CN105520738B - A kind of finger power coordination testing analyser based on the quantitative recursive calculation of intersection - Google Patents

Abstract

The invention discloses a kind of finger power coordination testing analyser based on the quantitative recursive calculation of intersection, including base, sensor stand, force-sensing sensor and processor, wherein: sensor stand has two, it is movably connected on base, and it is all vertical with base, described force-sensing sensor includes two, it is respectively arranged at the outside of a sensor stand, gather the contact force of finger, send it to processor, processor is according to the multichannel power of force-sensing sensor and moment time series signal, carry out thumb side sensor coordinates conversion, signal reconstruction, by intersecting recurrence quantification analysis, obtain the collaborative of finger strength amount change and lead relation, calculate the comprehensive tolerance that finger power is coordinated to control.The present invention realizes each operation Fingers power effort signal seasonal effect in time series record in three dimensions, makes experimenter can complete the crawl to object and manipulation in the case of spontaneous contractions power maximum less than 30%.

Description

A kind of finger power coordination testing analyser based on the quantitative recursive calculation of intersection

Technical field

The present invention relates to a kind of finger power coordination testing analyser based on the quantitative recursive calculation of intersection.

Background technology

Finger strength harmony is people's controlling equipment, captures object, completes the important foundation of various accurate operation.Current finger Strength coordination testing method depends on the random of experimenter and plays and the subjective judgment of tester, and accuracy is the highest, reliably Property bad, measure parameter resolution too low.Still lack a kind of objective and accurate test equipment at present, it is possible to assess hands exactly Refer to the harmony of strength.

Summary of the invention

The present invention is to solve the problems referred to above, it is proposed that a kind of finger power coordination testing analyser based on the quantitative recursive calculation of intersection, This device by by the multichannel dynamic signal of Fingers power by intersect recurrence quantification analysis, extract reflection repdocutbility, definitiveness, Stability and the key parameter of synchronicity, it is thus achieved that the collaborative of finger strength amount change leads relation, calculate finger power and coordinate control process Time delay between middle finger, it is possible to realize, to each operation Fingers power effort signal seasonal effect in time series record in three dimensions, calculating Go out Center of Pressure point coordinates when each operation finger contacts and Time Change thereof with object.

To achieve these goals, the present invention adopts the following technical scheme that

A kind of finger power coordination testing analyser based on the quantitative recursive calculation of intersection, including base, sensor stand, the quick biography of power Sensor and processor, wherein:

Described sensor stand has two, is movably connected on base, and all vertical with base, and described force-sensing sensor includes two Individual, the outside of each sensor stand is provided with a force-sensing sensor, the thumb of experimenter and forefinger, middle finger or the third finger Grasping measuring and analysing meter, two force-sensing sensors gather the contact force of two fingers, send it to processor, processor according to The multichannel power of force-sensing sensor and moment time series signal, carry out the force-sensing sensor Coordinate Conversion of thumb side, signal reconstruction, By intersecting recurrence quantification analysis, it is thus achieved that the collaborative of finger strength amount change leads relation, calculate finger power and coordinate the comprehensive of control Tolerance.

Described chassis interior is provided with slideway, and sensor stand bottom is arranged in slideway, moves along slideway, two sensor stands Between distance adjustable.

It is provided with radome, shielding space electromagnetic interference outside described force-sensing sensor, keeps the cleaning with human contact position.

Further, described radome is detachable.

Described force-sensing sensor has three-dimensional system of coordinate, and the three-dimensional system of coordinate of two force-sensing sensors is different, and zero is same On one horizontal line.

