CN103750843A - Human motion capture device in joint space - Google Patents
Human motion capture device in joint space Download PDFInfo
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- CN103750843A CN103750843A CN201410012189.6A CN201410012189A CN103750843A CN 103750843 A CN103750843 A CN 103750843A CN 201410012189 A CN201410012189 A CN 201410012189A CN 103750843 A CN103750843 A CN 103750843A
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Abstract
The invention relates to a human motion capture device in a joint space and belongs to the field of mechanical design and automation. When the motion capture device is put on a human body and the human body walks normally, posture angles of waist joints, hip joints, knee joints and ankle joints are changed, real-time capture of angular variation data can be realized by using the human motion capture device, and uninterrupted data acquisition in the human walking process can be realized by the device. By adoption of an angle encoder according to Hall detection principle, precision of angle data of each joint is improved, acquisition of waist joint data is added, and data sampling is insusceptible to surroundings and experimental places. Motion state of each joint of the waist and legs in human motion can be completely presented by data acquired by the human motion capture device, and the human motion capture device is high in practicality.
Description
Technical field
The present invention relates to human body motion capture device in a kind of joint space, belong to Machine Design and automation control area.
Background technology
Since nineteen nineties, research institutions more both domestic and external carry out the design of mechanical type system motion capture system in succession, as the exoskeleton system of rehabilitation training.As the HRP4C robot that Japanese industries Technical Integration Studies is developed, this robot compares robot in the past, has added waist joint degree of freedom.Therefore in the design of motion capture device, add the aobvious particularly necessity of waist degree-of-freedom joint.
Motion-captured work also can be extracted the technical method combining with motion analysis and be realized by moving image collection, index point, by the moving image of waist joint, hip joint, knee joint and ankle joint in camera acquisition human body self-support walking process, by the extraction to fixed point, and the relative attitude relation analysis based between different limb segment disjunctor coordinate systems obtains the movable information in each joint; Owing to being subject to the impact of pattern distortion, photographic head precision, parameter extraction and surrounding enviroment, there is certain deviation in the motion that the joint motions of acquisition detect information and human normal.
Summary of the invention
The object of the present invention is to provide human body motion capture device in a kind of joint space, this device is at waist joint, hip joint, knee joint and ankle joint setting angle encoder respectively, and at sole setting pressure sensor, use FPGA module to carry out the parallel transmission of data, thereby obtain the characteristics of motion that more meets human motion rule.
For achieving the above object, the technical solution used in the present invention is human body motion capture device in a kind of joint space, and this device comprises back subsystem, left lower extremity subsystem, right lower extremity subsystem, and wherein lower limb subsystem in left and right is symmetrical structure.
As shown in Fig. 1-15, particularly, described back subsystem comprises shoulder cross bar 1, shoulder axle joint A2.1, shoulder curved bar 3, shoulder axle joint B2.2, back linkage 4, back adjusting rod 5, waist pitching rotating shaft joint A6.1, connecting rod 7, waist roll turning cylinder joint B6.2, waist driftage turning cylinder joint C6.3, waist axle joint 8, waist fixed plate A 9.1, belt 10, belt fixing head B9.2, waist fixed block 11; Shoulder curved bar 3 is a bending staff design, and one end is straight-bar, and the other end is curved bar; Shoulder curved bar 3 straight-bar ends are connected with shoulder cross bar 1 by shoulder axle joint A2.1, and shoulder curved bar 3 curved bar ends are connected with back linkage 4 by shoulder axle joint B2.2; Shoulder axle joint A2.1 and shoulder axle joint B2.2 can rotate around pitch orientation; Back linkage 4 is bolted fixing with back adjusting rod 5, described back linkage 4 is provided with elongated hole, elongated hole in bolt and the back linkage 4 of installing on back adjusting rod 5 can free adjustment, thereby realizes the length of fit between adjusting back linkage 4 and back adjusting rod 5; Connecting plate 7 is a combined mechanism, and this mechanism is divided into top connecting plate, sidepiece connecting plate, bottom connecting plate three parts; Top connecting plate and sidepiece connecting plate composition " L " shape structure, junction is connected by screw; Top connecting plate is connected with waist roll turning cylinder joint B6.2 respectively at waist pitching rotating shaft joint A6.1 with sidepiece connecting plate, connecting plate direct one end in bottom is connected with waist roll turning cylinder joint B6.2, and the other end is connected with waist driftage turning cylinder joint C6.3; Between wherein said waist pitching rotating shaft joint A6.1, waist roll turning cylinder joint B6.2 and waist driftage turning cylinder joint C6.3, be " product " word structure; The each turning cylinder of described waist joint is all provided with angular encoder, to realize the angle changing value of measuring waist joint pitching, roll, three directions of driftage; Back adjusting rod 5 is connected by waist pitching rotating shaft joint A6.1 with the top connecting plate of connecting plate 7; Waist driftage turning cylinder joint C6.3 is connected with waist axle joint 8; Waist axle joint 8 is fixedly connected with waist fixed plate A 9.1; Waist fixed plate A 9.1 and the middle belt 10 that is fixed with of waist fixing head B9.2, belt 10 can be realized and the binding of human body waist, shoulder cross bar 1 and shoulders of human body binding, the two can realize the object of fixing back subsystem; Waist fixing head B9.2 is fixedly connected with waist fixed block 11; The left lumbar region connecting rod 12 of left lower extremity subsystem, the right lumbar region connecting rod 29 of right lower extremity subsystem are connected and fixed by waist fixed block 11 bolts of back subsystem; Described left lumbar region connecting rod 12 is provided with bolt hole with right lumbar region connecting rod 29 junctions, in order to regulate to adapt to different experiments person's waist length.
