CN104434124A - Human lower limb gait data acquisition system - Google Patents

Human lower limb gait data acquisition system Download PDF

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Publication number
CN104434124A
CN104434124A CN 201410735564 CN201410735564A CN104434124A CN 104434124 A CN104434124 A CN 104434124A CN 201410735564 CN201410735564 CN 201410735564 CN 201410735564 A CN201410735564 A CN 201410735564A CN 104434124 A CN104434124 A CN 104434124A
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data acquisition
sensor
encoder
member
mounted
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CN 201410735564
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Chinese (zh)
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程洪
黄瑞
张良伟
林西川
潘有缘
邱静
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电子科技大学
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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00Detecting, measuring or recording for diagnostic purposes; Identification of persons
    • A61B5/103Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1116Determining posture transitions
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00Detecting, measuring or recording for diagnostic purposes; Identification of persons
    • A61B5/103Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/112Gait analysis

Abstract

The invention relates to a human exoskeleton robot, and particularly relates to a human lower limb gait data acquisition system which comprises a wearable sensor mounting structure (1), a data acquisition circuit (2), a PC terminal, an attitude sensor (3), an encoder (4), a sole pressure sensor and an angular velocity sensor, wherein the wearable sensor mounting structure (1) consists of a back bracket (5), a hip joint connector (6), a thigh connecting rod (7), a leg binding mechanism (8), a knee joint connector (9), a shank connecting rod (10), an ankle joint connector (11) and a shoe board (12), which are connected in sequence from the top to the bottom; binding devices which are used for binding the legs of the users are mounted on the inner sides of both the thigh connecting rod (7) and the shank connecting rod (10). The human lower limb gait data acquisition system is low in cost, high in precision and convenient to wear, and has the effect of enabling the tested subjects to conveniently carry out wear test and operation without being influenced by the environment.

Description

一种人体下肢步态数据采集系统 A personal lower limb gait data acquisition system

技术领域 FIELD

[0001] 本发明涉及人体外骨骼机器人,具体涉及一种人体下肢步态数据采集系统。 [0001] The present invention relates to a robot outside the human skeleton, particularly, to a data acquisition system gait, the lower extremity.

背景技术 Background technique

[0002] 采集人体运动数据,常见的方法是使用视觉定位设备或者惯性测量元件。 [0002] human motion capture data, the common approach is to use a visual locating device or an inertial measuring unit. 视觉定位有Vicon、MOCAP等基于三维立体视觉技术的步态采集系统,这类步态采集系统需要通过六个或者更多的摄像头组,全方位的捕捉人体各个关节节点的姿态。 Visual positioned Vicon, MOCAP like gait acquisition system based on three-dimensional vision, such gait acquisition system need six or more sets of the camera, to capture the full range of body posture of each joint node. 通过在被测者身上放置标记点,以便摄像头标定和获取数据。 By placing markers on the subject body, so that camera calibration and data acquisition.

[0003] 基于三维立体视觉技术的步态采集系统主要具有以下几点缺点: [0003] Gait acquisition system based on three-dimensional vision technology mainly has the following disadvantages:

I)这类步态采集系统需要六个或者更多摄像头组,价格昂贵而且摄像头之间的安装位置需要固定,导致该类系统只能在一个固定的场合(如室内)进行使用。 I) Acquisition gait Such systems require the installation position between the group of six or more cameras, camera expensive and needs to be fixed, resulting in such systems can only be used in case of a fixed (e.g., indoors).

[0004] 2)这类步态采集系统在进行步态采集和分析时,还需要复杂的穿戴过程,需要被测者穿着尽量深色的衣物,并且需要在被测者的各个关节和需要测量数据的地方放置白色的标记点,通常穿戴和矫正的时间就需要长达15-20分钟。 [0004] 2) such acquisition system during gait gait acquisition and analysis, or require complex worn process that requires the subject wearing dark clothes as possible, and requires each joint and the subject to be measured in local data placement white marker, usually worn and correction time can take up to 15-20 minutes.

