阅读说明：本技术 动作复制系统及方法 (Action copying system and method ) 是由 不公告发明人 于 2021-09-15 设计创作，主要内容包括：本发明公开了一种动作复制系统,包括：教师端设备和学生端设备两部分,其中所述教师端设备,用于采集示范动作的肌电特征信号数据,传递给学生端设备；其中所述学生端设备,用于接收示范动作的肌电特征信号数据、生成肌电信号刺激信号激发学生相应肌肉收缩舒张。本发明还公开了一种动作复制方法,以肌电特征信号数据在人际传递动作信息,包括,教师端采集示范动作的肌电特征信号数据,通过通信模块传递给学生端设备,学生端设备接收数据生成肌电刺激信号,激发学生端相应的肌肉收缩与舒张,同时学生端跟随肌电刺激主动参与肌肉收缩与舒张。本发明的优点在于,以肌电特征信号数据在人际传递动作信息,用教师端肌电信号激发学生端的肌肉动作,实现动作技能的精准复制；可缩短反复练习、反馈、校正的时间和精力成本,提高动作技能学习的学习效率。(The invention discloses an action copying system, comprising: the system comprises teacher end equipment and student end equipment, wherein the teacher end equipment is used for collecting electromyographic characteristic signal data of demonstration actions and transmitting the electromyographic characteristic signal data to the student end equipment; the student end equipment is used for receiving electromyographic characteristic signal data of demonstration actions and generating electromyographic signal stimulation signals to stimulate corresponding muscle contraction and relaxation of students. The invention also discloses a motion replication method, which transmits motion information at interpersonal by using the electromyographic characteristic signal data, and comprises the steps that the teacher end collects the electromyographic characteristic signal data of the demonstration motion and transmits the electromyographic characteristic signal data to the student end equipment through the communication module, the student end equipment receives the data to generate an electromyographic stimulation signal, the corresponding muscle contraction and relaxation of the student end is stimulated, and meanwhile, the student end actively participates in the muscle contraction and relaxation along with the electromyographic stimulation. The invention has the advantages that the myoelectric characteristic signal data is used for transmitting action information among people, and myoelectric signals of a teacher end are used for exciting muscle actions of a student end, so that accurate replication of action skills is realized; the time and energy cost for repeated practice, feedback and correction can be shortened, and the learning efficiency of action skill learning is improved.)

1. The action replication system is characterized in that myoelectric stimulation signals of student end equipment are controlled to be generated by collecting myoelectric characteristic signals at teacher end equipment, and comprises: the system comprises teacher end equipment and student end equipment, wherein the teacher end equipment is used for collecting electromyographic characteristic signal data of demonstration actions and transmitting the electromyographic characteristic signal data to the student end equipment; the student end equipment is used for receiving electromyographic characteristic signal data of demonstration actions and generating an electromyographic signal stimulation signal to stimulate corresponding muscle contraction and relaxation of students;

furthermore, the number of myoelectricity acquisition channels of the teacher-side device corresponds to the number of electrical stimulation channels of the student-side device, a group of corresponding acquisition electrodes and corresponding stimulation electrodes are arranged on the same muscles of different individuals, and the relative positions of the group of corresponding acquisition electrodes and the corresponding stimulation electrodes on the muscles are the same.

2. The teacher-side device and the student-side device of claim 1, wherein the teacher-side device comprises an electromyographic signal acquisition module, a control module, and a communication module; the system comprises an electromyographic signal acquisition module, a control module and a communication module, wherein the electromyographic signal acquisition module is used for acquiring electromyographic characteristic signal data for identifying demonstration actions, the control module is used for managing and coordinating the work of each module and other functions, and the communication module is used for communicating with a student; the student-side equipment comprises a communication module, a control module and an electrical stimulation module; the communication module is used for communicating with a teacher end, the control module is used for managing and coordinating the work and other functions of each module, and the electrical stimulation module is used for generating an electromyographic signal to stimulate the contraction and relaxation of muscles.

3. The action replicating system according to claim 1, wherein the student side device is provided with a storage module for storing electromyographic signature data of the demonstration action for self-repetitive exercise.