Described left lower extremity subsystem comprises left waist lateral connector bar 12, left hip lateral connector bar A13.1, left hip pitching rotating shaft joint A14.1, left hip lateral connector bar B13.2, left hip side connects cross bar 15, left hip roll turning cylinder joint B14.2, left thigh regulating connecting rod 16, left thigh connecting rod A17.1, left hip driftage turning cylinder joint C14.3, left hip governor motion 18, left thigh connecting rod B17.2, left knee joint pitching rotating shaft joint 19, left leg connecting rod 20, left leg regulating connecting rod 21, left ankle pitching rotating shaft joint A22.1, left ankle roll turning cylinder joint B22.2, left ankle adjusting rod 23, fixed bar 24 at the bottom of left foot, left hip axle joint 25, left hip connecting rod 26, left hip adjusting rod 27, left hip fixed block 28, waist fixed block 11 is fixedly connected with left waist lateral connector bar 12, left waist lateral connector bar 12 is bolted to connection with left hip lateral connector bar A13.1, the left hip lateral connector bar A13.1 junction that described and left waist lateral connector bar 12 is connected is provided with bolt hole, in order to regulate to adapt to different experiments person's waist width, left hip lateral connector bar A13.1 is connected by left hip pitching rotating shaft joint A14.1 with left hip lateral connector bar B13.2, left hip pitching rotating shaft joint 14.1 is provided with angular encoder, by the rotation of left hip pitching rotating shaft joint A14.1, can record the changing value of the left hip joint angle of pitch, left hip lateral connector bar B13.2 is connected cross bar 15 with left waist side and is bolted to connection, described and left waist side is connected the left hip lateral connector bar B13.2 junction that cross bar 15 connects and is provided with bolt hole, in order to regulate to adapt to different experiments person's hip width, left waist side connects cross bar 15 and is connected by left hip roll turning cylinder joint B14.2 with left thigh regulating connecting rod 16, left hip roll turning cylinder joint B14.2 is provided with angular encoder, due to the rotation of left hip roll turning cylinder joint B14.2, can record the changing value of left hip joint roll angle, left thigh regulating connecting rod 16 is bolted to connection with left thigh connecting rod A17.1, described left thigh regulating connecting rod 16 is provided with bolt hole group, on left thigh connecting rod A17.1, be fixed with bolt, by the position of adjusting bolt and bolt hole group, to realize, regulate left thigh regulating connecting rod 16 and left thigh connecting rod A17.1 length of fit, to adapt to different experiments person's thigh length, left hip governor motion 18 comprises left hip axle joint 25, left hip connecting rod 26, left hip adjusting rod 27, left hip fixed block 28, left hip axle joint 25 is connected by left hip connecting rod 26 with left hip adjusting rod 27, left hip adjusting rod 27 is connected by left hip driftage turning cylinder joint C14.3 with left hip fixed block 28, left hip adjusting rod 27 is provided with screw hole group, by regulating the spacing of the screw hole group on left hip connecting rod 26, left hip driftage turning cylinder joint C14.3 and left hip adjusting rod 27, to meet the requirement of different experiments person's thigh thickness, on left hip driftage turning cylinder joint C14.3, angular encoder is housed, according to lanar four rod mechanism principle, when the rotation of left hip driftage turning cylinder joint C14.3, can records the changing value of left hip joint yaw angle, left thigh connecting rod A17.1 is fixedly connected with left hip axle joint 25, left hip fixed block 28 is fixedly connected with left thigh connecting rod B17.2, left knee joint pitching rotating shaft joint 19 is connected with left leg connecting rod 20 by left thigh connecting rod B17.2, on left knee joint pitching rotating shaft joint 19, angular encoder is installed, when rotate in left knee joint pitching rotating shaft joint 19, can records the changing value of the left knee joint angle of pitch, left leg connecting rod 20 is connected with left leg regulating connecting rod 21, described left leg regulating connecting rod 21 is provided with bolt hole group, on left leg connecting rod 20, be fixed with bolt, by the position of adjusting bolt and bolt hole group, to realize left leg connecting rod 20 and left leg regulating connecting rod 21 lengths of fit, to adapt to different experiments person's shank length, left leg regulating connecting rod 21 is connected with left ankle pitching rotating shaft joint A22.1, on described left ankle pitching rotating shaft joint A22.1, angular encoder is installed, when left ankle pitching rotating shaft joint A22.1 rotates, can records the changing value of the left ankle joint angle of pitch, left ankle pitching rotating shaft joint A22.1, left ankle adjusting rod 23 connect by left ankle roll turning cylinder joint B22.2, on described left ankle roll turning cylinder joint B22.2, angular encoder is installed, when left ankle roll turning cylinder joint B22.2 rotates, can records the changing value of left ankle joint roll angle, the B22.2 junction, left ankle roll turning cylinder joint that described and left ankle adjusting rod 23 is connected is provided with bolt hole group, in order to regulate to adapt to the width of different experiments person foot.Left ankle adjusting rod 23 is connected with fixed bar at the bottom of left foot 24, and at the bottom of the left foot that described and left ankle adjusting rod 23 is connected, fixed bar 24 junctions are provided with bolt hole group, in order to regulate to adapt to the height of different experiments person foot.
