Abstract:
The methods and devices of a multi-functional operating interface for a care-taking machine. The multi-functional operating interface of the care-taking machine includes: muscle stretch sensor, multiplexer amplifying wave filter, analog-to-digital signal converter, image processing unit, and muscle pattern database and control bus. Aided by the present muscle template training method and potential image data collecting and processing method, it can become an interface that offers the user of a care-taking machine instantaneous and unlimited controllability of the machine, enabling such people, either sick or handicapped, to enjoy more convenience and better life.

Description:
BACKGROUND OF THE INVENTION 
       [0001]    1. Field of the Invention 
         [0002]    The present invention relates to the methods and devices of a multi-functional operating interface for a care-taking machine. 
         [0003]    2. Description of the Prior Art 
         [0004]    Operation interface is a component indispensable and important to care-taking machines. What&#39;s more, the operational maneuverability of an interface affects the interaction between the user and the machine to every extent. By definition, the term care-taking machine used in this document refers to any kind of equipment that takes care of people and their lives, including electric wheelchair, living assistance and homecare equipment, computer interface, care-taking robots, etc., whose user can be the mentally or physically handicapped, children, the aged people, or even healthy people of all ages. 
         [0005]    At the present stage, operation interfaces of care-taking machines generally fall into several categories by their means of giving commands: mechanical switch, operation stick, and body signal interface. The mechanical switches, including push button, breath switch, and touch button, offer only “on/off” operation mode. Due to its monotonous mode, the mechanical switch can offer only “yes/no” choice rather than complex options that must be standard for a care-taking machine such as an electric wheelchair. However, as such switches are easy to use and can be mounted on anywhere within a user&#39;s reach, they are often used for severely handicapped people. 
         [0006]    Operation stick can provide some degrees of freedom of operation, so they are often used in an electric wheelchair or used as a computer interface. However, owing to its limited maneuverability, it is still inadequate for a sophisticated multi-functional care-taking machine that requires complicated operation system. 
         [0007]    To tackle the above problem, the conventional solutions involve incorporating a combination of various operation interfaces, with each interface being responsible for a certain group of functions. This of course means that not only the functions that can be operated by severely handicapped people are significantly limited, but that even for the slightly handicapped, these systems are too complicate to operate. 
         [0008]    The principle that underlies body signal type interfaces is by using sensing/detecting devices to obtain body signals reflected by the user (of a care-taking machine), which the system can analyze to determine the command to be given to the machine. The body signals used in the body signal type interface generally include: eye movement, brainwave (or electroencephalographic, EEG), electromyographic (EMG), and facial expression, etc. The eye movement signals are those signals and features of the movement of the eyeball, and the methods for collecting the eye movement signal include: Reflected Light, Electric Skin Potential, and Contact Lenses. This type interface can be used to control a care-taking machine with two or three degrees of freedom of operation, and its scope of use is roughly the same as that of the operation stick interface. However, it is mainly used for people who cannot move their hands. 
         [0009]    Brain wave devices use electrodes attached on the scalp of a patient to detect the potential of his brain activities, which are further analyzed in order to perform the control activities thereby. Generally, the intensity of brainwave (or EEG) on the surface of the scalp ranges from 0 to 300 μV. For ease of understanding, EEGs are often divided into several sub-spectrums according to frequency: αwave (8˜13 Hz), βwave (14˜50 Hz), θwave (4˜7 Hz), and δwave (less than 3.5 Hz). EEGs are most often used to analyze a patient&#39;s brainwave activity. If used in control devices, various stimulations must be used to obtain changes in α, β, θ and δ waves so that commands can be given. As such, the types of stimulations chosen are often determined by the modes of control to be used. Currently, the majority of such interfaces used in care-taking equipment make use of audio and video stimulations, such as the brain wave&#39;s response to stimulation signals is often slow, stimulations have to be maintained all the time. Besides, these interfaces offer only limited degree of freedom of operation. Similar to the eye movement interfaces, the EEG interfaces are mainly designed to be used by the person whose body movement is disabled. 
         [0010]    The principle of EMG interfaces is that electrodes are attached to the skin to detect the electric potential of muscle activity, which is further analyzed to perform the control activity thereby. The frequency of a stronger EMG signal can reach 3000 Hz, with an intensity ranging from 0 to 2000 μV. EMG is mostly used to analyze a recipient&#39;s muscle actions and the muscle&#39;s ability to respond to stimulations. Used in operation interfaces, it has to be worked through a couple of electrodes, performed through the setting and detection of a threshold voltage, which together offers multi-degrees of freedom of motion and multi-task control of a care-taking machine. As is described, in order for the system to work, the user has to apply quite a number of electrodes on his body, causing much inconvenience and discomfort. Besides, EMG interfaces have to make allowances for false actions caused by inadequate/improper positioning of electrodes. Further, the recipient&#39;s skin has to be cleaned before applying electrodes—a quite troublesome and uncomfortable procedure. 
         [0011]    Facial expression interfaces use Charge Coupled Device (CCD) camera to record the recipient&#39;s facial expressions, and the images are stored and classified and compared with those in an established database by means of an image-process method in order to determine what commands to be given. Through the use of such a control interface, a user can use various facial expressions to control a multi-functional care-taking machine having multi-degrees of freedom of motion. However, as image-processing techniques are at the core of these systems, the number of images to be stored and analyzed must be limited to gain immediate control of the machine. As a result, mistakes and wrong actions often occur, substantially limiting its freedom of control. 
         [0012]    The following is a table summarizing the features of control interfaces used by prior art care-taking machines: 
         [0000]    
       
