CN107961013A - Portable upper extremity exercise coordination detection system - Google Patents
Portable upper extremity exercise coordination detection system Download PDFInfo
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- A61B5/1126—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb using a particular sensing technique
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Abstract
The present invention discloses a kind of upper limb harmony movement detection systems, including a left side can be worn on respectively, the computer of sensor group and a carrying upper extremity exercise harmony training module on right finesse, the upper extremity exercise harmony training module includes portable guiding action control interface and background processing module, the background processing module includes the data analysis module of upper extremity exercise harmony, the system is used for the index of correlation for studying the movement of human upper limb harmony, contribute to the sports coordination of detection upper limb, the problems such as available for detection childhood inborn sexual organ dysplasia and preventing the harmony relevant disease of the elderly.
Description
Technical field
Present invention relates particularly to a kind of portable upper extremity exercise coordination detection system, for skill learning, behavior science,
The human body harmony motion study in motion control direction, has very big application in the field such as children's motor development and training
Space, belongs to the technical field of physiology evaluation and test.
Background technology
The human upper limb coordinated movement of various economic factors refers under the control of central nervous system, with special exercise or the relevant flesh of action
Group-fixed time-space relationship collective effect, so as to produce steady, accurate, controlled upper extremity exercise.Its main feature is that with appropriate
Speed, distance, direction, rhythm and strength carry out upper extremity exercise.The research of the upper limb coordinated movement of various economic factors is both skill learning, behavior section
Many multi-disciplinary basic theory problems such as, motion control, and in human motion motor development, robot motion's science and bionical
Etc. field has very big application space.
The improvement of upper limb coordinated movement of various economic factors detection instrument will promote the development of coordinated movement of various economic factors theory, and theoretical development pole
The big progress for promoting detection instrument.Pointed out in the closed-loop control theory of human motion：The limbs of people during the motion,
Exercise effect device realizes movement and by the feedback information of movement after the exercise program instruction for obtaining being sent by central control system
It is transferred in central control system, control system sends adjust instruction for current kinetic track, this just optimizes limb motion,
Form closed-loop control.If feedback information deficiency or cental system that effector is sent, which deal with feedback information improperly, can all cause
The trajector deviation of limb motion forms coordinated movement of various economic factors obstacle.
It is since the research of lower limb gait, early in researcher in 1836 earliest for human motion and analysis
Just the walking to the mankind and the limbs run wave rule and are studied Weber.In the sixties in 19th century, the appearance of video camera
Make movement of the mankind to limbs started science, determine quantifier elimination.Originally, the kinematics research to human body is existing by observing
As being analyzed with summary research regulation.
Due to the motion structure of upper limb and the relative complexity of controlling mechanism, the mankind fall behind the motion study of human upper limb
In the research of lower limb.In nineteen sixty-five, former Soviet Union's scientists have recorded the activities of daily life of upper limb earliest.They devise one
The orthoses of a 7 free degree, uses the joint angles of potentiometer measurement upper limb during exercise.By to 7 kinds of activitiess of daily life
Measurement the scopes of activities of each joint angles of upper limb, maximum angular rate and maximum angular acceleration etc. is determined.Later researcher
Safaee_Rad, Cooper and Romolly are to the kinematics parameters of whole arm, such as angular range, angular acceleration and maximum angular
Speed etc. is measured.
The improvement for deeply also promoting detection mode, method to the research of upper limb coordinated movement of various economic factors control mechanism.There are two to do
Go out the scientist of outstanding contributions, wherein one is the famous physiologist Bernstein of the former Soviet Union, another one outstanding person is beautiful
The Saltzman of state, their research theory have milestone property for upper limb coordinated movement of various economic factors research.Bernstein is proposed
It is theoretical on ＂ motion redundancies and the theory for coordinating control ＂, also referred to as motion structure.The it is proposed motor coordination that he creates again later
First (Movement Synergy) control theory, he points out, the movement set mode of joint or muscle constitutes the operation of limbs
Consistent element.Human motion is made of these motor coordination members.Different consistent element combines to form different motion structure
(Movement Synergy), locomotive organ are to combine these consistent elements and motion structure according to motor function.Human body is transported
Dynamic control axis (nervous system) reduces control parameter using motion structure and consistent element, thus by the redundancy of movement
Problem is converted into bottom executing agency-bone and the acceptable simple instruction of muscle, during general conversion and execution,
Kinematic system make use of this theory of coordination law and physiological bounds Bernstein in Human Physiology mechanism to specify ＂ associations
The research direction and scope that member ＂ researchs are upper limb coordinated movement of various economic factors controlling mechanisms are adjusted, this is theoretical for research human upper limb coordination
There is epoch-making significance in terms of the research of movement.
