CN103750841A - Human knee joint angle wireless detection system and method based on MEMS inertial sensors - Google Patents
Human knee joint angle wireless detection system and method based on MEMS inertial sensors Download PDFInfo
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Abstract
The invention provides a human knee joint angle wireless detection system and method based on MEMS inertial sensors, and belongs to the technical field of medical instruments. The human knee joint angle wireless detection system comprises a main processing system and a node processing subsystem which are respectively arranged in positions of the thigh and shank of a human lower limb. The method includes allowing the main processing system to combine thigh acceleration and angular velocity information and shank acceleration and angular velocity information which are respectively sent by a main MEMS inertial sensor module and an auxiliary MEMS inertial sensor module so as to calculate the tilts of the thigh and shank of the human lower limb, acquiring knee joint angle information during walking, and outputting knee joint angle information to an exoskeleton robot control system through a Bluetooth manner. According to the system and method, data from a gyroscope and an accelerometer are combined, angle information of the human knee joint can be respectively detected in real time, and discomfort of a wearer can be reduced.
Description
Technical field
What the present invention relates to is a kind of device and method of technical field of medical instruments, specifically a kind of human body knee joint angle wireless detecting system and method based on MEMS inertial sensor.
Background technology
Along with the raising of health of people level and the arrival of social senilization, the intelligent apparatus of people in the urgent need to can be used for autonomous limb assisting people with disability walking or offering help for old people.The exoskeleton robot arising at the historic moment is a kind of power assisting device of expanding quadruped locomotion ability, by each joint angles of human motion consciousness of behavior control, velocity amplitude, reach the coordination exercise of robot and human body and power-assisted is provided, strengthening the motor capacity of people in heavy burden or walking situation for a long time.
Exoskeleton robot by with people's limb motion joint physical coupling closely, can realize and operator's limbs as the man-machine system of the automatization of a total tune motion.System need be identified movement tendency and the motion of user in real time.Owing to being subject to the restriction in space, adopt traditional moving image collection or photoelectricity movement detection systems to be difficult to meet measurement requirement.Normal employing electromyographic signal in exoskeleton robot is controlled, however electromyographic signal detects the impact of uncertain factors such as being subject to surface electrode placement location, body temperature variation and human sweat, there will be obvious deviation and error.Therefore, adopt new intelligence sensor perception body motion information just to seem very necessary.
Human body can be regarded the articular system being connected to form by many connecting rods as, and the motion of human body is mainly that the angle in each joint changes.For human body lower limbs, the inclination angle of thigh, shank and kneed angle and angular velocity are the important informations that characterizes lower extremity movement attitude.Wherein, kneed angle can be described the motion gait information of lower limb well.Obtain exactly this angle information and study its Changing Pattern in gait cycle, can control very important reference is provided for the gait of exoskeleton robot.From start to end, the acceleration at each position of its motion limbs is to change always in any motion that research shows human body.
Measure at present knee joint angle and angular velocity sensor used and mainly contain miniature acceleration sensor, gyroscope, the Optical Fiber Angle Transducer etc.Utilize acceleration transducer can carry out easily degree of tilt measurement, adopt two sensors degree of tilt of perception thigh and calf respectively, and then can extrapolate kneed angle and angular velocity.Carrying out gradient measurement is one of modal application of acceleration transducer.Acceleration transducer carrys out the gradient situation of perception detected object to detect gravitational vectors.But in the method measuring process, the error that the inertia of lower extremity movement brings to the measurement of acceleration is generally difficult to eliminate.This can have a great impact certainty of measurement, especially can be more obvious when kinetic measurement.Gyroscope can provide the dynamic angle of moment to change, and due to the impact of inherent character, temperature and integral process of itself, its can produce drift error along with the prolongation of working time.Therefore for attitude detection system, use separately gyroscope or accelerometer, the reliable estimation of system attitude all can not be provided.
Through the retrieval of prior art is found; the open day 2007-11-14 of Chinese patent literature CN200973711; a kind of online joint parameter checkout gear is disclosed; by upper connecting rod, lower connecting rod and angular transducer, formed; between upper connecting rod and lower connecting rod, by angular transducer axle, be connected; lower connecting rod and sensor axis matched in clearance, the installation foot of sensor is fixedly connected with lower link; Upper connecting rod has microscler square groove in swivel head central authorities, and sensor axis is connected by the slide block fixing in end and microscler square groove, upper connecting rod and lower connecting rod in junction by the rotation that cooperatively interacts of circular rotating head.But this technology need be installed at human body lower limbs knee joint place the mechanical component of lower link, it only has the bending of 1 degree of freedom, bring certain restriction therefore can to the motion of wearer's lower limb, long-time wearing can bring sense of discomfort and not too safe comparatively speaking to wearer.
