技术领域technical field
本发明涉及一种基于脑皮层血红蛋白信息识别运动模式的实现方法，属于脑机接口方向。The invention relates to a method for realizing motion pattern recognition based on cerebral cortex hemoglobin information, which belongs to the direction of brain-computer interface.
背景技术Background technique
根据第六次全国人口普查我国总人口数及第二次全国残疾人抽样调查，推算了2010年末我国残疾人总人数及各类、不同等级的残疾人数：其中肢体残疾所占的比例最大为29.08％。此外，我国逐渐进入高龄化社会，2012年，全国60岁及以上老年人口19390万人，占总人口的14.3％；其中65岁及以上人口12714万人，占总人口的9.4％。据专家预测，到2020年，中国60岁及65岁以上人口比重分别为16.23％和11.30％；2030年为22.34％和15.21％；2040年为25％和20％。从上述数据可看出到2030年时，中国将进入“超老年型”社会。而到了2050年，60岁以上的人口总数将达到4亿左右，占总人口的比重将超过25.2％，届时，每4个中国人中间就有1个老年人，中国将成为高度老龄化的国家。随着人口结构的老龄化，有运动功能障碍的高龄患者越来越多，为这些有运动功能障碍的残疾人和老龄人配备助行设备是协助他们实现独立行走、重新回归社会主流的主要手段。According to the total population of my country in the sixth national census and the second national sample survey of disabled persons, the total number of disabled people in my country and the number of disabled people of different types and grades at the end of 2010 were estimated: among them, the largest proportion of physical disabilities was 29.08 %. In addition, my country has gradually entered an aging society. In 2012, the number of elderly people aged 60 and above was 193.9 million, accounting for 14.3% of the total population; among them, the population aged 65 and above was 127.14 million, accounting for 9.4% of the total population. According to expert forecasts, by 2020, the proportion of China's population aged 60 and over will be 16.23% and 11.30% respectively; in 2030 it will be 22.34% and 15.21%; in 2040 it will be 25% and 20%. From the above data, it can be seen that by 2030, China will enter a "super-aged" society. And by 2050, the total number of people over the age of 60 will reach about 400 million, accounting for more than 25.2% of the total population. By then, there will be one elderly person among every four Chinese, and China will become a highly aging country. . With the aging of the population structure, there are more and more elderly patients with motor dysfunction. Equipping these disabled and elderly people with motor dysfunction with walking aids is the main means to help them walk independently and return to the mainstream of society .
为了提高助老助残设备的智能性，很多研究机构致力于研发基于脑机接口技术的新型助老助残产品。然而，目前的脑机接口技术还存在以下主要问题：In order to improve the intelligence of elderly and disabled equipment, many research institutions are committed to developing new elderly and disabled products based on brain-computer interface technology. However, the current brain-computer interface technology still has the following major problems:
(1)植入式或者半植入式的脑机接口技术已经取得了突破性进展，但是将微型电极植入实验者的大脑灰质中或是硬脑膜下的大脑皮层上，可能引发免疫反应和愈伤组织；而且还存在植入后的心理与伦理问题，目前尚不适于广泛应用。(1) Implantable or semi-implantable brain-computer interface technology has made breakthroughs, but implanting micro-electrodes in the gray matter of the experimenter's brain or on the cerebral cortex under the dura mater may trigger immune responses and callus; and there are psychological and ethical issues after implantation, which is not yet suitable for widespread use.
(2)非侵入式的脑信息测试技术包括脑电图(EEG)、脑磁图(MEG)、功能性核磁共振图像(fMRI)、正电子发射层析成像(PET)和近红外光谱脑功能成像(NIRS)等技术；其中fMRI和PET技术的空间分辨率较高，但是时间分辨率低，在测试过程中身体常局限在静止状态，有很大的约束性；MEG的应用要求对外部磁场进行充分屏蔽；所以目前主要是EEG和NIRS技术应用于助老助残的产品研发中。但是在基于EEG信号的脑-机接口系统研究中，常用的基于视觉诱发电位(VEP)和事件相关电位(P300)这两类方法需要额外的刺激装置提供刺激来产生诱发电位，并且依赖于人的某种感觉，如视觉，强迫实验者与外部刺激同步，由于长时间操作容易引起视觉疲劳或是降低P300电位的显著性，对应的脑-机接口操作时间不宜过长。而自发脑电图又依赖于用户自发的精神活动，只有特殊的思考过程才能产生可探测的脑活动，需要实验者进行大量的训练来产生特定模式的脑电，受主观因素影响较大。因此，实验多在特定条件下完成，需要实验者集中注意力，实现的动作简单有限，缺乏自然性与灵活性，实用性不强。NIRS技术的时间分辨率比fMRI高，比EEG低；空间分辨率比EEG高，比fMRI低；若应用NIRS技术测试脑生物信息进行模式识别，有利于在自然环境下动态测量，但是生物信息的提取速率偏低。(2) Non-invasive brain information testing techniques include electroencephalography (EEG), magnetoencephalography (MEG), functional magnetic resonance imaging (fMRI), positron emission tomography (PET) and near-infrared spectrum brain function Imaging (NIRS) and other technologies; among them, fMRI and PET technology have high spatial resolution, but low temporal resolution, and the body is often confined to a static state during the test, which has great constraints; the application of MEG requires external magnetic field Sufficient shielding; so at present, EEG and NIRS technology are mainly used in the research and development of products to help the elderly and the disabled. However, in the study of brain-computer interface systems based on EEG signals, the commonly used methods based on visual evoked potentials (VEP) and event-related potentials (P300) require additional stimulation devices to provide stimulation to generate evoked potentials, and rely on human A certain sense, such as vision, forces the experimenter to synchronize with external stimuli. Since long-term operation is likely to cause visual fatigue or reduce the significance of P300 potential, the corresponding brain-computer interface operation time should not be too long. The spontaneous EEG depends on the user's spontaneous mental activity. Only special thinking processes can produce detectable brain activity. It requires a lot of training by the experimenter to generate a specific pattern of EEG, which is greatly affected by subjective factors. Therefore, most experiments are completed under specific conditions, requiring the experimenter to concentrate, the movements realized are simple and limited, lack of naturalness and flexibility, and are not very practical. The temporal resolution of NIRS technology is higher than that of fMRI, lower than that of EEG; the spatial resolution is higher than that of EEG, lower than that of fMRI; if the NIRS technology is used to test brain biological information for pattern recognition, it is conducive to dynamic measurement in the natural environment, but the biological information Extraction rate is low.
