CN109009718A - A method of based on electrical impedance technology combination gesture control wheelchair - Google Patents
A method of based on electrical impedance technology combination gesture control wheelchair Download PDFInfo
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- CN109009718A CN109009718A CN201810908100.2A CN201810908100A CN109009718A CN 109009718 A CN109009718 A CN 109009718A CN 201810908100 A CN201810908100 A CN 201810908100A CN 109009718 A CN109009718 A CN 109009718A
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- wheelchair
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- wrist
- electrical impedance
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/05—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves
- A61B5/053—Measuring electrical impedance or conductance of a portion of the body
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2200/00—Information related to the kind of patient or his position
- A61G2200/30—Specific positions of the patient
- A61G2200/34—Specific positions of the patient sitting
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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Abstract
The present invention relates to electric wheelchair control technology field, especially a kind of method based on electrical impedance technology combination gesture control wheelchair the steps include: that (1) prepares electrode signal acquisition device；(2) multiple electrodes on electrode signal acquisition device are evenly distributed on around human wrist in array, and are formed with wrist and is well contacted；(3) impedance information under different gestures inside wrist is acquired using electrical impedance technology and be trained, learn；(4) impedance information under various gestures inside wrist encode and map with wheelchair controller output signal；(5) reach the control advancing to wheelchair, turn left, turning right, accelerating, slowing down by different gestures, the present invention can be quickly detected signal corresponding to different gestures, and wheelchair is controlled rapidly, and can be to avoid existing some human-computer interactive control wheelchair methods the drawbacks of.
Description
Technical field
The present invention relates to electric wheelchair control technology field, specific field is a kind of based on electrical impedance technology combination gesture control
The method of ratch chair.
Background technique
The equipment that electric wheelchair is treated as a kind of recovering aid is indispensable for limbs the disabled and handicapped person
Walking-replacing tool.With the progress of science and technology, the especially fast development of human-computer interaction passes through voice, body language et al.
The mode of class nature living habit, which controls the methods of movement replacement conventional human interface such as key, rocking bar of wheelchair, becomes a weight
The research direction wanted.Currently, common are based on brain wave, myoelectricity, machine vision, the method for eyeball signal control wheelchair, it is right
In brain wave and myoelectric control, signal is fainter, it is easy to be interfered, and brain wave needs user's spirit high always
Degree is concentrated；Machine vision is influenced to limit use space by camera；The identification interference of eyeball signal is big and is used for a long time meeting
Cause eye strain.For these reasons, it needs to improve the method for the prior art, preferably to realize electric wheelchair control
System.
Electrical impedance technology is a kind of technology of nondestructive measurement, by the surface adhesive electrode in testee, and is applied
Electric excitation signal, while electroresponse signal is measured, the distribution of impedance obtained inside testee is analyzed using corresponding algorithm to be believed
Breath.But up to the present, electrical impedance technology combines our human-computer interaction to be applied to wheelchair control field not yet.
Summary of the invention
The purpose of the present invention is to provide a kind of methods based on electrical impedance technology combination gesture control wheelchair, existing to solve
There is wheelchair control in technology cumbersome, sensitivity is low, and body for user or spirit have certain burden, and due to
The faint of signal to control very difficult problem.
To achieve the above object, the invention provides the following technical scheme: being based on electrical impedance technology combination gesture control wheelchair
Method, the steps include: (1) prepare electrode signal acquisition device；
(2) multiple electrodes on electrode signal acquisition device are evenly distributed on around human wrist in array, and and hand
Wrist forms good contact；
(3) impedance information under different gestures inside wrist is acquired using electrical impedance technology and be trained, learn；
(4) impedance information under various gestures inside wrist is subjected to coding and is carried out with wheelchair controller output signal
Mapping；
(5) reach the control advancing to wheelchair, turn left, turning right, accelerating, slowing down by different gestures.
Preferably, the electrode signal acquisition device according to step (1) is by impedance chip, analog switch, processor, electricity
Pole and power module composition, described electrode one end are attached in wrist, and the other end is wired to one end of analog switch,
The input terminal of the other end connection impedance chip of the analog switch, the output of the input terminal connection impedance chip of the processor
End, the power module are used for impedance chip, analog switch, processor and electrode for electrical connection.
Preferably, the analog switch is high-speed analog switch.
Preferably, the processor algorithm of support vector machine, the signal that can be exported to impedance chip are trained study,
And identification classification is carried out according to intention of the model of study to user.
Preferably, the electrode signal acquisition device further includes wireless module, and the output end connection of the processor is wireless
The input terminal of module.
Preferably, the controller of the wireless module and wheelchair, which communicates wirelessly, links, and passes through the side of wireless transmission
The result of processor is sent to wheelchair controller by formula by way of instruction, i.e., converts the control intention of user to corresponding
Instruction.
