CN106037753A - Wearable data collection system based on multi-sensor fusion and method adopted by system - Google Patents
Wearable data collection system based on multi-sensor fusion and method adopted by system Download PDFInfo
- Publication number
- CN106037753A CN106037753A CN201610526747.XA CN201610526747A CN106037753A CN 106037753 A CN106037753 A CN 106037753A CN 201610526747 A CN201610526747 A CN 201610526747A CN 106037753 A CN106037753 A CN 106037753A
- Authority
- CN
- China
- Prior art keywords
- data
- shank
- pressure
- encoder
- angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
- A61B5/112—Gait analysis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0002—Remote monitoring of patients using telemetry, e.g. transmission of vital signals via a communication network
- A61B5/0004—Remote monitoring of patients using telemetry, e.g. transmission of vital signals via a communication network characterised by the type of physiological signal transmitted
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0002—Remote monitoring of patients using telemetry, e.g. transmission of vital signals via a communication network
- A61B5/0015—Remote monitoring of patients using telemetry, e.g. transmission of vital signals via a communication network characterised by features of the telemetry system
- A61B5/0024—Remote monitoring of patients using telemetry, e.g. transmission of vital signals via a communication network characterised by features of the telemetry system for multiple sensor units attached to the patient, e.g. using a body or personal area network
-
- 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
- A61B5/1036—Measuring load distribution, e.g. podologic studies
- A61B5/1038—Measuring plantar pressure during gait
-
- 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
- A61B5/6802—Sensor mounted on worn items
-
- 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
- A61B5/6813—Specially adapted to be attached to a specific body part
- A61B5/6828—Leg
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2503/00—Evaluating a particular growth phase or type of persons or animals
- A61B2503/08—Elderly
-
- 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
- A61B2562/06—Arrangements of multiple sensors of different types
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Surgery (AREA)
- Veterinary Medicine (AREA)
- Biophysics (AREA)
- Pathology (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Public Health (AREA)
- Molecular Biology (AREA)
- Physics & Mathematics (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Physiology (AREA)
- Computer Networks & Wireless Communication (AREA)
- Dentistry (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Rehabilitation Tools (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
Abstract
The invention discloses a wearable data collection system based on multi-sensor fusion and a method adopted by the system. The wearable data collection system comprises a mechanical skeleton, wherein the mechanical skeleton comprises a waist bracket (1), thigh connecting rods (2), shank connecting rods (3), ankle joint connecting rods (4) and intelligent shoes (5) which are arranged from top to bottom, wherein a main control box (6) is arranged on the back of the waist bracket (1), and posture instruments (7) are arranged on the main control box (6), the thigh connecting rods (2) and the shank connecting rods (3); the thigh connecting rods (2) and the shank connecting rods (3) are provided with node plates (8); the thigh connecting rods (2), the shank connecting rods (3) and the ankle joint connecting rods (4) are respectively provided with encoders (9). The wearable data collection system and the method are used for accurately measuring the angles of the lower extremity joints and the distribution condition of the pressure of the foot soles when a wearer wearing an exoskeleton robot walks, so that whether the exoskeleton is positioned in the stable walking state or not can be judged, and the current health condition of the wearer can be evaluated.
Description
Technical field
The present invention relates to one and relate to wearable rehabilitation medical field, particularly relate to a kind of based on multi-sensor fusion wear
Wear data collecting system and method thereof.
Background technology
In the process of walking, each joint and muscle complete corresponding dynamic under the coordination of corresponding control axis human body jointly
Make, meanwhile, also can export the information of many to external world, such as hip joint, knee joint, the rotational angle of ankle joint, thigh, shank
Dynamoelectric signal, the pressure etc. that each main positions of foot is born.These information characteristics can reflect a people's to a certain extent
The factor such as motor habit, physical condition, detection, analysis to these information have important medical value.Such as, in fortune
Dynamic rehabilitation field, utilizes wearable data acquisition system, analyzes these data and can learn that lower limb disability patient moves in the recent period
Time gait and the information such as kinetic stability, it is thus possible to assess recent exercise recovery situation, meanwhile, in terms of medical treatment, wearable
Data collecting system also can effectively reduce nursing staff and wait for accompanying for a long time of patient.Helping more weak old of motor capacity
Year people's aspect, this system can help old man to bear certain heavy burden, make old man move convenient, to lower limb data during motion
Collection analysis, prevents the generation that some disease such as sugar material is sick, improves the quality of life of old people.
