1. A pulse wave reproduction method, comprising:

carrying out depolarization mean filtering processing on the original data of the pulse wave;

fitting out a mathematical model g (t) of the filtered pulse wave by a polynomial fitting method;

generating a corresponding voltage pulse sequence V (t) according to the mathematical model g (t);

and driving the linear vibration motor to move by adopting a voltage pulse sequence V (t).

2. The method according to claim 1, wherein the step of subjecting the raw data of the pulse wave to a depolarized mean filtering process comprises:

averagely cutting an original data set [ x ] of the pulse wave into k segments, wherein the length of each segment is sigma;

and processing each segment by using a depolarized mean filter to obtain filtered data [ a ].

3. The method of claim 2, wherein the filtering function of the desole averaging filter is:

wherein i is 1,2, …, k, x_iIs the original data of the ith fragment.

4. The method according to claim 2 or 3, wherein said fitting a mathematical model g (t) of the filtered pulse wave comprises:

using fourth order polynomialsFitting is carried out; where x is the variable to be fitted, here the dataset [ a ]]；b_jIs a constant coefficient;

judging whether the fitting precision r value of the obtained polynomial meets the preset precision requirement or not;

if yes, outputting a fitting equation; if not, shortening the length sigma of each segment, and fitting again until the preset precision requirement is met.

5. The method of claim 4, wherein the predetermined accuracy requirement is: the fitting accuracy r > 0.99.

6. The method according to any of claims 1-3, 5, wherein said generating a corresponding sequence of voltage pulses v (t) according to a mathematical model g (t) comprises:

V(t)＝βg(t)；

wherein, beta is a constant, and the value is obtained according to the actual test of a hardware system.

7. A glove type pulse wave reproduction device, comprising:

the glove body is used as a carrier of the linear vibration motor;

the linear vibration motor is arranged at the finger belly position of the glove body and used for generating linear vibration;

the driving unit is electrically connected with the linear vibration motor and is used for driving the linear vibration motor to vibrate according to voltage pulses;

a control unit for performing the operating steps of the method according to any one of claims 1 to 6, outputting the generated voltage pulse sequence v (t) to the drive unit.

8. The apparatus of claim 7, wherein: the finger abdomen position of the glove body is provided with a cavity; a layer of silica gel pad is arranged on the inner side of the cavity, and the linear vibration motor is arranged on the outer side of the silica gel pad; the outside of linear vibrating motor covers there is the parcel layer, the border of parcel layer with glove body fixed connection is used for fixing linear vibrating motor.

9. The apparatus of claim 7 or 8, wherein: also includes a wireless communication unit and a battery; the wireless communication unit is electrically connected with the control unit and used for receiving the original data of the pulse wave through a wireless signal; the battery supplies power to the driving unit, the control unit and the wireless communication unit;

the device also comprises an assembly box; the driving unit, the control unit, the wireless communication unit and the battery are all arranged in the assembly box.

10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the operational steps of the method of one of claims 1 to 6.

Background

At present, the pulse wave recurrence technology is required to be applied in the fields of remote pulse diagnosis, traditional Chinese medicine teaching and the like, namely, a pulse condition instrument is used for collecting the pulse condition of a patient, the collected pulse condition is sent to a pulse simulation device through means such as a network, and the pulse simulation device simulates and copies the pulse beating condition of the patient according to the received pulse condition signal.

In the related art, the existing pulse wave reproduction technology basically adopts an electromechanical-hydraulic mode to reproduce pulse waves, and has the following disadvantages: (1) most of the existing reproduction devices are desktop type devices, are thick and complex and cannot be moved or carried for use; (2) the existing pulse wave recurrence involves complex hardware system, most of which uses heavy mechanical structure and electric control, especially hydraulic system recurrence pulse; (3) for pulse education teaching, the application of remote palpation scenes is difficult, the hardware cost of the prior art is high, and the transportability is poor; (4) the traditional pulse recurrence is a device connected by wires and has the defects of stumbling, dragging and the like; (5) the traditional pulse wave reproduction equipment has complex structure and higher power consumption.

