CN109645960A - The physiological parameter generating device and its method of anthropomorphic robot - Google Patents
The physiological parameter generating device and its method of anthropomorphic robot Download PDFInfo
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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
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
- A61B5/6802—Sensor mounted on worn items
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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
- A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
- A61B5/0205—Simultaneously evaluating both cardiovascular conditions and different types of body conditions, e.g. heart and respiratory condition
- A61B5/02055—Simultaneously evaluating both cardiovascular condition and temperature
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2560/00—Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
- A61B2560/02—Operational features
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2560/00—Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
- A61B2560/02—Operational features
- A61B2560/0266—Operational features for monitoring or limiting apparatus function
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Abstract
The invention discloses the physiological parameter generating devices and its method of a kind of anthropomorphic robot.The present invention can simulate the regular motion of human body by breathing module and steering engine module in anthropomorphic robot, and then generate the physiological parameter of variform, for example, breathing module can simulate the extension and contraction of Human Lung, and when breathing thorax mechanical movement；Steering engine module can simulate human body and the movement such as shake hands, grab dixie cup, bow.This provides effective means for the Quality Control and assessment of a large amount of health monitoring product, and the monitoring to these products is made more to meet actual human body situation.The present invention can also support the pulse wave output and the output of a variety of improper ecg wave forms of special-shaped differential mode, provide new approach to the assessment of health monitoring product.
Description
Technical field
The invention belongs to health test apparatus fields, and in particular to it is a kind of cooperate anthropomorphic robot physiological parameter fill
It sets.
Background technique
As society increasingly payes attention to health, various countries all rise year by year the investment of health industry, are currently under fast
The stage of speed development.The reliability assessment of health monitoring product seems increasingly important, and there is an urgent need to have suitable physiological parameter to send out
Generating apparatus assesses the reliability of health monitoring product.
Currently, the multi-parameter life sign simulator having on the market can carry out electrocardio (ECG), breathing (RESP), nothing
The test such as blood pressure (NIBP), blood oxygen saturation (SpO2), body temperature (TEMP) is created, provides one for the reliability test of health monitoring
Fixed foundation.But existing apparatus is primarily present following disadvantage, comprising: can not generate the pulse wave of special-shaped differential mode, nothing
Method introduces motion artifacts, lacks the carrier of image, intuitively corresponding physiological activity can not be showed, this makes to one
The assessment of a little portable, wearable, mobile equipment becomes not comprehensively.For example, when carrying out physiological compensation effects to human body,
The movements such as physical presence human body thorax rises and falls, breathing, and human body also can be to measurement when the movement such as shaking hands, grabbing dixie cup, bow
Signal introduces interference.
Therefore, aiming at the problem that physiological parameter generating device in the prior art can not introduce motion artifacts, one kind is designed
Cooperate the physiological parameter generating device of anthropomorphic robot or necessary.
Summary of the invention
It is an object of the invention to solve the problems, such as current physiological compensation effects can not introduce motion artifacts, provide one kind
Anthropomorphic robot simulation human body movement of thorax simultaneously exports breath signal, multi-motion modes can be generated, externally to export
Signal with motion artifacts, the signal of output can be used as standard signal source to assess the performance detection of wearable device according to
According to.
Specific technical solution of the present invention is as follows:
A kind of physiological parameter generating device of anthropomorphic robot, the anthropomorphic robot ontology are equipped with steering engine module, breathing
Module, ECG module, pulse frequency blood oxygen saturation module and posture induction module；
The steering engine module includes large arm steering engine, forearm steering engine, wrist steering engine and finger steering engine；It is big described in two
Arm steering engine is respectively arranged at two shoulder joint of the large arm end of anthropomorphic robot, and forearm steering engine described in two is set to imitative
At two connecting joints of robot people forearm and large arm, wrist steering engine described in two be set to anthropomorphic robot wrist with it is small
At two connecting joints of arm, the finger steering engine is set at several articulations digitorum manus of anthropomorphic robot；
The breathing module includes telescopic device, thorax, air pump, air bag, tracheae, air valve and nostril；Described is flexible
Device is fixed on inside the thorax of anthropomorphic robot, and the output end of telescopic device is connected with the inner surface of thorax；Air bag is placed in
It is connected with two tracheaes in thorax, and on air bag, an air valve is respectively provided on every tracheae, the end of two tracheaes respectively connects
One nostril of anthropomorphic robot；The air bag connects air pump by tracheae；
The ECG module includes cardioelectric wave form generator and several crosslinking electrodes, and the cardioelectric wave form generator is installed on
Inside anthropomorphic robot, the crosslinking electrode is covered on anthropomorphic robot surface；
The pulse frequency blood oxygen saturation module includes that pulse wave generator, the first LED light tube and the 2nd LED shine
Pipe；The pulse wave generator is installed on inside anthropomorphic robot, first LED light tube and the second LED light tube
It is installed on the finger of anthropomorphic robot side by side, and the emission wavelength of two LED light tube is different；
The posture induction module includes the attitude transducer that several are fixed on anthropomorphic robot moving position.