发明内容Contents of the invention
为了克服上述缺陷，本发明提供一种灵活性更高、实用性更强、动作更丰富且自然的基于脑皮层血红蛋白信息识别运动模式的实现方法，该方法用于助行设备控制有助于提高助行设备的智能性。In order to overcome the above defects, the present invention provides a more flexible, more practical, more action-rich and natural method for recognizing motion patterns based on cerebral cortex hemoglobin information. The intelligence of mobility aids.
本专利内容中的运动模式，无特殊说明均指下肢运动模式，文中不再赘述。The movement patterns in this patent content refer to the movement patterns of the lower limbs unless otherwise specified, and will not be repeated in the text.
本发明为了解决其技术问题所采用的技术方案是：一种基于脑皮层血红蛋白信息识别运动模式的实现方法，包括以下步骤：The technical scheme that the present invention adopts in order to solve its technical problem is: a kind of realization method based on cerebral cortex hemoglobin information recognition motion pattern, comprises the following steps:
(1)设置四种运动模式，即上、下台阶和起、坐：所述上、下台阶运动又称为双腿非镜像周期运动；所述起、坐运动又称为双腿镜像对称运动；受试者在该四种运动模式下自主控制运动的起始与终止时间；(1) Four motion modes are set, namely, going up and down steps and getting up and sitting: the up and down steps movement is also called the non-mirrored periodic motion of the legs; ; The subject autonomously controls the start and end time of the exercise in the four exercise modes;
(2)将测试的脑皮层运动关联区域分为左侧前运动区、右侧前运动区、运动辅助区、前运动辅助区和主要运动区五个关联区域；(2) Divide the tested cerebral cortex motor-associated areas into five associated areas: left premotor area, right anterior motor area, motor auxiliary area, anterior motor auxiliary area and main motor area;
(3)应用近红外光脑功能成像设备对受试者在四种运动模式下大脑皮层的各个运动关联区域的血红蛋白浓度进行记录；(3) Use near-infrared optical brain functional imaging equipment to record the hemoglobin concentration in each exercise-related area of the cerebral cortex of the subject under the four exercise modes;
(4)测试受试者在四种运动模式下大脑皮层各个运动关联区域内不同血红蛋白种类的浓度信息；(4) Concentration information of different hemoglobin types in each exercise-associated area of the cerebral cortex of the test subject under the four exercise modes;
(5)受试者头戴测试头套，且测试头套与头部的脑皮层五个运动关联区域一一对应的放置好；(5) The subject wears a test headgear, and the test headgear is placed in one-to-one correspondence with the five motor-related areas of the cerebral cortex of the head;
(6)受试者根据日常生活中的动作速度来掌握测试速度，首先做第一组任务：起、坐动作，受试者根据日常的起、坐习惯和速度来完成这一动作；并重复四次，每次动作的开始和终止均由受试者自主控制，实验操作者负责标记mark；(6) The subject masters the test speed according to the movement speed in daily life. First, do the first group of tasks: standing up and sitting down. The subject completes this movement according to the daily standing up and sitting habit and speed; and repeats Four times, the start and end of each movement are controlled by the subjects themselves, and the experiment operator is responsible for marking the mark;
(7)受试者根据日常生活中的动作速度来掌握测试速度，然后做第二组任务：上、下台阶动作，受试者根据日常的起、坐习惯和速度来完成这一动作；并重复四次，每次动作的开始和终止均由受试者自己控制，实验操作者负责标记mark；(7) The subject masters the test speed according to the movement speed in daily life, and then does the second group of tasks: the movement of going up and down the steps. The subject completes this action according to the daily standing and sitting habits and speed; and Repeat four times, the start and end of each action are controlled by the subject himself, and the experiment operator is responsible for marking the mark;
(8)基于所测试的血红蛋白数据，应用统计分析法来分析在不同的运动模式下大脑皮层各个运动关联区域内含氧血红蛋白和脱氧血红蛋白变化速率的统计差异；将0.5作为pvalues，即p值的阈值；当p≤0.05时，表示统计差异有显著意义；当p≥0.5时，表示统计差别无显著意义；(8) Based on the tested hemoglobin data, the statistical analysis method is used to analyze the statistical difference in the rate of change of oxygenated hemoglobin and deoxygenated hemoglobin in each movement-related area of the cerebral cortex under different exercise patterns; 0.5 is used as pvalues, that is, the value of the p value Threshold; when p≤0.05, the statistical difference is significant; when p≥0.5, the statistical difference is not significant;
