CN105581799A - Rehabilitation system suitable for posture stability evaluation and training - Google Patents
Rehabilitation system suitable for posture stability evaluation and training Download PDFInfo
- Publication number
- CN105581799A CN105581799A CN201510339194.2A CN201510339194A CN105581799A CN 105581799 A CN105581799 A CN 105581799A CN 201510339194 A CN201510339194 A CN 201510339194A CN 105581799 A CN105581799 A CN 105581799A
- Authority
- CN
- China
- Prior art keywords
- training
- rehabilitation system
- applicable
- rehabilitation
- sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000012549 training Methods 0.000 title claims abstract description 25
- 238000011156 evaluation Methods 0.000 title abstract 3
- 230000005540 biological transmission Effects 0.000 claims abstract description 13
- 238000013097 stability assessment Methods 0.000 claims description 15
- 238000012545 processing Methods 0.000 claims description 12
- 239000011435 rock Substances 0.000 claims description 8
- 230000000694 effects Effects 0.000 abstract description 3
- 230000001133 acceleration Effects 0.000 description 16
- 238000004458 analytical method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 239000002390 adhesive tape Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000013401 experimental design Methods 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
- 210000002414 leg Anatomy 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000002232 neuromuscular Effects 0.000 description 1
- 230000007170 pathology Effects 0.000 description 1
- 238000012805 post-processing Methods 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Abstract
The invention provides a rehabilitation system suitable for posture stability evaluation and training. The rehabilitation system comprises a sensor, a microcomputer controller and a wireless transmission unit, wherein the sensor is an inertial sensor. According to the posture stability evaluation and training system provided by the invention, the micro inertial component is arranged on the human body to sense the shaking angle of the human body, and the micro inertial component senses the inclination angle of the human body mass center vertical to the ground, so that a good sensing effect can be achieved only by arranging the high-precision micro inertial component, the structure is simple, the cost is low, the human body shaking data does not need to be calculated through the sole pressure center signal and then processed, and the system is easy to wear and use.
Description
Technical field
The present invention relates to a kind of rehabilitation system, relate in particular to a kind of minitype inertial assembly that utilizes and measure human posture's Stability Assessment and trainingRehabilitation system.
Background technology
When maintaining posture stability and be common people's weight center (CenterofMass, COM) and being interfered, the most frequently usedly remain flatOne of equilibrium strategy of weighing apparatus, is also functional action common in daily life, and for balance, control is very large challenge. If human body nothingMethod keeps stable posture, easily falls. The relevant device of gravity center of human body's stability training lacks clinically at present, causes relational balanceIn property rehabilitation, be difficult to carry out targetedly interim systematic training. Therefore, how to measure human posture's stability and Real-time Feedback patientThe optimum rehabilitation angular range of rehabilitation situation is the problem that institute of the present invention wish solves.
In prior art, whether the laboratory of research " action " utilizes the biomechanical analysis human posture stability of human action normal,And pathology action can be detected by the instrument and equipment in laboratory the control mode of health. But the detecting of human posture's stability involvesComplicated neuromuscular skeletal system and the impact of various external environment factor, therefore reasonably experimental design, experimental facilities, with experimentAnalyst's patience and carefulness are all very large on result of study impact. In addition, after experimental analysis, how to judge and to understand all kinds of actions and divideAnalyse the data of parameter, and from numerous time and space parameters, kinematics parameters, kinetic parameter and muscle activity parameter data,Summarize rational explanation, all in the wisdom and the experience that test human posture's stability researcher.
The detecting of human posture's stability, because being subject to equipment and measuring environmental limit, is therefore generally only confined to laboratory environment with force plate(forceplate) recording sole pressure center (COP) signal indirectly estimates out the variation at body mass center (COM) and takes through computing againJoin complicated motion analysis system and can accurately obtain human posture's stability parameter. Because human action analytical system is by recordBe fixed on human body sensor with it, and then extrapolate people's static vibrating locus and coordinate of standing in three dimensions. This human actionAnalytical system is not only expensive, and the reckoning process of its human body relative reference coordinate is quite loaded down with trivial details with the post processing of rocking data. In addition,The complex steps of setting up of human action analytical system and ancillary equipment thereof more needs specific space.
