CN105708469A - Wearing-type human body walking movement capturing system - Google Patents
Wearing-type human body walking movement capturing system Download PDFInfo
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- CN105708469A CN105708469A CN201610029632.XA CN201610029632A CN105708469A CN 105708469 A CN105708469 A CN 105708469A CN 201610029632 A CN201610029632 A CN 201610029632A CN 105708469 A CN105708469 A CN 105708469A
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- A—HUMAN NECESSITIES
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- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
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- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
- A61B5/683—Means for maintaining contact with the body
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- A—HUMAN NECESSITIES
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- A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
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Abstract
The invention provides a wearing-type human body walking movement capturing system, belonging to the fields of mechanical structure design and automatic control. According to the wearing-type human body walking movement capturing system, sensors are mounted on the back, the crotch, the hip joints, the knee joints and the ankle joints, touch switches are mounted on the soles of the feet, a chip is adopted for collecting the data of the sensors, then the data is transmitted to a PC, and thus the data information of the human body walking movement is directly obtained. According to the wearing-type human body walking movement capturing system, the joint angles are collected by adopting potentiometers, and the angle data of the joints can be directly obtained. Considering that the waist plays an important role in the human body walking movement, a back-crotch difference method is adopted for collecting the data of the waist. The sampled data is not influenced by the external environments and the experimental places. The data collected by the wearing-type human body walking movement capturing system can show the movement state of the parts below the waist during the human body walking movement.
Description
Technical field
The present invention devises a kind of wearable human walking movement and catches system, belongs to Design of Mechanical Structure and automation field.
Background technology
From the twentieth century later stage, oneself has the aspects such as the part research institution analysis at the development of wearable type human body information acquisition system, the collection of movable information and gait feature to do correlational study both at home and abroad, mainly has Korea S's Han Yang University and domestic Harbin Engineering University etc..
Korea S's Han Yang University have developed a kind of for human body lower limbs exercise data acquisition with the system of gait analysis.This system is by the photoelectric encoder of the servo-actuated lower limb of wearable type, the force-measuring shoes being connected by ankle joint with servo-actuated lower limb and related software composition.At human body lower limbs kinestate analysis field, a kind of comprehensive servo-actuated leg joint exercise data and the gait analysis method of force-measuring shoes pressure data are proposed.Its principle is kinestate based on human body lower limbs lower limb and foot puts forth effort Site characterization definition gait descriptor format, and set up gait descriptor format and the sensing data of servo-actuated lower limb and the mapping relations of foot pressure sensing data, identify, by sensor measured data and the contrast of gait descriptor format, the attitude that wearer is current when wearer walking movement.Experiment shows, this system is obtained in that the exercise data of servo-actuated lower limb and the pressure data of force-measuring shoes；Simultaneously, additionally it is possible to analyze wearer gait feature under walking movement state.
The wearable type lower extremity movement data acquisition of Harbin Engineering University's development and motion analysis system.It is made up of two servo-actuated lower limbs, force-measuring shoes, data collecting system and gait analysis software.In terms of the research of lower extremity movement characteristic, a kind of analysis method decomposing gait based on gait phase is proposed.Its principle is that lower limb are subdivided into 7 gait phases at a complete gait cycle by the periodicity according to human body walking motion, and defines corresponding eigenvalue, can pass through the attitude that eigenvalue is current with the comparison identification wearer of plantar pressure data.Developed lower limb walking movement data acquisition, analysis system can obtain exercise data and the plantar pressure data of servo-actuated lower limb, and by the gait characteristics of software analysis lower limb.
Additionally, also have the work that some other institutions conduct human body lower limbs gait feature based on sensing data is analyzed.As industrial technology institute of Swiss Confederation proposes a kind of based on plantar pressure data and the gait analysis method of foot angular velocity of satellite motion data, wherein plantar pressure data are detected by force-measuring shoes, footPortion's rowThe angular velocity walking motion is obtained by the gyroscope being placed in heel of a shoe portion, analyzes the gait feature of measured by gathering the contrast of data and human body lower limbs gait pattern.The gait device for testing and analyzing that Chinese University of Science and Technology develops is made up of force-measuring shoes, information acquisition system and gait analysis software, can complete measured's Method of Gait Feature Extraction and contrast with normal gait.The information gathering of the information acquisition system of these correlational studyes based on plantar pressure, the walking movement data of less collection joint of the lower extremity, more there is no collection and the analysis of waist data.
