CN105708469B - Wearable human walking movement captures system - Google Patents
Wearable human walking movement captures system Download PDFInfo
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- CN105708469B CN105708469B CN201610029632.XA CN201610029632A CN105708469B CN 105708469 B CN105708469 B CN 105708469B CN 201610029632 A CN201610029632 A CN 201610029632A CN 105708469 B CN105708469 B CN 105708469B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- 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
- A61B5/6835—Supports or holders, e.g., articulated arms
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
- A61B2562/02—Details of sensors specially adapted for in-vivo measurements
Abstract
A kind of wearable human walking movement captures system, belongs to Design of Mechanical Structure and automation field.Wearable human walking movement captures system and installs sensor respectively in back, crotch, hip joint, knee joint and ankle-joint, and contact-making switch is installed in sole, sensing data is gathered using chip and with PC is sent to, so as to directly obtain the data message of human body walking movement.The joint angles of the present invention are gathered using potentiometer, can directly obtain the angle-data in each joint.Important function of the waist in people's walking movement is considered, using back of the body hip differential technique acquisition waist data.Sampled data from external environment and experimental place influence.The data that are gathered of the present invention can show in people's walking movement waist with the motion state of lower part.
Description
Technical field
The present invention devises a kind of wearable human walking movement and captures system, belongs to Design of Mechanical Structure and automatically controls
Field.
Background technology
From the twentieth century later stage, both at home and abroad oneself have part research institution wearable type human body information acquisition system development,
Correlative study has been done in the acquisition of movable information and the analysis of gait feature etc., mainly there is South Korea's Han Yang University and domestic Kazakhstan
Your shore engineering university etc..
South Korea's Han Yang University has developed a kind of system for human body lower limbs exercise data acquisition and gait analysis.The system
The photoelectric encoder of leg is servo-actuated by wearable type, the force-measuring shoes and related software being connected with servo-actuated leg by ankle-joint form.In people
Body lower extremity movement state analysis field proposes a kind of gait point for integrating servo-actuated leg joint exercise data and force-measuring shoes pressure data
Analysis method.Its principle is that motion state based on human body lower limbs leg and foot put forth effort Site characterization and define gait descriptor format,
And the sensing data of gait descriptor format and servo-actuated leg and the mapping relations of foot pressure sensing data are established, when wearer walks
The current posture of wearer is identified by sensor measured data and the comparison of gait descriptor format during movement.Experiment shows that this is
System can obtain the exercise data of servo-actuated leg and the pressure data of force-measuring shoes；Simultaneously, additionally it is possible to analyze wearer in walking movement
Gait feature under state.
The data acquisition of wearable type lower extremity movement and motion analysis system that Harbin Engineering University develops.It is servo-actuated by two
Leg, force-measuring shoes, data collecting system and gait analysis software composition.In terms of the research of lower extremity movement characteristic, propose a kind of
The analysis method of gait is decomposed based on gait phase.Its principle is according to the periodically that lower limb are complete at one of human body walking movement
Whole gait cycle is subdivided into 7 gait phases, and defines corresponding characteristic value, can pass through characteristic value and plantar pressure data
Compare the current posture of identification wearer.Developed lower limb walking movement data acquisition, analysis system can obtain servo-actuated leg
Exercise data and plantar pressure data, and pass through the gait characteristics of software analysis lower limb.
In addition, the work of the human body lower limbs gait feature analysis of also some other institutions conducts based on sensing data
Make.As industrial technology institute of Swiss Confederation proposes a kind of gait analysis based on plantar pressure data and foot angular velocity of satellite motion data
Method, wherein plantar pressure data are detected by force-measuring shoes, and the angular speed of foot walking movement is by being placed in the gyro in heel of a shoe portion
Instrument obtains, and the gait feature of measured is analyzed by the comparison of gathered data and human body lower limbs gait pattern.Chinese science and technology is big
It learns the gait device for testing and analyzing developed to be made of force-measuring shoes, information acquisition system and gait analysis software, can complete to be tested
Person's Method of Gait Feature Extraction is simultaneously compared with normal gait.The information gathering of the information acquisition system of these correlative studys is with vola
Based on pressure, the walking movement data of less acquisition joint of lower extremity, the more acquisition and analysis without waist data.