Disclosure of Invention

To overcome at least the problems of the related art to some extent, the present application provides a pulse wave reproduction method and a glove type pulse wave reproduction apparatus.

According to a first aspect of embodiments of the present application, there is provided a pulse wave reproduction method including:

carrying out depolarization mean filtering processing on the original data of the pulse wave;

fitting out a mathematical model g (t) of the filtered pulse wave by a polynomial fitting method;

generating a corresponding voltage pulse sequence V (t) according to the mathematical model g (t);

and driving the linear vibration motor to move by adopting a voltage pulse sequence V (t).

Further, the step of performing a depolarization mean filtering process on the raw data of the pulse wave includes:

averagely cutting an original data set [ x ] of the pulse wave into k segments, wherein the length of each segment is sigma;

and processing each segment by using a depolarized mean filter to obtain filtered data [ a ].

Further, the filtering function of the despole mean filter is:

wherein i is 1,2, …, k, x_iIs the original data of the ith fragment.

Further, the fitting of the mathematical model g (t) of the filtered pulse wave comprises:

using fourth order polynomialsFitting is carried out; where x is the variable to be fitted, here the dataset [ a ]]；b_jIs a constant coefficient;

judging whether the fitting precision r value of the obtained polynomial meets the preset precision requirement or not;

if yes, outputting a fitting equation; if not, shortening the length sigma of each segment, and fitting again until the preset precision requirement is met.

Further, the preset precision requirement is as follows: the fitting accuracy r > 0.99.

Further, the generating of the corresponding voltage pulse sequence v (t) according to the mathematical model g (t) includes:

V(t)＝βg(t)；

wherein, beta is a constant, and the value is obtained according to the actual test of a hardware system.

According to a second aspect of embodiments of the present application, there is provided a glove type pulse wave reproduction apparatus including:

the glove body is used as a carrier of the linear vibration motor;

the linear vibration motor is arranged at the finger belly position of the glove body and used for generating linear vibration;

the driving unit is electrically connected with the linear vibration motor and is used for driving the linear vibration motor to vibrate according to voltage pulses;

a control unit for executing the operation steps of the method according to any one of the above embodiments, and outputting the generated voltage pulse sequence v (t) to the driving unit.

Furthermore, the finger abdomen position of the glove body is provided with a cavity; a layer of silica gel pad is arranged on the inner side of the cavity, and the linear vibration motor is arranged on the outer side of the silica gel pad; the outside of linear vibrating motor covers there is the parcel layer, the border of parcel layer with glove body fixed connection is used for fixing linear vibrating motor.

Further, the device also comprises a wireless communication unit and a battery; the wireless communication unit is electrically connected with the control unit and used for receiving the original data of the pulse wave through a wireless signal; the battery supplies power to the driving unit, the control unit and the wireless communication unit.

Further, the device also comprises an assembly box; the driving unit, the control unit, the wireless communication unit and the battery are all arranged in the assembly box.

According to a third aspect of embodiments of the present application, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the operational steps of the method according to any one of the above embodiments.

The technical scheme provided by the embodiment of the application has the following beneficial effects:

the scheme of the application has simple system structure, only adopts an electromechanical system, does not have a complex hydraulic system, has small volume and can be designed into a portable and wearable glove type form; the method has low cost and strong portability, and can be easily applied to any system with pulse requirements.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.

Fig. 1 is a schematic structural diagram illustrating a glove type pulse wave reproducing apparatus according to an exemplary embodiment.

Fig. 2 is a schematic view of a coupling structure of a glove body and a linear vibration motor of the glove type pulse wave reproduction device.

Fig. 3 is a flow chart illustrating a pulse wave recurrence method according to an exemplary embodiment.