In the recent period, domestic and international research institution, in order to make the walking motion of robot more personalize, all adds waist joint when design robot." little youth " such as JSK robot of Tokyo Univ Japan laboratory design, this robot is than conventional robot, " little youth " is unique in that he has the skeletal structure similar with the mankind, there is artificial spine, can bend to different directions, make actions such as bending over, turn round, more more natural than other machines human action.Therefore, in the design of motion capture system, it is particularly important that addition waist joint degree of freedom shows.
Summary of the invention
It is an object of the invention to design a kind of wearable human walking movement and catch system, this system at back, crotch, hip joint, knee joint and ankle joint be respectively mounted sensor, and at sole, contact switch is installed, use chip to gather sensing data and with being sent to PC.The back of the body-hip differential technique is used to calculate pitching and the roll angle obtaining waist, in the data gathered, directly read pitching and roll angle, kneed luffing angle, the pitching of ankle joint and the roll angle of hip joint, thus directly obtain the data message of human body walking motion.
To achieve these goals, the technical solution used in the present invention is the human body walking motion capture system of a kind of Wearable, this system includes that back subsystem, crotch's subsystem, knee joint subsystem, ankle joint subsystem and vola system, knee joint and ankle joint subsystem include two the minute surface symmetric parts in left and right respectively.
Back subsystemSuch as figure 1Shown in, it is made up of back fixation plate (1) and the attitude heading reference system AHRS (2) being mounted above.By back fastening strap through back fixation plate (1), then attitude heading reference system AHRS (2) is fixed on the back of human body, measures the exercise data at back.
Crotch's subsystemSuch as figure 2WithFigure 3Shown in, it is responsible for measuring crotch and the exercise data of hip joint.Attitude heading reference system AHRS (4) is fixed in crotch's fixed plate (3), measures crotch's exercise data.Left hip roll upper connector (5) is connected with crotch's fixed plate (3) respectively with right hip roll upper connector (13), and can slidable adjustment left hip roll cradle head (7) and the right position of right hip roll cradle head (15) relatively.In left hip roll, connector (6) connects with left hip roll upper connector (5), and can the upper-lower position of slidable adjustment left hip roll cradle head (7) relatively.Left hip roll joint (7) is fixed above in left hip roll on connector (6), and lower section is connected with connector (8) under left hip roll.Under left hip roll, connector (8) connector (6) in left hip roll rotates, and left hip roll joint (7) just records the roll angle of left hip.Left hip pitching upper connector (9) is connected with connector (8) under left hip roll, and can the right position in slidable adjustment left hip pitching joint (10) relatively.Left hip pitching joint (10) is fixed above on left hip pitching upper connector (9), and lower section is connected with connector (11) under left hip pitching.Under left hip pitching, connector (11) rotates relative to left hip pitching upper connector (9), and left hip pitching joint (10) just records the angle of pitch of left hip.Under left hip pitching, connector (11) is fixed on left hip thigh fixture (12).In right hip roll, connector (14) connects with right hip roll upper connector (13), and can the upper-lower position of slidable adjustment right hip roll cradle head (15) relatively.Right hip roll joint (15) is fixed above in right hip roll on connector (14), and lower section is connected with connector (16) under right hip roll.Under right hip roll, connector (16) connector (14) in right hip roll rotates, and right hip roll joint (15) just records the roll angle of right hip.Right hip pitching upper connector (17) is connected with connector (16) under right hip roll, and can the right position in slidable adjustment right hip pitching joint (18) relatively.Right hip pitching joint (18) is fixed above on right hip pitching upper connector (17), and lower section is connected with connector (19) under right hip pitching.Under right hip pitching, connector (19) rotates relative to right hip pitching upper connector (17), and right hip pitching joint (18) just records the angle of pitch of right hip.Under right hip pitching, connector (19) is fixed on right hip thigh fixture (20).Belt through crotch's fixed plate (3), by the crotch at human body fixed above of crotch's subsystem.After allowing, fixing band is each passed through left hip thigh fixture (12) and right hip thigh fixture (20), crotch's subsystem is separately fixed on the thigh of left and right.
