CN109730684A - A kind of limbs joint angle measurement unit and method based on fiber grating - Google Patents
A kind of limbs joint angle measurement unit and method based on fiber grating Download PDFInfo
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Abstract
The invention discloses a kind of limbs joint angle measurement unit and method based on fiber grating, it solves the problems, such as that the acquisition device of joint angles in the prior art is complicated, at high cost, with the beneficial effect that can obtain limbs joint angle by optic fiber grating wavelength variable quantity, its scheme is as follows: a kind of limbs joint angle measurement unit based on fiber grating, including removably dressing component, wearing component can be worn on human body；Fiber grating strain sensor unit is set to wearing component；Fiber Bragg grating (FBG) demodulator, for acquiring the wavelength of grating in fiber grating strain sensor unit；Controller, controller are connect with fiber Bragg grating (FBG) demodulator, and collected wavelength data is sent to controller by fiber Bragg grating (FBG) demodulator, and controller obtains the joint angles of limbs according to wavelength data.
Description
Technical field
The present invention relates to medical instruments fields, fill more particularly to a kind of limbs joint angle measurement based on fiber grating
It sets and method.
Background technique
Limbs joint angle measurement is widely used in medical instruments field, more as the important feature of Activity recognition, to reality
The Activity recognition of existing human body is significant.Existing joint measurment mainly has video method, inertial sensor method and piezoelectric sensing
Device method.
Video method is to be analyzed using image processing techniques each posture of human body, and the acquisition of image can be by multiple camera shootings
Machine is shot, or is completed by single camera relative to each different angle shot of human body, by acquisition
Sequence image analyzed and rebuild to analyze motion state, location information, some limbs can determine by location information
Joint angles.This method is more demanding to the restructing algorithm precision in capture apparatus, and detection accuracy and operation real-time are difficult
With balance, more fatal problem is that environmental requirement is stringenter.Inertial sensor include accelerometer and angular-rate sensor with
And the attitude reference system of their Inertial Measurement Units, it can be used for the measurement and analysis of human motion.There is use in the prior art
Including a three axis accelerometer, a three axle magnetometer, a three-axis gyroscope, three is integrated to be formed it is wearable
Joint real-time measurement system, this method carry out Real-time Reconstruction by multiple mark points, are put on than cumbersome, should not move
Measure excessive, and computational complexity of its wearable processing chip is high.Also there is the pressure of elbow joint control group when by human motion
Power information is implemented to acquire comprehensively, and the parameters of elbow joint control group during this are extracted in analysis, to obtain angle
Approximate range, this method precision is not high, and enforcement difficulty is larger, it is difficult to industrialization.
In addition to above-mentioned traditional joint angles measurement method, there are also be based on human cinology, dynamics, life in the prior art
The basic framework of (myoelectricity) multivariate information fusion human motion analysis and modeling of science utilizes high speed video system, power sensing system
System, wired myoelectric apparatus build the acquisition platform of human body comprehensive information, and the method for this systematization payes attention to comprehensive whole human body
Posture releases joint angles by human body attitude again, is easy to appear multiple error element；Also have and encapsulated eutectic gallium indium using silica gel,
And electrode is added, it ties up and articulation angle is acquired according to the resistance change of eutectic gallium indium when joint motions in each joint of lower limb
Degree, this method higher cost, main material is not common, and preparation process is complicated.
Generally speaking, that there are measurement accuracy is not high for limb angle measurement in the prior art for inventor's discovery, and preparation process is multiple
It is miscellaneous, it is not easy the problem of realizing industrialization.
Summary of the invention
For overcome the deficiencies in the prior art, the limbs joint angle measurement based on fiber grating that the present invention provides a kind of
Device, the feature for having measurement flexibility, lighting, precision high, high-efficient.
