notch filter;

[0014] The electromyographic acquisition electrode is used to collect the initial electromyographic signal;

[0015] The differential amplifier is used to amplify the initial electromyographic signal and output a differential electromyographic signal;

[0016] The bandpass filter performs a first filtering process on the differential electromyographic signal and outputs a filtered electromyographic signal;

[0017] The notch filter performs a second filtering process on the filtered electromyographic signal and outputs the target electromyographic signal.

[0018] In some embodiments, the differential amplifier includes a radio frequency interference filter;

[0019] The radio frequency interference filter is electrically connected to the electromyography collection electrode, and the radio frequency interference filter is used to suppress radio frequency interference.

[0020] In some embodiments, the electromyography acquisition electrode includes a first electrode and a second electrode, the radio frequency interference filter includes a first resistor, a second resistor, a third resistor and a first capacitor, and the differential amplifier also includes a first operational amplifier, a second operational amplifier, a third operational amplifier, a fourth resistor, a fifth resistor, a sixth resistor, a seventh resistor, an eighth resistor and a ninth resistor;

[0021] The first resistor is electrically connected to the first electrode and the non-inverting input terminal of the first operational amplifier, the second resistor is electrically connected to the second electrode and the non-inverting input terminal of the second operational amplifier, the inverting input terminal of the first operational amplifier is electrically connected to the third resistor, the third resistor is electrically connected to the first capacitor, and the first capacitor is electrically connected to the inverting input terminal of the second operational amplifier;

[0022] The fourth resistor is electrically connected to the inverting input terminal of the first operational amplifier and the output terminal of the first operational amplifier, the fifth resistor is electrically connected to the inverting input terminal of the second operational amplifier and the output terminal of the second operational amplifier, the sixth resistor is electrically connected to the output terminal of the first operational amplifier and the inverting input terminal of the third operational amplifier, the seventh resistor is electrically connected to the output terminal of the second operational amplifier, the in-phase input terminal of the third operational amplifier and the ninth resistor, and the eighth resistor is electrically connected to the inverting input terminal of the third operational amplifier and the output terminal of the third operational amplifier.

[0023] In some embodiments, the bandpass filter includes a second capacitor, a third capacitor, a tenth resistor, and an eleventh resistor;

[0024] The tenth resistor is electrically connected to the second capacitor and the third capacitor, and the eleventh resistor is electrically connected to the third capacitor and the ninth resistor.

[0025] In some embodiments, the notch filter includes a fourth operational amplifier, a fifth operational amplifier, a fourth capacitor, a fifth capacitor, a sixth capacitor, a seventh capacitor, a twelfth resistor, a thirteenth resistor, a fourteenth resistor, a fifteenth resistor, a sixteenth resistor, a seventeenth resistor, an eighteenth resistor, and a nineteenth resistor;

[0026] Among them, the fourth capacitor is electrically connected to the fifth capacitor, the inverting input terminal of the fifth operational amplifier and the output terminal of the fifth operational amplifier, the sixth capacitor is electrically connected to the seventh capacitor, and the seventh capacitor is electrically connected to the non-inverting input terminal of the fourth operational amplifier; the output terminal of the fourth operational amplifier outputs the target electromyographic signal.

[0027] In some embodiments, the myoelectric gesture recognition circuit further includes an expansion interface;

[0028] The expansion interface is electrically connected to the multiplexer and a plurality of notch filters.

[0029] In some embodiments, the differential amplifier is further used to amplify the initial electromyographic signal according to a preset voltage gain multiple and a preset common mode rejection ratio, and output the differential electromyographic signal.

[0030] In some embodiments, the myoelectric gesture recognition circuit further includes a wireless communication module;

[0031] The wireless communication module is electrically connected to the microcontroller, and the wireless communication module is used for wireless communication via Bluetooth.

[0032] To achieve the above objective, a second aspect of an embodiment of the present application provides a myoelectric gesture recognition device, wherein the myoelectric gesture recognition device includes the myoelectric gesture recognition circuit described in the first aspect.