Traditional attitude measurement is because adopt the attitude transducers such as high accuracy gyroscope instrument and accelerometer, bulky and expensive.Current MEMS product because its volume is little, price is low, low in energy consumption, a major reform of traditional IMU of being known as, is applied in attitude measurement application more and more.
Summary of the invention
The present invention is directed to prior art above shortcomings, a kind of human body knee joint angle wireless detecting system and method based on MEMS inertial sensor proposed, by merging the data of gyroscope and acceleration transducer, difference is the angle information of human body knee joint position in real time, and can reduce wearer's sense of discomfort.
The present invention is achieved by the following technical solutions:
The present invention relates to a kind of human body knee joint angle wireless detecting system based on MEMS inertial sensor, comprise: the host processing system and the node processing subsystem that are positioned over respectively human body lower limbs thigh and calf place, wherein: host processing system is come respectively independently by integrating, thigh acceleration and angular velocity information and shank acceleration and angular velocity information from MEMS inertial sensor module, large to human body lower limbs, the gradient of shank is calculated, thereby knee joint angle information while obtaining human locomotion, and this knee joint angle information exchange is crossed to bluetooth approach export exoskeleton robot control system to.
Described node processing subsystem is by embedded microcontroller, from MEMS inertial sensor module with from bluetooth communication the electric circuit constitute, wherein: from MEMS inertial sensor module, be connected and transmit shank acceleration and the angular velocity information that it collects with embedded microcontroller, embedded microcontroller is by passing through wireless way for transmitting shank acceleration and angular velocity information from bluetooth communication circuit to main bluetooth communication circuit.
Described host processing system is by digital signal processor, main MEMS inertial sensor module and main bluetooth communication the electric circuit constitute, wherein: main MEMS inertial sensor module is connected with sensing digital signal processor and transmits thigh acceleration and the angular velocity information that it collects, sensing digital signal processor is connected with main bluetooth communication circuit and receives shank acceleration and the angular velocity information from node processing subsystem, after integrating with thigh acceleration and angular velocity information, generate knee joint angle information, and by main bluetooth communication circuit transmission to exoskeleton robot control system.
Described master, from MEMS inertial sensor module, include: MEMS3 axle acceleration sensor, MEMS gyro sensor, band filter, A/D converter and SPI interface circuit, wherein: MEMS3 axle acceleration sensor is used for the three-dimensional line acceleration of Measuring Object motion, gyroscope is used for angular velocity or the angle that Measuring Object is rotated, the Inertial Measurement Unit that utilizes 3 axle acceleration sensors and gyroscope to form, can record three-dimensional acceleration and the angular velocity of object of which movement simultaneously, after date processing, just can obtain the speed of object of which movement, displacement, direction, the information such as attitude, band filter, A/D converter and SPI interface circuit are connected successively, the analogue signal that MEMS3 axle acceleration sensor and MEMS gyroscope are collected exports corresponding bluetooth communication circuit to by serial mode after filtering sampling and analog-to-digital conversion.
Described sensing digital signal processor adopts DSP digital signal processor, complete to gather and wireless receiving greatly, the calculation process of the acceleration of shank and angular velocity transducing signal, this sensing digital signal processor comprises: DSP digital signal processor, peripheral SPI interface circuit, serial communication UART, watchdog circuit, electric power management circuit and rechargable power supplies, wherein: peripheral SPI interface circuit, serial communication UART, watchdog circuit is connected with DSP digital signal processor respectively, electric power management circuit is connected with rechargable power supplies, and be described DSP digital signal processor, main MEMS inertial sensor module, main bluetooth communication circuit provides respectively the power supply matching.