(9)在步骤(8)的基础之上，分别分析各个大脑皮层运动关联区域之间含氧血红蛋白变化速率的差异与脱氧血红蛋白变化速率的差异；(9) On the basis of step (8), analyze the difference in the rate of change of oxygenated hemoglobin and the difference in the rate of change of deoxygenated hemoglobin between the motor-related regions of the cerebral cortex;
(10)根据步骤(8)和(9)分析的差异情况对受试者的运动模式进行识别；(10) Identify the motion pattern of the subject according to the difference analyzed in steps (8) and (9);
(11)在右侧前运动区：如果含氧血红蛋白变化速率与脱氧血红蛋白变化速率之间具有显著的统计差异，则认为是双腿非镜像周期重复运动；(11) In the right premotor area: If there is a statistically significant difference between the rate of change of oxygenated hemoglobin and the rate of change of deoxygenated hemoglobin, it is considered to be a non-mirrored periodic repetitive movement of the legs;
如果含氧血红蛋白变化速率与脱氧血红蛋白变化速率之间没有统计差异，而且统计结果p≥0.5，则认为是双腿镜像对称运动；If there is no statistical difference between the rate of change of oxygenated hemoglobin and the rate of change of deoxygenated hemoglobin, and the statistical result p≥0.5, it is considered to be mirror-symmetrical movement of the legs;
(12)针对双腿非镜像周期重复运动趋势，在左侧前运动区：如果含氧血红蛋白变化速率与脱氧血红蛋白变化速率之间具有显著的统计差异，则判断为是‘下台阶’运动模式；(12) Aiming at the non-mirror cycle repetitive motion trend of both legs, in the left front motor area: if there is a significant statistical difference between the rate of change of oxygenated hemoglobin and the rate of change of deoxygenated hemoglobin, it is judged to be a ‘step down’ exercise pattern;
如果含氧血红蛋白变化速率与脱氧血红蛋白变化速率之间没有统计差异，且p≥0.5，则判断为‘上台阶’运动模式；If there is no statistical difference between the rate of change of oxygenated hemoglobin and the rate of change of deoxygenated hemoglobin, and p ≥ 0.5, it is judged as the exercise mode of 'up stairs';
(13)针对双腿镜像对称运动趋势，如果各个运动区域的脱氧血红蛋白变化速率之间具有显著差异，则判断为‘坐下’运动模式；(13) For the mirror-symmetric movement trend of the legs, if there is a significant difference in the rate of change of deoxygenated hemoglobin in each movement area, it is judged as a 'sit down' movement pattern;
若各个运动区域的脱氧血红蛋白变化速率之间没有明显差异，而且p≥0.5，则判断为‘起立’运动模式。If there is no significant difference in the rate of change of deoxyhemoglobin in each exercise area, and p ≥ 0.5, it is judged as a 'stand up' exercise pattern.
作为本发明的进一步改进，在步骤(2)中：左侧前运动区和右侧前运动区主要参与运动控制和姿势调整的准备工作；运动辅助区主要参与运动行为计划以及双肢体协调任务控制；前运动辅助区主要参与运动行为计划；主要运动区主要负责给出运动控制命令。As a further improvement of the present invention, in step (2): the left anterior motor area and the right anterior motor area are mainly involved in the preparation of motion control and posture adjustment; the motor auxiliary area is mainly involved in the motor behavior planning and the coordination task control of the two limbs ; The premotor auxiliary area is mainly involved in motor behavior planning; the primary motor area is mainly responsible for giving motor control commands.
作为本发明的进一步改进，所述的近红外光脑功能成像设备的型号为津岛FOIRE-3000，其所测试的原始数据通过带通滤波保留0.02～0.06HZ之间的频率成分，其作用是滤除掉测试期间引入的高频噪声以及脉搏，皮肤呼吸等低频生理信号噪声。As a further improvement of the present invention, the model of the near-infrared optical brain functional imaging device is Tsushima FOIRE-3000, and the original data tested by it is band-pass filtered to retain the frequency components between 0.02 and 0.06HZ, and its function is Filter out the high-frequency noise introduced during the test and low-frequency physiological signal noise such as pulse and skin respiration.
作为本发明的进一步改进，所述近红外光脑功能成像设备有8对发射和接收端子，每对发射和接收端子之间的距离为3cm；且通过8对发射和接收端子对24通路信息进行测试；每一通路记录人体运动过程中的含氧血红蛋白、脱氧血红蛋白和总血红蛋白的浓度信息。As a further improvement of the present invention, the near-infrared optical brain functional imaging device has 8 pairs of transmitting and receiving terminals, and the distance between each pair of transmitting and receiving terminals is 3cm; and 24 channels of information are processed through 8 pairs of transmitting and receiving terminals Test; each channel records the concentration information of oxygenated hemoglobin, deoxygenated hemoglobin and total hemoglobin during human exercise.