4. The action replication system of claim 1, wherein the student side device is provided with an electromyographic signal acquisition module for acquiring electromyographic characteristic signal data of students during exercise for feedback control of the exercise process.

5. The action copying method is characterized in that action information is transmitted interpersonal by electromyographic characteristic signal data, and the action copying method comprises the following steps: collecting myoelectric characteristic signal data by teacher end equipment and transmitting the myoelectric characteristic signal data to student end equipment; the student end equipment receives the data to generate myoelectricity stimulation signals, corresponding muscle contraction and relaxation of the student end are stimulated, and meanwhile the student end actively participates in the muscle contraction and relaxation along with myoelectricity stimulation.

6. The method of motion replication of claim 5, wherein the teacher-side collection of muscle objects stimulated by the student-side covers all of the muscles necessary to complete a particular motor skill.

7. The motion replication method according to claim 5, wherein the exercise is repeated on its own at the student side using the saved electromyographic signature data of the demonstration motion.

8. A method of action replication according to claim 5, characterized in that the collected electromyographic signature data at the student side is compared with electromyographic signature data of a demonstration action for correcting action deviations.

9. The motion replication method of claim 5, wherein myoelectric characteristic signal data is collected at the student end to analyze the muscle fatigue state of the student end, and the electrical stimulation signal parameters or audio prompts are dynamically adjusted.

Technical Field

The invention relates to motion skill teaching equipment in the related fields of sports, music, dancing and the like, in particular to a motion copying system and a motion copying method, which are used for realizing motion copying through the transmission of electromyographic characteristic signal data.

Background

Action, skeletal muscle activity under the control of the cerebral cortex, fine muscle control is an important feature of action. The minimum constitution unit of the action is single muscle activity, namely, the single muscle contracts and expands according to a certain rhythm, intensity and duration; the single simple action is formed by combining a plurality of muscles participating in the action and performing contraction and relaxation activities according to a certain time sequence, intensity and duration; the complex action is formed by combining a single simple action with a certain time sequence, intensity and duration.

The action skill refers to a programmed, automated and perfected exercise action mode which is obtained by applying certain knowledge and through practice and accords with rules. The physiological nature of obtaining motor skills is the establishment of conditioned reflexes, such as movements in the activities of playing, sports, athletics, and dancing. The formation of the motor skills includes four stages: operation orientation, namely establishing an orientation image by knowing the structure and the requirement of operation activities; operation simulation, actually reproducing a specific action mode or behavior pattern; operation integration, fixing the motion learned in the simulation stage, and combining the motion components to form a shaped integrated motion; the operation is skilled, the formed action mode has high adaptability to various changed conditions, and the execution of the action achieves high perfection and automation. The necessary and proper exercise and the establishment of stable and clear kinesthesia are effective conditions for the formation of the action skills.

Motion skills teaching has long been achieved primarily through an iterative "demonstration and interpretation-appropriate exercise-effective feedback" loop, which may be embodied as: the teacher externalizes the action skills into operation activity programs and activity structures through explanation demonstration, and converts information of what should be done and how to complete the actions into other various information such as visual information, auditory information and the like; the students receive the information and convert the information into self comprehension, reconstruct activity programs in the brains and reproduce the action skills; the teacher checks the operation activity program and activity structure of the students and feeds back and corrects the operation activity program and the activity structure in the modes of vision, hearing, touch and the like, and meanwhile, the students reaching a certain degree can adjust themselves through the self kinesthesis.

In summary, we find that there is a bottleneck in traditional motor skill acquisition: the teaching ability of teachers and the learning ability of students can restrict the learning effect and the learning efficiency. On one hand, the action skill information needs to be converted into sense information such as vision, hearing and the like at the teacher end; on the other hand, the student end needs to restore the received information and reappear the action skill; and ambiguity exists between the transformation, transmission and understanding of visual information, and the inaccuracy of natural language relied on by hearing determines that noise and distortion inevitably exist in the information transformation process, and when the student end relies on the information containing the noise, distortion and ambiguity to reproduce the action skill, deviation is inevitable. To compensate for this deviation, repeated "exercise, feedback, and correction" cycles to minimize the deviation are the necessary way to master motor skills, which is known as diligence. This repeated "exercise, feedback, calibration" cycle can consume a great deal of time and effort, limiting the efficiency and effectiveness of motor skill learning.