A kind of method of work using above-mentioned finger power coordination testing analyser, comprises the following steps:

(1) regulate the distance of sensor stand, gather multi-dimensional force, the torque signals putting on force-sensing sensor；

(2) the collection signal to two force-sensing sensors each returns to zero, amplifies and Filtering Processing, adjusts the base of each signal Line, the simple two-way signal after synchronous acquisition process；

(3) simple two-way signal is calibrated, and calculate Center of Pressure point signal, draw the quantitative recurrence plot of intersection of simple two-way signal；

(4) qualitative framework feature, temporarily really is determined during recurrence rate between signal, Dynamic Coupling according to intersecting quantitative recurrence plot State transition period and system stability parameter and Phase synchronization sex index, obtain finger power harmony numerical value.

In described step (2), concrete grammar is, gathers the power on the three-dimensional of two force-sensing sensors and moment time series Signal, carries out two-way time series signal respectively returning to zero, amplifies, filters, to adjust the baseline of each signal, and synchronous acquisition three Power on dimension direction and moment time series signal, the sensor that the sensor coordinates that non-thumb is surveyed is converted to test thumb force is sat Mark, calculates respective Center of Pressure point coordinates.

In described step (3), method particularly includes: by the time series signal pairing after conversion, the signal good to every a pair pairing It is reconstructed, makes each pairing signal and draw the quantitative recurrence plot of intersection.

In described step (4), the frequency and the diagonal number that occur according to the diagonal structure intersected in reproduction figure determine dynamic coupling Really qualitative framework feature during conjunction.

In described step (4), determine transient state transition period and system according to the frequency that the vertical line structure intersected in quantitative recurrence plot occurs Stability.

In described step (4), according to Phase synchronization sex index, confirm the relation that intercouples during two finger strength control.

The invention have the benefit that

(1) present invention realizes, to each operation Fingers power effort signal seasonal effect in time series record in three dimensions, making tested Person can complete the crawl to object and manipulation in the case of spontaneous contractions power maximum less than 30%；

(2) sensor wrap, the on the one hand impact on measurement value sensor of the shielding space electromagnetic interference are installed outside sensor, separately On the one hand it is convenient for changing, keeps the cleaning with human contact position；

(3) present invention is changed by the force signal-signal of telecommunication, the synchronization collection of multiple signals, the AD conversion of signal, zeroing, The technological means such as filtering, it is possible to accurately calculate Center of Pressure point coordinates when each operation finger contacts and time change thereof with object Rule；

(4) by intersecting recurrence quantification analysis, reflection repdocutbility, definitiveness, stability and the key of phase synchronism are extracted Parameter, generates the quantitative recurrence plot of intersection by the multichannel dynamic signal collected, it is thus achieved that the power of coupling finger strength amount control system Learn structural visual figure, use intersection recurrence quantification analysis that the TuPu method of the quantitative recurrence plot of intersection is carried out quantitative Analysis afterwards, meter Calculation process is simple；

(5) test result is accurate, highly sensitive.

Accompanying drawing explanation

Fig. 1 is the structural representation of the present invention；

Fig. 2 is the signals collecting of the present invention and the quantitative recursive calculation schematic flow sheet that intersects；

Fig. 3 (a) is that the thumb of the present invention is typically referred to as force signal schematic diagram when coordinating with forefinger；

Fig. 3 (b) is the intersection reproduction figure of the exemplary force signal drafting of the present invention.

Fig. 4 is the use schematic flow sheet of the power coordination testing instrument of the present invention；

Wherein, 1 it is force-sensing sensor, 2 is replaceable sensor radome, 3 is sensor stand, 4 is the three of sensor 1 Dimension coordinate set, 5 be right sensor 2 three-dimensional coordinate set, 6 for sensor signal lines, 7 be the built-in spiral shell of sensor stand Bolt, 8 be base built-in slide way, 9 for base.

Detailed description of the invention:

The invention will be further described with embodiment below in conjunction with the accompanying drawings.

