CN103340632A - Human joint angle measuring method based on feature point space position - Google Patents
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Abstract
The invention provides a human joint angle measuring method based on a feature point space position. According to the human joint angle measuring method based on the feature point space position, human joint motion can be tracked so that a space track of a joint mark point can be collected. On the basis, joint motion angle values of the portions of neck, elbow, wrist, hip and the like are measured through least squares fit and the Newton interpolation method, descriptive statistical analysis can be further conducted on the joint angle values, and therefore the requirements that position accuracy is better than 2mm and the measuring accuracy of joint angles is better than 0.2 degree are satisfied. According to the human joint angle measuring method based on the feature point space position, the problems that manual measurement is slow, a person to be measured is prone to fatigue, and a measuring result is poor in accuracy in the prior art are solved, the problems that when three dimension scanning measurement is used, required data volume is large, calculation speed is low, and auxiliary work amount of the measurement is large are solved. The joint motion angles of large sample crowd can be measured and calculated rapidly, accurately and automatically.
Description
Technical field
The present invention relates to a kind of measuring method of human synovial activity point of view, main locus according to the human synovial characteristic point, obtain the corresponding joint angle value, have widely in fields such as the design of somatometry, work space, man-machine system's design and evaluation, clinical rehabilitation evaluation, sports sciences and use.
Background technology
The joint motion angle refers to the maximum angle that movable joint is passed through from the original position to the final position, it and static anthropometric data are (as height, upper extremity length, waistline, shoulder breadth etc.), the biomechanics data are (as thrust, pulling force, grip, spin etc.), physiology/psychological data are (as heart rate, the oxygen consumption, the visual field, during reaction etc.), and dynamic functional dimension data etc. all are the very important basic datas in man-machine system's ergonomic design and the evaluation study, are working spaces, clothing and individual protection equipment, the important evidence of man machine interface design and human body modeling and simulation.
The size of joint motion angle is main with relevant, various data bases have been set up abroad in this respect, but because the joint motion angle is subjected to the influence of factors such as race, sex, age and build, these data bases can not indiscriminately imitate application, need set up compatriots' oneself data base, in this respect, China also relatively lacks, and also needs extensive and deep research.When the joint motion angle is measured, often to relate to the sampling of a large amount of crowd's samples, measuring method becomes the emphasis that the ergonomics research worker is paid close attention to fast and accurately.
At present, domestic and international measurement to the joint motion angle mainly is to carry out hand dipping with joint angles chi or disk protractor.Joint angles chi or disk protractor mainly are made up of fixed arm, lever arm and rotary middle spindle, need be with reference to the center of bone mark with the centrally aligned joint motion axle of rotating shaft when measuring, fixed arm and lever arm are put into or point to the bone mark on the limbs of two ends, joint respectively or parallel with the limbs major axis, along with the movement of joint far-end limbs, read the joint motion angle at the protractor graduated disc of joint angles chi.This measuring method cost is low, easy and simple to handle, is widely used for a long time, but its shortcoming that exists some to be difficult to eliminate.At first, because the existence of limbs soft tissue, the placement of lever arm, fixed arm, center of rotation all can be subjected to and in various degree influence, and different measuring personnel's laying method also exists bigger discordance, thereby makes measurement result occur error easily; Secondly, angle shows that lack of standardization, angular error, processing technology etc. all can reduce the accuracy of measurement result; Three, the measurement of joint angles divides initiatively measurement and passive measurement, in the active of joint angles is measured, need the stable final position of joint motion that keeps of tested personnel to measure, some joint may error occur easily owing to be difficult to keep, and may also can make tested personnel produce fatigue and influence measurement result more for a long time in the measurement project.In " photogrammetric method of range of motion " literary composition of " ergonomics " the 2nd phase in 2006, a kind of joint motion angle measurement method that utilizes digital camera that joint motion is taken a picture has been proposed, namely on the fixed arm in tested joint and lever arm, paste two circular index points respectively, take two definition position of index point line before and after the rotation of joint with digital camera, by the variation of the angle between the mathematical method calculation flag point line before and after rotation, draw the joint motion angle in this joint.Photogrammetry has reduced measurement error, has shortened Measuring Time with respect to traditional protractor measurement method, is a kind of accurate, effective, economic new method.But also existing some problems, at first is in the rotary course of joint, skin in Plane of rotation relatively skeleton a small amount of translation can take place, making postrotational index point line no longer is the index point line before the rotation and produce error; Secondly, because index point is not a point truly, but occupy the round scraps of paper of certain area, reading coordinate time with image processing software owing to the center that can not accurately choose index point produces error; The 3rd, when taking a picture, the camera gun optical axis can not accurately keep vertical and bring error into the joint Plane of rotation.In " extremities joint mobility method of measuring " literary composition of " Forensic Science " the 4th phase in 2002, a kind of triangulation method has been proposed, be initial point with tested joint, on " both sides " that constitute this joint, respectively get and a bit form a triangle, measure the length on " each limit " respectively with compasses, use mathematical principle to calculate the activity point of view in this joint, triangulation method is simple and easy to do, extremity have been overcome because of the figure, the error that factors such as processing technology cause, be a kind of comparatively objective, accurate new method, defective is that 3 position must be that bone is significantly local, and this is difficult to select sometimes.
