CN112933408A - System and method for collecting surface electromyographic signals and controlling low-frequency electrical stimulation - Google Patents

Abstract

Translated fromChinese

本发明提供一种表面肌电信号的采集与低频电刺激控制系统，系统包括至少一个采集单元和与每一个采集单元对应的处理模块；采集单元，用于通过表面电极采集皮肤表面肌电电压的变化，以获取电压信号；处理模块包括：信号处理模块、AD采集及数据处理模块和数据处理显示单元；信号处理模块与信号处理模块相连，用于对采集单元所采集到的电压信号进行处理，以获取滤波和放大后的目标信号；AD采集及数据处理模块，用于接收目标信号，并按一预设采样率进行采集并进行数据的处理，获得处理后的目标信号；数据处理显示单元，用于接收处理后的目标信号，并将处理后的目标信号中的数据进行处理后通过显示器显示肌电的变化数。

The invention provides a surface electromyographic signal acquisition and low-frequency electrical stimulation control system. The system includes at least one acquisition unit and a processing module corresponding to each acquisition unit; the acquisition unit is used to collect the surface electromyographic voltage of the skin through surface electrodes. The processing module includes: a signal processing module, an AD acquisition and data processing module, and a data processing display unit; the signal processing module is connected with the signal processing module and is used to process the voltage signal collected by the acquisition unit, to obtain the filtered and amplified target signal; the AD acquisition and data processing module is used to receive the target signal, collect and process the data at a preset sampling rate, and obtain the processed target signal; the data processing display unit, It is used for receiving the processed target signal, and after processing the data in the processed target signal, the number of changes in myoelectricity is displayed on the display.

Description

System and method for collecting surface electromyographic signals and controlling low-frequency electrical stimulation

Technical Field

The invention relates to the field of improvement of a surface electromyogram signal acquisition technology, in particular to a surface electromyogram signal acquisition and low-frequency electrical stimulation control system.

Background

Electromyographic signals (EMG) are a superposition of Motor Unit Action Potentials (MUAP) in a multitude of muscle fibers, both in time and space. The surface electromyogram Signal (SEMG) is the comprehensive effect of EMG of superficial muscles and electrical activity of nerve trunks on the surface of skin, and can reflect the activity of the nerve muscles to a certain extent; compared with needle electrode EMG, the SEMG has the advantages of non-invasiveness, no trauma, simple operation and the like [1 ]. Therefore, the SEMG has important practical value in clinical medicine, human-computer efficiency, rehabilitation medicine, sports science and the like.

The currently applied products can only realize the acquisition of electromyographic signals, but cannot realize the function of low-frequency electrical stimulation at the same time.

Disclosure of Invention

In view of the above-mentioned shortcomings of the prior art, it is an object of the present invention to provide a system and method for collecting surface electromyographic signals and controlling low-frequency electrical stimulation, wherein during the electrical stimulation, the current electromyographic signals are collected by a collecting unit, and the electrical stimulation parameters of the muscle are controlled according to the change of the muscle under the electrical stimulation state.

To achieve the above and other related objects, the present invention provides a system for collecting surface electromyogram signals and controlling low-frequency electrical stimulation, the system comprising:

the system comprises at least one acquisition unit and a processing module corresponding to each acquisition unit;

the collecting unit is used for collecting the change of skin surface electromyogram voltage through the surface electrode so as to obtain a voltage signal;

the processing module comprises: the system comprises a signal processing module, an AD acquisition and data processing module and a data processing and displaying unit;

the signal processing module is connected with the signal processing module and is used for processing the voltage signal acquired by the acquisition unit to acquire a filtered and amplified target signal; the data processing process comprises the following steps: processing a passband, processing a power frequency signal, performing mutation value and interpolation processing under a frequency spectrum, and reflecting the signal on different frequencies by the frequency spectrum or power spectrum obtained by performing Fourier transform (FFT) on a surface electromyogram signal after processing;

the AD acquisition and data processing module is used for receiving the target signal, acquiring according to a preset sampling rate and processing data to obtain a processed target signal;

and the data processing and displaying unit is used for receiving the processed target signal, processing the data in the processed target signal and displaying the change number of myoelectricity through a display.

