CN105411817B - The power-driven method and system of a kind of outer dynamic power machine - Google Patents
The power-driven method and system of a kind of outer dynamic power machine Download PDFInfo
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Abstract
The embodiment of the present invention provides the power-driven method and system of a kind of outer dynamic power machine, wherein power-driven system of the method based on outer dynamic power machine, and the system includes acquiring biological electric signals device, process chip, signal adapter, outer dynamic power machine；There is PTO in outer dynamic power machine；This method includes：Obtain the surface electromyogram signal that acquiring biological electric signals device is gathered；According to preset intent parameter of exerting oneself, determine the corresponding moment values of the surface electromyogram signal, wherein, it is described exert oneself intent parameter be preset surface electromyogram signal intensity and PTO output torque value incidence relation；The moment values are exported to signal adapter, so that signal adapter exports corresponding drive signal to PTO.The power-driven method of outer dynamic power machine provided in an embodiment of the present invention, can be achieved practical, easy and interference-free external dynamic power machine and carries out power drive.
Description
Technical field
The present invention relates to signal processing technology field, and in particular to a kind of power-driven method of outer dynamic power machine and is
System.
Background technology
Outer dynamic power machine is can to sense human body control, and the machinery and electronic equipment acted accordingly, than more typical
Outer dynamic power machine is outer power bone；Outer power bone is a kind of can to strengthen the wearable machine of Human Body Capacity, outer power bone
Bone can help human body to run much faster, jump get Geng Gao, carrying more heavier articles, and help human body in battlefield, building work
Ground or other dangerous places are survived.
The relatively common dynamical system of outer dynamic power machine is hydraulic system and baric systerm, is mainly defeated by power such as motors
Go out device and power is exported according to the control of human body, so as to realize the action executing of outer dynamic power machine；Due to moving for outer dynamic power machine
Make main by human body control, therefore how to sense human body control, realize the power drive to PTO such as motors, always
It is the emphasis place of technical staff's research.
A kind of power-actuated mode that outer dynamic power machine is realized by brain electric control is presently, there are, this mode is mainly
The sensing helmet worn using human body head, monitors the electrical signals activity of human brain brain motor center, so that by the brain telecommunications of acquisition
Number the drive signal of PTO is compiled as, and then PTO is driven by drive signal, realize external engine
The power drive of tool；
However, realizing the power-actuated mode of outer dynamic power machine using brain electric control, there are the following problems：This mode
Monitoring required precision for EEG signals is higher, and the Processing Algorithm of signal is complex, and there is presently no more practicality
Signal processing algorithm, meanwhile, EEG signals are highly prone to interference, cause the power drive of outer dynamic power machine can in the presence of what is failed
Energy；Therefore a kind of power-driven method of new outer dynamic power machine is provided, it is practical, easy and interference-free externally dynamic to realize
Power machinery carries out power drive, the problem of needing to consider as those skilled in the art.
The content of the invention
In view of this, the embodiment of the present invention provides the power-driven method and system of a kind of outer dynamic power machine, to realize reality
With, easy and interference-free external dynamic power machine carries out power drive.
To achieve the above object, the embodiment of the present invention provides following technical scheme：
A kind of power-driven method of outer dynamic power machine, it is described dynamic based on a kind of power-driven system of outer dynamic power machine
Power-driven system includes：Acquiring biological electric signals device, process chip, signal adapter, outer dynamic power machine；Have in outer dynamic power machine
Dynamic output device；
The power-driven method is applied to the process chip, and methods described includes：
Obtain the surface electromyogram signal that acquiring biological electric signals device is gathered；
According to preset intent parameter of exerting oneself, the corresponding moment values of the surface electromyogram signal are determined, wherein, it is described to exert oneself
Intent parameter for preset surface electromyogram signal intensity and PTO output torque value incidence relation；
The moment values are exported to signal adapter, so that the corresponding drive signal of signal adapter output is defeated to power
Go out device.
Wherein, the incidence relation is linear relationship.
Wherein, the power-driven system also includes：Acceleration collector and angular velocity detecting device；The intention ginseng of exerting oneself
Several determination process include：
When determining human motion, the executing agency of outer dynamic power machine and the unitary rotation inertia of human motion bone；
Circulation performs following steps until Kalman filter reaches the condition of convergence, and the step of circulation is performed is：Set out power
Intent parameter is the state variable of Kalman filter, and the surface electromyogram signal that each moment is gathered is used as Kalman filtering
The excitation input of device, estimates the overall angular acceleration estimate of power-driven system described in each moment；With the overall angle
Acceleration estimation value and actually determined overall angular acceleration values calculate kalman gain；Pass through the kalman gain amendment institute
State the state variable of Kalman filter；
When Kalman filter reaches the condition of convergence, by the current state variable of Kalman filter be defined as it is described go out
Power intent parameter.