[0033] The electromyographic gesture recognition circuit and device proposed in the present application amplifies and filters the initial electromyographic signal through the electromyographic acquisition channel to obtain the target electromyographic signal, thereby amplifying the signal before the signal is input to the multiplexer, improving the reliability and processability of the signal, so that the microcontroller can directly calculate and process the target electromyographic signal obtained through the multiplexer, thereby realizing the miniaturization of the product and the portable wearability of the device. In addition, the multiplexer selects from multiple electromyographic acquisition channels based on the channel selection instruction, so that the signals collected by multiple electromyographic acquisition channels can be obtained, thereby improving the accuracy of gesture recognition. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 is a module block diagram of the myoelectric gesture recognition circuit provided in an embodiment of the present application;

[0035] Figure 2 It is a module block diagram of the electromyography acquisition channel provided in an embodiment of the present application;

[0036] Figure 3 is a circuit schematic diagram of the myoelectric gesture recognition circuit provided in an embodiment of the present application;

[0037] Figure 4 It is a module block diagram of an electromyographic gesture recognition circuit provided in another embodiment of the present application. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0039] It should be noted that, although the functional modules are divided in the device schematic diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first", "second", etc. in the specification, claims and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0040] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0041] First, some nouns involved in this application are analyzed:

[0042] Electromyogram (EMG) refers to the electrical signal that accompanies muscle contraction. Since muscle movement generates electromyogram signals, and each specific gesture corresponds to a specific muscle movement, specific gestures can be identified by collecting electromyogram signals on the surface of the arm skin.

[0043] Myoelectric gesture recognition device refers to a device used to collect electromyographic signals to recognize user gestures, including wearable myoelectric devices.

[0044] Radio Frequency Interference (RFI) is interference generated at the received signal frequency or very close to this frequency. For example, two electromagnetic waves with similar frequencies may be received by the receiver at the same time, causing interference.

[0045] Band-Pass Filter (BPF) is a device that allows waves in a specific frequency band to pass through while shielding other frequency bands.

[0046] Analog to digital converter, also known as A / D converter (ADC), usually refers to an electronic component that converts analog signals into digital signals.

[0047] Inertial Measurement Unit (IMU) is a device that measures the three-axis attitude angle (or angular rate) and acceleration of an object.

[0048] The myoelectric gesture recognition circuit and device provided in the embodiments of the present application are specifically described through the following embodiments. First, the myoelectric gesture recognition circuit in the embodiments of the present application is described.

[0049] It should be noted that in each specific implementation of the present application, when it comes to the need to perform relevant processing based on the user's electromyographic signals, user information, user behavior data, user historical data, user location information and other data related to the user's identity or characteristics, the user's permission or consent will be obtained first, and the collection, use and processing of these data will comply with relevant laws, regulations and standards. In addition, when the embodiment of the present application needs to obtain the user's sensitive personal information, the user's separate permission or consent will be obtained. After the user's separate permission or consent is clearly obtained, the necessary user-related data for the normal operation of the embodiment of the present application will be obtained.

[0050] Figure 1The block diagram is an optional module of the electromyographic gesture recognition circuit provided in the embodiment of the present application. The electromyographic gesture recognition circuit includes: a plurality of electromyographic acquisition channels 100, a multiplexer 200, an analog-to-digital conversion drive amplifier 300, an analog-to-digital converter 400, a microcontroller 500 and an inertial measurement module 600.

[0051] Among them, multiple electromyographic acquisition channels 100 are electrically connected to the multiplexer 200, the multiplexer 200 is electrically connected to the analog-to-digital conversion drive amplifier 300, and the analog-to-digital conversion drive amplifier 300 is electrically connected to the analog-to-digital converter 400; the microcontroller 500 is electrically connected to the multiplexer 200, the analog-to-digital converter 400 and the inertial measurement module 600.