In the recent period, domestic and international research institution is in order to make the walking motion of robot more personalize, in design robot all
Add waist joint.Such as " the small secondary youth " of JSK robots of Tokyo Univ Japan lab design, this robot compares previous
Robot, " small secondary youth's " is unique in that he has the skeletal structure similar with the mankind, there is artificial spine, can be to not Tongfang
To bending, the actions such as bend over, turn round are made, it is more more natural than other machines human action.Therefore in the design of motion capture system,
It adds in waist joint degree of freedom and shows particularly important.
The content of the invention
It is an object of the invention to design a kind of wearable human walking movement to capture system, the system back, crotch,
Hip joint, knee joint and ankle-joint install sensor respectively, and install contact-making switch in sole, and sensor number is gathered using chip
According to and with being sent to PC.Pitching and the roll angle for obtaining waist are calculated using the back of the body-hip differential technique, in the data of acquisition directly
The pitching of hip joint and roll angle, kneed pitch angle, the pitching of ankle-joint and roll angle are read, so as to directly obtain
Obtain the data message of human body walking movement.
To achieve these goals, the technical solution adopted by the present invention is a kind of motion-captured system of wearable human body walking
System, the system include back subsystem, crotch's subsystem, knee joint subsystem, ankle-joint subsystem and vola system, knee joint
Include the two minute surface symmetric parts in left and right respectively with ankle-joint subsystem.
Back subsystem is as shown in Figure 1, by back fixation plate (1) and the attitude heading reference system AHRS (2) being mounted above
Composition.Back fastening strap is passed through into back fixation plate (1), attitude heading reference system AHRS (2) is then fixed on to the back of human body,
Measure the exercise data at back.
As shown in Figures 2 and 3, it is responsible for measuring the exercise data of crotch and hip joint to crotch's subsystem.Navigation attitude is referred to
System AHRS (4) is fixed in crotch's fixed plate (3), measurement crotch exercise data.Left hip roll upper connector (5) is horizontal with right hip
Connector (13) is rolled on to be connected with crotch's fixed plate (3) respectively, and can be with respect to the left hip roll cradle head (7) of slidable adjustment
With the right position of right hip roll cradle head (15).Connector (6) and left hip roll upper connector (5) phase in left hip roll
It connects, and can be with respect to the upper-lower position of the left hip roll cradle head (7) of slidable adjustment.It is fixed above left hip roll joint (7)
In left hip roll on connector (6), lower section is connected with connector (8) under left hip roll.Connector (8) is opposite under left hip roll
Connector (6) rotates in left hip roll, and left hip roll joint (7) just measures the roll angle of left hip.Left hip pitching upper connector (9)
It is connected with connector (8) under left hip roll, and can be with respect to the right position of the left hip pitching joint (10) of slidable adjustment.Left hip
It is fixed on above pitching joint (10) on left hip pitching upper connector (9), lower section is connected with connector (11) under left hip pitching.It is left
Connector (11) is rotated relative to left hip pitching upper connector (9) under hip pitching, and left hip pitching joint (10) just measures bowing for left hip
The elevation angle.Connector (11) is fixed on left hip thigh fixing piece (12) under left hip pitching.Connector (14) and the right side in right hip roll
Hip roll upper connector (13) connects, and can be with respect to the upper-lower position of the right hip roll cradle head (15) of slidable adjustment.It is right
It is fixed on above hip roll joint (15) in right hip roll on connector (14), lower section and connector (16) phase under right hip roll
Even.Connector (16) connector (14) in right hip roll rotates under right hip roll, and right hip roll joint (15) just measures the right side
The roll angle of hip.Right hip pitching upper connector (17) is connected with connector (16) under right hip roll, and opposite can slide and adjust
Save the right position of right hip pitching joint (18).Right hip pitching upper connector (17) is fixed on above right hip pitching joint (18)
On, lower section is connected with connector (19) under right hip pitching.The relatively right hip pitching upper connector of connector (19) under right hip pitching
(17) rotate, right hip pitching joint (18) just measures the pitch angle of right hip.It is big to be fixed on right hip for connector (19) under right hip pitching
On leg fixing piece (20).Waistband through crotch's fixed plate (3), the crotch of human body will be fixed on above crotch's subsystem.It allows
Fixed band is each passed through left hip thigh fixing piece (12) and right hip thigh fixing piece (20) afterwards, crotch's subsystem is fixed respectively
On the thigh of left and right.