Wherein, during the determination human motion, the executing agency of outer dynamic power machine and the unitary rotation of human motion bone
Inertia includes：
When keeping the output torque of PTO of outer dynamic power machine constant, it is determined that being produced per a moment by gravity
Resistance torque in executing agency, according to the attitude angle of executing agency with respect to the horizontal plane, is balanced every from output torque
A moment produces the resistance torque in actuator shaft by gravity, obtains unitary rotation inertia and measured overall angular acceleration
Product；
By the product and overall angular acceleration, unitary rotation inertia is calculated.
Wherein, described by the product and overall angular acceleration, calculating unitary rotation inertia includes：
According to formulaDetermine unitary rotation inertia；Wherein, RotSys is used for unitary rotation
Amount, RotSysi is the rotary inertia of the calculating under i rotational angles, and i is 0 degree to 90 degree.
Wherein, the determination process of the overall angular acceleration values includes：
Overall angular acceleration values are calculated according to formula Rotaccel=(Gyro (k)-Gyro (k-1))/Dt, wherein,
Rotaccel is overall angular acceleration, and Gyro (k) is the angle speed for the finish time that Kalman filter once corrects state variable
Rate, Gyro (k-1) is the angular speed carved at the beginning of Kalman filter once corrects state variable, and Dt is Kalman filter
Once correct the time interval of state variable.
The embodiment of the present invention also provides a kind of power-driven system of outer dynamic power machine, including：It is worn on the skin of human body
The acquiring biological electric signals device on surface, the process chip being connected with the acquiring biological electric signals device connects with the process chip
The signal adapter connect, the outer dynamic power machine being connected with the signal adapter；There is PTO in outer dynamic power machine；
Wherein, the acquiring biological electric signals device, the surface electromyogram signal for gathering human body, and by the surface flesh of collection
Electric signal transmission is to process chip；
The process chip, for receiving the surface electromyogram signal that acquiring biological electric signals device is gathered；According to preset
Exert oneself intent parameter, determine the corresponding moment values of the surface electromyogram signal, wherein, the intent parameter of exerting oneself is preset table
The incidence relation of the intensity of facial muscle electric signal and the output torque value of PTO；The moment values are exported to signal and turned
Parallel operation；
The signal adapter, for exporting drive signal corresponding with the moment values to PTO.
Wherein, the incidence relation is linear relationship.
Wherein, the power-driven system also includes：It is installed on the acceleration of the bone outer surface of human muscle's control position
Collector is spent, and is installed on the angular velocity detecting device of the bone outer surface of human muscle's control position；
The process chip is additionally operable to：
When determining human motion, the executing agency of outer dynamic power machine and the unitary rotation inertia of human motion bone；
Circulation performs following steps until Kalman filter reaches the condition of convergence, and the step of circulation is performed is：Set out power
Intent parameter is the state variable of Kalman filter, and the surface electromyogram signal that each moment is gathered is used as Kalman filtering
The excitation input of device, estimates the overall angular acceleration estimate of power-driven system described in each moment；With the overall angle
Acceleration estimation value and actually determined overall angular acceleration values calculate kalman gain；Pass through the kalman gain amendment institute
State the state variable of Kalman filter；
When Kalman filter reaches the condition of convergence, by the current state variable of Kalman filter be defined as it is described go out
Power intent parameter.
Wherein, the process chip is it is determined that in terms of unitary rotation inertia, specifically for keeping moving for outer dynamic power machine
When the output torque of power output device is constant, it is determined that produce resistance torque in executing agency by gravity per a moment, according to holding
The attitude angle of row mechanism with respect to the horizontal plane, balanced from output torque per a moment by gravity produce in actuator shaft
Resistance torque, obtain the product of unitary rotation inertia and measured overall angular acceleration；Added by the product with overall angle
Speed, calculates unitary rotation inertia.
The intensity and PTO that preset surface electromyogram signal is passed through based on above-mentioned technical proposal, the embodiment of the present invention
Output torque value incidence relation intent parameter of exerting oneself, with human body control outer dynamic power machine when produce surface myoelectric letter
Number, as power-actuated foundation, the determination of the moment values for the power that need to currently drive is realized, is then exported by signal adapter
Drive signal corresponding with the moment values realizes the power drive of external dynamic power machine to PTO；Due to surface
Electromyographic signal is relatively easy to collection, therefore controls the power drive of outer dynamic power machine more practical by surface electromyogram signal, meanwhile,
Exert oneself intent parameter study it is relatively simple compared to brain electric control algorithm, therefore outer dynamic power machine provided in an embodiment of the present invention
Power-driven method, practical, easy and interference-free external dynamic power machine can be achieved and carries out power drive.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
The embodiment of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
The accompanying drawing of offer obtains other accompanying drawings.