作为本发明的进一步改进，所述近红外光脑功能成像设备采用分时发射接收的方法，其测试24通路信息时采样的周期为130ms；且其测试深度为大脑皮层下2～3cm。As a further improvement of the present invention, the near-infrared optical brain functional imaging device adopts a time-sharing transmission and reception method, and the sampling period when testing 24 channels of information is 130 ms; and its testing depth is 2-3 cm below the cerebral cortex.
作为本发明的进一步改进，在步骤(7)中，台阶的阶梯为4阶，且台阶放置在近红外光脑功能成像设备的一侧，受试者下台阶之后退回起始位置准备下一次重复任务。As a further improvement of the present invention, in step (7), the steps of the steps are 4 steps, and the steps are placed on one side of the near-infrared optical brain functional imaging device, and the subject returns to the starting position after stepping down the steps to prepare for the next repetition Task.
本发明的有益效果是：The beneficial effects of the present invention are:
(1)应用非侵入式的NIRS脑信息获取技术解决了侵入式脑-机接口技术引发的心理和伦理问题，并可以在进行大幅度运动期间进行测试，不需要外界刺激和大量前期训练；(1) The application of non-invasive NIRS brain information acquisition technology solves the psychological and ethical problems caused by invasive brain-computer interface technology, and can be tested during large-scale exercise without external stimulation and a lot of pre-training;
(2)在运动过程中开展测试，是运动模式识别结果用于助行设备控制中的一个应用前提，运动的自主控制使得在认知活动的自然情景下获取脑皮质生物信息，增加了运动模式识别的实用价值；(2) Testing during exercise is a prerequisite for the application of motion pattern recognition results in the control of walking aids. The autonomous control of motion enables the acquisition of cerebral cortex biological information in the natural context of cognitive activities, increasing the number of motion patterns. Practical value of identification;
(3)基于脑皮层血红蛋白浓度的变化速率识别运动模式，提高了识别速率，减小脑血氧信息滞后于认知活动的负面影响，有利于快速模式识别，为及时给助行设备提供控制信息奠定了重要的前期基础；(3) Recognition of movement patterns based on the change rate of cerebral cortex hemoglobin concentration improves the recognition rate and reduces the negative impact of cerebral blood oxygen information lagging behind cognitive activities, which is conducive to rapid pattern recognition and provides control information for walking aids in time An important preliminary foundation has been laid;
(4)基于统计分析差异识别运动模式，没有设置血氧浓度的阈值信息，减少了由个体差异引起的误判断；(4) Recognition of exercise patterns based on statistical analysis differences, without setting the threshold information of blood oxygen concentration, reducing misjudgments caused by individual differences;
(5)基于统计分析差异识别运动模式，仅仅应用起始时刻前三个采样数据，先后分析不同因子对血氧蛋白变化速率的影响统计差异，基于统计差异值来判别具体运动模式，小数据量以及简单的识别方法大大减少模式识别时间，有利于及时为助行设备提供控制指令。(5) Identify motion patterns based on statistical analysis differences, only use the first three sampling data at the starting time, analyze the statistical differences of different factors on the rate of change of hemoglobin, and distinguish specific motion patterns based on statistical difference values, small amount of data And the simple recognition method greatly reduces the pattern recognition time, which is conducive to providing control instructions for walking aids in time.
综上，应用非侵入式NIRS技术记录人体运动过程中的脑皮质血红蛋白信息，自主控制运动无需外界刺激和前期训练，对测试环境以及受试者限制少；在认知活动的自然情景下支持长时间测量，不需要进行大量训练，具有理想的空间和时间分辨率等优点；同时将运动模式识别与运动控制相融合，可以提高助行设备的智能性，使其在脑-机接口应用领域具有更大的优势。To sum up, the use of non-invasive NIRS technology to record cerebral cortex hemoglobin information during human movement, autonomous control of movement does not require external stimuli and pre-training, and there are few restrictions on the test environment and subjects; it supports long-term cognitive activity in natural situations. Time measurement does not require a lot of training, and has the advantages of ideal spatial and temporal resolution; at the same time, the integration of motion pattern recognition and motion control can improve the intelligence of walking aids and make them ideal in the field of brain-computer interface applications. Greater advantage.
