CN103750843B - Human body motion capture device in joint space - Google Patents
Human body motion capture device in joint space Download PDFInfo
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- CN103750843B CN103750843B CN201410012189.6A CN201410012189A CN103750843B CN 103750843 B CN103750843 B CN 103750843B CN 201410012189 A CN201410012189 A CN 201410012189A CN 103750843 B CN103750843 B CN 103750843B
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Abstract
The present invention relates to human body motion capture device in a kind of joint space, belong to Machine Design and automation control area; By motion capture device being worn on it human body, in human normal walking process, waist joint, hip joint, knee joint and ankle joint each joint attitude angle changes, use this device to reach and carry out real-time seizure to angle delta data, implement device is to the uninterrupted sampling of data in human walking procedure.Angular encoder of the present invention adopts the encoder of Hall Cleaning Principle, and the accuracy of each joint angles data is improved, and increases the collection of waist joint data, and sampled data is not by surrounding enviroment and the impact of testing place.Data that the present invention gathers can complete performance people to be moved each joint motions state of middle part of the side leg, and Practical Performance is good.
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 Japanese industries Technical Integration Studies the HRP4C robot that developed, this robot, than robot in the past, adds waist joint degree of freedom.Therefore, in the design of motion capture device, particularly necessity that waist degree-of-freedom joint is aobvious is added.
Motion-captured work also can be extracted the technical method combined with motion analysis and be realized by moving image collection, index point, by the moving image of waist joint, hip joint, knee joint and the ankle joint in camera acquisition human body self-support walking process, by the extraction to fixed point, and obtain the movable information in each joint based on the relative attitude relation analysis between different limb segment disjunctor coordinate system; Owing to being subject to the impact of pattern distortion, photographic head precision, parameter extraction and surrounding enviroment, there is certain deviation in the joint motions Detection Information of acquisition and the motion of 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 installs absolute type encoder (49) respectively at waist joint, hip joint, knee joint and ankle joint, and at sole setting pressure sensor, use FPGA module to carry out the parallel transmission of data, thus obtain the characteristics of motion more meeting 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 figures 1-15, specifically, 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 yaw rotation axle 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 connected with shoulder cross bar (1) by shoulder axle joint A (2.1), and shoulder curved bar (3) curved bar end is connected with back linkage (4) by shoulder axle joint B (2.2), shoulder axle joint A (2.1) and shoulder axle joint B (2.2) rotate around pitch orientation, back linkage (4) and back adjusting rod (5) are bolted fixing, described back linkage (4) is provided with elongated hole, the upper bolt installed of back adjusting rod (5) and the elongated hole free adjustment in back linkage (4), thus realize the length of fit between adjustment back linkage (4) and back adjusting rod (5), connecting rod (7) is a combined mechanism, and this mechanism is divided into top connecting plate, sidepiece connecting plate, lower connecting plate three part, top connecting plate and sidepiece connecting plate form " L " shape structure, and junction is connected by screw, top connecting plate and sidepiece connecting plate are connected with waist roll turning cylinder joint B (6.2) with waist pitching rotating shaft joint A (6.1) respectively, lower connecting plate one end is connected with waist roll turning cylinder joint B (6.2), and the other end is connected with waist yaw rotation axle joint C (6.3), wherein said waist pitching rotating shaft joint A (6.1), between waist roll turning cylinder joint B (6.2) and waist yaw rotation axle joint C (6.3) in " product " word structure, the each turning cylinder joint of described waist is all provided with absolute type encoder (49), to realize the angle changing value measuring waist joint pitching, roll, driftage three directions, back adjusting rod (5) is connected by waist pitching rotating shaft joint A (6.1) with the top connecting plate of connecting rod (7), waist yaw rotation axle joint C (6.3) is connected with waist axle joint (8), waist axle joint (8) is fixedly connected with waist fixed plate A (9.1), belt (10) is fixed with in the middle of waist fixed plate A (9.1) and waist fixing head B (9.2), belt (10) realizes binding with human body waist, shoulder cross bar (1) and shoulders of human body are bound, and the two realizes the object of fixing back subsystem, waist fixing head B (9.2) is fixedly connected with waist fixed block (11), the left waist lateral connector bar (12) of left lower extremity subsystem, the right waist lateral connector bar (29) of right lower extremity subsystem are connected and fixed by waist fixed block (11) bolt of back subsystem, left waist lateral connector bar (12) and right waist lateral connector bar (29) junction are provided with bolt hole, in order to regulate to adapt to different experiments person's waist,