At present, mainly there are three important developing direction in terms of upper limb coordinated movement of various economic factors training：First, in sports side
Face, the upper limb coordinated movement of various economic factors of sportsman is improved by a series of action training, but for the effect of coordinated movement of various economic factors training
The judgement of coach is depended on, the testing result of intuitive is provided without special coordinated movement of various economic factors training detection device.
Second, in terms of rehabilitation, to brain paralysis or have limbs disability patient using the instrument of relevant complementary coordinated movement of various economic factors training come
Treated.H is the coordinated movement of various economic factors instruction that in terms of children's healthy growth the children for having coordinated movement of various economic factors developmental disorder are done with early stage
Practice, help to improve the coordinated movement of various economic factors situation of children.The effect of these coordinated movements of various economic factors training needs relevant detection instrument to do
Go out evaluation, to improve training program and to improve medical assistance instrument.
For the upper limb of people when doing psychomotor task, effect muscle group makes that upper extremity exercise opportunity is correct, the direction of motion is accurate and fortune
Dynamic speed is appropriate, and the execution balance and stability of action is had-fixed rhythmicity.The upper limb coordinated movement of various economic factors is interacted with the upper limb of personnel
Rejection ability (it reflect subject when doing psychomotor task, the prevention of the nerve impulse to muscle of upper extremity or rejection ability), on drape over one's shoulders
Strength (it has reacted loosening all muscles and the controling power shunk), the endurance of upper limb (it reflect subject done in fatigue it is fine
Influence degree during action), intelligence situation (it reflects and concentrates degree when being had a fling at psychomotor task), body perceive work(
Energy (impression of muscle and joint to tension force when the upper limb that it reflects subject is in a certain position) etc. is related.By to subject
Muscle strength, endurance degree, proficiency in action degree, body and gravity balance, locomotor activity rhythm etc. be trained, trouble can be improved
The upper limb coordinated movement of various economic factors situation of person.
Based on above-mentioned analysis, the present invention is used for the index of correlation for studying the human upper limb coordinated movement of various economic factors, congenital to detect with this
Coordinated movement of various economic factors obstacle caused by sexual organ dysplasia etc., which can be used for detecting and prevent the elderly, the coordinated movement of various economic factors of children etc.
Relevant disease problem, and can be trained for the coordinated movement of various economic factors and complementary help is provided.
The content of the invention
Goal of the invention：Present invention aims at a kind of portable upper extremity exercise coordination detection system is provided, pass through research
The index of correlation of the human upper limb coordinated movement of various economic factors, with this come coordinated movement of various economic factors obstacle caused by detecting congenital dysplasia etc., this is
System is intended for detecting and prevent the elderly, the coordinated movement of various economic factors relevant disease problem of children etc., and it is desirable that the system can be coordination
Training provides complementary help.
Technical solution：A kind of portable upper extremity exercise coordination detection system, including can be worn on respectively in left and right wrist
Sensor group and one carrying upper extremity exercise harmony training module computer, the upper extremity exercise harmony training module
Including portable guiding action control interface and background processing module, the background processing module includes upper extremity exercise harmony
Data analysis module；
The portable guiding action control interface is used to show guiding action and left and right upper limb real time kinematics waveform；
The sensor group is made of acceleration transducer, gyro sensor and geomagnetic sensor, acceleration sensing
Device, gyro sensor and geomagnetic sensor gather angular speed, acceleration and the magnetic strength corresponding to upper limb current pose respectively
Component of the degrees of data in three sensitive axes, is sent monitoring data to the data point of upper limb sports coordination by bluetooth module
Analyse module
The data analysis module of the upper extremity exercise harmony is received using the data anastomosing algorithm processing of upper extremity exercise
After generating real time kinematics waveform to sensor group data, further according to the parser of harmony movement, the upper limb coordinated movement of various economic factors is drawn
Accuracy and collaboration implementations.