Preferably, the controller of the wheelchair controls wheelchair according to the instruction that wireless module is sent, described
Control operation include advance, turn left, turning right, accelerating, retarded motion state.
Preferably, the impedance chip is AD5933 impedance chip.
Compared with prior art, the beneficial effects of the present invention are: having equipment operation simple, control method is easy, cost
Low feature can be quickly detected the distribution of impedance information of wrist, judge that the control of user is intended to and will control
Instruction accurately passes to wheelchair control unit, to realize the human-computer interaction control for only completing electric wheelchair with different gestures
System.
Detailed description of the invention
Fig. 1 is control flow chart of the invention；
Fig. 2 is that wrist electrode of the invention places figure；
Fig. 3 is electrode signal acquisition device system block diagram of the invention；
Fig. 4 is the corresponding control instruction figure of different gestures of the invention.
In figure: 1, human body wrist；2, power module；3, electrode；4, analog switch；5, impedance chip；6, processor；7, nothing
Wire module；8, the controller of wheelchair.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1 to 4 is please referred to, the present invention provides a kind of technical solution: one kind is based on electrical impedance technology combination gesture control wheel
The method of chair the steps include: that (1) prepares electrode signal acquisition device；
(2) multiple electrodes 3 on electrode signal acquisition device are evenly distributed on around human wrist in array, and and hand
Wrist forms good contact；
(3) impedance information under different gestures inside wrist is acquired using electrical impedance technology and be trained, learn；
(4) by the impedance information under various gestures inside wrist carry out coding and with 8 output signal of wheelchair controller into
Row mapping；
(5) reach the control advancing to wheelchair, turn left, turning right, accelerating, slowing down by different gestures.
According to electrode signal acquisition device described in step (1) by impedance chip 5, analog switch 4, processor 6, electrode 3
It is formed with power module 2, described 3 one end of electrode is attached in wrist, and the other end is wired to the one of analog switch 4
End, the input terminal of the other end connection impedance chip 5 of the analog switch 4, the input terminal of the processor 6 connect impedance chip
5 output end, the power module 2 are used for impedance chip 5, analog switch 4, processor 6 and electrode 3 for electrical connection.
The analog switch 4 is high-speed analog switch 4.
6 algorithm of support vector machine of processor, the signal that can be exported to impedance chip 5 are trained study, and root
Identification classification is carried out to the intention of user according to the model of study.
The electrode signal acquisition device further includes wireless module 7, and the output end of the processor 6 connects wireless module 7
Input terminal.
The controller 8 of the wireless module 7 and wheelchair, which communicates wirelessly, to be linked, will place by way of wireless transmission
The result for managing device 6 is sent to wheelchair controller 8 by way of instruction, i.e., converts corresponding finger for the control intention of user
It enables.
The controller 8 of the wheelchair controls wheelchair according to the instruction that wireless module 7 is sent, the control
It operates including advancing, turning left, turning right, accelerating, retarded motion state.
The impedance chip 5 is AD5933 impedance chip 5.
It is as shown in Figure 1 control flow chart of the invention by the technical program, by placing the electrode 3 of wrist, utilizes
Electrical impedance technology acquires wrist internal driving signal, then obtains the model to impedance data and gesture using training study, leads to
It crosses and judges different gestures with the real-time identification for acquiring data, and control is intended to pass to the execution of wheelchair control unit accordingly
Movement.
It is illustrated in figure 2 the placement requirement to wrist electrode 3, needs to attach a circle to the wrist surface of user and uniformly divide
The electrode 3 of cloth, set electrode 3 selects copper electrode 3 with good conductivity, and electrode 3 and wrist form good patch
It is attached, signal pickup assembly is then connected to by conducting wire.
It is illustrated in figure 3 the entire block diagram of measuring system, wherein including human body wrist 1, power module 2, electrode 3, mould
Intend the controller 8 of switch 4, impedance chip 5, processor 6, wireless module 7, wheelchair.By the electrode 3 of placement, we can be right
Human body wrist 1 applies the electric excitation signal of different frequency, while the electricity on remaining electrode 3 is measured while applying pumping signal
Response signal.Electrode 3 is connected with analog switch 4, and analog switch 4 selects high-speed, multi-path analog switch 4CD4051, to not going the same way
Under the control of switch, it is ensured that electric signal passes through the different injections of electrode 3 and measurement；Analog switch 4 and 5 phase of impedance chip
Even, the selection of impedance chip 5 includes the adjustable AD5933 impedance chip 5 of frequency range of the functions such as filtering, amplifier, DDS, if
The output for setting impedance chip 5 is the pumping signal of 40khz, because the corresponding electricity of the electric excitation signal given under 40khz frequency is rung
Induction signal has more obvious data separation, can more preferably be trained study；Data after filter and amplification are transferred to by impedance chip 5
Processor 6 obtains the impedance of wrist by Ohm's law, and completes in processor 6 to impedance data under different gestures
Training study.
