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CN-121979383-A - Device control method, electronic device, storage medium, and computer program product

CN121979383ACN 121979383 ACN121979383 ACN 121979383ACN-121979383-A

Abstract

The embodiment of the invention discloses a device control method, electronic equipment, a storage medium and a computer program product. The method comprises the steps of obtaining an electroencephalogram signal collected by an electroencephalogram signal collection device, determining a first target action corresponding to the electroencephalogram signal, wherein the electroencephalogram signal is generated due to intention associated with the first target action in the consciousness of an auxiliary object, identifying the specific action based on the electromyogram signal collected by the electromyogram signal collection device when the auxiliary object executes the specific action, determining a second target action corresponding to the identified specific action according to the corresponding relation between a plurality of preset specific actions and the plurality of target actions, and generating control information according to the first target action and the second target action, wherein the control information is used for controlling the movement of the peripheral auxiliary device to execute the combined action of the first target action and the second target action. According to the scheme, the combined action required to be executed by the peripheral auxiliary equipment can be determined in a short time according to the electroencephalogram signal and the electromyogram signal.

Inventors

  • ZHANG RUIZHONG

Assignees

  • 北京镁伽机器人科技有限公司

Dates

Publication Date
20260505
Application Date
20251224

Claims (13)

  1. 1. A device control method, characterized by being used for controlling a peripheral auxiliary device which is expected to be operated by an auxiliary object, the peripheral auxiliary device being in communication connection with an electroencephalogram signal acquisition device and an electromyogram signal acquisition device, the electroencephalogram signal acquisition device being used for acquiring an electroencephalogram signal of the auxiliary object, the electromyogram signal acquisition device being used for acquiring an electromyogram signal of the auxiliary object, the method comprising: Acquiring an electroencephalogram signal acquired by the electroencephalogram signal acquisition equipment, and determining a first target action corresponding to the electroencephalogram signal, wherein the electroencephalogram signal is generated due to intention associated with the first target action in the auxiliary object consciousness; Identifying a specific action based on the electromyographic signals acquired by the electromyographic signal acquisition device when the auxiliary object executes the specific action, and determining a second target action corresponding to the identified specific action according to the corresponding relation between a plurality of preset specific actions and a plurality of target actions; and generating control information according to the first target action and the second target action, wherein the control information is used for controlling the movement of the peripheral auxiliary equipment to execute the combined action of the first target action and the second target action.
  2. 2. The method of claim 1, wherein identifying the particular action comprises: identifying an action type and an action parameter of the specific action; And determining a second target action corresponding to the identified specific action according to the corresponding relation between the preset specific actions and the target actions, wherein the second target action comprises the following steps: Determining a target action set corresponding to the identified action type according to the corresponding relation between a plurality of preset action types and a plurality of target action sets; And selecting the action in the target action set as the second target action according to the identified action parameter.
  3. 3. The method of claim 2, wherein for each target action set of the plurality of target action sets, the target action set is capable of being associated with other target action sets than the target action set by the plurality of action types, and wherein the plurality of action types have a one-to-one correspondence with the other target action sets; According to the corresponding relation between a plurality of pre-configured action types and a plurality of target action sets, determining the target action set corresponding to the identified action type comprises the following steps: determining a first target action set in which the first target action is located, and determining a second target action set associated with the first target action set through the identified action type according to a one-to-one correspondence between the multiple action types and the target action set, wherein the second target action set is a target action set for determining the second target action subsequently.
  4. 4. Method according to claim 2, characterized in that different action types are distinguished by different joints and/or by different ways of movement, according to the correspondence between a pre-configured plurality of specific actions and a plurality of target actions.
  5. 5. The method of claim 2, wherein the actions within each target action set are preconfigured with a correspondence to action parameters, the action parameters comprising at least one of: The number of actions, the amplitude of actions, and the frequency of actions.
  6. 6. The method of claim 2, wherein the step of determining the position of the substrate comprises, The peripheral auxiliary equipment comprises a plurality of joints, wherein a corresponding relation exists between the joints and a plurality of preset action sets, and each preset action set of the preset action sets comprises one or more actions which can be executed by the corresponding joint; the plurality of target action sets are at least part of the plurality of preset action sets, and the target action set to which the first target action belongs is different from the target action set to which the second target action belongs.
  7. 7. The method of any one of claims 1-6, further comprising: Displaying icons corresponding to a plurality of actions through a display device, wherein the flicker frequencies and/or colors of the icons corresponding to different actions are different, and each icon correspondingly displays a text description of the corresponding action; the electroencephalogram signals acquired by the electroencephalogram signal acquisition equipment are generated by stimulating visual nerves due to the flickering of the observed icon when the auxiliary object observes the icon corresponding to the action to be executed.
  8. 8. The method of claim 7, wherein the transparency of the icon is adjusted according to the attention of the auxiliary object in displaying the icons corresponding to the plurality of actions.
  9. 9. The method of any one of claims 1-6, further comprising: judging whether the actual attention of the auxiliary object meets the preset attention requirement according to the electroencephalogram signals acquired by the electroencephalogram signal acquisition equipment; And if the judgment result is yes, allowing to determine the first target action, otherwise, prohibiting to determine the first target action, and outputting attention prompting information to prompt the auxiliary object to improve the attention.
  10. 10. The method of any one of claims 1-6, wherein the peripheral auxiliary device comprises a pressure sensor for detecting pressure experienced by a first preset site of the auxiliary subject and a transcutaneous electrical nerve stimulation subsystem for electrically stimulating a second preset site of the auxiliary subject, the method further comprising: determining an electrical stimulation intensity of the nerve electrical stimulation subsystem according to the measured value of the pressure sensor; And controlling the nerve electrical stimulation subsystem to electrically stimulate the second preset part of the auxiliary object according to the determined electrical stimulation intensity.
  11. 11. An electronic device comprising a processor and a memory, wherein the memory has stored therein computer program instructions which, when executed by the processor, are adapted to carry out the device control method of any of claims 1-10.
  12. 12. A storage medium having stored thereon program instructions, which when run are adapted to perform the device control method of any of claims 1-10.
  13. 13. A computer program product comprising computer program instructions for performing the device control method according to any of claims 1-10 when run.

