CN105997097A - Reproduction system and reproduction method for human lower limb movement posture - Google Patents
Reproduction system and reproduction method for human lower limb movement posture Download PDFInfo
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- CN105997097A CN105997097A CN201610458019.XA CN201610458019A CN105997097A CN 105997097 A CN105997097 A CN 105997097A CN 201610458019 A CN201610458019 A CN 201610458019A CN 105997097 A CN105997097 A CN 105997097A
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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
- A61B5/1116—Determining posture transitions
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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
- A61B5/72—Signal processing specially adapted for physiological signals or for diagnostic purposes
- A61B5/7271—Specific aspects of physiological measurement analysis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2505/00—Evaluating, monitoring or diagnosing in the context of a particular type of medical care
- A61B2505/09—Rehabilitation or training
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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
- A61B2562/0219—Inertial sensors, e.g. accelerometers, gyroscopes, tilt switches
Abstract
The invention provides a reproduction system and a reproduction method for human lower limb movement posture. The reproduction system comprises a power module for guaranteeing normal work of the system, a data acquisition module for acquiring human movement signals, a signal conditioning module for processing the data signals obtained from the data acquisition module, a microcontroller module for controlling and coordinating the whole system, a wireless communication module for receiving data in the microcontroller module and transmitting the data to a movement posture analytical engine as well as the movement posture analytical engine for reproducing human lower limb movement tracks. According to the reproduction system and the reproduction method for the human lower limb movement posture, inertial sensors and flexible sensors are used for acquiring related data, and vector analysis is performed on the data, so that one whole set of data required for reproducing the human lower limb movements can be obtained, the real-time effect of compete reproduction of the human lower limb movements can be realized according to the data, and the testing precision is high.
Description
Technical field
The present invention relates to human body lower limbs action monitoring technical field, particularly relate to a kind of based on inertial sensor and
The human body lower limbs movement posture playback system of flexible sensor and reproducting method.
Background technology
Traditional human action attitude reproducting method generally has the most several: 1, obtained in real time by video camera
Human action data；2, human action data are obtained by wearable sensors.
The identification system being obtained human action data by video camera in real time is to be taken the photograph by one or several video
As head catches human action picture, through specially designed image processing algorithm, determine human action and human body
Operating state.But, identification system based on video camera usually requires that and uses in the environment specified, and
And require that environmental lighting conditions is good.
It is worn on the human action attitude based on three dimension acceleration sensor or Multi-sensor fusion of human body
Reproducting method refers to embedded in the wearable equipment of microsensor, including clothes, medicated cap, footwear, belt,
Knee caps etc., system can detect the action situation of human body in real time, and tie mutually with existing wireless communication technique
Closing, identification system will not be limited by detection site, thus realize unconfined indoor and outdoor and freely detect.
But this type of application existing, or can not realize reproducing without constraint based on sites human body lower limbs movement posture in real time,
Or it is not provided that complete human body's lower limb movement attitude parameter (thus can not completely reproduce human body lower limbs action appearance
State, can only provide part human body lower limb movement attitude to reproduce), thus completely can not reproduce under without constraint environment
Human body lower limbs movement posture.
Summary of the invention
It is an object of the invention to provide a kind of human body lower limbs movement posture playback system and reproducting method, it is intended to
For solving existing human action attitude reproducting method, i.e. can not completely reproduce the real-time of human body lower limbs action
The problem that effect, measuring accuracy are relatively low.
The present invention is achieved in that
The present invention provides a kind of human body lower limbs movement posture playback system, it is characterised in that including: be used for making
The power module of system worked well；For gathering the data acquisition module of human action signal, including being placed in
First inertial sensor of human thigh position, it is placed in the second inertial sensor of human body waist and is placed in people
The flexible sensor of body knee joint position, described first inertial sensor is used for obtaining its vertical big leg axis side
To acceleration information and its use along the acceleration information of thigh axis direction, described second inertial sensor
In obtaining human body horizontal direction acceleration information, when described flexible sensor is for obtaining human body lower limbs action
Knee joint bending data；For processing the Signal-regulated kinase of the data signal obtained from data acquisition module；
For the micro controller module controlled with coordinate whole system；For receiving the data in micro controller module also
Transfer data to movement posture and analyze the wireless communication module of machine；For reappearing human body lower limbs movement locus
Movement posture analyzes machine, for human action being carried out vector analysis according to the test data received, and counts
Calculate the angle obtaining between thigh and acceleration of gravity, thus according to each action parameter of human body lower limbs obtained
Reproduction human body lower limbs movement locus.
Further, described first inertial sensor uses two axis accelerometers, three axis accelerometer, three axles
One or more in gyroscope.