Described right lower extremity subsystem comprises right waist lateral connector bar 29, right hip lateral connector bar A30.1, right hip pitching rotating shaft joint A31.1, right hip lateral connector bar B30.2, right hip side connects cross bar 32, right hip roll turning cylinder joint B31.2, right thigh regulating connecting rod 33, right thigh connecting rod A34.1, right hip driftage turning cylinder joint C31.3, right hip governor motion 35, right thigh connecting rod B34.2, right knee joint pitching rotating shaft joint 36, right leg connecting rod 37, right leg regulating connecting rod 38, right ankle pitching rotating shaft joint A39.1, right ankle roll turning cylinder joint B39.2, right ankle adjusting rod 40, fixed bar 41 at the bottom of right crus of diaphragm, right hip axle joint 42, right hip connecting rod 43, right hip adjusting rod 44, right hip fixed block 45, waist fixed block 11 is fixedly connected with right waist lateral connector bar 29, right waist lateral connector bar 29 is bolted to connection with right hip lateral connector bar A30.1, the right hip lateral connector bar A30.1 junction that described and right waist lateral connector bar 29 is connected is provided with bolt hole, in order to regulate to adapt to different experiments person's waist width, right hip lateral connector bar A30.1 is connected by right hip pitching rotating shaft joint A31.1 with right hip lateral connector bar B30.2, right hip pitching rotating shaft joint 31.1 is provided with angular encoder, by the rotation of right hip pitching rotating shaft joint A31.1, can record the changing value of the right hip joint angle of pitch, right hip lateral connector bar B30.2 is connected cross bar 32 with right waist side and is bolted to connection, described and right waist side is connected the right hip lateral connector bar B30.2 junction that cross bar 32 connects and is provided with bolt hole, in order to regulate to adapt to different experiments person's hip width, right waist side connects cross bar 32 and is connected by right hip roll turning cylinder joint B31.2 with right thigh regulating connecting rod 33, right hip roll turning cylinder joint B31.2 is provided with angular encoder, due to the rotation of right hip roll turning cylinder joint B31.2, can record the changing value of right hip joint roll angle, right thigh regulating connecting rod 33 is bolted to connection with right thigh connecting rod A34.1, described right thigh regulating connecting rod 33 is provided with bolt hole group, on right thigh connecting rod A34.1, be fixed with bolt, by the position of adjusting bolt and bolt hole group, to realize, regulate right thigh regulating connecting rod 33 and right thigh connecting rod A34.1 length of fit, to adapt to different experiments person's thigh length, right hip governor motion 35 comprises right hip axle joint 42, right hip connecting rod 43, right hip adjusting rod 44, right hip fixed block 45, right hip axle joint 42 is connected by right hip connecting rod 43 with right hip adjusting rod 44, right hip adjusting rod 44 is connected by right hip driftage turning cylinder joint C31.3 with right hip fixed block 45, right hip adjusting rod 44 is provided with screw hole group, by regulating the spacing of the screw hole group on right hip connecting rod 43, right hip driftage turning cylinder joint C31.3 and right hip adjusting rod 44, to meet the requirement of different experiments person's thigh thickness, on right hip driftage turning cylinder joint C31.3, angular encoder is housed, according to lanar four rod mechanism principle, when the rotation of right hip driftage turning cylinder joint C31.3, can records the changing value of right hip joint yaw angle.Right thigh connecting rod A34.1 is fixedly connected with right hip axle joint 42; Right hip fixed block 45 is fixedly connected with right thigh connecting rod B34.2; Right knee joint pitching rotating shaft joint 36 is connected with right leg connecting rod 37 by right thigh connecting rod B34.2; On right knee joint pitching rotating shaft joint 36, angular encoder is installed, when rotate in right knee joint pitching rotating shaft joint 36, can records the changing value of the right knee joint angle of pitch; Right leg connecting rod 37 is connected with right leg regulating connecting rod 38, described right leg regulating connecting rod 38 is provided with bolt hole group, on right leg connecting rod 37, be fixed with bolt, by the position of adjusting bolt and bolt hole group, to realize right leg connecting rod 37 and right leg regulating connecting rod 38 lengths of fit, to adapt to different experiments person's shank length; Right leg regulating connecting rod 38 is connected with right ankle pitching rotating shaft joint A39.1; On described right ankle pitching rotating shaft joint A39.1, angular encoder is installed, when right ankle pitching rotating shaft joint A39.1 rotates, can records the changing value of the right ankle joint angle of pitch; Right ankle pitching rotating shaft joint A39.1, right ankle adjusting rod 40 connect by right ankle roll turning cylinder joint B39.2; On described right ankle roll turning cylinder joint B39.2, angular encoder is installed, when right ankle roll turning cylinder joint B39.2 rotates, can records the changing value of right ankle joint roll angle; The B39.2 junction, right ankle roll turning cylinder joint that described and right ankle adjusting rod 40 is connected is provided with bolt hole group, in order to regulate to adapt to the width of different experiments person foot.Right ankle adjusting rod 40 is connected with fixed bar at the bottom of right crus of diaphragm 41, and at the bottom of the right crus of diaphragm that described and right ankle adjusting rod 40 is connected, fixed bar 41 junctions are provided with bolt hole group, in order to regulate to adapt to the height of different experiments person foot.
