CN105105756B - A kind of portable balanced capacity and gait analysis sensing device - Google Patents
A kind of portable balanced capacity and gait analysis sensing device Download PDFInfo
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- CN105105756B CN105105756B CN201510442217.2A CN201510442217A CN105105756B CN 105105756 B CN105105756 B CN 105105756B CN 201510442217 A CN201510442217 A CN 201510442217A CN 105105756 B CN105105756 B CN 105105756B
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- 230000005021 gait Effects 0.000 title claims abstract description 29
- 230000001133 acceleration Effects 0.000 claims abstract description 64
- 230000005540 biological transmission Effects 0.000 claims abstract description 16
- 238000004891 communication Methods 0.000 claims abstract description 16
- WHXSMMKQMYFTQS-UHFFFAOYSA-N lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 16
- 229910052744 lithium Inorganic materials 0.000 claims description 16
- 239000011159 matrix material Substances 0.000 claims description 8
- 210000002683 Foot Anatomy 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000003068 static Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000000051 modifying Effects 0.000 description 3
- 210000003414 Extremities Anatomy 0.000 description 2
- 210000004247 Hand Anatomy 0.000 description 2
- 210000003128 Head Anatomy 0.000 description 2
- 210000004197 Pelvis Anatomy 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000010998 test method Methods 0.000 description 2
- 210000003423 Ankle Anatomy 0.000 description 1
- 210000000988 Bone and Bones Anatomy 0.000 description 1
- 210000000887 Face Anatomy 0.000 description 1
- 206010017577 Gait disturbance Diseases 0.000 description 1
- 210000003205 Muscles Anatomy 0.000 description 1
- 206010029331 Neuropathy peripheral Diseases 0.000 description 1
- 210000003857 Wrist Joint Anatomy 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000037230 mobility Effects 0.000 description 1
- 201000001119 neuropathy Diseases 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 230000001702 transmitter Effects 0.000 description 1
- 230000001720 vestibular Effects 0.000 description 1
Abstract
The invention belongs to sensor device technical field, a kind of portable balanced capacity and gait analysis sensing device are specifically disclosed.In the device of the invention, testing result is transmitted to data processing chip by 3-axis acceleration sensor for detecting opposite 3-axis acceleration；Testing result is transmitted to data processing chip by three-axis gyroscope for detecting opposite angular acceleration；Data processing chip receive 3-axis acceleration sensor, three-axis gyroscope transmission data, by Bluetooth communication modules or serial communication modular by the data transmission of reception to PC machine；PC machine receives the data of data processing chip transmission by control, then carries out processing analysis；The present invention is according to the three axis relative accelerations and rotational angle obtained, pass through PC machine operation, obtain three axis absolute acceleration values, by measuring the acceleration signal on three directions of human body, balanced capacity and gait feature come the human body assessed, present apparatus operating cost is relatively low, and data processing is simple, is suitble to promote the use of.
Description
Technical field
The invention belongs to sensor device technical fields, and in particular to a kind of portable balanced capacity and gait analysis sensing
Device.
Background technology
China steps into aging society already, balances the mobility that will have a direct impact on the elderly with the obstacle of gait.
With advancing age, the elderly's balanced capacity can be gradually reduced, and gait can also occur accordingly to change.Balanced capacity detects and step
State is analyzed, and has extremely important directive significance to the elderly's condition assessment, treatment.
Currently, there are many method of evaluation balanced ability of human body, such as observe body-sway motion situation when subject stands, single foot or
Single foot of closing one's eyes uprightly checks, closes mesh remains where one is and balance beam is walked etc., can assess balanced ability of human body, but
It cannot be satisfied demand of the people to accurately assessing.Sole pressure test, ergograph and dynamic equilibrium instrument etc. can be accomplished more smart
It really measures, but equipment and personnel's operating cost are too high.Gait is tested and analysis also faces same problem, at present the gait of mainstream
Signature analysis is to be based on kinematic video analysis, or complete in the gait laboratory for being equipped with complicated test equipment and analysis tool
At, and it is based on video and image procossing, being easy many factors in by dynamic environment is influenced, and data processing complexity is high, and
Limitation of the gait feature analysis that gait laboratory carries out due to equipment costliness and place, it is difficult to universal.
Invention content
The technical problems to be solved by the invention are in view of the above shortcomings of the prior art, to provide a kind of novel design,
Equipment and personnel's operating cost are relatively low, the simply portable balanced capacity of data processing and gait analysis sensing device.