Wherein, guiding action is made of the picture in 48 width different motion sites, the 48 width different motion site
Picture triggers the switching of picture by timer.
The data anastomosing algorithm detailed process of the upper extremity exercise is that three sensor groups are adopted first with weighting algorithm
The axial data of collection, which are merged to obtain, merges vectorial Rs τ (n), then fusion vector handle using normalized
To normalization fusion vector R τ (n), so as to generate real time kinematics waveform；
The weighting algorithm calculation formula is as follows：
Rs τ (n)=[Rstx,Rsty,Rstz]T
Wherein, [Raccx,Raccy,Raccz]TThree axial vectors, [R are exported for acceleration transducergyrox,Rgyroy,Rgyroz,]TFor
Gyro sensor exports three axial vectors, [Rhmcx,Rhmcy,Rhmcz]TThree axial vectors are exported for geomagnetic sensor；1 passes for acceleration
The weighting coefficient of sensor, WagFor the weighting coefficient of gyro sensor, WahFor the weighting coefficient of geomagnetic sensor, WagAnd WahTake
It is worth empirically determined between 5-20；
The calculation formula of the normalization method is as follows：
Error of the accuracy of the upper limb coordinated movement of various economic factors by the right-hand man of tested personnel within each period of motion
Average K is evaluated,：
Wherein,WithDistinguish overbalance zero axle at the time of point for right-hand man's ith,Ith is crossed for demonstration movement
Zero axle at the time of point is balanced, n is the total degree of demonstration movement overbalance zero axle.
Fortune of the collaboration implementations of the upper limb coordinated movement of various economic factors by the right-hand man of tested personnel within each period of motion
Dynamic speed difference V and evaluated in the phase difference λ of X axis；
Wherein,WithRespectively moving displacement of the right-hand man in ith periodic motion, tLiAnd tRiRespectively left and right
Actual motion cycle time of the hand in the ith period of motion, n are the period of motion number of task action.
Wherein,WithPhase during overbalance zero axle moment point is distinguished for right-hand man's ith, n is excessively flat for demonstration movement
The total degree for the zero axle that weighs.
Beneficial effect：
1st, testing staff of traditional detection scheme dependent on specialty, testing result is not accurate enough, complicated, detection when
Between it is longer etc., thus detection difficulty is big, and upper limb coordinated movement of various economic factors detecting system provided by the invention utilizes wearable sensing
Device group is detected subject, and provides left and right upper limb real time kinematics waveform and accuracy and coordination assessment index, evaluation and test refer to
Mark is directly perceived, relatively accurate evaluation result is clearly provided in the form of digitization.
2nd, the present invention is easy to operate, easy to detect, can preserve upper extremity exercise data, Testing index as a result, what is preserved goes through
History data are conducive to compare testing result with other people in the horizontal, understand oneself difference with other people coordinated movement of various economic factors indexs, vertical
Upwards, oneself coordinated movement of various economic factors target improvement situation after training after a while is compared.
Brief description of the drawings
Fig. 1 is the structure diagram of this detecting system；
Fig. 2 is the general levels structure chart of the system；
Fig. 3 is the design structure diagram of the motion perception unit module of the present invention；
Fig. 4 is the schematic diagram at the guiding action control interface of the present invention；
Fig. 5 is left and right upper limb data Synchronization Design realization mechanism figure；
Fig. 6 is motion perception unit and the information exchange schematic diagram at PC machine end；
Embodiment
With reference to the accompanying drawings and detailed description, the present invention is furture elucidated.
As shown in Figure 1, portable upper extremity exercise coordination detection system includes two major parts, including can be worn on respectively
The computer of sensor group and a carrying upper extremity exercise harmony training module in left and right wrist, the upper extremity exercise association
Tonality training module includes portable guiding action control interface and background processing module, and the background processing module includes upper limb
The data analysis module of sports coordination；
The portable guiding action control interface is used to show guiding action and left and right upper limb real time kinematics waveform；
The sensor group is made of acceleration transducer, gyro sensor and geomagnetic sensor, acceleration sensing
Device, gyro sensor and geomagnetic sensor gather angular speed, acceleration and the magnetic strength corresponding to upper limb current pose respectively
Component of the degrees of data in three sensitive axes, is sent monitoring data to the data point of upper limb sports coordination by bluetooth module
Analyse module；
The data analysis module of the upper extremity exercise harmony is received using the data anastomosing algorithm processing of upper extremity exercise
After obtaining real time kinematics waveform to sensor group data, further according to the parser of harmony movement, the upper limb coordinated movement of various economic factors is drawn
Accuracy and collaboration implementations.