As shown in Figure 4 and Figure 5, Fig. 4 is left knee joint system to knee joint subsystem, and Fig. 5 is right knee joint system.For a left side
Knee joint system, left knee pitching joint (22) are connected respectively with left knee thigh fixing piece (21) and left knee shank fixing piece (23).
Left knee shank fixing piece (23) rotates relative to left knee thigh fixing piece (21), and left knee pitching joint (22) just measures the pitching of left knee
Angle.Fixed band through left knee thigh fixing piece (21), it is fixed on the thigh of left above-knee side.Fixed band is passed through left knee shank
Fixing piece (23) is fixed on the left shank of side at one's knees.For right knee joint system, right knee pitching joint (25) respectively with right knee
Thigh fixing piece (24) is connected with right knee shank fixing piece (26).The right relatively right knee thigh fixing piece of knee shank fixing piece (26)
(24) rotate, right knee pitching joint (25) just measures the pitch angle of right knee.Fixed band through right knee thigh fixing piece (24), Gu
It is scheduled on the thigh of right above-knee side.Fixed band through right knee shank fixing piece (26), it is fixed on the right shank of side at one's knees.
As shown in Figure 6 and Figure 7, Fig. 6 is left ankle-joint system to ankle-joint subsystem, and Fig. 7 is right ankle-joint system.For a left side
Ankle-joint system, left ankle roll joint (28) are connected respectively with left ankle shank fixing piece (27) and left ankle connector (29).Left ankle
Connector (29) is rotated relative to left ankle shank fixing piece (27), and left ankle roll joint (28) just measures the roll angle of left ankle.Left ankle
Pitching joint (30) is connected respectively with left ankle connector (29) and left ankle instep fixing piece (31).Left ankle instep fixing piece (31) phase
Left ankle connector (29) is rotated, left ankle pitching joint (30) just measures the pitch angle of left ankle.Fixed band is passed through left ankle shank
Left ankle-joint system is fixed on the shank above left ankle-joint by fixing piece (27).Fixed band is fixed through left ankle instep
Left ankle-joint system is fixed on left foot instep by part (31).For right ankle-joint system, right ankle roll joint (33) respectively with
Right ankle shank fixing piece (32) is connected with right ankle connector (34).The relatively right ankle shank fixing piece (32) of right ankle connector (34) turns
Dynamic, right ankle roll joint (33) just measures the roll angle of right ankle.Right ankle pitching joint (35) respectively with right ankle connector (34) and
Right ankle instep fixing piece (36) is connected.Right ankle instep fixing piece (36) rotates relative to right ankle connector (34), right ankle pitching joint
(35) pitch angle of right ankle is just measured.Fixed band through right ankle shank fixing piece (32), right ankle-joint system is fixed on the right side
On shank above ankle-joint.Fixed band through right ankle instep fixing piece (36), right ankle-joint system is fixed on right crus of diaphragm foot
On face.
