CN105266817A - Upper limb functional movement monitoring system and method based on fabric sensor - Google Patents
Upper limb functional movement monitoring system and method based on fabric sensor Download PDFInfo
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Abstract
The present invention provides an upper limb functional movement monitoring system and method based on a fabric sensor. The system comprises a signal generating device which comprises a conductive fabric with a signal transmission line which is connected to a button battery, a signal collection and transmission device which collects a voltage signal and sends the signal to a signal receiving and displaying device, the signal receiving and displaying device which receives the voltage signal, carries out functional movement characterization on the signal, displays a functional movement state in real time at the same time, stores data and carries out imaging, wherein the conductive fabric is close to a body upper limb elbow joint, and an upper limb movement stretches the conductive fabric such that the voltage signals at two ends of the conductive fabric are changed. The invention also provides the upper limb functional movement monitoring method based on the fiber sensor. The upper limb functional movement monitoring system and the method have the advantages of low cost, good stability, high sensitivity and strong adaption ability, at the same time a sensitive element can be integrated to the daily clothes, and a basis is provided for biomechanics analysis of human body upper limb movement.
Description
Technical field
The present invention relates to a kind of is upper extremity exercise monitoring system and the method for sensing element based on polypyrrole Conductive woven thing, belongs to wearable intelligent textile technical field.
Background technology
Limb motion state verification has important application in the field such as rehabilitation medicine, sports.Such as, in some athletic trainings, motor message is used to identify the deficiency of athlete in training, thus on purpose instructs the later stage to train; In rehabilitation medicine field, motor message is used to the rehabilitation course detecting patient.At present, the motion capture system be made up of accelerometer, flexible electrical goniometer, video camera has been used to monitoring human motion.A series of VICON motion analysis system that the product succeeded in developing has England Oxford (Oxford) company to release from the eighties, are widely applied in many developed countries.This cover system, based on video camera, has the various model of cover more than 700 under lab with in various hospital, rehabilitation center to operate at present.The PeakPerformanceTechnologiesInc. of the U.S. in the past within nearly 20 years, be also proposed a series of commercial PeakMotus movement measurement system, this system, equally based on video camera, also achieves and applies widely.System although it is so can measure the action of human body accurately, but its portability and disguise poor, be inconvenient to use.Meanwhile, these assemblies are rigidity or inelastic materials, as being fixed on the comfortableness that clothing can affect people's dress.
The sensor monitoring technology of different sensing principle and sensing material has been applied to the exploitation of human motion attitude system.Existing partial monopoly technology and academic documents are disclosed both at home and abroad, as patent of invention " a kind of gesture recognition method and gesture recognition control system " (publication number: CN102799263A), the limb action image of this patent to camera head collection carries out pretreatment, extracts the view data only comprising limb action region; Extract the limb action feature of view data, determine that limbs put posture, judge limb motion state.The present invention eliminates infrared photosensitive glove or sensor to the restriction of user, is convenient for users to operate; But it can only be tested in specific place, Real-Time Monitoring can not be carried out to human motion.The micro pressure sensor of tiny motion sensor, photonic textile, embedding fabric and muscular activity sensors is adopted to build a limb motion monitoring system in patent " limb motion monitoring system " (publication number: CN101522101A).This system structure is complicated, and the sensor embedding fabric can affect the comfortableness of fabric and then affect test result.
