CN107115114A - Human Stamina evaluation method, apparatus and system - Google Patents
Human Stamina evaluation method, apparatus and system Download PDFInfo
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Abstract
The embodiment of the invention discloses a kind of Human Stamina evaluation method, apparatus and system, wherein this method includes：The athletic posture data of patient's detected part are obtained by multiple inertial sensors, wherein detected part includes at least one joint, and multiple inertial sensors are fixed on the limbs being connected with the joint according to default modelling of human body motion；The movement angle at least one joint according to athletic posture data are calculated respectively；The locomitivity of the detected part is determined according to the movement angle at least one joint.The embodiment of the present invention is based on clinical demand and the modelling of human body motion simplified, human motion attitude data is obtained by inertial sensor, each free degree for different joints is decomposed to human motion, calculate movement angle, locomitivity is evaluated, infomation detection is comprehensive and can meet clinical diagnosis demand.Other algorithm is not limited by human body walking direction, and it must be straight line that human body walking direction is not limited yet, and detection is flexible.
Description
Technical field
The present embodiments relate to human motion detection technique field, more particularly to a kind of Human Stamina evaluation side
Method, apparatus and system.
Background technology
At present, China's Aging Problem is increasingly serious, and hemiplegia is the high morbidity in elderly population, therefore for old age
The posthemiplegic rehabilitation of people is particularly important.Due to the damage of nervous system, hemiplegic patient lacks muscular movement control energy
Power, especially sports coordination ability, therefore, the rehabilitation of hemiplegic patient need one long-term and comprehensive training.
Traditional Rehabilitation training is mostly hand-manipulated by therapist, and Rehabilitation state and training parameter adjustment need to rely on
The subjective judgement of rehabilitation therapist, lacks unified quantitative criteria, so as to influence the accuracy of diagnosis.For this problem, state
Inside and outside researcher is proposed, quantitative evaluation system is set up for rehabilitation training.Movement detection systems are to set up locomitivity evaluation
The key components of system.Conventional human motion detection technique is mainly included at present：Mechanically tracking, optical sensor, sound wave
Tracking, electromagnetism tracking and inertia sensing etc..
Mechanical tracking systems are the motion tracking technologies of most original, available for mans motion simulation, remote operation, rehabilitation doctor
Learn and virtual reality emulation.Yet with the difference between people, Mechanical tracking systems are necessary for each patient and recalibrated, calibration
It is complicated and time-consuming.User is difficult to well be interacted with physical object in a natural manner, and fluffy due to mechanical system
Song Xing, it is difficult to the movable information of accurate acquisition patient.
Optical sensor is the motion detection mode of current Major Epidemic, is based especially on the motion tracking system of video camera.
The system follows the trail of human body or the mark point being fixed on human body by video camera, and then computing obtains human body motion track.Generally
In the case of, all there is following defect in most of motion trackings based on optical sensing technology：Required light path, which is blocked, occurs figure
As obstruction, the interference of other light sources.Therefore these systems can only be used to, in calibration chamber, be not particularly suited for outdoor.Due to move with
The mark of track should be observed by multiple cameras all the time, and optical sensor is used when carrying out rehabilitation to patient using healing robot
System, can be disturbed by robot or rehabilitation therapist, and need object all the time in video camera sight.These shortcomings are limited
Application of the optical induction system in rehabilitation training.
Inertia sensing is relatively new motion tracking system, the MVN BIOMECH motion capture systems of such as Xsens companies
Inertial sensor is connected to there is provided six degree of freedom tracking by body by Lycra western-style clothes, but the sensor bulk is excessive, dresses
Line loosening easily occurs for sensor in journey, influences information gathering.
Currently for the numerous motion detections and evaluation system of rehabilitation training, it is impossible under the conditions of the complicated rehabilitation environment of satisfaction
Motion detection demand, for example, optical detection is vulnerable to healing robot or the interference of therapist, the movable information of detection is not complete enough
Face is also not accurate enough, causes motion detection and evaluation result can not meet clinical rehabilitation demand.In view of the above-mentioned problems, at present not yet
Propose effective solution.
The content of the invention
The embodiment of the present invention provides a kind of Human Stamina evaluation method, apparatus and system, clinical sports infomation detection
Comprehensively, clinical diagnosis demand is disclosure satisfy that, and is not limited by human body walking direction.
In a first aspect, the embodiments of the invention provide a kind of Human Stamina evaluation method, including：Pass through multiple inertia
Sensor obtains the athletic posture data of patient's detected part, wherein, the detected part includes at least one joint, described many
Individual inertial sensor is fixed on the limbs being connected with the joint according to default modelling of human body motion；According to the motion appearance
State data calculate the movement angle at least one joint respectively；Institute is determined according to the movement angle at least one joint
State the locomitivity of detected part.
Further, according to the athletic posture data are calculated respectively at least one joint movement angle, including：Pin
To each joint, according to the relative change to the athletic posture data of two limbs that the joint is connected calculate the joint it is corresponding oneself
By the movement angle spent.
Further, the movement angle in joint is calculated using below equation：
Wherein, TM represents x, y, z axle；Represent the anglecs of rotation of the joint J around TM axles；atan2x(A, B) returns to three-dimensional sit
Mark A (xA, yA, zA)、B(xB, yB, zB) on (yB+zAI) argument；atan2y(A, B) returns to three-dimensional coordinate A (xA, yA, zA), B
(xB, yB, zB) on (zB+xAI) argument；atan2z(A, B) returns to three-dimensional coordinate A (xA, yA, zA), B (xB, yB, zB) on
(xB+yAI) argument；RepresentProjection coordinate on plane YOZ,RepresentProjection on plane XOZ
Coordinate,RepresentProjection coordinate on plane XOY；Represent to pass through the fortune
Unit vector coordinate after dynamic attitude data conversion； For right
VJCU' enter row-column transform.