[0052] The electromyographic acquisition channel 100 is used to acquire initial electromyographic signals, and to amplify and filter the initial electromyographic signals to obtain target electromyographic signals; the inertial measurement module 600 is used to obtain inertial data; the microcontroller 500 is used to send a channel selection instruction to the multiplexer 200, and the multiplexer 200 selects from a plurality of electromyographic acquisition channels 100 based on the channel selection instruction, and the selected electromyographic acquisition channel 100 outputs the target electromyographic signal; the analog-to-digital converter 400 is used to digitize the target electromyographic signal; the microcontroller 500 is also used to obtain a gesture signal based on the digitized target electromyographic signal and inertial data.

[0053] The beneficial effects of the embodiments of the present application include but are not limited to: the initial electromyographic signal is amplified and filtered through the electromyographic acquisition channel 100 to obtain the target electromyographic signal, so that the signal is amplified before being input to the multiplexer 200, improving the reliability and processability of the signal, so that the microcontroller 500 can directly calculate and process the target electromyographic signal obtained through the multiplexer 200, thereby realizing the miniaturization of the product and the portable wearability of the device. In addition, the multiplexer 200 selects from multiple electromyographic acquisition channels 100 based on the channel selection instruction, so that the signals collected by multiple electromyographic acquisition channels 100 can be obtained, thereby improving the accuracy of gesture recognition.

[0054] It should be noted that the inertial data includes acceleration and angular velocity, specifically three-axis acceleration and three-axis angular velocity. The inertial data acquired by the inertial measurement module 600 can be used to identify the motion information of the arm.

[0055] It should be noted that the multiplexer 200 switches among the multiple myoelectric acquisition channels 100 so that each myoelectric acquisition channel 100 can receive and send signals independently. The multiplexer 200 is controlled by a channel switching code sent by the microcontroller 500 .

[0056] It should be noted that the microcontroller 500 is an MCU (microcontroller unit, Microcontroller Unit, referred to as MCU), which can specifically be an nRF52 series chip, which can fully meet the signal and data transmission within 64 channels.

[0057] See also Figure 2 In some embodiments, the electromyography acquisition channel 100 includes an electromyography acquisition electrode 110 , a differential amplifier 120 , a bandpass filter 130 , and a notch filter 140 .

[0058] An input end of the differential amplifier 120 is electrically connected to the electromyography collection electrode 110 , an output end of the differential amplifier 120 is electrically connected to the bandpass filter 130 , and the bandpass filter 130 is electrically connected to the notch filter 140 .

[0059] The electromyographic acquisition electrode 110 is used to collect the initial electromyographic signal; the differential amplifier 120 is used to amplify the initial electromyographic signal and output the differential electromyographic signal; the bandpass filter 130 performs a first filtering process on the differential electromyographic signal and outputs a filtered electromyographic signal; the notch filter 140 performs a second filtering process on the filtered electromyographic signal and outputs a target electromyographic signal.

[0060] The advantage of this embodiment is that the initial electromyographic signal is amplified by the differential amplifier 120 to output the differential electromyographic signal, the differential electromyographic signal is subjected to a first filtering process by the bandpass filter 130 to output the filtered electromyographic signal, the filtered electromyographic signal is subjected to a second filtering process by the notch filter 140 to output the target electromyographic signal, thereby filtering out noise, obtaining a reliable target electromyographic signal, and improving the accuracy of gesture recognition.

[0061] It should be noted that the function of the bandpass filter 130 is to prevent the subsequent circuit from being saturated, that is, to prevent the current or voltage in the circuit from exceeding the maximum allowable value of the components in the circuit.

[0062] It should be noted that the function of the notch filter 140 is to filter out the power frequency signal. Specifically, the power frequency signal is a voltage or current signal related to industrial frequency, which is usually mixed in the differential signal in the form of common mode noise.

[0063] Specifically, the bandpass filter 130 performs a first filtering process on the differential electromyographic signal according to a preset first frequency threshold range, and outputs a filtered electromyographic signal; the notch filter 140 performs a second filtering process on the filtered electromyographic signal according to a preset second frequency threshold range, and outputs a target electromyographic signal; the first frequency threshold range is greater than the second frequency threshold range.