In addition, " sensing technology journal " the 7th phase in 2008 publishes thesis " design and analysis based on the flexible strain transducer of machine-knitted structure ", author devises parallel and in-line strain transducer with the machine-knitted structure that conductive yarn and insulative yarn combine, found through experiments, if the conductive yarn in woven fabric is parallel, the large sstrain that can be used for arbitrary dimension object in theory detects, if tandem, then the large sstrain being only applicable to reduced size object detects.Article is just discussed the strain sensitivity of two kinds of different structure lower sensors, is not applied to limbs and surveys." SyntheticMetals " the 155th volume the 3rd phase in 2005 publishes thesis " Conductingpolymercoatedlycra ", polypyrrole Lycra fabric is adopted to form a circuit as a dynamic circuit element in literary composition, strip conductive fabric covers on knee, along with the bending conductive fabric resistance of knee changes.According to the size of resistance variations, the generator in circuit sends different sound, is reflected the degree of crook of knee by the different sizes of sound.The exercise test of author to limbs is one and evaluates qualitatively, and the strips of conductive fabric proposed only can react degree of crook, can not react the omnibearing movable of limbs comprehensively." Journalofneuroengineeringandrehabilitation " the 2nd volume the 1st phase in 2005 has delivered paper " Wearableconductivefibersensorsformulti-axishumanjointang lemeasurements ", describe a kind of can the technology of monitoring human joint motions chronically continuously, a conductive yarn is attached on fabric by this technology exactly, along with the bending conductive yarn in joint can extend, thus cause its resistance to increase, the motion in joint is reflected by the conversion of resistance." Sensors " the 14th volume the 3rd phase in 2014 has delivered paper " ATextile-BasedWearableSensingDeviceDesignedforMonitoring theFlexionAngleofElbowandKneeMovements ", adopt elastomeric yarn to make elastic conductive band in literary composition, assemble a detection system for human body elbow and knee kinematics angle based on elastic conductive band.Found through experiments the movement angle that this system can reflect elbow and knee well, along with the increase of movement angle, the resistance almost linear increase of electrically conductive elastic band.These study the of one-dimensional of described detection method due to sensing element, can only react the curvature movement of limbs---this single movement.In addition, these are studied in described method of testing and often adopt as the signal lead-out wire between fixing conductive fabric and signal collecting device such as adhesive type, reed formula, all there is the problem easily loosening and even come off in the alternating bending campaign of limbs.
In sum, from limb motion detect current methods, patent statement and research report institute extracting method, deposit not enough both ways: otherwise the material stiffness of sensing element and signal transmssion line is considerably beyond conventional garment material, the satisfied flexibility towards wearable medical Real-Time Monitoring pattern, disguise, comfortableness; The motor pattern monitored is single, can not actual response limb motion process, such as bending and rotation.In view of the deficiency of existing limb function motion monitoring technology when long in wearable medical monitoring application, utilization conduction textile material is carried out monitoring human motion as sensing element by the present invention, and solves that sensing element is fixed, easily the coming off of signal transmssion line, the problem such as easily to loosen.
Summary of the invention
The technical problem to be solved in the present invention be to provide a kind of based on conduction loom thing as the human motion state test macro of sensing element and method, be applicable to the monitoring of limb function kinestate.This fabric sensor has the material characteristic the same with clothing, can be ideally integrated with clothing thus realize integrated.
In order to solve the problems of the technologies described above, technical scheme of the present invention is to provide a kind of upper extremity function motion monitoring system based on fabric sensor, it is characterized in that: comprising:
Signal generation apparatus, comprise the conductive fabric with signal transmssion line, conductive fabric is connected with button cell; Conductive fabric and human upper limb elbow joint are close to, and upper extremity exercise stretches to conductive fabric, and the voltage signal at conductive fabric two ends is changed;
Signals collecting and transmitting device, gather the voltage signal that described signal transmssion line imports into, and described voltage signal is sent to Signal reception and display device;
Signal reception and display device, the voltage signal that Received signal strength sample and transform device is sent, and functional movement sign is carried out to it, real-time Presentation Function kinestate simultaneously, preserves data and imaging in real time.
Preferably, in described signal generation apparatus, conductive fabric is the polypyrrole conductive fabric be made up through situ aggregation method of polypyrrole monomer and cotton ammonia blend fabric, and signal transmssion line is conductive yam.
Preferably, the size of described conductive fabric meets coated for whole elbow joint; The elongation of described conductive fabric is not less than 30%.
Preferably, described signal transmssion line is the yarn forming conductive fabric, and it is introduced in conductive fabric by loop bonding or embroidery mode.
Preferably, described signals collecting and transmitting device carry out signals collecting and transmission by wireless.