Disclosure of Invention

In human action activities, each action element and the execution sequence embody the requirements of the objective rules of the activity itself. Theoretically, different people can accomplish the same action with the same muscle object, the activity time sequence of different muscles, the relative intensity of the activity of each muscle and the working time of each muscle being the same.

In view of this, the invention discloses a motion replication system, which uses teacher-end equipment to collect myoelectric characteristic signals to control myoelectric stimulation signals of student-end equipment to generate, and the system comprises: the teacher end equipment is used for collecting electromyographic characteristic signal data of demonstration actions and transmitting the electromyographic characteristic signal data to the student end equipment, and the teacher end equipment comprises an electromyographic signal collecting module, a control module and a communication module; the system comprises an electromyographic signal acquisition module, a control module and a communication module, wherein the electromyographic signal acquisition module is used for acquiring electromyographic characteristic signal data for identifying demonstration actions, the control module is used for managing and coordinating the work of each module and other functions, and the communication module is used for communicating with a student; the student-side equipment comprises a communication module, a control module and an electrical stimulation module; the communication module is used for communicating with a teacher end, the control module is used for managing and coordinating the work and other functions of each module, and the electrical stimulation module is used for generating an electromyographic signal to stimulate the contraction and relaxation of muscles.

The invention also discloses a motion replication method, which adopts the motion replication system, and has the core that the motion information is transmitted by the electromyographic characteristic signal data at interpersonal, the motion replication method comprises the steps that the teacher end collects the electromyographic characteristic signal data of the demonstration motion and transmits the electromyographic characteristic signal data to the student end equipment through the communication module, the student end equipment receives the data to generate an electromyographic stimulation signal, the corresponding muscle contraction and relaxation of the student end is stimulated, and meanwhile, the student end actively participates in the muscle contraction and relaxation along with the electromyographic stimulation.

The invention has the advantages that the myoelectric characteristic signal data is used for transmitting action information at interpersonal, myoelectric signals of a teacher end are used for exciting muscle action of a student end, and two information conversion processes in the traditional learning process are skipped, namely the action skill information is converted into visual auditory information by the teacher end, and the received visual auditory information is restored into action skill information by the student end, so that the distortion caused by the transmission process is reduced, and the accurate copying of the action skill is realized; then, the conditioned reflex is quickly formed by repeated practice of accurate actions, so that the effect of mastering the action skills is achieved; the time and energy cost of 'training, feedback and correction' can be reduced, and therefore the accuracy and the learning efficiency of the action skill learning are improved.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the specific embodiments. The drawings are only for purposes of illustrating the particular embodiments and are not to be construed as limiting the invention.

FIG. 1 is a block diagram of an embodiment of an action replication system apparatus of the present invention;

FIG. 2 is a block diagram of an embodiment of an action replication system with storage;

FIG. 3 is a block diagram of an embodiment of the invention, showing a motion replication system with a student myoelectricity collection function;

FIG. 4 is a graph corresponding to the collected stimuli according to an embodiment of the present invention;

FIG. 5 is a flow chart of an embodiment of an action replication method.

Detailed Description

In order to make the problems, technical solutions and advantages to be solved by the present invention more clearly understood, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. For the sake of clarity and conciseness, well-known functions and structures will not be described in detail in the following description, wherein the drawings are in greatly simplified form and are not to precise scale, solely for the purpose of aiding in the description of embodiments of the invention.

Biomedical research has recognized that electromyographic signals (EMG) are a superposition of Motor Unit Action Potentials (MUAP) in many muscle fibers, both temporally and spatially. Surface electromyography signal (sEMG) is the combined effect of superficial muscle EMG and electrical activity of nerve trunk on the skin surface, and can reflect the activity of neuromuscular to some extent. The surface electromyographic signals carry a large amount of information about the movement patterns of the human body. Numerous studies have demonstrated that the activity state of muscles can be identified by processing and analyzing the electrical signals of the surface muscles. With the development of biomedical technology and pattern recognition technology, surface electromyographic signals are widely applied in medical evaluation, artificial limb control, human-computer interaction and other aspects.