Fig. 1 is the flow chart of the power-driven method of outer dynamic power machine provided in an embodiment of the present invention；
Fig. 2 is the structural representation of the power-driven system of outer dynamic power machine provided in an embodiment of the present invention；
Fig. 3 is another structural representation of the power-driven system of outer dynamic power machine provided in an embodiment of the present invention
Fig. 4 is another structural representation of the power-driven system of outer dynamic power machine provided in an embodiment of the present invention；
Fig. 5 exerts oneself the method flow diagram of intent parameter for determination provided in an embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Fig. 1 is the flow chart of the power-driven method of outer dynamic power machine provided in an embodiment of the present invention, and this method is based on Fig. 2
The power-driven system of shown outer dynamic power machine, reference picture 2, the power-driven system of the outer dynamic power machine can include：It is raw
Thing electrical signal collection device 1, process chip 2, signal adapter 3, outer dynamic power machine 4；Having in outer dynamic power machine 4 need to be powered
The PTO such as motor；
Wherein, acquiring biological electric signals device 1 can be EMG (electromyographic signal) signal picker；Acquiring biological electric signals device 1
The wearable skin surface in human body, specifically can install multiple according to human body core muscles group's quantity；
The collection of human body surface myoelectric signal can be realized by acquiring biological electric signals device 1, surface electromyogram signal refers to flesh
Meat electric signal adjoint when shrinking, is that electrical activity, can be one in the comprehensive effect of skin surface on superficial muscular EMG and nerve cord
Determine to reflect nervimuscular activity in degree；
Process chip 2 can be the device that processor, controller etc. have data-handling capacity；
Signal adapter 3 can realize data signal to the conversion of the drive signal of the PTO such as motor；
It is worth noting that, the power-driven system of outer dynamic power machine shown in Fig. 2 is worn on people suitable for outer dynamic power machine
The situation of body arm, it is clear that the power-driven system of outer dynamic power machine provided in an embodiment of the present invention, is equally applicable to outer power
Machinery is worn on the situation at other positions of human body, can produce electromyographic signal as long as human muscle shrinks to loosen and drive correlation
The movement position of bone can be applicable, and outer dynamic power machine as shown in Figure 3 is worn on the situation of human leg；
Further, outer dynamic power machine may not be wearing kind equipment, such as not be worn on human body, but can be according to human body
Mechanical arm that control is acted etc..
With reference to shown in Fig. 2, method shown in Fig. 1 can be applied in process chip 2, and reference picture 1 is provided in an embodiment of the present invention
The power-driven method of outer dynamic power machine can include：
The surface electromyogram signal that step S100, acquisition acquiring biological electric signals device are gathered；
When human body needs to control outer dynamic power machine to be acted, human muscle will flex a muscle (such as according to control intention
Carry out the contraction of muscle), now, acquiring biological electric signals device will collect the surface electromyogram signal of muscle activity generation, so that
The surface electromyogram signal gathered is transferred to process chip by acquiring biological electric signals device, to carry out data by process chip
Reason.
Step S110, according to preset intent parameter of exerting oneself, determine the corresponding moment values of the surface electromyogram signal；
Wherein, intent parameter of exerting oneself be the preset surface electromyogram signal of process chip intensity and PTO it is defeated
Go out the incidence relation of moment values, according to the incidence relation of the intent parameter sign of exerting oneself, process chip, which can determine that, currently adopts
The intensity of the surface electromyogram signal of collection, representative human body it is intended that PTO output strength size so that
Obtain the corresponding moment values of the surface electromyogram signal, i.e., the moment values that the PTO of outer dynamic power machine should be exported；
Optionally, the incidence relation of the output torque value of the intensity of surface electromyogram signal and PTO is linear pass
System；
Optionally, the power-driven system of outer dynamic power machine provided in an embodiment of the present invention is when in use, it is necessary to so that outer
The output strength of dynamic power machine meets the intention of human body, it is impossible to export excessive or too small strength compared with human body is intended to, therefore
The embodiment of the present invention need to carry out human body and be intended to match calibration with the output strength of the output device of outer dynamic power machine；In the present invention
In embodiment, human body is intended to represent by surface electromyogram signal, therefore can be by learning surface electromyogram signal and power output
Relation between the output torque value of device, realizes that the output strength of outer dynamic power machine meets the matching calibration of the intention of human body, and
The result of matching calibration is represented using intent parameter of exerting oneself.
Step S120, the moment values are exported to signal adapter, so as to the corresponding driving letter of signal adapter output
Number to PTO, the power drive of external dynamic power machine is realized.
