CN102670208A - Capacitance sensing system for human body motion modal identification - Google Patents
Capacitance sensing system for human body motion modal identification Download PDFInfo
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- CN102670208A CN102670208A CN2012101510500A CN201210151050A CN102670208A CN 102670208 A CN102670208 A CN 102670208A CN 2012101510500 A CN2012101510500 A CN 2012101510500A CN 201210151050 A CN201210151050 A CN 201210151050A CN 102670208 A CN102670208 A CN 102670208A
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Abstract
The invention relates to a capacitance sensing system for human body motion modal identification. The capacitance sensing system is characterized by comprising two capacitive rings, a driving unit, a signal processing unit and a host computer, wherein the capacitive rings are arranged at the thigh and the shank of a human body respectively; each capacitive ring is composed of an emission electrode, a plurality of receiving electrodes and a thermoplastic ring; the emission electrode and each receiving electrode are arranged at the inner side of the thermoplastic ring at intervals; a main circuit is formed by the driving unit and the signal processing unit; the emission electrodes of the two capacitive rings are connected with the driving unit; an alternative current sine wave signal output by the driving unit is used as the excitation source of the emission electrodes; each receiving electrode of the two capacitive rings is connected with a voltage divider resistor so as to form a series loop; and a voltage dividing signal on the voltage divider resistor is put into the signal processing unit to be converted into digital quantity, and subsequently is input into the host computer so as to accomplish the identification of various motion modals of the human body. The capacitance sensing system is small in time delay, low in cost and wearable; and the capacitance sensing system can be used in the field of intelligent limb control widely.
Description
Technical field
The present invention relates to a kind of capacitative sensor system, particularly about a kind of capacitative sensor system that in intelligent limb control field, is used for the identification of human motion mode.
Background technology
Intelligent limb is the emerging technology that grows up at the beginning of 20 end of the centurys to 21 century, mainly comprises two big types of ectoskeleton and intelligent artificial limbs.Its major functions and features is to adjust the parameter of limbs system according to the variation (being the variation of human action) of external condition automatically, makes its motion freely, and behaving provides power-assisted or limbs to substitute.It has broad application prospects at military, rehabilitation medical and field such as help the disabled.Intelligent limb also comprises except limbs structure itself: perception part, control decision part and drive part.
The control strategy of intelligent limb depends on different mode of motion, walks like stair activity, level land etc.Optimal kinestate is that artificial limb changes along with people's mode of motion, has adaptation function.Therefore need state and variation that the sensor-based system of intelligent limb can perception people lower extremity movement pattern.The intelligent artificial limb and the ectoskeleton product of the overwhelming majority all can not be discerned mode of motion automatically in the market, and the switching of mode needs hand switch to accomplish, and a lot of inconvenience are arranged in the practical application.Therefore need can perceive motion mode sensor-based system.The sensor-based system that on this field, is applied at present mainly contains following several types: (1) is master's inertial sensor with inertial navigation module (IMU), gathers the information such as inclination angle, joint angles and acceleration of lower extremity movement.(2) plantar pressure sensor is gathered plantar pressure information.(3) with electromyographic signal pick off (EMG) be master's bio signal sensor-based system, gather people's bio signal.Yet these several types of sensor-based systems exist a lot of problems, and the information of inertial navigation module and plantar pressure sensor collection has hysteresis, arrive control decision again through signal condition, computing, and elapsed time is longer relatively, and real-time receives very big influence.In order to obtain more gait information, the number of sensor node must be abundant, like this, brought more noise.The bioelectrical signals of skin surface during electromyographic signal sensor acquisition muscle contraction, because weak output signal (being other voltage of uV level), the cost of Circuits System design is very high.Therefore, this field still needs the cheaper sensor-based system of more excellent performance cost.
The electric capacity recognition technology is based on the Capacitance Coupled principle, is widely used in detecting approaching, humidity, liquid level etc.Some research worker utilize the electric capacity recognition technology that human action is discerned, such as the touch screen that utilizes body capacitance to trigger be used to detect whether in bed capacitance transducer of human body medium for bed use of patient.But, also specifically be not applied to research and equipment that the human body lower limbs mode of motion is discerned at present.Utilize touch screen that body capacitance triggers and be used to detect whether in bed capacitance transducer of human body medium for bed use of patient; Be that the metal electrode in human body and the equipment is coupled as electric capacity; Utilize changes in capacitance measuring switch amount (whether in bed whether contacting touch screen and patient); Belong to discrete system with human body, technological means can not directly apply to the identification of human motion mode.