A kind of concrete scheme of the limbs joint angle measurement unit based on fiber grating is as follows:
A kind of limbs joint angle measurement unit based on fiber grating, comprising:
Dismountable wearing component, wearing component can be worn on human body；
Fiber grating strain sensor unit, including fiber grating string are set to wearing component；
Fiber Bragg grating (FBG) demodulator, for acquiring the wavelength of grating in fiber grating strain sensor unit；
Controller, controller are connect with fiber Bragg grating (FBG) demodulator, and fiber Bragg grating (FBG) demodulator passes collected wavelength data
It send to controller, controller obtains the joint angles of limbs according to wavelength data.
Above-mentioned measuring device, by fiber grating by dress component be directly worn on human body, can with direct body contact,
It is not only convenient for the installation of fiber grating strain sensor unit, and facilitates measurement, by fiber grating strain sensor unit
The wavelength variable quantity of acquisition measures the joint angles of limbs, is conducive to improve measuring speed and measurement accuracy.
Further, the wearing component includes wearing ontology, and dismountable connector is arranged in the two sides for dressing ontology, can
The component of disassembly can be zipper or buckle or Velcro, and zipper is set to the two sides of wearing ontology, when wearing, is closed by zipper
, wearing ontology is rectangle or other shapes.
Further, the fiber grating string includes along described in several of wearing part length direction setting
Grating, multiple gratings are connected in series by optical fiber, and fiber grating string is the fibre core for being carved with grating.
Further, the controller includes joint settlement module and filter module, and joint settlement module passes through parsing side
Method resolves the variable quantity of grating wavelength, obtains limbs joint angle and/or limbs posture.
Further, the fiber grating strain sensor unit sticks in the inside of the wearing component by glue.
The measurement method of limbs joint angle measurement unit based on fiber grating, comprising:
1) fiber grating strain sensor unit is fixed on wearing component；
2) wearing component is sheathed on to the limbs of people, so that fiber grating strain sensor unit is in limbs joint back side；
3) fiber grating strain sensor unit is connected to fiber Bragg grating (FBG) demodulator, fiber Bragg grating (FBG) demodulator connects controller；
4) limbs uniform extension shrinks or is fixed on the angle of setting, carries out wavelength data by fiber Bragg grating (FBG) demodulator and adopts
Collection；
5) controller carries out operation and processing, and obtains limbs joint angle and/or limbs posture.
Further, the step 3) further includes following content:
The parameter of fiber Bragg grating (FBG) demodulator 3-1) is set；
Grid point number 3-2) is carried out to the grating in fiber grating strain sensor unit:
Wavelength-vector 3-3) is demarcated in the controller, and each element in vector corresponds in fiber grating strain sensor unit
The center for standard wavelength of each grating.
Further, the step 4) includes following content:
Temperature adjustmemt 4-1) based on reference optical fiber grating, λnTo dress n-th of raster center wavelength of component, KεAnd KTFor
Fixed coefficient, wearing component, fiber grating can be indicated with reference optical fiber raster center wavelength variable quantity are as follows:
Wherein: λ0Indicate reference optical fiber raster center wavelength, Δ λ0Indicate reference optical fiber raster center wavelength variable quantity；λ1
Indicate fiber bragg grating center wavelength at wearing component, Δ λ1Indicate fiber bragg grating center wavelength variable quantity at wearing component；ε is indicated
It is strained at human muscle, Δ T indicates experimentation temperature variation；
4-2) in the ideal situation, limbs joint angle and time relationship meet: xt=at+b；
Then t moment predicted value are as follows:In formula,Indicate t-1 time optimization value；
T moment predicts errorAre as follows:In formula, ptError, p are predicted for t momentt-1Indicate t-1
Moment error, q indicate process noise；
Filtering gain are as follows:In formula；KtFor t moment filtering gain, e is fiber grating strain sensor unit
Output error；
State estimation after update are as follows:
T moment prediction error is after update
Further, step 5) includes following content:
5-1) use liThe arc length of i-th section of center line is indicated, when only considering the movement of single joint, setting (such as 1cm)
In spacing, the shape of center line is two-dimensional curve, and approximation regards a circular arc as, then its parametric equation are as follows:
