CN103340632B - 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 according to the locus of human synovial characteristic point, obtain corresponding joint angle value, in fields such as somatometry, workplace design, man-machine system's design and evaluation, clinical rehabilitation evaluation, sports sciences, have a wide range of applications.
Background technology
Joint motion angle refers to the maximum angle that movable joint is passed through from original position to final position, it and static anthropometric data are (as height, upper extremity length, waistline, shoulder breadth etc.), biomechanics data are (as thrust, pulling force, grip, spin etc.), physiology/psychological data are (as heart rate, oxygen consumption, the visual field, during reaction etc.), and dynamic functional dimension data etc. are all the very important basic datas in man-machine system's ergonomic design and evaluation study, it is working space, clothing and individual protection equipment, the important evidence of Human Machine Interface and Human Modeling and emulation.
The size of joint motion angle is main with relevant, various data bases have been set up in this respect abroad, but due to joint motion angle, be subject to the impact of the factors such as race, sex, age and build, these data bases can not indiscriminately imitate application, need to set up compatriots' oneself data base, in this respect, China also relatively lacks, and also needs extensive and deep research.When 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 ergonomics research worker is paid close attention to fast and accurately.
At present, to the measurement of joint motion angle, be mainly to carry out hand dipping with joint angles chi or disk protractor both at home and abroad.Joint angles chi or disk protractor are mainly comprised of fixed arm, lever arm and rotary middle spindle, when measuring, need to joint motion Zhou center be aimed in the center of rotating shaft with reference to bone mark, fixed arm and lever arm are put into respectively or point to the bone mark on the limbs of two ends, joint or parallel with limbs major axis, along with the movement of joint distal limb, on the protractor graduated disc of joint angles chi, read joint motion angle.This measuring method cost is low, easy and simple to handle, be widely used for a long time, but it exists some to be difficult to the shortcoming of eliminating.First, due to the existence of limbs soft tissue, the placement of lever arm, fixed arm, center of rotation all can be subject to and impact in various degree, and different measuring personnel's laying method also exists larger discordance, thereby makes measurement result easily occur error; 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, may easily there is error owing to being difficult to keep in some joint, when measure the item is more, may also can make tested personnel produce fatigue and affect measurement result.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 to take a picture to joint motion has been proposed, on the fixed arm in tested joint and lever arm, paste respectively two circular index points, with digital camera, take two definition position of index point line before and after the rotation of joint, variation by the angle between mathematical method calculation flag point line before and after rotation, draw the joint motion angle in this joint.Photogrammetry, with respect to traditional protractor measurement method, has reduced measurement error, has shortened Measuring Time, is a kind of accurate, effective, economic new method.But also existing some problems, is first in the rotary course of joint, skin in Plane of rotation relatively skeleton can there is a small amount of translation, making postrotational index point line is no longer the index point line before rotation and produce error; Secondly, because index point is not a point truly, but occupy the round scraps of paper of certain area, owing to can not accurately choosing the center of index point, produce error reading coordinate time with image processing software; The 3rd, when taking a picture, camera gun optical axis can not accurately keep vertical and bring error into 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, take tested joint as initial point, on " both sides " that form this joint, respectively get and a bit form a triangle, with compasses, measure respectively the length on " each limit ", 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 figure, the error that the factors such as processing technology cause, a kind of comparatively objective, accurate new method, defect is that the position of 3 must be that bone is significantly local, this is difficult to select sometimes.
Three-dimensional motion measuring technique has Automatic survey, high accuracy, to the glitch-free feature of people, along with the maturation of three-dimensional motion measuring technique and universal, in recent years, research worker starts attempting utilizing optical 3-dimensional movement measurement system to measure the joint motion angle of human body.In < < " application of three-dimensional motion analytical system on carpometacarpal joint of thumb rotation angle measurement " literary composition of China's surgical magazine > > the 16th phase in 2006, three-dimensional motion analytical system (the Eagle Digital System of utilization based on video, USA) 5 activity point of view of thumb carpometacarpal joint of thumb have been measured, this measurement need to be pasted more index point at palm, is only applicable to the measurement of carpometacarpal joint of thumb activity point of view.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, use the OPTOTRAK three Dimensional Motion Measurement System of Canadian NDI (Northern Digital Inc) company to measure 28 joint motion angles of Whole Body, measurement result precision is higher, this measuring method need to be pasted a rigid body in body measurements, on rigid body, post several index points, by measuring the coordinate of each index point, calculate the position of center line of index point array, by computer center's line, from joint motion, start finally to calculate joint motion angle to the displacement finishing.The method certainty of measurement is high, but need to paste a plurality of index points, and complicated operation amount of calculation is larger, 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 getting married property of system design level, and the joint angles computational methods based on characteristic point locus, joint are developing direction of its research.At present, in method of testing upper joint angle, be mostly manual test, though sometimes can automatically test by machine, process complexity and precision are not high.Therefore, exist and need the subject matter solving to be:
(1), during manual test, the test posture of testee is difficult for keeping, the result low precision of measurement;
(2) when utilizing laser scanning data to carry out joint angles when test, desired data amount is large, and computational speed is slow, tests auxiliary workload large.