The three-dimensional motion measuring technique have measure automatization, high accuracy, to the glitch-free characteristics of people, along with the maturation of three-dimensional motion measuring technique with popularize, in recent years, research worker begins attempting utilizing the optical 3-dimensional movement measurement system to measure the joint motion angle of human body.In " application of three-dimensional motion analytical system on the carpometacarpal joint of thumb rotation angle measurement " literary composition of " Chinese surgical magazine " the 16th phase in 2006, utilization is based on three-dimensional motion analytical system (the Eagle Digital System of video, USA) 5 activity point of view of thumb carpometacarpal joint of thumb have been measured, this measurement need be pasted more index point at palm, only is applicable to the measurement of carpometacarpal joint of thumb activity point of view.The OPTOTRAK three Dimensional Motion Measurement System of use Canadian NDI (Northern Digital Inc) company has been measured 28 joint motion angles of human body whole body in " International Journal of Industrial Ergonomics " the 39th phase in 2009 " The effect of age and gender on joint range of motion of worker population in Taiwan " research, the measurement result precision is higher, this measuring method need be pasted a rigid body in body measurements, post several index points on the rigid body, go out the position of center line of index point array by the coordinate Calculation of measuring each index point, begin finally to calculate the joint motion angle to the displacement that finishes from joint motion by computer center's line.This method certainty of measurement height, but need to paste a plurality of index points, the complicated operation amount of calculation is bigger, and the stickup of rigid body also can have influence on the motion of limbs.
At present relevant joint angles method of testing is concluded, can find that a common recognition is, the science of joint angles test data is the key factor that determines product or system's getting married property design level, is the developing direction of its research based on the joint angles computational methods of characteristic point locus, joint.At present, mostly be manual test greatly in method of testing upper joint angle, though but sometimes machine test automatically, process complexity and precision are not high.Therefore, exist the subject matter that needs to solve to be:
(1) during manual test, the test posture of testee is difficult for keeping the low precision as a result of measurement;
(2) when utilizing laser scanning data to carry out the joint angles test, the desired data amount is big, and computational speed is slow, and the workload that test is assisted is big.
In a word, operator's joint angles is the significant data of determining operation posture, causes aspects such as physical fatigue or occupation be sick and wounded in product or system's getting married property design and prevention and has a very important role.For making things convenient for test operation, data to obtain and analyze, need a kind of not only fast but also accurate joint angles computational methods based on characteristic point locus, joint, to improve testing efficiency with scientific.
Summary of the invention
The objective of the invention is at the above-mentioned deficiency on the prior art, a kind of known human synovial characteristic point locus track is provided, draw the measuring method of corresponding joint angle value.This method can not only keep and record the natural manner of testee joint angles effectively, and can also draw required measurement result rapidly, satisfies the measurement requirement of human synovial angle.
For realizing such purpose, in the technical scheme of the present invention, at first, according to the somatometry handbook, determine the classification of measured human synovial angle; Secondly, at the classification of survey joint angles, lay 1 or 2 index points; Then, utilize the locus track of the human synovial angle character point that general action capture systems obtains; At last, the characteristic point space tracking to obtaining carries out least square fitting, and looks feelings and carry out Newton interpolation, to obtain complete characteristic point space tracking, on this basis, calculates required joint measurment value.
