阅读说明：本技术 一种基于表面肌电信号和动捕技术的可穿戴遥操作手环 (Wearable teleoperation bracelet based on surface electromyogram signal moves technique of catching ) 是由 牛福永 于 2021-08-31 设计创作，主要内容包括：本发明涉及手臂肌电信号采集设备技术领域,更具体地涉及一种基于表面肌电信号和动捕技术的可穿戴遥操作手环,包括：手环带,其一端设计有卡扣,另一端设置有多个孔,通过使卡扣扣入不同的孔来调节手环带的松紧程度；一个大电极模块,其内部安装有大电极信号采集板、电极信号处理板、控制板、IMU-蓝牙板及电源处理板这五个电路板,五个电路板之间通过连接器公母头对接；实现供电和通信；五个小电极模块,每个小电极模块内部安装有小电极信号采集板和用于给整个手环供电的锂电池包。相对于传统的生物电手环具,本方案提供的手环对手臂的贴合更紧密,电极片检测的信号更准确。(The invention relates to the technical field of arm electromyographic signal acquisition equipment, in particular to a wearable teleoperation bracelet based on a surface electromyographic signal and a kinetic capturing technology, which comprises the following components: the wrist strap is characterized in that one end of the wrist strap is provided with a buckle, the other end of the wrist strap is provided with a plurality of holes, and the tightness degree of the wrist strap is adjusted by buckling the buckle into different holes; the large electrode module is internally provided with five circuit boards, namely a large electrode signal acquisition board, an electrode signal processing board, a control board, an IMU-Bluetooth board and a power supply processing board, and the five circuit boards are butted through male and female connectors of the connectors; power supply and communication are realized; five small electrode modules, every small electrode module internally mounted have the small electrode signal acquisition board and be used for the lithium cell package for whole bracelet power supply. For traditional biological electricity bracelet utensil, the bracelet that this scheme provided is inseparabler to the laminating of arm, and the signal that electrode slice detected is more accurate.)

1. The utility model provides a wearable teleoperation bracelet based on surface flesh electrical signal with move technique of catching which characterized in that includes:

the wrist strap is characterized in that one end of the wrist strap is provided with a buckle, the other end of the wrist strap is provided with a plurality of holes, and the tightness degree of the wrist strap is adjusted by buckling the buckle into different holes;

the large electrode module is internally provided with five circuit boards, namely a large electrode signal acquisition board, an electrode signal processing board, a control board, an IMU-Bluetooth board and a power supply processing board, and the five circuit boards are butted through male and female connectors of the connectors; power supply and communication are realized;

the small electrode signal acquisition board and the lithium battery pack for supplying power to the whole bracelet are arranged in each small electrode module;

each small electrode signal acquisition board and big electrode signal acquisition board all are provided with 3 electrode slices, and 3 electrode slices are located one row.

2. The wearable teleoperation bracelet based on surface electromyogram signal and kinetic trapping technology of claim 1, wherein of the 3 electrode sheets arranged on each small electrode signal acquisition board and each large electrode signal acquisition board, the electrode sheet positioned in the middle is smaller than the electrode sheets positioned on both sides.

3. The wearable teleoperation bracelet based on surface electromyography and kinetic trapping technology of claim 1, wherein each small electrode signal acquisition board and large electrode signal acquisition board are installed in a plastic shell.

4. The wearable teleoperation bracelet based on surface electromyography and kinetic trapping technology according to claim 1, wherein adjacent electrode plates in each row of electrode plates are connected through a rubber piece.

5. The wearable teleoperation bracelet based on surface electromyography and kinetic trapping technology of claim 1, wherein power supply and communication are performed between adjacent small electrode modules and large electrode modules through printed flat cables.

6. The wearable teleoperation bracelet based on surface electromyography and kinetic trapping technology according to claim 1,

the electrode plates in the small electrode signal acquisition plate are welded on the small electrode signal acquisition plate by adopting a welding process;

and the electrode plate in the large electrode signal acquisition plate is welded on the large electrode signal acquisition plate by adopting a welding process.