Summary of the invention
An object of the present invention is to overcome the deficiencies in the prior art, a kind of human posture's stability simple, easy to use that forms is providedAssessment and training system.
For realizing this object, the rehabilitation system that is applicable to posture stability assessment and training of the present invention comprises: a sensor, a micro-electricityBrain controller and a wireless transmission unit, this sensor comprises an inertial sensor.
Further, the body-sway motion angle that sensor measured changes, after microcomputer controller converts analog signal to, by wirelessTransmission unit and a processing unit carry out exchanges data transmission.
Further, processing unit comprises an acoustical generator and a display screen.
Further, sensor, microcomputer controller, wireless transmission unit are installed in a housing.
Further, housing can be fixed on human body by a fixed part.
Further, inertial sensor is three axle inertial sensors.
Further, three axle inertial sensors are a three axis accelerometer or three-axis gyroscope or three axle electronic compass or altimeters.
Further, the X, Y, Z axis that three axle inertial sensors comprise three coordinate directions, the measured value on define and represent left and right directionsFor a, represent that the measured value on above-below direction is b, represent that the measured value on fore-and-aft direction is c, human body rocks the calculating of angle of inclination valueFormula is:
Further, the maximum inclination angle of the testee who measures in the direction of front, rear, left and right is set to the order of rehabilitation trainingMark angle of inclination value.
Further, in the time that testee angle of inclination in one direction exceedes desired value three times, system increases rehabilitation angle model automaticallyThe value of enclosing is as new target angle of inclination value.
Assess and training system by posture stability provided by the invention, be arranged at sensing human body on human body with minitype inertial assemblyThe angle of rocking, carries out sensing to body mass central vertical in the angle of inclination on ground by minitype inertial assembly, thereby only need to establishSet high the minitype inertial assembly of precision, can arrive good detecting effect.
Brief description of the drawings
Fig. 1 is the structure block schematic diagram of the rehabilitation system of the first-selected embodiment of the present invention.
Fig. 2 is the configuration diagram of the rehabilitation system of the first-selected embodiment of the present invention.
Fig. 3 is that the human body of the rehabilitation system of the first-selected embodiment of the present invention rocks the schematic diagram that calculate at angle of inclination.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention will be further elaborated.
As depicted in figs. 1 and 2, the first-selected human posture's Stability Assessment of embodiment of the present invention and the rehabilitation system of training, include oneMinitype inertial measures unit 10 and a processing unit 20. Wherein this minitype inertial measure unit 10 comprise one or one group of sensor 101,One microcomputer controller 102 and wireless transmission unit 103. First-selected ground, sensor 101 is inertial sensor, and is inertial accelerationMeter in other embodiments, can be also the suitable sensors such as gyroscope, electronic compass, altimeter. And implement in this first-selectionIn mode, sensor 101 is three axle inertial sensors first-selectedly.
In the time that human body rocks, the angle that sensor 101 sensing patients' human body rocks changes, and output transducer angle changes sensing letterNumber. First-selected ground, three axle inertial sensors of sensor 101 comprise X, Y, tri-of Z are axial. Count example with 3-axis acceleration, work as biographyWhen sensor is positioned at mass center of human body place, define each axially as follows: X-axis acceleration is the acceleration that mass center of human body moves left and right, and define toLeft be on the occasion of; The acceleration that the Y-axis acceleration behaviour physique heart moves up and down, and definition be upwards on the occasion of; Z axis acceleration behaviour physiqueThe acceleration that the heart moves forward and backward, and definition be backward on the occasion of. The acceleration signal of three axis accelerometer output is through being connected with sensor 101Microcomputer controller 102 convert to after analog signal, transfer to processing unit 20 by wireless transmission unit 103, processing unit 20Obtain for this patient optimal rehabilitation angular range value and a maximum inclination angle value by series of computation again, thus convenientDoctor or patient adjust the progress arrangement of rehabilitation training according to this rehabilitation angular range value.