Present invention also offers a kind of upper extremity function motion monitoring method based on fabric sensor, adopt above-mentioned upper extremity function motion monitoring system, step is:
Step 1: conductive fabric is sewn on tights, makes conductive fabric be attached at above human upper limb elbow joint with some tension; Conductive fabric is connected with button cell;
Step 2: during human upper limb locomotion, elbow joint and tights drive conductive fabric to produce distortion, and the distortion of conductive fabric can make its resistance change, thus the voltage signal respective change at conductive fabric two ends;
Step 3: the voltage signal that signals collecting and transmitting device acquired signal transmission line import into, and described voltage signal is sent to Signal reception and display device;
Step 4: Signal reception and display device, the voltage signal that Received signal strength sample and transform device is sent also converts digital signal to, judged the kinestate of limbs by the variation tendency of described signal and change size, be presented in real time on the interactive interface of display device
Preferably, in described step 1, the elasticity of tights at least exceedes the twice of conductive fabric.
Preferably, the motion of different directions causes conductive fabric to be stretched in different directions, thus the directional change of resistance and size show human upper limb locomotion direction and exercise intensity.
Preferably, in described step 4, the determination methods of limb motion state is as follows:
When the voltage at conductive fabric two ends reduces, upper limb is doing curvature movement;
When the voltage at conductive fabric two ends increases, upper limb is doing unbending movement;
The motion speed of upper limb is reflected by the waveform number of voltage signal change in the unit interval;
The angle of bend size of upper limb is led to superpotential change size and is calculated.
Preferably, the angle of bend size circular of described upper limb is as follows:
Suppose that human elbow is the circle of standard, its radius is r; When then arm bending angle is θ radian, conductive fabric is Δ L=r × θ along the elongation of a direction, then conductive fabric direction strain stress=Δ L/L=r θ/L, L are the initial lengths of conductive fabric; Then the resistance variations of conductive fabric in this direction is Δ R=G ε R
0, wherein G is the strain sensitive coefficient of conductive fabric, and ε is the dependent variable of fabric, R
0the inceptive direction resistance of conductive fabric; Then θ=Δ RL/GrR
0.
System provided by the invention overcomes the deficiencies in the prior art, strengthens the steadiness of sensor, and sensing element can be integrated on the clothing of everyday general purpose well simultaneously, thus realizes wearing comfort and disguise.Further, the transmission of data achieves wireless penetration, and can ensure that tester tests under comfortable state, the biomechanical analysis that can be human upper limb locomotion provides foundation.The present invention utilizes the characteristic of fabric itself, has high sensitivity, strong adaptive capacity using fabric as sensor, can when human motion, and the kinestate of Real-Time Monitoring limbs, cost of manufacture is cheap, and practical and applicable broad masses, have popularization feasibility.
Accompanying drawing explanation
Fig. 1 is upper extremity exercise monitoring schematic diagram;
Fig. 2 is elbow joint bending effects on surface fabric tension schematic diagram;
Fig. 3 is conductive fabric direction stretching change schematic diagram;
Fig. 4 is upper extremity exercise monitoring system schematic diagram;
Fig. 5 is upper limb angle of bend and fabric sensitivity schematic diagram;
Fig. 6 is the dynamic test schematic diagram of upper limb curvature movement;
Fig. 7 is upper limb interval curvature movement schematic diagrams;
Fig. 8 is the dynamic test schematic diagram of upper limb twist motion.
Detailed description of the invention
For making the present invention become apparent, hereby with several preferred embodiment, and accompanying drawing is coordinated to be described in detail below.
Composition graphs 1, the present invention adopts Conductive woven thing as core sensing device, conductive yam 3 is signal transmssion line, at least exceed on the tights 1 of conductive fabric twice by conductive fabric 2 being sewn to elasticity, namely guarantee to be attached at above human upper limb elbow joint with some tension, composition upper extremity function motion monitoring system, realizes upper limb multi-direction functional movement integration monitoring.