7. The wearable teleoperation bracelet based on surface electromyography and kinetic trapping technology of claim 1, wherein each small electrode module comprises an upper plastic part and a lower plastic part, and the upper plastic part and the lower plastic part fix the lithium battery pack, the small electrode signal acquisition board, the electrode plate and the rubber part in a snap-fit locking manner.

8. Wearable teleoperation bracelet based on surface electromyography and kinetic trapping technology according to one of claims 1 to 7,

the large electrode module also comprises an upper plastic piece and a lower plastic piece;

five circuit boards of the large electrode module are butted through male and female connectors to realize power supply and communication, and mechanical connection is realized through screws and studs;

five circuit boards are fixed on the upper plastic part.

9. The wearable teleoperation bracelet based on surface electromyography and kinetic capture technology of claim 8, wherein a Micro-USB charging interface is arranged on the lower plastic part.

10. The wearable teleoperation bracelet based on surface electromyography and kinetic trapping technology of claim 8, wherein the upper and lower plastic part are connected by means of threaded connection.

Technical Field

The invention relates to the technical field of arm electromyographic signal acquisition equipment, in particular to a wearable teleoperation bracelet based on a surface electromyographic signal and a kinetic capturing technology.

Background

Existing machine learning techniques use a similar principle to a joystick, specifically, setting a starting point for the user's arm, and then if the arm is moved, the robot will start moving in the same direction at the same speed. If the user moves the arm in the opposite direction, the robot will move in the same direction at a constant speed. The user can only control the direction of movement by a few variables because the speed is pre-programmed.

Aiming at the problem that the robot can only move along the same direction at a constant speed, the prior art is improved, and a machine learning algorithm based on a surface electromyographic signal and a motion capture technology is provided. The method has the characteristics of real-time speed tracking and quick response. However, in the hardware matched with the method in the prior art, the bracelet used for collecting the electromyographic signals and the motion capture signals of the arm adopts a bending structure to realize large-displacement elastic deformation of rubber so as to adapt to the thickness change of the arm, and the bracelet adopting the structure is loosely attached to the arm under the condition that the arm of a user is thin, so that electrode plates cannot be attached to the muscle to generate inaccurate signals.

In view of the above, a wearable teleoperation bracelet based on a surface electromyogram signal and a kinetic capture technology is needed to solve the problem that an electrode plate cannot be attached to muscles to generate inaccurate signals due to loose attachment of the bracelet and an arm when an arm of a user is thin in the conventional bracelet.

Disclosure of Invention

The invention aims to provide a wearable teleoperation bracelet based on a surface electromyographic signal and a dynamic capture technology, and compared with a traditional bioelectricity bracelet, the wearable teleoperation bracelet provided by the scheme is more tightly attached to an arm, and a signal detected by an electrode plate is more accurate.

The purpose of the invention is realized by the following technical scheme.

A wearable teleoperation bracelet based on surface electromyography signal and move and catch technique includes:

the wrist strap is characterized in that one end of the wrist strap is provided with a buckle, the other end of the wrist strap is provided with a plurality of holes, and the tightness degree of the wrist strap is adjusted by buckling the buckle into different holes;

the large electrode module is internally provided with five circuit boards, namely a large electrode signal acquisition board, an electrode signal processing board, a control board, an IMU-Bluetooth board and a power supply processing board, and the five circuit boards are butted through male and female connectors of the connectors; power supply and communication are realized;

the small electrode signal acquisition board and the lithium battery pack for supplying power to the whole bracelet are arranged in each small electrode module;

each small electrode signal acquisition board and big electrode signal acquisition board all are provided with 3 electrode slices, and 3 electrode slices are located one row.