Described embedded microcontroller adopts microprocessor to complete the acceleration of shank and the processing of angular velocity transducing signal to gathering, this embedded microcontroller comprises: microprocessor, peripheral SPI interface circuit, serial communication UART, watchdog circuit and electric power management circuit, wherein: peripheral SPI interface circuit, serial communication UART, watchdog circuit are connected with microprocessor respectively, electric power management circuit is connected with rechargable power supplies, for described microprocessor, from MEMS inertial sensor module, provide respectively suitable power supply from bluetooth communication circuit.
Described main bluetooth communication circuit and including from bluetooth communication circuit: digital radio treatment circuit, digital controlled oscillation circuit, radio-frequency receiving-transmitting switch switching circuit, bluetooth transceiver and baseband signal processor, wherein: digital controlled oscillation circuit is connected with digital radio treatment circuit with radio-frequency receiving-transmitting switch switching circuit, bluetooth transceiver and baseband signal processor communicate, baseband signal processor is connected with digital radio treatment circuit, in addition main bluetooth communication circuit is connected with each self-corresponding digital signal processor or embedded microcontroller with the baseband signal processor from bluetooth communication circuit.
The detection method that the present invention relates to said system, comprises the following steps:
Step 1, three-dimensional acceleration and angular velocity of rotation signal from MEMS acceleration transducer and MEMS gyroscope sensing module perception human body lower limbs shank, heat transfer agent transfers to embedded microprocessor by SPI interface circuit, and embedded microprocessor carries out by Bluetooth circuit, transferring to sensing digital signal processor after digital filtering processing to the data that receive;
Step 2, acceleration of motion and the angular velocity of rotation signal of main MEMS acceleration transducer and MEMS gyroscope sensing module perception human body lower limbs thigh, heat transfer agent transfers to sensing digital signal processor by SPI interface circuit;
Step 3, sensing digital signal processor is processed the acceleration signal of the human body lower limbs thigh and calf receiving by SPI interface and Bluetooth circuit respectively and angular velocity of rotation signal, calculate respectively the obliquity information of large and small lower limb, and be integrated into knee joint angle information.
Accompanying drawing explanation
Fig. 1 is system structure schematic diagram of the present invention.
Fig. 2 is the gradient measurement figure of lower limb thigh and calf of the present invention.
Fig. 3 is modal processor handling process schematic diagram.
Fig. 4 is sensing digital signal processor processes schematic flow sheet.
The specific embodiment
Below embodiments of the invention are elaborated, the present embodiment is implemented take technical solution of the present invention under prerequisite, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
Embodiment 1
As shown in Figure 1, for according to the human body knee joint angle wireless detecting system based on MEMS inertial sensor of one embodiment of the present invention.As shown in the figure, this device comprises: comprising: the host processing system and the node processing subsystem that are positioned over respectively human body lower limbs thigh and calf place, wherein: host processing system is by integrating respectively thigh acceleration and angular velocity information and shank acceleration and the angular velocity information from master and slave MEMS inertial sensor module, gradient to the large and small lower limb of human body lower limbs is calculated, thereby knee joint angle information while obtaining human locomotion, and this knee joint angle information exchange is crossed to bluetooth approach export exoskeleton robot control system to.
Described node processing subsystem is by embedded microcontroller, from MEMS inertial sensor module with from bluetooth communication the electric circuit constitute, wherein: from MEMS inertial sensor module, be connected and transmit shank acceleration and the angular velocity information that it collects with embedded microcontroller, embedded microcontroller is by passing through wireless way for transmitting shank acceleration and angular velocity information from bluetooth communication circuit to main bluetooth communication circuit.
Described host processing system is by digital signal processor, main MEMS inertial sensor module and main bluetooth communication the electric circuit constitute, wherein: main MEMS inertial sensor module is connected with sensing digital signal processor and transmits thigh acceleration and the angular velocity information that it collects, sensing digital signal processor is connected with main bluetooth communication circuit and receives shank acceleration and the angular velocity information from node processing subsystem, after integrating with thigh acceleration and angular velocity information, generate knee joint angle information, and by main bluetooth communication circuit transmission to exoskeleton robot control system.
Described main MEMS inertial sensor module S1 adopts 3 axle acceleration sensors and gyroscope, is specifically positioned over the lower limb thigh place shown in Fig. 2 and is connected with digital signal processor.From MEMS inertial rate sensor and gyroscope S2, adopt 3 axle gyroscope acceleration transducers in addition, be specifically positioned over lower limb shank place and be connected with modal processor.