         
               
             
               
               
             
               
               
               
               
               
               
               
             
               
               
               
               
               
               
               
             
           
               
                 TABLE 1 
               
             
             
               
                   
               
               
                 CONTROL INTERFACES USED BY THE CONVENTIONAL CARETAKING MACHINES 
               
             
          
           
               
                   
                 body signals 
               
             
          
           
               
                   
                 mech. 
                   
                 eye 
                 brain 
                   
                 facial 
               
               
                   
                 switches 
                 joysticks 
                 movement 
                 waves 
                 EMGs 
                 expressions 
               
               
                   
                   
               
             
          
           
               
                 freedom of 
                 low 
                 low 
                 low 
                 low 
                 medium 
                 high 
               
               
                 control 
               
               
                 user 
                 high 
                 medium/ 
                 high 
                 high 
                 high/medium 
                 high/ 
               
               
                 disability 
                   
                 low 
                   
                   
                   
                 medium 
               
               
                 techniques 
                 on/off 
                 multi- 
                 reflection 
                 spectrum 
                 magnitude of 
                 image 
               
               
                 used 
                   
                 directional 
                 skin potential 
                 analysis 
                 signals 
                 processing 
               
               
                   
                   
                 on/off 
                 contact lens 
                   
                 threshold 
               
               
                   
                   
                   
                   
                   
                 voltage 
               
               
                 instant 
                 high 
                 high 
                 medium 
                 medium 
                 medium 
                 low 
               
               
                 controllability 
               
               
                 risk of 
                 low 
                 low 
                 low 
                 high 
                 medium 
                 medium 
               
               
                 mistakes 
               
               
                 special 
                 no 
                 no 
                 depending on 
                 special treatment 
                 special 
                 No 
               
               
                 Pretreatment 
                   
                   
                 methods of 
                 must apply to 
                 treatment must 
               
               
                   
                   
                   
                 detection 
                 where the detectors 
                 applied to 
               
               
                   
                   
                   
                   
                 are attached, 
                 where the 
               
               
                   
                   
                   
                   
                 and stimulations 
                 detectors are 
               
               
                   
                   
                   
                   
                 must be used to 
                 attached 
               
               
                   
                   
                   
                   
                 obtain desired 
               
               
                   
                   
                   
                   
                 results 
               
               
                   
               
             
          
         
       
     
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0013]      FIG. 1  shows the system structure of the multi-functional care-taking machine interface of the present invention; 
           [0014]      FIG. 2  shows how the muscle stretch sensor of the multi-functional care-taking machine control interface of the present invention works; 
           [0015]      FIG. 3  shows the structure of the multiplexer scanning and amplifying circuit of the multi-functional care-taking machine control interface of the present invention; and 
           [0016]      FIG. 4  shows constructing and processing processes of the potential image signals of the multi-functional care-taking machine control interface of the present invention. 
       