Said from hierarchical structure, as shown in Fig. 2, upper limb coordinated movement of various economic factors detecting system mainly sets juice by motion perception unit
Layer, communication protocol customization layer and PC machine end system application layer composition, the master-plan of detecting system are to coordinate fortune based on upper limb
Dynamic closed-loop control theory designs, and test experience both hands follow the guiding action to rotate for psychomotor task, by that can wear
The sensor group for wearing formula records the hand exercise data of subject in real time, and customized communication protocol transmits number by Bluetooization
Data prediction is carried out according to PC machine end, finally refers to a parameter to analyze the coordinated movement of various economic factors by the exercise data being tested, realizes pair
The coordinated movement of various economic factors detection of user.
First layer is motion perception unit design level, it is the perception unit of detecting system, it can gather the upper of subject
Limb motion trace data, the motion perception unit are made of three complementary sensors, realize the accurate note of upper extremity exercise track
Record, detecting system gathered data is by two motion perception units (left and right forearm respectively wears one) and a data gathering node group
Into motion perception unit is used for gathering the motive position data of forearm, and carries out basic handling, convergence section to these data
Point is located at PC machine end, and exercise data that left and right forearm transmits is received respectively to PC by the binary channels Bluetooization adapter opened
Generator terminal carries out aggregation process, is tested during execution task, three sensors inside motion perception unit module
The data of three sensor collections are then carried out time alignment, then to basic by the motion trace data of real-time perception upper limb
Data after processing carry out digital filtering processing, and finally this data is packed by Bluetooization channel transfer to PC machine end.
The second layer is data communication protocol customization layer, after motion perception unit carries out basic handling to the exercise data of collection
Need to be transferred to PC machine end；
Third layer is the system application layer at PC machine end, which mainly completes interaction platform design.Worn by left and right forearm
After the exercise data of motion perception unit collection is transferred to PC machine buffer area, it is also necessary to which the data are pre-processed.The interaction
Platform mainly completes the check analysis to gathered data, Data Fusion, movement display, guiding action display, data storage
And various button control design cases.
As shown in figure 3, gyro sensor (ITG-3200), acceleration transducer (LIS3DH) and geomagnetic sensor
(HMC5883) sensor group is formed, the exercise data collected is carried out by processor STM32F103 (Cortex-M3) pre-
Processing, sends data to PC machine end, bottom writes driving code, the FIR numbers of each device with STM32F103 based on ST storehouses through bluetooth
Word filters [8] and data transfer code, and control interface has been write at PC machine end and has handled wearable motion perception unit biography
Defeated next exercise data, can be with the curve movement of real-time display upper extremity exercise at PC machine end.
Such as Fig. 4, the portable guiding action control interface includes 2 parts, is displaying guiding action on the right of interface,
Subject follows guiding action to take exercises, and guiding action is made of the picture in 48 width different motion sites, and 48 width is not
Picture with movement site triggers the switching of picture by timer, is so easy to the setting of upper limks movements task number, side
Just the adjustment of experimental program；Two block diagram regions can be with the moving wave shape of real-time display or so upper limb, boundary up and down on the left side at interface
It is some control buttons below face, clicks on " exiting test " button, which will be automatically closed." pause transmission " is clicked on to press
Key, at this time motion perception unit can stop the transmission of data, control interface can be placed in a suspend state." synchronous transfer " is clicked on to press
Key, the movement normal form on the right and the motion perception unit of left and right upper limb can cooperate, while experimental period will also open timing
Work.Click on " data analysis " button, it will provide the analysis result of upper extremity exercise data.