The angle of inclination pitch1 that described master and slave MEMS inertial rate sensor S1, S2 induce respectively thigh and calf, pitch2, as shown in Figure 2.Kneed angle is calculated through difference by the gradient of the lower limb thigh and calf obtaining.
For realizing better object of the present invention, the described human body knee joint angle wireless detecting system based on MEMS inertial sensor to realize principle as follows:
Master in the present embodiment, from MEMS inertial sensor module, include: MEMS3 axle acceleration sensor, MEMS gyro sensor, band filter, A/D converter and SPI interface circuit, , wherein: MEMS3 axle acceleration sensor is used for the three-dimensional line acceleration of Measuring Object motion, gyroscope is used for angular velocity or the angle that Measuring Object is rotated, the Inertial Measurement Unit that utilizes 3 axle acceleration sensors and gyroscope to form, can record three-dimensional acceleration and the angular velocity of object of which movement simultaneously, after date processing, just can obtain the speed of object of which movement, displacement, direction, the information such as attitude, band filter, A/D converter and SPI interface circuit are connected successively, the analogue signal that MEMS3 axle acceleration sensor and MEMS gyroscope are collected exports corresponding bluetooth communication circuit to by serial mode after filtering sampling and analog-to-digital conversion.
Described sensing digital signal processor adopts DSP digital signal processor, complete to gather and wireless receiving greatly, the calculation process of the acceleration of shank and angular velocity transducing signal, this sensing digital signal processor comprises: DSP digital signal processor, peripheral SPI interface circuit, serial communication UART, watchdog circuit, electric power management circuit and rechargable power supplies, wherein: peripheral SPI interface circuit, serial communication UART, watchdog circuit is connected with DSP digital signal processor respectively, electric power management circuit is connected with rechargable power supplies, and be described DSP digital signal processor, main MEMS inertial sensor module, main bluetooth communication circuit provides respectively the power supply matching.
Described embedded microcontroller adopts microprocessor to complete the acceleration of shank and the processing of angular velocity transducing signal to gathering, this embedded microcontroller comprises: microprocessor, peripheral SPI interface circuit, serial communication UART, watchdog circuit and electric power management circuit, wherein: peripheral SPI interface circuit, serial communication UART, watchdog circuit are connected with microprocessor respectively, electric power management circuit is connected with rechargable power supplies, for described microprocessor, from MEMS inertial sensor module, provide respectively suitable power supply from bluetooth communication circuit.
As shown in Figure 2, Bluetooth circuit comprises: main bluetooth communication circuit, from bluetooth communication circuit, wherein: main bluetooth communication circuit comprises main digital radio treatment circuit, main digital controlled oscillation circuit, main radio-frequency receiving-transmitting switch switching circuit, main bluetooth transceiver and main baseband signal processor, wherein: main digital controlled oscillation circuit is connected with main digital radio treatment circuit with main radio-frequency receiving-transmitting switch switching circuit, main bluetooth transceiver and main baseband signal processor communicate, and main baseband signal processor is connected with digital signal processor with main digital radio treatment circuit; From bluetooth communication circuit, comprise: from digital radio treatment circuit, from digital controlled oscillation circuit, from radio-frequency receiving-transmitting switch switching circuit, from bluetooth transceiver with from baseband signal processor, wherein: from digital controlled oscillation circuit with from radio-frequency receiving-transmitting switch switching circuit, be connected respectively with from digital radio treatment circuit, from bluetooth transceiver with from baseband signal processor, communicate, from baseband signal processor, be connected with embedded microcontroller respectively with from digital radio treatment circuit.
The present embodiment relates to the detection method of said system, comprises the following steps:
Step 1, carries out sub-processing system initialization, and SPI master-slave equipment is set, and to establish embedded microcontroller be main equipment, from MEMS inertial sensor module, be slave unit.Embedded microcontroller is set and from serial communication baud rate of bluetooth communication circuit etc.Then, by spi bus, read the sensing data of shank MEMS inertial sensor module.After reading out data, data are carried out to be sent to bluetooth communication circuit after appropriate format conversion and carry out data transmission.The handling process of modal processor as shown in Figure 3.