Preferably, the large arm steering engine, forearm steering engine, wrist steering engine and finger steering engine rotation angle be not less than
With the activity point of view of corresponding joint.
Preferably, the crosslinking electrode is textile electrode, AgCl electrode or metal electrode.
Preferably, first LED light tube is red-light LED, the second LED light tube is infrared light LED.
Preferably, first LED light tube and the second LED light tube are light-focusing type LED.
Preferably, the attitude transducer is three-axis gyroscope, three axis accelerometer or three axle electronic compass.
Preferably, the tracheae is PVE material.
Preferably, main control chip is additionally provided in the anthropomorphic robot ontology, the steering engine module, breathing mould
Block, ECG module, pulse frequency blood oxygen saturation module and posture induction module are connected with main control chip.
Another object of the present invention is to provide a kind of anthropomorphic robot physiology using above-mentioned physiological parameter generating device
Parameter method for generation, its step are as follows:
The movement simulated as needed controls the corresponding steering engine rotation in corresponding steering engine module, to make apery machine
The hand of people makes corresponding movement；Attitude transducer at the large arm of anthropomorphic robot, forearm and other body movements
Detect acceleration information；The estimation of motion artifacts is obtained according to the collected motor message of posture induction module；
Meanwhile the output end by controlling telescopic device is flexible, drives the mechanical movement of anthropomorphic robot thorax to mould
Anthropomorphic respiratory movement, and the period breathed and amplitude require to be adjusted according to simulation；While thorax rises and falls, same to stepping
Row breathing simulation；When breathing simulation, air valve is first closed, is inflated by air pump to air bag, thus when simulating human body air-breathing
Pulmonary movements；It is then turned on air valve, the gas in air bag is deflated by tracheae, to generate nasal airflow；
In wearable device test process, on the one hand, ecg wave form is generated by control cardioelectric wave form generator, for
The ecg wave form of cardioelectric wave form generator output, then be added into the 50Hz Hz noise exported by the DAC module of main control chip, exhale
Blot disturb, baseline drift, myoelectricity interference signal and the motion artifacts estimated by posture induction module, output meets human body survey
The ecg wave form of amount；On the other hand, pulse wave is generated by control pulse wave generator, it is defeated for pulse wave generator
Pulse wave out, then be added by main control chip DAC module output 50Hz Hz noise, respiration interference, baseline drift,
Myoelectricity interference signal and the motion artifacts estimated by posture induction module, output meet somatometric pulse wave；Again
On the one hand, the pwm signal that different duty is exported according to pulse wave, to drive the first LED light tube and the 2nd LED to shine
Pipe, the optical signal for exporting different wave length are used to carry out the measurement of blood oxygen saturation.
Preferably, the inflation/deflation time of air bag is corresponding with the output end contraction time of telescopic device；Air pump is to air bag
Aeration quantity it is corresponding with the amount of exercise of thorax.
The present invention in terms of existing technologies, has the advantages that
(1) regular motion of human body can be simulated in anthropomorphic robot by breathing module and steering engine module, and then is produced
The physiological parameter of raw variform, for example, breathing module can simulate the extension and contraction of Human Lung, and thorax when breathing
Mechanical movement；Steering engine module can simulate human body and the movement such as shake hands, grab dixie cup, bow.This is a large amount of health monitoring product
Quality Control and assessment provide effective means, and the monitoring to these products is made more to meet actual human body situation.