Left and right upper limb data Synchronization Design realization mechanism enters shown in Fig. 5, and the effect of exercise data Synchronization Design is to demonstrate
Action open when, while realize the collection of left and right forearm movable information, psychomotor task start perform and to upper extremity exercise number
According to synchronous store.Wherein TIM2 is the timer in the acp chip STM32 of motion perception unit, when which opens,
Motion perception unit has begun to collection exercise data.Timer2.Start () is the clock that the demonstration movement of PC machine end performs, and is opened
After opening this clock, demonstration movement area has begun to motion guiding, while also opens the data storage of upper extremity exercise.On interface
This " synchronously start " button and mainly perform the several tasks of the above to realize simultaneously operating.Interface is based primarily upon
For Winform platforms come what is designed, the exercise data of motion perception unit collection transfers data to PC machine end by bluetooth equipment,
Application program obtains data by reading serial ports.The concrete function of all controls is realized and all write using C# on interface,
Interface accomplishes succinct, easy-operating purpose as far as possible.
Sensor group and the information exchange at PC machine end by interactive interface as shown in fig. 6, send control instruction such as ＂ S ＂ sample presentations
Exercise data acquisition and the transmission of motion perception unit are just opened afterwards.Certainly this needs a series of hardware supported and program to set
Meter, particularly as being：In the support of hardware aspect, the MCU of motion perception unit sends data to Bluetooth moulds by serial ports
Block, is then also sent data PC machine end by Bluetooth, and the Bluetooth establishings device at PC machine end receives data to corresponding serial ports.
Under the Winform interfaces at PC machine end, there is the special button for sending instruction to send instructions to motion perception unit, also have special
Region introduce the data of motion perception unit and prompt message；In the support of software aspects, motion perception unit starts to adopt
The exercise data of collection upper limb is to need the TIM2 timers of STM32 to support, we are received by way of serial ports interruption
The instruction that PC machine end is sent.It is exactly no matter serial ports is to send data completion or receive data or data are overflow that so-called serial ports, which interrupts,
Go out all to produce an interruption.For example PC machine sends a motion perception cell data collection open command ＂ S ＂, motion perception unit
MCU on corresponding serial ports receive this instruction after, produce serial ports and interrupt, perform corresponding function and enable TIM2
Timer, such motion perception unit have begun to data collection task.Also have in the kernel Cortex-M3 kernels of STM32 a
Whether NVIC, the interrupt signal that it can control here trigger the execution of interrupt processing function.
Since the data that three sensors of sensing module unit are obtained come from a target, as long as so each sensing
The observation time of device is identical can to think time alignment, using the method for interpolated value, by high data in motion perception unit
The observation data of rate sensor are calculated onto the observation time sequence of low datarate sensors, so as to fulfill to motion perception unit
The time alignment of interior different sensors.
Two kinds of algorithms have been used in the data analysis module of upper extremity exercise harmony, have been the data fusion of upper extremity exercise respectively
Algorithm and the parser of harmony movement, subject left and right wrist respectively dress one group of sensor, in order to accurately detect that subject is left
The real time kinematics information of right upper extremity, it would be desirable to each axial direction produced to acceleration transducer, gyroscope and geomagnetic sensor
Data are merged, and acceleration transducer detection is acceleration signal, it is more sensitive to mechanical oscillation and noise；Gyro
The detection of instrument sensor is rotation, its interference effect very little to mechanical oscillation, but itself easily drifts about；Geomagnetic sensors detection
Be changes of magnetic field, it is different from the above two interference source；In view of these factors, we need to gather these three sensors
Axial data carry out data fusion, to obtain more accurate data, we are merged using weighting algorithm, to change compared with
Fast signal is multiplied by relatively smaller weight coefficient, can so weaken influence of the jump signal to integrally producing.
The weighting algorithm calculation formula is as follows：
Rs τ (n)=[Rstx,Rsty,Rstz]T
Wherein, [Raccx,Raccy,Raccz]TThree axial vectors, [R are exported for acceleration transducergyrox,Rgyroy,Rgyroz,]TFor
Gyro sensor exports three axial vectors, [Rhmcx,Rhmcy,Rhmcz]TThree axial vectors are exported for geomagnetic sensor；1 passes for acceleration
The weighting coefficient of sensor, WagFor the weighting coefficient of gyro sensor, WahFor the weighting coefficient of geomagnetic sensor, WagAnd WahTake
It is worth empirically determined between 5-20；
To further improve the robustness of calculating, make further place to fusion vector Rs τ (n) using using normalized
Reason, obtains the normalization fusion vector R τ (n) of reflection left and right upper extremity exercise, and normalized calculation formula is as follows：
Since the sensor group that subject left and right wrist carries is the same, so data processing method is also consistent.By
After above-mentioned Data Fusion, we can be obtained by the exercise data fusion vector R τ L (n) of relatively accurate left and right upper limb
With R τ R (n), after such data anastomosing algorithm, it is possible to obtain relatively accurate drawing three axial directions of left and right upper limb
Exercise data component value, the vector value when component value each axially exported is object of which movement at a time, a certain axial direction
The curve exported within the continuous period is the motion vector stitching of object, which is the reality of left and right upper limb
When moving wave shape.