Knee joint subsystemSuch as figure 4WithFigure 5Shown in,Figure 4For left knee joint system,Figure 5For right knee joint system.For left knee joint system, left knee joint pitching joint (22) is connected with left knee joint thigh fixture (21) and left knee joint shank fixture (23) respectively.Left knee joint shank fixture (23) rotates relative to left knee joint thigh fixture (21), and left knee joint pitching joint (22) just records the angle of pitch of left knee joint.Fixing band through left knee joint thigh fixture (21), it is fixed on the thigh of left above-knee side.Fixing band through left knee joint shank fixture (23), it is fixed on the shank of left side at one's knees.For right knee joint system, right knee joint pitching joint (25) is connected with right knee joint thigh fixture (24) and right knee joint shank fixture (26) respectively.Right knee joint shank fixture (26) rotates relative to right knee joint thigh fixture (24), and right knee joint pitching joint (25) just records the angle of pitch of right knee joint.Fixing band through right knee joint thigh fixture (24), it is fixed on the thigh of right above-knee side.Fixing band through right knee joint shank fixture (26), it is fixed on the shank of right side at one's knees.
Ankle joint subsystemSuch as figure 6WithFigure 7Shown in,Figure 6For left ankle joint system,Figure 7For right ankle joint system.For left ankle joint system, left ankle roll joint (28) is connected with left ankle shank fixture (27) and left ankle connector (29) respectively.Left ankle connector (29) rotates relative to left ankle shank fixture (27), and left ankle roll joint (28) just records the roll angle of left ankle.Left ankle pitching joint (30) is connected with left ankle connector (29) and left ankle instep fixture (31) respectively.Left ankle instep fixture (31) rotates relative to left ankle connector (29), and left ankle pitching joint (30) just records the angle of pitch of left ankle.Fixing band through left ankle shank fixture (27), left ankle joint system is fixed on the shank above left ankle joint.Fixing band through left ankle instep fixture (31), left ankle joint system is fixed on left foot instep.For right ankle joint system, right ankle roll joint (33) is connected with right ankle shank fixture (32) and right ankle connector (34) respectively.Right ankle connector (34) rotates relative to right ankle shank fixture (32), and right ankle roll joint (33) just records the roll angle of right ankle.Right ankle pitching joint (35) is connected with right ankle connector (34) and right ankle instep fixture (36) respectively.Right ankle instep fixture (36) rotates relative to right ankle connector (34), and right ankle pitching joint (35) just records the angle of pitch of right ankle.Fixing band through right ankle shank fixture (32), right ankle joint system is fixed on the shank above right ankle joint.Fixing band through right ankle instep fixture (36), right ankle joint system is fixed on right crus of diaphragm instep.
Each joint in system aboveSuch as figure 8Shown in, potentiometer (37) is arranged in potentiometer fixed plate (38), then joint shaft (39) is arranged in the rotary shaft of potentiometer (37), finally joint shaft (39) is placed into joint overcoat (40) inside and has just been combined into the joint at each position in system.
Vola systemSuch as figure 9Shown in, in order to data are corresponding with walking, we choose three main impetus in each vola, then a contact switch is placed at each impetus, respectively contact switch (42), the left front contact switch of right crus of diaphragm (43) before contact switch (41), the right crus of diaphragm right side after contact switch (46), right crus of diaphragm before contact switch (44), the left front contact switch of left foot (45), the left foot right side after left foot.So impetus contacts with ground, and contact switch will close.Six impetus of attitudes different when people walks contact with ground respectively, are assured that the walking posture of tester according to the closure state of contact switch.
The design of electrical system of the present inventionSuch as figure 10Shown in, first, use chip to gather four angles of attitude heading reference system AHRS.For the data receiver of chip, when, after chip detection to start bit, starting to receive the data that attitude heading reference system AHRS sends.Data one one are saved in shift register, and after stopping position being detected, a character is received data and transfers in internal memory temporary.Carry ADC with chip and gather 10 potentiometric voltages, then collection voltage taken advantage of divided by input voltage 360 just will record voltage signal again and is converted into angle-data.The present invention arranges each channel sample repeatedly, Filtering Processing, removes the maximin of each passage, and takes average output.6 contact switch states are gathered with the 6 of chip I/O interfaces.With chip, collect 4 attitude heading reference system AHRS angles, 6 contact switch states and 10 potentiometer angles are sent to PC, PC receive data and preserves.