    
    
     SUMMARY OF THE INVENTION 
       [0017]    To provide care-taking machines with high freedom of operation as well as instant control, while at the same time, reducing the risk of mistakes and eliminating the need for special pre-treatment, so that the disabled can be taken care of, the present invention hereby introduces a multi-functional interface and control device incorporating the most innovative detecting and signal processing techniques. 
         [0018]    One object of the present invention is to provide a multi-functional interface and control device so that either a multi-functional care-taking machine or a combination of care-taking machines with different functions can be controlled through a single interface and device. Also, its discrete component structure allows use at different parts of the body. 
         [0019]    Another object of the present invention is to provide a detecting method and device that provides the user of a care-taking machine an area allowing for the free moving of his body within a specified range. Through the detection device of the present invention, we can conduct any physical measurement regarding changes in strain, position, speed, and acceleration on any moving part of the body. Such measurements are not only to be used by the interface of the present invention, but can also be used to monitor the user&#39;s physical conditions. 
         [0020]    Still another object of the present invention is to provide a special detection device and method with multiple-strain gauge. By attaching a plurality of strain gauges, which are adhesively attached to an appropriately flexible substrate, and multi-task scanning and amplifying circuit, it can measure the mechanical strain of a local area, providing data not only for the care-taking machine of the present invention, but also for other applications that need higher density strain analysis. 
         [0021]    Further another object of the present invention is to provide a device and method for establishing potential images. Potential images are images that combine a multiple groups of potential signals and resemble gray scale images. These images can be obtained and grouped according to their feature. This device and method not only can provide data for the interface of the care-taking machine designed in accordance with the spirit of the present invention, but can be used in the processing and analyzing of massive potential signals, such as multi-channel brainwave signals or EMGs. 
         [0022]    To achieve the above objects, the present invention uses specially designed detecting device and multiplexer scanning and amplifying circuit to do instant scanning of potential signals, establish potential images, and obtain and analyze their features so as to group them. Besides, through the same device, the present invention can establish a movement characteristics data and, by comparing the data with the characteristics of instant potential images obtained and conducting analysis and classification of the images, generate the control commands of the care-taking machine. 
         [0023]    The special designed detecting device of the present invention is made of a plurality of strain gauges, which are adhesively attached to an appropriately flexible substrate. When the parts of the body to which the detectors are attached start movements, the flexible substrate will be pressed and squeezed, bringing the strain gauges into deformation. As quite a few strain gauges are used, a multiplexer scanning circuit must be added to the voltage amplifying the circuit in order that the use of amplifying circuit can be simplified. Besides, through detecting the multiple voltage signals via the instant scanning, the potential signals gathered can form potential images like grayscale images that can be analyzed by image processing techniques and grouped according to characteristics. 
         [0024]    The movement characteristics database of the present invention can be a muscle template database, which stores characteristics of the user&#39;s muscle movements and commands generated by the training method of the template. It also provides the above muscle movement characters for the aforementioned image-processing unit to analyze and tally with existing characteristics data. The training method of the muscle template comprises three steps: 1. defining movements; 2. teaching stimulations to the user; and 3. generating muscle template. 
         [0025]    The detection device of the present invention can be a muscle stretch sensor, comprising: a substrate, an adhesive layer, at least one strain gauge, a stimulation source, a signal bus, a plurality of cables, and a cover layer. 
         [0026]    The multiplexer scanning and amplifying circuit of the present invention can be a multiplexer amplifying filter comprising: a bridge stimulation circuit, a detecting and amplifying circuit, a multiple address circuit, and an analog multiplexer and de-multiplexer circuit. 
         [0027]    The potential image formation and processing techniques used by the present invention comprise the following steps: forming digital electric signals; constructing potential images; pre-processing image; grouping images; generating commands; and obtaining the next movement. 
         [0028]    The multi-functional control interface of the present invention comprises: a muscle stretch sensor, a multiplexer amplifying filter, an analog-to-digital converter, an image-processing unit, a muscle template database and a control bus. 
         [0029]    The present invention will be better understood from the detailed description with the aid of the illustrations given after it. 
       DETAILED DESCRIPTION OF THE INVENTION 