(2) it is used as physiological parameter generating device, is added into motion disturbance signals in the signal, and will using anthropomorphic robot
Motion artifacts are more intuitively expressed, and can be used for assessing the anti motion interference ability of wearable product.
(3) for the device with ECG module and pulse frequency blood oxygen saturation module, it can also support special-shaped different
The pulse wave of state exports and the output of a variety of improper ecg wave forms, provides new way to the assessment of health monitoring product
Diameter.
Detailed description of the invention
Fig. 1 is a kind of overall structure diagram of the physiological parameter generating device of anthropomorphic robot；
Fig. 2 is the large arm and forearm steering engine, wrist steering engine and finger steering engine scheme of installation of anthropomorphic robot；
Fig. 3 is stepper motor, connecting rod, the thorax scheme of installation of anthropomorphic robot；.
Fig. 4 is air pump, air bag, tracheae, the air valve scheme of installation of anthropomorphic robot；
Fig. 5 is the first LED light tube and the second LED light tube scheme of installation on anthropomorphic robot finger；
Fig. 6 is another overall structure diagram of the physiological parameter generating device of anthropomorphic robot；
In figure: steering engine control module 1, breathing module 2, crosslinking electrode 3, pulsation blood oxygen saturation module 4, posture incude mould
Block 5, large arm steering engine 1.1, forearm steering engine 1.2, wrist steering engine 1.3, finger steering engine 1.4, stepper motor 2.1, connecting rod 2.2, thorax
2.3, air pump 2.4, air bag 2.5, tracheae 2.6, air valve 2.7, nostril 2.8, finger 4.1, the first LED light tube 4.2 and the 2nd LED
Luminous tube 4.3.
Specific embodiment
The present invention is further elaborated and is illustrated with reference to the accompanying drawings and detailed description.Each implementation in the present invention
The technical characteristic of mode can carry out the corresponding combination under the premise of not conflicting with each other.
It is as shown in Figure 1 the external overall structure diagram of anthropomorphic robot.The anthropomorphic robot ontology is equipped with steering engine
Module 1 and breathing module 2, form a kind of physiological parameter generating device based on anthropomorphic robot.Anthropomorphic robot body housing
Material is 3D printing PLA, whole similar to normal human's shape, in order to which steering engine module 1 and breathing module 2 are respectively used to simulation not
Same human action.
As shown in Fig. 2, steering engine module 1 includes large arm steering engine 1.1, forearm steering engine 1.2, wrist steering engine 1.3 and finger rudder
Machine 1.4.There are two large arm steering engine 1.1, forearm steering engine 1.2, wrist steering engine 1.3 are equal, finger steering engine 1.4 has 10.Two large arm
Steering engine 1.1 is respectively arranged at two shoulder joint of the large arm end of anthropomorphic robot, is driven by the rotation of large arm steering engine 1.1
The large arm of robot moves.Two forearm steering engines 1.2 are respectively arranged at two connecting joints of anthropomorphic robot forearm and large arm
Place, passes through the arm movements of the rotary driving machine device people of forearm steering engine 1.2.Two wrist steering engines 1.3 are respectively arranged at apery machine
At device human wrist and two connecting joints of forearm, pass through the Wrist-sport of the rotary driving machine device people of wrist steering engine 1.3.10
Finger steering engine 1.4 is respectively arranged at each articulations digitorum manus of anthropomorphic robot, passes through the rotary driving machine device people of finger steering engine 1.4
Finger movement.Wherein, large arm and forearm steering engine are made of big torsion 38kg metal gear digital rudder controller；Wrist steering engine is by turning round greatly
Power 15kg metal gear digital rudder controller is constituted；Finger steering engine is made of miniature 2.6kg metal gear digital rudder controller.Certainly, work as portion
Quartile set do not need movement simulation when, above-mentioned steering engine, which can according to need, is adjusted and reduced.Each steering engine can control electricity by steering engine
Road is uniformly controlled, and can also be respectively controlled.The movement that different steering engines can simulate as required turns in specific time
Dynamic special angle, simulates the hand motion of anthropomorphic robot.Certainly, large arm steering engine 1.1, forearm steering engine 1.2, wrist steering engine 1.3
And the rotation angle of finger steering engine 1.4 should be not less than the activity point of view with corresponding joint, to guarantee simulation context.