[0064] Specifically, the first frequency threshold range may be 10 to 1000 Hz. The second frequency threshold range may be 50 to 60 Hz, or any value therein (including both ends). The second frequency threshold range may be determined according to the local alternating current frequency of the user.

[0065] Specifically, the electromyographic acquisition channel 100 includes at least two electromyographic acquisition electrodes 110 , and the electromyographic acquisition electrodes 110 are attached to the skin along the extension direction of the arm muscles.

[0066] Specifically, the differential amplifier 120 has an extremely high input impedance, which is usually higher than 100 kilo-ohms to effectively acquire the electromyographic signal. In addition, the differential amplifier 120 has a common mode rejection ratio higher than 80 decibels (dB) and can achieve a voltage gain of 50-500 times.

[0067] In some embodiments, the differential amplifier 120 includes a radio frequency interference filter. The radio frequency interference filter is electrically connected to the electromyography acquisition electrode 110, and the radio frequency interference filter is used to suppress radio frequency interference.

[0068] The advantage of this embodiment is that the function of suppressing radio frequency interference is achieved through the radio frequency interference filter, thereby improving the accuracy of gesture recognition.

[0069] See also Figure 2 and Figure 3 In some embodiments, the electromyography acquisition electrode 110 includes a first electrode E1 and a second electrode E2, the radio frequency interference filter includes a first resistor R1, a second resistor R2, a third resistor R3 and a first capacitor C1, and the differential amplifier 120 also includes a first operational amplifier OP1, a second operational amplifier OP2, a third operational amplifier OP3, a fourth resistor R4, a fifth resistor R5, a sixth resistor R6, a seventh resistor R7, an eighth resistor R8 and a ninth resistor R9.

[0070] The first resistor R1 is electrically connected to the first electrode E1 and the non-inverting input terminal of the first operational amplifier OP1, the second resistor R2 is electrically connected to the second electrode E2 and the non-inverting input terminal of the second operational amplifier OP2, the inverting input terminal of the first operational amplifier OP1 is electrically connected to the third resistor R3, the third resistor R3 is electrically connected to the first capacitor C1, and the first capacitor C1 is electrically connected to the inverting input terminal of the second operational amplifier OP2; the fourth resistor R4 is electrically connected to the inverting input terminal of the first operational amplifier OP1 and the output terminal of the first operational amplifier OP1, the fifth resistor R5 is electrically connected to the inverting input terminal of the second operational amplifier OP2 and the output terminal of the second operational amplifier OP2, the sixth resistor R6 is electrically connected to the output terminal of the first operational amplifier OP1 and the inverting input terminal of the third operational amplifier OP3, the seventh resistor R7 is electrically connected to the output terminal of the second operational amplifier OP2, the non-inverting input terminal of the third operational amplifier OP3 and the ninth resistor R9, and the eighth resistor R8 is electrically connected to the inverting input terminal of the third operational amplifier OP3 and the output terminal of the third operational amplifier OP3.

[0071] The advantage of this embodiment is that after the initial electromyographic signal is collected by the electromyographic collection electrode 110, the differential amplifier 120 amplifies the initial electromyographic signal and filters out radio frequency interference, and outputs a differential electromyographic signal, thereby amplifying the signal, improving the accuracy of the electromyographic signal, and improving the accuracy of gesture recognition.

[0072] It should be noted that the third resistor R3 and the first capacitor C1 are connected in series to form a gain adjustment resistor, and the resistance of the gain adjustment resistor determines the voltage gain multiple of the differential amplifier 120. The larger the resistance, the smaller the voltage gain multiple, and vice versa. Due to the decrease in capacitor impedance at high frequencies, the voltage gain multiple increases, forming an effect similar to high-pass filtering, thereby eliminating non-ideal DC components and motion artifacts in the process of electromyographic signal acquisition. Motion artifacts refer to signal interference caused by the movement of the object being measured or other dynamic factors in a dynamic environment.