Existing human body movement data acquisition method has visible sensation method or method based on inertia device etc., and visible sensation method is past
Measuring toward needing one group of photographic head to be tracked the fixed point being affixed on human body, adopting shortcoming in this way is that patch point process is numerous
Trivial, need human muscle's key position is carried out to paste point, the patch point time is long, next to that visual apparatus be usually carry out in indoor with
Track is measured, and mobility is poor, and visual system is expensive, and just there are this kind of equipment in general only hospital or rehabilitation institution.
The patent of Publication No. CN 104463108 A describes a kind of monocular real time target recognitio and pose measuring method, by inciting somebody to action
To the characteristic point data of scene carry out having mated attitude measurement with the feature of target image, determine position, but the method meter
Calculation amount is the biggest.The patent of Publication No. CN 205163082 U describes a kind of for gathering wearing of human motion state data
Wearing equipment, by arranging electric capacity ring in the first and second bandages, the capacitance signal of thigh measured by the first bandage, and the second bandage is surveyed
The capacitance signal of amount shank, then processes capacitance signal, thus gathers human body lower limbs kinestate data, but this side
Method electric capacity ring is vulnerable to the impact of body heath, such as the perspiration etc. of human motion.The patent of Publication No. CN 104757976 A
Describing a kind of Human Body Gait Analysis method and system based on multi-sensor fusion, this system measures people by inertia sensing device
Data in body walking process, but this system can not measure the pressure condition of vola each several part in human walking procedure.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, it is provided that a kind of wearable data based on multi-sensor fusion
Acquisition system and method thereof, for real-time precision measurment wearer each pass of lower limb in putting on exoskeleton robot walking process
Joint angle and foot force distribution situation, this system is provided with pressure transducer for adopting in ectoskeleton intelligent robot footwear vola
The pressure distribution situation in collection human body vola in the process of walking；Attitude instrument is installed at back, thigh, shank, is used for measuring
Human body upper body trunk, thigh, the pitching of shank, roll and yaw angle in the process of walking；At hip joint, knee joint, ankle joint
Place is provided with encoder, for measuring human body hip joint in the process of walking, knee joint, the rotational angle of ankle joint.
It is an object of the invention to be achieved through the following technical solutions: a kind of wearable data based on multi-sensor fusion
Acquisition system, it includes that machinery frame, described machinery frame include that waist bracket from top to bottom, thick link, shank are even
Bar, ankle joint connecting rod and intelligent shoe；The back of described waist bracket is provided with primary control box, described primary control box, thick link,
It is provided with attitude instrument on shank link, is used for measuring pitching, roll and yaw angle；On described thick link, shank link
It is provided with gusset plate；Described thick link, shank link, ankle joint connecting rod correspond respectively to human hip, knee joint, ankle
It is respectively arranged with encoder on the position in joint, gathers turning of ectoskeleton hip joint in the process of walking, knee joint and ankle joint
Dynamic angle, the encoder at hip joint and knee joint is controlled by gusset plate on thick link and shank link respectively, ankle
Encoder by intelligent shoe control；Described primary control box includes that master control borad, power supply and base station, described base station are used for receiving attitude
The data of instrument, gusset plate and intelligent shoe, preserve described data or data are uploaded to PC host computer；Described intelligent shoe includes many
Individual pressure transducer and pressure information collecting circuit board, described pressure information collecting circuit board control each pressure transducer and
The encoder of ankle completes sampling work, and calculates the pressure size of each pressure transducer, the pressure of whole foot
Data are passed to base station by CAN by the angle that center and ankle joint rotate.
It is provided with on described waist bracket, thick link, shank link for bondage wearer and machinery frame
Bondage installed part, in the middle part of intelligent shoe, position is provided with the energy band for bondage wearer Yu intelligent shoe rearward.