附图说明Description of drawings
图1是本发明起坐运动模式下的运动时序图；Fig. 1 is a motion sequence diagram under the exercise mode of sitting ups of the present invention;
图2是本发明上下台阶运动模式下的运动时序图；Fig. 2 is a motion sequence diagram under the up and down step motion mode of the present invention;
图3是本发明脑皮层运动关联区域测试通道分布图；Fig. 3 is a test channel distribution diagram of the cortical motion-associated area of the present invention;
图4是本发明四种运动模式在右侧前运动区内不同血红蛋白种类变化速率的统计差异；Fig. 4 is the statistical difference of the rate of change of different hemoglobin types in the right front motor area of four kinds of motion patterns of the present invention;
图5是本发明四种运动模式在左侧前运动区内的不同血红蛋白种类变化速率的统计差异；Fig. 5 is the statistical difference of the rate of change of different hemoglobin types in the left front motor area of four kinds of motion patterns of the present invention;
图6是本发明四种运动模式下各个运动关联区域间的脱氧血红蛋白变化速率的统计差异；Fig. 6 is the statistical difference of the rate of change of deoxygenated hemoglobin between the various motion-associated regions under the four motion modes of the present invention;
图7是本发明在各种运动模式下‘血红蛋白种类’的主效应统计结果；Fig. 7 is the statistical result of the main effect of 'hemoglobin type' in various exercise modes of the present invention;
其中：1a、左侧前运动区，2a、右侧前运动区，3a、前运动辅助区，4a、运动辅助区，5a、主要运动区。Among them: 1a, the left anterior motor area, 2a, the right anterior motor area, 3a, the anterior motor auxiliary area, 4a, the motor auxiliary area, 5a, the main motor area.
具体实施方式Detailed ways
下面结合附图对本发明进行进一步的阐述。The present invention will be further elaborated below in conjunction with the accompanying drawings.
首先，分别对说明书附图中的一些标记做一些说明：First of all, some explanations are given for some marks in the drawings of the specification:
TA：坐下；TB：起立；rest：休息；Ta：上台阶；Tb：下台阶；Tc：后退；rest：休息；S1、脱氧血红蛋白；S2、含氧血红蛋白；＊和*标记表示含氧血红蛋白与脱氧血红蛋白的变化速率之间有统计差异。TA: sit down; TB: stand up; rest: rest; Ta: step up; Tb: step down; Tc: step back; rest: rest; S1, deoxygenated hemoglobin; S2, oxygenated hemoglobin; * and * marks indicate oxygenated hemoglobin Statistically different from the rate of change of deoxyhemoglobin.
如图1至图7所示，一种基于脑皮层血红蛋白信息识别运动模式的实现方法，包括以下步骤：As shown in Figures 1 to 7, a method for realizing motion pattern recognition based on cerebral cortex hemoglobin information includes the following steps:
(1))设置四种运动模式，即上、下台阶和起、坐：所述上、下台阶运动又称为双腿非镜像周期运动；所述起、坐运动又称为双腿镜像对称运动；受试者在该四种运动模式下自主控制运动的起始与终止时间；(1)) Four motion modes are set, that is, going up and down steps and getting up and sitting: the up and down steps motion is also called the non-mirrored periodic motion of both legs; the described getting up and sitting motion is also called mirror image symmetry of legs Exercise; the subject autonomously controls the start and end time of the exercise in the four exercise modes;
(2)将测试的脑皮层运动关联区域分为左侧前运动区、右侧前运动区、运动辅助区、前运动辅助区和主要运动区五个关联区域；左侧前运动区和右侧前运动区主要参与运动控制和姿势调整的准备工作；运动辅助区主要参与运动行为计划以及双肢体协调任务控制；前运动辅助区主要参与运动行为计划；主要运动区主要负责给出运动控制命令；(2) Divide the tested cerebral cortex motor-associated areas into five association areas: left premotor area, right anterior motor area, motor auxiliary area, anterior motor auxiliary area and main motor area; left anterior motor area and right anterior motor area The premotor area is mainly involved in the preparation of motor control and posture adjustment; the motor auxiliary area is mainly involved in the motor behavior planning and the coordination task control of the two limbs; the anterior motor auxiliary area is mainly involved in the motor behavior planning; the main motor area is mainly responsible for giving motor control commands;
(3)应用近红外光脑功能成像设备对受试者在四种运动模式下大脑皮层的各个运动关联区域的血红蛋白浓度进行记录；近红外光脑功能成像设备的型号为津岛FOIRE-3000；(3) Using near-infrared optical brain functional imaging equipment to record the hemoglobin concentration of the subjects in each movement-related area of the cerebral cortex under four exercise modes; the model of near-infrared optical brain functional imaging equipment is Jindao FOIRE-3000;
(4)测试受试者在四种运动模式下大脑皮层各个运动关联区域内不同血红蛋白种类的浓度信息；(4) Concentration information of different hemoglobin types in each exercise-associated area of the cerebral cortex of the test subject under the four exercise modes;
(5)受试者头戴测试头套，且测试头套与头部的脑皮层五个运动关联区域一一对应的放置好；(5) The subject wears a test headgear, and the test headgear is placed in one-to-one correspondence with the five motor-related areas of the cerebral cortex of the head;