As shown in Figures 3 and 4, breathing module 2 includes telescopic device, thorax 2.3, air pump 2.4, air bag 2.5, tracheae 2.6, gas
Valve 2.7 and nostril 2.8.Wherein, the generation of breathing is realized by two parts, first is that by telescopic device connection anthropomorphic robot
Thorax is come the movement in thoracic cavity when driving the fluctuating of thorax to simulate people's breathing；Second is that by air pump to air bag inflation to simulate people
The movement of lung when air-breathing, connects air bag at this time and extraneous electromagnetic gas valve is closed.When simulating expiration, connection air bag and the external world
Electromagnetic gas valve open, then gas in air bag by two tubules to the nostril of anthropomorphic robot at, to simulate nose gas
Stream.Its structure is described in detail in lower mask body.
Wherein telescopic device is fixed on inside the thorax 2.3 of anthropomorphic robot, output end and the thorax 2.3 of telescopic device
Inner surface is connected.Telescopic device can be any device that can be realized flexible driving, such as electric telescopic rod, scissors fork elevating dress
Set etc..In the present embodiment, referring to Fig. 3, it is made of stepper motor 2.1 and connecting rod 2.2, the output end of stepper motor 2.1
Equipped with gear, and connecting rod 2.2 is equipped with the rack gear with gear cooperation transmission, and stepper motor 2.1 drives connecting rod 2.2 by rotation
Lifting, and then control the fluctuating of thorax 2.3.In actual use, connecting rod 2.2 can be made by the rotating forward of stepper motor 2.1
2.3 protrusion of thorax can be made under 2.3 volts of thorax by the reversion of stepper motor 2.1, and then realize the undulatory motion mould of thorax 2.3
It is quasi-.Certainly, multiplicity can be set in the driving method of stepper motor 2.1 and connecting rod 2.2, such as can also be by stepper motor 2.1
Output end is connect with connecting rod 2.2 by crankshaft, and connecting rod 2.2 drives lower end cyclical upturn and downturn occur in crankshaft.
In addition, referring to fig. 4, it is also necessary to simulate human body respiration movement by air bag.Air bag 2.5 is placed in thorax 2.3
Chamber, and two tracheaes 2.6 are connected on air bag 2.5, is respectively provided with an air valve 2.7 on every tracheae 2.6, two tracheaes 2.6
End respectively connects a nostril 2.8 of anthropomorphic robot.Tracheae 2.6 can use PVE material.Air valve 2.7 can be unidirectionally
Electric control valve.The effect of air bag 2.5 is the lung for simulating human body, therefore air bag 2.5 needs to connect air pump 2.4 by tracheae, by
Air pump carries out air-blowing.Air valve 2.7 is remained turned-off when air pump 2.4 is inflated, and heaves air bag 2.5；It is opened when deflating, air valve
2.7 open, and air-flow is discharged from the nostril of anthropomorphic robot 2.8 by two tracheaes 2.6, keeps air bag 2.5 deflated, thus real
The movement of 2.5 simulated lung of air bag and the formation of nasal airflow when now breathing.
The anthropomorphic robot can simulate common forms of motion when wearable product testing is assessed as a result,.The apery
Robot can be used as a carrying platform, further be installed on different testing sources wherein, can draw in the signal
Enter different motion artifacts, makes its assessment more close to the truth of human body
In the present embodiment, it is also provided with ECG module on anthropomorphic robot ontology, to support the output of ecg wave form.
Wherein, ECG module includes cardioelectric wave form generator and several crosslinking electrodes 3, and cardioelectric wave form generator is installed on anthropomorphic robot
Inside, cardioelectric wave form generator not only can produce the ecg wave form of arm's length standard, but also can produce the ecg wave form of special-shaped differential mode,
It can be realized using any signal generation apparatus that can generate ecg wave form.Crosslinking electrode 3 is covered on anthropomorphic robot surface
It is fixed.Crosslinking electrode 3 is the forms such as textile electrode, AgCl electrode or metal electrode.The fixation position of crosslinking electrode 3 can be with
It is adjusted as needed, the practical lead position with anthropomorphic robot, can be electrocardiogram 12 lead I,
II, III, AVF, AVR, AVL, V1, V2, V3, V4, V5, V6 etc..