As it is shown in figure 1, in tester device design, two sensor stands 3 are vertically specified at base 9 by built-in bolt 7 On, the distance between two supports can be changed as required on base slideway.Two sensors in left and right are screwed in biography On sensor bracket, the axle center alignment of two sensors.Each sensor has respective three-dimensional system of coordinate, it is desirable to zero is same On one horizontal line, but putting of coordinate is slightly different, and wherein three direction of principal axis of the coordinate system of left sensor 1 are respectively as follows: x-axis Positive direction is straight up, and y-axis positive direction is horizontally outward, z-axis positive direction be level to the right；The coordinate system of right sensor 2 Three direction of principal axis are respectively as follows: x-axis positive direction for straight up, and y-axis positive direction is that level is inside, z-axis positive direction be level to the left. Coordinate system reduction the to be accurately positioned measurement error of two sensors.Sensor wrap is installed, on the one hand outside sensor The impact on measurement value sensor of the shielding space electromagnetic interference, is on the other hand convenient for changing, and keeps the cleaning with human contact position.

The finger power harmony computational methods that the present invention provides are:

First obtain the multichannel power from two sensors (sensor 1 and sensor 2) and moment time series signal, be designated as respectively: {F_x,1(t),F_y,1(t),F_z,1(t),T_x,1(t),T_y,1(t),T_z,1(t) } and { F_x',2(t),F_y',2(t),F_z',2(t),T_x',2(t),T_y',2(t),T_z',2(t)}.By two-way Time series signal carries out respectively returning to zero, amplifies, filters, it is therefore an objective to adjust the baseline of each signal, amplifies signal, filter noise, Reduce Hz noise and baseline drift.12 road signal synchronous collections after conditioning enter processor, then carry out signal Calibration, is converted to test the sensor coordinates of thumb force by the sensor coordinates that non-thumb is surveyed, and method is:

If A=is [F_x',2(t),F_y',2(t),F_z',2(t),T_x',2(t),T_y',2(t),T_z',2(t)]；

$B=\left[\begin{array}{cccccc}1& 0& 0& 0& 0& 0\\ 0& -1& 0& 0& 0& 0\\ 0& 0& -1& 0& 0& 0\\ 0& 0& 0& 1& 0& 0\\ 0& 0& 0& 0& -1& 0\\ 0& 0& 0& 0& 0& -1\end{array}\right]$

C=A × B；It is the sensor time sequence signal of non-test thumb force after adjustment, is designated as [F_x,2(t),F_y,2(t),F_z,2(t),T_x,2(t),T_y,2(t),T_z,2(t)].Adjusted signal calculates respective Center of Pressure point coordinates

$\left\{\begin{array}{cc}\begin{array}{c}{\mathrm{COP}}_{x,i}\left(t\right)=-T_{y,i}\left(t\right)/F_{z,i}\left(t\right)\\ {\mathrm{COP}}_{y,i}\left(t\right)=-T_{x,i}\left(t\right)/F_{z,i}\left(t\right)\end{array}& i=1,2\end{array}\right.$

Through such conversion, obtain new time series signal:

$\left\{\begin{array}{c}{F}_{x,1}\left(t\right),F_{y,1}\left(t\right),F_{z,1}\left(t\right),T_{x,1}\left(t\right),T_{y,1}\left(t\right),T_{z,1}\left(t\right),{\mathrm{COP}}_{x,1}\left(t\right),{\mathrm{COP}}_{y,1}\left(t\right)\\ F_{x,2}\left(t\right),F_{y,2}\left(t\right),F_{z,2}\left(t\right),T_{x,2}\left(t\right),T_{y,2}\left(t\right),T_{z,2}\left(t\right),{\mathrm{COP}}_{x,2}\left(t\right),{\mathrm{COP}}_{y,2}\left(t\right)\end{array}\right.$

By each for the first row in above formula road signal and the second Hang Ge road signal pairing, the signal good to every a pair pairing, carry out letter respectively Number reconstruct.Now with F_x,1(t) and F_x,2T signal that () is formed is to { F_x,1(t),F_x,2(t) } as a example by be illustrated:

At F_x,1T in () time series, i-th point starts to select a point every τ spacing, altogether select m point, form one Individual new vector:

Herein, the named retardation coefficient of τ, the named Embedded dimensions of m.