[0005] 3)这类步态采集系统由于是使用基于视觉处理的方法,对于环境的要求也相当的高,对干扰的处理能力也相对较弱,而且在数据处理算法方面,需要复杂的标定过程,导致了算法的复杂度和操作者的工作量。 [0005] 3) such gait acquisition system because it is based on the use of visual processing method, requirements of the environment is quite high, the processing capacity of interference is relatively weak, and in the data processing algorithm, requires complex calibration process, leading to the workload and the complexity of the operator's algorithm.

发明内容 SUMMARY

[0006] 本发明的目的在于提供一种人体下肢步态数据采集系统,解决了现有技术中,人体外骨骼机器人中对人体下肢步态数据的采集设备成本高,采集效率低以及容易受到环境影响的问题。 [0006] The object of the present invention is to provide a gait, the lower extremity data acquisition system solves the prior art, the high cost of collection device outside the body skeleton gait data of the robot in the lower limbs, the low collection efficiency and susceptible to environmental Word problems.

[0007] 为解决上述的技术问题,本发明采用以下技术方案: [0007] In order to solve the above technical problem, the present invention employs the following technical solution:

一种人体下肢步态数据采集系统,包括可穿戴传感器安装结构、数据采集电路、PC终端、姿态传感器、编码器、脚底压力传感器和角速度传感器;所述可穿戴传感器安装结构从上往下由依次连接的背部支架、髋关节连接件、大腿连杆、腿部绑缚机构、膝关节连接件、小腿连杆、踝关节连接件和鞋板构成,其中所述大腿连杆和小腿连杆内侧均安装有用于绑缚使用者腿部的绑缚装置;所述姿态传感器分别安装在背部支架内侧、大腿连杆和小腿连杆内侧的绑缚装置上,所述编码器分别安装在髋关节连接件和膝关节连接件上,所述脚底压力传感器分别安装在鞋板的前脚掌和后脚掌处,所述角速度传感器也安装在鞋板上,所述数据采集电路分布在大腿连杆和小腿连杆的外侧,接收姿态传感器、编码器、脚底压力传感器和角速度传感器所采集的数据并传输至所 A personal lower limb gait data acquisition system, comprising a wearable sensor mounting structure, data acquisition circuit, PC terminals, an attitude sensor, an encoder, a pressure sensor and angular velocity sensor foot; the wearable sensor mounting structure sequentially from top to bottom by the connected to the back support, the hip link, the link thigh, leg bondage means, connected to the knee member, shank link, and shoes ankle link plates, wherein the medial thigh link and a shank link are bondage means mounted for bundled the user's legs; the gesture sensor are mounted on the inside of the back support, a thigh link and a device strapped inside the shank link, the encoder are mounted on the hip link and the upper knee member is connected, the foot pressure sensors are installed in the rear foot and the forefoot of the shoe plate, the angular velocity sensor is also mounted on the shoe plate, said data acquisition circuit located in the thigh link and the shank link the outer data, receiving an attitude sensor, an encoder, a pressure foot sensor and angular velocity sensor are collected and transmitted to the PC终端。 PC terminal.

[0008] 更进一步的技术方案是,所述数据采集电路相互之间是通过CAN总线信号连接,所述数据采集电路和PC终端之间是通过蓝牙信号连接。 [0008] A further aspect is that the data acquisition is connected to each other through the CAN bus signal circuit, and the circuit between said data acquisition terminal PC is connected via Bluetooth signals.

[0009] 更进一步的技术方案是,所述髋关节连接件和膝关节连接件均是由上条形随动件、下条形随动件相互铰接而成,所述编码器设置在铰接处并且编码器上的活动件和上条形随动件同步固定,编码器上的固定件和下条形随动件同步固定。 [0009] A further aspect is the hip joint and a knee joint connecting member are connected by a follower member on the strip, the strip is hinged follower from each other, said hinge is provided at the encoder and the movable member on the encoder strip and the synchronization follower member is fixed on the fixing bar member and the lower encoder follower fixed synchronization.

[0010] 与现有技术相比,本发明的有益效果是: [0010] Compared with the prior art, the beneficial effects of the present invention are:

I)本发明涉及的可穿戴步态采集系统,通过编码器、加速度计、脚底压力传感器以及姿态仪对被测者的运动数据进行采集,这些传感器价格低廉,而且可以安装在可穿戴的机构上,可以在室外以及更广阔的场合进行使用。 I) The present invention relates to wearable gait acquisition system, data acquisition by the motion encoder, an accelerometer, a pressure sensor, and a foot posture of the subject instrument, low price of the sensors, and the mechanism may be mounted on the wearable It can be used outdoors as well as broader applications.