Method of the present invention comprises following concrete steps:
(1) classification of human synovial angle: according to the somatometry handbook, all joints for human body, as neck joint, elbow joint, articulations digitorum manus, carpal joint, shoulder joint, hip joint, knee joint, ankle joint, toes joint etc., with its be divided into flexing, stretching, extension, medial rotation, revolve outer, abduction, classification such as interior receipts.
(2) index point in the laying joint of surveying: based on the human anatomy characteristic point, when measuring joint flexing, stretching, extension, medial rotation angle, lay 1 index point; When measuring the joint angles of above-mentioned all the other classifications, lay 2 index points.
(3) obtain the space tracking of human synovial index point: the connecting moves capture systems allows the measuring point of testee carry out activity by the definition of joint angles, the space tracking of this index point of action capture systems real time record.
(4) joint angles calculates: for the test of single index point, according to the motion mode of survey joint angles characteristic point, its track should be one section circular arc, and establishing starting point is A, and terminal point is B.At first, based on the data sampling rate of action capture systems, check whether the locus between the AB has discontinuous point, if there is discontinuous point, then use Newton interpolating method to carry out the interpolation of locus; Secondly, utilize least square fitting to go out radius R and the home position of this section circular arc; At last, on the basis of known chord length AB, radius R, ask the computing formula of interior angle by the known Atria length of side, calculate required joint angles.
For the test of double-flag point, establish starting point and be respectively A
0, B
0, terminal point is respectively A
1, B
1At first, according to the data sampling feature of action capture systems, determine initial position point A
0, B
0With ultimate position point A
1, B
1Secondly, according to the computing formula of space two included angle of straight line, with line segment A
0B
0And A
1B
1Angle as survey joint angles value.
Characteristic of the present invention is that during owing to the human synovial angle measurement, its posture keeps being difficult to realize, so measurement data is repeatable bad.And the present invention utilizes the action capture systems to record characteristic point locus, joint, therefore, has realized preferably measuring the record of posture.Simultaneously, joint angles is to calculate by science, so the precision height, good reproducibility can be widely used in the measurement of human synovial angle.
Description of drawings
Fig. 1 is the overview flow chart of human synovial angle measurement method based on the characteristic point locus proposed by the invention.
As shown in Figure 1, at first, according to the somatometry handbook, determine the classification (as flexing, stretching, extension, medial rotation, revolve outer, abduction, interior receipts etc.) of each joint angles; Secondly, according to human anatomy characteristic and angle classification, select characteristic point on 1 or 2 in the survey joint; Then, lay the index point of action capture systems in this characteristic point, and start, allow testee carry out the joint angles activity simultaneously, the spatial position data of record mark point; At last, the spatial position data of joint index point is analyzed and handled, draw required joint angles measured value.
Fig. 2 is the measuring system structure chart of human synovial angle measurement method proposed by the invention.
Among the figure
201---the photographic head of action capture systems; 202---the data wire of action capture systems;
203---action capture systems data acquisition unit; 204---data analysis and process computer.
X---the X-axis coordinate of landmark space position, joint; Y---the Y-axis coordinate of landmark space position, joint.
Fig. 3 is the joint angles schematic diagram calculation of single index point test.
Among the figure, R---the radius of circle that landmark space position, joint simulates; The corresponding chord length of the arc that L---origin-to-destination simulates; ɑ---joint angles value.
Fig. 4 is the joint angles schematic diagram calculation of double-flag point test.
Among the figure,
A
0, B
0---the original position the during motion of joint index point; A
1, B
1---the original position the during motion of joint index point;
O---the center of circle of landmark space position match; β---space line segment A
0B
0With line segment A
1B
1Angle;
ɑ---joint angles value.
The specific embodiment
The present invention is described in further detail below in conjunction with drawings and Examples.
The present invention is a kind of human synovial angle measurement method based on the characteristic point locus, as Fig. 1, Fig. 2, Fig. 3, shown in Figure 4, comprises action capture systems camera lens 201, action capture systems data acquisition unit 203 and data analysis and process computer.