The upper limb for using the parser of harmony movement to can be used to analyze and evaluate and test subject using real time kinematics waveform is transported
Dynamic harmony.
In the parser of harmony movement, in the upper limb harmony exercise data analysis of subject, main investigate refers to
Indicate following items：Index one, investigate beat when can subject accurately follow psychomotor task and follow demonstration movement campaign
It is whether consistent, evaluated by error mean K of the left and right upper limb of tested personnel within each period of motion, be tested and complete to move
The computational methods for making analysis of the accuracy value K during task are as follows：
Wherein,WithDistinguish overbalance zero axle at the time of point for left and right upper limb ith,Ith is crossed for demonstration movement
Zero axle at the time of point is balanced, n is the total degree of demonstration movement overbalance zero axle.
The cooperative motion index of index two, analysis subject both hands in bimanual movements；I.e. by the left and right of tested personnel
Movement velocity difference V of the limb within each period of motion and evaluated in the phase difference λ of X axis；
Wherein,WithRespectively moving displacement of the right-hand man in ith periodic motion, tLiAnd tRiRespectively left and right
Actual motion cycle time of the hand in the ith period of motion, n are the period of motion number of task action.
Wherein,WithPhase during overbalance zero axle moment point is distinguished for right-hand man's ith, n is demonstration movement
Balance the total degree of zero axle.
When evaluating the accuracy and harmony of upper extremity exercise, the smaller upper limb for representing certain subject of right-hand man's kinematic error value
The accuracy index of the coordinated movement of various economic factors is better；Motion phase difference and the smaller upper extremity exercise for representing subject of speed difference between right-hand man
Concertedness is better.
Analyzed based on the algorithm above, devise following three kinds of detection patterns to detect the upper extremity exercise harmony of subject.
Pattern 1：Subject right-hand man together follows guiding action to do upset arm motion, per minute to do 63 times, and the testing time is 1 minute；
Pattern 2：Subject right-hand man together follows guiding action to do upset arm motion, per minute to do 125 times, and the testing time is 1 minute；
Pattern 3：By 1), 2) the item testing time extend to 2 to 3 minutes.
When whether having coordinated movement of various economic factors obstacle using the system detectio, we need to establish the harmony movement of children first
Accuracy norm and concertedness norm, then draw real-time movement of the subject children when doing psychomotor task using the system
Waveform, so as to obtain accuracy motion index and concertedness motion index, contrasts with norm, can thus find the fortune of children
Dynamic defect problem.
Claims (5)
1. a kind of portable upper extremity exercise coordination detection system, it is characterised in that including that can be worn on respectively in left and right wrist
Sensor group and one carrying upper extremity exercise harmony training module computer, the upper extremity exercise harmony training module
Including portable guiding action control interface and background processing module, the background processing module includes upper extremity exercise harmony
Data analysis module；
The portable guiding action control interface is used to show guiding action and left and right upper limb real time kinematics waveform；
The sensor group is made of acceleration transducer, gyro sensor and geomagnetic sensor, acceleration transducer, top
Spiral shell instrument sensor and geomagnetic sensor gather angular speed, acceleration and the magnetic strength degrees of data corresponding to upper limb current pose respectively
Component in three sensitive axes, is sent monitoring data to the data analysis mould of upper limb sports coordination by bluetooth module
Block；
The data analysis module of the upper extremity exercise harmony receives biography using the data anastomosing algorithm processing of upper extremity exercise
Sensor group data generate real time kinematics waveform, further according to the parser of harmony movement, draw the accurate of the upper limb coordinated movement of various economic factors
Property and collaboration implementations.
2. a kind of portable upper extremity exercise coordination detection system according to claim 1, it is characterised in that described draws
Lead action to be made of the picture in 48 width different motion sites, the picture in the 48 width different motion site triggers figure by timer
The switching of piece.