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 yaw rotation axle 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), 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) are bolted to connection; Left hip lateral connector bar A (13.1) 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 A (13.1) is connected by left hip pitching rotating shaft joint A (14.1) with left hip lateral connector bar B (13.2); Left hip pitching rotating shaft joint A (14.1) is provided with absolute type encoder (49), by the rotation of left hip pitching rotating shaft joint A (14.1), records the changing value of the left hip joint angle of pitch; Left hip lateral connector bar B (13.2) is connected cross bar (15) with left hip side and is bolted to connection; Described left hip lateral connector bar B (13.2) is provided with bolt hole with the junction that left hip side is connected cross bar (15), in order to regulate to adapt to different experiments person's hip width; Left hip side is connected cross bar (15) and is connected by left hip roll turning cylinder joint B (14.2) with left thigh regulating connecting rod (16); Left hip roll turning cylinder joint B (14.2) is provided with absolute type encoder (49), due to the rotation of left hip roll turning cylinder joint B (14.2), records the changing value of left hip joint roll angle; Left thigh regulating connecting rod (16) and left thigh connecting rod A (17.1) are bolted to connection; Described left thigh regulating connecting rod (16) is provided with bolt hole group, left thigh connecting rod A (17.1) is fixed with bolt, by the position of adjusting bolt and bolt hole group, to realize regulating 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) is connected by left hip yaw rotation axle joint C (14.3) 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 yaw rotation axle joint C (14.3) and left hip adjusting rod (27), to meet the requirement of different experiments person's thigh thickness; Left hip yaw rotation axle joint C (14.3) is equipped with absolute type encoder (49), when the rotation of left hip yaw rotation axle joint C (14.3), records the changing value of left hip joint yaw angle; Left thigh connecting rod A (17.1) is fixedly connected with left hip axle joint (25); Left hip fixed block (28) is fixedly connected with left thigh connecting rod B (17.2);
Left knee joint pitching rotating shaft joint (19) is connected with left leg connecting rod (20) by left thigh connecting rod B (17.2); Left knee joint pitching rotating shaft joint (19) is provided with absolute type encoder (49), when left knee joint pitching rotating shaft joint (19) is rotated, 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, (20) are fixed with bolt with left leg connecting rod, 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 lower-leg length; Left leg regulating connecting rod (21) is connected with left ankle pitching rotating shaft joint A (22.1); Described left ankle pitching rotating shaft joint A (22.1) is provided with absolute type encoder (49), when left ankle pitching rotating shaft joint A (22.1) is rotated, records 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) are connected by left ankle roll turning cylinder joint B (22.2); Described left ankle roll turning cylinder joint B (22.2) is provided with absolute type encoder (49), when left ankle roll turning cylinder joint B (22.2) is rotated, records the changing value of left ankle joint roll angle; Left ankle roll turning cylinder joint B (22.2) junction that described and left ankle adjusting rod (23) is connected is provided with bolt hole group, in order to regulate with the width adapting to different experiments person foot; Left ankle adjusting rod (23) is connected with fixed bar at the bottom of left foot (24), 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 with the height adapting to 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 yaw rotation axle 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), 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) are bolted to connection, right hip lateral connector bar A (30.1) 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 A (30.1) is connected by right hip pitching rotating shaft joint A (31.1) with right hip lateral connector bar B (30.2), right hip pitching rotating shaft joint A (31.1) is provided with absolute type encoder (49), by the rotation of right hip pitching rotating shaft joint A (31.1), records the changing value of the right hip joint angle of pitch, right hip lateral connector bar B (30.2) is connected cross bar (32) with right hip side and is bolted to connection, described and right hip side is connected right hip lateral connector bar B (30.2) 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 hip side is connected cross bar (32) and is connected by right hip roll turning cylinder joint B (31.2) with right thigh regulating connecting rod (33), right hip roll turning cylinder joint B (31.2) is provided with absolute type encoder (49), due to the rotation of right hip roll turning cylinder joint B (31.2), records the changing value of right