In one implementation, the signal processing module includes:

the differential amplification unit is used for amplifying the signal generated by the surface myoelectricity through a differential amplification circuit to obtain an amplified signal;

the high-pass filtering unit is used for carrying out high-pass filtering on the amplified signal so as to obtain a filtered signal with a frequency higher than a first set frequency;

the power frequency signal processing unit is used for processing a second preset frequency signal in the filtered signals to obtain processed signals;

the signal amplification unit is used for carrying out primary signal amplification on the processed signal to obtain a primary amplified signal;

the low-pass filtering unit is used for carrying out low-pass filtering processing on the first-stage amplified signal to obtain a filtering signal lower than a third set frequency;

and the signal amplification unit is used for carrying out secondary signal amplification on the filtering signal output by the low-pass filtering unit to obtain a target signal.

In one implementation, the method further comprises: a signal communication processing unit;

the signal communication processing unit is arranged between the AD acquisition and data processing module and the data processing and displaying unit and is used for sending the processed target signal to the data processing and displaying unit through a serial port.

In one implementation, the data processing and displaying unit is specifically configured to: and displaying the change data of the myoelectricity through a display after one or more items of Fourier transform, digitization processing of power frequency signals, digitization processing of frequency bandwidth, interpolation processing and root mean square value calculation are carried out on the data in the processed target signals.

In addition, the method for collecting the surface electromyogram signal and controlling the low-frequency electrical stimulation comprises the following steps:

acquiring the change of skin surface electromyogram voltage through an acquisition unit to acquire a voltage signal;

processing the voltage signal acquired by the acquisition unit through a signal processing module to acquire a filtered and amplified target signal;

receiving the target signal through the AD acquisition and data processing module, acquiring according to a preset sampling rate, and processing data to obtain a processed target signal;

and receiving the processed target signal through a data processing and displaying unit, processing the data in the processed target signal, and displaying the change number of myoelectricity through a display.

In one implementation manner, the step of processing the voltage signal acquired by the acquisition unit through a signal processing module to obtain a filtered and amplified target signal includes:

and the voltage signal acquired by the acquisition unit is subjected to differential amplification, high-pass filtering, power frequency signal processing, primary signal amplification, low-pass filtering and secondary signal amplification through the signal processing module so as to obtain a filtered and amplified target signal.

As described above, according to the system and method for collecting surface electromyographic signals and controlling low-frequency electrical stimulation provided by the embodiments of the present invention, in the electrical stimulation process, the current electromyographic signals are collected by the collecting unit, and the electrical stimulation parameters of the change of the muscles under the electrical stimulation state are controlled. When the maximum muscle activity is displayed, the electrical stimulation parameters are operated according to the current parameters. Namely, the closed-loop control of myoelectricity acquisition and electrical stimulation control is realized. Meanwhile, the maximum variation of myoelectricity under electrical stimulation can be acquired. The condition that the surface skin generates excessive electric stimulation during the use process can not be caused. Ensure the electric stimulation to work under the normal state.

Drawings

Fig. 1 is a schematic structural diagram of a system for collecting surface electromyographic signals and controlling low-frequency electrical stimulation according to an embodiment of the present invention.

Fig. 2 is a schematic diagram of a specific application of the system for collecting surface electromyographic signals and controlling low-frequency electrical stimulation according to the embodiment of the present invention.

Detailed Description

The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention.

Please refer to fig. 1. It should be noted that the drawings provided in the present embodiment are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.

The main body of the system for acquiring the surface electromyogram signal and controlling the low-frequency electrical stimulation can be a system for acquiring the surface electromyogram signal and controlling the low-frequency electrical stimulation, and the system comprises: the device comprises at least one acquisition unit and a processing module corresponding to each acquisition unit.

And the acquisition unit is used for acquiring the change of skin surface myoelectric voltage through the surface electrode so as to acquire a voltage signal. The change of the skin surface electromyogram voltage is collected through the surface electrode, and the electrode can only be used for collecting the surface electromyogram voltage. According to the embodiment of the invention, more accurate myoelectric signals can be obtained by collecting two groups of array myoelectric signals.

The processing module comprises: the device comprises a signal processing module, an AD acquisition and data processing module and a data processing and displaying unit.

The signal processing module is connected with the signal processing module and used for processing the voltage signal acquired by the acquisition unit so as to acquire a filtered and amplified target signal.