[0011] 2)本发明涉及的可穿戴步态采集系统,通过可穿戴的设计方式,穿戴方便,能够使被测者很方便的进行穿戴测试和操作。 [0011] 2) The present invention relates to wearable gait acquisition system, by a wearable design, convenient worn, can be made very convenient for the subject wearer and test operations.

[0012] 3)由于本发明涉及的可穿戴步态采集系统是基于机械式传感器的数据采集原理,所以对环境的要求并不高,在很多室外环境下仍然可以正常使用。 [0012] 3) Because the wearable gait acquisition system according to the present invention is based on the principle of mechanical sensor data collection, so the demands on the environment is not high, it can still work in many outdoor environment.

附图说明 BRIEF DESCRIPTION

[0013]图1为本发明一种人体下肢步态数据采集系统的结构示意图。 [0013] FIG. 1 is a schematic structure of gait, the lower extremity a data acquisition system of the present invention.

具体实施方式 detailed description

[0014] 为了使本发明的目的、技术方案及优点更加清楚明白,以下结合附图及实施例,对本发明进行进一步详细说明。 [0014] To make the objectives, technical solutions and advantages of the present invention will become more apparent hereinafter in conjunction with the accompanying drawings and embodiments of the present invention will be further described in detail. 应当理解,此处所描述的具体实施例仅仅用以解释本发明,并不用于限定本发明。 It should be understood that the specific embodiments described herein are only intended to illustrate the present invention and are not intended to limit the present invention.

[0015]图1示出了本发明一种人体下肢步态数据采集系统的一个实施例:一种人体下肢步态数据采集系统,包括可穿戴传感器安装结构1、数据采集电路2、PC终端、姿态传感器3、编码器4、脚底压力传感器和角速度传感器;所述可穿戴传感器安装结构I从上往下由依次连接的背部支架5、髋关节连接件6、大腿连杆7、腿部绑缚机构8、膝关节连接件9、小腿连杆10、踝关节连接件11和鞋板12构成,其中所述大腿连杆7和小腿连杆10内侧均安装有用于绑缚使用者腿部的绑缚装置;所述姿态传感器3分别安装在背部支架5内侧、大腿连杆7和小腿连杆10内侧的绑缚装置上,所述编码器4分别安装在髋关节连接件6和膝关节连接件9上,所述脚底压力传感器分别安装在鞋板12的前脚掌和后脚掌处,所述角速度传感器也安装在鞋板12上,所述数据采集电路2分布在大腿连杆7和小腿连杆10 [0015] FIG. 1 shows an embodiment of the present invention, one kind of gait, the lower extremity embodiment data acquisition system: A personal lower limb gait data acquisition system, comprising a wearable sensor mounting structure 1, the data acquisition circuit 2, PC terminals, attitude sensor 3, an encoder 4, a pressure sensor and angular velocity sensor foot; the wearable sensor mounting structure I of the back support 5 connected in turn, connected to the hip member 6 from top to bottom, thigh link 7, the leg bundled means 8, 9 connected to the knee joint, lower leg link 10, connecting member 11 and the ankle plate 12 constituting the shoe, wherein the inner side 10 of the shank link and the thigh link 7 are attached to tie the user's legs for bondage tie means; said attitude sensor 3 are mounted on the inside of the back support 5, the apparatus 10 bundled inner thigh link 7 and lower leg link, the encoder 4 are mounted in the hip and knee link connecting piece 6 9, the plantar pressure sensors are respectively mounted on the forefoot and the rear foot of the sole plate 12, the angular velocity sensor is also mounted on the shoe plate 12, the distributed data acquisition circuit 2 in the thigh link and the shank link 7 10 外侧,接收姿态传感器3、编码器4、脚底压力传感器和角速度传感器所采集的数据并传输至所述PC终端。 Outer, receiving attitude sensor 3, an encoder 4, the plantar pressure sensor data and angular velocity sensor are collected and transmitted to the PC terminal.