Summary of the invention
To the problems referred to above, it is little, with low cost to the purpose of this invention is to provide a kind of time-delay, the capacitative sensor system that is used for the identification of human motion mode of Wearable.
For realizing above-mentioned purpose; The present invention takes following technical scheme: a kind of capacitative sensor system that is used for the identification of human motion mode; It is characterized in that: it comprises two the electric capacity ring, driver element, signal processing unit and the host computers that are separately positioned on human body thigh and shank place; Each said electric capacity ring constitutes by an emission electrode, several collecting electrodes and a thermoplastic ring; Said emission electrode is arranged on said thermoplastic ring inboard at interval with each collecting electrode, and said driver element and signal processing unit constitute main circuit; The emission electrode of two said electric capacity rings connects said driver element, by the AC sine wave signal of the said driver element output driving source as said emission electrode; Each collecting electrode of two said electric capacity rings all connects a divider resistance; Constitute series loop; After voltage division signal on the said divider resistance is imported said signal processing unit internal conversion and is digital quantity, import said host computer and accomplish identification human body different motion mode.
Said emission electrode all adopts copper sheet with each collecting electrode, and said thermoplastic ring is made up of thermoplastic material.
On said thermoplastic ring, a fixing electro-insulating rubber between adjacent two said electrodes.
Said main circuit comprises said driver element and signal processing unit, also comprises power module, and said driver element and signal processing unit are supplied power by said power module; Said driver element comprises wave generator circuit and drive circuit; Said wave generator circuit produces the sine wave signal of fixed frequency; Import in the said drive circuit; By said drive circuit is that sine wave signal provides current drives, and after being amplified to suitable voltage magnitude scope, exports the emission electrode of two said electric capacity rings to; Said signal processing unit comprises RMS change-over circuit, master controller and serial ports level shifting circuit; Ac voltage signal on the said divider resistance that said RMS change-over circuit will receive converts the alternating voltage virtual value to; Import in the said master controller; AD modular converter by in the said master controller converts digital quantity to, and after carrying out digital filtering by said master controller, digital quantity signal is imported said host computer after said serial ports change-over circuit is with I/O level conversion to RS232 level.
Said wave generator circuit adopts MAX038 waveform generation chip.
Said drive circuit comprises four exclusions and two identical amplifiers; The sine wave of said wave generator circuit output provides sine wave signal to the said electric capacity environment-development radio utmost point that is arranged on the thigh place and the said electric capacity environment-development radio utmost point that is arranged on the shank place respectively through two said amplifiers again behind said four exclusions; Two said amplifiers all adopt TL3474 amplifier chip.
Said RMS change-over circuit adopts the AD637 chip.
Said master controller adopts the STM32F103 series monolithic, and its kernel is ARM cortex-M3, and the highest 72MHz of dominant frequency has the multiplexing AD ALT-CH alternate channel of 10 road I/O mouths at most, and conversion accuracy is 12bit, high sampling rate 1MHz.
The present invention is owing to take above technical scheme; It has the following advantages: 1, the present invention is owing to adopt two electric capacity rings that are separately positioned on human body thigh place and shank place; Through the electric capacity ring measure thigh with the shank position because the variation of the capacitance of the muscle deformation generation during motion comes indirect identification to go out the rule of human motion.This system is littler than inertial navigation system and plantar pressure sensor time-delay, and is more with low cost than the EMG collecting device of commercialization, and can dress.2, the present invention is owing to adopt the electric capacity ring to be made up of emission electrode, some collecting electrodes and thermoplastic ring; Emission electrode and collecting electrode are arranged on the thermoplastic ring at interval; It is moulding to make that the electric capacity ring can carry out according to the shape of leg of different people, has solved individual variation, has guaranteed the stability of dressing.The present invention can be widely used in the intelligent limb control field.