Each joint in system above is as shown in figure 8, potentiometer (37) is mounted in potentiometer fixed plate (38), then
Joint shaft (39) is mounted in the rotation axis of potentiometer (37), it is internal that joint shaft (39) finally is placed into joint housing (40)
Just it has been combined into the joint at each position in system.
For vola system as shown in figure 9, in order to which data and walking are corresponding, we choose three masters in each vola
Impetus is wanted, then places a contact-making switch in each impetus, is respectively contact-making switch (44) after left foot, left foot is left front connects
Touch switch (45), contact-making switch (42), right crus of diaphragm before contact-making switch (41), the right crus of diaphragm right side after contact-making switch (46), right crus of diaphragm before the left foot right side
Left front contact-making switch (43).So impetus is contacted with ground, and contact-making switch will be closed.People's posture six different when walking
Impetus contacts respectively with ground, and the walking posture of tester is assured that according to the closure state of contact-making switch.
The design of electrical system of the present invention is as shown in Figure 10, first, uses the four of chip acquisition attitude heading reference system AHRS
A angle.For the data receiver of chip, after chip detects start bit, start to receive what attitude heading reference system AHRS was sent
Data.Data one one are saved in shift register, and after detecting stop position, a character is received data transfer
It is kept in into memory.ADC is carried with chip to gather 10 potentiometric voltages, then by collection voltages divided by input voltage again
Multiply 360 and will just measure voltage signal and be converted into angle-data.The each channel sample of present invention setting is multiple, and filtering process is removed
The maximin of each passage, and average is taken to export.6 contact-making switch states are gathered with 6 I/O interfaces of chip.Use core
Collect 4 attitude heading reference system AHRS angles, 6 contact-making switch states and 10 potentiometer angles are sent to PC by piece,
Data are received on PC and are preserved.
Compared with prior art, the present invention has the following advantages：
1st, waist is different from other joints of human body, it is a kind of soft joint, so the data of waist movement are not easy directly
Acquisition.The system is obtained using indirect mode：Human body back and the exercise data of crotch are gathered respectively, then by two groups of data
It makes the difference, has just obtained the data of waist.
2nd, in order to which data and walking are corresponding, we choose three main impetus in each vola.Then exist
Each impetus places a contact-making switch.So impetus is contacted with ground, and contact-making switch will be closed.It is different when people walks
Six impetus of posture contacted respectively with ground, the walking appearance of tester is assured that according to the closure state of contact-making switch
State.
3rd, system is captured by the wearable human walking movement of the present invention, can directly measures human body waist joint, hip closes
Angle-data when section, knee joint and ankle motion can obtain the data for being more in line with human body walking movement.
Description of the drawings
Fig. 1 backs subsystem figure；
Fig. 2 crotch subsystem rearview；
Fig. 3 crotch subsystem front view；
The left knee joint system diagram of Fig. 4 knee joint subsystems；
The right knee joint system diagram of Fig. 5 knee joint subsystems；
The left ankle-joint system diagram of Fig. 6 ankle-joint subsystems；
The right ankle-joint system diagram of Fig. 7 ankle-joint subsystems；
The joint assembling schematic diagram at each position of Fig. 8 systems；
Fig. 9 volas subsystem figure；
Figure 10 electric system schematic diagrams.
Figure 11 schematic block diagrams of the present invention.