Described attitude instrument includes the multiple three axle earth magnetism sensings of multiple 3-axis acceleration sensor, multiple three-axis gyroscope
Device, MCU, data disaply moudle, RTC real-time clock module, power supply and wireless module, described multiple 3-axis accelerations sensing
The multiple three axle geomagnetic sensors of device, multiple three-axis gyroscope, data disaply moudle, RTC real-time clock module, power supply and wireless mould
Block is all connected with MCU；The multiple three axle geomagnetic sensor compositions of described multiple 3-axis acceleration sensors, multiple three-axis gyroscope
Sensor array, utilizes the many redundancies of multisensor accurately to measure pitching, roll and yaw angle；Described data disaply moudle is used for
Display current pose, i.e. shows the pitching of attitude instrument, roll, yaw angle；Described RTC real-time clock module provides for attitude instrument
Time reference, corresponding with the time by the data that will measure, can combine with video image, it is simple to decomposition analysis is walked at each
Data corresponding under action；Each data measured by attitude instrument can be passed to data receiver base station by described wireless module；
Described power supply provides burning voltage for attitude instrument, it is ensured that the power demand of modules.
Described data disaply moudle is OLED module.
Described sensor array is classified as 7*7 array.
Described intelligent shoe includes metallic plate, intermediate rubber plate and bottom rubber slab the most successively, logical between each plate
Cross rivet interlacement；It is provided with energy band, for bondage wearer and intelligent shoe on described metallic plate；Described bottom rubber slab
Upper strata offers cylindrical bore, is used for placing pilot rubber blanket, and N number of pressure transducer is installed on intermediate rubber plate and pilot rubber
Between rubber cushion；Pressure information collecting circuit board is positioned in can, and can is connected by screw with metallic plate.
Described primary control box, thick link, shank link are provided with protection shell.
The method of system as mentioned, comprises the following steps:
S1: system electrification, starts working after waiting voltage stabilization；
S2: initial phase: the pressure transducer certain number of times of sampling to left and right foot, tries to achieve the zero of pressure transducer and is partially worth,
In walking process afterwards, eliminate the zero of pressure transducer and be partially worth；Encoder is sampled certain number of times, tries to achieve the zero inclined of coding angle
Value, when demarcating encoder zero graduation position, null suppression is worth partially；The certain number of times of attitude instrument sensor sample, try to achieve attitude instrument each
The zero of data is inclined, and in attitude instrument angle calculation afterwards, null suppression is worth partially；
S3: data acquisition:
In a cycle, left and right foot press force transducer is adopting control down-sampling n time of volt circuit, by high pass and low-pass filtering
Process, then seek the average sampled n time, average is brought into pressure sensor calibrating function and tries to achieve the pressure sensing in a circulation
The data value of device, by the data of N number of pressure transducer, utilizes zero moment method and then tries to achieve foot pressure pressure in horizontal plane
Power center；Wherein, left and right foot press force transducer works independently, and is independent of each other；
In a cycle, the encoder of hip joint, knee joint and ankle is sampled n time respectively, by high pass and low pass filtered
Ripple processes, and tries to achieve the average of n sampled data, and using this average as hip joint, knee joint and ankle joint in the process of walking
The angle rotated；Wherein, when encoder is in zero degree position, using this position as benchmark, eliminate attitude instrument ask pitching,
Score accumulation error when roll and yaw angle；
In a cycle, attitude instrument accelerometer, gyroscope and geomagnetic sensor are sampled n time respectively, by complementary filter respectively
Try to achieve the average of three kinds of sensors, then try to achieve in the process of walking by Kalman filtering, bowing of ectoskeleton thigh and shank
Face upward, roll and yaw angle, by the pitching of thigh in walking process and shank, roll, the analysis of yaw angle, it is possible to outside learning
The gait information of skeleton；
S4: data analysis: whether be in stabilized walking state according to the location determination ectoskeleton of the Center of Pressure tried to achieve；Root simultaneously
According to gait information, the part physiological feature of reflection wearer, contrasted by medical data, the healthy shape that evaluation and test wearer is current
Condition.
When ectoskeleton standing, it is 0 degree by the angle calibration of encoder, encodes when thigh or shank swing forward
Device angle just increases to, and when thigh or shank swing backward, it is negative that encoder increases angle.