Wherein, θ indicates the corresponding central angle of every section of center line arc length of fiber grating；
Then it is arranged in the fiber segment radius of curvature r of joint back sidei, indicated with wavelength variable quantity Δ λ are as follows:
Wherein λ is each raster center wavelength, and h is limbs center line away from fiber grating string distance；
And local coordinate { xi-1, yi-1, zi-1Arrive coordinate system { xi, yi, ziTransformation can be divided into 1 rotation transformation and 1
Translation transformation, rotation transformation are as follows:
Wherein, i indicates i-th transformation；
Coordinate { xi-1, yi-1, zi-1Arrive coordinate { xi, yi, ziTranslate and can indicate are as follows:
Then raster center o in node, that is, fiber grating strain sensor unitiGlobal position can indicate are as follows:
Node oiGlobal position vector PiSet { P1、P2、P3、……PnIt can indicate grid point present position, and solve
Calculate joint rotation angle；(xi,0,zi) it is expressed as the coordinate at the corresponding center of n-th of grid point；
When joint flexion angle is less than 90 °, joint rotation angle γ has:
Wherein,When joint flexion angle is more than or equal to 90 °,
After the completion of step 5), compared to the method A that step 1)-step 5) carries out, check experiment B, check experiment B are set
Fiber grating strain sensor unit is attached directly to the limbs of people, obtains the test data of check experiment B, establishes A group and B group
Multiple is reacted on B group measurement result by any time multiple proportion of measurement result.
Compared with prior art, the beneficial effects of the present invention are:
1) present invention is set to wearing component by fiber grating strain sensor unit, directly acquires joint angles, phase in this way
Than the acceleration transducer for equally reaching this function, microcam etc., with low in cost, entirety is light, structure is simple
Advantage.
2) present invention dresses component by the way that sensing unit to be set to, and ensure that the real-time of the picking up signal of joint angles,
And this kind of oversleeve flexibility degree is high, and more pleasantization realizes good man-computer relation.
3) present invention operates measurement more easily by the setting of controller, and measurement process can be completed in one, measurement
Precision and high-efficient, and can intuitively observe limbs state；Cooperate different fiber gratings using the basic principle of the present apparatus,
It can measure each articulation angle macro-strain of human body and muscle microstrain, using with popularity.
Detailed description of the invention
The Figure of description for constituting a part of the invention is used to provide further understanding of the present invention, and of the invention shows
Examples and descriptions thereof are used to explain the present invention for meaning property, does not constitute improper limitations of the present invention.
Fig. 1 is the intact device for realizing joint angles measurement；
Fig. 2 is the oversleeve top view for pasting fiber grating string；
Fig. 3 is the oversleeve front view for pasting fiber grating string；
Fig. 4 is the oversleeve side view for pasting fiber grating string；
Fig. 5 is fiber grating string figure.
In figure: 1 is the fibre core for being carved with grating, and 2 be oversleeve, and 3 be grating, and 4 be zipper, and 5 be fiber grating strain sensor list
Member.
Specific embodiment
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the present invention.Unless another
It indicates, all technical and scientific terms used herein has usual with general technical staff of the technical field of the invention
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to exemplary embodiments of the present invention.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
As background technique is introduced, the deficiencies in the prior art, in order to solve technical problem as above, this hair
It is bright to propose a kind of limbs joint angle measurement unit based on fiber grating.
In a kind of typical embodiment of the invention, as shown in Figure 1, a kind of limbs joint angle based on fiber grating
Measuring device, including component is removably dressed, wearing component can be worn on human body；Fiber grating strain sensor unit 5, if
In wearing component；Fiber Bragg grating (FBG) demodulator, for acquiring the wavelength of grating 3 in fiber grating strain sensor unit 5；Controller,
Controller is connect with fiber Bragg grating (FBG) demodulator, and collected wavelength data is sent to controller by fiber Bragg grating (FBG) demodulator, control
Device obtains the joint angles of limbs according to wavelength data, and fiber grating strain sensor unit is sticked in wearing component by glue
Inside.