The power-driven method of outer dynamic power machine provided in an embodiment of the present invention, including：Obtain acquiring biological electric signals device
The surface electromyogram signal gathered；According to preset intent parameter of exerting oneself, the corresponding moment values of the surface electromyogram signal are determined,
The intent parameter of exerting oneself is the intensity of preset surface electromyogram signal and associating for the output torque value of PTO
System；The moment values are exported to signal adapter, filled so that signal adapter exports corresponding drive signal to power output
Put, realize the power drive of external dynamic power machine.
As can be seen that the embodiment of the present invention passes through the intensity of preset surface electromyogram signal and the power output of PTO
The intent parameter of exerting oneself of the incidence relation of square value, the surface electromyogram signal for controlling to produce during outer dynamic power machine with human body, as dynamic
The foundation of power driving, realizes the determination of the moment values for the power that need to currently drive, then by signal adapter output and the power
The corresponding drive signal of square value realizes the power drive of external dynamic power machine to PTO；Due to surface electromyogram signal
Collection is relatively easy to, therefore controls the power drive of outer dynamic power machine more practical by surface electromyogram signal, meanwhile, intention of exerting oneself
The study of parameter is relatively simple compared to brain electric control algorithm, therefore the power of outer dynamic power machine provided in an embodiment of the present invention drives
Dynamic method, can be achieved practical, easy and interference-free external dynamic power machine and carries out power drive.
In embodiments of the present invention, what is relatively attached most importance to is the study to intent parameter of exerting oneself, below will be for intention of exerting oneself
The study of parameter is illustrated；When the study of intent parameter is exerted oneself in progress, the embodiment of the present invention need to be in the dynamic of outer dynamic power machine
Acceleration collector and angular velocity detecting device are added in power-driven system, corresponding, Fig. 4 shows provided in an embodiment of the present invention
Another structural representation of the power-driven system of outer dynamic power machine, with reference to shown in Fig. 2 and Fig. 4, the power of the outer dynamic power machine
Drive system can also include：Acceleration collector 5 and angular velocity detecting device 6；
Wherein, acceleration collector 5 is mountable to the bone outer surface that human muscle controls position, realizes muscle control bit
The acceleration detection for the skeleton motion put；
Angular velocity detecting device 6 is mountable to the bone outer surface that human muscle controls position, realizes muscle control position
The angular speed detection of skeleton motion；Such as gyroscope of angular velocity detecting device 6；
It is noted that, in embodiments of the present invention, acquiring biological electric signals device, acceleration collector and angular speed are adopted
Storage is mounted on human body surface skin, is not to install on outer dynamic power machine；
Based on the power-driven system of outer dynamic power machine shown in Fig. 4, Fig. 5 shows provided in an embodiment of the present invention determine
The method flow diagram of power intent parameter, reference picture 5, this method can include：
Step S200, when determining human motion, the executing agency of outer dynamic power machine and the unitary rotation of human motion bone
Inertia；
Outer dynamic power machine need to be exported in embodiments of the present invention is intended to close strength with human body, can just be really achieved help
The purpose of physical activity；And the strength of outer dynamic power machine output can use moment of torsion, rotate the relevant parameters such as angular acceleration to retouch
State, only in the strength that relevant parameter is intended to close to human body, outer dynamic power machine could be caused to meet the situation of human body intention
Under, reach using effect；And this process need to find association PTO exert oneself size and surface electromyogram signal intensity it
Between parameter, that is, intent parameter of exerting oneself；In embodiments of the present invention, the embodiment of the present invention need to first calculate unitary rotation inertia and angle
The two parameters of acceleration magnitude, to be used when intent parameter is exerted oneself in estimation；
Wherein, unitary rotation inertia is that the executing agency of outer dynamic power machine and human motion bone are considered as after an entirety
Rotary inertia；The executing agency of outer dynamic power machine is by PTO control, and to perform corresponding dynamic in outer dynamic power machine
The structure of work, such as mechanical arm；
Optionally, the calculating process of system rotary inertia can be as follows：
Because system rotary inertia includes：Executing agency's (mechanical arm of such as outer power bone) of outer dynamic power machine, and people
Body motion bone (when such as outer dynamic power machine is worn on human arm, human motion bone can be human body upper arm bone) this two
Partial turn inertia；And the Density inhomogeneity of skeleton and tissue, computationally in the presence of certain difficulty, therefore the present invention is real
Applying example the mode of constant moment of force output can be used to realize, the executing agency of outer dynamic power machine and human motion bone unitary rotation inertia
Measurement；