The invention has the beneficial effects as follows:
1) embedding multiple pressure transducers at the bottom of ectoskeleton robot foot, constituting sensor array, utilize sensor array to measure
The pressure distribution situation in vola in the process of walking, and pressure distribution situation is uploaded cause data receiver base station, base station is again by number
PC host computer drafting plantar nervous arch figure is caused according to passing；
2) Installation posture instrument at back, thigh, shank, attitude instrument can measure trunk, thigh, shank at walking process
In pitching, roll, yaw angle, by the rotation feelings in these data analysis human bodies gait situation and each joint in the process of walking
Condition；
3) in hip joint, knee joint, ankle, absolute encoder is installed, measure in the process of walking hip joint, knee joint,
The rotational angle of ankle joint, this angle can contrast with the angle of attitude instrument, is corrected it and compensates.
Accompanying drawing explanation
Fig. 1 is present configuration block diagram；
Fig. 2 is sensor array schematic diagram；
Fig. 3 is attitude instrument circuit plate structure block diagram；
Fig. 4 is intelligent shoe structure chart；
Fig. 5 is the inventive method flow chart；
In figure, 1-waist bracket, 2-thick link, 3-shank link, 4-ankle joint connecting rod, 5-intelligent shoe, 6-primary control box, 7-appearance
State instrument, 8-gusset plate, 9-encoder, 10-bondage installed part, 11-energy band, 12-protects shell, 13-pressure transducer, 14-
Metallic plate, 15-intermediate rubber plate, 16-bottom rubber slab, 17-rivet, 18-counterbore, 19-pilot rubber blanket, 20-can.
Detailed description of the invention
Technical scheme is described in further detail below in conjunction with the accompanying drawings:
As it is shown in figure 1, a kind of wearable data collecting system based on multi-sensor fusion, it includes machinery frame, described machine
Tool skeleton includes waist bracket 1 from top to bottom, thick link 2, shank link 3, ankle joint connecting rod 4 and intelligent shoe 5；Described
The back of waist bracket 1 is provided with primary control box 6, and described primary control box 6, thick link 2, shank link 3 are provided with attitude
Instrument 7, is used for measuring pitching, roll and yaw angle；It is provided with gusset plate 8 on described thick link 2, shank link 3；Described
Thick link 2, shank link 3, ankle joint connecting rod 4 correspond respectively to difference on the position of human hip, knee joint, ankle joint
Be provided with encoder 9, gather ectoskeleton hip joint in the process of walking, knee joint and the rotational angle of ankle joint, hip joint and
Encoder 9 at knee joint is controlled by gusset plate 8 on thick link 2 and shank link 3 respectively, the encoder 9 of ankle by
Intelligent shoe 5 controls；Described primary control box 6 includes that master control borad, power supply and base station, described base station are used for receiving attitude instrument 7, node
Plate 8 and the data of intelligent shoe 5, preserve described data or data be uploaded to PC host computer；Described intelligent shoe 5 includes multiple pressure
Force transducer 13 and pressure information collecting circuit board, described pressure information collecting circuit board controls each pressure transducer 13 He
The encoder 9 of ankle completes sampling work, and calculates the pressure size of each pressure transducer 13, the pressure of whole foot
Data are passed to base station by CAN by the angle that power center and ankle joint rotate.
It is provided with for bondage wearer and machinery frame on described waist bracket 1, thick link 2, shank link 3
Bondage installed part 10, in the middle part of intelligent shoe 5, position is provided with the energy band 11 for bondage wearer Yu intelligent shoe 5 rearward.
As it is shown on figure 3, the circuit board of described attitude instrument 7 is mainly by microcontroller, power supply, wireless module, serial ports, CAN
Mouth, OLED module, RTC block, sensor array are constituted.Whole circuit board realizes each function under the control of MCU；Power supply unit
It is divided into 5.0V and the 3.3V voltage that circuit board offer is stable, it is ensured that the power demand of modules；Wireless module is by attitude instrument institute
Measuring pitching, roll, yaw angle and other data drawn to send, employing is wirelessly avoided that to pull strings and brings not
Convenient so that attitude instrument can be as a relatively independent module with in other respects；Serial ports is for downloading journey to attitude instrument
Sequence and on-line debugging, it is simple to the initial stage R&D work of attitude instrument；CAN mouth can guarantee that attitude instrument with in other respects time with other
Plug-in module realizes telecommunication；OLED module can show the information such as the pitching of attitude instrument, roll, yaw angle and electricity, energy
Directly read the information of attitude instrument by OLED display screen, when being prevented effectively from display information, the transition to PC host computer relies on；RTC
Clock module can provide time reference for attitude instrument, by arranging the time, makes operation time and the daily life north of attitude instrument
Capital time synchronized, so can be combined with video camera, and image during shooting ectoskeleton walking, by image information and attitude instrument data
Match in time, it is simple to image and the conjoint analysis of data.