Preferably, of the 3 electrode plates arranged on each small electrode signal collecting plate and each large electrode signal collecting plate, the electrode plate positioned in the middle is smaller than the electrode plates positioned at the two sides.

Preferably, each small electrode signal acquisition board and each large electrode signal acquisition board are arranged in the plastic shell.

Preferably, adjacent electrode plates in each row of electrode plates are connected through a rubber piece.

Preferably, power supply and communication are carried out between the adjacent small electrode modules and the large electrode module through printed flat cables.

As a preference, the first and second liquid crystal compositions are,

the electrode plates in the small electrode signal acquisition plate are welded on the small electrode signal acquisition plate by adopting a welding process;

and the electrode plate in the large electrode signal acquisition plate is welded on the large electrode signal acquisition plate by adopting a welding process.

Preferably, each small electrode module comprises an upper plastic part and a lower plastic part, and the lithium battery pack, the small electrode signal acquisition board, the electrode plate and the rubber part are fixed by the upper plastic part and the lower plastic part in a buckle locking mode.

As a preference, the first and second liquid crystal compositions are,

the large electrode module also comprises an upper plastic piece and a lower plastic piece;

five circuit boards of the large electrode module are butted through male and female connectors to realize power supply and communication, and mechanical connection is realized through screws and studs;

five circuit boards are fixed on the upper plastic part.

Preferably, a Micro-USB charging interface is arranged on the lower plastic part.

Preferably, the upper plastic part and the lower plastic part are connected in a threaded connection mode.

The invention has the beneficial effects that:

the wearable teleoperation bracelet based on the surface electromyogram signal and the dynamic capture technology comprises a bracelet band, wherein one end of the bracelet band is provided with a buckle, the other end of the bracelet band is provided with a plurality of holes, the tightness degree of the bracelet band is adjusted by buckling the buckle into different holes, and the position of the hole buckled by the buckle is determined according to the thickness of an arm of a person wearing the bracelet. For traditional biological electricity bracelet utensil, the bracelet that this scheme provided is inseparabler to the laminating of arm, and the signal that electrode slice detected is more accurate.

Drawings

Fig. 1 is a schematic view of an overall unfolding structure of a wearable teleoperation bracelet based on a surface electromyogram signal and a kinetic capture technology, provided by the invention;

fig. 2 is an explosion diagram of a wearable teleoperation bracelet based on a surface electromyogram signal and a kinetic capture technology provided by the invention.

In the figure:

1-bracelet strand; 2-small electrode module; 3-a rubber frame; 4-large electrode module; 5-printing flat cables;

11-buckling; 12-a through hole;

21-small electrode signal acquisition board; 22-lithium battery pack;

41-large electrode signal acquisition board; 42-electrode signal processing board; 43-control panel; 44-IMU-bluetooth plate; 45-power supply processing board.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

As shown in fig. 1 to 2, the wearable teleoperation bracelet based on the surface electromyogram signal and the kinetic trapping technology provided by the invention comprises a bracelet band 1, a large electrode module 4 and five small electrode modules 2.

The hand ring belt 1 is preferably made of a rubber material. Of course, the cuff belt 1 is not limited to being made of such a material. One end of the bracelet tape 1 is designed with a buckle 11, the other end is provided with a plurality of holes 12, and the tightness degree of the bracelet tape 1 is adjusted by buckling the buckle 11 into different holes 12. The distance between two adjacent holes 12 is determined according to the requirement, but the distance between two adjacent holes 12 should be as small as possible.

The large electrode module 4 is internally provided with five circuit boards, namely a large electrode signal acquisition board 41, an electrode signal processing board 42, a control board 43, an IMU (abbreviation of Inertial Measurement Unit) -bluetooth board 44 and a power supply processing board 45, and the five circuit boards are butted through male and female connectors to realize power supply and communication.