In first-selected embodiment of the present invention, wireless transmission unit 103 is bluetooth unit. One of ordinary skill in the art will appreciate thatArrive, wireless transmission unit can also have a lot of other forms, for example WiFi, different mountain wireless network (ZigBee), ultra broadband (UltraWideBand; UWB), Sub-GHz (the following frequency range of 1GHz) and other suitable forms etc.
When use, the waist, the knee isoequilibrium that sensor 101 are worn on to testee keep key position, and testee is with self-abilityThe limit do maximum inclination (human body rocks the limit) to front, rear, left and right four direction respectively, count example with 3-axis acceleration, threeAxis accelerometer measures centrifugal force three axial numerical value change of X, Y, Z axis with respect to three axis accelerometer, to calculate native systemThe angle of each axioversion. Calculate the tilt angle theta taking Z axis as rotating shaft belowXFor example. As shown in Figure 3, three axis accelerometer because ofBe subject to centrifugal force impact, when Z axis level is in ground, and while putting on three axis accelerometer without any external force, gravitational heavyPower acceleration is the measured acceleration summation of X-axis and Y-axis; With vector analysis, X-axis acceleration a, Y-axis acceleration b, gravityAcceleration g three forms a right angled triangle taking acceleration of gravity as hypotenuse. So, calculate three axis accelerometer taking Z axis asAxes of rotation skew angle θXFor how many times, can be by measuring X-axis, Y-axis acceleration, recycling antitrigonometric function tan-1Calculate inclinationAngle θXValue, calculating formula is:
In like manner, definition Z axis acceleration is c, and the tilt angle calculation formula producing around X-axis rotation in Z-direction is:
Do after maximum inclination when testee completes to front, rear, left and right four direction, obtain measured inclining on this four directionOblique angle numerical value, the target angle of inclination value using this as rehabilitation angular range, is worth as the target angle of inclination of rehabilitation training; When makingUsed time, testee tilts to front, rear, left and right respectively while exceeding target angle of inclination value, the system prompting of will sounding, first-selectionBy the subsidiary sound horn prompting of processing unit 20; When tilt to exceed target angle of inclination value, journey continuous three times in same directionThe value that order increases rehabilitation angular range automatically allows testee challenge as new rehabilitation training objective. First-selected ground, these are worth at processing unitOn 20 subsidiary screens, show, so that observe and record. First-selected ground, processing unit 20 is a computer. At other embodimentsIn, processing unit 20 can be also that the signal of other suitable forms is processed and calculation element.
In first-selected embodiment of the present invention, sensor 101, microcomputer controller 102, wireless transmission unit 103 are designed peaceBe contained in the housing of minitype inertial measurement unit 10, this housing is provided with and is suitable for being fixed on (for example waist, large on the main trunk of human bodyThe parts such as leg) fixed part, make it to become the rehabilitation system of the stable posture assessment that can be worn on human body and training, it not only can standProvide clinical effective human body to rock limit assessment, also can provide a Real-time Feedback patient rehabilitation situation optimum rehabilitation angleValue range is adjusted rehabilitation process. First-selected ground, fixed part can be the fixtures such as bracelet, clip band, adhesive tape, belt, can be also itThe retaining element of his suitable form or device.
In first-selected embodiment of the present invention, processing unit 20 is the computer that volume is larger, therefore measures unit with minitype inertial10 is split-type design, measures unit 10 so that testee can carry and wear minitype inertial easily. At other embodimentsIn, in the time that processing unit 20 is small size device, also can measure the fit design in unit 10 with minitype inertial, more convenient so testedPerson carries rehabilitation system of the present invention, and needn't arrive in the occasion of computer tested.
Above-mentioned human posture's Stability Assessment of the present invention is simple with the rehabilitation system architecture of training, and cost is not high, and needn't press via volaPower center signal calculates that human body rocks data and processes afterwards, is easy to wear and use.
One skilled in the art will understand that the embodiments of the invention shown in foregoing description and accompanying drawing only limit as an example and notProtection scope of the present invention, in the situation that not deviating from the principle of the invention under, any distortion of embodiments of the present invention or amendment stillBelong to protection category of the present invention.