Wherein acceleration transducer, gyroscope, geomagnetic sensor select the MEMS that encapsulation volume is little.
Described data disaply moudle is OLED module.
As in figure 2 it is shown, described sensor array is classified as 7*7 array.Black blockage representative sensor in figure, native system is adopted
Forming sensor array with multiple sensors, concrete number of sensors is by required for the executive capability of microprocessor and system
Sample frequency and precision determine, if the quantity of sensor is too big, the response frequency of attitude instrument will reduce, and use in the present invention
7x7 array, but because it is noted that the coverage of the present invention is not only 7x7 array range, native system is owing to have employed biography
Sensor array, measured pitching, roll, yaw angle have the highest precision.
As shown in Figure 4, described intelligent shoe 5 includes metallic plate 14, intermediate rubber plate 15 and bottom rubber the most successively
Offset plate 16, is connected by rivet 17 between each plate；Be provided with energy band 11 on described metallic plate 14, for bondage wearer with
Intelligent shoe 5；Described bottom rubber slab 16 upper strata offers cylindrical bore 18, is used for placing pilot rubber blanket 19, N number of pressure
Sensor 13 is installed between intermediate rubber plate 15 and pilot rubber blanket 19；Pressure information collecting circuit board is positioned over can 20
In, can 20 is connected by screw with metallic plate 14.
Multiple array of pressure sensors formulas are distributed in main force part, vola, and pressure information Acquisition Circuit is to each pressure
The signal of telecommunication of sensor 13 output is amplified and resolves, and calculates pressure size and the Center of Pressure of regional, and by number
According to passing to base station, then data are passed to PC host computer, it is simple to host computer intuitively shows ectoskeleton foot bottom stress and gravity center shift feelings
Condition, pressure information collecting circuit board is fixed by can 20, is arranged on mid-plantar region, it is to avoid in the process of walking, circuit
Plate damages because of extruding.
Described primary control box 6, thick link 2, shank link 3 are provided with protection shell 12.
As it is shown in figure 5, the method for described system, comprise the following steps:
S1: system electrification, starts working after waiting voltage stabilization；
S2: initial phase: certain number of times of sampling the pressure transducer 13 of left and right foot, tries to achieve the zero inclined of pressure transducer 13
Value, in walking process later, eliminates the zero of pressure transducer 13 and is partially worth；Encoder 9 is sampled certain number of times, tries to achieve coding angle
The zero of degree is worth partially, and when demarcating encoder 9 zero graduation position, null suppression is worth partially；The certain number of times of attitude instrument 7 sensor sample, tries to achieve
The zero of each data of attitude instrument 7 is inclined, and in attitude instrument 7 angle calculation afterwards, null suppression is worth partially；
S3: data acquisition:
1 in a cycle, and left and right foot press force transducer 13 is adopting control down-sampling n time of volt circuit, by high pass and low pass
Filtering Processing, then seeks the average sampled n time, average is brought into pressure transducer 13 calibration function and tries to achieve the pressure in a circulation
The data value of force transducer 13, by the data of N number of pressure transducer 13, utilizes zero moment method and then tries to achieve foot pressure at water
Center of Pressure in plane；Wherein, left and right foot press force transducer 13 works independently, and is independent of each other；
2 in a cycle, and the encoder 9 of hip joint, knee joint and ankle is sampled n time respectively, by high pass and low pass
Filtering Processing, tries to achieve the average of n sampled data, and using this average as hip joint, knee joint and ankle joint at walking process
Middle rotated angle；Wherein, when encoder 9 is in zero degree position, using this position as benchmark, eliminate asking of attitude instrument 7
Score accumulation error when pitching, roll and yaw angle；
3 in a cycle, and attitude instrument 7 accelerometer, gyroscope and geomagnetic sensor are sampled n time respectively, are divided by complementary filter
Do not try to achieve the average of three kinds of sensors, then try to achieve in the process of walking by Kalman filtering, ectoskeleton thigh and shank
Pitching, roll and yaw angle, by the pitching of thigh in walking process and shank, roll, the analysis of yaw angle, it is possible to learn
Ectoskeletal gait information；
S4: data analysis: whether be in stabilized walking state according to the location determination ectoskeleton of the Center of Pressure tried to achieve；Root simultaneously
According to gait information, the part physiological feature of reflection wearer, contrasted by medical data, the healthy shape that evaluation and test wearer is current
Condition.For athletic rehabilitation patient, can learn patient ought recovery for the previous period, fortune can be formulated for doctor to patient
Dynamic rehabilitation scheme is to provide certain foundation.Meanwhile, by the pitching of attitude instrument, roll and yaw angle at back, thigh, shank
The angle that ectoskeleton hip joint, knee joint rotate in the process of walking can be tried to achieve.