And the AD acquisition and data processing module is used for receiving the target signal, acquiring according to a preset sampling rate and processing data to obtain a processed target signal.

Data processing: the acquired AD value is firstly processed by a passband, then processed by a power frequency signal, and processed by a mutation value and an interpolation under a frequency spectrum. The frequency spectrum or power spectrum obtained by fourier transform (FFT) using the surface electromyogram signal after the processing reflects the change of the signal at different frequencies. The common indicators are Mean Power Frequency (MPF) and Median Frequency (MF) and refer to the Median value of the discharge Frequency, i.e. the Median value of the discharge Frequency during muscle contraction, which generally tends to decrease with increasing exercise time. The different MF values of different parts of skeletal muscles are caused by different composition ratios of fast and slow muscle fibers in the skeletal muscles. Fast muscle fiber stimulation is manifested by high frequency discharges, and slow muscle fiber stimulation is manifested by low frequency. Generally, during the exercise with middle and high intensity, the MPF and MF values are reduced, and the frequency spectrum is shifted to the left, which indicates that the local muscles are fatigued. And results in a corresponding drop in MPF and MF that reflect the characteristics of the spectral curves.

The time domain analysis is used for depicting the amplitude characteristics of an electromyogram time sequence, and main indexes comprise integrated electromyogram (imeg), Root Mean Square (RMS) and average amplitude (MA).

An integrated electromyography (imeg) is the total number of discharge units of exercise involved in an activity in the muscle over a period of time, the magnitude of which reflects to some extent the number of exercise units involved in the activity and the size of the discharge per exercise unit. To analyze the muscle's contractility per unit time.

The average amplitude represents the strength of the electromyographic signal, the magnitude of which is related to the number of motion units participating in the activity and the degree of synchronization of the discharge frequency.

And the data processing and displaying unit is used for receiving the processed target signal, processing the data in the processed target signal and displaying the change number of myoelectricity through a display.

And the data processing and displaying unit is used for receiving the processed target signal, processing the data in the processed target signal and displaying the change number of the myoelectricity through the display.

In one implementation, a signal processing module includes:

the differential amplification unit is used for amplifying the signal generated by the surface myoelectricity through a differential amplification circuit to obtain an amplified signal; the magnification is controlled to be about 20 times. This may reduce other frequency interference in the signal.

The high-pass filtering unit is used for carrying out high-pass filtering on the amplified signal so as to obtain a filtered signal with a frequency higher than a first set frequency;

the power frequency signal processing unit is used for processing a second preset frequency signal in the filtered signals to obtain processed signals; for example, a 50HZ signal from the electromyographic signals is processed.

The signal amplification unit is used for carrying out primary signal amplification on the processed signal to obtain a primary amplified signal; the amplification factor is controlled to be about 10 times by the primary signal amplification.

The low-pass filtering unit is used for carrying out low-pass filtering processing on the signal after the first-stage amplification to obtain a filtering signal lower than a third set frequency;

and the signal amplification unit is used for carrying out secondary signal amplification on the filtering signal output by the low-pass filtering unit to obtain a target signal, and the target signal is amplified through the secondary signal, wherein the amplification factor is controlled to be about 10 times.

In one implementation, the method further comprises: a signal communication processing unit;

the signal communication processing unit is arranged between the AD acquisition and data processing module and the data processing display unit and is used for sending the processed target signal to the data processing display unit through a serial port.

In one implementation, the data processing and displaying unit is specifically configured to: the data in the processed target signal is subjected to Fourier transform, one or more of digitization processing of power frequency signals, digitization processing of frequency bandwidth, interpolation processing and root mean square value calculation, and then the change data of the myoelectricity is displayed through a display.

In addition, the method also discloses a method for collecting the surface electromyogram signal and controlling the low-frequency electrical stimulation, and the method comprises the following steps:

acquiring the change of skin surface electromyogram voltage through an acquisition unit to acquire a voltage signal;

processing the voltage signal acquired by the acquisition unit through a signal processing module to acquire a filtered and amplified target signal;

receiving a target signal through an AD acquisition and data processing module, acquiring according to a preset sampling rate, and processing data to obtain a processed target signal;

and receiving the processed target signal through a data processing and displaying unit, processing the data in the processed target signal, and displaying the change number of the myoelectricity through a display.