Fiber grating strain sensor unit is directly worn on human body, Neng Gouyu by dressing component by above-mentioned measuring device
Direct body contact, is not only convenient for the installation of fiber grating strain sensor unit, and facilitates measurement, is conducive to improve measurement
Speed and measurement accuracy.
Dressing component includes wearing ontology, and dismountable connector is arranged in the two sides for dressing ontology, and dismountable component can
To be zipper 4 or buckle or Velcro, zipper 4 is set to the two sides of wearing ontology, when wearing, is closed, is worn by zipper
Wearing ontology is rectangle or other shapes, and wearing ontology selects oversleeve 2.
Fiber grating strain sensor unit includes fiber grating string, and fiber grating string includes along wearing part length direction
Several gratings 3 being arranged, multiple gratings 3 are connected in series, and in the present embodiment, fiber grating string is the fibre core 1 for being carved with grating,
The grating 3 of fibre core is provided with multiple, and grating midpoint is used to characterize the coordinate of limbs point.
Controller is computer, the joint angles visualization procedure based on LabVIEW is arranged in computer, which includes
Joint settlement module and filter module, joint settlement module application constant curvature is assumed and mathematics analytic method is by the change of grating wavelength
Change amount is resolved, and obtains limbs joint angle and/or limbs posture, and filter module is used for stationary signal, will treated
Joint angles and limbs posture are exported with image format, and controller further includes display module, the display for image.
The measurement method of limbs joint angle measurement unit based on fiber grating, comprising:
1) oversleeve is longitudinally cut off, zipper 4 is installed in the two sides of oversleeve 2, (with needlework by fiber grating in the form of sewing
String is sewn to oversleeve surface, plays the role of each grid point Primary Location) fiber grating strain sensor unit 5 is parallel to set sleeve length
Side positioning；The coating glue at the position of estimated setting grating 3, is arranged in oversleeve 2 for the fibre core 1 for being carved with grating；
2) oversleeve 2 is sheathed on to the limbs of people, adjusts oversleeve position, so that fiber grating strain sensor unit is closed in limbs
Back side is saved, and guarantees that respectively there are two complete gratings for joint two sides, tense zipper；
3) fiber grating strain sensor unit being connected to fiber Bragg grating (FBG) demodulator, fiber Bragg grating (FBG) demodulator connects controller,
Carry out Initialize installation；
4) limbs uniform extension shrinks or is fixed on the angle of setting, carries out wavelength data by fiber Bragg grating (FBG) demodulator and adopts
Collect, in collection process, fiber Bragg grating (FBG) demodulator frequency is 1Hz；
5) controller carries out operation and processing, and obtains limbs joint angle and/or limbs posture.
Step 3) further includes following content:
The parameter of fiber Bragg grating (FBG) demodulator, the setting including threshold value and channel 3-1) are set；
Grid point number 3-2) is carried out to the grating in fiber grating strain sensor unit: by grid points whole in fiber grating string
It is numbered ' 1 ', ' 2 ', ' 3 ' ...；
Wavelength-vector 3-3) is demarcated in the controller, and each element in vector corresponds in fiber grating strain sensor unit
The center for standard wavelength of each grating.