In figure：1- back fixation plates, 2- attitude heading reference systems AHRS, 3- crotch fixed plate, 4- attitude heading reference system AHRS,
The left hip roll upper connectors of 5-, connector in the left hip rolls of 6-, the left hip roll joints of 7-, connector under the left hip rolls of 8-, 9- are left
Hip pitching upper connector, the left hip pitching joints of 10-, connector under the left hip pitching of 11-, the left hip thigh fixing pieces of 12-, the right hips of 13-
Roll upper connector, connector in 14 right hip rolls, the right hip roll joints of 15-, connector under the right hip rolls of 16-, the right hips of 17- are bowed
Face upward upper connector, the right hip pitching joints of 18-, connector under the right hip pitching of 19-, the right hip thigh fixing pieces of 20-, the left knee thighs of 21-
Fixing piece, the left knee pitching joints of 22-, the left knee shank fixing pieces of 23-, the right knee thigh fixing pieces of 24-, the right knee pitching joints of 25-,
The right knee shank fixing pieces of 26-, 27 left ankle shank fixing pieces, the left ankle roll joints of 28-, the left ankle connectors of 29-, the left ankle pitching of 30-
Joint, the left ankle instep fixing pieces of 31-, the right ankle shank fixing pieces of 32-, the right ankle roll joints of 33-, the right ankle connectors of 34-, 35- are right
Ankle pitching joint, the right ankle instep fixing pieces of 36-, 37- potentiometers, 38- potentiometer installing plates, 39- joint shafts, 40- joints housing,
Contact-making switch after 41- rights crus of diaphragm, contact-making switch before the 42- rights crus of diaphragm right side, the left front contact-making switch of 43- rights crus of diaphragm, contact-making switch after 44- left foots,
The left front contact-making switch of 45- left foots, contact-making switch before the 46- left foots right side.
Specific embodiment
With reference to Fig. 1~Figure 10, the present invention is described in detail：
When experimenter, which dresses capture system, to walk naturally, human body walking motion capture system does follow-up motion.Device
Back fixation plate (1) is bound by back fastening strap and tester back, and crotch's fixed plate (3) passes through waistband and tester crotch
Binding, left knee thigh fixing piece (21) are bound by fixed band with tester's thigh, and left knee shank fixing piece (23) passes through fixation
Band is bound with tester's shank, and right knee thigh fixing piece (24) is bound by fixed band with tester's thigh, and right knee shank is fixed
Part (26) is bound by fixed band with tester's shank, and left ankle shank fixing piece (27) is tied up by fixed band with tester's shank
Fixed, left ankle instep fixing piece (31) is bound by fixed band and tester's foot, right ankle shank fixing piece (32) by fixed band with
Tester's shank is bound, and right ankle instep fixing piece (36) is bound by fixed band with tester's foot.When tester walks naturally,
The attitude heading reference system AHRS (2) at back directly measures the pitch angle and roll angle at back, the attitude heading reference system AHRS of crotch
(4) pitch angle and roll angle of crotch are directly measured, the pitch angle for then measuring back subtracts pitch angle that crotch measures just
The pitch angle of waist is obtained, the roll angle that back is measured subtracts the roll angle that the roll angle that crotch measures just obtains waist, this
Sample just obtains the pitching of waist and roll angle data；The movement of the left leg of tester drives left hip roll joint (7) and a left side
The rotation in hip pitching joint (10), the potentiometer in joint be servo-actuated it is measurable go out left hip pitch angle and roll angle；It surveys
The right leg movement of examination person drives the rotation in right hip roll joint (15) and right hip pitching joint (18), the current potential in joint
Meter is servo-actuated the pitch angle and roll angle of measurable right hip；The relative motion of tester's thigh and shank drives left knee pitching joint
(22) and the rotation in right knee pitching joint (25), the potentiometer tracking measurement in joint go out kneed pitch angle；It is left
Foot drives left ankle roll joint (28) and left ankle pitching joint (30) to rotate relative to the movement of left leg, the current potential in joint
Meter tracking measurement goes out the pitch angle and roll angle of left ankle；Opposite moved with right leg of right crus of diaphragm drives right ankle roll joint (33) and right ankle
Pitching joint (35) rotates, and the potentiometer tracking measurement in joint goes out the pitch angle and roll angle of right ankle.It pastes in vola
Left foot after contact-making switch after contact-making switch (46), right crus of diaphragm before contact-making switch (44), the left front contact-making switch of left foot (45), the left foot right side
(41), sole and ground during contact-making switch (42), the left front contact-making switch of right crus of diaphragm (43) are walked naturally with tester before the right crus of diaphragm right side
Contact and be closed.Chip gathers back pitch angle and roll angle, crotch's pitch angle and roll angle, the pitch angle of left hip joint and
Roll angle, the pitch angle and roll angle of right hip joint, left kneed pitch angle, right kneed pitch angle, left ankle-joint
Pitch angle and roll angle, the pitch angle and roll angle of right ankle-joint, the quantity of state of 6 contact-making switches in vola.Chip is by acquisition
Data sending receives data and is preserved on PC to PC.