Specifically, the embodiment of the present invention can keep the output torque of the PTO of outer dynamic power machine constant, and really
It is fixed that the resistance torque in executing agency is produced by gravity per a moment, so that the attitude angle according to executing agency with respect to the horizontal plane
Degree, resistance torque of per a moment by gravity generation in actuator shaft is balanced from output torque, unitary rotation is obtained and is used to
Amount and the product of measured overall angular acceleration；Then, by the product and overall angular acceleration, unitary rotation can be calculated and be used to
Amount；
Specific formula can be as follows：(output torque-resistance torque)=unitary rotation inertia * entirety angular acceleration；Wherein,
(output torque-resistance torque) represents that the per a moment balanced from output torque produces the resistance in actuator shaft by gravity
Force square；
Optionally, when overall angular acceleration can be that Kalman filter once corrects state variable, the angle of finish time
The difference of the angular speed value of rate value and start time, divided by Kalman filter are once corrected the time interval of state variable and obtained
Arrive；Obtained specifically, can be calculated according to formula Rotaccel=(Gyro (k)-Gyro (k-1))/Dt, wherein, Rotaccel is
Overall angular acceleration, Gyro (k) is the angular speed for the finish time (k moment) that Kalman filter once corrects state variable,
Gyro (k-1) is the angular speed that (k-1 moment) is carved at the beginning of Kalman filter once corrects state variable, and Dt is Kalman
Wave filter once corrects the time interval of state variable；Optionally, Gyro (k) can be measured by k moment angular velocity detecting devices
All angular speeds average, Gyro (k-1) is similar；
Optionally, to cause the calculating of unitary rotation inertia more accurate, the embodiment of the present invention can be in different angles of rotation
Under degree, different rotary inertias are calculated, the average of rotary inertias all under different rotational angles is then taken, obtain overall turn
Dynamic inertia.
Step S210, set out power intent parameter be Kalman filter state variable, the table that each moment is gathered
Facial muscle electric signal is inputted as the excitation of Kalman filter, and the overall angle for estimating power-driven system described in each moment adds
Velocity estimation value；
Kalman filter (Kalman filter) is that one kind can be deposited in the case of known to measurement variance from a series of
In the data of measurement noise, the device of the state of dynamical system is estimated.
Step S220, with the overall angular acceleration estimate and actually determined overall angular acceleration values calculate Kalman
Gain；
Optionally, the embodiment of the present invention will can actually determine that obtained overall angular acceleration values are used as Kalman filter
Measuring value, and together handled with the overall angular acceleration estimate estimated by the Kalman filter of synchronization, obtain karr
Graceful gain；
Step S230, the state variable by Kalman filter described in the kalman gain amendment；
Step S240, circulation correct the state variable of Kalman filter repeatedly, until Kalman filter reaches convergence
Condition, intent parameter of exerting oneself is defined as by the current state variable of Kalman filter.
After the state variable of amendment Kalman filter, the embodiment of the present invention can be according to revised state variable again
The overall angular acceleration estimate of estimation, and kalman gain and amendment state variable are calculated again；I.e. the embodiment of the present invention can be more
Secondary circulation performs step S210~step S230, until Kalman filter reaches the condition of convergence, passes through multiple circular treatment, card
After Thalmann filter convergence, now the state variable of Kalman filter can be used as intent parameter of exerting oneself.
Can be with as follows for the filtering of Kalman filter：
1) state variable is calculated forward
According to above-mentioned formula, the state-transition matrix A of current state variable and system, external drive input can be passed through
Matrix B and input quantity, calculate forward the estimate of NextState, constitute the prior estimate of NextState；
2) error covariance is previously calculated
Pk -=APk-1AT+Q
According to above-mentioned formula, system mode covariance matrix P may be updated, calculates by not knowing that this estimation procedure is introduced
Factor；Wherein, Q is the covariance matrix of excitation input, constitutes the covariance matrix of NextState priori.
3) state variable updates (correction), comprises the following steps：
1st, kalman gain is calculated
Kk=Pk -HT(HPk -HT+R)-1
H-matrix associates measuring value and state variable, and kalman gain is calculated by the prior estimate of system mode.
2nd, by measuring value ZkMore new estimation
By calculating kalman gain by the covariance matrix of state variable and the covariance of measuring value, hence for
The result of state estimation is modified；This process determines correction of the state variable for prior estimate process.
3) error covariance is updated
Pk=(I-KkH)Pk -1
State covariance matrix is updated simultaneously, posteriority covariance matrix is formed, so as to next work of Kalman filter
Recycle.
Wherein ,-and priori is represented, ∧ represents estimation, and X represents state variable, i.e. " intent parameter of exerting oneself ", and P represents that state is assisted
Variance matrix, K represents Kalman filter gain matrix, and A represents state transition matrix, and Q represents excitation noise covariance matrix,
R represents observation noise covariance, and H represents the gain of state variable, and B represents controllable control input.