The technical solution adopted in the present invention is：A kind of portable balanced capacity and gait analysis sensing device, including three
Axle acceleration sensor, three-axis gyroscope, data processing chip, PC machine and power supply are provided on data processing chip and dial
Dynamic switch；
Testing result is transmitted to data processing core by 3-axis acceleration sensor for detecting opposite 3-axis acceleration
Piece；
Testing result is transmitted to data processing chip by three-axis gyroscope for detecting opposite angular acceleration；
The data that data processing chip receives 3-axis acceleration sensor, three-axis gyroscope transmits, and pass through Bluetooth transmission
Module or serial communication modular are by the data transmission of reception to PC machine；
PC machine receives the data of data processing chip transmission by control, then carries out processing analysis, and display and save；
Power supply is for providing power supply.
Preferably, the working frequency range of the Bluetooth communication modules is selected as the ISM band of 2.4GHz.
Preferably, the power supply includes lithium battery and the lithium battery managing chip being connected with lithium battery, lithium battery
Managing chip uses TP4056, and the USB interface for charging is provided on lithium battery managing chip.
Preferably, further including that a shell and one fix bandage, 3-axis acceleration sensor, three-axis gyroscope and data
Processing chip is integrated in shell, and shell is fixed on fixed bandage.
The beneficial effects of the present invention are：The present invention relatively rotates angle according to the three axis relative accelerations obtained, three axis,
By the operation of PC machine program, three axis absolute acceleration values are obtained, by measuring the acceleration signal on three directions of human body, are come
The balanced capacity and gait feature of the human body of assessment, the present apparatus is novel in design, and equipment and personnel's operating cost are relatively low, data processing
Simply, it is suitble to promote the use of.
Description of the drawings
Fig. 1 is the structure diagram of the present invention；
Fig. 2 is the software architecture diagram of PC machine in Fig. 1.
Specific implementation mode
Invention is further described in detail below in conjunction with the accompanying drawings and the specific embodiments.
Embodiment 1：As depicted in figs. 1 and 2, the present invention includes 3-axis acceleration sensor, three-axis gyroscope, data processing
Chip, PC machine and power supply are provided with toggle switch on data processing chip；3-axis acceleration sensor is opposite for detecting
3-axis acceleration, and testing result is transmitted to data processing chip；Three-axis gyroscope is used to detect opposite angular acceleration, and will
Testing result is transmitted to data processing chip；Data processing chip receive 3-axis acceleration sensor, three axis magnetic biasing angle transducers,
The data of three-axis gyroscope, three axle magnetometer and the transmission of high-precision barometer, and pass through Bluetooth communication modules or serial communication mould
Block is by the data transmission of reception to PC machine；PC machine receives the data of data processing chip transmission by control, is then handled
Analysis, and display and save；Power supply is used for 3-axis acceleration sensor, three-axis gyroscope, each portion of data processing chip
Divide and power supply is provided.
The working frequency range of the Bluetooth communication modules is selected as the ISM band of 2.4GHz.User need not pass through application just in this way
Bluetooth radio transceiver frequency range appropriate can be selected within the scope of 2400~2500MHz.Channel uses 23 or 79, frequency
Road interval is 1MHz, using time division duplex.Modulation system is the GFSK of BT=0.5, and modulation index is 0.28~0.35.
The wireless transmitter of bluetooth uses FM modulation systems, so as to reduce the complexity of equipment.Maximum transmission power is divided into three etc.
Grade, 100mW (20dBm), 2.5mW (4dBm), 1mW (0dBm) require to use power control within the scope of 4~20dBm, therefore,
Effective communication distance between bluetooth equipment is about 10~100m.
The power supply includes lithium battery and the lithium battery managing chip being connected with lithium battery, and lithium battery managing chip is adopted
With TP4056, the USB interface for charging to lithium battery is provided on lithium battery managing chip.
Further include that a shell and one fix bandage, 3-axis acceleration sensor, three-axis gyroscope and data processing chip collection
At in shell, shell is fixed on fixed bandage.
The present apparatus devises the data acquisition based on Bluetooth wireless transmission based on embedded chip and Bluetooth communication modules
System, whole device are made of front end data acquisition, translator unit and the data of end receiving portion, that is, PC machine.Front end data
Collecting part is made of sensor, embedded chip, the serial communication etc. positioned at scene, and translator unit mainly utilizes included micro-strip
The Bluetooth communication modules of antenna carry out the wireless transmission of data；It end will by Bluetooth communication modules, serial communication modular transmission
Data are sent to upper PC machine and are further processed.