Description of drawings
Fig. 1 is a whole principle schematic of the present invention;
Fig. 2 is an electric capacity ring structure sketch map of the present invention;
Fig. 3 is a main circuit structure sketch map of the present invention;
Fig. 4 is a wave generator circuit principle schematic of the present invention;
Fig. 5 is a drive circuit principle schematic of the present invention;
Fig. 6 is a RMS change-over circuit principle schematic of the present invention;
Fig. 7 is a master controller functional schematic of the present invention.
The specific embodiment
The present invention utilizes the principle of electric capacity identification, adds metal electrode in the human body both sides, is electrolyte with the human body, reacts lower limb muscles deformation with changes in capacitance, thereby discerns different mode of motion.Below in conjunction with accompanying drawing and embodiment the present invention is carried out detailed description.
Like Fig. 1, shown in Figure 2; The present invention includes two electric capacity ring 1, driver element 2, signal processing unit 3 and host computers 4 that are separately positioned on human body thigh and shank place; Each electric capacity ring 1 constitutes by an emission electrode T, several collecting electrodes R and a thermoplastic ring 5; Emission electrode T and each collecting electrode R are arranged on thermoplastic ring 5 inboards at interval, can gather the capacitance information at a plurality of positions of shank simultaneously; And driver element 2 constitutes main circuit of the present invention with signal processing unit 3.
The emission electrode T of two electric capacity rings 1 connects driver element 2, by the AC sine wave signal of the driver element 2 outputs driving source as emission electrode T; Each collecting electrode R of two electric capacity rings 1 all connects a divider resistance R
c, constitute series loop, divider resistance R
cOn 3 internal conversions of voltage division signal input signal processing unit be digital quantity after, input host computer 4 is accomplished the identification to human body different motion mode.
Its operation principle is: the emission electrode T of electric capacity ring 1, collecting electrode R and be positioned at emission electrode T and electrolyte that collecting electrode R middle is made up of human body forms body capacitance C
Body, can know that by capacitance equation C=ε (S/d) as electrode area S and distance between electrodes d fixedly the time, capacitance C is by its size of electric medium constant ε decision.Therefore, the present invention can through measure thigh with the shank position because the body capacitance C of the muscle deformation generation during motion
BodyThe variation of value comes indirect identification to go out the rule of human motion.And according to impedance Z=(the j ω C) of electric capacity
-1Can know,, can obtain the size of capacitance C through the impedance Z of measuring electric capacity when frequencies omega is fixed.Because body capacitance C
BodyWith divider resistance R
cConstitute series loop, so body capacitance C
BodyVariation can cause divider resistance R
cOn dividing potential drop change.
Two electric capacity rings 1 detect thigh and shank position respectively because the capacitance variation signal that the muscle deformation in when motion produces, divider resistance R under the driving of driver element 2
cOn voltage division signal change along with the variation of two electric capacity ring 1 output capacitance values, through divider resistance R
cOn voltage division signal can characterize out the characteristics of motion of thigh and shank.And divider resistance R
cOn voltage division signal convert digital quantity into by signal processing unit 3, input host computer 4 carries out mode of motion identification.
In the foregoing description, emission electrode T and each collecting electrode R all adopt copper sheet, and the copper sheet size is 2.5 * 5cm, but is not limited to this value, and the copper sheet size can be confirmed according to the shape and size of thermoplastic ring 5.Thermoplastic ring 5 is made up of thermoplastic material, and this thermoplastic material is replied its original hardness can be moulding arbitrarily more than 70 degrees centigrade when room temperature.Therefore, electric capacity ring 1 can carry out moulding according to the shape of leg of different people, has solved individual variation, has guaranteed the stability of dressing.The influence of perspiration in the wearing process can also be at a fixing electro-insulating rubber between adjacent two electrodes on the thermoplastic ring 5.
As shown in Figure 3, main circuit of the present invention can be gathered the capacitance signal of 10 passages at most, and wherein, 5 passages are as the capacitance signal of thigh place electric capacity ring 1, and 5 passages are as the capacitance signal of shank place electric capacity ring 1.Main circuit also comprises power module 6 except driver element 2 and signal processing unit 3, driver element 2 is supplied power by power module 6 with signal processing unit 3.
