本文選題：表面肌電信號 + 特征提取　； 參考：《山西大學(xué)》2017年碩士論文

【摘要】：表面肌電信號作為一種重要的人體生理電信號可以應(yīng)用于智能系統(tǒng),實現(xiàn)對虛擬假肢或智能假肢的控制。目前,在智能仿生假肢研究中,利用肌電信號特征進行動作識別和運動控制是其研究的關(guān)鍵。論文主要圍繞表面肌電信號采集與預(yù)處理、肌電特征提取與識別、虛擬手臂3D模型設(shè)計以及虛擬假肢動作仿真等方面進行了相關(guān)研究,主要研究內(nèi)容如下:1)表面肌電信號采集與預(yù)處理。設(shè)計了前臂外旋、前臂內(nèi)旋、握拳、展拳、上切、下切、內(nèi)翻和外翻8種動作模式,分別采集指伸肌,尺側(cè)腕屈肌,掌長肌,屈指淺肌4塊前臂肌肉群活動的表面肌電信號,利用小波變換結(jié)合自適應(yīng)濾波的方法,對實驗采集的不同動作對應(yīng)的表面肌電信號進行預(yù)處理,獲得純凈的表面肌電信號。2)表面肌電信號特征提取。提取了表面肌電信號的絕對積分平均值、均方根值作為時域特征;提取平均功率頻率、中值頻率作為頻域特特征。采用db3小波進行5層小波分解,分別計算第5層近似系數(shù)與第3、4、5層細(xì)節(jié)系數(shù)的均方根值與方差作為表面肌電信號的時頻特征,并對手臂不同動作模式對應(yīng)的表面肌電信號特征的差異性進行統(tǒng)計分析。3)基于表面肌電信號特征的動作識別。首先利用BP神經(jīng)網(wǎng)絡(luò)算法,分別采用肌電信號的時域特征、頻域特征以及時頻特征,進行8種手臂動作的分類識別,獲得了89%、77%、91%的平均識別正確率。然后,設(shè)計棧式自編碼深度學(xué)習(xí)算法,分別利用表面肌電信號時域特征、頻域特征和時頻特征,進行手臂動作模式分類,平均分類正確率為95%、91%和96%。結(jié)果表明:肌電信號時頻特征能夠較好體現(xiàn)不同動作模式之間的差異,同時,棧式自編碼深度學(xué)習(xí)算法應(yīng)用于表面肌電信號特征分類與動作識別要優(yōu)于BP神經(jīng)網(wǎng)絡(luò)算法。4)虛擬手臂3D假肢設(shè)計與動作仿真。采用改進的D-H方法建立了連桿機械手臂模型,并對其進行了運動學(xué)分析和軌跡規(guī)劃,利用Matlab軟件仿真平臺,實現(xiàn)連桿機械手臂執(zhí)行連續(xù)喝水動作的模擬。使用SolidWorks軟件設(shè)計了虛擬3D假肢模型,并在虛擬現(xiàn)實環(huán)境中,通過計算機仿真驗證了虛擬3D假肢模型的合理性。最后,將表面肌電特征的動作識別結(jié)果,通過計算機網(wǎng)絡(luò),借助Java跨平臺傳輸給虛擬假肢,控制虛擬假肢連續(xù)執(zhí)行前臂內(nèi)旋、內(nèi)翻、外翻、前臂外旋與前臂內(nèi)旋90o五個動作,模擬仿真結(jié)果表明了識別方法的有效性以及動作執(zhí)行的完整性和精確性。論文的研究成果能夠應(yīng)用于人工智能、人機交互、仿生機器人、智能假肢等領(lǐng)域,具有科學(xué)和應(yīng)用雙重價值。
[Abstract]:As an important physiological signal of human body, surface electromyography (EMG) signal can be used in intelligent system to control virtual prosthesis or intelligent prosthesis. At present, in the research of intelligent biomimetic prosthesis, it is the key to use EMG signal to recognize and control the motion. This paper mainly focuses on the surface EMG signal acquisition and pretreatment, EMG feature extraction and recognition, virtual arm 3D model design and virtual artificial limb movement simulation. The main research contents are as follows: 1) Surface EMG signal acquisition and preprocessing. Eight modes of forearm external rotation, forearm internal rotation, fist grip, extended fist, upper cut, bottom cut, varus and valgus were designed. The surface EMG signals of four forearm muscles were collected, including extensor digitorum muscle, flexor Carpi ulnar muscle, palmar longus muscle and flexor superficial muscle. Wavelet transform combined with adaptive filtering is used to preprocess the surface EMG signal corresponding to different actions collected in the experiment, and the pure surface EMG signal (.2) surface EMG signal feature extraction is obtained. The absolute integral mean value of surface EMG signal is extracted, the root mean square value is taken as the time domain feature, and the average power frequency and median frequency are extracted as the special features in frequency domain. The db3 wavelet is used to decompose the five layer wavelet, and the root mean square value and variance of the fifth and the third layer detail coefficients are calculated respectively as the time-frequency characteristics of the surface EMG signal. The differences of EMG signal characteristics corresponding to different arm movements are analyzed statistically. 3) the action recognition based on SEMG features is presented. Firstly, the BP neural network algorithm is used to classify and recognize eight arm movements by using the time domain feature and frequency domain feature of EMG, respectively, and the average recognition accuracy of 89777% is obtained. Then, a stack self-coding depth learning algorithm is designed to classify the arm motion patterns using the time-domain, frequency-domain and time-frequency features of surface EMG signals, respectively. The average classification accuracy is 95% and 96% respectively. The results show that the time-frequency characteristics of EMG signals can well reflect the differences between different action modes, and at the same time, The self-coding depth learning algorithm based on stack is better than BP neural network algorithm in feature classification and motion recognition of surface EMG signal. 4) 3D artificial limb design and motion simulation of virtual arm. An improved D-H method is used to establish the model of the connecting rod manipulator, and the kinematics analysis and trajectory planning are carried out. The simulation of the continuous water movement of the connecting rod manipulator is realized by using Matlab software simulation platform. The virtual 3D prosthesis model is designed with SolidWorks software, and the rationality of the virtual 3D prosthesis model is verified by computer simulation in the virtual reality environment. Finally, the recognition results of the surface electromyoelectric features are transmitted to the virtual prosthesis by means of the Java platform through the computer network. The virtual prosthesis is controlled to perform the five actions of forearm internal rotation, varus, valgus, forearm external rotation and forearm internal rotation 90o continuously. Simulation results show the effectiveness of the method and the integrity and accuracy of the action execution. The research results can be applied to artificial intelligence, human-computer interaction, bionic robot, intelligent prosthesis and so on.
【學(xué)位授予單位】：山西大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：R318;TN911.7

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