Further, V is calculated using below equationJCU′：
VJCU'=qJC×VJCU×qJC -1,
Wherein, Represent respectively along seat
The unit vector coordinate of mark system x, y, z axle；qJCThe quaternary number of two limbs relative attitude differences being connected with joint J is represented, Represent the limbs SK being connected with joint JnCalibrated attitude quaternion,Represent the limbs SK being connected with joint JnIn moment t attitude quaternion,Represent limbs SKnIn initial time
Attitude quaternion it is inverse； Represent the limbs SK being connected with joint Jn+1Calibrated posture four
First number,Represent the limbs SK being connected with joint Jn+1In moment t attitude quaternion,Represent limbs SKn+1First
Begin the moment attitude quaternion it is inverse.
Further, the locomitivity of the detected part is determined according to the movement angle at least one joint, including：
The each free degree being related to for the detected part, according to corresponding joint under the movement angle and same pace of the free degree
The joint in health status calculates the rehabilitation degree of the free degree in the movement angle of the free degree；According to each free degree
Rehabilitation degree calculate the rehabilitation degree of the detected part.
Further, the rehabilitation degree of the free degree is calculated using below equation：
Wherein, RiRepresent the rehabilitation degree of i-th of free degree；DiRepresent corresponding joint at the motion angle of i-th of free degree
Degree；HiRepresent movement angle of the corresponding joint in health status in i-th of free degree under same pace；Represent
DiWith HiCoefficient correlation.
Further, the rehabilitation degree of the detected part is calculated using below equation：
Wherein, RGRepresent the rehabilitation degree of the detected part；N represents the free degree number that the detected part is related to；Ri
Represent the rehabilitation degree of i-th of free degree；ωiRepresent RiWeight coefficient.
Further, the locomitivity of the detected part is determined according to the movement angle at least one joint, including：
For each joint, the angular speed in the joint is calculated according to the movement angle in the joint；Calculate the angular speed in the joint
With the ratio of the angular speed in the joint in health status under same pace；The rehabilitation in the joint is determined according to the ratio
State.
Second aspect, the embodiment of the present invention additionally provides a kind of Human Stamina evaluating apparatus, including：Data acquisition mould
Block, the athletic posture data for obtaining patient's detected part by multiple inertial sensors, wherein, the detected part includes
At least one joint, the multiple inertial sensor is fixed on the limb being connected with the joint according to default modelling of human body motion
On body；Movement angle computing module, the motion at least one joint described in being calculated respectively according to the athletic posture data
Angle；Locomitivity determining module, the fortune for determining the detected part according to the movement angle at least one joint
Kinetic force.
The third aspect, the embodiment of the present invention additionally provides a kind of Human Stamina evaluation system, including：It is one or more
Processor；Memory, for storing one or more programs；Communication interface, for being communicated with inertial sensor；Inertia is passed
Sensor, the athletic posture data for gathering patient's detected part；When one or more of programs are one or more of
Computing device so that one or more of processors realize that the Human Stamina that any embodiment of the present invention is provided is commented
Valency method.
Human Stamina of embodiment of the present invention evaluation method, apparatus and system, based on clinical demand and the human body simplified
Motion model, by inertial sensor obtain human motion attitude data, for different joints each free degree to human motion
Decomposition analysis is carried out, articulation angle is calculated, locomitivity or motion state is evaluated, clinical sports infomation detection is complete
Face, disclosure satisfy that clinical diagnosis demand.In addition the present invention algorithm do not limited by human body walking direction, i.e., human body can along appoint
The walking of meaning direction, it must be straight line that human body walking direction is not limited yet, detect that comparison is flexible.
Brief description of the drawings
Fig. 1 is the flow chart for the Human Stamina evaluation method that the embodiment of the present invention one is provided；
Fig. 2 is the schematic diagram for the default modelling of human body motion that the embodiment of the present invention one is provided；
Fig. 3 is the reference axis schematic diagram for the inertial sensor that the embodiment of the present invention one is provided；
Fig. 4 is the fixation sensor coordinate system and global reference frame graph of a relation of the embodiment of the present invention one；
Fig. 5 is the sensor mounting location schematic diagram of the embodiment of the present invention one；
Fig. 6 is the structured flowchart for the Human Stamina evaluating apparatus that the embodiment of the present invention four is provided；
Fig. 7 is the structured flowchart for the Human Stamina evaluation system that the embodiment of the present invention five is provided；
Fig. 8 a to Fig. 8 g are movement angle-step phase cycles of the different each frees degree in joint of subject of the embodiment of the present invention six
Curve synoptic diagram；
Fig. 9 a to Fig. 9 g are that angular velocity of satellite motion-angle of the different each frees degree in joint of subject of the embodiment of the present invention six is bent
Line schematic diagram；
Figure 10 a to Figure 10 g are motion angular acceleration-steps of the different each frees degree in joint of subject of the embodiment of the present invention six
Phase cycle curve synoptic diagram.
Embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention, rather than limitation of the invention.It also should be noted that, in order to just
Part related to the present invention rather than entire infrastructure are illustrate only in description, accompanying drawing.
Embodiment one
Fig. 1 is the flow chart for the Human Stamina evaluation method that the embodiment of the present invention one is provided, and the present embodiment is applicable
The situation for detecting and evaluating in human motion, this method can be performed by Human Stamina evaluating apparatus, specifically, the dress
Putting can be computer or the other equipment with communication and computing function.As shown in figure 1, this method specifically includes following step
Suddenly：
Step 110, the athletic posture data of patient's detected part are obtained by multiple inertial sensors, wherein, portion to be measured
Position includes at least one joint, and multiple inertial sensors are fixed on the limbs being connected with joint according to default modelling of human body motion
On.