(6)受试者根据日常生活中的动作速度来掌握测试速度，首先做第一组任务：起、坐动作，受试者根据日常的起、坐习惯和速度来完成这一动作；并重复四次，每次动作的开始和终止均由受试者自主控制，实验操作者负责标记mark；(6) The subject masters the test speed according to the movement speed in daily life. First, do the first group of tasks: standing up and sitting down. The subject completes this movement according to the daily standing up and sitting habit and speed; and repeats Four times, the start and end of each movement are controlled by the subjects themselves, and the experiment operator is responsible for marking the mark;
(7)受试者根据日常生活中的动作速度来掌握测试速度，然后做第二组任务：上、下台阶动作，受试者根据日常的起、坐习惯和速度来完成这一动作；并重复四次，每次动作的开始和终止均由受试者自主控制，实验操作者负责标记mark；台阶的阶梯为4阶，且台阶放置在近红外光脑功能成像设备的一侧，由于光纤长度有限(2米)，若被试转身进行下一次重复实验，光纤牵引头套会导致头套在头顶有位移，引入测试噪声，并且测试通路的区域定位会受到很大影响，同时也会给被试增加不适感，所以实验中受试者下台阶之后退回起始位置准备下一次重复任务，但是后退模式在分析过程中暂不考虑；(7) The subject masters the test speed according to the movement speed in daily life, and then does the second group of tasks: the movement of going up and down the steps. The subject completes this action according to the daily standing and sitting habits and speed; and Repeated four times, the start and end of each movement were controlled by the subject independently, and the experiment operator was responsible for marking the mark; the steps were 4 steps, and the steps were placed on the side of the near-infrared optical brain functional imaging device. The length is limited (2 meters). If the subject turns around and repeats the experiment next time, the optical fiber traction headgear will cause the headgear to move on the top of the head, introduce test noise, and the regional positioning of the test path will be greatly affected. Increased discomfort, so in the experiment, the subjects returned to the starting position after going down the steps to prepare for the next repetition task, but the retreat mode was not considered in the analysis process;
(8)基于所测试的血红蛋白数据，应用统计分析法来分析在不同的运动模式下大脑皮层各个运动关联区域内含氧血红蛋白和脱氧血红蛋白变化速率的统计差异；将0.5作为pvalues，即p值的阈值；当p≤0.05时，表示统计差异有显著意义；当p≥0.5时，表示统计差别无显著意义；(8) Based on the tested hemoglobin data, the statistical analysis method is used to analyze the statistical difference in the rate of change of oxygenated hemoglobin and deoxygenated hemoglobin in each movement-related area of the cerebral cortex under different exercise patterns; 0.5 is used as pvalues, that is, the value of the p value Threshold; when p≤0.05, the statistical difference is significant; when p≥0.5, the statistical difference is not significant;
(9)在步骤(8)的基础之上，分别分析各个大脑皮层运动关联区域之间含氧血红蛋白变化速率的差异与脱氧血红蛋白变化速率的差异；(9) On the basis of step (8), analyze the difference in the rate of change of oxygenated hemoglobin and the difference in the rate of change of deoxygenated hemoglobin between the motor-related regions of the cerebral cortex;
(10)根据步骤(8)和(9)分析的差异情况来对受试者的运动模式来进行识别；(10) identifying the motion pattern of the subject according to the difference analyzed in steps (8) and (9);
(11)在右侧前运动区：如果含氧血红蛋白变化速率与脱氧血红蛋白变化速率之间具有显著的统计差异，则认为是双腿非镜像周期重复运动；(11) In the right premotor area: If there is a statistically significant difference between the rate of change of oxygenated hemoglobin and the rate of change of deoxygenated hemoglobin, it is considered to be a non-mirrored periodic repetitive movement of the legs;
如果含氧血红蛋白变化速率与脱氧血红蛋白变化速率之间没有统计差异，而且统计结果p≥0.5，则认为是双腿镜像对称运动；If there is no statistical difference between the rate of change of oxygenated hemoglobin and the rate of change of deoxygenated hemoglobin, and the statistical result p≥0.5, it is considered to be mirror-symmetrical movement of the legs;
(12)针对双腿非镜像周期重复运动趋势，在左侧前运动区：如果含氧血红蛋白变化速率与脱氧血红蛋白变化速率之间具有显著的统计差异，则判断为是‘下台阶’运动模式；(12) Aiming at the non-mirror cycle repetitive motion trend of both legs, in the left front motor area: if there is a significant statistical difference between the rate of change of oxygenated hemoglobin and the rate of change of deoxygenated hemoglobin, it is judged to be a ‘step down’ exercise pattern;
如果含氧血红蛋白变化速率与脱氧血红蛋白变化速率之间没有统计差异，且p≥0.5，则判断为‘上台阶’运动模式；If there is no statistical difference between the rate of change of oxygenated hemoglobin and the rate of change of deoxygenated hemoglobin, and p ≥ 0.5, it is judged as the exercise mode of 'up stairs';
(13)针对双腿镜像对称运动趋势，如果各个运动区域的脱氧血红蛋白变化速率之间具有显著差异，则判断为‘坐下’运动模式；(13) For the mirror-symmetric movement trend of the legs, if there is a significant difference in the rate of change of deoxygenated hemoglobin in each movement area, it is judged as a 'sit down' movement pattern;
若各个运动区域的脱氧血红蛋白变化速率之间没有明显差异，而且p≥0.5，则判断为‘起立’运动模式。If there is no significant difference in the rate of change of deoxyhemoglobin in each exercise area, and p ≥ 0.5, it is judged as a 'stand up' exercise pattern.