The neuromuscular electrical stimulation (NMES) technique is often used clinically to stimulate nerves or muscles with low-frequency pulse current to use their contractions to restore motor function, and has been used clinically for over 100 years. It has been found that when treating the drop foot of a patient suffering from hemiplegia or craniocerebral injury by electrical stimulation, the patient still feels that dorsiflexion of the foot is easier to complete within a period of time after stimulation is stopped, which is a result of easier occurrence of paralytic muscle. When the NMES facilitation muscle is used, the patient actively contracts and relaxes along with the electric stimulation as much as possible, namely actively contracts when the electric stimulation is performed, and relaxes the muscle when the stimulation is interrupted, so that the central nervous system gradually adapts to the input signal by transmitting a large amount of body, movement and skin feeling information to the central nervous system, and the patient is helped to establish a normal movement mode. It is recognized that NMES is safe and effective for the treatment of disuse muscle atrophy, augmentation and maintenance of joint mobility (ROM), muscle relearning and facilitation.

The embodiment of the invention discloses an action replication system, as shown in fig. 1, comprising: the teacher end equipment is used for collecting electromyographic characteristic signal data of demonstration actions and transmitting the electromyographic characteristic signal data to the student end equipment, and the teacher end equipment comprises an electromyographic signal collecting module, a control module and a communication module; the system comprises an electromyographic signal acquisition module, a control module and a communication module, wherein the electromyographic signal acquisition module is used for acquiring electromyographic characteristic signal data for identifying demonstration actions, the control module is used for managing and coordinating the work of each module and other functions, and the communication module is used for communicating with a student; the student-side equipment comprises a communication module, a control module and an electrical stimulation module; the communication module is used for communicating with a teacher end, the control module is used for managing and coordinating the work and other functions of each module, and the electrical stimulation module is used for generating an electromyographic signal to stimulate the contraction and relaxation of muscles.

Preferably, the teacher end electromyographic signal acquisition module includes: the electromyographic signal processing circuit comprises an acquisition circuit, an amplifier circuit, a filter circuit, an A/D (analog/digital) conversion circuit and a data processing circuit, wherein the acquisition circuit, the amplifier circuit, the filter circuit, the A/D conversion circuit and the data processing circuit are respectively used for receiving, amplifying and denoising an electromyographic signal, the A/D conversion circuit is used for analog-to-digital or digital-to-analog conversion of the electromyographic signal or digital-to-analog conversion of the electrical stimulation signal, and the data processing circuit is used for extracting a characteristic value in the electromyographic signal.

Preferably, the student end electrical stimulation module comprises a data processing circuit, a D/a conversion circuit, a voltage amplification circuit and a current control circuit, and is used for generating electrical stimulation signals with corresponding waveforms, frequencies, pulse widths and amplitudes according to the myoelectric characteristic signal data of the teacher end.

Preferably, as shown in fig. 4, the number of myoelectricity acquisition channels of the teacher-end device corresponds to the number of electrical stimulation channels of the student-end device, a corresponding group of acquisition stimulation electrodes are respectively arranged on the same muscle of the teacher end and the student end, and the acquisition electrodes correspond to the relative positions of the stimulation electrodes on the same muscle; the myoelectric characteristic signals collected by the teacher-side equipment and the electric stimulation signals generated by the student-side equipment are respectively from the teacher and the same muscle action and the same relative position aiming at the students. For example, as shown in fig. 4, the collecting electrode 1 and the stimulating electrode 1 of the channel 1 are respectively arranged at the abdominal positions of the pectoralis major muscles of the teacher end and the student end.

Preferably, the acquisition stimulation channel corresponds to a muscle, and may be a single muscle corresponding to one channel, or a single muscle corresponding to a plurality of channels.

Preferably, the teacher end and the student end devices adopt wearable fixed electrodes, for example, the electrodes of the violin left-hand training device can be arranged in a sleeve glove mode; the golf swing training device may be provided with electrodes in a close-fitting training suit.

Preferably, the teacher-side device and the student-side device may be one-to-many.