Due to the particularity of rehabilitation training environment, the detection of the gait of patient requires that sensor has precision height, easy donning, again
Measure the features such as light, anti-interference, stability is good, therefore inertial sensor in the present embodiment is using small volume, easy to wear, anti-
The sensor of interference is acquired to patient's gait information, specifically, can be opened using Gao Xichun husbands research department of Waseda University
The WB sensors of hair, the sensor can be used to by the upper part of the body using 12 Inertial Measurement Units (IMU), the lower part of the body using 8
Property measuring unit (IMU) carry out the measurement of whole body kinematics, it is very convenient installing, can quickly set up measuring environment, survey
Measure scope big, and radio communication can be carried out by bluetooth between IMU and other equipment.It is, for example, possible to use LP-
Researsh motion sensors versions (LPMS-B), the sensor is a kind of micro radio Inertial Measurement Unit (IMU)/boat
Appearance frame of reference (AHRS), with versatility, it is accurate to perform, at a high speed orientation and displacement measurement, different by using three
MEMS (MEMS, Microelectro Mechanical Systems) sensor (3 axle gyroscopes, 3 axis accelerometers
With 3 axle magnetometers), realize the collection without drift, high speed directional data around all three axles.
Athletic posture data are the data of inertial sensor output, i.e. attitude quaternion.Quaternary number is simple supercomplex,
Quaternary number three imaginary units i, j, k on real add are constituted, and each quaternary number is 1, i, j and k linear combination, quaternary number
A+bk+cj+di is represented by, wherein a, b, c, d is real number.Quaternary number belongs to concept mathematically, and it can use matrix form
Represent, the present embodiment is to quaternary number without describing in detail.
Detected part can be specific some joint (such as wrist, knee) or upper limbs, lower limb, whole body etc.
It is related to the position in multiple joints.Detected part can be determined according to detection evaluation demand, after determining detected part, with reference to default
Modelling of human body motion can determine the specific installation site of inertial sensor, inertial sensor is fixed on limbs, then may be used
To obtain the attitude quaternion of the limbs.Specifically, can by binding, paste (such as VELCRO), buckle mode by inertia
Sensor is fixed on correspondence limbs.Different detected parts includes different joints, general each joint with two limbs phases
Even.The athletic posture data of detected part are exactly the relevant limb using multiple inertial sensor continuous collectings within a period of time
Athletic posture data.
Default modelling of human body motion is the simplification to motion process manikin.Skeleton construction is sufficiently complex, is
Realize the analysis in real time to human motion, it is necessary to which skeleton structure simplified.Transported according to manikin and human body
Manikin is reduced in Degree of Freedom Analysis when dynamic, the present embodiment as shown in Fig. 2 the modelling of human body motion simplified includes：
Head, upper trunk, two large arm, two forearms, two palms, waist, two thighs, two shanks and two pin, in fig. 2,
Human body various pieces represent that head is represented with circle with straight line, and articular portion is represented with the symbol for representing the free degree.The pass of human body
Section includes：Neck joint, shoulder joint, elbow joint, wrist joint, articulations digitorum manus, lumbar vertebrae, hip joint, knee joint, ankle-joint, toes joint
Generally can be divided into the frees degree such as flexing/stretching, extension, internal/external rotations, interior receipts/abduction Deng, joint, wherein internal/external rotations be one from
By the different directions spent, interior receipts/abduction, flexing/stretching, extension are similarly.On different joints, the free degree has different addresses, example
Such as, the corresponding free degree of ankle-joint has internal/external rotations, inversion/eversion, toe to bend/dorsiflex, and the corresponding free degree of hip joint has in the wrong
Song/stretching, extension, interior receipts/abduction, internal/external rotations, the corresponding free degree of knee joint is flexing/stretching, extension.
For example, detected part is upper limbs, including shoulder joint, elbow joint and wrist joint, wherein, the locomitivity of shoulder joint is
By large arm in the athletic posture of shoulder come what is evaluated, the locomitivity of elbow joint is the motion by forearm relative to large arm
Posture evaluated, and carpal locomitivity is by palm is evaluated relative to the athletic posture of forearm.Cause
Inertial sensor, can be fixed on shoulder, large arm, forearm and palm by this, to obtain the attitude quaternion of these limbs.Lumbar vertebrae
Locomitivity be that athletic posture by waist relative to upper body is evaluated, the locomitivity of hip joint be by thigh in
The athletic posture of waist evaluated, and kneed locomitivity is by shank is carried out relative to the athletic posture of thigh
Evaluation, the locomitivity of ankle-joint is by foot is evaluated relative to the athletic posture of shank.
Step 120, according to athletic posture data are calculated respectively at least one joint movement angle.
In this step, for each joint, according to the relative change of the athletic posture data for two limbs being connected with the joint
Change the movement angle for calculating the joint in the corresponding free degree.That is, the relative change of limbs is converted into space angle.Example
Such as, the athletic posture change according to waist relative to upper body can obtain the movement angle of lumbar vertebrae.
There is corresponding relation in the free degree and reference axis, sensor coordinates axle and human body are understood according to sensor mounting location
Relative position relation, it can thus be appreciated that the free degree and the corresponding relation of reference axis in joint.For example, biography fixed on thigh and shank
Sensor, x-axis is towards human body right side, and down, z is towards human body front, it follows that the free degree (flexing/stretching, extension) of knee is around x for y-axis
Axle rotates, i.e., knee joint is the anglec of rotation of the joint around x-axis in the movement angle of flexing/stretching, extension free degree.
Step 130, the locomitivity of detected part is determined according to the movement angle at least one joint.
In this step, each joint according to included by detected part corresponds to the movement angle of the free degree at it, and identical
Under the conditions of in health status the joint movement angle, the locomitivity of detected part, wherein locomitivity can be obtained
Can be rehabilitation degree, rehabilitation state etc..