In the present embodiment, pulse frequency blood oxygen saturation module 4 is additionally provided on anthropomorphic robot ontology, wherein pulse frequency blood oxygen is full
It include pulse wave generator, the first LED light tube 4.2 and the second LED light tube 4.3 with degree module 4.Pulse wave generator
It is installed on inside anthropomorphic robot, pulse wave generator not only can produce the pulse wave of arm's length standard, but also can produce different
The pulse wave of state abnormal shape can be realized using any signal generation apparatus that can generate pulse wave.First LED light tube
4.2 and second LED light tube 4.3 be installed at 4.1 finger tip of finger of anthropomorphic robot side by side, as shown in Figure 5.And two LED
The emission wavelength of luminous tube is different, and the optical signal of two different wave lengths can be exported externally to be detected by relevant apparatus, and is finally inversed by
The information such as blood oxygen saturation.In the present embodiment, the first LED light tube 4.2 is red-light LED, and the second LED light tube 4.3 is red
Outer smooth LED, and two kinds of LED are light-focusing type LED.In addition, using the first LED light tube 4.2 and the second LED light tube 4.3 as
One group of mould group is installed side by side, and the mould group of different number can be installed on a finger or more fingers for robot, depending on real
Border needs to be adjusted.
In the present embodiment, posture induction module 5 is additionally provided on anthropomorphic robot ontology, and posture induction module 5 is by more
A attitude transducer composition for being fixed on anthropomorphic robot moving position.The installation site of attitude transducer can be according to test need
Adjust, can be installed on anthropomorphic robot large arm, forearm and other bodies it is important activity at, for monitoring apery machine
The attitudes vibration of the large arm of people, forearm and the important activity place of other bodies obtains forms of motion, believes to obtain motion artifacts
Number.Attitude transducer can be realized using equipment such as three-axis gyroscope, three axis accelerometer or three axle electronic compass.
Above-mentioned steering engine module 1 and breathing module 2, ECG module, pulse frequency blood oxygen saturation module 4 and posture induction module 5
It can integrate comprehensive test that wearable product different aspect function is realized in an anthropomorphic robot.Each module can connect
It carries out automatically controlling on main control chip in anthropomorphic robot and is fed back with data collection.In product test, phase can control
The steering engine answered turns over specific angle within the specific time, thus macroscopically show as anthropomorphic robot make grab dixie cup,
It the corresponding movement such as shakes hands.Positioned at the large arm of anthropomorphic robot, forearm and other bodies it is important activity at attitude transducer
Detect acceleration information, since the dynamic response of the error and motion itself that are introduced in signal by movement is limited,
Pass through the estimation of the 5 available motion artifacts of collected motor message of posture induction module.Furthermore it is also possible to pass through control step
Drive the movement of connecting rod 2.2 to drive the mechanical movement of anthropomorphic robot thorax 2.3 to simulate into the operating of motor 2.1
The respiratory movement of people, wherein the period breathed and amplitude can be rotated forward by stepper motor 2.1, the time of reversion and torque carry out
Control.At the same time, when air valve 2.7 is closed, air pump 2.4 is inflated to air bag 2.5, thus lung when simulating human body air-breathing
Movement；When electromagnetic gas valve 2.7 is opened, 2.5 gas of air bag is deflated by tracheae 2.6, to generate nasal airflow.Air bag 2.5 fills
Deflation time is rotated forward with stepper motor 2.1, the time of reversion is corresponding, and air pump 2.4 is to the aeration quantity of air bag 2.5 and the fortune of thorax
Momentum is corresponding, and the nasal airflow, thorax when to human body respiration, which rise and fall, carries out analogue simulation.Meanwhile when needing analog electrocardiogram waveform
When with pulse wave, then ecg wave form can be generated by control cardioelectric wave form generator.Due in actual electrocardio and pulse
50Hz Hz noise, respiration interference, baseline drift, myoelectricity interference, motion artifacts etc. can be introduced in monitoring process, in order to make physiology
Parameter generating device is more in line with reality, so in the present invention, needing to be added into above-mentioned every interference.Wherein 50Hz power frequency
Interference, respiration interference, baseline drift, myoelectricity interference can be produced directly using cardioelectric wave form generator and pulse wave generator
It is raw.As for motion artifacts, then the estimation of motion artifacts can be carried out by the collected motor message of posture induction module 5.It is right
In obtained ecg wave form, can be added as needed into 50Hz Hz noise, respiration interference, baseline drift, myoelectricity interference signal
With the motion artifacts estimated by 5 sensed data of posture induction module, it can be obtained by meet anthropological measuring output in this way
Ecg wave form.Similarly, by controlling pulse wave generator, it can produce pulse wave.It, can root for obtained pulse wave
According to needing to be added into 50Hz Hz noise, respiration interference, baseline drift, myoelectricity interference signal again and felt by posture induction module 5
The motion artifacts that data are estimated are answered, can be obtained by the pulse wave for meeting anthropological measuring output in this way.And pass through first
LED light tube 4.2 and the second LED light tube 4.3, export the optical signal of different wave length, then can be used to carry out blood oxygen-saturated
Measurement.