Turning cylinder joint in described back subsystem, left lower extremity subsystem, right lower extremity subsystem, comprises rolling bearing 46, axle 47, key 48, absolute type encoder 49, go side lid 50, shaft assembly 51, axle joint 52, cecum lid 53, yoke 54; Described axle joint 52 comprises rolling bearing 46, key 48, axle 47, and rolling bearing 46 is equipped with at axle 47 two ends, and axle 47 is fixed on yoke 54 by key 48; Yoke 54 one end are semicircle, and one end is rectangle, and semicircle end has through hole with assembled shaft 47, and rectangular end has a pair of through hole in order to connecting elements; In the middle of described shaft assembly 51, have groove and by axle 47, yoke 54 linked together; After axle joint 52 is connected with shaft assembly 51 and its two ends by go side cover 50 and cecum lid 53 be fixed on shaft assembly 51, described go side is covered 50 and is connected with absolute type encoder 49.
Described sole is directly connected with pressure transducer, described pressure transducer is left foot rear end pressure transducer 57, left foot forefront pressure sensors A 55, pressure transducer B56, right crus of diaphragm rear end pressure transducer 60, right crus of diaphragm forefront pressure sensors A 58, pressure transducer B59, is arranged on left foot and right crus of diaphragm.
In the data of angular encoder and the data parallel of pressure transducer input FPGA module, FPGA module is sent to PC by usb bus by data and stores.
Compared with prior art, the present invention has following beneficial effect.
1, this device, by three angular encoders installing at back subsystem, has been realized the waist angle measure of the change in human synovial space.
2, by foot front and back end setting pressure sensor, in order to measure instep pressure, by pressure data, carry out the evaluation that ZMP is ordered.
3,, by mechanical motion trap setting of the present invention design, the attitude in the time of can measuring human lumbar joint, hip joint, knee joint and ankle motion, can obtain the information that more meets human motion.
Accompanying drawing explanation
Fig. 1 is system general diagram.
Fig. 2 is back subsystem.
Fig. 3 is waist joint schematic diagram.
Fig. 4 is Waistband structure schematic diagram.
Fig. 5 is the structural representation of left lower extremity subsystem.
Fig. 6 is part schematic diagram on left hip.
Fig. 7 is the structural representation of left hip governor motion.
Fig. 8 is the structural representation of right lower extremity subsystem.
Fig. 9 is part schematic diagram on right hip.
Figure 10 is the structural representation of right hip adjustment structure.
Figure 11 is axle joint schematic diagram.
Figure 12 is turning cylinder articulation structure schematic diagram.
Figure 13 is left foot bottom pressure sensor location schematic diagram.
Figure 14 is right crus of diaphragm bottom pressure sensor location schematic diagram.
Figure 15 is electrical system schematic diagram.
In figure: 1, shoulder cross bar, 2.1, shoulder axle joint, 3, shoulder curved bar, 2.2, shoulder joint, 4, back linkage, 5, back adjusting rod, 6.1, waist pitching rotating shaft joint A, 7, connecting rod, 6.2, waist roll turning cylinder joint B, 6.3, waist driftage turning cylinder joint C, 8, waist axle joint, 9.1, waist fixed plate A, 10, belt, 9.2, belt fixing head B, 11, waist fixed block, 12, left waist lateral connector bar, 13.1, left hip lateral connector bar A, 14.1, left hip pitching rotating shaft joint A, 13.2, left hip lateral connector bar B, 15, left hip side connects cross bar, 14.2, left hip roll turning cylinder joint B, 16, left thigh regulating connecting rod, 17.1, left thigh connecting rod A, 14.3, left hip driftage turning cylinder joint C, 18, left hip governor motion, 17.2, left thigh connecting rod B, 19, left knee joint pitching rotating shaft joint, 20, left leg connecting rod, 21, left leg regulating connecting rod, 22.1, left ankle pitching rotating shaft joint A, 22.2, left ankle roll turning cylinder joint B, 23, left ankle adjusting rod, 24, fixed bar at the bottom of left foot, 25, hip axle joint, 26, hip connecting rod, 27, hip adjusting rod, 28, hip fixed block, 29, right waist lateral connector bar, 30.1, right hip lateral connector bar A, 31.1, right hip pitching rotating shaft joint A, 30.2, right hip lateral connector bar B, 32, right hip side connects cross bar, 31.2, right hip roll turning cylinder joint B, 33, right thigh regulating connecting rod, 34.1, right thigh connecting rod A, 31.3, right hip driftage turning cylinder joint C, 35, right hip governor motion, 34.2, right thigh connecting rod B, 36, right knee joint pitching rotating shaft joint, 37, right leg connecting rod, 38, right leg regulating connecting rod, 39.1, right ankle pitching rotating shaft joint A, 39.2, right ankle roll turning cylinder joint B, 40, right ankle adjusting rod, 41, fixed bar at the bottom of right crus of diaphragm, 42, hip axle joint, 43, hip connecting rod, 44, hip adjusting rod, 45, hip fixed block, 46, rolling bearing, 47, axle, 48, key, 49, absolute type encoder, 50, go side lid, 51, shaft assembly, 52, axle joint, 53, cecum lid, 54, yoke, 55, left foot forefront pressure sensors A, 56, left foot forefront pressure sensor B, 57, rear end pressure transducer at the bottom of left foot, 58, right crus of diaphragm forefront pressure sensors A, 59, right crus of diaphragm forefront pressure sensor B, 60, right crus of diaphragm rear end pressure transducer.
The specific embodiment
Below in conjunction with accompanying drawing, the present invention is done to further analysis.