Claims (2)
1. a kind of wearable human walking movement captures system, it is characterised in that：The system is closed in back, crotch, hip joint, knee
Section and ankle-joint install sensor respectively, and install contact-making switch in sole, sensing data is gathered using chip and be sent to
PC；
The system includes back subsystem, crotch's subsystem, knee joint subsystem, ankle-joint subsystem and vola system, and knee closes
Section and ankle-joint subsystem include the two minute surface symmetric parts in left and right respectively；
It is made of back fixation plate (1) and the attitude heading reference system AHRS (2) being mounted above；Back fastening strap is passed through into back
Attitude heading reference system AHRS (2) is then fixed on the back of human body by fixed plate (1), measures the exercise data at back；
Attitude heading reference system AHRS (4) is fixed in crotch's fixed plate (3), measurement crotch exercise data；Connect in left hip roll
Fitting (5) is connected with right hip roll upper connector (13) with crotch's fixed plate (3) respectively, and can the opposite left hip horizontal stroke of slidable adjustment
Rolling movable joint (7) and the right position of right hip roll cradle head (15)；In left hip roll on connector (6) and left hip roll
Connector (5) connects, and the upper-lower position of the left hip roll cradle head (7) of the opposite slidable adjustment of energy；Left hip roll, which rotates, closes
It is fixed on above section (7) in left hip roll on connector (6), 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 cradle head (7) just measures the roll angle of left hip；It is left
Hip pitching upper connector (9) is connected with connector (8) under left hip roll, and can the left hip pitching joint (10) of opposite slidable adjustment
Right position；It is fixed on above left hip pitching joint (10) on left hip pitching upper connector (9), lower section under left hip pitching with connecting
Fitting (11) is connected；Connector (11) is rotated relative to left hip pitching upper connector (9) under left hip pitching, left hip pitching joint (10)
Just measure the pitch angle of left hip；Connector (11) is fixed on left hip thigh fixing piece (12) under left hip pitching；In right hip roll
Connector (14) connects with right hip roll upper connector (13), and the right hip roll cradle head (15) of the opposite slidable adjustment of energy
Upper-lower position；It is fixed on above right hip roll cradle head (15) in right hip roll on connector (14), lower section and right hip roll
Lower connector (16) is connected；Connector (16) connector (14) in right hip roll rotates under right hip roll, and right hip roll turns
Movable joint (15) just measures 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 the right hip pitching joint (18) of the opposite slidable adjustment of energy；Right hip is fixed on above right hip pitching joint (18) to bow
It faces upward on upper connector (17), lower section is connected with connector (19) under right hip pitching；The relatively right hip of connector (19) under right hip pitching
Pitching upper connector (17) rotates, and right hip pitching joint (18) just measures the pitch angle of right hip；Connector (19) under right hip pitching
It is fixed on right hip thigh fixing piece (20)；Waistband through crotch's fixed plate (3), people will be fixed on above crotch's subsystem
The crotch of body；Then fixed band is each passed through left hip thigh fixing piece (12) and right hip thigh fixing piece (20), by crotch's
System is separately fixed on the thigh of left and right；
For left knee joint system, left knee pitching joint (22) respectively with left knee thigh fixing piece (21) and left knee shank fixing piece
(23) it is connected；Left knee shank fixing piece (23) rotates relative to left knee thigh fixing piece (21), and left knee pitching joint (22) just measures
The pitch angle of left knee；Fixed band through left knee thigh fixing piece (21), it is fixed on the thigh of left above-knee side；Fixed band is worn
Left knee shank fixing piece (23) is crossed, is fixed on the left shank of side at one's knees；For right knee joint system, right knee pitching joint (25)