Compared with prior art, the invention have the advantages that
1, waist is different from other joints of human body, and it is a kind of soft joint, so the data of waist movement are difficult to directly gather.Native system uses indirectly mode to obtain: gathers human body back and the exercise data of crotch respectively, then two groups of data is done difference, just obtained the data of waist.
2, corresponding with walking for data, we choose three main impetus in each vola.Then a contact switch is placed at each impetus.So impetus contacts with ground, and contact switch will close.Six impetus of attitudes different when people walks contact with ground respectively, are assured that the walking posture of tester according to the closure state of contact switch.
3, catch system by the wearable human walking movement of the present invention, can directly measure angle-data when human lumbar joint, hip joint, knee joint and ankle motion, it is possible to obtain more conform to the data of human body walking motion.
Accompanying drawing explanation
Figure 1Back subsystemFigure；
Figure 2Crotch's subsystem backsightFigure；
Figure 3Crotch's subsystem forward sightFigure；
Figure 4The left knee joint system of knee joint subsystemFigure；
Figure 5The right knee joint system of knee joint subsystemFigure；
Figure 6The left ankle joint system of ankle joint subsystemFigure；
Figure 7The right ankle joint system of ankle joint subsystemFigure；
Figure 8The joint at each position of system assembles signalFigure；
Figure 9Vola subsystemFigure；
Figure 10Electric system principleFigure。
Figure 11Schematic block of the present inventionFigure。
In figurenull: 1-back fixation plate，2-attitude heading reference system AHRS，3-crotch fixed plate，4-attitude heading reference system AHRS，5-left hip roll upper connector，Connector in 6-left hip roll，7-left hip roll joint，Connector under 8-left hip roll，9-left hip pitching upper connector，10-left hip pitching joint，Connector under 11-left hip pitching，12-left hip thigh fixture，13-right hip roll upper connector，Connector in 14 right hip rolls，15-right hip roll joint，Connector under 16-right hip roll，17-right hip pitching upper connector，18-right hip pitching joint，Connector under 19-right hip pitching，20-right hip thigh fixture，21-left knee joint thigh fixture，22-left knee joint pitching joint，23-left knee joint shank fixture，24-right knee joint thigh fixture，25-right knee joint pitching joint，26-right knee joint shank fixture，27 left ankle shank fixtures，28-left ankle roll joint，29-left ankle connector，30-left ankle pitching joint，31-left ankle instep fixture，32-right ankle shank fixture，33-right ankle roll joint，34-right ankle connector，35-right ankle pitching joint，36-right ankle instep fixture，37-potentiometer，38-potentiometer installing plate，39-joint shaft，40-joint overcoat，Contact switch after 41-right crus of diaphragm，Contact switch before the 42-right crus of diaphragm right side，The left front contact switch of 43-right crus of diaphragm，Contact switch after 44-left foot，The left front contact switch of 45-left foot，Contact switch before the 46-left foot right side.