[0073] Specifically, the first resistor R1 and the second resistor R2 are both 2.2MΩ, the third resistor R3 is 200Ω, the fourth resistor R4 and the fifth resistor R5 are both 50kΩ, and the sixth resistor R6, the seventh resistor R7, the eighth resistor R8 and the ninth resistor R9 are all 150kΩ.

[0074] See also Figure 2 and Figure 3 In some embodiments, the bandpass filter 130 includes a second capacitor C2, a third capacitor C3, a tenth resistor R10, and an eleventh resistor R11. The tenth resistor R10 is electrically connected to the second capacitor C2 and the third capacitor C3, and the eleventh resistor R11 is electrically connected to the third capacitor C3 and the ninth resistor R9.

[0075] The advantage of this embodiment is that the differential electromyographic signal is subjected to a first filtering process by the bandpass filter 130 and a filtered electromyographic signal is output, thereby filtering out noise and improving the accuracy of gesture recognition.

[0076] It should be noted that GND represents grounding. The second capacitor C2 is grounded.

[0077] Specifically, the second capacitor C2 and the third capacitor C3 are both 16 nF (nanofarad), the tenth resistor R10 is 10 kΩ, and the eleventh resistor R11 is 100 kΩ.

[0078] See also Figure 2 and Figure 3In some embodiments, the notch filter 140 includes a fourth operational amplifier OP4, a fifth operational amplifier OP5, a fourth capacitor C4, a fifth capacitor C5, a sixth capacitor C6, a seventh capacitor C7, a twelfth resistor R12, a thirteenth resistor R13, a fourteenth resistor R14, a fifteenth resistor R15, a sixteenth resistor R16, a seventeenth resistor R17, an eighteenth resistor R18, and a nineteenth resistor R19. The fourth capacitor C4 is electrically connected to the fifth capacitor C5, the inverting input terminal of the fifth operational amplifier OP5, and the output terminal of the fifth operational amplifier OP5, the sixth capacitor C6 is electrically connected to the seventh capacitor C7, and the seventh capacitor C7 is electrically connected to the non-inverting input terminal of the fourth operational amplifier OP4; the output terminal of the fourth operational amplifier OP4 outputs the target electromyographic signal.

[0079] The advantage of this embodiment is that the notch filter 140 performs a second filtering process on the filtered electromyographic signal and outputs a target electromyographic signal, thereby filtering out noise, obtaining a reliable target electromyographic signal, and improving the accuracy of gesture recognition.

[0080] It should be noted that VOUT refers to the target electromyographic signal outputted by the output terminal of the fourth operational amplifier OP4.

[0081] Specifically, the fourth capacitor C4, the fifth capacitor C5, the sixth capacitor C6 and the seventh capacitor C7 are all 47nF. The twelfth resistor R12, the thirteenth resistor R13, the fourteenth resistor R14 and the fifteenth resistor R15 are all 68kΩ. The sixteenth resistor R16 is 10kΩ, the seventeenth resistor R17 is 2.4kΩ, the eighteenth resistor R18 is 10kΩ, and the nineteenth resistor R19 is 2kΩ.

[0082] See also Figure 4 In some embodiments, the myoelectric gesture recognition circuit further includes an expansion interface 700. The expansion interface 700 is electrically connected to the multiplexer 200 and a plurality of notch filters 140 (not shown in the figure).

[0083] The advantage of this embodiment is that multiple electromyographic acquisition channels 100 are connected through the expansion interface 700, so that the electromyographic signals collected by the multiple electromyographic acquisition channels 100 can be obtained, thereby improving the accuracy of gesture recognition.

[0084] It should be noted that, in actual use by the user, an independent myoelectric acquisition channel 100 can be added to the expansion interface 700 as needed. The more channels N of the myoelectric acquisition channel 100, the higher the recognition accuracy of the myoelectric signal. The expansion interface 700 can be a multi-interface connector, which is not limited in the embodiment of the present application.