       [0030]      FIG. 1  shows the device structure of the present invention. The multi-functional control interface of the care-taking machine designed in accordance with the spirit of the present invention  10  comprises: a plurality of muscle stretch sensor  11 , which are used to detect the user&#39;s movement and generate electric signals and by which the user  100  can, through any moveable part of his body, exert control over a care-taking machine or other equipment through; a plurality of multiplexer amplifying filter  12 , which are used to amplify/filter the electric signals of the muscle stretch sensor  11 ; an analog-to-digital converter  13 , used to convert the analog signals outputted by the above multiplexer amplifying filter  12  into digital signals  131 ; an image processing unit  14 , used to transform the above digital electric signals  131  into gray scale potential images which potential images are graphs, presented in black and white, and then analyze and group such images according to their characteristics; a muscle template database  15 , used to store the characteristics  151  and movement commands  152  generated by the muscle template training method  50  as well to provide these characteristics  151  for the image processing unit  14  for future tallying and outputting movement commands  152 ; and a control bus  20 , used to receive the above mentioned movement commands  152 , and then transmit them to related interfaces, signal converting unit, or other control units, to exert control over the care-taking machine or other equipment; wherein the control bus  20  can be connected to software interfaces  21 , internet transceiver  22 , digital-to-analog converter  23 , analog controller  24 , digital controller  25 , signal converting unit or other control unit, to control a particular care-taking machine or other equipment. These interfaces, signal converting components, or control components can also be parts of the multi-functional control interface  10  of the present invention. 
         [0031]    In the above description, the user  100  refers to people of all age, regardless of their being healthy, disabled, children or the old. With the multi-functional control interface  10  of the spirit of the present invention, the user  100  can control the care-taking machine or any other equipment by exerting commands through any moveable part of his body. 
         [0032]    As  FIG. 1  shows, The method of the multi-functional control interface of the present invention comprises: a muscle template training method  50 , a muscle template database  15  used to store characteristics  151  and movement commands  152  generated by the muscle template training method  50  and provide such characteristics  151  for the image processing unit  14  for further characteristics tallying. 
         [0033]    The muscle template training method  50  comprises the following steps: 
         [0034]    defining a movement  51 —done by the trainer communicating with the trainee to define which characteristics of muscle pattern represent which specific control command; 
         [0035]    instructing stimulations to the user  52 —the trainer teaches the user how to stimulate/produce the characters as defined above; and 
         [0036]    generating muscle template  53 —the muscle template is generated through the muscle stretch sensor  11  and image processing unit  14  of the present invention; the characteristics  151  and specific control commands  152  generated by the muscle template  53  are stored in the muscle template database  15 . 
         [0037]    The user  100  can also use the software interface  21  of the multi-functional control interface  10  of the present invention to operate computer games and other computer software; or work through internet transceiver to control remote equipment such as electric doors; or work through digital-to-analog converter  23  and analog controller to control analog devices such as an electrical wheel; or work through a digital controller  25  to control digital devices  33  such as LED signals. 
         [0038]      FIG. 2  shows the muscle stretch sensor  11  of the multi-functional control interface  10  of the care-taking machine designed in accordance with the spirit of the present invention.  FIG. 2-1  shows the side view of the muscle stretch sensor  11  and  FIG. 2-2  shows the top view of the muscle stretch sensor  11 . The muscle stretch sensor  11  comprise: a sub-layer  111 , made of a resilient material, and can be attached to any movable part of the user; an attachment layer  112 , which can be attached to the surface of the above sub-layer  111 , at least one strain gauge  113 , attached on top of the above attachment layer  112 , a stimulation source  114 , which provides stimulations for the above strain gauges  113 ; a signal bus  115 , which transmit electric signals detected by the strain gauge  113  to related components, a plurality of cables  116 , which connect the strain gauge  113 , with the stimulation source  114  and the signal bus  115 ; and a cover layer  117 , which covers the attachment layer  112 , the strain gauge  113 , the stimulation source  114 , the signal bus  115 , the cables  116  to prevent them from contamination and damage; wherein the sub-layer  111  can be attached on any moveable parts of the user that when one such part moves, squeezing the muscle and deforming the strain gauges  113 , signals showing the movements can be obtained. The number and arrangement of strain gauges  113  can be adjusted according to needs for convenience and freedom of control. 
         [0039]    By connecting the above stimulation source  114  with the signal bus  115 , the system transmits potential signals to the multiplexer amplifying filter  12 , by which the detected strain signals are amplified/filtered. To simplify the use of amplifying circuit, we have to put a multiplexer scanning circuit on the voltage amplifying circuit. 