Step 4) includes following content:
4-1) based on the temperature adjustmemt of reference grating, λnTo dress n-th of raster center wavelength of component, KεAnd KTFor fixation
Coefficient, wearing component grating can be indicated with reference grating center wavelength variation amount are as follows:
Wherein: λ0Indicate reference grating central wavelength, Δ λ0Indicate reference grating center wavelength variation amount；λ1Indicate wearing
The 1st raster center wavelength of component, Δ λ1Indicate wearing the 1st raster center wavelength variable quantity of component；ε is indicated at limb muscle
Strain, Δ T indicate experimentation temperature variation；
4-2) in the ideal situation, limbs joint angle and time relationship meet: xt=at+b；
Then t moment predicted value are as follows:In formula,Indicate t-1 time optimization value；
T moment predicts errorAre as follows:In formula, ptError, p are predicted for t momentt-1Indicate t-1
Moment error, q indicate process noise；
Filtering gain are as follows:In formula；KtFor t moment filtering gain, e is fiber grating strain sensor unit
Output error；
State estimation after update are as follows:
T moment prediction error is after update
Step 5) includes following content:
5-1) use liIndicate the arc length of i-th section of center line, when only considering the movement of single joint, in the spacing of 1cm, in
The shape of heart line is two-dimensional curve, and approximation regards a circular arc as, then its parametric equation are as follows:
Wherein, θ indicates the corresponding central angle of every section of center line arc length of fiber grating；
Then it is arranged in the fiber segment radius of curvature r of joint back sidei, indicated with wavelength variable quantity Δ λ are as follows:
Wherein λ is raster center wavelength, and h is limbs center line away from fiber grating string distance；
Coordinate { xi-1, yi-1, zi-1Arrive coordinate { xi, yi, ziTranslate and can indicate are as follows:
Then raster center o in node, that is, fiber grating strain sensor unitiGlobal position can indicate are as follows:
Node oiGlobal position vector PiSet { P1、P2、P3、……PnIt can indicate grid point present position, and solve
Calculate joint rotation angle；(xi,0,zi) it is expressed as the coordinate at the corresponding center of n-th of grid point；
When joint flexion angle is less than 90 °, joint rotation angle γ has:
Wherein,When joint flexion angle is more than or equal to 90 °,
After the completion of step 5), compared to the method A that step 1)-step 5) carries out, check experiment B, check experiment B are set
Fiber grating strain sensor unit is attached directly to the limbs of people, obtains the test data of check experiment B, establishes A group and B group
Multiple is reacted on B group measurement result by any time multiple proportion of measurement result, reaches reduction because of set
Measurement error caused by the opposite sliding of sleeve.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of limbs joint angle measurement unit based on fiber grating characterized by comprising
Dismountable wearing component, wearing component can be worn on human body；
Fiber grating strain sensor unit, the fiber grating string including more gratings in series are set to wearing component；
Fiber Bragg grating (FBG) demodulator, for acquiring the wavelength of grating in fiber grating strain sensor unit；
Controller, controller are connect with fiber Bragg grating (FBG) demodulator, and collected wavelength data is sent to by fiber Bragg grating (FBG) demodulator
Controller, controller obtain the joint angles of limbs according to wavelength data.
2. the limbs joint angle measurement unit according to claim 1 based on fiber grating, which is characterized in that described to wear
Wearing component includes wearing ontology, and dismountable connector is arranged in the two sides for dressing ontology.
3. the limbs joint angle measurement unit according to claim 1 based on fiber grating, which is characterized in that the light
Fine grating string includes multiple gratings along wearing part length direction setting, and grating is connected by optical fiber.
4. the limbs joint angle measurement unit according to claim 1 based on fiber grating, which is characterized in that the control
Device processed includes joint settlement module and filter module, and joint settlement module is carried out the variable quantity of grating wavelength by analytic method
It resolves, obtains limbs joint angle and/or limbs posture.
5. the limbs joint angle measurement unit according to claim 1 based on fiber grating, which is characterized in that the light
Fiber grating strain sensing unit sticks in the inside of the wearing component by glue.
6. the measurement side of the limbs joint angle measurement unit according to any one of claims 1-5 based on fiber grating
Method characterized by comprising
1) fiber grating strain sensor unit is fixed on wearing component；
2) wearing component is sheathed on to the limbs of people, so that fiber grating strain sensor unit is in limbs joint back side；
3) fiber grating strain sensor unit is connected to fiber Bragg grating (FBG) demodulator, fiber Bragg grating (FBG) demodulator connects controller；
4) limbs uniform extension shrinks or is fixed on the angle of setting, carries out wavelength data acquisition by fiber Bragg grating (FBG) demodulator；
5) controller carries out operation and processing, and obtains limbs joint angle and/or limbs posture.