Step 2, sensing digital signal processor software processes: carry out host processing system initialization, SPI master-slave equipment is set, establishing DSP digital signal processor is that main equipment, main MEMS inertial sensor module are slave unit.The serial communication baud rate of DSP digital signal processor and main bluetooth communication circuit etc. is set.Inquire about the whether data arrival of main bluetooth communication circuit, if receive data, be kept in system register, then by SPI interface, read the sensing data of thigh MEMS inertial sensor module.2 circuit-switched data that reception reads are respectively carried out to computing and obtain kneed angle information.Finally by main bluetooth communication circuit, joint angles is sent to exoskeleton robot control system.The handling process of digital signal processor as shown in Figure 4.
Wherein, the generation of described kneed angle information comprises the following steps:
Step S1,3 axis acceleration information of obtaining based on master and slave MEMS acceleration transducer are calculated the inclination information of the large and small lower limb of lower limb.
Step S2, the rotational angular velocity signal integration obtaining based on MEMS gyroscope calculates the rotational angle information of the large and small lower limb of lower limb.
Step S3, obtains average slope angle by inclination information and rotational angle information through weighted mean method.
Step S4, can be calculated kneed angle value by the average slope angle of large and small lower limb through difference.
The computational methods of the inclination information of the described large and small lower limb of calculating lower limb are: during acceleration transducer horizontal positioned, its X-axis and Y-axis are all parallel to horizontal direction, can be used for like this measuring the bi-axial tilt degree of lower limb.Thereby, the X recording by sensor, the acceleration A of Y-axis
x, A
ycan infer the angle of inclination angle of pitch (pitch) and inclination angle (roll) that X, Y-axis,
considering in human body lower limbs motor process, is mainly the inclination in the running direction of lower limb, and the angle of pitch (pitch) changes, and lateral inclination, the importance that is inclination angle (roll) is much lower, therefore, in lower extremity movement information by inclination angle (roll) information for reference only.
The described computational methods that obtain rotational angle value from gyroscope are: system obtains the rotational angular velocity W of the large and small lower limb of lower limb from gyroscope
x, W
y, making the sampling interval is T, can obtain rotational angle value θ
x, θ
y, wherein, θ
x=W
x* T, θ
y=W
y* T.
Claims (9)
1. the human body knee joint angle wireless detecting system based on MEMS inertial sensor, it is characterized in that, comprise: the host processing system and the node processing subsystem that are positioned over respectively human body lower limbs thigh and calf place, wherein: host processing system is come respectively independently by integrating, thigh acceleration and angular velocity information and shank acceleration and angular velocity information from MEMS inertial sensor module, large to human body lower limbs, the gradient of shank is calculated, thereby knee joint angle information while obtaining human locomotion, and this knee joint angle information exchange is crossed to bluetooth approach export exoskeleton robot control system to,
Described node processing subsystem is by embedded microcontroller, from MEMS inertial sensor module with from bluetooth communication the electric circuit constitute, wherein: from MEMS inertial sensor module, be connected and transmit shank acceleration and the angular velocity information that it collects with embedded microcontroller, embedded microcontroller is by passing through wireless way for transmitting shank acceleration and angular velocity information from bluetooth communication circuit to main bluetooth communication circuit;
Described host processing system is by digital signal processor, main MEMS inertial sensor module and main bluetooth communication the electric circuit constitute, wherein: main MEMS inertial sensor module is connected with sensing digital signal processor and transmits thigh acceleration and the angular velocity information that it collects, sensing digital signal processor is connected with main bluetooth communication circuit and receives shank acceleration and the angular velocity information from node processing subsystem, after integrating with thigh acceleration and angular velocity information, generate knee joint angle information, and by main bluetooth communication circuit transmission to exoskeleton robot control system.
2. system according to claim 1, it is characterized in that, described master, from MEMS inertial sensor module, include: MEMS3 axle acceleration sensor, MEMS gyro sensor, band filter, A/D converter and SPI interface circuit, , wherein: MEMS3 axle acceleration sensor is used for the three-dimensional line acceleration of Measuring Object motion, gyroscope is used for angular velocity or the angle that Measuring Object is rotated, the Inertial Measurement Unit that utilizes 3 axle acceleration sensors and gyroscope to form, can record three-dimensional acceleration and the angular velocity of object of which movement simultaneously, after date processing, just can obtain the speed of object of which movement, displacement, direction, the information such as attitude, band filter, A/D converter and SPI interface circuit are connected successively, the analogue signal that MEMS3 axle acceleration sensor and MEMS gyroscope are collected exports corresponding bluetooth communication circuit to by serial mode after filtering sampling and analog-to-digital conversion.