PC machine receives the data of data processing chip transmission by MSCOMM control hexadecimals, then the data of reception are made
Format conversion is carried out with FORMAT be transmitted to EDIT controls to be received, EDIT control contents are read after finishing receiving, are located
Reason analysis, and show, display uses diagrammatic form, and data operation result is written in txt file simultaneously by NET system functions
It preserves；Reception can be interrupted in the data procedures for receiving data processing chip, need to word for word be read when reading EDIT control contents
EDIT control contents empty EDIT controls until completing one cycle.
Due to 3-axis acceleration sensor, the data that three-axis gyroscope can be detected directly are three axis relative accelerations,
Three axis rotation angles, but usual demand is therefore to pass through following algorithm by three axis absolute accelerations of reference coordinate of the earth
Three axis relative accelerations are converted into absolute acceleration.
Wherein wxFor x-axis rotational angle, WYFor y-axis rotational angle, WZFor z-axis rotational angle；aX0It is measured for x-axis direction
Relative acceleration, aY0For the relative acceleration that y-axis direction measures, aZ0The relative acceleration measured for z-axis direction.AX is with big
Ground is the exhausted degree acceleration in the directions x of reference, and aY is to be greatly the absolute acceleration in the directions y of reference, and aZ is to be greatly
The exhausted degree acceleration in the directions z of reference.Coordinate parameters matrix expression when coordinate system is rotated around x-axis：
Coordinate parameters matrix expression when coordinate system is rotated around y-axis：
Coordinate parameters matrix expression when coordinate system is rotated around z-axis：
Simultaneously around x, y, when z-axis, has, R ε=R1×R2×R3Its matrix expression：
Show that X, the absolute acceleration in tri- directions Y, Z are
Based on algorithm above, pass through the operation of PC machine program, so that it may which three axis for directly measuring the present apparatus add relatively
Rate conversion is absolute acceleration, to realize the output of result.
Test method：
Every subject carries 6 sensing devices by fixed bandage, and sensing device 1 is for acquiring vestibular acceleration letter
Number, it is required to be positioned over head；Sensing device 2 is placed on the position near the pelvis of back, because have shown that can be by pelvis for research
Be considered as the center of human body, place sensor herein collected signal reflected the acceleration change feelings of gravity center of human body
Condition；Sensing device 3-4 is positioned over wrist joint；Sensing device 5-6 is positioned over ankle, can reflect that the swing of four limbs adds
Velocity variations situation.The specific test method is as follows：
1. attitude stabilization is tested.Subject station needs relatively comfortable standing, both hands to be put in both sides at designated position (hard place),
Both feet close up, 30 seconds testing times.Then it closes one's eyes, tests 30 seconds.
2. feeling to integrate balance test.Subject stands on the cushion of 10cm thickness, and both hands are put in both sides, and both feet close up, and surveys
Try 30 seconds time.Then it closes one's eyes, tests 30 seconds.
3. gait evaluation walk test.Purpose be measure whole body gait (head, trunk, four limbs), asymmetry, variability and
Turn to situation.Selection at least 10 meters of long pavements do walk test, and subject needs relatively comfortable standing, waits for starting row after instruction
It walks, in the constant speed walking for completing at least 8 meters straight lines, then turns through 180 degree, fast speed is gone back immediately, returns to starting point, is surveyed
Examination terminates.
Wherein hard place standing activities are tested, not only can be tested more important is providing as the warming-up exercise of test
Static acceleration signal when person stands obtains standardized data.In actual test process, measured is during the motion
It is often still to be interfered by factors such as gravity, and these signals are not anticipate during assessing human body moving equilibrium state
Justice, it should filter off.At this point, need to only pass through different standing patterns (hard place is closed one's eyes, cushion is opened eyes and is closed one's eyes) and motion process
In acceleration signal and hard place the provided acceleration signal of action that stands still subtract each other, so that it may to obtain assessment balanced capacity
Required data.Include the common action in many daily lifes in this experiment, such as quiet vertical, normal speed is walked, soon
Speed walking, turning etc., these can further analyze body gait.
The assessment of balanced capacity and gait：
(1) assessment of static balancing ability
Static acceleration signal during hard place standing activities are tested, as standardized data.It is (hard by different standing patterns
Ground is closed one's eyes, cushion is opened eyes and is closed one's eyes) under acceleration signal and hard place stand still and provided acceleration signal is provided subtracts each other,
Absolute difference is smaller, and static balancing ability is better.
(2) assessment of moving equilibrium ability
Same axial acceleration amplitude point odd even step is counted, its summation is denoted as Ao, Ad, the ratio of the two can
Effectively to reflect the equilibrium condition of human body in traveling process, value illustrates that the moving equilibrium ability of human body is better closer to 1.