In a word, operator's joint angles is the significant data of determining operation posture, in product or the suitable Humanity Design of system and prevention, causes physical fatigue or occupation is sick and wounded etc. that aspect has a very important role.For convenience of test operation, data acquisition and analysis, need a kind of fast and accurate joint angles computational methods based on characteristic point locus, joint, to improve testing efficiency with scientific.
Summary of the invention
The object of the invention is to for the above-mentioned deficiency in prior art, a kind of known human synovial characteristic point locus track is provided, draw the measuring method of corresponding joint angle value.The method can not only keep and record the natural manner of testee joint angles effectively, and can also draw rapidly required measurement result, meets the measurement requirement of human synovial angle.
For realizing such object, in technical scheme of the present invention, first, according to somatometry handbook, determine the classification of measured human synovial angle; Secondly, for the classification of surveyed 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; Finally, the characteristic point space tracking to obtained, carries out least square fitting, and carries out Newton interpolation depending on feelings, 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 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., be divided into flexing, stretching, extension, medial rotation, revolved outer, abduction, the classification such as interior receipts.
(2) lay the index point in the joint of surveying: based on human anatomy characteristic point, while measuring joint flexing, stretching, extension, medial rotation angle, lay 1 index point; While 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: 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 surveyed joint angles characteristic point, its track should be one section of circular arc, and establishing starting point is A, and terminal is B.First, the data sampling rate based on action capture systems, checks whether the locus between AB has discontinuous point, if there is discontinuous point, uses 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 of circular arc; Finally, on the basis of known chord length AB, radius R, by the known Atria length of side, ask the computing formula of interior angle, calculate required joint angles.
For the test of double-flag point, establish starting point and be respectively A
0, B
0, terminal is respectively A
1, B
1.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
1; Secondly, according to the computing formula of space two included angle of straight line, by line segment A
0b
0and A
1b
1angle as surveyed joint angles value.
Characteristic of the present invention is, during due to human synovial angle measurement, its posture keeps being difficult to realize, so the repeatability of measurement data is bad.And the present invention utilizes action capture systems to record characteristic point locus, joint, therefore, realized preferably measuring the record of posture.Meanwhile, joint angles is to calculate by science, so precision is high, reproducible, can be widely used in the measurement of human synovial angle.
Accompanying drawing explanation
Fig. 1 is the overview flow chart of the human synovial angle measurement method based on characteristic point locus proposed by the invention.
As shown in Figure 1, first, according to 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, on surveyed joint, select characteristic point on 1 or 2; Then, in this characteristic point, lay the index point of action capture systems, and start, allow testee carry out joint angles activity, the spatial position data of record mark point simultaneously; Finally, the spatial position data of joint index point is analyzed and processed, draw required joint angles measured value.
Fig. 2 is the measuring system structure chart of human synovial angle measurement method proposed by the invention.
In 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.
In figure, R---the radius of circle that landmark space position, joint simulates; The corresponding chord length of 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.
In figure,
A
0, B
0---the original position during motion of joint index point; A
1, B
1---the original position during motion of joint index point;
O---the center of circle of landmark space position matching; β---spatial line segment A
0b
0with line segment A
1b
1angle;
ɑ---joint angles value.
The specific embodiment
Below in conjunction with drawings and Examples, the present invention is described in further detail.
The present invention is a kind of human synovial angle measurement method based on characteristic point locus, as shown in Figure 1, Figure 2, Figure 3, 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 human synovial activity, and filming frequency is greater than 25 frames/s.
Action capture systems data acquisition unit 203 is connected with the photographic head 201 of action capture systems by data wire 202, realize the continuous sampling of human synovial activity (containing index point) image, sample frequency is not less than 25 frames/s, the view data collecting is sent to data analysis and process computer 204 by data wire 202 simultaneously.