3. a kind of portable upper extremity exercise coordination detection system according to claim 1, it is characterised in that described is upper
The data anastomosing algorithm detailed process of limb movement is that the axial data gathered first with weighting algorithm to three sensors are melted
Conjunction obtains merging vectorial Rs τ (n), and then fusion vector is handled using normalized to obtain normalization fusion vector R τ
(n), so as to generate corresponding real time kinematics waveform；
The weighting algorithm calculation formula is as follows：
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</msub>
</mrow>
</mfrac>
</mrow>
<mrow>
<msub>
<mi>R</mi>
<mrow>
<mi>s</mi>
<mi>t</mi>
<mi>y</mi>
</mrow>
</msub>
<mo>=</mo>
<mfrac>
<mrow>
<msub>
<mi>R</mi>
<mrow>
<mi>a</mi>
<mi>c</mi>
<mi>c</mi>
<mi>y</mi>
</mrow>
</msub>
<mo>+</mo>
<msub>
<mi>R</mi>
<mrow>
<mi>g</mi>
<mi>y</mi>
<mi>r</mi>
<mi>o</mi>
<mi>y</mi>
</mrow>
</msub>
<mo>*</mo>
<msub>
<mi>R</mi>
<mrow>
<mi>a</mi>
<mi>g</mi>
</mrow>
</msub>
<mo>+</mo>
<msub>
<mi>R</mi>
<mrow>
<mi>h</mi>
<mi>m</mi>
<mi>c</mi>
<mi>y</mi>
</mrow>
</msub>
<mo>*</mo>
<msub>
<mi>R</mi>
<mrow>
<mi>a</mi>
<mi>h</mi>
</mrow>
</msub>
</mrow>
<mrow>
<mn>1</mn>
<mo>+</mo>
<msub>
<mi>W</mi>
<mrow>
<mi>a</mi>
<mi>g</mi>
</mrow>
</msub>
<mo>+</mo>
<msub>
<mi>W</mi>
<mrow>
<mi>a</mi>
<mi>h</mi>
</mrow>
</msub>
</mrow>
</mfrac>
</mrow>
<mrow>
<msub>
<mi>R</mi>
<mrow>
<mi>s</mi>
<mi>t</mi>
<mi>z</mi>
</mrow>
</msub>
<mo>=</mo>
<mfrac>
<mrow>
<msub>
<mi>R</mi>
<mrow>
<mi>a</mi>
<mi>c</mi>
<mi>c</mi>
<mi>z</mi>
</mrow>
</msub>
<mo>+</mo>
<msub>
<mi>R</mi>
<mrow>
<mi>g</mi>
<mi>y</mi>
<mi>r</mi>
<mi>o</mi>
<mi>z</mi>
</mrow>
</msub>
<mo>*</mo>
<msub>
<mi>R</mi>
<mrow>
<mi>a</mi>
<mi>g</mi>
</mrow>
</msub>
<mo>+</mo>
<msub>
<mi>R</mi>
<mrow>
<mi>h</mi>
<mi>m</mi>
<mi>c</mi>
<mi>z</mi>
</mrow>
</msub>
<mo>*</mo>
<msub>
<mi>R</mi>
<mrow>
<mi>a</mi>
<mi>h</mi>
</mrow>
</msub>
</mrow>
<mrow>
<mn>1</mn>
<mo>+</mo>
<msub>
<mi>W</mi>
<mrow>
<mi>a</mi>
<mi>g</mi>
</mrow>
</msub>
<mo>+</mo>
<msub>
<mi>W</mi>
<mrow>
<mi>a</mi>
<mi>h</mi>
</mrow>
</msub>
</mrow>
</mfrac>
</mrow>
Rs τ (n)=[Rstx,Rsty,Rstz]T
Wherein, [Raccx,Raccy,Raccz]TThree axial vectors, [R are exported for acceleration transducergyrox,Rgyroy,Rgyroz,]TFor gyro
Instrument sensor exports three axial vectors, [Rhmcx,Rhmcy,Rhmcz]TThree axial vectors are exported for geomagnetic sensor；1 is acceleration transducer
Weighting coefficient, WagFor the weighting coefficient of gyro sensor, WahFor the weighting coefficient of geomagnetic sensor, WagAnd WahValue is
5-20；
The calculation formula of the normalization method is as follows：
<mrow>
<mi>R</mi>
<mi>&tau;</mi>
<mrow>
<mo>(</mo>
<mi>n</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mfrac>
<mrow>
<mi>R</mi>
<mi>s</mi>
<mi>&tau;</mi>
<mrow>
<mo>(</mo>
<mi>n</mi>
<mo>)</mo>
</mrow>
</mrow>
<msqrt>