[0016] 根据本发明一种人体下肢步态数据采集系统的一个优选实施例,所述数据采集电路2相互之间是通过CAN总线信号连接,所述数据采集电路2和PC终端之间是通过蓝牙信号连接。 [0016] According to a preferred embodiment of the present invention, one kind of gait, the lower extremity of data acquisition system, the data acquisition circuit 2 are mutually connected via a CAN bus signal, between the PC and the data acquisition circuit 2 through the terminal Bluetooth signal connection.

[0017] 根据本发明一种人体下肢步态数据采集系统的另一个优选实施例,所述髋关节连接件6和膝关节连接件9均是由上条形随动件、下条形随动件相互铰接而成,所述编码器4设置在铰接处并且编码器4上的活动件和上条形随动件同步固定,编码器4上的固定件和下条形随动件同步固定。 [0017] According to another embodiment of the present invention is preferably one embodiment, the lower extremity gait data acquisition system, the hip joint are connected by a 9 on the strip 6 and a follower member connected to the knee member, the follower bar each articulated member from the encoder provided at the hinge joint 4 and the encoder on the movable member 4 and the stripe synchronization follower fixing member, the fixing member and the lower strip follower fixed on the synchronization 4 encoder.

[0018] 本发明在使用时,通过分布式的数据采集电路对各个传感器的数据进行采集。 [0018] When using the present invention, the data collected by the various sensors distributed data acquisition circuit. 由于该系统采用的是分布式的传输结构,所以该系统中的数据传输网络也是基于分布式的数据采集电路来进行数据传输,通过CAN总线来保证各个节点电路之间的数据传输,最终在背部数据采集节点进行打包,并且通过无线传输的方式来与PC终端进行通信。 Because the system uses distributed transmission structure, so that the data transmission network system is based on the distributed data acquisition circuit for data transmission via the CAN bus to ensure the data transmission between various nodes of the circuit, in the back of the final packaged data acquisition node, and to communicate with the PC through the wireless transmission terminal. PC终端接收到背部数据采集节点的打包数据之后,通过数据融合算法对采集到的各种传感器的数据进行融合处理,对被测者的步态进行分析,并且通过可视化的结果在PC终端进行显示。 After the PC terminal receives a packed data acquisition node data back, the data collected by the various sensors data fusion algorithm fusion treatment, the subject's gait was analyzed, and displayed on the terminal PC through visual results .

[0019] 本发明的结构简单,使用方便。 [0019] The structure of the present invention is simple and easy to use. 因为编码器与人体捆绑刚性连接,所以测量出的数据更加准确;使用无线数据传输,穿戴者在测试时可在较大范围自由行走不受约束。 Since the encoder and the bundle is rigidly connected to the body, the more accurate the measured data; using wireless data transmission, the wearer can test a wide range unconstrained free walk. 另外,本发明的技术门槛更低,不涉及复杂的算法实现,只需要常规的电子技术,故更适合常规使用和推广。 Further, the present invention is less technical threshold does not involve complicated algorithm, only the conventional electronic technology, it is more suitable for routine use and promotion.

[0020] 尽管这里参照本发明的多个解释性实施例对本发明进行了描述,但是,应该理解,本领域技术人员可以设计出很多其他的修改和实施方式,这些修改和实施方式将落在本申请公开的原则范围和精神之内。 [0020] While the invention herein with reference to a plurality of explanatory embodiment of the present invention has been described, it should be understood that those skilled in the art may devise numerous other modifications and embodiments, such modifications and embodiments fall within the present within the scope and spirit of the principles of open applications. 更具体地说,在本申请公开、附图和权利要求的范围内,可以对主题组合布局的组成部件和/或布局进行多种变型和改进。 More specifically, in the present disclosure, within the scope of the claims and the drawings may be subject combination arrangement of the component parts and / or arrangements that various modifications and improvements. 除了对组成部件和/或布局进行的变形和改进外,对于本领域技术人员来说,其他的用途也将是明显的。 In addition to the deformation of the component parts and / or arrangements and modifications, the skilled person, other uses will also be apparent.