The Human Stamina evaluation method of the present embodiment, based on clinical demand and the modelling of human body motion simplified, passes through
Inertial sensor obtains human motion attitude data, and each free degree for different joints carries out decomposition analysis to human motion,
Movement angle is calculated, locomitivity or motion state are evaluated, clinical sports infomation detection comprehensively, disclosure satisfy that clinic is examined
Disconnected demand.The algorithm of the present invention is not limited by human body walking direction in addition, i.e., human body can walk along any direction, also not limit
Human body walking direction processed must be straight line, detect that comparison is flexible.
, it is necessary to be referred to according to fixed sensor coordinate system with global after the athletic posture data of inertial sensor collection limbs
Gun parallax between coordinate system, calculates and exports the attitude quaternion for being available for subsequently using.Specifically, formula (1) can be used to enter
Row is calculated.
Qsensor=qDifferenceQGlobalqDifference -1 (1)
Wherein, QsensorThe data (i.e. the attitude quaternion of inertial sensor output) under sensor coordinate system are represented,
QGlobalRepresent the data under global reference frame, qDifferenceRepresent fixed sensor coordinate system and global reference frame
Between gun parallax, qDifference -1Represent the inverse of the gun parallax.
By taking LPMS-B sensors as an example, its reference axis schematic diagram is as shown in figure 3, fixed sensor coordinate system is referred to global
The relation of coordinate system is as shown in figure 4, wherein, roll is represented around Z axis rotation, and pitch represents that, around X-axis rotation, yaw represents to enclose
Around the rotation of Y-axis line.Based on simplified modelling of human body motion, sensor mounting location as shown in figure 5,15 inertial sensors can be with
Human body different parts are respectively installed to, so as to carry out the acquisition of each limbs attitude quaternion.It should be noted that shoulder can also
Install sensor, shoulder joint is floating structure, has a floating to float downward the free degree (such as shrugging), but in gait processes, shoulder joint
The floating free degree of section is not moved substantially, therefore reduces the two frees degree, and the installation site of sensor decreases a left side
The two positions of right shoulder.
It is preferred that, the communication mode between sensor and Human Stamina evaluating apparatus (such as computer) can be wireless
Mode, for example, infrared, bluetooth, NFC etc..By taking bluetooth as an example, the communication interface or transceiver of computer are (for example, universal asynchronous receive
Hair transmitter UART) communicated by bluetooth with sensor, and sensor code key and MAC Address are obtained, then by sensor
MAC Address be converted to IP address and port.Then Human Stamina evaluating apparatus (such as computer) can enter with sensor
Row communication, obtains the attitude quaternion that the sensor being fixed on human body is sent.
Embodiment two
On the basis of embodiment one, present embodiments provide according to athletic posture data calculate articulation angle and
Determine a kind of implementation of detected part locomitivity.
Specifically, the movement angle in joint can be calculated using formula (2)：
Wherein, TM represents x, y, z axle；Represent the anglecs of rotation of the joint J around TM axles；atan2x(A, B) returns to three-dimensional sit
Mark A (xA, yA, zA)、B(xB, yB, zB) on (yB+zAI) argument；atan2y(A, B) returns to three-dimensional coordinate A (xA, yA, zA), B
(xB, yB, zB) on (zB+xAI) argument；atan2z(A, B) returns to three-dimensional coordinate A (xA, yA, zA), B (xB, yB, zB) on
(xB+yAI) argument；RepresentProjection coordinate on plane YOZ,RepresentProjection on plane XOZ
Coordinate,RepresentProjection coordinate on plane XOY；Represent by motion appearance
Unit vector coordinate after state data conversion； For to VJCU' enter
Row-column transform.
The general joint for carrying out motion detection and evaluating includes：Neck joint, left and right shoulder joint, left and right elbow joint, left and right wrist
Joint, lumbar vertebrae, left and right hip joint, left and right knee joint and left and right ankle-joint.The movement angle of joint freedom degrees by joint around x,
Y, z-axis anglec of rotation performance.Obtain the limbs SK being connected with joint JnAnd SKn+1Attitude quaternion after, according to posture quaternary
Number calculates the relative change of above-mentioned two limbs, can obtain the movement angle that joint J corresponds to its free degree.Below to joint J
Calculating process around the anglec of rotation of x, y, z axle is illustrated.
Wherein,Represent the limbs SK being connected with joint JnIn moment t attitude quaternion；Represent limbs SKn
Initial time attitude quaternion it is inverse；Represent the limbs SK being connected with joint JnCalibrated attitude quaternion；
Represent the limbs SK being connected with joint Jn+1In moment t attitude quaternion；Represent limbs SKn+1In initial time
Attitude quaternion it is inverse；Represent the limbs SK being connected with joint Jn+1Calibrated attitude quaternion.
The attitude quaternion of initial time is the data corresponding to the limbs initial attitude that inertial sensor detection is obtained, just
Beginning posture is particular pose, and human body is in midstance when detecting initial and both feet close up.
Wherein, qJCRepresent the quaternary number of two limbs relative attitude differences being connected with joint J.
VJCU'=qJC×VJCU×qJC -1 (6)
Wherein, Represent respectively along seat
The unit vector coordinate of mark system x, y, z axle；Represent the list after attitude quaternion is changed
Bit vector coordinate.
Wherein, TM represents x, y, z axle,RepresentProjection coordinate on plane YOZ,RepresentFlat
Projection coordinate on the XOZ of face,RepresentProjection coordinate on plane XOY；
For right
VJCU' carry out line translation； For to VJCU' enter row-column transform.
Calculating is obtainedAfterwards, the anglecs of rotation of the joint J around x, y, z axle can be calculated according to above-mentioned formula (2).