When ectoskeleton standing, it is 0 degree by the angle calibration of encoder 9, compiles when thigh or shank swing forward
Code device 9 angle just increases to, and when thigh or shank swing backward, it is negative that encoder 9 increases angle.
Claims (9)
1. a wearable data collecting system based on multi-sensor fusion, it is characterised in that: it includes machinery frame, described
Machinery frame includes waist bracket (1) from top to bottom, thick link (2), shank link (3), ankle joint connecting rod (4) and intelligence
Footwear (5)；The back of described waist bracket (1) is provided with primary control box (6), described primary control box (6), thick link (2), shank
It is provided with attitude instrument (7) on connecting rod (3), is used for measuring pitching, roll and yaw angle；Described thick link (2), shank connect
Gusset plate (8) it is provided with on bar (3)；Described thick link (2), shank link (3), ankle joint connecting rod (4) correspond respectively to
Human hip, knee joint, ankle joint position on be respectively arranged with encoder (9), gather ectoskeleton hip in the process of walking
Encoder (9) at the rotational angle of joint, knee joint and ankle joint, hip joint and knee joint respectively by thick link (2) and
The upper gusset plate (8) of shank link (3) controls, and the encoder (9) of ankle is controlled by intelligent shoe (5)；Described primary control box (6)
Including master control borad, power supply and base station, described base station is used for receiving attitude instrument (7), gusset plate (8) and the data of intelligent shoe (5),
Preserve described data or data are uploaded to PC host computer；Described intelligent shoe (5) includes multiple pressure transducer (13) and pressure
Force information collecting circuit board, described pressure information collecting circuit board controls each pressure transducer (13) and the volume of ankle
Code device (9) completes sampling work, and calculate the pressure size of each pressure transducer (13), whole foot Center of Pressure with
And the angle that ankle joint rotates, by CAN, data are passed to base station.
A kind of wearable data collecting system based on multi-sensor fusion the most according to claim 1, it is characterised in that: institute
Tying up for bondage wearer and machinery frame it is provided with on the waist bracket (1) stated, thick link (2), shank link (3)
Tiing up installed part (10), position rearward, intelligent shoe (5) middle part is provided with the energy band for bondage wearer Yu intelligent shoe (5)
(11).
A kind of wearable data collecting system based on multi-sensor fusion the most according to claim 1, it is characterised in that: institute
The attitude instrument (7) stated includes the multiple three axle geomagnetic sensors of multiple 3-axis acceleration sensor, multiple three-axis gyroscope, MCU, number
According to display module, RTC real-time clock module, power supply and wireless module, described multiple 3-axis acceleration sensors, multiple three axles
The multiple three axle geomagnetic sensors of gyroscope, data disaply moudle, RTC real-time clock module, power supply and wireless module are all with MCU even
Connect；The multiple three axle geomagnetic sensor composition sensor arraies of described multiple 3-axis acceleration sensors, multiple three-axis gyroscope,
The many redundancies of multisensor are utilized accurately to measure pitching, roll and yaw angle；Described data disaply moudle is used for showing current appearance
State, i.e. shows the pitching of attitude instrument (7), roll, yaw angle；Described RTC real-time clock module is that attitude instrument (7) provides the time
Benchmark, corresponding with the time by the data that will measure, can combine with video image, it is simple to decomposition analysis is at each walking motion
Lower corresponding data；Each data measured by attitude instrument (7) can be passed to data receiver base station by described wireless module；Institute
The power supply stated is that attitude instrument (7) provides burning voltage, it is ensured that the power demand of modules.