Fig. 4 is a waveform diagram illustrating an envelope output algorithm according to an exemplary embodiment.

FIG. 5 is a flow chart illustrating an envelope output algorithm in accordance with an exemplary embodiment.

Fig. 6 is a waveform diagram illustrating one cycle of a set of PPG waveform data according to an example embodiment.

Fig. 7 is a waveform diagram after the data filtering process shown in fig. 6.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of methods and apparatus consistent with certain aspects of the present application, as detailed in the appended claims.

As shown in fig. 1, the present application provides a glove type pulse wave reproduction device including:

the glove body is used as a carrier of the linear vibration motor;

an End-effector arranged at the finger belly position of the glove body and used for generating linear vibration;

a driving unit (Driver) electrically connected to the linear vibration motor for driving the linear vibration motor to vibrate according to the voltage pulse;

a control unit (Controller) for executing the operation steps of a pulse wave reproduction method, and outputting the generated voltage pulse sequence v (t) to the driving unit.

The hardware system only comprises a Controller, a Driver and an End-effect, wherein the Controller uses an STM32F407ZGT6 singlechip of Cortex M4 series of Italian semiconductor company, the Driver adopts a touch driving chip DRV2605L produced by 3-chip TI semiconductor company, the power supply voltage is 5V, and the refreshing frequency of a Driver output signal is 1 KHz. The Vibration Motor LRA used by the End-effector adopts 161128A-1030A linear Vibration Motor (Z-Axis LRA coil Vibration Motor) manufactured by AAC company, the maximum driving voltage is 5V, and the resonant frequency is 168 Hz.

In some embodiments, the glove type pulse wave reproduction device further comprises a wireless communication unit and a battery; the wireless communication unit is electrically connected with the control unit and used for receiving the original data of the pulse wave through a wireless signal; the battery supplies power to the driving unit, the control unit and the wireless communication unit. The system adopts 7.2V lithium battery for power supply. The pulse wave instruction is transmitted to the singlechip by the computer in a wireless way, and the wireless transmission module is a 2.4G wireless UART Serial Port module (NRF24L 01).

The hardware part of the scheme mainly comprises three parts: 1. the controller can be a controller manufactured by other manufacturers, and can be replaced as long as the performance is enough; 2. driver, can be the driver of the production of other manufacturers, can substitute as long as the performance is sufficient; 3. end-effector, pulse wave output glove, include the coupling structure between LRA vibrating motor and the glove of the special design, the glove can use the glove of other manufacturers, as long as the facing material is comfortable; the LRA vibration motor can use a motor with a higher response time.

The response time of the vibration motor output 2g in the embodiment is about 28ms, so when the required pulse wave response acceleration is less than 0.5g, the response time is less than 8 ms. Therefore, the vibration motor in the market can replace the motor in the embodiment by using the LRA motor with the same type of parameters, and can also replace the piezoelectric ceramic vibration motor (the response time is less than 0.5ms) with more excellent performance for design, so that the recurrence precision of the obtained pulse wave recurrence system is better, and the effect is better.

As shown in figure 2, in order to make things convenient for the user to dress, this application has designed installation Control system's hardware assembly capsule Control box, encircles and fixes at user forearm through the magic subsides, tears the sticky tape, can easily take off Control box and gloves.

The designed model maps a single chip microcomputer control algorithm, the LRA can output a corresponding envelope mechanical waveform, namely a pressure pulse wave, however, in order to transfer the vibration mechanical energy generated by the LRA to the finger as much as possible, two conditions are needed: 1. the LRA vibration mechanical energy is transmitted to the finger, and the mechanical wave is transmitted to other media to the greatest extent; 2. in the transmission process of the mechanical waves, the phenomenon that the LRA shakes between the finger ventral surface of the finger and the coating fabric to generate a gap to cause mechanical energy self-consumption is reduced.