The embodiment of the invention also discloses a motion copying system with a storage function, which comprises a teacher end device and a student end device, wherein the teacher end device is used for collecting myoelectric characteristic signal data of demonstration motion and transmitting the myoelectric characteristic signal data to the student end device, and the teacher end device comprises a myoelectric signal collection module, a control module and a communication module; the system comprises an electromyographic signal acquisition module, a control module and a communication module, wherein the electromyographic signal acquisition module is used for acquiring electromyographic characteristic signal data for identifying demonstration actions, the control module is used for managing and coordinating the work of each module and other functions, and the communication module is used for communicating with a student; the student-side equipment comprises a communication module, a control module, a storage module and an electrical stimulation module; the communication module is used for communicating with a teacher end, the control module is used for managing and coordinating the work and other functions of each module, the storage module is used for storing demonstration motion characteristic signal data so that students can repeatedly exercise by themselves in a teacher-free state, and the electrical stimulation module is used for generating an electromyographic signal to stimulate the contraction and relaxation of muscles.

The embodiment of the invention also discloses a motion copying system with the student myoelectricity acquisition function, which comprises a teacher end device and a student end device, wherein the teacher end device is used for acquiring myoelectricity characteristic signal data of demonstration motion and transmitting the myoelectricity characteristic signal data to the student end device, and the teacher end device comprises a myoelectricity signal acquisition module, a control module and a communication module; the system comprises an electromyographic signal acquisition module, a control module and a communication module, wherein the electromyographic signal acquisition module is used for acquiring electromyographic characteristic signal data for identifying demonstration actions, the control module is used for managing and coordinating the work of each module and other functions, and the communication module is used for communicating with a student; the student-side equipment comprises a communication module, a control module, an acquisition module and an electrical stimulation module; the communication module is used for communicating with a teacher end, the control module is used for managing and coordinating work and other functions of each module, the acquisition module is used for acquiring and storing myoelectric characteristic data during student end exercise and is used for exercise process feedback control, and the electrical stimulation module is used for generating myoelectric signals to stimulate muscle contraction and relaxation.

Preferably, the three motion copy systems include a motion copy system, a motion copy system with a storage function, and a motion copy system with a student acquisition function, which may be applied separately or in combination.

The embodiment of the invention also discloses a motion replication method, which adopts the motion replication system, and has the core that the motion information is transmitted by the electromyographic characteristic signal data at the interpersonal level, the motion replication method comprises the steps that the teacher end collects the electromyographic characteristic signal data of the demonstration motion and transmits the electromyographic characteristic signal data to the student end equipment through the communication module, the student end equipment receives the data to generate an electromyographic stimulation signal, the corresponding muscle contraction and relaxation of the student end is stimulated, and meanwhile, the student end actively participates in the muscle contraction and relaxation along with the electromyographic stimulation.

Preferably, the teacher end and the student end collect and stimulate the muscles of the object, and at least all the necessary muscles when finishing the specific motion skills are covered;

for example, the left-handed motion of a violin involves all muscles of the left forearm, hand, including the flexor, flexor carpi ulnaris, flexor palmaris longus, superficial phalanges, deep flexor muscle, flexor hallucis longus, extensor hallucis brevis, extensor digitorum longus, and the extensor digitorum longus of the forearm; when the motion replication method of the present invention is applied to the major thenar muscles, minor thenar muscles, middle muscle groups, etc., of the hand, the number of the collecting and stimulating electrodes and channels should cover all the muscles.

The embodiment of the invention also discloses a method for copying the actions of teachers, and with reference to the figure 5, the flow comprises the following steps:

501. demonstrating and collecting demonstrating action myoelectricity characteristic data;

502. transmitting to the student end equipment;

503. receiving data by student end equipment;

504. generating an electromyographic electrical stimulation signal;

505. stimulating the contraction and relaxation of the corresponding muscles at the student end;

506. actively participating in muscle movement following stimulation;

preferably, the teacher-based action copying method is parallel to the traditional 'explanation exercise feedback' cyclic teaching process;

preferably, the demonstration and electromyographic characteristic signal acquisition of the teacher end can be implemented locally or remotely; the demonstration and electromyographic characteristic signal acquisition of the teacher end can be real-time data or non-real-time data.