Articulation angle is the basic parameter for reflecting joint mobility, and step 130 can include：For detected part
The each free degree being related to, being somebody's turn to do for health status is according to corresponding joint under the movement angle and same pace of the free degree
Joint calculates the rehabilitation degree of the free degree in the movement angle of the free degree；Calculated and treated according to the rehabilitation degree of each free degree
Survey the rehabilitation degree at position.
It is preferred that, the rehabilitation degree of i-th of free degree can be calculated using formula (8)：
Wherein, RiRepresent the rehabilitation degree of i-th of free degree；DiRepresent corresponding joint at the motion angle of i-th of free degree
Degree；HiRepresent movement angle of the corresponding joint in health status in i-th of free degree under same pace；Represent
DiWith HiCoefficient correlation.
It is preferred that, the rehabilitation degree of detected part can be calculated using formula (9)：
Wherein, RGRepresent the rehabilitation degree of detected part；N represents the free degree number that detected part is related to；RiRepresent i-th
The rehabilitation degree of the individual free degree；ωiRepresent RiWeight coefficient.
Above-mentioned each formula carries out decomposition analysis for each free degree in different joints to human motion, calculates the fortune in each joint
Dynamic angle, and then locomitivity or motion state are evaluated, clinical sports infomation detection comprehensively, disclosure satisfy that clinical diagnosis
Demand, and calculation is simple and reliable.
Embodiment three
The joint motions speed of patient and the joint motions speed of healthy person have very big difference, therefore, joint motions speed
It is also the key parameter for reflecting joint mobility, joint mobility can be judged by angle-angular speed change.
On the basis of above-described embodiment one and embodiment two, present embodiments provide based on movement velocity evaluation patient articular's rehabilitation shape
The method of state.
In the present embodiment, step 130 can include：For each joint, joint is calculated according to the movement angle in joint
Angular speed；Calculate the ratio of the angular speed in the joint in health status under the angular speed and same pace in joint；According to than
Value determines the rehabilitation state in joint.According to the angular speed of patient articular under same case and the ratio of the angular speed of healthy joint,
The rehabilitation state of patient articular can be determined.
Specifically, the angular speed in joint can be calculated using formula (10)：
Wherein, TM represents x, y, z axle；Represent angular velocity of rotations of the joint J around TM axles；Represent joint J around TM axles
The anglec of rotation；Expression pairDerivation.
It is preferred that, the angular speed-angle curve in the joint can also be drawn according to articulation angle and angular velocity data,
Calculated curve envelope size.It is preferred that, patient articular's rehabilitation state can be evaluated using formula (11)：
Wherein, EαRepresent the critical parameter of patient articular's α rehabilitation states, EαCloser to 1, patient articular's state is better；α tables
Show joint title, represent knee joint, h for example, a represents ankle-joint, k and represent hip joint etc.；AdαThe angular speed of expression patient articular-
Angle curve envelope size；AhαIt is angular speed-angle curve envelope size of healthy joint under same pace.
Joint recovering is obtained according to the angular speed of patient articular and healthy joint-angle curve envelope size in the present embodiment
State, method is simply easily achieved.
Furthermore it is also possible to calculate the angular acceleration in joint, angular acceleration, which can be used for calculating muscle, instantaneously to be played power etc. and comments
Valency factor, calculates the health degree and rehabilitation degree of patient muscle's function.The angle that joint specifically can be calculated by formula (12) adds
Speed.
Wherein, TM represents x, y, z axle；Represent rotating angular accelerations of the joint J around TM axles；Represent joint J around TM
The angular velocity of rotation of axle；Expression pairDerivation.
Example IV
A kind of Human Stamina evaluating apparatus is present embodiments provided, can be used for realizing that above-mentioned Human Stamina is commented
Valency method.As shown in fig. 6, the device includes：Data acquisition module 61, movement angle computing module 62 and locomitivity determine mould
Block 63.
Wherein, data acquisition module 61, the athletic posture for obtaining patient's detected part by multiple inertial sensors
Data, wherein, detected part includes at least one joint, and multiple inertial sensors are fixed on according to default modelling of human body motion
On the limbs being connected with joint；Movement angle computing module 62, for described in being calculated respectively according to athletic posture data at least one
The movement angle in individual joint；Locomitivity determining module 63, for determining to treat according to the movement angle at least one joint
Survey the locomitivity at position.
The Human Stamina evaluating apparatus of the present embodiment, based on clinical demand and the modelling of human body motion simplified, passes through
Inertial sensor obtains human motion attitude data, and each free degree for different joints carries out decomposition analysis to human motion,
Movement angle is calculated, locomitivity or motion state are evaluated, clinical sports infomation detection comprehensively, disclosure satisfy that clinic is examined
Disconnected demand.The algorithm of the present invention is not limited by human body walking direction in addition, i.e., human body can walk along any direction, also not limit
Human body walking direction processed must be straight line, detect that comparison is flexible.
Movement angle computing module 62 specifically for：For each joint, according to the fortune for two limbs being connected with the joint
The relative change of dynamic attitude data calculates movement angle of the joint in the corresponding free degree.
Movement angle computing module 62 is specifically for the movement angle using below equation calculating joint：
Wherein, TM represents x, y, z axle；Represent the anglecs of rotation of the joint J around TM axles；atan2x(A, B) returns to three-dimensional sit
Mark A (xA, yA, zA)、B(xB, yB, zB) on (yB+zAI) argument；atan2y(A, B) returns to three-dimensional coordinate A (xA, yA, zA), B
(xB, yB, zB) on (zB+xAI) argument；atan2z(A, B) returns to three-dimensional coordinate A (xA, yA, zA), B (xB, yB, zB) on
(xB+yAI) argument；RepresentProjection coordinate on plane YOZ,RepresentProjection on plane XOZ
Coordinate,RepresentProjection coordinate on plane XOY；Represent by motion appearance
Unit vector coordinate after state data conversion； For to VJCU' enter
Row-column transform.