Similarly, at F_x,2T the jth point of () sequence is reconstructed, retardation coefficient τ during reconstruct and Embedded dimensions m and F_x,1(t) Keep identical during reconstruct.

Two vectors after reconstruct are carried out calculated as below:

Wherein Θ () is Heaviside function, ε_iFor threshold coefficient,.WhenΘ ()=0, otherwise Θ ()=1.Thus each pairing signal can be drawn the quantitative recurrence plot of intersection.

The intersection reproduction figure formed according to the every pair of signal, is calculated as follows parameter:

First kind parameter, including RR, for showing the recurrence rate of analog structure between signal

$RR=\frac{1}{N^2}\underset{i,j=1}{\overset{N}{\Σ}}{R}_{i,j}^{m,\mathrm{\ϵ}}$

In this formula,The number of the point for occurring on the quantitative recurrence plot of intersection, wherein i, tetra-parameters of j, m, ε are defined as above, N is the most vectorial point set number.

Equations of The Second Kind parameter, including DET, L_maxAnd ENTR, the definitiveness during showing double finger effort signal Dynamic Coupling Architectural feature.

$DET=\frac{{\Σ}_{l=l\min }^{N}lP\left(l\right)}{{\Σ}_{l=1}^{N}lP\left(l\right)}$

Wherein, P (l) is to intersect to reappear the rectangular histogram of the diagonal structure frequency of occurrences of a length of l, l in figure_minIt is to count diagonal The threshold value of structure, namely only as l ＞ l_minTime be just taken as effective diagonal structure.

Calculate is the longest diagonal arrangement in the quantitative recurrence plot of intersection.Wherein,It is The sum of diagonal structure.

Reflect the complexity of focusing structural in the quantitative recurrence plot of intersection.

Wherein,L in formula_min, N, P (l) are isoparametric to be defined as above.

3rd class parameter, refers to the transient state transition period of force signal and the steady of strength control including LAM, TT and Vmax for demarcation Qualitative.

$LAM=\frac{{\Σ}_{v=v_{\min }}^{N}vP\left(v\right)}{{\Σ}_{v=1}^{N}vP\left(v\right)}$

LAM reflects vertical line structure and is intersecting the ratio occurred on quantitative recurrence plot, wherein P (v)={ v_i；I=1...N_vRepresent It it is the rectangular histogram of the vertical line structure frequency of occurrences of a length of v in the quantitative recurrence plot of intersection.v_minRepresent the shortest length counting vertical line structure Degree threshold value.

$TT=\frac{{\Σ}_{v=v_{\min }}^{N}vp\left(v\right)}{{\Σ}_{v=v_{\min }}^{N}P\left(v\right)}$

The reflection of this formula is the average time under system maintains a certain state during strength control.In this formula, each parameter determines Justice is ibid.

$V_{max}=max\left({\left\{v_l\right\}}_{l=1}^{Nv}\right)$

This formula calculates the greatest length of vertical line structure in the quantitative recurrence plot of intersection.

4th class parameter, including Phase synchronization sex index SI,

WhereinWithRepresent two vectorsWithIn the range of delay parameter τ, recurrence rate RR is Big value,<>represents the correlation coefficient of the two.Wherein p (τ) can be calculated by the recurrence rate RR in τ neighborhood:

$p\left(\mathrm{\&tau;}\right)={\mathrm{RR}}_{\mathrm{\&tau;}}=\frac{1}{N-\mathrm{\&tau;}}\underset{l=1}{\overset{N-\mathrm{\&tau;}}{\&Sigma;}}{\mathrm{lp}}_{\mathrm{\&tau;}}\left(l\right)$

SI reflects the phase synchronism degree during two finger strength control, and this value, between 0 and 1, more trends towards 1 table Bright synchronicity is the strongest.