Thus, a black Hap-pulse glove is made as shown on the right side of FIG. 2, and the glove to LRA coupling details are designed as shown on the left side of FIG. 2 in an enlarged view. The method comprises the steps of cutting off glove cloth corresponding to an LRA of a glove, padding a silica gel layer with the diameter larger than that of a cut-off cavity to serve as an LRA elastic fixing substrate, coating the lower surface of the LRA with fabric cloth, sewing the edge with the glove fingertip cloth, ensuring that the LRA mechanical vibration output surface keeps continuous contact with the finger pulp in the motion process, transmitting the LRA mechanical energy to fingers to the maximum extent, and reducing pulse mechanical wave distortion.

The silicone layer between the finger and the LRA has the thickness of 2.2mm, the diameter of 6mm, the mass of 2.5g and the softness degree close to the epidermis of the index finger of a human body. The design can effectively buffer the rigidity of the LRA acceleration output, and the ripple vibration of high-frequency noise is filtered by utilizing the vibration absorption characteristic of a soft material, so that the continuity of mechanical waves output from pulse waves to the finger skin of a palper is effectively improved, and the sense of reality of the Hap-pulse feeling experience is increased, and the touch feeling is similar to the flexible touch feeling of the real skin of the real pulse feeling.

The glove type pulse wave recurrence device has the advantages that hardware equipment is simple, wearable, portable and the like, and is compared with the existing pulse recurrence device, the glove for pulse recurrence can achieve three-finger pulse wave recurrence, a motor is utilized to achieve pulse wave recurrence, other huge mechanical structure systems are not needed, a complex hydraulic system is not needed, and meanwhile, the silica gel structure designed by the system is in contact with a hand, and the optimal pulse wave feeling effect is achieved.

Fig. 3 is a flow chart illustrating a pulse wave recurrence method according to an exemplary embodiment. The method may comprise the steps of:

step S1: carrying out depolarization mean filtering processing on the original data of the pulse wave;

step S2: fitting out a mathematical model g (t) of the filtered pulse wave by a polynomial fitting method;

step S3: generating a corresponding voltage pulse sequence V (t) according to the mathematical model g (t);

step S4: and driving the linear vibration motor to move by adopting a voltage pulse sequence V (t).

The scheme of the application has simple system structure, only adopts an electromechanical system, does not have a complex hydraulic system, has small volume and can be designed into a portable and wearable glove type form; the method has low cost and strong portability, and can be easily applied to any system with pulse requirements.

The following describes the scheme of the present application in an expanded manner with reference to a specific application scenario.

The design idea of the scheme of the application is that a high-frequency vibration motor (about 200Hz) is used for simulating low-frequency pulse waves (about 1Hz), so that the invention designs an envelope output algorithm on a software algorithm. The output of the vibrating motor is enveloped by a low-frequency pulse waveform curve using a high-frequency LRA. As shown in fig. 4, the blue square wave output is the output a (V) of the low frequency LRA vibration motor_i(t)), the enveloped curve g (t) is the waveform of the output pulse wave, and the waveform is sensed by three fingers wearing gloves by a user at the same time.

Reading a pulse wave PPG database, filtering the mean value of the depolarized points of the original pulse wave data, fitting a deburred pulse wave PPG curve to obtain a pulse wave mathematical model g (t) by a polynomial fitting method, generating a voltage pulse with a corresponding amplitude by using the modulus mathematical model to drive a vibrating motor to move, and outputting an acceleration force pulse sequence g (t)_i) The pulse sequence is always applied to a human finger, and the pulse wave profile curve output by envelope can be sensedThe algorithm is shown in fig. 5.