3. system according to claim 1, it is characterized in that, described sensing digital signal processor adopts DSP digital signal processor, complete to gather and wireless receiving greatly, the calculation process of the acceleration of shank and angular velocity transducing signal, this sensing digital signal processor comprises: DSP digital signal processor, peripheral SPI interface circuit, serial communication UART, watchdog circuit, electric power management circuit and rechargable power supplies, wherein: peripheral SPI interface circuit, serial communication UART, watchdog circuit is connected with DSP digital signal processor respectively, electric power management circuit is connected with rechargable power supplies, and be described DSP digital signal processor, main MEMS inertial sensor module, main bluetooth communication circuit provides respectively the power supply matching.
4. system according to claim 1, it is characterized in that, described embedded microcontroller adopts microprocessor to complete the acceleration of shank and the processing of angular velocity transducing signal to gathering, this embedded microcontroller comprises: microprocessor, peripheral SPI interface circuit, serial communication UART, watchdog circuit and electric power management circuit, wherein: peripheral SPI interface circuit, serial communication UART, watchdog circuit is connected with microprocessor respectively, electric power management circuit is connected with rechargable power supplies, for described microprocessor, from MEMS inertial sensor module, from bluetooth communication circuit, provide respectively suitable power supply.
5. system according to claim 1, it is characterized in that, described main bluetooth communication circuit and including from bluetooth communication circuit: digital radio treatment circuit, digital controlled oscillation circuit, radio-frequency receiving-transmitting switch switching circuit, bluetooth transceiver and baseband signal processor, wherein: digital controlled oscillation circuit is connected with digital radio treatment circuit with radio-frequency receiving-transmitting switch switching circuit, bluetooth transceiver and baseband signal processor communicate, baseband signal processor is connected with digital radio treatment circuit, in addition main bluetooth communication circuit is connected with each self-corresponding digital signal processor or embedded microcontroller with the baseband signal processor from bluetooth communication circuit.
6. according to a detection method for system described in above-mentioned arbitrary claim, it is characterized in that, comprise the following steps:
Step 1, three-dimensional acceleration and angular velocity of rotation signal from MEMS acceleration transducer and MEMS gyroscope sensing module perception human body lower limbs shank, heat transfer agent transfers to embedded microprocessor by SPI interface circuit, and embedded microprocessor carries out by Bluetooth circuit, transferring to sensing digital signal processor after digital filtering processing to the data that receive;
Step 2, acceleration of motion and the angular velocity of rotation signal of main MEMS acceleration transducer and MEMS gyroscope sensing module perception human body lower limbs thigh, heat transfer agent transfers to sensing digital signal processor by SPI interface circuit;
Step 3, sensing digital signal processor is processed the acceleration signal of the human body lower limbs thigh and calf receiving by SPI interface and Bluetooth circuit respectively and angular velocity of rotation signal, calculate respectively the obliquity information of large and small lower limb, and be integrated into knee joint angle information.
7. system according to claim 6, it is characterized in that, described knee joint angle information obtains in the following manner: the inclination information of the large and small lower limb of lower limb obtaining respectively based on acceleration transducer, the rotational angular velocity signal integration of the lower limb thigh and calf obtaining based on gyroscope calculates the rotational angle information of lower limb thigh and calf, again inclination information and rotational angle information are obtained to average slope angle through weighted mean method, the average slope angle of large and small lower limb be can be calculated to kneed angle value through difference.
8. system according to claim 6, it is characterized in that, the obliquity information of described large and small lower limb obtains in the following manner: during acceleration transducer horizontal positioned, be that its X-axis and Y-axis are all parallel to horizontal direction, be used for measuring the bi-axial tilt degree of lower limb, when the acceleration A of the X recording by sensor, Y-axis
x, A
yangle of inclination angle of pitch pitch and the inclination angle roll of X, Y-axis are respectively:
9. system according to claim 6, is characterized in that, the described computational methods that obtain rotational angle value from gyroscope are: the rotational angular velocity W that obtains the large and small lower limb of lower limb from gyroscope
x, W
y, making the sampling interval is T, rotational angle value θ
x, θ
ybe respectively: θ
x=W
x* T, θ
y=W
y* T.
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