hip joint roll angle, right thigh regulating connecting rod (33) and right thigh connecting rod A (34.1) are bolted to connection, described right thigh regulating connecting rod (33) is provided with bolt hole group, right thigh connecting rod A (34.1) is fixed with bolt, by the position of adjusting bolt and bolt hole group, to realize regulating 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) is connected by right hip yaw rotation axle joint C (31.3) 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 yaw rotation axle joint C (31.3) and right hip adjusting rod (44), to meet the requirement of different experiments person's thigh thickness; Right hip yaw rotation axle joint C (31.3) is equipped with absolute type encoder (49), when the rotation of right hip yaw rotation axle joint C (31.3), records 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) is fixedly connected with right thigh connecting rod B (34.2); Right knee joint pitching rotating shaft joint (36) is connected with right leg connecting rod (37) by right thigh connecting rod B (34.2); Right knee joint pitching rotating shaft joint (36) is provided with absolute type encoder (49), when right knee joint pitching rotating shaft joint (36) is rotated, 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, (37) are fixed with bolt with right leg connecting rod, 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 lower-leg length; Right leg regulating connecting rod (38) is connected with right ankle pitching rotating shaft joint A (39.1); Described right ankle pitching rotating shaft joint A (39.1) is provided with absolute type encoder (49), when right ankle pitching rotating shaft joint A (39.1) is rotated, records 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) are connected by right ankle roll turning cylinder joint B (39.2); Described right ankle roll turning cylinder joint B (39.2) is provided with absolute type encoder (49), when right ankle roll turning cylinder joint B (39.2) is rotated, records the changing value of right ankle joint roll angle; Right ankle roll turning cylinder joint B (39.2) junction that described and right ankle adjusting rod (40) is connected is provided with bolt hole group, in order to regulate with the width adapting to different experiments person foot; Right ankle adjusting rod (40) is connected with fixed bar at the bottom of right crus of diaphragm (41), 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 with the height adapting to different experiments person foot;
Turning cylinder joint in described back subsystem, left lower extremity subsystem, right lower extremity subsystem, comprises 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), 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 through hole in order to connecting elements; Have groove and by axle (47), yoke (54) linked together in the middle of described shaft assembly (51); Axle joint (52) is connected rear with shaft assembly (51) and its two ends cover (50) by go side and cecum lid (53) is fixed on shaft assembly (51), and described go side lid (50) is connected with absolute type encoder (49);
Described pressure transducer is left foot rear end pressure transducer (57), left foot forefront pressure sensors A (55), left foot forefront pressure sensor B (56), right crus of diaphragm rear end pressure transducer (60), right crus of diaphragm forefront pressure sensors A (58), right crus of diaphragm forefront pressure sensor B (59); Left foot rear end pressure transducer (57), left foot forefront pressure sensors A (55) are arranged in parallel in the front end of left foot, and left foot forefront pressure sensor B (56) is arranged in the rear end of left foot;
Right crus of diaphragm forefront pressure sensors A (58), right crus of diaphragm forefront pressure sensor B (59) are arranged in parallel in right crus of diaphragm front end, and right crus of diaphragm rear end pressure transducer (60) is arranged in the rear end of right crus of diaphragm.
The data of absolute type encoder (49) and the data parallel of pressure transducer input in FPGA module, and data are sent to PC by usb bus and store by FPGA module.
Compared with prior art, the present invention has following beneficial effect.
1, this device is by three absolute type encoders (49) of installing at back subsystem, achieves 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, the evaluation of ZMP point is carried out by pressure data.
3, by mechanical motion trap setting of the present invention design, can measure human lumbar joint, hip joint, knee joint and ankle motion time attitude, the information more meeting human motion can be obtained.
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 left hip upper part schematic diagram.
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 right hip upper part schematic diagram.
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 joints, 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 yaw rotation axle 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, and 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 yaw rotation axle 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, and 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 yaw rotation axle 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 is covered, and 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.