Detailed description of the invention
Below in conjunction withFigure 1~Figure 10The present invention is described in detail:
When experimenter dress seizure system naturally walk time, human body walking motion capture system does follow-up motion.The back fixation plate (1) of device is bound with tester back by back fastening strap, crotch's fixed plate (3) is bound with tester crotch by belt, left knee joint thigh fixture (21) is bound with tester's thigh by fixing band, left knee joint shank fixture (23) is bound with tester's shank by fixing band, right knee joint thigh fixture (24) is bound with tester's thigh by fixing band, right knee joint shank fixture (26) is bound with tester's shank by fixing band, left ankle shank fixture (27) is bound with tester's shank by fixing band, left ankle instep fixture (31) is bound with tester's foot by fixing band, right ankle shank fixture (32) is bound with tester's shank by fixing band, right ankle instep fixture (36) is bound with tester's foot by fixing band.When tester walks naturally, the attitude heading reference system AHRS (2) at back directly measures the angle of pitch and the roll angle at back, the attitude heading reference system AHRS (4) of crotch directly measures the angle of pitch and the roll angle of crotch, then the angle of pitch that back records is deducted the angle of pitch that crotch records and just obtains the angle of pitch of waist, the roll angle recorded at back deducts the roll angle that crotch records and just obtains the roll angle of waist, thus obtains pitching and the roll angle degrees of data of waist；The motion of the left lower limb of tester drives left hip roll joint (7) and the rotation of left hip pitching joint (10), the servo-actuated angle of pitch measuring left hip of potentiometer being arranged in joint and roll angle；The right lower limb motion of tester drives right hip roll joint (15) and the rotation of right hip pitching joint (18), the servo-actuated angle of pitch measuring right hip of potentiometer being arranged in joint and roll angle；The relative motion of tester's thigh and shank drives left knee joint pitching joint (22) and the rotation of right knee joint pitching joint (25), and the potentiometer tracking measurement being arranged in joint goes out the kneed angle of pitch；Left foot drives left ankle roll joint (28) and left ankle pitching joint (30) to rotate relative to the motion of left lower limb, and the potentiometer tracking measurement being arranged in joint goes out the angle of pitch and the roll angle of left ankle；Right crus of diaphragm drives right ankle roll joint (33) and right ankle pitching joint (35) to rotate relative to the motion of right lower limb, and the potentiometer tracking measurement being arranged in joint goes out the angle of pitch and the roll angle of right ankle.During after the left foot that vola is pasted, before contact switch (44), the left front contact switch of left foot (45), the left foot right side, after contact switch (46), right crus of diaphragm, before contact switch (41), the right crus of diaphragm right side, contact switch (42), the left front contact switch of right crus of diaphragm (43) are walked naturally along with tester, sole closes with contacting of ground.Chip gathers the back angle of pitch and roll angle, crotch's angle of pitch and roll angle, the angle of pitch of left hip joint and roll angle, the angle of pitch of right hip joint and roll angle, the left kneed angle of pitch, the right kneed angle of pitch, the angle of pitch of left ankle joint and roll angle, the angle of pitch of right ankle joint and roll angle, the quantity of state of 6 contact switches in vola.The data of collection are sent to PC by chip, receive data and preserve on PC.
Claims (2)
1. a wearable human walking movement catches system, it is characterised in that: this system at back,
Crotch, hip joint, knee joint and ankle joint are respectively mounted sensor, and install contact switch at sole,
Chip is used to gather sensing data and with being sent to PC；
This system includes back subsystem, crotch's subsystem, knee joint subsystem, ankle joint subsystem
Two the minute surface symmetric parts in left and right are included respectively with vola system, knee joint and ankle joint subsystem；
It is made up of back fixation plate (1) and the attitude heading reference system AHRS (2) being mounted above；
By back fastening strap through back fixation plate (1), then that attitude heading reference system AHRS (2) is solid
It is scheduled on the back of human body, measures the exercise data at back；
Attitude heading reference system AHRS (4) is fixed in crotch's fixed plate (3), measures crotch's fortune
Dynamic data；Left hip roll upper connector (5) and right hip roll upper connector (13) respectively with crotch
Fixed plate (3) connects, and can relative slidable adjustment left hip roll cradle head (7) and right hip horizontal stroke
The right position of rolling movable joint (15)；In left hip roll, connector (6) connects in left hip roll
Fitting (5) connects, and the upper-lower position of energy slidable adjustment left hip roll cradle head (7) relatively；
Left hip roll joint (7) is fixed above in left hip roll on connector (6), and lower section is horizontal with left hip
Roll down connector (8) to be connected；Connector (6) in the roll of connector (8) the most left hip under left hip roll
Rotating, left hip roll joint (7) just records the roll angle of left hip；Left hip pitching upper connector (9)
It is connected with connector (8) under left hip roll, and can slidable adjustment left hip pitching joint (10) relatively
Right position；Left hip pitching joint (10) is fixed above on left hip pitching upper connector (9),
Lower section is connected with connector (11) under left hip pitching；Connector (11) the most left hip under left hip pitching
Pitching upper connector (9) rotates, and left hip pitching joint (10) just records the angle of pitch of left hip；Left
Under hip pitching, connector (11) is fixed on left hip thigh fixture (12)；Right hip roll connects