Two of the five small electrode modules 2 are located on one side of the large electrode module 4, and the other three are located on the other side of the large electrode module 4. The adjacent small electrode modules 2 and the large electrode modules 4 are mechanically connected through rubber frames 3. Every 2 internally mounted of microelectrode module have microelectrode signal acquisition board 21 and lithium cell package 22, and 5 lithium cell packages 22 are used for giving whole bracelet power supply.

Each of the small electrode signal collecting plate 21 and the large electrode signal collecting plate 41 is provided with 3 electrode plates, and the 3 electrode plates are located in one row.

When wearing the bracelet, the electrode slice inwards, and 1 winding arm in bracelet area, the bracelet area 1 that takes the end of hole 12 penetrates the buckle ring, makes buckle 11 insert the elasticity degree that different holes 12 adjusted the bracelet according to the thickness of arm. When the buckle 11 clamps the hole 12 on the bracelet strip 1, the electrode plate is attached to the skin on the arm to detect the surface myoelectric signal on the arm. Compared with the traditional bioelectricity bracelet, the structural design scheme of the teleoperation bracelet is closer to the attachment of the arm, and the signal detected by the electrode plate is more accurate.

In this embodiment, as a preferable scheme, of the 3 electrode sheets disposed on each of the small electrode signal collecting plate 21 and the large electrode signal collecting plate 41, the electrode sheet located in the middle is smaller than the electrode sheets located at both sides. Namely, the electrode plates at the two ends are large electrode plates, and the electrode plate in the middle is a small electrode plate.

In this embodiment, as a preferable scheme, the electrode pads in the small electrode signal collecting plate 21 are welded on the small electrode signal collecting plate 21 by a welding process. Of course, the electrode plate is not limited to be fixed on the small electrode signal collecting plate 21 by a welding process, and may be fixed by other fixing methods.

In this embodiment, as a preferable scheme, the electrode plate in the large electrode signal collecting plate 41 is also welded on the large electrode signal collecting plate 41 by using a welding process. Of course, the electrode plate is not limited to be fixed on the large electrode signal collecting plate 41 by a welding process, and may be fixed by other fixing methods.

In this embodiment, as a preferable scheme, adjacent electrode plates in each row of electrode plates are connected through a rubber member.

In this embodiment, as a preferable scheme, each of the small electrode signal collecting plate 21 and the large electrode signal collecting plate 41 is installed in a plastic case. Specifically, each small electrode signal acquisition board 21 is respectively installed in a small plastic shell; the large electrode signal acquisition board 41 is mounted in a large plastic housing.

In the small electrode modules 2 and the large electrode modules 4 of the present invention, because the electrode signal is required to be supplied and collected to the electrode signal processing board 42, as a preferred scheme, the power supply and signal collection (or communication) are performed between the adjacent small electrode modules 2, and between the adjacent small electrode modules 2 and the large electrode modules 4 through the printed flat cable 5.

In this embodiment, as a preferable scheme, each small electrode module 2 includes an upper plastic part and a lower plastic part, and the upper plastic part and the lower plastic part clamp and fix the lithium battery pack 22, the small electrode signal acquisition board 21, the electrode sheet, and the rubber member in a snap-fit locking manner.

In this embodiment, the large electrode module 4 preferably further includes upper and lower plastic members. Five circuit boards of the large electrode module 4 are butted through male and female connectors to realize power supply and communication, and mechanical connection is realized through screws and studs. Five circuit boards were then secured to the upper plastic part. The upper and lower layers of plastic parts are connected and fixed in a threaded connection mode, and the circuit board and other parts in the upper and lower layers of plastic parts are pressed and fixed.

In this embodiment, as a preferable scheme, a hole is dug in the lower plastic part, and the hole is used as a Micro-USB (abbreviation of Universal Serial BUS) charging interface of the bracelet.

The above are only typical examples of the present invention, and besides, the present invention may have other embodiments, and all the technical solutions formed by equivalent substitutions or equivalent changes are within the scope of the present invention as claimed.