Ppg (photoplethysmogram) is a curve of the change of the volume cycle of a blood vessel caused by pulse pulsation obtained by an optical technical means, and has the advantages of non-invasion, easy measurement, low cost and the like. There are currently at least four PPG databases published for learning or research; in principle, the blood vessel is irradiated by the LED light, and the volume change of the blood vessel caused by the blood pressure period fluctuation enables the light quantity received by the light sensation receiver to change, so that the pressure pulse wave is visualized, namely, the PPG technology is a reflection means of pulse pressure non-invasive detection. Therefore, the PPG database data is essentially the data of the quantified pulse wave pressure changes, and the four disclosed PPG databases at present are obtained from different body surface parts (such as wrists, finger tips and the like) of a person in various states (such as calm, moving and the like) through the PPG pulse wave measurement technology test.

In order to more clearly describe the technical scheme of the present application, a data set of one period of PPG waveform data is taken as an example, and the envelope output algorithm of the present application is specifically described. The group of data is set as [ x ], the image has many burrs as shown in fig. 6, fitting cannot be performed, the digital filter for removing the mean value of the pole points designed by the algorithm is required to be used for processing, and the filter function is as follows:

the basic idea is to use MATLAB software to read in PPG raw data set [ x]Averagely dividing PPG data of one period into k segments, wherein each segment has a length sigma and is numbered i, and obtaining a by using a depolarized value homogenizing filter (1) for each segment_iAfter the whole waveform is processed, one period of smooth PPG data [ a ] is obtained]The blue curve as in fig. 7 is a filtered curve. The filtered smoothed curve is then fitted with a 4 th order polynomial (2), using a polynomial fitting tool in matlab. The fitted curve is an orange curve as in fig. 7.

Where x is the variable to be fitted, where the variable is divided into a data set [ a ]]，b₀、b₁、b₂、b₃、b₄Fitting constant coefficients for a 4 th order polynomial.

In the fitting process, the fitting conditions are given as: if the fitting precision r value is more than 0.99, the fitting precision requirement is met, and a fitting equation is output; otherwise, the length σ of each segment is shortened, that is, the number k of the segmentation segments is increased (fitting parameter adjustment process), and fitting is performed again until the fitting accuracy r >0.99 is satisfied. The r value of the curve fitting result shown in fig. 7 is 0.99988, and the solid curve in the figure is the fitting model result meeting the accuracy requirement.

After obtaining the fitting mathematical model g (t), the model is a data obtained by regularizing the data in the PPG database (the data in the PPG is uniformly mapped to 0-1), and fitting, so the value range of the fitting mathematical model g (t) is 0 to 1 (as shown in Normalized Amplitude in fig. 7), and in the algorithm design, the function is multiplied by a multiple β to obtain the driving voltage law v (t) of the vibration motor controlled by the hardware system, that is, the following formula (3) is given, and the user feels the output vibration of the vibration motor

Wherein i is the serial number and the number of the segmentation segments of the PPG curve of the pulse wave, V_gjThe term (t) is the vibration motor driving voltage output value calculated by the expression (3) at each time t. Easy obtaining: g (0) ═ V (0), g (t)_max＝V(t)_max。

By adopting the technical scheme, the three fingers can simultaneously reproduce various pulse waves, and after real human body pulse wave data are imported into a computer, the reproduction system can utilize the pulse wave envelope output algorithm designed by the invention, namely, the envelope output of various pulse waves can be realized.

The present application further provides the following embodiments:

a computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, implements a pulse wave reproduction method: carrying out depolarization mean filtering processing on the original data of the pulse wave; fitting out a mathematical model g (t) of the filtered pulse wave by a polynomial fitting method; generating a corresponding voltage pulse sequence V (t) according to the mathematical model g (t); and driving the linear vibration motor to move by adopting a voltage pulse sequence V (t).

It is understood that the same or similar parts in the above embodiments may be mutually referred to, and the same or similar parts in other embodiments may be referred to for the content which is not described in detail in some embodiments.

It should be noted that, in the description of the present application, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Further, in the description of the present application, the meaning of "a plurality" means at least two unless otherwise specified.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and the scope of the preferred embodiments of the present application includes other implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.

It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.

In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.

The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.

In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.