Detailed description of the invention
Below in conjunction with accompanying drawing, further analysis is done to the present invention.
When experimenter walks upright, in joint, space, human body motion capture device does follow-up motion, because the shoulder cross bar (1) of device is bound with experimenter's shoulder, belt (10) and experimenter's waist are bound, fixed bar at the bottom of left foot (24) and experimenter's left foot are bound, fixed bar at the bottom of right crus of diaphragm (41) and experimenter's right crus of diaphragm are bound, so when experimenter walks upright, waist driving device waist pitching rotating shaft joint A (6.1) of experimenter rotates, waist roll turning cylinder joint B (6.2) rotates, waist yaw rotation axle joint C (6.3) rotates, turning cylinder joint, described waist each portion is provided with absolute type encoder (49), realize measuring waist joint pitching, roll, the angle-data in driftage three directions, the left hip pitching rotating shaft joint A (14.1) of the left hip joint driving device of experimenter rotates, left hip roll turning cylinder joint B (14.2) rotates, left hip yaw rotation axle joint C (14.3) rotates, the each turning cylinder joint of described left hip is provided with absolute type encoder (49), realizes the angle-data measuring left hip joint pitching, roll, driftage three directions, the right hip pitching rotating shaft joint A (31.1) of the right hip joint driving device of experimenter rotates, right hip roll turning cylinder joint B (31.2) rotates, right hip yaw rotation axle joint C (31.3) rotates, the each turning cylinder joint of described right hip is provided with absolute type encoder (49), realizes the angle-data measuring right hip joint pitching, roll, driftage three directions, the left knee joint pitching rotating shaft joint (19) of the left knee joint driving device of experimenter rotates, and described left knee joint pitching rotating shaft joint is provided with absolute type encoder (49), realizes the angle-data measuring left knee joint pitch orientation, the right knee joint pitching rotating shaft joint (36) of the right knee joint driving device of experimenter rotates, and described right knee joint pitching rotating shaft joint is provided with absolute type encoder (49), realizes the angle-data measuring right knee joint pitch orientation, the left ankle pitching rotating shaft joint A (22.1) of the left ankle joint driving device of experimenter rotates, left ankle roll turning cylinder joint B (22.2) rotates, the each turning cylinder joint of described left ankle is provided with absolute type encoder (49), realizes the angle-data measuring left hip joint pitching, roll 2 directions, the right ankle pitching rotating shaft joint A (39.1) of the right ankle joint driving device of experimenter rotates, right ankle roll turning cylinder joint B (39.2) rotates, the each turning cylinder joint of described right ankle is provided with absolute type encoder (49), realizes the angle-data measuring right hip joint pitching, roll both direction, described absolute type encoder (49) always has 15, obtains the angle-data of ten Five-channels, the sole of experimenter directly directly contacts with pressure transducer, the data recorded by pressure transducer realize the evaluation of ZMP point, and pressure sensor data is the data of left foot rear end pressure transducer (57), left foot forefront pressure sensors A (55), left foot forefront pressure sensor B (56), right crus of diaphragm rear end pressure transducer (60), right crus of diaphragm forefront pressure sensors A (58), right crus of diaphragm forefront pressure sensor B (59).