When experimenter walks upright, in joint, space, human body motion capture device does follow-up motion, due to the shoulder cross bar 1 and the binding of experimenter's shoulder of device, belt 10 and the binding of experimenter's waist, fixed bar 24 and the binding of experimenter's left foot at the bottom of left foot, fixed bar 41 and the binding of experimenter's right crus of diaphragm at the bottom of right crus of diaphragm, so when experimenter walks upright, experimenter's waist driving device waist pitching rotating shaft joint A6.1 rotates, waist roll turning cylinder joint B6.2 rotates, waist driftage turning cylinder joint C6.3 rotates, the each portion's turning cylinder of described waist joint is provided with angular encoder, can realize and measure waist joint pitching, roll, the angle-data of three directions of driftage, the left hip pitching rotating shaft joint A14.1 of experimenter's left hip joint driving device rotates, left hip roll turning cylinder joint B14.2 rotates, left hip driftage turning cylinder joint C14.3 rotates, the each turning cylinder of described left hip joint is provided with angular encoder, can realize the angle-data of measuring left hip joint pitching, roll, three directions of driftage, the right hip pitching rotating shaft joint A31.1 of experimenter's right hip joint driving device rotates, right hip roll turning cylinder joint B31.2 rotates, right hip driftage turning cylinder joint C31.3 rotates, the each turning cylinder of described right hip joint is provided with angular encoder, can realize the angle-data of measuring right hip joint pitching, roll, three directions of driftage, the left knee joint pitching rotating shaft joint 19 of experimenter's left knee joint driving device rotates, and described left knee joint pitching rotating shaft joint is provided with angular encoder, can realize the angle-data of measuring left knee joint pitch orientation, the right knee joint pitching rotating shaft joint 36 of experimenter's right knee joint driving device rotates, and described right knee joint pitching rotating shaft joint is provided with angular encoder, can realize the angle-data of measuring right knee joint pitch orientation, the left ankle pitching rotating shaft joint A22.1 of experimenter's left ankle joint driving device rotates, left ankle roll turning cylinder joint B22.2 rotates, the each turning cylinder of described left ankle joint is provided with angular encoder, can realize the angle-data of measuring left hip joint pitching, 2 directions of roll, the right ankle pitching rotating shaft joint A39.1 of experimenter's right ankle joint driving device rotates, right ankle roll turning cylinder joint B39.2 rotates, the each turning cylinder of described right ankle joint is provided with angular encoder, can realize the angle-data of measuring right hip joint pitching, roll both direction, described angular encoder always has 15, can obtain the angle-data of ten Five-channels, experimenter's sole directly directly contacts with pressure transducer, the data that record by pressure transducer realize the evaluation that ZMP is ordered, described pressure sensor data is data, the data of left foot forefront pressure sensors A 55 and the data of pressure transducer B56 of left foot rear end pressure transducer 57, the data of right crus of diaphragm rear end pressure transducer 60, the data of right crus of diaphragm forefront pressure sensors A 58 and the data of pressure transducer B59, described pressure transducer always has six, can obtain the pressure data in clematis stem road, by parallel the pressure data in the angle-data of ten Five-channels and clematis stem road, import in FPGA module, FPGA module is finally sent data in PC and stores by usb bus, completes the seizure of human body movement data.
Claims (3)
1. a human body motion capture device in joint space, is characterized in that: this device comprises back subsystem, left lower extremity subsystem, right lower extremity subsystem, and wherein lower limb subsystem in left and right is symmetrical structure;
Particularly, described back subsystem comprises shoulder cross bar (1), shoulder axle joint A(2.1), shoulder curved bar (3), shoulder axle joint B(2.2), back linkage (4), back adjusting rod (5), waist pitching rotating shaft joint A(6.1), connecting rod (7), waist roll turning cylinder joint B(6.2), waist driftage turning cylinder joint C(6.3), waist axle joint (8), waist fixed plate A (9.1), belt (10), belt fixing head B(9.2), waist fixed block (11); Shoulder curved bar (3) is a bending staff design, and one end is straight-bar, and the other end is curved bar; Shoulder curved bar (3) straight-bar end is by shoulder axle joint A(2.1) be connected with shoulder cross bar (1), shoulder curved bar (3) curved bar end is by shoulder axle joint B(2.2) be connected with back linkage (4); Shoulder axle joint A(2.1) and shoulder axle joint B(2.2) can rotate around pitch orientation; Back linkage (4) is bolted fixing with back adjusting rod (5), described back linkage 4 is provided with elongated hole, elongated hole in bolt and the back linkage (4) of installing on back adjusting rod 5 can free adjustment, thereby realizes the length of fit between adjusting back linkage (4) and back adjusting rod (5); Connecting plate (7) is a combined mechanism, and this mechanism is divided into top connecting plate, sidepiece connecting plate, bottom connecting plate three parts; Top connecting plate and sidepiece connecting plate composition " L " shape structure, junction is connected by screw; Top connecting plate with sidepiece connecting plate respectively at waist pitching rotating shaft joint A(6.1) with waist roll turning cylinder joint B(6.2) be connected, the direct one end of bottom connecting plate and waist roll turning cylinder joint B(6.2) be connected the other end and waist driftage turning cylinder joint C(6.3) be connected; Wherein said waist pitching rotating shaft joint A(6.1), waist roll turning cylinder joint B(6.2) and waist driftage turning cylinder joint C(6.3) between be " product " word structure; The each turning cylinder of described waist joint is all provided with angular encoder, to realize the angle