Description

Device control method, electronic device, storage medium, and computer program product Technical Field The present invention relates to the field of medical rehabilitation, in particular to a device control method, an electronic device, a storage medium and a computer program product. Background In recent years, with the development of robotics and communication technologies, a control method for controlling peripheral auxiliary devices based on Brain-computer interface (BCI) -Computer Interface-is increasingly applied to the field of medical rehabilitation. For some patients losing limb movement function due to limb injury, the control system based on the brain-computer interface can help the patients to control actions of peripheral auxiliary equipment such as wheelchairs, mechanical arms, exoskeletons and the like, and the patients can perform rehabilitation training independently under the assistance of the peripheral auxiliary equipment, so that the time and energy of accompanying personnel can be greatly reduced. However, some peripheral auxiliary devices on the market today have a high degree of freedom of movement, and often there are multiple moveable joints or parts (e.g., a multi-axis robotic arm having multiple axes that achieve a combined motion by rotation). However, for the patient to be assisted who cannot freely move or even has a high paralysis degree, because there is a great limit to the movement of the limbs of the body, the compound control instruction for simultaneously controlling a plurality of joints or parts cannot be sent through the brain-computer interface, the instruction can often only be sent through a single mode, the movement of a plurality of joints or parts of the assisting device cannot be simultaneously controlled, and more time is taken for sending the instruction. Although the present situation that the display device is used for carrying out visual stimulation on a patient so as to enable the patient to generate the electroencephalogram signals required by the control command appears, the command input mode of the visual stimulation can reduce the difficulty of outputting the command to a certain extent and is more friendly for the patient with high limb paralysis degree, the scheme can not solve the problem of outputting complex commands for executing compound actions, when the control command quantity is large, the patient needs to watch a screen for a long time, the patient is easy to feel tired, the attention of the patient is easy to be reduced, and when the attention of the patient is lower, the recognition accuracy of the electroencephalogram signals can be correspondingly reduced, so that the control capability of the patient on peripheral auxiliary equipment is reduced. Currently, no effective solution has been proposed for the above problems. Disclosure of Invention The present invention has been made in view of the above-described problems. The invention provides a device control method, an electronic device, a storage medium and a computer program product. According to the scheme, more complex combined actions required to be executed by peripheral auxiliary equipment can be determined in a short time according to the electroencephalogram signals and the electromyographic signals acquired for the auxiliary object, so that time is saved and efficiency is improved. According to one aspect of the invention, a device control method is provided for controlling a peripheral auxiliary device which is expected to operate by an auxiliary object, the peripheral auxiliary device is in communication connection with an electroencephalogram signal acquisition device and an electromyogram signal acquisition device, the electroencephalogram signal acquisition device is used for acquiring an electroencephalogram signal of the auxiliary object, the electromyogram signal acquisition device is used for acquiring the electromyogram signal of the auxiliary object, a first target action corresponding to the electroencephalogram signal is determined, the electroencephalogram signal is generated due to intention of the auxiliary object in association with the first target action, the specific action is identified based on the electromyogram signal acquired by the electromyogram signal acquisition device when the auxiliary object executes the specific action, a second target action corresponding to the identified specific action is determined according to the corresponding relation between the preset specific actions and the target actions, and control information is generated according to the first target action and the second target action, and the control information is used for controlling the movement of the peripheral auxiliary device to execute the combined action of the first target action and the second target action. Optionally, the specific action is identified, the specific action comprises action types and action parameters of the specific action are identified, and a