Movement angle computing module 62 using below equation specifically for calculating VJCU′：
VJCU'=qJC×VJCU×qJC -1,
Wherein, Represent respectively along seat
The unit vector coordinate of mark system x, y, z axle；qJCThe quaternary number of two limbs relative attitude differences being connected with joint J is represented, Represent the limbs SK being connected with joint JnCalibrated attitude quaternion,Represent the limbs SK being connected with joint JnIn moment t attitude quaternion,Represent limbs SKnIn initial time
Attitude quaternion it is inverse； Represent the limbs SK being connected with joint Jn+1Calibrated posture four
First number,Represent the limbs SK being connected with joint Jn+1In moment t attitude quaternion,Represent limbs SKn+1First
Begin the moment attitude quaternion it is inverse.
Locomitivity determining module 63 includes：First rehabilitation degree computing unit, for for detected part be related to it is every
The individual free degree, the joint of health status is at this according to corresponding joint under the movement angle and same pace of the free degree
The movement angle of the free degree calculates the rehabilitation degree of the free degree；Second rehabilitation degree computing unit, for according to each free
The rehabilitation degree of degree calculates the rehabilitation degree of detected part.
First rehabilitation degree computing unit is specifically for the rehabilitation degree using the below equation calculating free degree：
Wherein, RiRepresent the rehabilitation degree of i-th of free degree；DiRepresent corresponding joint at the motion angle of i-th of free degree
Degree；HiRepresent movement angle of the corresponding joint in health status in i-th of free degree under same pace；Represent DiWith
HiCoefficient correlation.
Second rehabilitation degree computing unit is specifically for the rehabilitation degree using below equation calculating detected part：
Wherein, RGRepresent the rehabilitation degree of detected part；N represents the free degree number that detected part is related to；RiRepresent i-th
The rehabilitation degree of the individual free degree；ωiRepresent RiWeight coefficient.
It is preferred that, locomitivity determining module 63 also includes：Angular speed computing unit, for for each joint, according to
The movement angle in joint calculates the angular speed in joint；Under ratio calculation unit, the angular speed and same pace for calculating joint
The ratio of the angular speed in the joint in health status；Joint recovering determining unit, the health for determining joint according to ratio
Multiple state.
The Human Stamina that the executable any embodiment of the present invention of above-mentioned Human Stamina evaluating apparatus is provided is commented
Valency method, possesses the execution corresponding functional module of this method and beneficial effect.
Embodiment five
A kind of Human Stamina evaluation system is present embodiments provided, can be used for realizing that above-mentioned Human Stamina is commented
Valency method.As shown in fig. 7, the system includes：One or more processors 71；Memory 72, for storing one or more journeys
Sequence；Communication interface 73, for being communicated with inertial sensor 74；Inertial sensor 74, for gathering patient's detected part
Athletic posture data；When one or more of programs are by one or more of computing devices so that one or many
Individual processor realizes the Human Stamina evaluation method described in any embodiment in above-described embodiment one to three.Inertial sensor
74 are fixed on the limbs being connected with detected part joint according to default modelling of human body motion.Wherein, processor 71, memory
72 and communication interface 73 can with it is integrated on computers, realize communication and computing function.
The Human Stamina evaluation system of the present embodiment, based on clinical demand and the modelling of human body motion simplified, passes through
Inertial sensor obtains human motion attitude data, and each free degree for different joints carries out decomposition analysis to human motion,
Movement angle is calculated, locomitivity or motion state are evaluated, clinical sports infomation detection comprehensively, disclosure satisfy that clinic is examined
Disconnected demand.The algorithm of the present invention is not limited by human body walking direction in addition, i.e., human body can walk along any direction, also not limit
Human body walking direction processed must be straight line, detect that comparison is flexible.
Above-mentioned Human Stamina evaluation system can perform the method that any embodiment of the present invention is provided, and possessing execution should
The corresponding functional module of method and beneficial effect.
Embodiment six
There is provided a kind of preferred embodiment based on above-described embodiment for the present embodiment.In this preferred embodiment, with detected part
Exemplified by the lower limb of subject, the movable information of hip joint, knee joint, ankle-joint is detected, and its motion state is entered
Row is evaluated.
Inertial sensor is arranged on body by subject, and is moved on walking machine.Wherein, waist, thigh, small
The sensor fixed form of leg is：Sensors X axle is towards on the right side of human body itself, and Y-axis is towards below subject, and Z axis is towards human body
Front, and using bandage tighten on front side of human body waist middle part, closed on front side of thigh at knee joint and close to ankle on front side of shank
At section；The sensor fixed form of foot is：Sensors X axle is towards on the right side of human body itself, in front of Y-axis human body, Z axis towards by
Above examination person, and tightened using bandage on human body instep.Sensor should be placed on the less place of muscle, to reduce muscular movement band
The influence of the sensor attitude change come.The speed of walking machine is set by professional, specifically with subject personal considerations
It is defined.In data acquisition, for there is the subject of dyskinesia or other influences locomitivity, it is necessary to which support staff exists
Side ensures the safety of subject.
The data receiver software of computer is opened, by way of Bluetooth communication, the attitude quaternion of sensor is received
Into computer.The athletic posture quaternary number of acquisition is entered according to formula (3), (4), (5), (6), (7), (2), (10), (12)
Row processing, the movement angle, angular speed, angle for respectively obtaining subject's hip joint, knee joint, ankle-joint in the correspondence free degree accelerates
Spend information.