changing value of measuring waist joint pitching, roll, three directions of driftage; Back adjusting rod (5) with the top connecting plate of connecting plate (7) by waist pitching rotating shaft joint A(6.1) be connected; Waist driftage turning cylinder joint C(6.3) be connected with waist axle joint (8); Waist axle joint (8) is fixedly connected with waist fixed plate A (9.1); Waist fixed plate A (9.1) and waist fixing head B(9.2) the middle belt (10) that is fixed with, belt (10) can be realized and the binding of human body waist, shoulder cross bar (1) and shoulders of human body binding, the two can realize the object of fixing back subsystem; Waist fixing head B(9.2) be fixedly connected with waist fixed block (11); The left lumbar region connecting rod (12) of left lower extremity subsystem, the right lumbar region connecting rod (29) of right lower extremity subsystem are connected and fixed by waist fixed block (11) bolt of back subsystem; Described left lumbar region connecting rod (12) is provided with bolt hole with right lumbar region connecting rod (29) junction, in order to regulate to adapt to different experiments person's waist length;
Described left lower extremity subsystem comprises left waist lateral connector bar (12), left hip lateral connector bar A(13.1), left hip pitching rotating shaft joint A(14.1), left hip lateral connector bar B(13.2), left hip side connects cross bar (15), left hip roll turning cylinder joint B(14.2), left thigh regulating connecting rod (16), left thigh connecting rod A(17.1), left hip driftage turning cylinder joint C(14.3), left hip governor motion (18), left thigh connecting rod B(17.2), left knee joint pitching rotating shaft joint (19), left leg connecting rod (20), left leg regulating connecting rod (21), left ankle pitching rotating shaft joint A(22.1), left ankle roll turning cylinder joint B(22.2), left ankle adjusting rod (23), fixed bar at the bottom of left foot (24), left hip axle joint (25), left hip connecting rod (26), left hip adjusting rod (27), left hip fixed block (28), waist fixed block (11) is fixedly connected with left waist lateral connector bar (12), left waist lateral connector bar (12) and left hip lateral connector bar A(13.1) be bolted to connection, the left hip lateral connector bar A(13.1 that described and left waist lateral connector bar (12) is connected) junction is provided with bolt hole, in order to regulate to adapt to different experiments person's waist width, left hip lateral connector bar A(13.1) with left hip lateral connector bar B(13.2) by left hip pitching rotating shaft joint A(14.1) be connected, left hip pitching rotating shaft joint A(14.1) angular encoder is installed, by left hip pitching rotating shaft joint A(14.1) rotation, can record the changing value of the left hip joint angle of pitch, left hip lateral connector bar B(13.2) be connected cross bar (15) with left waist side and be bolted to connection, described and left waist side is connected the left hip lateral connector bar B(13.2 that cross bar (15) connects) junction is provided with bolt hole, in order to regulate to adapt to different experiments person's hip width, left waist side connect cross bar (15) with left thigh regulating connecting rod (16) by left hip roll turning cylinder joint B(14.2) be connected, left hip roll turning cylinder joint B(14.2) angular encoder is installed, due to left hip roll turning cylinder joint B(14.2) rotation, can record the changing value of left hip joint roll angle, left thigh regulating connecting rod (16) and left thigh connecting rod A(17.1) be bolted to connection, described left thigh regulating connecting rod (16) is provided with bolt hole group, left thigh connecting rod A(17.1) on be fixed with bolt, by the position of adjusting bolt and bolt hole group, to realize, regulate left thigh regulating connecting rod (16) and left thigh connecting rod A(17.1) length of fit, to adapt to different experiments person's thigh length, left hip governor motion (18) comprises left hip axle joint (25), left hip connecting rod (26), left hip adjusting rod (27), left hip fixed block (28), left hip axle joint (25) is connected by left hip connecting rod (26) with left hip adjusting rod (27),
Left hip adjusting rod (27) and left hip fixed block (28) are by left hip driftage turning cylinder joint C(14.3) be connected; Left hip adjusting rod (27) is provided with screw hole group, by regulating left hip connecting rod (26), left hip driftage turning cylinder joint C(14.3) with left hip adjusting rod (27) on the spacing of screw hole group, to meet the requirement of different experiments person's thigh thickness; Left hip driftage turning cylinder joint C(14.3) on angular encoder is housed, as left hip driftage turning cylinder joint C(14.3) rotation time, can record the changing value of left hip joint yaw angle; Left thigh connecting rod A(17.1) be fixedly connected with left hip axle joint (25); Left hip fixed block (28) and left thigh connecting rod B(17.2) be fixedly connected with;
Left knee joint pitching rotating shaft joint (19) is by left thigh connecting rod B(17.2) be connected with left leg connecting rod (20); On left knee joint pitching rotating shaft joint (19), angular encoder is installed, when rotate in left knee joint pitching rotating shaft joint (19), can records the changing value of the left knee joint angle of pitch; Left leg connecting rod (20) is connected with left leg regulating connecting rod (21), described left leg regulating connecting rod (21) is provided with bolt hole group, left leg connecting rod is fixed with bolt on (20), by the position of adjusting bolt and bolt hole group, to realize left leg connecting rod (20) and left leg regulating connecting rod (21) length of fit, to adapt to different experiments person's shank length; Left leg regulating connecting rod (21) and left ankle pitching rotating shaft joint A(22.1) be connected; Described left ankle pitching rotating shaft joint A(22.1) on angular encoder is installed, as left ankle pitching rotating shaft joint A(22.1) while rotating, can record the changing value of the left ankle joint angle of pitch; Left ankle pitching rotating shaft joint A(22.1), left ankle adjusting rod (23) is by left ankle roll turning cylinder joint B(22.2) connect; Described left ankle roll turning cylinder joint B(22.2) on angular encoder is installed, as left ankle roll turning cylinder joint B(22.2) while rotating, can record the changing value of left ankle joint roll angle; The left ankle roll turning cylinder joint B(22.2 that described and left ankle adjusting rod (23) is connected) junction is provided with bolt hole group, in order to regulate to adapt to the width of different experiments person foot; Left ankle adjusting rod (23) is connected with fixed bar at the bottom of left foot (24), and at the bottom of the left foot that described and left ankle adjusting rod (23) is connected, fixed bar (24) junction is provided with bolt hole group, in order to regulate to adapt to the height of different experiments person foot;