(3) assessment of gait
The gait of usual Healthy People normal walking has very strong regularity and symmetry, and suffers from neuropathy and bone
The people of the diseases such as muscle systems can cause the irregular and asymmetric of gait, i.e. abnormal gait.Equally, gait analysis can be with
With the ratio of both Ao, Ad, reflect that gait symmetry, value illustrate that gait is more symmetrical closer to 1.
Claims (4)
1. a kind of portable balanced capacity and gait analysis sensing device, it is characterised in that：Including 3-axis acceleration sensor, three
Axis gyroscope, data processing chip, PC machine and power supply are provided with toggle switch on data processing chip；
Testing result is transmitted to data processing chip by 3-axis acceleration sensor for detecting opposite 3-axis acceleration；
Testing result is transmitted to data processing chip by three-axis gyroscope for detecting opposite angular acceleration；
The data that data processing chip receives 3-axis acceleration sensor, three-axis gyroscope transmits, and pass through Bluetooth communication modules
Or serial communication modular is by the data transmission of reception to PC machine；
PC machine receives the data of data processing chip transmission by control, then carries out processing analysis, and display and save；It is described
Processing analysis include the data that detect of 3-axis acceleration sensor and three-axis gyroscope be three axis relative accelerations and three axis
Three axis relative accelerations are converted to absolute acceleration by rotation angle by following algorithm；
Wherein WxFor x-axis rotational angle, WYFor y-axis rotational angle, WZFor z-axis rotational angle；aX0It is measured for x-axis direction opposite
Acceleration, aY0For the relative acceleration that y-axis direction measures, aZ0The relative acceleration measured for z-axis direction；AX is to be greatly
The absolute acceleration in the directions x of reference, aY are to be greatly the absolute acceleration in the directions y of reference, and aZ is to be greatly reference
The directions z absolute acceleration；Coordinate parameters matrix expression when coordinate system is rotated around x-axis：
Coordinate parameters matrix expression when coordinate system is rotated around y-axis：
Coordinate parameters matrix expression when coordinate system is rotated around z-axis：
Simultaneously around x, y, when z-axis, has, R ε=R1×R2×R3Its matrix expression：
Show that X, the absolute acceleration in tri- directions Y, Z are
Based on algorithm above, pass through the operation of PC machine program, so that it may the three axis relative accelerations for directly measuring the present apparatus
Absolute acceleration is converted to, to realize the output of result；
Power supply is for providing power supply.
2. a kind of portable balanced capacity according to claim 1 and gait analysis sensing device, it is characterised in that：It is described
The working frequency range of Bluetooth communication modules is selected as the ISM band of 2.4GHz.
3. a kind of portable balanced capacity according to claim 1 and gait analysis sensing device, it is characterised in that：It is described
Power supply includes lithium battery and the lithium battery managing chip being connected with lithium battery, and lithium battery managing chip uses TP4056, lithium
The USB interface for charging is provided on battery management chip.
4. a kind of portable balanced capacity according to claim 1 and gait analysis sensing device, it is characterised in that：Also wrap
It includes a shell and one and fixes bandage, 3-axis acceleration sensor, three-axis gyroscope and data processing chip are integrated in shell, shell
Body is fixed on fixed bandage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510442217.2A CN105105756B (en) | 2015-07-24 | A kind of portable balanced capacity and gait analysis sensing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510442217.2A CN105105756B (en) | 2015-07-24 | A kind of portable balanced capacity and gait analysis sensing device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105105756A CN105105756A (en) | 2015-12-02 |
| CN105105756B true CN105105756B (en) | 2018-08-31 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW201200103A (en) * | 2010-06-25 | 2012-01-01 | China University Science And Technology | Gait analysis system |
| CN102670217A (en) * | 2012-05-04 | 2012-09-19 | 嘉兴市制衡精仪有限公司 | Wearable sensor measuring device and method for lower limb joint acting force and moment |
| CN203483427U (en) * | 2013-10-15 | 2014-03-19 | 顾捷 | Three-dimensional tread analyzing instrument |
| CN104757976A (en) * | 2015-04-16 | 2015-07-08 | 大连理工大学 | Human gait analyzing method and system based on multi-sensor fusion |
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW201200103A (en) * | 2010-06-25 | 2012-01-01 | China University Science And Technology | Gait analysis system |
| CN102670217A (en) * | 2012-05-04 | 2012-09-19 | 嘉兴市制衡精仪有限公司 | Wearable sensor measuring device and method for lower limb joint acting force and moment |
| CN203483427U (en) * | 2013-10-15 | 2014-03-19 | 顾捷 | Three-dimensional tread analyzing instrument |
| CN104757976A (en) * | 2015-04-16 | 2015-07-08 | 大连理工大学 | Human gait analyzing method and system based on multi-sensor fusion |
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