In the working cycles of a Kalman filter, kalman estimate process is carried out first：Current according to system
The numerical value of state variable, the forward NextState of Estimation System, in the process, EMG signal input vector pass through Rotation matrix
Inputted as the excitation of kalman estimate process, driving Kalman filter carries out state estimation from the k-1 moment to the k moment；System
Kalman filter state variable used is bivector in system, including angular acceleration RotAccel and intent parameter of exerting oneself
D, output torque at any one time is set with EMG signal intensity as linear relationship；
Wherein, in Kalman state updates trimming process, overall angle is calculated according to the output of angular velocity detecting device and added
The process of speed can be：Rotaccel=(Gyro (k)-Gyro (k-1))/Dt.
Optionally, RotMotor=EMG*D, RotMotor are the moment values that PTO is exported, and EMG is surface flesh
The intensity of electric signal, D is intent parameter of exerting oneself；Then it is determined that after human body surface myoelectric signal value EMG, RotMotor=can be passed through
EMG*D calculates the moment values that PTO should be exported.
Optionally, in the calculating process of unitary rotation inertia, RotMG=Frob*Lrob*cos (theta)+Farm*
Larm*cos(theta)；And Frob=Mrob*g, Farm=Marm*g；
Wherein, Frob is the gravity of executing agency itself, and Mrob is the quality of executing agency, and g is gravity coefficient, and Farm is
The gravity of human motion bone, Marm is the quality of human motion bone, and RotMG is that, when angle is theta, gravity is being performed
Torque in mechanism rotary shaft, Lrob is executing agency's center of gravity and people's forearm, or moves bone to actuator shaft
Distance, Larm is moves bone center of gravity to the distance of actuator shaft, and Theta changes in (0~90 degree) scope；
And during motor output constant moment RotMotor, RotMotor-RotMG=RotSys*Rotaccel, then RotSys
=(RotMotor-RotMG)/Rotaccel, wherein RotMG are resistance torque, and Rotaccel is overall angular acceleration, RotSys
For unitary rotation inertia, RotMotor is output torque (output torque)；
Further, in a gatherer process, Theta changes in (0~90 degree) scope, and unitary rotation inertia can be
RotSys=summations (RotSys0RotSys1 ... RotSys90)/90, under different rotational angles, to calculate different rotations
Inertia, then takes the average of rotary inertias all under different rotational angles, obtains unitary rotation inertia so that unitary rotation
The determination result of inertia is more accurate；
Specifically, the embodiment of the present invention can be according to formulaDetermine unitary rotation inertia；Its
In, RotSys is unitary rotation inertia, and RotSysi is the rotary inertia of the calculating under i rotational angles, and i is 0 degree to 90 degree.
The power-driven method of outer dynamic power machine provided in an embodiment of the present invention, passes through the place to human body surface myoelectric signal
Reason, it may be determined that PTO certain action is completed with user view, it is necessary to power output (moment values), reach externally
The power drive of dynamic power machine；And signal transacting is all completed in process chip, signal transacting is not delayed, more efficiently,
So that human body sensory is less than delay time error；Meanwhile, it is controlled using the external dynamic power machine of surface electromyogram signal, with certain
Generality, the real-time performance of system is high, practical.
The power-driven system of outer dynamic power machine provided in an embodiment of the present invention is introduced below, it is described below outer
The power-driven system of dynamic power machine can be with the power-driven method of above-described outer dynamic power machine mutually to should refer to.
The structure of the power-driven system of outer dynamic power machine provided in an embodiment of the present invention can with as shown in Fig. 2 including：Wear
The acquiring biological electric signals device in the skin surface of human body is worn, the process chip being connected with the acquiring biological electric signals device, with
The signal adapter of the process chip connection, the outer dynamic power machine being connected with the signal adapter；Have in outer dynamic power machine
Dynamic output device；In embodiments of the present invention, connection can be wired connection or wireless connection；
Wherein, the acquiring biological electric signals device, the surface electromyogram signal for gathering human body, and by the surface flesh of collection
Electric signal transmission is to process chip；
The process chip, for receiving the surface electromyogram signal that acquiring biological electric signals device is gathered；According to preset
Exert oneself intent parameter, determine the corresponding moment values of the surface electromyogram signal, wherein, the intent parameter of exerting oneself is preset table
The incidence relation of the intensity of facial muscle electric signal and the output torque value of PTO；The moment values are exported to signal and turned
Parallel operation；
The signal adapter, for exporting drive signal corresponding with the moment values to PTO, with reality
The now power drive of external dynamic power machine.
Optionally, the intensity for the surface electromyogram signal exerted oneself represented by intent parameter and the output torque of PTO
The incidence relation of value, can be linear relationship.