Robot of the invention is controlled by all kinds of steering engines, can be imitated human body and be made simple action.Certainly, above-mentioned replicating machine
In device people, specific module can need to be adjusted according to the interference of test, without limitation.
In the present invention, by steering engine module 1, breathing module 2, ECG module, pulse frequency blood oxygen saturation module 4 and posture sense
It answers module 5 to be connected with main control chip, the interaction process of signal data and instruction is uniformly carried out by main control chip, specifically may be used
It is interacted by wireless modes such as the wired modes such as signal wire or bluetooths.It as a result, can based on the physiological parameter generating device
To realize a kind of anthropomorphic robot physiological parameter method for generation, its step are as follows:
The hand motion that main control chip can simulate as needed controls corresponding steering engine specific by helm control circuit
Time in turn over specific angle, thus macroscopically show as anthropomorphic robot make grab dixie cup, shake hands etc. it is corresponding dynamic
Make.Positioned at the large arm of anthropomorphic robot, forearm and other bodies it is important activity at attitude transducer can detect that acceleration
Information, since the error and the dynamic response of motion itself that are introduced in signal by movement are limited, this dynamic response can be with
It is indicated with a FIR system, that is to say, that by the collected motor message of posture induction module 5, be transferred to master control core
Piece, by a FIR system, so that it may obtain the estimation of motion artifacts.So, the estimation of obtained motion artifacts is added
Into ecg wave form or pulse wave, so that it may obtain the ecg wave form or pulse wave with above-mentioned different noises.
Meanwhile main control chip drives the movement of connecting rod 2.2 to drive apery by the operating of control stepper motor 2.1
The mechanical movement of robot thorax 2.3 is to simulate the respiratory movement of people, wherein the period breathed and amplitude can pass through stepping
Motor 2.1 rotates forward, the time of reversion and torque are controlled.While thorax 2.3 rises and falls, synchronizes and carry out breathing simulation；It exhales
When inhaling simulation, air valve 2.7 is first closed, is inflated by air pump 2.4 to air bag 2.5, thus lung when simulating human body air-breathing
Movement；It is then turned on air valve 2.7, the gas in air bag 2.5 is deflated by tracheae 2.6, to generate filling for nasal airflow air bag 2.5
Deflation time is rotated forward with stepper motor 2.1, the time of reversion is corresponding；Air pump 2.4 is to the aeration quantity of air bag 2.5 and the fortune of thorax
Momentum is corresponding so that thorax fluctuating is consistent with lung's hypertonic.
In wearable device test process, it can be needed to export three kinds of physiological parameter signals, including electrocardio according to detection
Waveform, pulse wave and blood oxygen saturation optical signal.
Main control chip generates ecg wave form by control cardioelectric wave form generator.Wherein, there are two types of methods to generate electrocardio wave
Shape, first is that passing through MIT-BIH ecg database or customized data of the WIFI module from the cloud ecg database such as U.S.