在上述的各个步骤中，所述近红外光脑功能成像设备有8对发射和接收端子，每对发射和接收端子之间的距离为3cm；且通过8对发射和接收端子对24通路信息进行测试；每一通路记录人体运动过程中的含氧血红蛋白、脱氧血红蛋白和总血红蛋白的浓度信息，由于近红外光脑功能成像设备采用分时发射接收的方法，所以其测试24通路信息时采样的周期为130ms；且其测试深度为大脑皮层下2～3cm，其所测试的原始数据通过带通滤波保留0.02～0.06HZ之间的频率成分，其作用是滤除掉测试期间引入的高频噪声以及脉搏，皮肤呼吸等低频生理信号噪声。In each of the above steps, the near-infrared optical brain functional imaging device has 8 pairs of transmitting and receiving terminals, and the distance between each pair of transmitting and receiving terminals is 3cm; Test; each channel records the concentration information of oxygenated hemoglobin, deoxygenated hemoglobin and total hemoglobin in the process of human movement. Since the near-infrared optical brain functional imaging device adopts the method of time-sharing transmission and reception, the sampling period when testing 24 channel information The test depth is 130ms; and the test depth is 2-3cm below the cerebral cortex. The original data tested by the band-pass filter retains the frequency components between 0.02-0.06HZ, and its function is to filter out the high-frequency noise introduced during the test and Pulse, skin respiration and other low-frequency physiological signal noise.
实验中应用8对发射接收端子测试4×4区域内的血红蛋白浓度信息。In the experiment, 8 pairs of transmitting and receiving terminals are used to test the hemoglobin concentration information in the 4×4 area.
下面就统计分析方法和模式判别方法做进一步的分析：The following is a further analysis on the statistical analysis method and pattern discrimination method:
一、应用三元方差分析法(ANOVA3)分析‘四种运动模式’、‘血红蛋白种类’和‘脑皮层运动关联区域’对血红蛋白变化速率的影响；当获得的p值(pvalues)≤0.05时，认为差异具有统计意义：1. The influence of 'four movement modes', 'hemoglobin types' and 'cortical movement-related areas' on the rate of change of hemoglobin was analyzed by three-way analysis of variance (ANOVA3); when the obtained p values (pvalues) ≤ 0.05, The difference is considered statistically significant:
(1)如果‘四种运动模式’和‘血红蛋白种类’的交互效应具有统计意义，进一步分析在各种运动模式下‘血红蛋白种类’的主效应；然后分别针对各个脑皮层运动关联区域分析含氧血红蛋白的变化速率与脱氧血红蛋白的变化速率在各种运动模式下是否具有统计差异；(1) If the interaction effect of 'four exercise modes' and 'hemoglobin type' is statistically significant, further analyze the main effect of 'hemoglobin type' in various exercise modes; Whether there is a statistical difference between the rate of change of hemoglobin and the rate of change of deoxygenated hemoglobin in various exercise modes;
在此基础上，进一步分析在各种运动模式下‘脑皮层运动关联区域’的主效应；然后分别分析跟各个运动关联区域的含氧血红蛋白的变化速率或者脱氧血红蛋白的变化速率在各种运动模式下是否具有统计差异；相应的统计分析结果如下：On this basis, further analyze the main effect of the "cortical motion-associated area" in various exercise modes; then analyze the change rate of oxygenated hemoglobin or deoxygenated hemoglobin in each exercise-related area in various exercise modes Whether there is a statistical difference under the following; the corresponding statistical analysis results are as follows:
‘四种运动模式’和‘血红蛋白种类’的交互效应具有明显的统计差异，即p＝0.021，在各种运动模式下‘血红蛋白种类’的主效应统计结果如图7所示：其中在左侧前运动区(PMCL)和右侧前运动区(PMCR)，含氧血红蛋白变化速率与脱氧血红蛋白变化速率两者之间的差异在各种运动模式之间具有明显不同的表征；The interaction effect of 'four exercise modes' and 'hemoglobin type' has a significant statistical difference, that is, p=0.021, and the statistical results of the main effect of 'hemoglobin type' in various exercise modes are shown in Figure 7: Among them, on the left The differences between the rate of change of oxygenated hemoglobin and the rate of change of deoxygenated hemoglobin in the premotor area (PMCL) and right side (PMCR) were characterized significantly differently between the various exercise modes;
如图4、图5以及图7所示：在右侧前运动区(PMCR)，上台阶和下台阶运动模式下两者之间具有十分显著的统计差异，上台阶时p＝0.001，下台阶时p＝0.000；起、坐运动模式下两者之间的差异不显著，起立时p＝0.836，坐下时p＝0.914；在左侧前运动区(PMCL)，下台阶运动模式下两者之间具有十分显著的统计差异，下台阶时p＝0.008，上台阶和起坐运动模式下两者之间的差异不显著，即上台阶时p＝0.601，起立时p＝0.293，坐下时p＝0.932；在上述的数据中具有统计意义的p值已经在图4和图5的分析图中有所体现；其它不具有统计意义的p值在图7中明确列出，图4和图5中就不在列出，以示清晰。As shown in Figure 4, Figure 5 and Figure 7: in the right front motor area (PMCR), there is a very significant statistical difference between the two in the upper step and lower step movement modes, p=0.001 when going up the step, and p=0.001 when going down the step p=0.000; the difference between the two in the motion mode of standing up and sitting was not significant, p=0.836 when standing up, and p=0.914 when sitting down; in the left front motor area (PMCL), both in the motion mode of descending steps There is a very significant statistical difference between them, p=0.008 when going down the steps, the difference between the two is not significant when going up the steps and sitting up, that is, p=0.601 when going up the steps, p=0.293 when standing up, and p=0.293 when sitting down. p=0.932; the p-values with statistical significance in the above data have been reflected in the analysis graphs of Figure 4 and Figure 5; other p-values without statistical significance are clearly listed in Figure 7, Figure 4 and Figure 5 5 is not listed for clarity.