Further, described first inertial sensor is positioned over the human thigh position near knee.
Further, the excursion of the resistance of described flexible sensor is 10K～30K or 1～20K.
Further, the change in resistance of described flexible sensor and the angle of knee bends are directly proportional.
Further, described second inertial sensor is three axis accelerometer and is fixed in the middle of human body waist.
The present invention also provides for a kind of human body lower limbs movement posture reproducting method, it is characterised in that use above-mentioned
One described human body lower limbs movement posture playback system, comprises the following steps:
First inertial sensor obtains acceleration information and its adding along big leg axis of its vertical big leg axis
Speed data, the second inertial sensor obtain human body horizontal direction acceleration information, flexible sensor obtains people
Knee joint bending data during body lower limb movement；
Signal-regulated kinase processes the data obtained from data acquisition module；
Micro controller module is transferred to wireless telecommunications after the data signal filtering after conditioning, scale conversion being processed
Module；
Wireless communication module receives data and data is transmitted wirelessly to movement posture analysis machine；
Movement posture is analyzed machine and is obtained thigh according to the test data received, utilization human action vector analysis
And the angle between acceleration of gravity, thus according under each action parameter of the human body lower limbs reproduction human body obtained
Limb movement locus.
Further, described movement posture analyzes machine according to human body horizontal direction acceleration information, the first inertia
The acceleration information of sensor vertical thigh axis direction and the first inertial sensor are along thigh axis direction
Angle between acceleration information, thigh and acceleration of gravity reproduces human thigh's athletic posture, and draws out
Movement locus.
Further, described movement posture analyzes machine according to the knee joint bending angle obtained, reproduction human thigh
With shank movement relation, and the athletic posture combining thigh draws out the movement locus of shank.
Further, between thigh and acceleration of gravity, the computational methods of angle are as follows: set human body level side
Being a to acceleration, acceleration of gravity is g, and thigh is θ relative to the angle of gravity direction, sets first and is used to
Property sensor assuming that in the case of waist is static to be perpendicular to the acceleration of big leg axis be d, set the first inertia
Sensor vertical is b in the actual acceleration of big leg axis, set the angular velocity in thigh relative gravity direction as
ω, sets and vows as r, utilization human action from waist rotary shaft to the distance of the first inertial sensor binding position
Component analysis obtains formula b=d+a cos θ-g sin θ, and combine formula ω=d r,Calculate thigh
Angle theta relative to gravity direction.
The method have the advantages that
The human body lower limbs movement posture playback system of the present invention and reproducting method are by inertial sensor and flexible biography
Sensor obtains related data and data is carried out vector analysis, it is possible to obtain the reproduction human body lower limbs of complete set
Data required for action, and the live effect of human body lower limbs action can be completely reproduced according to these data,
Measuring accuracy is high.
Accompanying drawing explanation
Schematic diagram worn by the human body lower limbs sensor that Fig. 1 provides for the embodiment of the present invention；
The structural representation of the system that Fig. 2 provides for the embodiment of the present invention；
The thigh motion relative angle that Fig. 3 provides for the embodiment of the present invention calculates schematic diagram；
The flow chart carrying out human body lower limbs movement posture reproduction that Fig. 4 provides for the embodiment of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clearly
Chu, be fully described by, it is clear that described embodiment be only a part of embodiment of the present invention rather than
Whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not making creation
The all other embodiments obtained under property work premise, broadly fall into the scope of protection of the invention.
As depicted in figs. 1 and 2, the embodiment of the present invention provides a kind of human body lower limbs movement posture playback system,
Including: for making the power module of system worked well；For gathering the data acquisition module of human action signal
Block, including being placed in the human thigh's the first inertial sensor 1 near knee position, being placed in the middle of human body waist
Second inertial sensor 2 and be placed in the flexible sensor 3 at human body knee joint position；For processing from data acquisition
The Signal-regulated kinase of data signal that collection module obtains, its by wire respectively with described first inertia sensing
Device 1, described second inertial sensor 2 are connected with described flexible sensor 3；For controlling and coordinating whole system
The micro controller module of system；For the data received in micro controller module and transfer data to movement posture
The wireless communication module of analysis machine, described wireless communication module includes wireless telecommunications sending module and wireless telecommunications
Receiver module；Analyze machine for reappearing the movement posture of human body lower limbs movement locus, receive for basis
Test data carry out vector analysis to human action, and are calculated between thigh and shank and acceleration of gravity
Angle, thus according to obtain each action parameter of human body lower limbs reproduction human body lower limbs movement locus.