Part (14) connects with right hip roll upper connector (13), and can slidable adjustment right hip roll relatively
The upper-lower position of cradle head (15)；Right hip roll joint (15) is fixed above in right hip roll
On connector (14), lower section is connected with connector (16) under right hip roll；Connect under right hip roll
Part (16) connector (14) in right hip roll rotates, and right hip roll joint (15) just records
The roll angle of right hip；Right hip pitching upper connector (17) is connected with connector (16) under right hip roll,
And the right position of energy slidable adjustment right hip pitching joint (18) relatively；Right hip pitching joint (18)
Fixed above on right hip pitching upper connector (17), lower section and connector (19) under right hip pitching
It is connected；Under right hip pitching, connector (19) rotates relative to right hip pitching upper connector (17), right hip
Pitching joint (18) just records the angle of pitch of right hip；Under right hip pitching, connector (19) is fixed on the right side
On hip thigh fixture (20)；Belt through crotch's fixed plate (3), by crotch's subsystem
Crotch at human body fixed above；After allowing fixing band be each passed through left hip thigh fixture (12) and
Right hip thigh fixture (20), is separately fixed at crotch's subsystem on the thigh of left and right；
For left knee joint system, left knee joint pitching joint (22) respectively with left knee joint thigh fixture (21)
It is connected with left knee joint shank fixture (23)；Left knee joint shank fixture (23) the most left knee joint thigh is fixed
Part (21) rotates, and left knee joint pitching joint (22) just records the angle of pitch of left knee joint；Fixing band is passed
Left knee joint thigh fixture (21), is fixed on the thigh of left above-knee side；Fixing band is little through left knee joint
Lower limb fixture (23), is fixed on the shank of left side at one's knees；For right knee joint system, right knee joint is bowed
Face upward joint (25) to be connected with right knee joint thigh fixture (24) and right knee joint shank fixture (26) respectively；
Right knee joint shank fixture (26) rotates relative to right knee joint thigh fixture (24), right knee joint pitching joint (25)
Just record the angle of pitch of right knee joint；Fixing band through right knee joint thigh fixture (24), it is fixed on right knee joint
On the thigh of top；Fixing band through right knee joint shank fixture (26), it is fixed on right side at one's knees
On shank；
For left ankle joint system, left ankle roll joint (28) respectively with left ankle shank fixture (27)
It is connected with left ankle connector (29)；Left ankle connector (29) the most left ankle shank fixture (27)
Rotating, left ankle roll joint (28) just records the roll angle of left ankle；Left ankle pitching joint (30) point
It is not connected with left ankle connector (29) and left ankle instep fixture (31)；Left ankle instep fixture (31)
Rotating relative to left ankle connector (29), left ankle pitching joint (30) just records the angle of pitch of left ankle；
Fixing band through left ankle shank fixture (27), left ankle joint system is fixed on left ankle joint
On the shank of side；Fixing band through left ankle instep fixture (31), left ankle joint system is fixed
On left foot instep；For right ankle joint system, right ankle roll joint (33) respectively with right ankle shank
Fixture (32) is connected with right ankle connector (34)；Right ankle connector (34) the rightest ankle shank
Fixture (32) rotates, and right ankle roll joint (33) just records the roll angle of right ankle；Right ankle pitching
Joint (35) is connected with right ankle connector (34) and right ankle instep fixture (36) respectively；Right ankle
Instep fixture (36) rotates relative to right ankle connector (34), and right ankle pitching joint (35) is just surveyed
Obtain the angle of pitch of right ankle；Fixing band through right ankle shank fixture (32), by right ankle joint system
It is fixed on the shank above right ankle joint；Fixing band through right ankle instep fixture (36), will
Right ankle joint system is fixed on right crus of diaphragm instep；
Potentiometer (37) is arranged in potentiometer fixed plate (38), is then pacified by joint shaft (39)
It is contained in the rotary shaft of potentiometer (37), finally joint shaft (39) is placed into joint overcoat (40)
Inside has just been combined into the joint at each position in system；
Three impetus are chosen in each vola, then place a contact switch at each impetus, point
Wei contact switch before contact switch (44), the left front contact switch of left foot (45), the left foot right side after left foot
(46), contact switch (42), the left front contact of right crus of diaphragm before contact switch (41), the right crus of diaphragm right side after right crus of diaphragm
Switch (43)；So impetus contacts with ground, and contact switch will close；Difference when people walks
Six impetus of attitude contact with ground respectively, determine tester according to the closure state of contact switch
Walking posture；
Chip is used to gather four angles of attitude heading reference system AHRS；Data for chip connect
Receive, when, after chip detection to start bit, starting to receive the data that attitude heading reference system AHRS sends；
Data one one are saved in shift register, and after stopping position being detected, a character is received
Transfer in internal memory temporary to data；Carry ADC with chip and gather 10 potentiometric voltages,
Then collection voltage taken advantage of divided by input voltage 360 just will record voltage signal again and is converted into angle number
According to；Each channel sample is set repeatedly, Filtering Processing, remove the maximin of each passage, and
Take average output；6 contact switch states are gathered with the 6 of chip I/O interfaces；To adopt with chip
4 attitude heading reference system AHRS angles, 6 contact switch states and 10 potentiometers that collection arrives
Angle is sent to PC, receives data and preserve on PC.