The ecg wave form of normal ecg wave form and more than 200 kinds of special-shaped differential mode is downloaded in library, is saved in a storage module, memory module is such as
Flash storage unit K9W5068U1M etc., then main control chip reads electrocardiogram (ECG) data as needed, is exported by DAC module each
Kind ecg wave form.Another method is to generate cycle square wave by oscillator, completes electrocardiosignal sequence by shift register
Wave P wave, QRS complex, T wave are exported according to combined sequence, such as select CD4521 chip, meanwhile, waveform is realized using counter
Counting output, such as select CD4017, finally by shaping circuit export ecg wave form.Cardioelectric wave form generator is exported
Ecg wave form, need to be added into again according to test request by main control chip DAC module output 50Hz Hz noise, breathing
Interference, baseline drift, myoelectricity interference signal and the motion artifacts estimated by the motor message of posture induction module 5, in this way
It can be obtained by the ecg wave form for meeting anthropological measuring output.
Main control chip generates pulse wave by control pulse wave generator.Wherein as ecg wave form, there are two types of
Method generates pulse wave, first is that passing through MIMIC database of the WIFI module from cloud pulse data library such as masschusetts, U.S.A science and engineering
Or customized database downloads the pulse wave of normal pulse wave and a variety of special-shaped differential mode, is stored in memory module
In, memory module such as Flash storage unit K9W5068U1M etc., then main control chip reads the arteries and veins in memory module as needed
It fights data, exports pulse wave.Another method is that main control chip control convectional signals generate unit, raw such as MAX038 module
At signals such as stable sine, triangular wave and sawtooth waves, cooperate the analog switch of low on-resistance, such as MAX4062, by by
The signal amplitude adjustment module of potentiometer, analog switch and operational amplifier composition realizes the control of signal amplitude, finally by
Common pulse waveform is exported by the power amplifier module that integrated power amplifier such as THS6042 is formed.For pulse wave
The pulse wave of generator output, the 50Hz power frequency exported by main control chip DAC module can be added into again according to test request and is done
It disturbs, respiration interference, baseline drift, myoelectricity interference signal and done by the movement that the motor message of posture induction module 5 is estimated
It disturbs, can be obtained by the pulse wave for meeting anthropological measuring output in this way.Main control chip can be according to the pulse in memory module
Wave exports the pwm signal of corresponding different duty, to drive the first LED light tube 4.2 and the second LED light tube 4.3,
The optical signal of different wave length is exported, human body blood oxygen saturation information is simulated, for carrying out the measurement of blood oxygen saturation.
Basic principles and main features and advantage of the invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the above embodiments and description only describe originals of the invention
Reason, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes and improvements are all
It falls into scope of the claimed invention.The scope of the present invention is defined by the appended claims and its equivalents.
Claims (10)
1. a kind of physiological parameter generating device of anthropomorphic robot, which is characterized in that anthropomorphic robot ontology is equipped with steering engine mould
Block (1), breathing module (2), ECG module, pulse frequency blood oxygen saturation module (4) and posture induction module (5)；
The steering engine module (1) includes large arm steering engine (1.1), forearm steering engine (1.2), wrist steering engine (1.3) and finger rudder
Machine (1.4)；Large arm steering engine (1.1) described in two is respectively arranged at two shoulder joint of the large arm end of anthropomorphic robot,
Forearm steering engine (1.2) described in two is set at two connecting joints of anthropomorphic robot forearm and large arm, described in two
Wrist steering engine (1.3) is set at anthropomorphic robot wrist and two connecting joints of forearm, and the finger steering engine (1.4) is set
It is placed at several articulations digitorum manus of anthropomorphic robot；
The breathing module (2) includes telescopic device, thorax (2.3), air pump (2.4), air bag (2.5), tracheae (2.6), gas
Valve (2.7) and nostril (2.8)；The thorax (2.3) that the telescopic device is fixed on anthropomorphic robot is internal, telescopic device it is defeated
Outlet is connected with the inner surface of thorax (2.3)；Air bag (2.5) is placed in thorax (2.3), and is connected with two on air bag (2.5)
Tracheae (2.6) is respectively provided with an air valve (2.7) on every tracheae (2.6), and the end of two tracheaes (2.6) respectively connects imitative
The nostril (2.8) of robot people；The air bag (2.5) connects air pump (2.4) by tracheae；
The ECG module includes cardioelectric wave form generator and several crosslinking electrodes (3), and the cardioelectric wave form generator is installed on
Inside anthropomorphic robot, the crosslinking electrode (3) is covered on anthropomorphic robot surface；
The pulse frequency blood oxygen saturation module (4) includes pulse wave generator, the first LED light tube (4.2) and the 2nd LED
Luminous tube (4.3)；The pulse wave generator is installed on inside anthropomorphic robot, first LED light tube (4.2) and
Second LED light tube (4.3) is installed on the finger (4.1) of anthropomorphic robot side by side, and the emission wavelength of two LED light tube
It is different；
The posture induction module (5) includes the attitude transducer that several are fixed on anthropomorphic robot moving position.