Training learning process minimizes optimization algorithm by sequence using algorithm of support vector machine important in machine learning
(SMO) it completes the optimization of model, and is identified in real time using data of the model optimized to acquisition, judge user's
Operation is intended to, and identification information is sent to wheelchair controller 8 by instruction type.
The power module 2 is unified to power to impedance chip 5, analog switch 4, processor 6, wireless module 7, wireless module
7 select the communication of HC-06 wireless blue tooth, and entire electrode signal acquisition device is packaged together by circuit integration.
The control of difference gestures is intended to as shown in Figure 4, sets different gestures in the training process to wheelchair control not
With instruction, is then instructed according to the recognition result that wireless module 7 is sent, convert the intention of user to wheelchair controller
8 direct manipulation reaches the control just completed by a simple gesture to electric wheelchair difference operating status.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (8)
1. a kind of method based on electrical impedance technology combination gesture control wheelchair, it is characterised in that: the steps include: that (1) prepares electricity
Pole signal pickup assembly；
(2) multiple electrodes on electrode signal acquisition device are evenly distributed on around human wrist in array, and with wrist shape
At good contact；
(3) impedance information under different gestures inside wrist is acquired using electrical impedance technology and be trained, learn；
(4) impedance information under various gestures inside wrist encode and reflect with wheelchair controller output signal
It penetrates；
(5) reach the control advancing to wheelchair, turn left, turning right, accelerating, slowing down by different gestures.
2. a kind of method based on electrical impedance technology combination gesture control wheelchair according to claim 1, it is characterised in that:
According to electrode signal acquisition device described in step (1) by impedance chip, analog switch, processor, electrode and power module group
At described electrode one end is attached in wrist, and the other end is wired to one end of analog switch, the analog switch
The other end connects the input terminal of impedance chip, the output end of the input terminal connection impedance chip of the processor, the power supply mould
Block is used for impedance chip, analog switch, processor and electrode for electrical connection.
3. a kind of method based on electrical impedance technology combination gesture control wheelchair according to claim 2, it is characterised in that:
The analog switch is high-speed analog switch.
4. a kind of method based on electrical impedance technology combination gesture control wheelchair according to claim 2, it is characterised in that:
The processor algorithm of support vector machine, the signal that can be exported to impedance chip are trained study, and according to the mould of study
Type carries out identification classification to the intention of user.
5. a kind of method based on electrical impedance technology combination gesture control wheelchair according to claim 4, it is characterised in that:
The electrode signal acquisition device further includes wireless module, the input terminal of the output end connection wireless module of the processor.
6. a kind of method based on electrical impedance technology combination gesture control wheelchair according to claim 5, it is characterised in that:
The controller of the wireless module and wheelchair, which communicates wirelessly, to be linked, by the result of processor by way of wireless transmission
It is sent to wheelchair controller by way of instruction, i.e., converts corresponding instruction for the control intention of user.
7. a kind of method based on electrical impedance technology combination gesture control wheelchair according to claim 6, it is characterised in that:
The controller of the wheelchair controls wheelchair according to the instruction that wireless module is sent, before the control operation includes
Into, turn left, turn right, accelerate, retarded motion state.
8. a kind of method based on electrical impedance technology combination gesture control wheelchair according to claim 2, it is characterised in that:
The impedance chip is AD5933 impedance chip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810908100.2A CN109009718A (en) | 2018-08-10 | 2018-08-10 | A method of based on electrical impedance technology combination gesture control wheelchair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810908100.2A CN109009718A (en) | 2018-08-10 | 2018-08-10 | A method of based on electrical impedance technology combination gesture control wheelchair |
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| CN109009718A true CN109009718A (en) | 2018-12-18 |
Family
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| CN201810908100.2A Pending CN109009718A (en) | 2018-08-10 | 2018-08-10 | A method of based on electrical impedance technology combination gesture control wheelchair |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110236812A (en) * | 2019-07-16 | 2019-09-17 | 哈尔滨理工大学 | A kind of multi-modal Human-computer interactive intelligent wheelchair system with sign monitoring function |
| CN111553307A (en) * | 2020-05-08 | 2020-08-18 | 中国科学院合肥物质科学研究院 | Gesture recognition system fusing bioelectrical impedance information and myoelectric information |
| CN112380943A (en) * | 2020-11-06 | 2021-02-19 | 北京航空航天大学 | Multi-position limb motion capture method based on electrical impedance |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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Application publication date: 20181218 |