Conductive fabric 2 is polypyrrole in-situ chemical polymerization formation.On material, the present invention selects nontoxic pyrrole monomer and the good cotton ammonia blended fabric of tensile property to make polypyrrole conductive fabric through situ aggregation method, as the sensing unit of human motion monitoring.Sensing unit is fabric construction, simply light, also makes it in observation process, have good comfortableness.In addition, bafta has good snugness of fit, is suitable for and direct skin contact; Spandex is durable and have comparatively high resilience, makes sensor can keep good elasticity and repeatability under different motion frequency.In a word, the present invention is stretched to polypyrrole Conductive woven thing by upper extremity exercise, and the signal of telecommunication of generation passes through conversion and then reflects the motion of upper limb, while not affecting motion monitoring, the comfortableness adding sensor, with disguised, makes long Real-Time Monitoring become possibility.In order to meet multidirectional motion monitoring, the size of conductive fabric will meet coated for whole elbow joint, just can capture the motor message of joint all directions like this.In the normal motor process of knee joint, the fabric around it has the elongation of 20% ~ 30%.And for elbow joint, the elongation of its surrounding fabric is less than knee joint.Therefore, for ensureing wearing comfort and monitoring accuracy, the elongation that selected conductive fabric is required to meet reaches 30%.
Limb function motion monitoring principle of the present invention is: when human upper limb locomotion, elbow joint and close-fitting elastic garment drive conductive fabric to produce distortion, and the distortion of conductive fabric will make its resistance change, by the reacting condition upper extremity function athletic posture of resistance.Conductive fabric comes from clothing fabric, the comfortableness of dressing when meeting long and requirement integrated with its accole.
Limbs multidirectional functional movement synchronous integrated monitoring principle of the present invention is: based on the electric anisotropy of described conductive fabric, the motion of different directions causes conductive fabric to be stretched in different directions, thus the directional change of resistance and size show the direction of motion and exercise intensity.This functional movement monitoring principle and the specifically direction of motion and intensity can be formulistic, and it forms the core algorithm of Signal Analysis System, is specifically expressed as follows:
As shown in Figure 2, suppose that human elbow is the circle of standard, its radius is r.So, when its arm bending angle is θ (radian), fabric is Δ L=r × θ along the elongation of a direction, then fabric direction strain stress=Δ L/L=r θ/L, L are the initial lengths of conductive fabric.Then the resistance variations of conductive fabric in this direction is Δ R=G ε R
0, wherein G is the strain sensitive coefficient of conductive fabric, can draw by measuring and calculation by experiment, and its strain sensitive coefficient of the conductive fabric selected in literary composition is about 2.7; ε is the dependent variable of fabric; R
0the inceptive direction resistance of conductive fabric.So, upper extremity exercise angle and size are just inferred by the direction resistance variations size of conductive fabric, and specific formula for calculation is θ=Δ RL/GrR
0wherein, Δ R is the changing value of conductive fabric resistance.So, because different forms of motion is different to the stretcher strain in fabric all directions, thus make the resistance variations in all directions different, as shown in Figure 3, when under tension F on fabric direction 2 stretches, different distortion can be produced in direction 2 from direction 1, and deformation Δ L
1> Δ L
2a+ Δ L
2b.The present invention reflects the angle of bend of upper limb by the resistance variations in one direction, for different forms of motion, can be reflected by the difference of the resistance variations on multi-direction.
Conductive yam signal transmssion line of the present invention is the silver-plated conductive yam of elastic force, require that elasticity ratio is lower than conductive fabric, the general yarn adopting formation conductive fabric, it introduces in polypyrrole Conductive woven thing by loop bonding or embroidery mode, as signal output lead, the difficult problem solving signal lead consolidation in existing test and easily loosen, come off.
Composition graphs 4, upper extremity function motion monitoring system of the present invention is except the signal generation apparatus A that above-mentioned sensing device and signal transmssion line form, and main also have signals collecting and transmitting device B, Signal reception and display device C.Signal generation apparatus A is made up of one piece of polypyrrole Conductive woven thing with signal transmssion line, and polypyrrole Conductive woven thing is connected with button cell; Signals collecting and transmitting device B are a blue-teeth data acquisition module, and its acquired signal goes between the signal imported into, and is sent to Signal reception and display device C by bluetooth.Signal reception and display device C are the PC with Signal Analysis System, and the voltage signal that PC receives carries out functional movement sign through Signal Analysis System, and real-time Presentation Function kinestate, preserve data in real time and imaging.