Optionally, the power-driven system of outer dynamic power machine provided in an embodiment of the present invention can also include：It is installed on people
The acceleration collector of the bone outer surface of body muscle control position, and it is installed on the bone outer surface that human muscle controls position
Angular velocity detecting device；
Optionally, process chip can be also used for realizing the determination for intent parameter of exerting oneself；Specifically, process chip can be with
For：
When determining human motion, the executing agency of outer dynamic power machine and the unitary rotation inertia of human motion bone；
Circulation performs following steps until Kalman filter reaches the condition of convergence, and the step of circulation is performed is：Set out power
Intent parameter is the state variable of Kalman filter, and the surface electromyogram signal that each moment is gathered is used as Kalman filtering
The excitation input of device, estimates the overall angular acceleration estimate of power-driven system described in each moment；With the overall angle
Acceleration estimation value and actually determined overall angular acceleration values calculate kalman gain；Pass through the kalman gain amendment institute
State the state variable of Kalman filter；
When Kalman filter reaches the condition of convergence, by the current state variable of Kalman filter be defined as it is described go out
Power intent parameter.
Optionally, process chip, can be specifically for keeping outer dynamic power machine it is determined that in terms of unitary rotation inertia
When the output torque of PTO is constant, it is determined that the resistance torque in executing agency is produced by gravity per a moment, according to
The attitude angle of executing agency with respect to the horizontal plane, balances per a moment by gravity generation in actuator shaft from output torque
On resistance torque, obtain the product of unitary rotation inertia and measured overall angular acceleration；By the product and overall angle
Acceleration, can calculate unitary rotation inertia.
Optionally, process chip can be according to formulaDetermine unitary rotation inertia；Wherein,
RotSys is unitary rotation inertia, and RotSysi is the rotary inertia of the calculating under i rotational angles, and i is 0 degree to 90 degree.
Optionally, process chip, can be specifically for according to formula Rotaccel it is determined that in terms of overall angular acceleration values
=(Gyro (k)-Gyro (k-1))/Dt calculate overall angular acceleration values, wherein, Rotaccel is overall angular acceleration, Gyro
(k) angular speed of the finish time of state variable is once corrected for Kalman filter, Gyro (k-1) is Kalman filter one
The angular speed carved at the beginning of secondary amendment state variable, Dt is the time interval that Kalman filter once corrects state variable.
The power-driven system of outer dynamic power machine provided in an embodiment of the present invention, can be achieved practical, easy and interference-free
External dynamic power machine carry out power drive.
The embodiment of each in this specification is described by the way of progressive, and what each embodiment was stressed is and other
Between the difference of embodiment, each embodiment identical similar portion mutually referring to.For device disclosed in embodiment
For, because it is corresponded to the method disclosed in Example, so description is fairly simple, related part is said referring to method part
It is bright.
Professional further appreciates that, with reference to the unit of each example of the embodiments described herein description
And algorithm steps, can be realized with electronic hardware, computer software or the combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software, generally describes the composition and step of each example according to function in the above description.These
Function is performed with hardware or software mode actually, depending on the application-specific and design constraint of technical scheme.Specialty
Technical staff can realize described function to each specific application using distinct methods, but this realization should not
Think beyond the scope of this invention.
Directly it can be held with reference to the step of the method or algorithm that the embodiments described herein is described with hardware, processor
Capable software module, or the two combination are implemented.Software module can be placed in random access memory (RAM), internal memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology
In any other form of storage medium well known in field.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or using the present invention.
A variety of modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The most wide scope caused.
Claims (8)
1. a kind of power-driven method of outer dynamic power machine, it is characterised in that based on a kind of power drive line of outer dynamic power machine
System, the power-driven system includes：Acquiring biological electric signals device, process chip, signal adapter, outer dynamic power machine；It is outer dynamic
There is PTO in power machinery；
The power-driven method is applied to the process chip, and methods described includes：
Obtain the surface electromyogram signal that acquiring biological electric signals device is gathered；
According to preset intent parameter of exerting oneself, the corresponding moment values of the surface electromyogram signal are determined, wherein, the intention of exerting oneself
Parameter for preset surface electromyogram signal intensity and PTO output torque value incidence relation；
The moment values are exported to signal adapter, filled so that signal adapter exports corresponding drive signal to power output
Put；
The power-driven system also includes：Acceleration collector and angular velocity detecting device；The determination of the intent parameter of exerting oneself
Process includes：
When determining human motion, the executing agency of outer dynamic power machine and the unitary rotation inertia of human motion bone；
Circulation performs following steps until Kalman filter reaches the condition of convergence, and the step of circulation is performed is：Set out power intention
Parameter is the state variable of Kalman filter, and the surface electromyogram signal that each moment is gathered is used as Kalman filter
Excitation input, estimates the overall angular acceleration estimate of power-driven system described in each moment；Accelerated with the overall angle
Spend estimate and actually determined overall angular acceleration values calculate kalman gain；By blocking described in the kalman gain amendment
The state variable of Thalmann filter；
When Kalman filter reaches the condition of convergence, the current state variable of Kalman filter is defined as the meaning of exerting oneself
Graph parameter.