Data analysis and process computer are provided with testing software, control the process of whole human synovial angular surveying, 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, the image of taking according to camera lens 201, calculation flag is put continuous space coordinates; The 2nd, continuous space coordinates is carried out after least square fitting and Newton interpolation, calculate the joint angles value of surveying.After processing 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, the operating system of this computer is WINDOWS XP; Liquid crystal display screen is for being 21 " LG LCD display, display resolution is 1366 * 768, brightness is 250cd/m
2; Testing software develops on 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 locus test data; The 3rd, calculate required joint angles measured value, and carry out the descriptive statistical analysis such as arbitrary percentile calculating between maximum, minima, instant value, average, variance, the 1st to the 99th; The 4th, can carry out the cluster analysis of joint angles value.
Embodiment 1: angular surveying that testee cervical region joint is anteflexion
Carry out according to the following steps:
(1) test main examination by the requirement shown in Fig. 2,2 action capture systems camera lenses 201 are placed in the distance of the 3.5m at least of being separated by, on the central vertical line of 2 camera lenses, determine a bit, what make this point and two camera lenses is wired to 120 °, at this some place, paste a cross hairs and make the minor axis of this cross hairs vertical with the line of two camera lenses, and allow testee keep standing position state by test request.
(2) after connecting, switch on power, action capture systems is demarcated, unify the coordinate to cross hairs place, the cross point of cross hairs is zero, and as shown in Figure 2, minor axis is X-axis, and major axis is Y-axis.
(3) testee stands on zero position towards Y direction with standard gestures, in measured's auris dextra top position, pastes an index point, and this index point is followed the trail of by action capture systems camera lens 201.
(4) test main examination and send and measure to start password, testee by head forward slowly bending until maximum angle, the spatial data that action capture systems data acquisition unit 203 gathers in index point motor processs.In 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 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 after 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) test main examination by the requirement shown in Fig. 2,2 action capture systems camera lenses 201 are placed in the distance of the 3.5m at least of being separated by, on the central vertical line of 2 camera lenses, determine a bit, what make this point and two camera lenses is wired to 120 °, at this some place, paste a cross hairs and make the minor axis of this cross hairs vertical with the line of two camera lenses, and allow testee keep standing position state by test request.
(2) after connecting, switch on power, action capture systems is demarcated, unify the coordinate to cross hairs place, the cross point of cross hairs is zero, and as shown in Figure 2, minor axis is X-axis, and major axis is Y-axis.
(3) testee stands on zero position towards Y direction with standard gestures, 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, the center of 2 index points is at a distance of 2cm left and right, and index point is followed the trail of by action capture systems camera lens 201.
(4) test main examination and send and measure to start password, testee by head left slowly rotation until maximum angle, the spatial data that action capture systems data acquisition unit 203 gathers in index point motor processs.Testee head in 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 after double-flag space of points coordinate fitting, and its calculating formula is:
In formula,
represent double-flag point initial position A
0, B
0the vector being linked to be;
point represents double-flag point ultimate position A
1, B
1the vector being linked to be;
represent vector
mould;
represent vector
mould.
Claims (4)
1. one kind for correctly obtaining the measuring method of testee joint motion angle, the measuring system structure that it is characterized in that joint motion angle measurement method forms by moving capture systems camera lens, action capture systems data acquisition unit and data analysis and process computer, and measuring process comprises following concrete steps:
1) classification of human synovial angle: according to somatometry handbook, all joints for human body, comprise neck joint, elbow joint, articulations digitorum manus, carpal joint, shoulder joint, hip joint, knee joint, ankle joint, toes joint, be divided into flexing, stretching, extension, medial rotation, revolve outer, abduction, six classifications of interior receipts;
2) lay the index point in the joint of surveying: based on human anatomy characteristic point, while measuring joint flexing, stretching, extension, medial rotation angle, lay 1 index point; While 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: 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 measurement of single index point, according to the motion mode of surveyed joint angles characteristic point, its track should be one section of circular arc, and establishing starting point is A, and terminal is B; First, the data sampling rate based on action capture systems, checks whether the locus between AB has discontinuous point, if there is discontinuous point, uses 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 of circular arc; Finally, on the basis of known chord length AB, radius R, by the known Atria length of side, ask the computing formula of interior angle, calculate required joint angles;
For the measurement of double-flag point, establish starting point and be respectively A
0, B
0, terminal is respectively A
1, B
1; 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
1; Secondly, according to the computing formula of space two included angle of straight line, by line segment A
0b
0and A
1b
1angle as surveyed joint angles value.