Described pressure transducer always has six, obtains the pressure data of Hexamermis spp; Import in FPGA module by parallel for the pressure data of the angle-data of ten Five-channels and Hexamermis spp, FPGA module is finally sent data in PC by usb bus and stores, and 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;
Specifically, 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 yaw rotation axle 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 connected with shoulder cross bar (1) by shoulder axle joint A (2.1), and shoulder curved bar (3) curved bar end is connected with back linkage (4) by shoulder axle joint B (2.2); Shoulder axle joint A (2.1) and shoulder axle joint B (2.2) rotate around pitch orientation; Back linkage (4) and back adjusting rod (5) are bolted fixing, described back linkage (4) is provided with elongated hole, the upper bolt installed of back adjusting rod (5) and the elongated hole free adjustment in back linkage (4), thus realize the length of fit between adjustment back linkage (4) and back adjusting rod (5); Connecting rod (7) is a combined mechanism, and this mechanism is divided into top connecting plate, sidepiece connecting plate, lower connecting plate three part; Top connecting plate and sidepiece connecting plate form " L " shape structure, and junction is connected by screw; Top connecting plate and sidepiece connecting plate are connected with waist roll turning cylinder joint B (6.2) with waist pitching rotating shaft joint A (6.1) respectively, lower connecting plate one end is connected with waist roll turning cylinder joint B (6.2), and the other end is connected with waist yaw rotation axle joint C (6.3); Wherein said waist pitching rotating shaft joint A (6.1), between waist roll turning cylinder joint B (6.2) and waist yaw rotation axle joint C (6.3) in " product " word structure; The each turning cylinder joint of waist is all provided with absolute type encoder (49), to realize the angle changing value measuring waist joint pitching, roll, driftage three directions; Back adjusting rod (5) is connected by waist pitching rotating shaft joint A (6.1) with the top connecting plate of connecting rod (7); Waist yaw rotation axle joint C (6.3) is connected with waist axle joint (8); Waist axle joint (8) is fixedly connected with waist fixed plate A (9.1); Belt (10) is fixed with in the middle of waist fixed plate A (9.1) and waist fixing head B (9.2), belt (10) realizes binding with human body waist, shoulder cross bar (1) and shoulders of human body are bound, and the two realizes the object of fixing back subsystem; Waist fixing head B (9.2) is fixedly connected with waist fixed block (11); The left waist lateral connector bar (12) of left lower extremity subsystem, the right waist lateral connector bar (29) of right lower extremity subsystem are connected and fixed by waist fixed block (11) bolt of back subsystem; Left waist lateral connector bar (12) and right waist lateral connector bar (29) junction are provided with bolt hole, in order to regulate to adapt to different experiments person's waist;
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 yaw rotation axle 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), 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) are bolted to connection; Left hip lateral connector bar A (13.1) 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 A (13.1) is connected by left hip pitching rotating shaft joint A (14.1) with left hip lateral connector bar B (13.2); Left hip pitching rotating shaft joint A (14.1) is provided with absolute type encoder (49), by the rotation of left hip pitching rotating shaft joint A (14.1), records the changing value of the left hip joint angle of pitch; Left hip lateral connector bar B (13.2) is connected cross bar (15) with left hip side and is bolted to connection; Described left hip lateral connector bar B (13.2) is provided with bolt hole with the junction that left hip side is connected cross bar (15), in order to regulate to adapt to different experiments person's hip width; Left hip side is connected cross bar (15) and is connected by left hip roll turning cylinder joint B (14.2) with left thigh regulating connecting rod (16); Left hip roll turning cylinder joint B (14.2) is provided with absolute type encoder (49), due to the rotation of left hip roll turning cylinder joint B (14.2), records the changing value of left hip joint roll angle; Left thigh regulating connecting rod (16) and left thigh connecting rod A (17.1) are bolted to connection; Described left thigh regulating connecting rod (16) is provided with bolt hole group, left thigh connecting rod A (17.1) is fixed with bolt, by the position of adjusting bolt and bolt hole group, to realize regulating 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) is connected by left hip yaw rotation axle joint C (14.3) 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 yaw rotation axle joint C (14.3) and left hip adjusting rod (27), to meet the requirement of different experiments person's thigh thickness; Left hip yaw rotation axle joint C (14.3) is equipped with absolute type encoder (49), when the rotation of left hip yaw rotation axle joint C (14.3), records the changing value of left hip joint yaw angle; Left thigh connecting rod A (17.1) is fixedly connected with left hip axle joint (25); Left hip fixed block (28) is fixedly connected with left thigh connecting rod B (17.2);