<mrow>
<mi>R</mi>
<mi>s</mi>
<mi>&tau;</mi>
<msup>
<mrow>
<mo>(</mo>
<mi>n</mi>
<mo>)</mo>
</mrow>
<mi>T</mi>
</msup>
<mo>*</mo>
<mi>R</mi>
<mi>s</mi>
<mi>&tau;</mi>
<mrow>
<mo>(</mo>
<mi>n</mi>
<mo>)</mo>
</mrow>
</mrow>
</msqrt>
</mfrac>
</mrow>
4. a kind of portable upper extremity exercise coordination detection system according to claim 1, it is characterised in that described is upper
The accuracy of the limb coordinated movement of various economic factors is evaluated by error mean K of the right-hand man of tested personnel within each period of motion：
<mrow>
<mi>K</mi>
<mo>=</mo>
<mfrac>
<mn>1</mn>
<mi>n</mi>
</mfrac>
<msubsup>
<mi>&Sigma;</mi>
<mrow>
<mi>t</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>n</mi>
</msubsup>
<mo>|</mo>
<msubsup>
<mi>t</mi>
<mrow>
<mi>L</mi>
<mi>i</mi>
</mrow>
<mi>&alpha;</mi>
</msubsup>
<mo>-</mo>
<msubsup>
<mi>t</mi>
<mi>i</mi>
<mi>&beta;</mi>
</msubsup>
<mo>|</mo>
<mo>+</mo>
<mfrac>
<mn>1</mn>
<mi>n</mi>
</mfrac>
<msubsup>
<mi>&Sigma;</mi>
<mrow>
<mi>t</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>n</mi>
</msubsup>
<mo>|</mo>
<msubsup>
<mi>t</mi>
<mrow>
<mi>R</mi>
<mi>i</mi>
</mrow>
<mi>&alpha;</mi>
</msubsup>
<mo>-</mo>
<msubsup>
<mi>t</mi>
<mi>i</mi>
<mi>&beta;</mi>
</msubsup>
<mo>|</mo>
</mrow>
Wherein,WithDistinguish overbalance zero axle at the time of point for right-hand man's ith,Ith balance zero is crossed for demonstration movement
Point at the time of axis, n are the total degree of demonstration movement overbalance zero axle.
A kind of 5. portable upper extremity exercise coordination detection system according to claim 1, it is characterised in that the upper limb
The collaboration implementations of the coordinated movement of various economic factors are by movement velocity difference V of the right-hand man of tested personnel within each period of motion and in X-axis
To phase difference λ evaluate；
<mrow>
<mi>v</mi>
<mo>=</mo>
<mfrac>
<mn>1</mn>
<mi>n</mi>
</mfrac>
<msubsup>
<mi>&Sigma;</mi>
<mn>1</mn>
<mi>n</mi>
</msubsup>
<mo>|</mo>
<mfrac>
<msubsup>
<mi>S</mi>
<mrow>
<mi>L</mi>
<mi>i</mi>
</mrow>
<mi>&tau;</mi>
</msubsup>
<msub>
<mi>t</mi>
<mrow>
<mi>L</mi>
<mi>i</mi>
</mrow>
</msub>
</mfrac>
<mo>-</mo>
<mfrac>
<msubsup>
<mi>S</mi>
<mrow>
<mi>R</mi>
<mi>i</mi>
</mrow>
<mi>&tau;</mi>
</msubsup>
<msub>
<mi>t</mi>
<mrow>
<mi>R</mi>
<mi>i</mi>
</mrow>
</msub>
</mfrac>
<mo>|</mo>
</mrow>
Wherein,WithRespectively moving displacement of the left and right hand in ith periodic motion, tLiAnd tRiRespectively right-hand man
Actual motion cycle time of the portion in the ith period of motion, n are the period of motion number of task action.
Wherein,WithPhase during overbalance zero axle moment point is distinguished for right-hand man's ith, n is demonstration movement overbalance zero
The total degree of axis.
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