2. the power-driven method of outer dynamic power machine according to claim 1, it is characterised in that the incidence relation is line
Sexual intercourse.
3. the power-driven method of outer dynamic power machine according to claim 1, it is characterised in that the determination human motion
When, the executing agency of outer dynamic power machine and the unitary rotation inertia of human motion bone include：
When keeping the output torque of PTO of outer dynamic power machine constant, performed it is determined that being produced per a moment by gravity
Resistance torque in mechanism, according to the attitude angle of executing agency with respect to the horizontal plane, balances per a moment from output torque
Resistance torque in actuator shaft is produced by gravity, multiplying for unitary rotation inertia and measured overall angular acceleration is obtained
Product；
By the product and overall angular acceleration, unitary rotation inertia is calculated.
4. the power-driven method of outer dynamic power machine according to claim 3, it is characterised in that it is described by the product with
Overall angular acceleration, can calculate unitary rotation inertia includes：
According to formulaDetermine unitary rotation inertia；Wherein, RotSys is unitary rotation inertia,
RotSysi is the rotary inertia of the calculating under i rotational angles, and i is 0 degree to 90 degree.
5. the power-driven method of outer dynamic power machine according to claim 1, it is characterised in that described actually determined whole
The determination process of body angular acceleration values includes：
Overall angular acceleration values are calculated according to formula Rotaccel=(Gyro (k)-Gyro (k-1))/Dt, wherein, Rotaccel
For overall angular acceleration, Gyro (k) is the angular speed for the finish time that Kalman filter once corrects state variable, Gyro
(k-1) angular speed carved at the beginning of once correcting state variable for Kalman filter, Dt is that Kalman filter is once repaiied
The time interval of positive status variable.
6. a kind of power-driven system of outer dynamic power machine, it is characterised in that including：It is worn on the biology of the skin surface of human body
Electrical signal collection device, the process chip being connected with the acquiring biological electric signals device, the signal being connected with the process chip turns
Parallel operation, the outer dynamic power machine being connected with the signal adapter；There is PTO in outer dynamic power machine；
Wherein, the acquiring biological electric signals device, the surface electromyogram signal for gathering human body, and the surface myoelectric of collection is believed
Number transmit to process chip；
The process chip, for receiving the surface electromyogram signal that acquiring biological electric signals device is gathered；Exerted oneself according to preset
Intent parameter, determines the corresponding moment values of the surface electromyogram signal, wherein, the intent parameter of exerting oneself is preset surface flesh
The incidence relation of the intensity of electric signal and the output torque value of PTO；The moment values are exported to signal conversion
Device；
The signal adapter, for exporting drive signal corresponding with the moment values to PTO；
The power-driven system also includes：The acceleration collector of the bone outer surface of human muscle's control position is installed on,
With the angular velocity detecting device for the bone outer surface for being installed on human muscle's control position；
The process chip is additionally operable to：
When determining human motion, the executing agency of outer dynamic power machine and the unitary rotation inertia of human motion bone；
Circulation performs following steps until Kalman filter reaches the condition of convergence, and the step of circulation is performed is：Set out power intention
Parameter is the state variable of Kalman filter, and the surface electromyogram signal that each moment is gathered is used as Kalman filter
Excitation input, estimates the overall angular acceleration estimate of power-driven system described in each moment；Accelerated with the overall angle
Spend estimate and actually determined overall angular acceleration values calculate kalman gain；By blocking described in the kalman gain amendment
The state variable of Thalmann filter；
When Kalman filter reaches the condition of convergence, the current state variable of Kalman filter is defined as the meaning of exerting oneself
Graph parameter.
7. power-driven system according to claim 6, it is characterised in that the incidence relation is linear relationship.
8. power-driven system according to claim 6, it is characterised in that the process chip is it is determined that unitary rotation is used
In terms of amount, specifically for when keeping the output torque of PTO of outer dynamic power machine constant, it is determined that per a moment by weight
Power produces the resistance torque in executing agency, according to the attitude angle of executing agency with respect to the horizontal plane, from output torque
Resistance torque of per a moment by gravity generation in actuator shaft is balanced, unitary rotation inertia and measured entirety is obtained
The product of angular acceleration；By the product and overall angular acceleration, unitary rotation inertia is calculated.
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