Preferably, the student end can use the stored or pre-made demonstration action electromyography characteristic data in the action copying process of the teacher to repeatedly practice.

The embodiment of the invention also discloses a teacher-free action copying method, and with reference to fig. 5, the flow comprises:

510. the stored demonstration action electromyography data;

504. generating an electromyographic stimulation signal;

505. stimulating the contraction and relaxation of the corresponding muscles at the student end;

506. actively participate in muscle movements following stimulation.

Preferably, the extracted electromyographic characteristic signals collected at the student end are used for being compared with stored electromyographic signals at the teacher end, the deviation state among data is analyzed, and the action deviation of the student end is dynamically corrected.

The embodiment of the invention also discloses a dynamic correction action copying method, and with reference to fig. 5, the flow comprises:

510. the stored demonstration action electromyography data;

504. generating an electromyographic stimulation signal;

505. stimulating the contraction and relaxation of the corresponding muscles at the student end;

506. actively participating in muscle movement following stimulation;

507. collecting myoelectric characteristic data by a student end;

511. comparing data and correcting action deviation;

the data comparison refers to comparing the myoelectric data collected by the student end with the demonstration myoelectric data;

the data comparison can be manual or automatic for correcting action deviation;

the manual data comparison and correction action deviation correcting mode comprises manual analysis and demonstration explanation correction;

the automatic data comparison and action deviation correction method includes that the machine analysis result is prompted by audio frequency, such as prompt, too fast/too slow rhythm, non-participated action of a certain muscle, small/large force and the like, or the machine analysis feeds the result back to step 504 to generate the myoelectric stimulation signal, and correction factors (such as changing intensity, triggering time and contraction duration) are added to form a targeted correction scheme, or the two methods are combined.

Preferably, the myoelectric characteristic signals recorded at the student end are used for judging muscle fatigue states through time series analysis of the myoelectric characteristic signals, and electrical stimulation signal parameters are dynamically adjusted to control exercise intensity and time length.

The embodiment of the invention also discloses an automatic protection action copying method, and with reference to fig. 5, the flow comprises:

510. the stored demonstration action electromyography data;

504. generating an electromyographic stimulation signal;

505. stimulating the contraction and relaxation of the corresponding muscles at the student end;

506. actively participating in muscle movement following stimulation;

507. collecting myoelectric characteristic data by a student end;

508. the student end records electromyographic characteristic data;

509. analyzing fatigue state adjustment exercise parameters;

the automatic protection mode includes audio prompt, such as prompting the fatigue state of the student and a corresponding method, or adjusting an electrical stimulation parameter, such as changing the intensity or triggering time or duration, and the like, and feeding back to 504 to generate an electromyographic stimulation signal to reduce the load, or combining the audio prompt and the parameter adjustment, and the like.

In the various action copying method flows, the source of the demonstration action electromyography characteristic data can be real-time data of a teacher end or a data file according to an application scene, and the source and the data file can be replaced mutually.

The various action copying methods comprise a teacher action copying method, a teacher-free action copying method, a dynamic correction action copying method and an automatic protection action copying method, and the various action copying methods can be applied independently or in combination.

The embodiment of the invention also discloses a combined action copying method, and with reference to fig. 5, the flow comprises:

501. demonstrating and collecting demonstrating action myoelectricity characteristic data;

502. transmitting to the student end equipment;

503. the student side device receives the data and 510 saves the demonstration action electromyography data;

504. generating an electromyographic electrical stimulation signal;

505. stimulating the contraction and relaxation of the corresponding muscles at the student end;

506. actively participating in muscle movement following stimulation;

507. collecting myoelectric characteristic data by a student end, and comparing 511 data and correcting action deviation;

508. the student end records electromyographic characteristic data;

509. analyzing the fatigue state, adjusting exercise parameters, and feeding back to the step 504 to generate an electromyographic stimulation signal;

the step 510 of storing the electromyographic data of the demonstration action is selectively executed according to the requirement;

the 511 data comparison and action deviation correction steps are selectively executed according to the requirements;

the feedback is sent to step 504 to generate electromyographic stimulation signals, which are selectively executed as needed.

The above description is only an exemplary embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.