In one implementation, the step of processing the voltage signal collected by the collection unit through the signal processing module to obtain the filtered and amplified target signal includes:

the voltage signals collected by the collecting unit are subjected to differential amplification, high-pass filtering, power frequency signal processing, primary signal amplification, low-pass filtering and secondary signal amplification processing through the signal processing module so as to obtain filtered and amplified target signals.

As shown in fig. 2, in the embodiment of the present invention, a surface electrode 1 is an acquisition unit, and the surface electrode 1 acquires a change of a skin surface electromyogram voltage, and then a surface electromyogram voltage signal is subjected to differential amplification, high-pass filtering, power frequency notch, low-pass filtering, and signal amplification in sequence to obtain a target signal, and then the target signal is input to an AD acquisition data acquisition process, subjected to data display signal processing, and then subjected to low-frequency generator, power converter, and boost circuit in sequence. In order to obtain more accurate electromyographic signals, thesurface electrode 2 is arranged, then the surface electromyographic signals collected by thesurface electrode 2 are sequentially subjected to differential amplification, high-pass filtering, power frequency notch, low-pass filtering and signal amplification processing, then input into AD (analog-to-digital) collection data for collection and processing, and then are subjected to data display signal processing to realize display.

The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.

Claims (7)

Translated fromChinese

1.一种表面肌电信号的采集与低频电刺激控制系统，其特征在于，所述系统包括至少一个采集单元和与每一个采集单元对应的处理模块；1. a collection of surface electromyographic signals and a low-frequency electrical stimulation control system, wherein the system comprises at least one acquisition unit and a processing module corresponding to each acquisition unit;所述采集单元，用于通过表面电极采集皮肤表面肌电电压的变化，以获取电压信号；The acquisition unit is used to acquire the change of the electromyographic voltage on the skin surface through the surface electrode to acquire the voltage signal;所述处理模块包括：信号处理模块、AD采集及数据处理模块和数据处理显示单元；The processing module includes: a signal processing module, an AD acquisition and data processing module, and a data processing display unit;所述信号处理模块与所述信号处理模块相连，用于对所述采集单元所采集到的所述电压信号进行处理，以获取滤波和放大后的目标信号；The signal processing module is connected to the signal processing module, and is used for processing the voltage signal collected by the collection unit to obtain a filtered and amplified target signal;所述AD采集及数据处理模块，用于接收所述目标信号，并按一预设采样率进行采集并进行数据的处理，获得处理后的目标信号，数据处理的过程包括：通频带的处理、工频信号的处理、频谱下进行突变值及插值处理，处理后在利用表面肌电信号进行傅立叶转换(FFT)获得的频谱或功率谱反映信号在不同频率上；The AD acquisition and data processing module is used to receive the target signal, collect and process the data at a preset sampling rate, and obtain the processed target signal. The data processing process includes: processing of the passband, Processing of power frequency signal, mutation value and interpolation processing under the spectrum, after processing, the spectrum or power spectrum obtained by Fourier transform (FFT) of the surface EMG signal reflects the signal at different frequencies;所述数据处理显示单元，用于接收所述处理后的目标信号，并将所述处理后的目标信号中的数据进行处理后通过显示器显示肌电的变化数。The data processing and display unit is used for receiving the processed target signal, and after processing the data in the processed target signal, the number of changes in myoelectricity is displayed on the display.2.