On the basis of SI, following parameter can be obtained further:

$Q_1\left(\mathrm{\&tau;}\right)=\frac{{\mathrm{RR}}_{\mathrm{\&tau;}}+{\mathrm{RR}}_{-\mathrm{\&tau;}}}{2},Q_2\left(\mathrm{\&tau;}\right)=\frac{{\mathrm{RR}}_{\mathrm{\&tau;}}-{\mathrm{RR}}_{-\mathrm{\&tau;}}}{2}$

Q₁(τ) and Q₂(τ) compatibility relation between double finger can be reflected further.Work as Q₁(τ) τ-value when obtaining maximum is that double assignment is closed Active average delay, works as Q₁(τ) Q during maximum is obtained₂(τ) symbol, indicate in two finger mating reactions actually which Individual finger plays leading action.Such as, Q is worked as₁(τ) when obtaining maximum, Q₂(τ) ＞ 0 shows that thumb strength leads other finger Strength, if Q₂(τ) ＜ 0 shows that thumb strength follows the strength of other finger.Therefore, can be further to define by this analysis The relation that intercouples during two finger strength controls.

According to above-mentioned four class parameters, finally obtain the comprehensive precisive to double finger strength harmony, can be according to as above parameter Provide overall merit.

Using this tester when, will carry out according to normal process, Fig. 4 illustrates the standard of this tester and uses flow process. Experimenter can choose thumb and carry out pairing grasping tester with one of forefinger, middle finger and third finger.In order to test between finger comprehensively Coordination degree, it is proposed that the harmony between each finger is tested one by one, the available test result comprehensively reflecting harmony. During grasping tester, experimenter should apply the least strength, as long as ensureing that the base of tester is higher than desktop, But it is parallel to desktop.Grasping to be tried one's best steadily, keeps 1 minutes, and test parameter and result are reported subsequently Generating, tester just can fully understand the finger coordination mating capability of oneself.

The method of signals collecting and the quantitative recursive calculation of intersection is as shown in Figure 2.Wherein, A is for utilizing force-sensing sensor to carry out multidimensional Power, the collection of torque signals, B, C are that two, left and right sensor signal carries out respective conditioning respectively, including zeroing, amplify, Filtering operation, D is the synchronous acquisition module of two sensor signals, and E is calibration and the calculating of Center of Pressure point signal of signal, F is the drafting of the quantitative recurrence plot of intersection of simple two-way signal, and G is for intersecting quantitative recursive calculation repdocutbility RR value, and H is quantitative for intersecting Recursive calculation DET, L_maxBeing used for during two finger Dynamic Coupling of scale qualitative framework feature really with ENTR, I is for handing over Pitch quantitative recursive calculation LAM, TT and V_maxThree parameters are used for analyzing transient state transition period and the system stability that two fingers control, J is to calculate two fingers average delay in Phase synchronization and lead-follow relation, and K is for refer to power according to above-mentioned each parameter to double fingers Harmony is evaluated.

In Fig. 3 (a), it is shown that being typically referred to as force signal when thumb coordinates with forefinger.It is respectively thumb z direction force component Time series signal and the time series signal of forefinger z direction force component, what Fig. 3 (b) represented is based on the typical case of Fig. 3 (a) The quantitative recurrence plot of intersection that force signal is drawn.

What Fig. 4 represented refers to the use flow process of power coordination testing instrument.Wherein, refer to that the harmony of power can be in thumb and forefinger phase These three pattern that cooperation, thumb match with middle finger and thumb matches with the third finger arbitrarily chooses one test, Two kinds or the most possible pattern all tested therein can also be tested the most respectively, thus obtain thumb and offside The numerical value of finger strength harmony.

Although the detailed description of the invention of the present invention is described by the above-mentioned accompanying drawing that combines, but not limit to scope System, one of ordinary skill in the art should be understood that on the basis of technical scheme, and those skilled in the art need not pay Go out various amendments or deformation that creative work can make still within protection scope of the present invention.