Described right lower extremity subsystem comprises right waist lateral connector bar (29), right hip lateral connector bar A(30.1), right hip pitching rotating shaft joint A(31.1), right hip lateral connector bar B(30.2), right hip side connects cross bar (32), right hip roll turning cylinder joint B(31.2), right thigh regulating connecting rod (33), right thigh connecting rod A(34.1), right hip driftage turning cylinder joint C(31.3), right hip governor motion (35), right thigh connecting rod B(34.2), right knee joint pitching rotating shaft joint (36), right leg connecting rod (37), right leg regulating connecting rod (38), right ankle pitching rotating shaft joint A(39.1), right ankle roll turning cylinder joint B(39.2), right ankle adjusting rod (40), fixed bar at the bottom of right crus of diaphragm (41), right hip axle joint (42), right hip connecting rod (43), right hip adjusting rod (44), right hip fixed block (45), waist fixed block (11) is fixedly connected with right waist lateral connector bar (29), right waist lateral connector bar (29) and right hip lateral connector bar A(30.1) be bolted to connection, the right hip lateral connector bar A(30.1 that described and right waist lateral connector bar (29) is connected) junction is provided with bolt hole, in order to regulate to adapt to different experiments person's waist width, right hip lateral connector bar A(30.1) with right hip lateral connector bar B(30.2) by right hip pitching rotating shaft joint A(31.1) be connected, right hip pitching rotating shaft joint A(31.1) angular encoder is installed, by right hip pitching rotating shaft joint A(31.1) rotation, can record the changing value of the right hip joint angle of pitch, right hip lateral connector bar B(30.2) be connected cross bar (32) with right waist side and be bolted to connection, described and right waist side is connected the right hip lateral connector bar B(30.2 that cross bar (32) connects) junction is provided with bolt hole, in order to regulate to adapt to different experiments person's hip width, right waist side connect cross bar (32) with right thigh regulating connecting rod (33) by right hip roll turning cylinder joint B(31.2) be connected, right hip roll turning cylinder joint B(31.2) angular encoder is installed, due to right hip roll turning cylinder joint B(31.2) rotation, can record the changing value of right hip joint roll angle, right thigh regulating connecting rod (33) and right thigh connecting rod A(34.1) be bolted to connection, described right thigh regulating connecting rod (33) is provided with bolt hole group, right thigh connecting rod A(34.1) on be fixed with bolt, by the position of adjusting bolt and bolt hole group, to realize, regulate right thigh regulating connecting rod (33) and right thigh connecting rod A(34.1) length of fit, to adapt to different experiments person's thigh length, right hip governor motion (35) comprises right hip axle joint (42), right hip connecting rod (43), right hip adjusting rod (44), right hip fixed block (45), right hip axle joint (42) is connected by right hip connecting rod (43) with right hip adjusting rod (44), right hip adjusting rod (44) and right hip fixed block (45) are by right hip driftage turning cylinder joint C(31.3) be connected, right hip adjusting rod (44) is provided with screw hole group, by regulating right hip connecting rod (43), right hip driftage turning cylinder joint C(31.3) with right hip adjusting rod (44) on the spacing of screw hole group, to meet the requirement of different experiments person's thigh thickness, right hip driftage turning cylinder joint C(31.3) on angular encoder is housed, as right hip driftage turning cylinder joint C(31.3) rotation time, can record the changing value of right hip joint yaw angle, right thigh connecting rod A (34.1) is fixedly connected with right hip axle joint (42), right hip fixed block (45) and right thigh connecting rod B(34.2) be fixedly connected with, right knee joint pitching rotating shaft joint (36) is by right thigh connecting rod B(34.2) be connected with right leg connecting rod (37), on right knee joint pitching rotating shaft joint (36), angular encoder is installed, when rotate in right knee joint pitching rotating shaft joint (36), can records the changing value of the right knee joint angle of pitch, right leg connecting rod (37) is connected with right leg regulating connecting rod (38), described right leg regulating connecting rod (38) is provided with bolt hole group, right leg connecting rod is fixed with bolt on (37), by the position of adjusting bolt and bolt hole group, to realize right leg connecting rod (37) and right leg regulating connecting rod (38) length of fit, to adapt to different experiments person's shank length, right leg regulating connecting rod (38) and right ankle pitching rotating shaft joint A(39.1) be connected, described right ankle pitching rotating shaft joint A(39.1) on angular encoder is installed, when right ankle pitching rotating shaft joint A (39.1) rotates, can record the changing value of the right ankle joint angle of pitch, right ankle pitching rotating shaft joint A(39.1), right ankle adjusting rod (40) is by right ankle roll turning cylinder joint B(39.2) connect, described right ankle roll turning cylinder joint B(39.2) on angular encoder is installed, as right ankle roll turning cylinder joint B(39.2) while rotating, can record the changing value of right ankle joint roll angle, the right ankle roll turning cylinder joint B(39.2 that described and right ankle adjusting rod (40) is connected) junction is provided with bolt hole group, in order to regulate to adapt to the width of different experiments person foot, right ankle adjusting rod (40) is connected with fixed bar at the bottom of right crus of diaphragm (41), and at the bottom of the right crus of diaphragm that described and right ankle adjusting rod (40) is connected, fixed bar (41) junction is provided with bolt hole group, in order to regulate to adapt to the height of different experiments person foot,