Left knee joint pitching rotating shaft joint (19) is connected with left leg connecting rod (20) by left thigh connecting rod B (17.2); Left knee joint pitching rotating shaft joint (19) is provided with absolute type encoder (49), when left knee joint pitching rotating shaft joint (19) is rotated, 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, (20) are fixed with bolt with left leg connecting rod, 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 lower-leg length; Left leg regulating connecting rod (21) is connected with left ankle pitching rotating shaft joint A (22.1); Described left ankle pitching rotating shaft joint A (22.1) is provided with absolute type encoder (49), when left ankle pitching rotating shaft joint A (22.1) is rotated, records 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) are connected by left ankle roll turning cylinder joint B (22.2); Described left ankle roll turning cylinder joint B (22.2) is provided with absolute type encoder (49), when left ankle roll turning cylinder joint B (22.2) is rotated, records the changing value of left ankle joint roll angle; Left ankle roll turning cylinder joint B (22.2) junction that described and left ankle adjusting rod (23) is connected is provided with bolt hole group, in order to regulate with the width adapting to different experiments person foot; Left ankle adjusting rod (23) is connected with fixed bar at the bottom of left foot (24), 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 with the height adapting to 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 yaw rotation axle 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), 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) are bolted to connection, right hip lateral connector bar A (30.1) 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 A (30.1) is connected by right hip pitching rotating shaft joint A (31.1) with right hip lateral connector bar B (30.2), right hip pitching rotating shaft joint A (31.1) is provided with absolute type encoder (49), by the rotation of right hip pitching rotating shaft joint A (31.1), records the changing value of the right hip joint angle of pitch, right hip lateral connector bar B (30.2) is connected cross bar (32) with right hip side and is bolted to connection, described and right hip side is connected right hip lateral connector bar B (30.2) 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 hip side is connected cross bar (32) and is connected by right hip roll turning cylinder joint B (31.2) with right thigh regulating connecting rod (33), right hip roll turning cylinder joint B (31.2) is provided with absolute type encoder (49), due to the rotation of right hip roll turning cylinder joint B (31.2), records the changing value of right hip joint roll angle, right thigh regulating connecting rod (33) and right thigh connecting rod A (34.1) are bolted to connection, described right thigh regulating connecting rod (33) is provided with bolt hole group, right thigh connecting rod A (34.1) is fixed with bolt, by the position of adjusting bolt and bolt hole group, to realize regulating 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) is connected by right hip yaw rotation axle joint C (31.3) 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 yaw rotation axle joint C (31.3) and right hip adjusting rod (44), to meet the requirement of different experiments person's thigh thickness; Right hip yaw rotation axle joint C (31.3) is equipped with absolute type encoder (49), when the rotation of right hip yaw rotation axle joint C (31.3), records 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) is fixedly connected with right thigh connecting rod B (34.2); Right knee joint pitching rotating shaft joint (36) is connected with right leg connecting rod (37) by right thigh connecting rod B (34.2); Right knee joint pitching rotating shaft joint (36) is provided with absolute type encoder (49), when right knee joint pitching rotating shaft joint (36) is rotated, 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, (37) are fixed with bolt with right leg connecting rod, 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 lower-leg length; Right leg regulating connecting rod (38) is connected with right ankle pitching rotating shaft joint A (39.1); Described right ankle pitching rotating shaft joint A (39.1) is provided with absolute type encoder (49), when right ankle pitching rotating shaft joint A (39.1) is rotated, records 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) are connected by right ankle roll turning cylinder joint B (39.2); Described right ankle roll turning cylinder joint B (39.2) is provided with absolute type encoder (49), when right ankle roll turning cylinder joint B (39.2) is rotated, records the changing value of right ankle joint roll angle; Right ankle roll turning cylinder joint B (39.2) junction that described and right ankle adjusting rod (40) is connected is provided with bolt hole group, in order to regulate with the width adapting to different experiments person foot; Right ankle adjusting rod (40) is connected with fixed bar at the bottom of right crus of diaphragm (41), 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 with the height adapting to different experiments person foot;
Turning cylinder joint in described back subsystem, left lower extremity subsystem, right lower extremity subsystem, comprises 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), 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 through hole in order to connecting elements; Have groove and by axle (47), yoke (54) linked together in the middle of described shaft assembly (51); Axle joint (52) is connected rear with shaft assembly (51) and its two ends cover (50) by go side and cecum lid (53) is fixed on shaft assembly (51), and described go side lid (50) is connected with absolute type encoder (49);
Pressure transducer is left foot rear end pressure transducer (57), left foot forefront pressure sensors A (55), left foot forefront pressure sensor B (56), right crus of diaphragm rear end pressure transducer (60), right crus of diaphragm forefront pressure sensors A (58), right crus of diaphragm forefront pressure sensor B (59); Left foot rear end pressure transducer (57), left foot forefront pressure sensors A (55) are arranged in parallel in the front end of left foot, and left foot forefront pressure sensor B (56) is arranged in the rear end of left foot;
Right crus of diaphragm forefront pressure sensors A (58), right crus of diaphragm forefront pressure sensor B (59) are arranged in parallel in right crus of diaphragm front end, and right crus of diaphragm rear end pressure transducer (60) is arranged in the rear end of right crus of diaphragm.