Claims (10)
1. be applicable to a rehabilitation system for human posture's Stability Assessment and training, described rehabilitation system comprises a sensor, micro computer controlledDevice processed and a wireless transmission unit, is characterized in that, described sensor comprises an inertial sensor.
2. the rehabilitation system that is applicable to human posture's Stability Assessment and training as claimed in claim 1, is characterized in that described sensorThe body-sway motion angle being measured changes, and converts to after analog signal, by wireless transmission unit and one through described microcomputer controllerProcessing unit carries out exchanges data transmission.
3. the rehabilitation system that is applicable to human posture's Stability Assessment and training as claimed in claim 2, is characterized in that, described processing is singleUnit comprises an acoustical generator and a display screen.
4. the rehabilitation system that is applicable to human posture's Stability Assessment and training as claimed in claim 1, is characterized in that, described sensor,Described microcomputer controller, described wireless transmission unit are installed in a housing.
5. the rehabilitation system that is applicable to human posture's Stability Assessment and training as claimed in claim 4, is characterized in that, described housing canBe fixed on human body by a fixed part.
6. the rehabilitation system that is applicable to human posture's Stability Assessment and training as claimed in claim 1, is characterized in that, described inertia passesSensor is three axle inertial sensors.
7. the rehabilitation system that is applicable to human posture's Stability Assessment and training as claimed in claim 6, is characterized in that, described three axles are used toProperty sensor is accelerometer or gyroscope or electronic compass or altimeter.
8. the rehabilitation system that is applicable to human posture's Stability Assessment and training as claimed in claim 7, is characterized in that, described three axles are used toThe X, Y, Z axis that property sensor comprises three coordinate directions, the measured value on define and represent left and right directions is a, represents above-below directionOn measured value be b, represent that the measured value on fore-and-aft direction is c, the calculating formula that human body rocks angle of inclination value is:
9. the rehabilitation system that is applicable to human posture's Stability Assessment and training as described in any one in claim 1-8, is characterized in that,The maximum inclination angle of the testee who measures in the direction of front, rear, left and right is set to the target angle of inclination of rehabilitation trainingValue.
10. the rehabilitation system that is applicable to human posture's Stability Assessment and training as claimed in claim 9, is characterized in that, when testedWhen person angle of inclination in one direction exceedes described desired value three times, system increases the value of rehabilitation angular range automatically as newlyTarget angle of inclination value.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW103219824 | 2014-11-10 | ||
| TW103219824 | 2014-11-10 | ||
| TW103223490 | 2014-12-31 | ||
| TW103223490U TWM499888U (en) | 2014-11-10 | 2014-12-31 | Postural stability evaluation and rehabilitation system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105581799A true CN105581799A (en) | 2016-05-18 |
Family
ID=53721705
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510339194.2A Pending CN105581799A (en) | 2014-11-10 | 2015-06-18 | Rehabilitation system suitable for posture stability evaluation and training |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN105581799A (en) |
| TW (1) | TWM499888U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108014483A (en) * | 2016-11-03 | 2018-05-11 | 财团法人工业技术研究院 | Act appraisal procedure and system |
| CN109414608A (en) * | 2016-08-09 | 2019-03-01 | 株式会社比弗雷斯 | Motion recognition method and device |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI570387B (en) | 2015-11-09 | 2017-02-11 | 財團法人工業技術研究院 | Image ranging system, light source module and image sensing module |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070038155A1 (en) * | 2001-01-05 | 2007-02-15 | Kelly Paul B Jr | Attitude Indicator And Activity Monitoring Device |