In the foregoing description, as shown in Figure 4, wave generator circuit 7 adopts MAX038 waveform generation chip, and it produces the sine wave of 100kHz.MAX038 is a accurate signal generation chip, adds that suitable peripheral circuit can produce the multiple signal of 0.1Hz to 20MHz.Connect variable resistance R2 at the MAX038 input, can change the frequency of output waveform.The MAX038 power supply is 5V and-5V, output signal V
OutAmplitude be 2V
Pp
In the foregoing description, because the output signal V of wave generator circuit 7
OutAmplitude range is-1V～1V, and current driving ability is little, directly is loaded on the emission electrode T of electric capacity ring 1 and can causes wave distortion, influences signal quality, therefore needs enough current drives.As shown in Figure 5; Drive circuit 8 comprises four exclusion RP1 and two identical amplifiers 81; The sine wave of wave generator circuit 7 outputs provides sine wave signal to the electric capacity ring that is arranged on the thigh place 1 emission electrode T and the electric capacity ring 1 emission electrode T that is arranged on the shank place respectively through two amplifiers 81 again behind four exclusion RP1.Two amplifiers 81 all adopt TL3474 amplifier chip, and TL3474 is a four high guaily unit chip, and each amplifier maximum output current is 27mA, and bandwidth is 4MHz, satisfies signal frequency range fully.The TL3474 slew rate is 13V/us, has guaranteed that the sine wave signal of previous stage wave generator circuit 7 outputs is undistorted.Drive circuit 8 amplifications are 4 times, therefore final output signal C1 to thigh place electric capacity ring 1 emission electrode T
OscWith output signal C2 to shank place electric capacity ring 1 emission electrode T
OscAmplitude range be :-4V～4V.
In the foregoing description, as shown in Figure 6, RMS change-over circuit 9 adopts the AD637 chip, and AD637 is a simulation trial chip, calculates the virtual value of input exchange signal and exports corresponding DC voltage.Wherein, the input of AD637 connects the collecting electrode R of electric capacity ring 1, and CH is the sine wave signal of input, and AD is the output signal after the AD637 conversion, directly imports the master controller 10 of back level, and C1 is a filter capacitor.
Because body capacitance C
BodyWith divider resistance R
cConstitute series loop, through divider resistance R
cOn dividing potential drop reflect the variation of body capacitance.The AC signal that main circuit of the present invention extracts on each collecting electrode R is measured voltage division signal.When the primary signal on the collecting electrode R was the sine wave signal of 100kHz, its amplitude was with body capacitance C
BodyThe variation respective change.According to the virtual value formula: Ur=0.707Usin2 π ft, it is fixing that frequency f is that 100kHz keeps, and virtual value Ur and voltage magnitude U are linear relationships.Therefore the useful information in the signal is exactly an amplitude information, and RMS change-over circuit 9 is a virtual value voltage with conversion of signals exactly.
In the foregoing description, as shown in Figure 7, master controller 10 adopts the STM32F103 series monolithic; Its kernel is ARM cortex-M3; The highest 72MHz of dominant frequency has the multiplexing AD ALT-CH alternate channel of 10 road I/O mouths at most, and conversion accuracy is 12bit; High sampling rate 1MHz satisfies the needs of signal extraction and date processing among the present invention fully.
Because main circuit can be gathered the capacitance signal of 10 passages at most, when master controller 10 adopted the STM32F103 series monolithic, the I/O mouth that is used for the AD sampling was PA0～PA7, PB0 and PB1.The AD modular converter of STM32 can be divided into regular channel group and inject conversion group, in the present embodiment, adopts the regular channel group of AD modular converter, continuously translative mode.In order to save cpu resource, the result of AD conversion transfers to single-chip microcomputer sheet SRAM through dma mode.Transformation result can be called according to the control sequential by system.
Because a gait cycle was probably at 1～2s when the people normally walked, signal frequency range is very low, probably in 100Hz.For obtaining more information, be used for the signal characteristic value and calculate and discern, the AD sample rate is 1kHz.For the noise in the elimination signal, in the STM32F103 series monolithic, adopted first-order lag filtering.Because the frequency of capacitance signal own is very low, the relative useful signal frequency of noise signal is higher, therefore is fit to adopt first-order lag filtering, and the wave filter formula is:
NewValue=(1-a)×AD_Converted+a×OldValue,a∈(0,1)，
Wherein, AD_Converted is this AD sampled value, and OldValue is filtered last time, and NewValue is this result, and delay degree depends on lag coefficient a.