Claims (10)

1. a finger power coordination testing analyser based on the quantitative recursive calculation of intersection, is characterized in that: include base, sensor Support, force-sensing sensor and processor, wherein:

Described sensor stand has two, is movably connected on base, and all vertical with base, and described force-sensing sensor includes two Individual, the outside of each sensor stand is provided with a force-sensing sensor, the thumb of experimenter and forefinger, middle finger or the third finger Grasping measuring and analysing meter, two force-sensing sensors gather the contact force of two fingers, send it to processor, processor according to The multichannel power of force-sensing sensor and moment time series signal, carry out the force-sensing sensor Coordinate Conversion of thumb side, signal reconstruction, By intersecting recurrence quantification analysis, it is thus achieved that the collaborative of finger strength amount change leads relation, calculate finger power and coordinate the comprehensive of control Tolerance.

A kind of finger power coordination testing analyser based on the quantitative recursive calculation of intersection, is characterized in that: Described chassis interior is provided with slideway, and sensor stand bottom is arranged in slideway, moves along slideway, between two sensor stands Apart from adjustable.

A kind of finger power coordination testing analyser based on the quantitative recursive calculation of intersection, is characterized in that: It is provided with radome, shielding space electromagnetic interference outside described force-sensing sensor, keeps the cleaning with human contact position.

A kind of finger power coordination testing analyser based on the quantitative recursive calculation of intersection, is characterized in that: Described radome is detachable.

A kind of finger power coordination testing analyser based on the quantitative recursive calculation of intersection, is characterized in that: Described force-sensing sensor has three-dimensional system of coordinate, and the three-dimensional system of coordinate of two force-sensing sensors is different, and zero is at same water On horizontal line.

6. a method of work for employing finger power coordination testing analyser as according to any one of claim 1-5, its feature It is: comprise the following steps:

(1) regulate the distance of sensor stand, gather multi-dimensional force, the torque signals putting on force-sensing sensor；

(2) the collection signal to two force-sensing sensors each returns to zero, amplifies and Filtering Processing, adjusts the base of each signal Line, the two-way time series signal after synchronous acquisition process；

(3) two-way time series signal is calibrated, and calculate Center of Pressure point time series signal, draw the two-way time The quantitative recurrence plot of intersection of sequence signal；

(4) qualitative framework feature, temporarily really is determined during recurrence rate between signal, Dynamic Coupling according to intersecting quantitative recurrence plot State transition period and system stability parameter and Phase synchronization sex index, obtain finger power harmony numerical value.

7. method of work as claimed in claim 6, is characterized in that: in described step (2), and concrete grammar is, gathers two Power on the three-dimensional of individual force-sensing sensor and moment time series signal, carry out two-way time series signal respectively returning to zero, Amplifying, filter, to adjust the baseline of each signal, the power on synchronous acquisition three-dimensional and moment time series signal, by non-thumb Refer to that the sensor coordinates surveyed is converted to test the sensor coordinates of thumb force, calculate respective Center of Pressure point coordinates.

8. method of work as claimed in claim 7, is characterized in that: in described step (3), method particularly includes: will conversion After time series signal pairing, the signal that every a pair pairing is good is reconstructed, makes each pairing signal and draw and intersect quantitatively Recurrence plot.

9. method of work as claimed in claim 6, is characterized in that: in described step (4), according to intersecting quantitative recurrence plot In the frequency that occurs of diagonal structure and diagonal number determine during Dynamic Coupling qualitative framework feature really.

10. method of work as claimed in claim 6, is characterized in that: in described step (4), according to intersecting quantitative recurrence plot In vertical line structure occur frequency determine transient state transition period and system stability；

In described step (4), according to Phase synchronization sex index, confirm the relation that intercouples during two finger strength control.