面向动物机器人的新型可充电表面肌电信号采集系统设计与应用  

Design and application of novel rechargeable sEMG acquisition system for animal robots

作　　者：常铭 许孟华 杨建宏 槐瑞托[1] 杨俊卿[1] 常辉[1] 汪慧[1] CHANG Ming;XU Menghua;YANG Jianhong;HUAI Ruituo;YANG Junqing;CHANG Hui;WANG Hui(Shandong Key Laboratory of Robot and Intelligent Technology,Shandong University of Science and Technology,Qingdao 266400,China)

机构地区：[1]山东科技大学山东省机器人与智能技术重点实验室,山东青岛266400

出　　处：《现代电子技术》2022年第24期136-140,共5页Modern Electronics Technique

基　　金：国家自然科学基金资助项目(61903230);山东省自然科学基金(ZR2020MF098);山东省自然科学基金(ZR202103010716)。

摘　　要：面向动物机器人运动控制机制研究,设计一种新型可充电便携式双通道表面肌电采集系统。该系统体积小,实验时可背在机器人鸽身上,并且可以通过TP4055芯片重复为4.2 V锂电池充电,由升压变换器SX1308将电压升至5 V,通过AMS1117芯片将5 V转为3.3 V为单片机供电。该系统可实现表面肌电信号采集,并将采集到的数据传至上位机进行实时显示。用电刺激鸽运动中枢中脑导水管周围灰质,该系统能成功同步实时采集鸽子胸大肌和腿部肌肉肌电信号。系统可连续工作5 h,适用于自由运动的动物机器人。增加导水管刺激电压,采集到的肌电放电幅度及频率均增大,表明肌肉收缩强度和频率都增加,证明中脑导水管在鸽子运动控制中发挥了重要作用。A novel portable rechargeable dual⁃channel surface electromyography(sEMG)acquisition system is designed to study the motion control mechanism of animal robot.The system is small in size,can be carried on the back of the robot pigeon during the experiment,can charge the 4.2V lithium battery repeatedly by means of TP4055 chip,increase the invotage to 5V by means of the boost converter SX1308,and convert 5V to 3.3V by means of AMS1117 chip to conduct the power supply for the microcontroller.The system can realize sEMG signal acquisition and transmit the collected data to the superior computer for real⁃time display.The electrical stimulation of the midbrain periaqueductal gray region of motor center of pigeon is conducted,and then the sEMG signals of the pectoralis major muscle and leg muscle of pigeons can be collected successfully in real time.The system can work continuously for 5 h and is suitable for free moving animal robots.When the aqueduct stimulation voltage is increased,the amplitude and frequency of the collected myoelectric discharge are all increased,indicating that the intensity and frequency of muscle contraction are all increased.It is verified that the midbrain aqueduct can play an important role in pigeon motion control.

关 键 词：动物机器人 表面肌电信号 信号采集 运动控制机制 采集系统 中脑导水管 电刺激 

分 类 号：TN911.23-34[电子电信—通信与信息系统]