[0085] In some embodiments, the differential amplifier 120 is further configured to amplify the initial electromyographic signal according to a preset voltage gain multiple and a preset common mode rejection ratio, and output a differential electromyographic signal.

[0086] Specifically, the voltage gain factor may be any value between 50 and 500. The common mode rejection ratio may be 80 dB (decibel).

[0087] See also Figure 4 In some embodiments, the myoelectric gesture recognition circuit further includes a wireless communication module 800. The wireless communication module 800 is electrically connected to the microcontroller 500, and the wireless communication module 800 is used for wireless communication via Bluetooth.

[0088] It should be noted that the wireless communication module 800 can also perform wireless communication via WIFI or other methods.

[0089] An embodiment of the present application further provides an electromyographic gesture recognition device, which includes the above-mentioned electromyographic gesture recognition circuit.

[0090] It should be noted that the myoelectric gesture recognition circuit of the embodiment of the present application is a miniaturized low-power circuit, which is applied to an electromyographic gesture recognition device, and the electromyographic gesture recognition device can be a miniaturized wearable gesture recognition armband.

[0091] Specifically, the armband is usually worn on the forearm near the elbow joint to identify the electromyographic signals of the palm and fingers, and identify the palm and finger movements through electromyographic signal analysis. The arm movement information is identified using an inertial measurement unit.

[0092] The specific implementation of the electromyographic gesture recognition device is substantially the same as the specific implementation of the electromyographic gesture recognition circuit described above, and will not be described in detail herein.

[0093] The embodiments described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. Those skilled in the art will appreciate that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0094] Those skilled in the art will appreciate that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than shown in the figures, or a combination of certain steps, or different steps.

[0095] The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0096] Those skilled in the art will appreciate that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices may be implemented as software, firmware, hardware, or a suitable combination thereof.

[0097] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0098] It should be understood that in the present application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0099] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the above units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. The mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0100] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0101] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but the scope of the rights of the present invention is not limited thereto. Any modification, equivalent substitution and improvement made by a person skilled in the art without departing from the scope and essence of the present invention should be within the scope of the rights of the present invention.

Claims

1. A myoelectric gesture recognition circuit, characterized in that: include: Multiple EMG acquisition channels, multiplexers, analog-to-digital conversion drive amplifiers, analog-to-digital converters, microcontrollers, and inertial measurement modules; Wherein, the multiple electromyography acquisition channels are electrically connected to the multiplexer, the multiplexer is electrically connected to the analog-to-digital conversion drive amplifier, and the analog-to-digital conversion drive amplifier is electrically connected to the analog-to-digital converter; the microcontroller is electrically connected to the multiplexer, the analog-to-digital converter and the inertial measurement module; The electromyographic acquisition channel is used to acquire an initial electromyographic signal, and to amplify and filter the initial electromyographic signal to obtain a target electromyographic signal; The inertial measurement module is used to obtain inertial data; The microcontroller is used to send a channel selection instruction to the multiplexer, and the multiplexer selects from the multiple electromyographic acquisition channels based on the channel selection instruction, and the selected electromyographic acquisition channel outputs the target electromyographic signal; The analog-to-digital converter is used to digitize the target electromyographic signal; The microcontroller is also used to obtain a gesture signal according to the digitized target electromyographic signal and the inertial data.

2. The myoelectric gesture recognition circuit according to claim 1, characterized in that: The electromyography acquisition channel includes an electromyography acquisition electrode, a differential amplifier, a bandpass filter and a notch filter; The input end of the differential amplifier is electrically connected to the electromyography acquisition electrode, the output end of the differential amplifier is electrically connected to the bandpass filter, and the bandpass filter is electrically connected to the notch filter; The electromyographic acquisition electrode is used to collect the initial electromyographic signal; The differential amplifier is used to amplify the initial electromyographic signal and output a differential electromyographic signal; The bandpass filter performs a first filtering process on the differential electromyographic signal and outputs a filtered electromyographic signal; The notch filter performs a second filtering process on the filtered electromyographic signal and outputs the target electromyographic signal.