Transfer of data to the host computer 4 that final filtering obtains; Master controller 10 is being controlled the sequential that data are sent; In the present embodiment, adopt the inner SysTick of single-chip microcomputer to interrupt controlling sequential, SysTick interrupts every 1ms to be triggered once; Carry out filter in the interrupt function, control principal function through flag bit simultaneously and when send data.Every 1ms sends a packet, is comprising the capacitance signal data of 10 passages.Its data format is:
| Data head (flag bit) | The |
10 passage capacitance signal data |
Data head is the sign that each packet begins, and the packet sequence number of back is represented to have sent what packets, is used to lose the detection of digit rate, is the electromyographic signal data of 8 passages at last.
In sum, the capacitative sensor system that the present invention is used for human motion mode identification is applicable to identification people some basic exercise mode in daily life, and for example the level land is walked, upper and lower stair, across obstacle is sat quietly, stand, about turn etc.Remove to sit and the mode of motion of the two kinds of static state of standing, other all mode of motion all needs the synergy movement of hip joint, knee joint and ankle joint, which kind of dynamic mode no matter, and all there are two kinds of basic actions in each joint: the back of the body is bent and straight bent.The completion of each action all needs shank and thigh polylith muscle synergism, and muscle contraction produces deformation.The rule of muscle contraction is different under the different mode of motion, and therefore corresponding muscle deformation is also variant.
Above-mentioned each embodiment only is used to explain the present invention; The connection of each parts and structure all can change to some extent; On the basis of technical scheme of the present invention; All improvement and equivalents of the connection and the structure of individual component being carried out according to the principle of the invention all should not got rid of outside protection scope of the present invention.
Claims (10)
1. one kind is used for the capacitative sensor system that human motion mode is discerned; It is characterized in that: it comprises two the electric capacity ring, driver element, signal processing unit and the host computers that are separately positioned on human body thigh and shank place; Each said electric capacity ring constitutes by an emission electrode, several collecting electrodes and a thermoplastic ring; Said emission electrode is arranged on said thermoplastic ring inboard at interval with each collecting electrode, and said driver element and signal processing unit constitute main circuit; The emission electrode of two said electric capacity rings connects said driver element, by the AC sine wave signal of the said driver element output driving source as said emission electrode; Each collecting electrode of two said electric capacity rings all connects a divider resistance; Constitute series loop; After voltage division signal on the said divider resistance is imported said signal processing unit internal conversion and is digital quantity, import said host computer and accomplish identification human body different motion mode.
2. a kind of capacitative sensor system that is used for the identification of human motion mode as claimed in claim 1, it is characterized in that: said emission electrode all adopts copper sheet with each collecting electrode, and said thermoplastic ring is made up of thermoplastic material.
3. a kind of capacitative sensor system that is used for the identification of human motion mode as claimed in claim 2 is characterized in that: on said thermoplastic ring, and a fixing electro-insulating rubber between adjacent two said electrodes.
4. like claim 1 or 2 or 3 described a kind of capacitative sensor system that are used for the identification of human motion mode; It is characterized in that: said main circuit comprises said driver element and signal processing unit; Also comprise power module, said driver element and signal processing unit are supplied power by said power module;
Said driver element comprises wave generator circuit and drive circuit; Said wave generator circuit produces the sine wave signal of fixed frequency; Import in the said drive circuit; By said drive circuit is that sine wave signal provides current drives, and after being amplified to suitable voltage magnitude scope, exports the emission electrode of two said electric capacity rings to;
Said signal processing unit comprises RMS change-over circuit, master controller and serial ports level shifting circuit; Ac voltage signal on the said divider resistance that said RMS change-over circuit will receive converts the alternating voltage virtual value to; Import in the said master controller; AD modular converter by in the said master controller converts digital quantity to, and after carrying out digital filtering by said master controller, digital quantity signal is imported said host computer after said serial ports change-over circuit is with I/O level conversion to RS232 level.
5. a kind of capacitative sensor system that is used for the identification of human motion mode as claimed in claim 4 is characterized in that: said wave generator circuit adopts MAX038 waveform generation chip.