| WO2008155693A1 (en) * | 2007-06-18 | 2008-12-24 | Koninklijke Philips Electronics N.V | Motion sensor system comprising external calibrator |
| CN103300864A (en) * | 2013-04-23 | 2013-09-18 | 中国科学院深圳先进技术研究院 | Miniature wireless sensor node |
| CN103536293A (en) * | 2013-11-06 | 2014-01-29 | 杭州共远科技有限公司 | Method for limiting time mode gait data analysis of gait training correction instrument measuring system |
| CN103976739A (en) * | 2014-05-04 | 2014-08-13 | 宁波麦思电子科技有限公司 | Wearing type dynamic real-time fall detection method and device |
-
2014
- 2014-12-31 TW TW103223490U patent/TWM499888U/en unknown
-
2015
- 2015-06-18 CN CN201510339194.2A patent/CN105581799A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070038155A1 (en) * | 2001-01-05 | 2007-02-15 | Kelly Paul B Jr | Attitude Indicator And Activity Monitoring Device |
| WO2008155693A1 (en) * | 2007-06-18 | 2008-12-24 | Koninklijke Philips Electronics N.V | Motion sensor system comprising external calibrator |
| CN103300864A (en) * | 2013-04-23 | 2013-09-18 | 中国科学院深圳先进技术研究院 | Miniature wireless sensor node |
| CN103536293A (en) * | 2013-11-06 | 2014-01-29 | 杭州共远科技有限公司 | Method for limiting time mode gait data analysis of gait training correction instrument measuring system |
| CN103976739A (en) * | 2014-05-04 | 2014-08-13 | 宁波麦思电子科技有限公司 | Wearing type dynamic real-time fall detection method and device |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109414608A (en) * | 2016-08-09 | 2019-03-01 | 株式会社比弗雷斯 | Motion recognition method and device |
| CN109414608B (en) * | 2016-08-09 | 2021-04-02 | 株式会社比弗雷斯 | Motion recognition method and device |
| CN108014483A (en) * | 2016-11-03 | 2018-05-11 | 财团法人工业技术研究院 | Act appraisal procedure and system |
| US10779772B2 (en) | 2016-11-03 | 2020-09-22 | Industrial Technology Research Institute | Movement assessing method and system |
| CN108014483B (en) * | 2016-11-03 | 2022-03-08 | 财团法人工业技术研究院 | Action evaluation method and system |
Also Published As
| Publication number | Publication date |
|---|---|
| TWM499888U (en) | 2015-05-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9622686B1 (en) | Gait perturbation system and a method for testing and/or training a subject using the same | |
| EP3194890B1 (en) | Methods and apparatus for power expenditure and technique determination during bipedal motion | |
| JP5849092B2 (en) | Integrated portable device and method implementing accelerometer for analyzing stride biomechanical parameters | |
| KR100601981B1 (en) | Method and apparatus for monitoring human activity pattern | |
| Liu et al. | A wearable human motion tracking device using micro flow sensor incorporating a micro accelerometer | |
| CN104165637A (en) | Method and apparatus for determining the attachment position of a motion sensing apparatus | |
| CN109891251B (en) | Information processing apparatus | |
| JP2012513227A (en) | Walking monitor | |
| CN108338790B (en) | Gait analysis and fall assessment system | |
| CN106256396A (en) | Motion assisting system and motion support method | |
| CN105581799A (en) | Rehabilitation system suitable for posture stability evaluation and training | |
| CN205697789U (en) | The human body weight of facing moving terminal application and balance measurement apparatus | |
| CN106228751A (en) | Intelligent alarm system and the method for falling based on Android platform MEMS/ Magnetic Sensor/GPS | |
| US10561343B2 (en) | Index deriving device, wearable device, and mobile device | |
| JP2008173249A (en) | Activity monitor | |
| CN108030497A (en) | A kind of gait analysis devices and methods therefor based on IMU inertial sensors | |
| JP2009106374A (en) | Display system for gait information | |
| JP6416722B2 (en) | Step counting device, step counting method, and program | |
| KR101189667B1 (en) | Apparatus and method for measuring surpluscalories using acceleration sensor | |
| TW201311214A (en) | Visualized IMU gait detection device and analysis method thereof | |
| CN202604793U (en) | Human body balance assessment and training system | |
| JP2018007979A (en) | Exercise support apparatus, exercise support method, and exercise support program | |
| US20200405231A1 (en) | Expenditure to overcome air resistance during bipedal motion | |
| JP2016158699A (en) | Landing position evaluation method and landing position evaluation apparatus | |
| Kim et al. | Ambulatory balance monitoring using a wireless attachable three-axis accelerometer |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160518 |