2. human body motion capture device in a kind of joint space according to claim 1, it is characterized in that: when experimenter walks upright, in joint, space, human body motion capture device does follow-up motion, because the shoulder cross bar (1) of device is bound with experimenter's shoulder, belt (10) and experimenter's waist are bound, fixed bar at the bottom of left foot (24) and experimenter's left foot are bound, fixed bar at the bottom of right crus of diaphragm (41) and experimenter's right crus of diaphragm are bound, so when experimenter walks upright, waist driving device waist pitching rotating shaft joint A (6.1) of experimenter rotates, waist roll turning cylinder joint B (6.2) rotates, waist yaw rotation axle joint C (6.3) rotates, turning cylinder joint, described waist each portion is provided with absolute type encoder (49), realize measuring waist joint pitching, roll, the angle-data in driftage three directions, the left hip pitching rotating shaft joint A (14.1) of the left hip joint driving device of experimenter rotates, left hip roll turning cylinder joint B (14.2) rotates, left hip yaw rotation axle joint C (14.3) rotates, the each turning cylinder joint of described left hip is provided with absolute type encoder (49), realizes the angle-data measuring left hip joint pitching, roll, driftage three directions, the right hip pitching rotating shaft joint A (31.1) of the right hip joint driving device of experimenter rotates, right hip roll turning cylinder joint B (31.2) rotates, right hip yaw rotation axle joint C (31.3) rotates, the each turning cylinder joint of described right hip is provided with absolute type encoder (49), realizes the angle-data measuring right hip joint pitching, roll, driftage three directions, the left knee joint pitching rotating shaft joint (19) of the left knee joint driving device of experimenter rotates, and described left knee joint pitching rotating shaft joint is provided with absolute type encoder (49), realizes the angle-data measuring left knee joint pitch orientation, the right knee joint pitching rotating shaft joint (36) of the right knee joint driving device of experimenter rotates, and described right knee joint pitching rotating shaft joint is provided with absolute type encoder (49), realizes the angle-data measuring right knee joint pitch orientation, the left ankle pitching rotating shaft joint A (22.1) of the left ankle joint driving device of experimenter rotates, left ankle roll turning cylinder joint B (22.2) rotates, the each turning cylinder joint of described left ankle is provided with absolute type encoder (49), realizes the angle-data measuring left hip joint pitching, roll 2 directions, the right ankle pitching rotating shaft joint A (39.1) of the right ankle joint driving device of experimenter rotates, right ankle roll turning cylinder joint B (39.2) rotates, the each turning cylinder joint of described right ankle is provided with absolute type encoder (49), realizes the angle-data measuring right hip joint pitching, roll both direction, described absolute type encoder (49) always has 15, obtains the angle-data of ten Five-channels, the sole of experimenter directly directly contacts with pressure transducer, the data recorded by pressure transducer realize the evaluation of ZMP point, and pressure sensor data is the data of left foot rear end pressure transducer (57), left foot forefront pressure sensors A (55), left foot forefront pressure sensor B (56), right crus of diaphragm rear end pressure transducer (60), right crus of diaphragm forefront pressure sensors A (58), right crus of diaphragm forefront pressure sensor B (59).
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, obtains the pressure data of Hexamermis spp; Import in FPGA module by parallel for the pressure data of the angle-data of ten Five-channels and Hexamermis spp, FPGA module is finally sent data in PC by usb bus and stores, and completes the seizure of human body movement data.
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