PC end converts voltage signal to digital signal by Signal Analysis System, is presented on the interactive interface of display device.Can be judged the kinestate of limbs by the variation tendency of signal and change size, as when the voltage reduction of fabric ends, upper limb is doing curvature movement; Otherwise when fabric ends voltage increases, upper limb is doing unbending movement; The angle of bend size of upper limb then can lead to superpotential change size and above-mentioned formula calculates; The motion speed of upper limb then can be reflected by the waveform number of voltage signal change in the unit interval.If differentiate different forms of motion, comprehensively can be judged by the variation tendency of the difference of resistance variations on different directions and the signal of telecommunication.
The performance of this test macro is described below in conjunction with several concrete testing example.
Embodiment 1
The response of limbs fabric resistance under the differently curved angle of quasistatic.
When arm naturally droops, angle of bend is 0 °, and upper limb angle of bend is increment or decrement with 20 °, first increases to 120 ° from 0 °, tests 5 circulations, calculates the meansigma methods of the corresponding resistance of each angle under 5 circulations.Angle is drawn by linear fit---resistance equation, as shown in Figure 5, wherein matching squared difference and (R
2) equaling 0.95, under these explanation different angles, the linearity of fabric electrical response is good.
Embodiment 2
Upper limb does reversed bending motion with friction speed, the change in voltage at blue-teeth data capture card continuous acquisition conductive fabric two ends.Logical superpotential change reflects the motion of upper limb.As shown in Figure 6, arm with three kinds of different speed curvature movement, increases from Fig. 6 (a) ~ Fig. 6 (c) rate of bending respectively successively.As can be seen from Figure 6, along with arm bending fabric ends voltage reduces, arm stretches voltage and increases.Meanwhile, when speed increases, the waveform number in same time increases.This illustrates, by such test macro, can not only reflect the trend of upper limb curvature movement, can also be reflected the speed degree of motion by the waveform number in the unit interval.
Embodiment 3
Upper limb does the curvature movement of interval, and first upper limb does the curvature movement of several circulation, and then arm becomes to naturally droop state a period of time, then continues to do reversed bending motion.As can be seen from Figure 7, when arm does curvature movement, voltage signal produces waveform; In Fig. 7, P place represents when arm is static, and voltage signal is almost in line and does not produce any change.This illustrates that this method of testing can reflect the kinestate of limbs.
Embodiment 4
When testing limb motion with flexible fabric sensor, be all used to characterize the simple curvature movement of limbs before.And for upper limb, except curvature movement, motion common in daily life also has the rotary motion of limbs.Fig. 8 for adopting above-mentioned test set, the voltage signal of conductive fabric two during the upper limb rotary motion of monitoring.Relative to curvature movement, it has different variation tendencies and amplitude of variation.
As can be seen from above-described embodiment, the bending of upper limb and rotary motion can be tested out by method provided by the invention.For human upper limb, also there is the compound motion of such two motions, existing method is all with the signal of telecommunication on conductive fabric direction to reflect the motion of limbs, and conductive fabric also has the signal of telecommunication on a direction not utilize.If test such compound motion, the signal of telecommunication of above-mentioned test set simultaneously in test fabric both direction can be utilized, so more complicated compound motion can be reflected by the change of both direction power on signal and diversity algorithm thereof.
Claims (10)
1., based on a upper extremity function motion monitoring system for fabric sensor, it is characterized in that, comprising:
Signal generation apparatus (A), comprise the conductive fabric (2) with signal transmssion line (3), conductive fabric (2) is connected with button cell; Conductive fabric (2) and human upper limb elbow joint are close to, and upper extremity exercise stretches to conductive fabric (2), and the voltage signal at conductive fabric (2) two ends is changed;
Signals collecting and transmitting device (B), gather the voltage signal that described signal transmssion line (3) imports into, and described voltage signal is sent to Signal reception and display device (C);
Signal reception and display device (C), the voltage signal that Received signal strength sample and transform device (B) is sent, and functional movement sign is carried out to it, real-time Presentation Function kinestate simultaneously, preserves data and imaging in real time.