然而，在运动辅助区(SMA)和前运动辅助区(Pre-SMA)下，各种运动模式下含氧血红蛋白变化速率与脱氧血红蛋白变化速率总体上多有统计差异；在主要运动区(SMC)，各种运动模式下含氧血红蛋白变化速率与脱氧血红蛋白变化速率总体上没有统计差异；However, in the auxiliary motor area (SMA) and pre-SMA (Pre-SMA), the rate of change of oxygenated hemoglobin and the rate of change of deoxygenated hemoglobin in various exercise modes were generally statistically different; in the main motor area (SMC) , there is no statistical difference in the change rate of oxygenated hemoglobin and deoxygenated hemoglobin under various exercise modes;
(2)如图6所示，各种运动模式下，各区域间的含氧血红蛋白变化速率均没有明显的统计差异；在坐下运动模式，各区域间的脱氧血红蛋白变化速率均具有线束的统计差异，即p＝0.024，而在其他运动模式下，各区域间的脱氧血红蛋白变化速率均没有统计差异。(2) As shown in Figure 6, under various exercise modes, there is no significant statistical difference in the rate of change of oxygenated hemoglobin between regions; in the exercise mode of sitting down, the rate of change of deoxygenated hemoglobin between regions has a statistical difference The difference, that is, p = 0.024, while in other exercise modes, there was no statistical difference in the rate of change of deoxyhemoglobin between regions.
二、模式判别方法：Two, mode discrimination method:
(1)在右侧前运动区，如果含氧血红蛋白变化速率与脱氧血红蛋白变化速率之间具有显著的统计差异，即p≤0.05，则认为是双腿非镜像周期重复运动；如果含氧血红蛋白变化速率与脱氧血红蛋白变化速率之间没有统计差异，而且统计结果p≥0.5，则认为是双腿镜像对称运动；如果某些通道的测试数据掺杂有噪声或者头套放置存在微小偏差，可能会使得分析结果无明显的统计差异但是统计的p值有相对较小，所以选择0.5作为p值的阈值以减少误判断。(1) In the right premotor area, if there is a statistically significant difference between the rate of change of oxygenated hemoglobin and the rate of change of deoxygenated hemoglobin, that is, p≤0.05, it is considered to be non-mirror periodic repetitive motion of the legs; if the rate of change of oxygenated hemoglobin There is no statistical difference between the rate and the rate of change of deoxyhemoglobin, and the statistical result p≥0.5, it is considered to be a mirror-symmetrical movement of the legs; if the test data of some channels is doped with noise or there is a slight deviation in the placement of the headgear, it may make the analysis There is no significant statistical difference in the results, but the statisticalp- value is relatively small, so 0.5 is selected as the threshold of p-value to reduce misjudgment.
(2)针对双腿非镜像周期重复运动趋势，在左侧前运动区，如果含氧血红蛋白变化速率与脱氧血红蛋白变化速率之间具有显著的统计差异，则判断为是‘下台阶’运动模式，否则如果p≥0.5，则判断为‘上台阶’运动模式；(2) For the non-mirror cycle repetitive motion trend of both legs, in the left front motor area, if there is a significant statistical difference between the rate of change of oxygenated hemoglobin and the rate of change of deoxygenated hemoglobin, it is judged to be a "step down" exercise pattern, Otherwise, if p ≥ 0.5, it is judged as a 'step-up' exercise mode;
(3)针对双腿镜像对称运动趋势，如果各个运动区域的脱氧血红蛋白变化速率之间具有显著差异，则判断为‘坐下’运动模式，若各个运动区域的脱氧血红蛋白变化速率之间没有明显差异，且p≥0.5则判断为‘起立’运动模式。(3) For the mirror-symmetric movement trend of the legs, if there is a significant difference in the change rate of deoxygenated hemoglobin in each exercise area, it is judged as a 'sitting' exercise mode; if there is no significant difference in the change rate of deoxygenated hemoglobin in each exercise area , and p≥0.5 is judged as the 'stand up' movement mode.
应用非侵入式NIRS技术记录人体运动过程中的脑皮质血红蛋白信息，自主控制运动无需外界刺激和前期训练，对测试环境以及受试者限制少；在认知活动的自然情景下支持长时间测量，不需要进行大量训练，具有理想的空间和时间分辨率等优点；同时将运动模式识别与运动控制相融合，提高了助行设备的智能性，使其在脑-机接口应用领域具有很大的优势。Application of non-invasive NIRS technology to record cerebral cortex hemoglobin information during human movement, autonomous control of movement without external stimulation and pre-training, less restrictions on test environment and subjects; long-term measurement is supported in the natural context of cognitive activities, It does not require a lot of training, and has the advantages of ideal spatial and temporal resolution; at the same time, the integration of motion pattern recognition and motion control improves the intelligence of walking aids, making it of great potential in the field of brain-computer interface applications. Advantage.
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