Movement angle-step phase cycle curve of each free degree in subject difference joint is horizontal in figure to sit as shown in Fig. 8 a to 8g
Mark represents step phase cycle, is represented with percents, ordinate represents the anglec of rotation, solid line represents subject joint curve, empty
Line represents healthy joint curve.Hip joint around X-axis the anglec of rotation-step phase cycle curve synoptic diagram as shown in Figure 8 a, correspond to
The flexing of the hip joint/stretching, extension free degree；Hip joint around Y-axis the anglec of rotation-step phase cycle curve synoptic diagram as shown in Figure 8 b, it is right
Should be in interior receipts/abduction free degree of hip joint；The anglec of rotation-step phase cycle curve synoptic diagram such as Fig. 8 c the institutes of hip joint about the z axis
Show, corresponding to the internal/external rotations free degree of hip joint；The anglec of rotation-step phase cycle curve synoptic diagram such as figure of the ankle-joint around X-axis
Shown in 8d ,/dorsiflex the free degree is bent corresponding to the toe of ankle-joint；The anglec of rotation-step phase cycle curve synoptic diagram of the ankle-joint around Y-axis
As figure 8 e shows, corresponding to the inversion/eversion free degree of ankle-joint；The anglec of rotation-step phase cycle the curve of ankle-joint about the z axis shows
It is intended to as illustrated in fig. 8f, corresponding to the internal/external rotations free degree of ankle-joint；Knee joint is bent around the anglec of rotation-step phase cycle of X-axis
Line schematic diagram as illustrated in fig.8g, corresponding to kneed flexing/stretching, extension free degree.From Fig. 8 a to 8g, patient articular is with being good for
Kang Guanjie movement angle is differed, and can reflect the health degree and rehabilitation degree of patient articular.
Angular velocity of satellite motion-angle curve of each free degree in subject difference joint is as shown in Fig. 9 a to 9g.According to formula
(8), (9) can obtain the locomitivity R of detected partG, the rehabilitation state E in each joint is can obtain according to formula (11)α.Fig. 9 a
Into 9g, abscissa represents the anglec of rotation, and ordinate represents angular speed, and solid line represents subject joint curve, and dotted line represents health
Joint curve.Hip joint around angular speed-angle of X-axis curve synoptic diagram as illustrated in fig. 9；Hip joint around Y-axis angular speed-
The curve synoptic diagram of angle is as shown in figure 9b；The curve synoptic diagram of the angular speed-angle of hip joint about the z axis is as is shown in fig. 9 c；Ankle
Joint around angular speed-angle of X-axis curve synoptic diagram as shown in figure 9d；Ankle-joint shows around the curve of angular speed-angle of Y-axis
It is intended to as shown in figure 9e；The curve synoptic diagram of the angular speed-angle of ankle-joint about the z axis is as shown in figure 9f；Knee joint is around the angle of X-axis
The curve synoptic diagram of speed-angle is as shown in figure 9g.Angular velocity of satellite motion-angle curve of patient articular is can obtain by Fig. 9 a to 9g
The difference of envelope size, the as seen from the figure angular velocity of satellite motion of patient articular and the angular velocity of satellite motion of healthy joint, can reflect
The health degree and rehabilitation degree of patient articular.
Motion angular acceleration-step phase cycle curve of each free degree in subject difference joint is as shown in Figure 10 a to 10g.Figure
10a abscissas into 10g are represented to walk phase cycle, represented with percents, ordinate represents rotating angular acceleration, solid line is represented
Subject joint curve, dotted line represents healthy joint curve.Curve of the hip joint around rotating angular acceleration-step phase cycle of X-axis
Schematic diagram is as shown in Figure 10 a；Hip joint around rotating angular acceleration-step phase cycle of Y-axis curve synoptic diagram as shown in fig. lob；
The curve synoptic diagram of the rotating angular acceleration-step phase cycle of hip joint about the z axis is as shown in figure l0c；The anglec of rotation of the ankle-joint around X-axis
The curve synoptic diagram of acceleration-step phase cycle is as shown in fig. 10d；Song of the ankle-joint around rotating angular acceleration-step phase cycle of Y-axis
Line schematic diagram is as illustrated in figure 10e；Curve synoptic diagram such as Figure 10 f institutes of the rotating angular acceleration-step phase cycle of ankle-joint about the z axis
Show；Knee joint around rotating angular acceleration-step phase cycle of X-axis curve synoptic diagram as shown in Figure 10 g.It can be obtained by Figure 10 a to 10g
Differed to patient articular with the motion angular acceleration of healthy joint, can reflect that patient muscle instantaneously plays the evaluation such as power
Factor, calculates the health degree and rehabilitation degree of patient muscle's function.
In summary, above-mentioned human motion evaluation method, apparatus and system can anthropological measuring, workplace design,
The field such as the design and evaluation of man-machine system, clinical rehabilitation evaluation, sports science has a wide range of applications.
Note, above are only presently preferred embodiments of the present invention and institute's application technology principle.It will be appreciated by those skilled in the art that
The invention is not restricted to specific embodiment described here, can carry out for a person skilled in the art it is various it is obvious change,
Readjust and substitute without departing from protection scope of the present invention.Therefore, although the present invention is carried out by above example
It is described in further detail, but the present invention is not limited only to above example, without departing from the inventive concept, also
Other more equivalent embodiments can be included, and the scope of the present invention is determined by scope of the appended claims.
Claims (10)
1. a kind of Human Stamina evaluation method, it is characterised in that including：
The athletic posture data of patient's detected part are obtained by multiple inertial sensors, wherein, the detected part is included extremely
A few joint, the multiple inertial sensor is fixed on the limbs being connected with the joint according to default modelling of human body motion
On；
The movement angle at least one joint according to the athletic posture data are calculated respectively；
The locomitivity of the detected part is determined according to the movement angle at least one joint.
2. according to the method described in claim 1, it is characterised in that according to the athletic posture data are calculated respectively at least
The movement angle in one joint, including：
For each joint, the joint is calculated according to the relative change of the athletic posture data for two limbs being connected with the joint and existed
The movement angle of the corresponding free degree.