         [0040]      FIG. 3  shows the structural view of the multiplexer amplifying filter  12  of the multi-functional control interface  10  of the present invention; the multiplexer amplifying filter  12  comprise: a stimulation (bridge) circuit  121 , used to provide stimulation source for strain gauges  113 ; a detecting and amplifying circuit  122  used to detect muscle strains, convert electric signals, and amplify electric potential signals; a multiplex circuit  123 , used to activate scanning; and an analog multiplexer and de-multiplexer circuit  124 , used to receive commands from the multiplex circuit  123  to activate scanning. 
         [0041]    wherein the above stimulation (bridge) circuit  121  can be made of Shunt Voltage Regular Diodes, such as LT1009CZ (Linear Technology ), Single-Supply Precision OP, such as TLC272 (Texas Instruments ), and High Output Current OP, such as TS921 (STMicroelectronics); 
         [0042]    wherein the analog multiplexer and de-multiplexer circuit  124  and the multiplex circuit  123  can be made of CMOS Analog Multiplexers/Demultiplexers, such as CD4067B (Linear Technology); 
         [0043]    wherein the detecting and amplifying circuit  122  further comprises: a quarter bridge circuit  1221 , formed by connecting the above strain gauges  113  with a variable resistance bridge to convert mechanical strains into electric signals; 
         [0044]    wherein the instrumentation amplifying circuit  1222  is mainly made of Instrumentation Amplifiers, such as AD62 (Analog Devices) and whose function is to amplify signals detected; 
         [0045]    wherein the  1223  is mainly made of Operational Amplifiers, such as TLC272 (Texas Instruments), and whose function is to re-amplify signals detected; 
         [0046]    wherein the stimulation source cables  1211  and the stimulation source cable&#39;s extended points  1212  mean that the stimulation source produced by the bridge stimulation circuit  121  can be used by more than one detecting and amplifying circuit  122 ; 
         [0047]    wherein the extended points of the detecting and amplifying circuit  1224  mean that the system can parallel-use the detecting and amplifying circuit  122 ; and 
         [0048]    wherein the amplified signal cable  1225  and its extended points  1226  mean that the outputs of more than one Operational Amplifier circuit  1223  are transmitted to the analog multiplexer and de-multiplexer circuit  124  to wait for commands from the multiplex circuit to conduct scanning. 
         [0049]    The deformation and electric signals as detected by the muscle stretch sensor  11  can be highly complicate and volatile. Even when there are definitions in the muscle template training method  50  regarding what muscle movement characteristics are to be interpreted as what control commands  152  and the user also uses movements defined by the muscle template to do the control, we still need to have some proper method to accurately identify a muscle template movement and its corresponding control command  152 , so that the system can work properly as desired. We thus need a method that can process, analyze, and identify the electrical signals detected by the strain gauges  113 . 
         [0050]      FIG. 4  shows the method and steps by which the multi-functional control interface  10  of the present invention construct and process the potential image signals. The potential image signal construction and processing method  40  comprises the following steps: 
         [0051]    forming digital electric signals  41 : the detected signals processed by the multiplexer amplifying filter  12  and the analog-to-digital converter  13  to become digital electric signals  131 ; 
         [0052]    potential image construction  42 : image processing unit  14  received digital electric signals  131  and convert them into grey scale pixel signals forming specific potential images  421  which potential images  421  are graphs, presented in black and white ; this is done by normalizing the irregularly or regularly shaped electric voltage signals into 256 categories and then re-arranging them in gray level dot matrix images; 
         [0053]    pre-processing the images  43 : characteristics of these potential images  421  are highlighted—for example, the gray level signals are “discretized” so that iso-potential lines and iso-potential points can be identified; 
         [0054]    grouping the images  44 : after the characteristics were highlighted, the potential images can be grouped, according to their characteristics, and tallied with those in the muscle template database  15 . The user can, for example, use fuzzy neural network analysis to do the necessary characteristics grouping and tallying; 
         [0055]    generating movement commands  45 : after image grouping  44  and tallying with the muscle template database  15 , movement commands  152  are given to the control bus  20 , to conduct various controls of the care-taking machine; and 
         [0056]    obtaining the next step  46 : after the above control cycle is completed, the next step goes back to the potential image construction step  42 , starting the next control cycle. 
         [0057]    The above method of potential image construction and processing  40  not only can be used to process signals detected by the strain gauges  113 , but can be used to process, analyze, and identify massive electrical-potential signals, which are detected by other detectors and highly complicated, such as the signals of multi-channel EEGs and EMGs. 
         [0058]    Compared with the prior art, the multi-functional control interface for care-taking machines developed by the present invention makes use of special detecting design and potential image processing techniques. As it provides better detection mobility, it is an interface adequate for controlling and operating a multi-functional care-taking machine. Besides, the multi-functional interface for a care-taking machine designed in accordance with the spirit of the present invention also excels over the prior art in terms of instant controllability and operation convenience—comparisons of which are shown in Table 2 below. 
         [0000]    
       