6. a kind of capacitative sensor system that is used for the identification of human motion mode as claimed in claim 4; It is characterized in that: said drive circuit comprises four exclusions and two identical amplifiers; The sine wave of said wave generator circuit output provides sine wave signal to the said electric capacity environment-development radio utmost point that is arranged on the thigh place and the said electric capacity environment-development radio utmost point that is arranged on the shank place respectively through two said amplifiers again behind said four exclusions; Two said amplifiers all adopt TL3474 amplifier chip.
7. a kind of capacitative sensor system that is used for the identification of human motion mode as claimed in claim 5; It is characterized in that: said drive circuit comprises four exclusions and two identical amplifiers; The sine wave of said wave generator circuit output provides sine wave signal to the said electric capacity environment-development radio utmost point that is arranged on the thigh place and the said electric capacity environment-development radio utmost point that is arranged on the shank place respectively through two said amplifiers again behind said four exclusions; Two said amplifiers all adopt TL3474 amplifier chip.
8. a kind of capacitative sensor system that is used for the identification of human motion mode as claimed in claim 4, it is characterized in that: said RMS change-over circuit adopts the AD637 chip.
9. like claim 5 or 6 or 7 described a kind of capacitative sensor system that are used for the identification of human motion mode, it is characterized in that: said RMS change-over circuit adopts the AD637 chip.
10. like any described a kind of capacitative sensor system that is used for the identification of human motion mode of claim 4～9; It is characterized in that: said master controller adopts the STM32F103 series monolithic; Its kernel is ARMcortex-M3, and the highest 72MHz of dominant frequency has the multiplexing AD ALT-CH alternate channel of 10 road I/O mouths at most; Conversion accuracy is 12bit, high sampling rate 1MHz.
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| CN103860298A (en) * | 2014-03-31 | 2014-06-18 | 北京大学 | Non-contact capacitance sensing system for intelligent artificial limb |
| WO2015021624A1 (en) * | 2013-08-14 | 2015-02-19 | 宇龙计算机通信科技(深圳)有限公司 | Wearable device and data transmission method |
| CN104739417A (en) * | 2015-03-13 | 2015-07-01 | 李博 | Method and ion chip for measuring somatosensory information and manufacturing method of ion chip |
| CN106487426A (en) * | 2016-11-19 | 2017-03-08 | 福州大学 | A kind of capacitively coupled human body communication transceiver aided design system and method |
| CN106510663A (en) * | 2016-11-28 | 2017-03-22 | 沃康（上海）家具有限公司 | Sleep monitoring method based on internet of things |
| TWI671607B (en) * | 2018-08-07 | 2019-09-11 | 英業達股份有限公司 | Light signal controlling and managing system for tower-shaped indicator light of manufacturing equipment and method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2015021624A1 (en) * | 2013-08-14 | 2015-02-19 | 宇龙计算机通信科技(深圳)有限公司 | Wearable device and data transmission method |
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| CN103860298A (en) * | 2014-03-31 | 2014-06-18 | 北京大学 | Non-contact capacitance sensing system for intelligent artificial limb |
| CN103860298B (en) * | 2014-03-31 | 2015-08-19 | 北京大学 | A kind of non-contact capacitance sensor-based system for intelligent artificial limb |
| WO2015149197A1 (en) * | 2014-03-31 | 2015-10-08 | 北京大学 | Non-contact capacitance sensor system for intelligent prosthesis |
| CN104739417A (en) * | 2015-03-13 | 2015-07-01 | 李博 | Method and ion chip for measuring somatosensory information and manufacturing method of ion chip |
| CN106487426A (en) * | 2016-11-19 | 2017-03-08 | 福州大学 | A kind of capacitively coupled human body communication transceiver aided design system and method |
| CN106487426B (en) * | 2016-11-19 | 2021-07-13 | 福州大学 | Capacitive coupling type human body communication transceiver aided design system and method |
| CN106510663A (en) * | 2016-11-28 | 2017-03-22 | 沃康（上海）家具有限公司 | Sleep monitoring method based on internet of things |
| CN106510663B (en) * | 2016-11-28 | 2019-07-26 | 宝贝部落(上海)家具用品有限公司 | A kind of Sleep-Monitoring method based on Internet of Things |
| TWI671607B (en) * | 2018-08-07 | 2019-09-11 | 英業達股份有限公司 | Light signal controlling and managing system for tower-shaped indicator light of manufacturing equipment and method thereof |
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