2. a kind of upper extremity function motion monitoring system based on fabric sensor as claimed in claim 1, it is characterized in that: in described signal generation apparatus (A), conductive fabric (2) is the polypyrrole conductive fabric be made up through situ aggregation method of polypyrrole monomer and cotton ammonia blend fabric, and signal transmssion line (3) is conductive yam.
3. a kind of upper extremity function motion monitoring system based on fabric sensor as claimed in claim 1, is characterized in that: the size of described conductive fabric (2) meets coated for whole elbow joint; The elongation of described conductive fabric (2) is not less than 30%.
4. a kind of upper extremity function motion monitoring system based on fabric sensor as described in claim 1 or 3, it is characterized in that: described signal transmssion line (3) is the yarn forming conductive fabric (2), and it is introduced in conductive fabric (2) by loop bonding or embroidery mode.
5. a kind of upper extremity function motion monitoring system based on fabric sensor as claimed in claim 2, is characterized in that: described signals collecting and transmitting device (B) carry out signals collecting and transmission by wireless.
6. based on a upper extremity function motion monitoring method for fabric sensor, it is characterized in that: adopt as claimed in claim 1 based on the upper extremity function motion monitoring system of fabric sensor, step is:
Step 1: conductive fabric (2) is sewn on tights (1), makes conductive fabric (2) be attached at above human upper limb elbow joint with some tension; Conductive fabric (2) is connected with button cell;
Step 2: during human upper limb locomotion, elbow joint and tights (1) drive conductive fabric (2) to produce distortion, the distortion of conductive fabric (2) can make its resistance change, thus the voltage signal respective change at conductive fabric (2) two ends;
Step 3: the voltage signal that signals collecting and transmitting device (B) acquired signal transmission line (3) are imported into, and described voltage signal is sent to Signal reception and display device (C);
Step 4: Signal reception and display device (C), the voltage signal that Received signal strength sample and transform device (B) is sent also converts digital signal to, judged the kinestate of limbs by the variation tendency of described signal and change size, be presented in real time on the interactive interface of display device.
7. a kind of upper extremity function motion monitoring method based on fabric sensor as claimed in claim 5, it is characterized in that: in described step 1, the elasticity of tights (1) at least exceedes conductive fabric (2) twice.
8. a kind of upper extremity function motion monitoring method based on fabric sensor as claimed in claim 5, it is characterized in that: the motion of different directions causes conductive fabric (2) to be stretched in different directions, thus the directional change of resistance and size show human upper limb locomotion direction and exercise intensity.
9. a kind of upper extremity function motion monitoring method based on fabric sensor as claimed in claim 5, it is characterized in that: in step 4, the determination methods of limb motion state is as follows:
When the voltage at conductive fabric (2) two ends reduces, upper limb is doing curvature movement;
When the voltage at conductive fabric (2) two ends increases, upper limb is doing unbending movement;
The motion speed of upper limb is reflected by the waveform number of voltage signal change in the unit interval;
The angle of bend size of upper limb is led to superpotential change size and is calculated.
10. a kind of upper extremity function motion monitoring method based on fabric sensor as claimed in claim 9, is characterized in that: the angle of bend size circular of described upper limb is as follows:
Suppose that human elbow is the circle of standard, its radius is r; When then arm bending angle is θ radian, conductive fabric (2) is Δ L=r × θ along the elongation of a direction, then conductive fabric (2) direction strain stress=Δ L/L=r θ/L, L are the initial lengths of conductive fabric; Then the resistance variations of conductive fabric (2) in this direction is Δ R=G ε R
0, wherein G is the strain sensitive coefficient of conductive fabric, and ε is the dependent variable of fabric, R
0the inceptive direction resistance of conductive fabric; Then θ=Δ RL/FrR
0.
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