         
               
             
               
               
               
             
               
               
               
               
             
               
               
               
               
             
           
               
                 TABLE 2 
               
             
             
               
                   
               
               
                 COMPARISONS OF THE MULTI-FUNCTIONAL CARETAKING 
               
               
                 MACHINE INTERFACE OF THE PRESENT INVENTION 
               
               
                 AND THOSE OF THE PRIOR ART 
               
             
          
           
               
                   
                 multi-functional 
                   
               
               
                   
                 interface of the present 
                 The prior art 
               
             
          
           
               
                   
                 invention 
                 EMGs 
                 facial expressions 
               
               
                   
                   
               
             
          
           
               
                 detecting components 
                 strain gauges 
                 electrode 
                 monitor/camera 
               
               
                 what is detected 
                 strains 
                 voltage 
                 images 
               
               
                 density of components 
                 high/medium 
                 low 
                 high 
               
               
                 parts of body to be 
                 Any moveable parts 
                 Any moveable parts 
                 face 
               
               
                 detected 
               
               
                 freedom of control 
                 high/medium 
                 medium 
                 high 
               
               
                 user disability 
                 high/medium 
                 high/medium 
                 high/medium 
               
               
                 processing techniques 
                 signal values 
                 signal values 
                 image processing 
               
               
                   
                 image processing 
                 threshold voltage 
               
               
                 instant 
                 medium 
                 medium 
                 low 
               
               
                 controllability 
               
               
                 risks of mistakes 
                 medium/low 
                 medium 
                 medium 
               
               
                 pretreatment 
                 no 
                 parts of body where 
                 no 
               
               
                   
                   
                 detectors are attached 
               
               
                   
                   
                 needs special treatment 
               
               
                   
               
             
          
         
       
     
         [0059]    To sum up, the present invention not only is innovative in technological thinking, but does offer much more functions than the prior art, making it eligible for patents. The inventor hereby presents this application for your examiners esteemed evaluation. 
         [0060]    As is understood by a person skilled in the art, the foregoing preferred embodiment of the present invention is an illustration, rather than a limiting description, of the present invention. It is intended to cover various modifications and similar arrangements included within the spirit and scope of the appended claims, the scope of which should be accorded the broadest interpretation so as to encompass all such modifications and similar structures.