2. the measuring method of testee joint motion angle according to claim 1, is characterized in that: the camera lens of described action capture systems is general video camera, the consecutive image in the time of can taking human synovial activity, and filming frequency is not less than 25 frames/s.
3. the measuring method of testee joint motion angle according to claim 1, it is characterized in that: described action capture systems data acquisition unit is connected with the camera lens of action capture systems by data wire, realize the continuous sampling of human synovial live image, sample frequency is not less than 25 frames/s, the view data collecting is sent to data analysis and process computer by data wire simultaneously.
4. the measuring method of testee joint motion angle according to claim 1, it is characterized in that: described data analysis and process computer are provided with Survey Software, control the process of whole human synovial angular surveying, 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, calculation flag is put continuous space coordinates; The 2nd, continuous space coordinates is carried out after least square fitting and Newton interpolation, calculate the joint angles value of surveying; After processing 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, the operating system of this computer is WINDOWS XP; Liquid crystal display screen is 21 " LG LCD display, display resolution is 1366 * 768, brightness is 250cd/m
2; Survey Software is to develop on Visual C Plus Plus platform, and major function has: the one, and measurement parameter is set and records height, age, education degree, the native place of testee, the individual initial information of sex; The 2nd, action capture systems data acquisition unit reads in spatial position measuring data; The 3rd, calculate required joint angles measured value, and carry out the descriptive statistical analysis that between maximum, minima, instant value, average, variance, the 1st to the 99th, arbitrary percentile calculates; The 4th, carry out the cluster analysis of joint angles value.
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| US20150213653A1 (en) * | 2013-10-24 | 2015-07-30 | Ali Kord | Motion capture system |
| CN105902273A (en) * | 2016-04-11 | 2016-08-31 | 上海大学 | Hand function rehabilitation quantitative evaluation method based on hand ulnar deviation motion |
| CN106901748A (en) * | 2017-03-22 | 2017-06-30 | 北京航空航天大学 | A kind of measurement of range of motion device based on acceleration transducer |
| CN107145862B (en) * | 2017-05-05 | 2020-06-05 | 山东大学 | Multi-feature matching multi-target tracking method based on Hough forest |
| CN108498102B (en) * | 2018-05-31 | 2023-12-29 | 北京上达医疗科技有限公司 | Rehabilitation training method and device, storage medium and electronic equipment |
| CN109431516B (en) * | 2018-11-29 | 2024-01-26 | 新疆维吾尔自治区人民医院 | Cervical vertebra mobility measuring equipment and cervical vertebra mobility measuring method |
| CN109991979B (en) * | 2019-03-29 | 2020-10-30 | 华中科技大学 | Lower limb robot anthropomorphic gait planning method oriented to complex environment |
| CN110059670B (en) * | 2019-04-29 | 2024-03-26 | 杭州雅智医疗技术有限公司 | Non-contact measuring method and equipment for head and face, limb movement angle and body posture of human body |
| CN111481208B (en) * | 2020-04-01 | 2023-05-12 | 中南大学湘雅医院 | Auxiliary system, method and storage medium applied to joint rehabilitation |
| CN113358383B (en) * | 2021-05-08 | 2022-10-18 | 中国标准化研究院 | Air conditioner outdoor unit ergonomics experiment system and ergonomics test method |
| CN115854832B (en) * | 2022-11-18 | 2024-01-26 | 国网四川省电力公司达州供电公司 | Included angle error calculation method for workpieces with two-dimensional included angles |
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| DE4328371A1 (en) * | 1993-08-24 | 1993-12-23 | Peter Dr Tschan | Photographic method of joint and spinal mobility using lights attached to limbs - using LED's, battery power and subsequent analysis of photo MMTS by neutral-O-method |
| CN1286962A (en) * | 2000-10-09 | 2001-03-14 | 清华大学 | Real-time body gait image detecting method |
| JP3594574B2 (en) * | 2001-09-20 | 2004-12-02 | 彰 渡辺 | System and method for quantitative evaluation of walking motion |
| CN101133958A (en) * | 2007-09-30 | 2008-03-05 | 北京三维正基科技有限公司 | Joint movement degree detecting system and detecting method thereof |
| CN102679964B (en) * | 2012-06-12 | 2014-08-20 | 清华大学深圳研究生院 | Gait parameter measurement system and data processing device and method thereof |
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