3. The myoelectric gesture recognition circuit according to claim 2, characterized in that: The differential amplifier includes a radio frequency interference filter; The radio frequency interference filter is electrically connected to the electromyography collection electrode, and the radio frequency interference filter is used to suppress radio frequency interference.

4. The myoelectric gesture recognition circuit according to claim 3, characterized in that: The electromyography acquisition electrode includes a first electrode and a second electrode, the radio frequency interference filter includes a first resistor, a second resistor, a third resistor and a first capacitor, and the differential amplifier also includes a first operational amplifier, a second operational amplifier, a third operational amplifier, a fourth resistor, a fifth resistor, a sixth resistor, a seventh resistor, an eighth resistor and a ninth resistor; The first resistor is electrically connected to the first electrode and the non-inverting input terminal of the first operational amplifier, the second resistor is electrically connected to the second electrode and the non-inverting input terminal of the second operational amplifier, the inverting input terminal of the first operational amplifier is electrically connected to the third resistor, the third resistor is electrically connected to the first capacitor, and the first capacitor is electrically connected to the inverting input terminal of the second operational amplifier; The fourth resistor is electrically connected to the inverting input terminal of the first operational amplifier and the output terminal of the first operational amplifier, the fifth resistor is electrically connected to the inverting input terminal of the second operational amplifier and the output terminal of the second operational amplifier, the sixth resistor is electrically connected to the output terminal of the first operational amplifier and the inverting input terminal of the third operational amplifier, the seventh resistor is electrically connected to the output terminal of the second operational amplifier, the in-phase input terminal of the third operational amplifier and the ninth resistor, and the eighth resistor is electrically connected to the inverting input terminal of the third operational amplifier and the output terminal of the third operational amplifier.

5. The myoelectric gesture recognition circuit according to claim 4, characterized in that: The bandpass filter comprises a second capacitor, a third capacitor, a tenth resistor and an eleventh resistor; The tenth resistor is electrically connected to the second capacitor and the third capacitor, and the eleventh resistor is electrically connected to the third capacitor and the ninth resistor.

6. The myoelectric gesture recognition circuit according to claim 5, characterized in that: The notch filter includes a fourth operational amplifier, a fifth operational amplifier, a fourth capacitor, a fifth capacitor, a sixth capacitor, a seventh capacitor, a twelfth resistor, a thirteenth resistor, a fourteenth resistor, a fifteenth resistor, a sixteenth resistor, a seventeenth resistor, an eighteenth resistor and a nineteenth resistor; Among them, the fourth capacitor is electrically connected to the fifth capacitor, the inverting input terminal of the fifth operational amplifier and the output terminal of the fifth operational amplifier, the sixth capacitor is electrically connected to the seventh capacitor, and the seventh capacitor is electrically connected to the non-inverting input terminal of the fourth operational amplifier; the output terminal of the fourth operational amplifier outputs the target electromyographic signal.

7. The myoelectric gesture recognition circuit according to any one of claims 1 to 6, characterized in that: The myoelectric gesture recognition circuit also includes an expansion interface; The expansion interface is electrically connected to the multiplexer and a plurality of notch filters.

8. The myoelectric gesture recognition circuit according to any one of claims 2 to 6, characterized in that: The differential amplifier is also used to amplify the initial electromyographic signal according to a preset voltage gain multiple and a preset common mode rejection ratio, and output the differential electromyographic signal.

9. The myoelectric gesture recognition circuit according to any one of claims 1 to 6, characterized in that: The myoelectric gesture recognition circuit also includes a wireless communication module; The wireless communication module is electrically connected to the microcontroller, and the wireless communication module is used for wireless communication via Bluetooth.

10. A myoelectric gesture recognition device, characterized in that: The method comprises the myoelectric gesture recognition circuit as claimed in any one of claims 1 to 9.

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