Turning cylinder joint in described back subsystem, left lower extremity subsystem, right lower extremity subsystem, comprises rolling bearing (46), axle (47), key (48), absolute type encoder (49), go side lid (50), shaft assembly (51), axle joint (52), cecum lid (53), yoke (54); Described axle joint (52) comprises rolling bearing (46), axle (47), key (48), and rolling bearing (46) is equipped with at axle (47) two ends, and axle (47) is fixed on yoke (54) by key (48); Yoke (54) one end is semicircle, and one end is rectangle, and semicircle end has through hole with assembled shaft (47), and rectangular end has a pair of through hole in order to connecting elements; In the middle of described shaft assembly (51), have groove and by axle (47), yoke (54) linked together; After axle joint (52) is connected with shaft assembly (51) and its two ends cover (50) by go side and cecum lid (53) is fixed on shaft assembly (51) above, and described go side lid (50) is connected with absolute type encoder (49);
Described sole is directly connected with pressure transducer, described pressure transducer is left foot rear end pressure transducer (57), left foot forefront pressure sensors A (55), pressure transducer B(56), right crus of diaphragm rear end pressure transducer (60), right crus of diaphragm forefront pressure sensors A (58), pressure transducer B(59), be arranged on left foot and right crus of diaphragm.
2. human body motion capture device in a kind of joint space according to claim 1, is characterized in that: when experimenter walks upright, in joint, space, human body motion capture device does follow-up motion, due to the shoulder cross bar (1) and the binding of experimenter's shoulder of device, belt (10) and the binding of experimenter's waist, fixed bar at the bottom of left foot (24) and the binding of experimenter's left foot, fixed bar at the bottom of right crus of diaphragm (41) and the binding of experimenter's right crus of diaphragm, so when experimenter walks upright, experimenter's waist driving device waist pitching rotating shaft joint A(6.1) rotate, waist roll turning cylinder joint B(6.2) rotate, waist driftage turning cylinder joint C(6.3) rotate, the each portion's turning cylinder of described waist joint is provided with angular encoder, can realize and measure waist joint pitching, roll, the angle-data of three directions of driftage, the left hip pitching rotating shaft joint A(14.1 of experimenter's left hip joint driving device) rotate, left hip roll turning cylinder joint B(14.2) rotate, left hip driftage turning cylinder joint C(14.3) rotate, the each turning cylinder of described left hip joint is provided with angular encoder, can realize the angle-data of measuring left hip joint pitching, roll, three directions of driftage, the right hip pitching rotating shaft joint A(31.1 of experimenter's right hip joint driving device) rotate, right hip roll turning cylinder joint B(31.2) rotate, right hip driftage turning cylinder joint C(31.3) rotate, the each turning cylinder of described right hip joint is provided with angular encoder, can realize the angle-data of measuring right hip joint pitching, roll, three directions of driftage, the left knee joint pitching rotating shaft joint (19) of experimenter's left knee joint driving device rotates, and described left knee joint pitching rotating shaft joint is provided with angular encoder, can realize the angle-data of measuring left knee joint pitch orientation, the right knee joint pitching rotating shaft joint (36) of experimenter's right knee joint driving device rotates, and described right knee joint pitching rotating shaft joint is provided with angular encoder, can realize the angle-data of measuring right knee joint pitch orientation, the left ankle pitching rotating shaft joint A(22.1 of experimenter's left ankle joint driving device) rotate, left ankle roll turning cylinder joint B(22.2) rotate, the each turning cylinder of described left ankle joint is provided with angular encoder, can realize the angle-data of measuring left hip joint pitching, 2 directions of roll, the right ankle pitching rotating shaft joint A(39.1 of experimenter's right ankle joint driving device) rotate, right ankle roll turning cylinder joint B(39.2) rotate, the each turning cylinder of described right ankle joint is provided with angular encoder, can realize the angle-data of measuring right hip joint pitching, roll both direction, described angular encoder always has 15, can obtain the angle-data of ten Five-channels, experimenter's sole directly directly contacts with pressure transducer, the data that record by pressure transducer realize the evaluation that ZMP is ordered, described pressure sensor data is the data of left foot rear end pressure transducer (57), data and the pressure transducer B(56 of left foot forefront pressure sensors A (55)) data, the data of right crus of diaphragm rear end pressure transducer (60), the data of right crus of diaphragm forefront pressure sensors A (58) and pressure transducer B(59) data.
3. human body motion capture device in a kind of joint space according to claim 1, is characterized in that: described pressure transducer always has six, can obtain the pressure data in clematis stem road; By parallel the pressure data in the angle-data of ten Five-channels and clematis stem road, import in FPGA module, FPGA module is finally sent data in PC and stores by usb bus, completes the seizure of human body movement data.
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