Described first inertial sensor 1 and described second inertial sensor 2 all use three axis accelerometer,
Other embodiments can also use in two axis accelerometers, three axis accelerometer, three-axis gyroscope
Plant or multiple.The range of three axis accelerometer can be ± 1.5g～6g, and supply voltage is 2.2V～3.6V,
Sample frequency can be set as 50Hz～100Hz.When using three-axis gyroscope, its range can take ± 250 °
～500 °.Described flexible sensor 3 is unidirectional or bilateral transducer, and initial resistance is 10K, its internal tool
Having a foil gauge, during kneed bending, the deformation that bends of described foil gauge makes described flexible sensor 3
Resistance change, the excursion of resistance is 10K～30K or 1～20K, and the sample frequency of data sets
50Hz～100Hz.The described change in resistance of flexible sensor 3 becomes within the specific limits with the angle of knee bends
Direct ratio.
As shown in Figure 4, the flow chart carrying out human body lower limbs movement posture reproduction provided for the embodiment of the present invention.
When human motion, described first inertial sensor 1 obtains the acceleration information of its vertical thigh axis direction
With it along the acceleration information of thigh axis direction, described second inertial sensor 2 obtains human body level side
To acceleration information, described flexible sensor 3 can obtain knee joint bending data during human body lower limbs action.
The mode that knee joint bending data specifically obtain is: during knee joint bending, makes to test circuit accordingly and produces electricity
Signal, the degree of crook in the corresponding joint of reaction.Human action data are processed by Signal-regulated kinase, become
The A/D included for micro controller module can receive signal, and micro controller module is by the data signal filter after conditioning
Ripple, scale conversion are transferred to wireless communication module after processing, wireless communication module receive data and by data with
Wireless mode sends movement posture to and analyzes machine, and movement posture analyzes machine according to the test data received to people
Body action carries out vector analysis, and the angle being calculated between thigh and shank and acceleration of gravity, thus
According to each action parameter of the human body lower limbs reproduction human body lower limbs movement locus obtained.
As it is shown on figure 3, the computational methods of angle are as follows between thigh and acceleration of gravity: set human motion water
Flat acceleration is that a, a are provided by described second inertial sensor 2.Human motion horizontal acceleration a decomposable asymmetric choice net
It is two components of acceleration: the component of acceleration being perpendicular to big leg axis divides with the acceleration along big leg axis
Amount, be perpendicular to the component of acceleration size of big leg axis be a cos θ, θ be the thigh folder relative to gravity direction
Angle.If acceleration of gravity is g, this acceleration is through being decomposed into two components of acceleration: be perpendicular to big leg axis
Component of acceleration and the component of acceleration along big leg axis, be wherein perpendicular to the component of acceleration of big leg axis
Size is g sin θ.Set the first inertial sensor and assuming that waist is perpendicular to big leg axis in the case of static
Acceleration is d, sets the first inertial sensor and is perpendicular to the actual acceleration of big leg axis as b, can be by described
First inertial sensor 1 directly reads, and can obtain formula according to human action vector analysis
B=d+a cos θ-g sin θ.Further, set the angular velocity in thigh relative gravity direction as ω, set from
Waist rotary shaft is r to the distance of the first inertial sensor binding position, then have ω=d r, and thigh is relative to weight
The angle theta of force direction and angular velocity are that ω has relational expressionIn conjunction with b=d+a cos θ-g sin θ,
ω=d r,These three formula can calculate the thigh angle theta relative to gravity direction.
Described movement posture analyzes machine according to human body horizontal direction acceleration information, vertical thigh axis direction
Acceleration information and along angle between acceleration information, thigh and the acceleration of gravity of thigh axis direction again
Existing human thigh's athletic posture, and draw out movement locus.Described movement posture analyzes machine according to the knee joint obtained
Arthrogryposis angle, reproduces human thigh and shank movement relation, and draws out movement locus.And then, if
The acceleration that second sensor points to gravity direction adds to come in, then can reproduce people's body side surface two dimensional motion
Track also draws out action diagram.
Described movement posture is analyzed machine and can automatically be recorded, describe human body lower limbs movement locus, and can realize two
Group human body lower limbs movement locus comparison, points out two groups of human body lower limbs actions respectively by the mode of data and figure
Difference in journey or action situation of change, thus can be used for instructing human body lower limb rehabilitation training.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all at this
Within bright spirit and principle, any modification, equivalent substitution and improvement etc. made, should be included in this
Within bright protection domain.