The photographic head 201 of action capture systems is general video camera, the consecutive image in the time of can taking the human synovial activity, and filming frequency is greater than 25 frames/s.
Action capture systems data acquisition unit 203 links to each other by the photographic head 201 of data wire 202 with the action capture systems, realize the continuous sampling of human synovial activity (containing index point) image, sample frequency is not less than 25 frames/s, simultaneously the view data that collects is sent to data analysis and process computer 204 by data wire 202.
Data analysis and process computer are equipped with testing software, the process that control whole human body joint angles is measured, simultaneously, receive the index point view data that action capture systems data acquisition unit 203 transmits, to carry out the computing of two aspects: the one, according to the image that camera lens 201 is taken, the space coordinates that calculation flag point is continuous; The 2nd, continuous space coordinates carried out least square fitting and Newton interpolation after, calculate the joint angles value of surveying.After handling by analysis, the precision of space coordinates is better than 2mm, and the certainty of measurement of joint angles is better than 0.2 °.In addition, this operation system of computer is WINDOWS XP; " LG LCD display, display resolution are 1366 * 768 to liquid crystal display screen, and brightness is 250cd/m in order to be 21
2Testing software develops at Visual C Plus Plus platform, and major function has: the one, and test parameter is set and records the initial information of the tests such as height, age, education degree, native place, sex of testee; The 2nd, action capture systems data acquisition unit reads in the locus test data; The 3rd, calculate required joint angles measured value, and carry out descriptive statistical analysis such as arbitrary percentile calculating between maximum, minima, instant value, average, the variance, the 1st to the 99th; The 4th, can carry out the cluster analysis of joint angles value.
Embodiment 1: the anteflexion angular surveying in testee cervical region joint
Carry out according to the following steps:
(1) the main examination of test is by requirement shown in Figure 2, the distance that 2 action capture systems camera lenses 201 is placed on the 3.5m at least of being separated by is last, central vertical line at 2 camera lenses is determined a bit, what make this point and two camera lenses is wired to 120 °, paste a cross hairs at this some place and make the minor axis of this cross hairs vertical with the line of two camera lenses, and allow testee keep the standing position state by test request.
(2) connect after, energized is demarcated the action capture systems, unified the cross point of cross hairs is zero to the cross hairs place with coordinate, as shown in Figure 2, minor axis is X-axis, major axis is Y-axis.
(3) testee stands on the zero position towards Y direction with the standard posture, pastes an index point in measured's auris dextra top position, and this index point is followed the trail of by action capture systems camera lens 201.
(4) the main examination of test is sent and is measured the beginning password, and testee is slowly crooked until maximum angle forward with head, the spatial data that action capture systems data acquisition unit 203 is gathered in the index point motor process.In the testee head-bent process, should keep both shoulders concordant, the following position of shoulder and health keeps motionless, and head is as far as possible at the sagittal in-plane moving.
(5) computational process of measuring according to single index point, action capture systems data analysis and process computer 204 calculate the prone maximum angle of head automatically, i.e. the anteflexion angle in cervical region joint.
Fig. 3 provides the principle of computes joint angles behind single landmark space coordinate fitting, and its calculating formula is:
Embodiment 2: the left-handed angular surveying in testee cervical region joint
Carry out according to the following steps:
(1) the main examination of test is by requirement shown in Figure 2, the distance that 2 action capture systems camera lenses 201 is placed on the 3.5m at least of being separated by is last, central vertical line at 2 camera lenses is determined a bit, what make this point and two camera lenses is wired to 120 °, paste a cross hairs at this some place and make the minor axis of this cross hairs vertical with the line of two camera lenses, and allow testee keep the standing position state by test request.
(2) connect after, energized is demarcated the action capture systems, unified the cross point of cross hairs is zero to the cross hairs place with coordinate, as shown in Figure 2, minor axis is X-axis, major axis is Y-axis.
(3) testee stands on the zero position towards Y direction with the standard posture, 2 index points are pasted in auris dextra top position at testee, the line of centres of 2 index points is parallel with horizontal plane, and the center of 2 index points is at a distance of about 2cm, and index point is followed the trail of by action capture systems camera lens 201.