2. the physiological parameter generating device of anthropomorphic robot as described in claim 1, which is characterized in that the large arm steering engine
(1.1), the rotation angle of forearm steering engine (1.2), wrist steering engine (1.3) and finger steering engine (1.4) is not less than and corresponding joint
Activity point of view.
3. the physiological parameter generating device of anthropomorphic robot as described in claim 1, which is characterized in that the crosslinking electrode
It (3) is textile electrode, AgCl electrode or metal electrode.
4. the physiological parameter generating device of anthropomorphic robot as described in claim 1, which is characterized in that the first LED hair
Light pipe (4.2) is red-light LED, and the second LED light tube (4.3) is infrared light LED.
5. the physiological parameter generating device of anthropomorphic robot as described in claim 1, which is characterized in that described described first
LED light tube (4.2) and the second LED light tube (4.3) are light-focusing type LED.
6. the physiological parameter generating device of anthropomorphic robot as described in claim 1, which is characterized in that the posture sensing
Device is three-axis gyroscope, three axis accelerometer or three axle electronic compass.
7. the physiological parameter generating device of anthropomorphic robot as described in claim 1, which is characterized in that the tracheae
It (2.6) is PVE material.
8. the physiological parameter generating device of anthropomorphic robot as described in claim 1, which is characterized in that the apery machine
Main control chip, the steering engine module (1), breathing module (2), ECG module, pulse frequency blood oxygen saturation are additionally provided in human body
Module (4) and posture induction module (5) are connected with main control chip.
9. a kind of anthropomorphic robot physiological parameter method for generation using physiological parameter generating device described in claim 1, special
Sign is that steps are as follows:
The movement simulated as needed controls the corresponding steering engine rotation in corresponding steering engine module (1), to make anthropomorphic robot
Hand make corresponding movement；Attitude transducer inspection at the large arm of anthropomorphic robot, forearm and other body movements
Measure acceleration information；The estimation of motion artifacts is obtained according to posture induction module (5) collected motor message；
Meanwhile the output end by controlling telescopic device is flexible, drives the mechanical movement of anthropomorphic robot thorax (2.3) to mould
Anthropomorphic respiratory movement, and the period breathed and amplitude require to be adjusted according to simulation；While thorax (2.3) rise and fall,
It synchronizes and carries out breathing simulation；When breathing simulation, air valve (2.7) first are closed, are inflated by air pump (2.4) to air bag (2.5),
To simulate pulmonary movements when human body air-breathing；It is then turned on air valve (2.7), the gas in air bag (2.5) is put by tracheae (2.6)
Gas, to generate nasal airflow；
In wearable device test process, on the one hand, ecg wave form is generated by control cardioelectric wave form generator, for electrocardio
The ecg wave form of waveform generator output, then be added into dry by the 50Hz Hz noise of the DAC module output of main control chip, breathing
It disturbs, baseline drift, myoelectricity interference signal and estimate obtained motion artifacts by posture induction module (5), output meets human body survey
The ecg wave form of amount；On the other hand, pulse wave is generated by control pulse wave generator, it is defeated for pulse wave generator
Pulse wave out, then be added by main control chip DAC module output 50Hz Hz noise, respiration interference, baseline drift,
Myoelectricity interference signal and the motion artifacts obtained by posture induction module (5) estimation, output meet somatometric pulse wave；
In another aspect, the pwm signal of different duty is exported according to pulse wave, to drive the first LED light tube (4.2) and second
LED light tube (4.3), the optical signal for exporting different wave length are used to carry out the measurement of blood oxygen saturation.
10. anthropomorphic robot physiological parameter method for generation as claimed in claim 9, which is characterized in that the charge and discharge of air bag (2.5)
The gas time is corresponding with the output end contraction time of telescopic device；Air pump (2.4) is to the aeration quantity of air bag (2.5) and the fortune of thorax
Momentum is corresponding.
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