Claims (10)
1. a human body lower limbs movement posture playback system, it is characterised in that including:
For making the power module of system worked well；
For gathering the data acquisition module of human action signal, it is used to including be placed in human thigh position first
Property sensor, be placed in the second inertial sensor of human body waist and be placed in the flexible biography at human body knee joint position
Sensor, described first inertial sensor is for obtaining acceleration information and its edge of its vertical thigh axis direction
The acceleration information of thigh axis direction, described second inertial sensor is used for obtaining human body horizontal direction and adds
Speed data, knee joint bending data when described flexible sensor is for obtaining human body lower limbs action；
For processing the Signal-regulated kinase of the data signal obtained from data acquisition module；
For the micro controller module controlled with coordinate whole system；
For the data received in micro controller module the channel radio transferring data to movement posture analysis machine
News module；
Machine is analyzed, according to the test data pair received for reappearing the movement posture of human body lower limbs movement locus
Human action carries out vector analysis, and the angle being calculated between thigh and acceleration of gravity, thus according to
Each action parameter of the human body lower limbs reproduction human body lower limbs movement locus obtained.
2. human body lower limbs movement posture playback system as claimed in claim 1, it is characterised in that: described the
One inertial sensor uses one or more in two axis accelerometers, three axis accelerometer, three-axis gyroscope.
3. human body lower limbs movement posture playback system as claimed in claim 1, it is characterised in that: described the
One inertial sensor is positioned over the human thigh position near knee.
4. human body lower limbs movement posture playback system as claimed in claim 1, it is characterised in that: described soft
The excursion of the resistance of property sensor is 10K～30K or 1～20K.
5. human body lower limbs movement posture playback system as claimed in claim 1, it is characterised in that: described soft
The property change in resistance of sensor and the angle of knee bends are directly proportional.
6. human body lower limbs movement posture playback system as claimed in claim 1, it is characterised in that: described the
Two inertial sensors are three axis accelerometer and are fixed in the middle of human body waist.
7. a human body lower limbs movement posture reproducting method, it is characterised in that use in claim 1-6 and appoint
One described human body lower limbs movement posture playback system, comprises the following steps:
First inertial sensor obtains acceleration information and its adding along big leg axis of its vertical big leg axis
Speed data, the second inertial sensor obtain human body horizontal direction acceleration information, flexible sensor obtains people
Knee joint bending data during body lower limb movement；
Signal-regulated kinase processes the data obtained from data acquisition module；
Micro controller module is transferred to wireless telecommunications after the data signal filtering after conditioning, scale conversion being processed
Module；
Wireless communication module receives data and data is transmitted wirelessly to movement posture analysis machine；
Movement posture is analyzed machine and is obtained thigh according to the test data received, utilization human action vector analysis
And the angle between acceleration of gravity, thus according under each action parameter of the human body lower limbs reproduction human body obtained
Limb movement locus.
8. human body lower limbs movement posture reproducting method as claimed in claim 7, it is characterised in that: described dynamic
Gesture analysis machine according to human body horizontal direction acceleration information, the first the biggest leg axis side of inertial sensor
To acceleration information and the first inertial sensor along the acceleration information of thigh axis direction, thigh and weight
Angle between power acceleration reproduces human thigh's athletic posture, and draws out movement locus.
9. human body lower limbs movement posture reproducting method as claimed in claim 8, it is characterised in that: described dynamic
Gesture the analysis machine knee joint bending angle according to acquisition, reproduces human thigh and shank movement relation, and ties
The athletic posture closing thigh draws out the movement locus of shank.
10. human body lower limbs movement posture reproducting method as claimed in claim 7, it is characterised in that: thigh
And the computational methods of angle are as follows between acceleration of gravity: set human body horizontal direction acceleration and add as a, gravity
Speed is g, and thigh is θ relative to the angle of gravity direction, sets the first inertial sensor and is assuming that waist is quiet
The acceleration being perpendicular to big leg axis in the case of Zhi is d, sets the first inertial sensor and is perpendicular to big leg axis
Actual acceleration be b, set the angular velocity in thigh relative gravity direction as ω, set from waist rotary shaft to
The distance of the first inertial sensor binding position is r, uses human action vector analysis to obtain formula
B=d+a cos θ-g sin θ, and combine formula ω=d r,Calculate thigh relative to gravity direction
Angle theta.
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| CN108606795A (en) * | 2018-02-06 | 2018-10-02 | 武汉纺织大学 | A kind of human action data management system and its control method |
| CN111870249A (en) * | 2020-06-11 | 2020-11-03 | 华东理工大学 | Human body posture tracking system based on micro inertial sensor and use method thereof |
| CN113268141A (en) * | 2021-05-17 | 2021-08-17 | 西南大学 | Motion capture method and device based on inertial sensor and fabric electronics |
| CN114797007A (en) * | 2022-04-02 | 2022-07-29 | 中国科学技术大学先进技术研究院 | Wearable underwater exoskeleton robot for rehabilitation and use method thereof |
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