根据权利要求1所述的表面肌电信号的采集与低频电刺激控制系统，其特征在于，所述信号处理模块，包括：2. The acquisition of surface EMG signals and the low-frequency electrical stimulation control system according to claim 1, wherein the signal processing module comprises:差分放大单元，将表面肌电产生的信号通过差分放大电路进行放大，获得放大后信号；The differential amplifying unit amplifies the signal generated by the surface EMG through the differential amplifying circuit to obtain the amplified signal;高通滤波单元，将所述放大后的信号进行高通滤波，以获取高于第一设定频率的滤波后信号；a high-pass filtering unit, which performs high-pass filtering on the amplified signal to obtain a filtered signal higher than the first set frequency;工频信号处理单元，将所述滤波后信号中的第二预设频率信号进行处理，获得处理后的信号；a power frequency signal processing unit, processing the second preset frequency signal in the filtered signal to obtain a processed signal;信号放大单元，通过所述处理后的信号进行一级信号放大，获得一级放大后信号；a signal amplifying unit, performing first-level signal amplification through the processed signal to obtain a first-level amplified signal;低通滤波单元，将所述一级放大后信号进行低通滤波处理，以获得低于第三设定频率的滤波信号；a low-pass filtering unit, which performs low-pass filtering processing on the first-stage amplified signal to obtain a filtered signal lower than the third set frequency;信号放大单元，对所述低通滤波单元所输出的滤波信号进行二级信号放大，获得目标信号。The signal amplifying unit performs secondary signal amplification on the filtered signal output by the low-pass filtering unit to obtain the target signal.3.根据权利要求1所述的表面肌电信号的采集与低频电刺激控制系统，其特征在于，还包括：信号通讯处理单元；3. The acquisition of surface EMG signals and the low-frequency electrical stimulation control system according to claim 1, further comprising: a signal communication processing unit;所述信号通讯处理单元设置于所述AD采集及数据处理模块与所述数据处理显示单元之间，用于将处理后的目标信号通过串口发送给数据处理显示单元。The signal communication processing unit is arranged between the AD acquisition and data processing module and the data processing and display unit, and is used for sending the processed target signal to the data processing and display unit through a serial port.4.根据权利要求1所述的表面肌电信号的采集与低频电刺激控制系统，其特征在于，所述数据处理显示单元具体用于：通过将所述处理后的目标信号中的数据进行付里叶变换，工频信号的数据化处理、频带宽度的数字化处理、插值处理、均方根值中的一项或者多项计算后，通过显示器显示肌电的变化数据。4. The surface electromyographic signal acquisition and low-frequency electrical stimulation control system according to claim 1, wherein the data processing and display unit is specifically used for: processing data in the processed target signal for processing Liye transform, data processing of power frequency signal, digital processing of frequency bandwidth, interpolation processing, root mean square value of one or more calculations, the change data of EMG is displayed on the display.5.根据权利要求1所述的表面肌电信号的采集与低频电刺激控制系统，其特征在于，至少一个采集单元位两个采集单元。5 . The surface electromyographic signal acquisition and low-frequency electrical stimulation control system according to claim 1 , wherein at least one acquisition unit comprises two acquisition units. 6 .6.一种表面肌电信号的采集与低频电刺激控制方法，其特征在于，所述方法包括：6. A collection of surface electromyography signals and a low-frequency electrical stimulation control method, wherein the method comprises:通过采集单元采集皮肤表面肌电电压的变化，以获取电压信号；The change of the electromyographic voltage on the skin surface is collected by the acquisition unit to obtain the voltage signal;通过信号处理模块对所述采集单元所采集到的所述电压信号进行处理，以获取滤波和放大后的目标信号；The voltage signal collected by the collection unit is processed by the signal processing module to obtain the filtered and amplified target signal;通过AD采集及数据处理模块接收目标信号，并按一预设采样率进行采集并进行数据的处理，获得处理后的目标信号；Receive the target signal through the AD acquisition and data processing module, collect and process the data at a preset sampling rate, and obtain the processed target signal;通过数据处理显示单元接收所述处理后的目标信号，并将所述处理后的目标信号中的数据进行处理后通过显示器显示肌电的变化数。The processed target signal is received through the data processing and display unit, and the data in the processed target signal is processed to display the number of changes in myoelectricity on the display.7.根据权利要求6所述的表面肌电信号的采集与低频电刺激控制方法，其特征在于，所述通过信号处理模块对所述采集单元所采集到的所述电压信号进行处理，以获取滤波和放大后的目标信号的步骤，包括：7 . The method for collecting surface electromyography signals and controlling low-frequency electrical stimulation according to claim 6 , wherein the voltage signal collected by the collecting unit is processed by a signal processing module to obtain The steps of filtering and amplifying the target signal include:所述通过信号处理模块对所述采集单元所采集到的所述电压信号进行差分放大、高通滤波、工频信号处理、一次信号放大、低通滤波和二次信号放大处理，以获取滤波和放大后的目标信号。The signal processing module performs differential amplification, high-pass filtering, power frequency signal processing, primary signal amplification, low-pass filtering and secondary signal amplification on the voltage signal collected by the acquisition unit to obtain filtering and amplification. after the target signal.

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