(4) the main examination of test is sent and is measured the beginning password, and testee slowly rotates head until maximum angle left, the spatial data that action capture systems data acquisition unit 203 is gathered in the index point motor process.The testee head in the BENDING PROCESS, should keep both shoulders concordant left, and the following position of shoulder and health keeps motionless, and head is as far as possible at horizontal in-plane moving.
(5) according to the computational process of double-flag point measurement, action capture systems data analysis and process computer 204 calculate head automatically to the maximum angle of anticlockwise, i.e. the left-handed angle in cervical region joint.
Fig. 4 provides the principle of computes joint angles behind the double-flag space of points coordinate fitting, and its calculating formula is:
In the formula,
Expression double-flag point initial position A
0, B
0The vector that is linked to be;
Claims (4)
1. method of testing that is used for correctly obtaining testee joint motion angle value, it is characterized in that system structure is made up of action capture systems camera lens, action capture systems data acquisition unit and data analysis and process computer, test process comprises following concrete steps:
1) classification of human synovial angle: according to the somatometry handbook, all joints for human body, as neck joint, elbow joint, articulations digitorum manus, carpal joint, shoulder joint, hip joint, knee joint, ankle joint, toes joint etc., with its be divided into flexing, stretching, extension, medial rotation, revolve outer, abduction, classification such as interior receipts.
2) index point in the laying joint of surveying: based on the human anatomy characteristic point, when measuring joint flexing, stretching, extension, medial rotation angle, lay 1 index point; When measuring the joint angles of above-mentioned all the other classifications, lay 2 index points.
3) obtain the space tracking of human synovial index point: the connecting moves capture systems allows the measuring point of testee carry out activity by the definition of joint angles, the space tracking of this index point of action capture systems real time record.
4) joint angles calculates: for the test of single index point, according to the motion mode of survey joint angles characteristic point, its track should be one section circular arc, and establishing starting point is A, and terminal point is B.At first, based on the data sampling rate of action capture systems, check whether the locus between the AB has discontinuous point, if there is discontinuous point, then use Newton interpolating method to carry out the interpolation of locus; Secondly, utilize least square fitting to go out radius R and the home position of this section circular arc; At last, on the basis of known chord length AB, radius R, ask the computing formula of interior angle by the known Atria length of side, calculate required joint angles.
For the test of double-flag point, establish starting point and be respectively A
0, B
0, terminal point is respectively A
1, B
1At first, according to the data sampling feature of action capture systems, determine initial position point A
0, B
0With ultimate position point A
1, B
1Secondly, according to the computing formula of space two included angle of straight line, with line segment A
0B
0And A
1B
1Angle as survey joint angles value.
2. requiring the photographic head of 1 described action capture systems according to letter of authorization is general video camera, the consecutive image in the time of can taking the human synovial activity, and filming frequency is greater than 25 frames/s.
3. require 1 described action capture systems data acquisition unit to link to each other by the photographic head of data wire with the action capture systems according to letter of authorization, realize the continuous sampling of human synovial activity (containing index point) image, sample frequency is not less than 25 frames/s, simultaneously the view data that collects is sent to data analysis and process computer by data wire.
4. require 1 described data analysis and process computer that testing software is installed according to letter of authorization, the process that control whole human body joint angles is measured, simultaneously, receive the index point view data that action capture systems data acquisition unit transmits, to carry out the computing of two aspects: the one, according to the image of lens shooting, the space coordinates that calculation flag point is continuous; The 2nd, continuous space coordinates carried out least square fitting and Newton interpolation after, calculate the joint angles value of surveying.After handling by analysis, the precision of space coordinates is better than 2mm, and the certainty of measurement of joint angles is better than 0.2 °.In addition, this operation system of computer is WINDOWS XP; " LG LCD display, display resolution are 1366 * 768 to liquid crystal display screen, and brightness is 250cd/m in order to be 21
2Testing software develops at Visual C Plus Plus platform, and major function has: the one, and test parameter is set and records the initial information of the tests such as height, age, education degree, native place, sex of testee; The 2nd, action capture systems data acquisition unit reads in the locus test data; The 3rd, calculate required joint angles measured value, and carry out descriptive statistical analysis such as arbitrary percentile calculating between maximum, minima, instant value, average, the variance, the 1st to the 99th; The 4th, can carry out the cluster analysis of joint angles value.
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