A kind of wearable human walking movement the most according to claim 1 catches system, and it is special
Levy and be: when experimenter dress seizure system naturally walk time, human body walking motion capture system do with
Dynamic motion；The back fixation plate (1) of device is bound with tester back by back fastening strap, hip
Portion's fixed plate (3) is bound with tester crotch by belt, and left knee joint thigh fixture (21) is passed through
Fixing band is bound with tester's thigh, and left knee joint shank fixture (23) is little with tester by fixing band
Lower limb is bound, and right knee joint thigh fixture (24) is bound with tester's thigh by fixing band, right knee joint shank
Fixture (26) is bound with tester's shank by fixing band, and left ankle shank fixture (27) is passed through
Fixing band is bound with tester's shank, and left ankle instep fixture (31) is by fixing band and tester's foot
Binding, right ankle shank fixture (32) is by fixing band and the binding of tester's shank, and right ankle instep is solid
Locking member (36) is bound with tester's foot by fixing band；When tester walks naturally, the boat at back
Appearance reference system AHRS (2) directly measures the angle of pitch and the roll angle at back, the navigation attitude ginseng of crotch
Test system AHRS (4) directly measures the angle of pitch and the roll angle of crotch, is then recorded at back
The angle of pitch deducts the angle of pitch that crotch records and just obtains the angle of pitch of waist, the roll angle recorded at back
Deduct the roll angle that crotch records and just obtain the roll angle of waist, thus obtain waist pitching and
Roll angle degrees of data；The motion of the left lower limb of tester drives left hip roll joint (7) and left hip pitching
The rotation in joint (10), the potentiometer tracking measurement being arranged in joint goes out the angle of pitch and the horizontal stroke of left hip
Roll angle；The right lower limb motion of tester drives right hip roll joint (15) and right hip pitching joint (18)
Rotation, the angle of pitch of the right hip of potentiometer tracking measurement being arranged in joint and roll angle；Tester
The relative motion of thigh and shank drives left knee joint pitching joint (22) and right knee joint pitching joint (25)
Rotating, the potentiometer tracking measurement being arranged in joint goes out the kneed angle of pitch；Left foot is relatively with left
Lower limb motion drives left ankle roll joint (28) and left ankle pitching joint (30) to rotate, and is arranged on joint
In potentiometer tracking measurement go out the angle of pitch and the roll angle of left ankle；Right crus of diaphragm drives with the motion of right lower limb relatively
Right ankle roll joint (33) and right ankle pitching joint (35) rotate, the potentiometer being arranged in joint
Tracking measurement goes out the angle of pitch and the roll angle of right ankle；Contact switch (44) after the left foot that vola is pasted,
Contact switch (41) after contact switch (46), right crus of diaphragm before the left front contact switch of left foot (45), the left foot right side,
Contact switch (42) before the right crus of diaphragm right side, the left front contact switch of right crus of diaphragm (43) are walked naturally along with tester
Middle sole closes with contacting of ground；Chip gathers the back angle of pitch and roll angle, crotch's angle of pitch
And roll angle, the angle of pitch of left hip joint and roll angle, the angle of pitch of right hip joint and roll angle, left
The kneed angle of pitch, the right kneed angle of pitch, the angle of pitch of left ankle joint and roll angle, right ankle
The angle of pitch in joint and roll angle, the quantity of state of 6 contact switches in vola；The data that chip will gather
It is sent to PC, PC receives data and preserves.
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