It is connected respectively with right knee thigh fixing piece (24) and right knee shank fixing piece (26)；The right relatively right knee of knee shank fixing piece (26) is big
Leg fixing piece (24) rotates, and right knee pitching joint (25) just measures the pitch angle of right knee；Fixed band is fixed through right knee thigh
Part (24) is fixed on the thigh of right above-knee side；Fixed band through right knee shank fixing piece (26), right side at one's knees is fixed on
On shank；
For left ankle-joint system, left ankle roll joint (28) respectively with left ankle shank fixing piece (27) and left ankle connector (29)
It is connected；Left ankle connector (29) rotates relative to left ankle shank fixing piece (27), and left ankle roll joint (28) just measures the horizontal stroke of left ankle
Roll angle；Left ankle pitching joint (30) is connected respectively with left ankle connector (29) and left ankle instep fixing piece (31)；Left ankle instep is consolidated
Determine part (31) to rotate relative to left ankle connector (29), left ankle pitching joint (30) just measures the pitch angle of left ankle；Fixed band is worn
Left ankle shank fixing piece (27) is crossed, left ankle-joint system is fixed on the shank above left ankle-joint；Fixed band is passed through a left side
Left ankle-joint system is fixed on left foot instep by ankle instep fixing piece (31)；For right ankle-joint system, right ankle roll joint
(33) it is connected respectively with right ankle shank fixing piece (32) and right ankle connector (34)；The right relatively right ankle shank of ankle connector (34) is consolidated
Determine part (32) rotation, right ankle roll joint (33) just measures the roll angle of right ankle；Right ankle pitching joint (35) connects respectively with right ankle
Fitting (34) is connected with right ankle instep fixing piece (36)；Right ankle instep fixing piece (36) rotates relative to right ankle connector (34), right
Ankle pitching joint (35) just measures the pitch angle of right ankle；Fixed band through right ankle shank fixing piece (32), by right ankle-joint system
System is fixed on the shank above right ankle-joint；Fixed band through right ankle instep fixing piece (36), right ankle-joint system is consolidated
It is scheduled on right crus of diaphragm instep；
Potentiometer (37) is mounted in potentiometer fixed plate (38), and joint shaft (39) is then mounted on to the rotation of potentiometer (37)
On axis, joint shaft (39) is finally placed into the joint that each position in system has just been combined into inside joint housing (40)；
Three impetus are chosen in each vola, then place a contact-making switch in each impetus, are respectively contacted after left foot
Contact-making switch (41), right crus of diaphragm are right after contact-making switch (46), right crus of diaphragm before switch (44), the left front contact-making switch of left foot (45), the left foot right side
Preceding contact-making switch (42), the left front contact-making switch of right crus of diaphragm (43)；So impetus is contacted with ground, and contact-making switch will be closed；People
Different six impetus of posture contact respectively with ground during walking, and the row of tester is determined according to the closure state of contact-making switch
Walk posture；
Use four angles of chip acquisition attitude heading reference system AHRS；For the data receiver of chip, when chip has detected
Behind beginning position, start to receive the data that attitude heading reference system AHRS is sent；Data one one are saved in shift register, inspection
After measuring stop position, a character finishes receiving, and the character is transferred in memory and is kept in；ADC is carried with chip to gather
Then it is angled will just to be measured voltage signal conversion by 10 potentiometric voltages multiplied by 360 for collection voltages divided by input voltage
Data；Set each channel sample multiple, filtering process removes the maximin of each passage, and average is taken to export；Use core
6 I/O interfaces of piece gather 6 contact-making switch states；With chip by collect 4 attitude heading reference system AHRS angles, 6
Contact-making switch state and 10 potentiometer angles are sent to PC, and data are received on PC and are preserved.