3. method according to claim 2, it is characterised in that the movement angle in joint is calculated using below equation：
<mrow>
<msub>
<mi>&theta;</mi>
<msub>
<mi>J</mi>
<mrow>
<mi>T</mi>
<mi>M</mi>
</mrow>
</msub>
</msub>
<mo>=</mo>
<mi>a</mi>
<mi>t</mi>
<mi>a</mi>
<mi>n</mi>
<msub>
<mn>2</mn>
<mrow>
<mi>T</mi>
<mi>M</mi>
</mrow>
</msub>
<mrow>
<mo>(</mo>
<msub>
<mi>P</mi>
<mrow>
<msub>
<mi>JC</mi>
<mrow>
<mi>T</mi>
<mi>M</mi>
</mrow>
</msub>
</mrow>
</msub>
<mo>,</mo>
<msub>
<mi>M</mi>
<msub>
<mi>C</mi>
<mrow>
<mi>T</mi>
<mi>M</mi>
</mrow>
</msub>
</msub>
<mo>)</mo>
</mrow>
<mo>,</mo>
</mrow>
Wherein, TM represents x, y, z axle；Represent the anglecs of rotation of the joint J around TM axles；atan2x(A, B) returns to three-dimensional coordinate A
(xA, yA, zA)、B(xB, yB, zB) on (yB+zAI) argument；atan2y(A, B) returns to three-dimensional coordinate A (xA, yA, zA), B (xB,
yB, zB) on (zB+xAI) argument；atan2z(A, B) returns to three-dimensional coordinate A (xA, yA, zA), B (xB, yB, zB) on (xB+
yAI) argument；RepresentProjection coordinate on plane YOZ,RepresentProjection on plane XOZ is sat
Mark,RepresentProjection coordinate on plane XOY；Represent to pass through the motion appearance
Unit vector coordinate after state data conversion； For to VJCU' carry out
Rank transformation.
4. method according to claim 3, it is characterised in that V is calculated using below equationJCU′：
VJCU'=qJC×VJCU×qJC -1,
Wherein, Represent respectively along coordinate system
The unit vector coordinate of x, y, z axle；qJCThe quaternary number of two limbs relative attitude differences being connected with joint J is represented, Represent the limbs SK being connected with joint JnCalibrated attitude quaternion,Represent the limbs SK being connected with joint JnIn moment t attitude quaternion,Represent limbs SKnIn initial time
Attitude quaternion it is inverse； Represent the limbs SK being connected with joint Jn+1Calibrated posture four
First number,Represent the limbs SK being connected with joint Jn+1In moment t attitude quaternion,Represent limbs SKn+1First
Begin the moment attitude quaternion it is inverse.
5. according to the method described in claim 1, it is characterised in that institute is determined according to the movement angle at least one joint
The locomitivity of detected part is stated, including：
The each free degree being related to for the detected part, according to corresponding joint the free degree movement angle with being synchronised
The lower joint in health status of speed calculates the rehabilitation degree of the free degree in the movement angle of the free degree；
The rehabilitation degree of the detected part is calculated according to the rehabilitation degree of each free degree.
6. method according to claim 5, it is characterised in that the rehabilitation journey of the free degree is calculated using below equation
Degree：
<mrow>
<msub>
<mi>R</mi>
<mi>i</mi>
</msub>
<mo>=</mo>
<msub>
<mi>&rho;</mi>
<mrow>
<msub>
<mi>D</mi>
<mi>i</mi>
</msub>
<msub>
<mi>H</mi>
<mi>i</mi>
</msub>
</mrow>
</msub>
<mo>,</mo>
</mrow>
Wherein, RiRepresent the rehabilitation degree of i-th of free degree；DiRepresent movement angle of the corresponding joint in i-th of free degree；Hi
Represent movement angle of the corresponding joint in health status in i-th of free degree under same pace；Represent DiWith Hi
Coefficient correlation.
7. method according to claim 5, it is characterised in that the rehabilitation journey of the detected part is calculated using below equation
Degree：
<mrow>
<msub>
<mi>R</mi>
<mi>G</mi>
</msub>
<mo>=</mo>
<msubsup>
<mi>&Sigma;</mi>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>N</mi>
</msubsup>
<msub>
<mi>&omega;</mi>
<mi>i</mi>
</msub>
<msub>
<mi>R</mi>
<mi>i</mi>
</msub>
<mo>,</mo>
</mrow>
Wherein, RGRepresent the rehabilitation degree of the detected part；N represents the free degree number that the detected part is related to；RiRepresent
The rehabilitation degree of i-th of free degree；ωiRepresent RiWeight coefficient.
8. according to the method described in claim 1, it is characterised in that institute is determined according to the movement angle at least one joint
The locomitivity of detected part is stated, including：
For each joint, the angular speed in the joint is calculated according to the movement angle in the joint；
Calculate the ratio of the angular speed in the joint in health status under the angular speed and same pace in the joint；
The rehabilitation state in the joint is determined according to the ratio.
9. a kind of Human Stamina evaluating apparatus, it is characterised in that including：
Data acquisition module, the athletic posture data for obtaining patient's detected part by multiple inertial sensors, wherein, institute
Stating detected part includes at least one joint, and the multiple inertial sensor is fixed on and institute according to default modelling of human body motion
State on the connected limbs in joint；
Movement angle computing module, the motion angle at least one joint described in being calculated respectively according to the athletic posture data
Degree；
Locomitivity determining module, the motion for determining the detected part according to the movement angle at least one joint
Ability.
10. a kind of Human Stamina evaluation system, it is characterised in that including：
One or more processors；
Memory, for storing one or more programs；
Communication interface, for being communicated with inertial sensor；
Inertial sensor, the athletic posture data for gathering patient's detected part；
When one or more of programs are by one or more of computing devices so that one or more of processors are real
The existing Human Stamina evaluation method as any one of claim 1 to 8.
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