Claims (3)

  1. 1.一种人体下肢步态数据采集系统,其特征在于:包括可穿戴传感器安装结构(I)、数据采集电路(2)、PC终端、姿态传感器(3)、编码器(4)、脚底压力传感器和角速度传感器; 所述可穿戴传感器安装结构(I)从上往下由依次连接的背部支架(5)、髋关节连接件(6)、大腿连杆(7)、腿部绑缚机构(8)、膝关节连接件(9)、小腿连杆(10)、踝关节连接件(11)和鞋板(12 )构成,其中所述大腿连杆(7 )和小腿连杆(1 )内侧均安装有用于绑缚使用者腿部的绑缚装置; 所述姿态传感器(3)分别安装在背部支架(5)内侧、大腿连杆(7)和小腿连杆(10)内侧的绑缚装置上, 所述编码器(4)分别安装在髋关节连接件(6)和膝关节连接件(9)上, 所述脚底压力传感器分别安装在鞋板(12)的前脚掌和后脚掌处,所述角速度传感器也安装在鞋板(12)上, 所述数据采集电路(2)分布在大腿连杆(7)和小腿连杆(10)的外侧 A data acquisition system of the lower limbs gait, characterized by: a wearable sensor mounting structure (I), (3), the encoder data acquisition circuit (2), PC terminals, an attitude sensor (4), a pressure foot sensor and angular velocity sensor; the wearable sensor mounting structure (I) from the top of the back support (5), connected to the hip member (6), thigh link (7) connected in sequence, the leg mechanism bondage ( 8), connected to the knee member (9), shank link (10), ankle joint connecting member (11) and sole plate (12), and wherein said thigh link (7) and a shank link (1) inside bondage means are mounted bundled for the user's legs; the gesture sensor (3) are mounted (5) the inside of the back support, bundled inside thigh link means (7) and a shank link (10) on the encoder (4) are mounted on the hip joint connecting element (6) and a knee joint connecting member (9), the plantar pressure sensors are mounted in the forefoot and rear foot sole plate (12), the angular velocity sensor is also mounted on the sole plate (12), said data acquisition circuit (2) located in the thigh link (7) and a shank link (10) 接收姿态传感器(3)、编码器(4)、脚底压力传感器和角速度传感器所采集的数据并传输至所述PC终端。 Receiving an attitude sensor (3), the encoder (4), the plantar pressure sensor data and angular velocity sensor are collected and transmitted to the PC terminal.
  2. 2.根据权利要求1所述的一种人体下肢步态数据采集系统,其特征在于:所述数据采集电路(2)相互之间是通过CAN总线信号连接,所述数据采集电路(2)和PC终端之间是通过蓝牙信号连接。 A data acquisition system of the lower limbs of the gait according to claim 1, wherein: said data acquisition circuit (2) connected to each other through the CAN bus signals, said data acquisition circuit (2), and It is connected via Bluetooth signals between the PC terminal.
  3. 3.根据权利要求1所述的一种人体下肢步态数据采集系统,其特征在于:所述髋关节连接件(6)和膝关节连接件(9)均是由上条形随动件、下条形随动件相互铰接而成,所述编码器(4)设置在铰接处并且编码器(4)上的活动件和上条形随动件同步固定,编码器(4)上的固定件和下条形随动件同步固定。 3. A human body lower extremity gait data collection system according to claim 1, wherein: said hip joint connection (6) and a knee joint connecting member (9) are made on the strip follower member, the follower bar made mutually articulated, said encoder (4) is provided at the hinge and the encoder on the movable member (4) and fixing the stripe synchronization follower member, the encoder (4) is fixed and the lower strip member with the movable member is fixed synchronization.
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Cited By (6)

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CN104887237A (en) * 2015-04-14 2015-09-09 南昌大学 Pedestrian navigation method based on human body motion mode monitoring
CN105138030A (en) * 2015-06-25 2015-12-09 电子科技大学 Distributed hydraulic control system for lower-limb exoskeleton
CN105147298A (en) * 2015-10-16 2015-12-16 北京机械设备研究所 Exoskeleton state detecting method
CN105456004A (en) * 2015-12-28 2016-04-06 中国科学院自动化研究所 Exoskeleton type moving and walking rehabilitation training device and method
CN106037753A (en) * 2016-07-06 2016-10-26 电子科技大学 Wearable data collection system based on multi-sensor fusion and method adopted by system
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