2. a kind of wearable human walking movement according to claim 1 captures system, it is characterised in that：When experimenter wears
When wearing capture system and walking naturally, human body walking motion capture system does follow-up motion；The back fixation plate (1) of device passes through the back of the body
Portion fixes band and is bound with tester back, and crotch's fixed plate (3) is bound by waistband and tester crotch, left knee thigh fixing piece
(21) to be bound by fixed band with tester's thigh, left knee shank fixing piece (23) is bound by fixed band with tester's shank,
Right knee thigh fixing piece (24) is bound by fixed band with tester's thigh, and right knee shank fixing piece (26) passes through fixed band and survey
Examination person's shank is bound, and left ankle shank fixing piece (27) is bound by fixed band with tester's shank, left ankle instep fixing piece (31)
It is bound by fixed band with tester's foot, right ankle shank fixing piece (32) is bound by fixed band with tester's shank, right ankle foot
Face fixing piece (36) is bound by fixed band with tester's foot；When tester walks naturally, the attitude heading reference system at back
AHRS (2) directly measures the pitch angle and roll angle at back, and attitude heading reference system AHRS (4) the directly measurement crotch of crotch bows
The elevation angle and roll angle, the pitch angle for then measuring back subtract the pitch angle that the pitch angle that crotch measures just obtains waist, will
The roll angle that back measures subtracts the roll angle that the roll angle that crotch measures just obtains waist, thus obtains the pitching of waist
With roll angle data；The movement of the left leg of tester drives left hip roll cradle head (7) and left hip pitching joint (10)
It rotates, the potentiometer tracking measurement in joint goes out the pitch angle and roll angle of left hip；The right leg movement of tester drives
Right hip roll cradle head (15) and the rotation in right hip pitching joint (18), the right hip of potentiometer tracking measurement in joint
Pitch angle and roll angle；The relative motion of tester's thigh and shank drives left knee pitching joint (22) and right knee pitching joint
(25) rotation, the potentiometer tracking measurement in joint go out kneed pitch angle；Left foot is opposite to move band with left leg
It moves left ankle roll joint (28) and left ankle pitching joint (30) rotates, the potentiometer tracking measurement in joint goes out left ankle
Pitch angle and roll angle；Right crus of diaphragm drives right ankle roll joint (33) and right ankle pitching joint (35) to rotate relative to the movement of right leg,
Potentiometer tracking measurement in joint goes out the pitch angle and roll angle of right ankle；Contact-making switch after the left foot that vola is pasted
(44), contact-making switch (41), right crus of diaphragm connect before the right side after contact-making switch (46), right crus of diaphragm before the left front contact-making switch of left foot (45), the left foot right side
It touches contact with ground of sole during switch (42), the left front contact-making switch of right crus of diaphragm (43) are walked naturally with tester and is closed；Core
Piece gathers back pitch angle and roll angle, crotch's pitch angle and roll angle, the pitch angle and roll angle of left hip joint, right hip joint
Pitch angle and roll angle, left kneed pitch angle, right kneed pitch angle, the pitch angle and roll angle of left ankle-joint,
The pitch angle and roll angle of right ankle-joint, the quantity of state of 6 contact-making switches in vola；Chip by the data sending of acquisition to PC,
Data are received on PC and are preserved.
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| CN108551569A (en) * | 2018-04-20 | 2018-09-18 | 佛山市小沙江科技有限公司 | A kind of safety monitoring device |
| CN112497196B (en) * | 2020-12-24 | 2022-04-19 | 迈宝智能科技(苏州)有限公司 | Exoskeleton robot electrical system |
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