7. the measurement method of the limbs joint angle measurement unit according to claim 6 based on fiber grating, feature
It is, the step 3) further includes following content:
The parameter of fiber Bragg grating (FBG) demodulator 3-1) is set；
Grid point number 3-2) is carried out to the grating in fiber grating strain sensor unit:
Wavelength-vector 3-3) is demarcated in the controller, and each element in vector corresponds to each in fiber grating strain sensor unit
The center for standard wavelength of grating.
8. the measurement method of the limbs joint angle measurement unit according to claim 6 based on fiber grating, feature
It is, the step 4) includes following content:
4-1) based on the temperature adjustmemt of reference grating, λnTo dress n-th of raster center wavelength of component, KεAnd KTFor fixed coefficient,
Wearing component grating can be indicated with reference grating center wavelength variation amount are as follows:
Wherein: λ0Indicate reference grating central wavelength, Δ λ0Indicate reference grating center wavelength variation amount；λ1Indicate wearing component
1st raster center wavelength, Δ λ1Indicate wearing the 1st raster center wavelength variable quantity of component；ε indicates to answer at limb muscle
Become, Δ T indicates experimentation temperature variation；
4-2) in the ideal situation, limbs joint angle and time relationship meet: xt=at+b；
Then t moment predicted value are as follows:In formula,Indicate t-1 time optimization value；
T moment predicts errorAre as follows:In formula, ptError, p are predicted for t momentt-1Indicate the t-1 moment
Error, q indicate process noise；
Filtering gain are as follows:In formula；KtFor t moment filtering gain, e is the defeated of fiber grating strain sensor unit
Error out；
State estimation after update are as follows:
T moment prediction error is after update
9. the measurement method of the limbs joint angle measurement unit according to claim 6 based on fiber grating, feature
It is, step 5) includes following content:
5-1) use liIndicate the arc length of i-th section of center line, when only considering the movement of single joint, in the spacing of setting, center line
Shape be two-dimensional curve, approximation regards a circular arc as, then its parametric equation are as follows:
Wherein, θ indicates the corresponding central angle of every section of center line arc length of fiber grating；
Then it is arranged in the fiber segment radius of curvature r of joint back sidei, indicated with wavelength variable quantity Δ λ are as follows:
Wherein λ is each raster center wavelength, and h is limbs center line away from fiber grating string distance；
And local coordinate { xi-1, yi-1, zi-1Arrive coordinate system { xi, yi, ziTransformation can be divided into 1 rotation transformation and 1 translation
Transformation, rotation transformation are as follows:
Coordinate { xi-1, yi-1, zi-1Arrive coordinate { xi, yi, ziTranslate and can indicate are as follows:
Then raster center o in node, that is, fiber grating strain sensor unitiGlobal position can indicate are as follows:
Node oiGlobal position vector PiSet { P1、P2、P3、……PnIndicate grid point present position, and resolve joint and turn
Angle；(xi,0,zi) respectively indicate the coordinate at the corresponding center of n-th of grid point；
When joint flexion angle is less than 90 °, joint rotation angle γ has:
Wherein,When joint flexion angle is more than or equal to 90 °,
10. the measurement method of the limbs joint angle measurement unit according to claim 6 based on fiber grating, feature
It is, after the completion of step 5), compared to the method A that step 1)-step 5) carries out, check experiment B is set, check experiment B will
Fiber grating strain sensor unit is attached directly to the limbs of people, obtains the test data of check experiment B, establishes A group and B group is surveyed
Any time multiple proportion for measuring result, reacts on B group measurement result for multiple as variable coefficient.
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