A kind of wearable data collecting system based on multi-sensor fusion the most according to claim 3, it is characterised in that: institute
The data disaply moudle stated is OLED module.
A kind of wearable data collecting system based on multi-sensor fusion the most according to claim 3, it is characterised in that: institute
The sensor array stated is classified as 7*7 array.
A kind of wearable data collecting system based on multi-sensor fusion the most according to claim 1, it is characterised in that: institute
The intelligent shoe (5) stated includes metallic plate (14), intermediate rubber plate (15) and bottom rubber slab (16) the most successively, each plate it
Between by rivet (17) connect；It is provided with energy band (11), for bondage wearer and intelligent shoe on described metallic plate (14)
(5)；Described bottom rubber slab (16) upper strata offers cylindrical bore (18), is used for placing pilot rubber blanket (19), N number of pressure
Force transducer (13) is installed between intermediate rubber plate (15) and pilot rubber blanket (19)；Pressure information collecting circuit board is positioned over
In can (20), can (20) is connected by screw with metallic plate (14).
A kind of wearable data collecting system based on multi-sensor fusion the most according to claim 1, it is characterised in that: institute
The primary control box (6) stated, thick link (2), shank link (3) are provided with protection shell (12).
8. a kind of based on multi-sensor fusion wearable data collecting system as described in any one in claim 1～7
Method, it is characterised in that: comprise the following steps:
S1: system electrification, starts working after waiting voltage stabilization；
S2: initial phase: certain number of times of sampling the pressure transducer (13) of left and right foot, tries to achieve the zero of pressure transducer (13)
Value partially, in walking process later, eliminates the zero of pressure transducer (13) and is partially worth；Encoder (9) is sampled certain number of times, tries to achieve
The zero of coding angle is worth partially, and when demarcating encoder (9) zero graduation position, null suppression is worth partially；Attitude instrument (7) sensor sample one
Determining number of times, try to achieve the zero of attitude instrument (7) each data partially, in attitude instrument (7) angle calculation afterwards, null suppression is worth partially；
S3: data acquisition:
(1) in a cycle, control down-sampling n time of volt circuit is being adopted in left and right foot press force transducer (13), by high pass and
Low-pass filtering treatment, then seeks the average sampled n time, average is brought into pressure transducer (13) calibration function and tries to achieve a circulation
In the data value of pressure transducer (13), by the data of N number of pressure transducer (13), utilize zero moment method and then try to achieve foot
Portion's pressure Center of Pressure in horizontal plane；Wherein, left and right foot press force transducer (13) works independently, and is independent of each other；
(2) in a cycle, the encoder (9) of hip joint, knee joint and ankle is sampled n time respectively, by high pass and
Low-pass filtering treatment, tries to achieve the average of n sampled data, and using this average as hip joint, knee joint and ankle joint in walking
During the angle that rotated；Wherein, when encoder (9) is in zero degree position, using this position as benchmark, eliminate attitude instrument
(7) score accumulation error when asking pitching, roll and yaw angle；
(3) in a cycle, attitude instrument (7) accelerometer, gyroscope and geomagnetic sensor are sampled n time respectively, are filtered by complementation
The average of three kinds of sensors is not tried to achieve in wavelength-division, then tries to achieve in the process of walking by Kalman filtering, ectoskeleton thigh and little
The pitching of lower limb, roll and yaw angle, by the pitching of thigh in walking process and shank, roll, the analysis of yaw angle, it is possible to
Learn ectoskeletal gait information；
S4: data analysis: whether be in stabilized walking state according to the location determination ectoskeleton of the Center of Pressure tried to achieve；Root simultaneously
According to gait information, the part physiological feature of reflection wearer, contrasted by medical data, the healthy shape that evaluation and test wearer is current
Condition.
Method the most according to claim 8, it is characterised in that: when ectoskeleton standing, by the angle of encoder (9)
Being demarcated as 0 degree, when thigh or shank swing forward, encoder (9) angle just increases to, when thigh or shank swing backward,
It is negative that encoder (9) increases angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610526747.XA CN106037753B (en) | 2016-07-06 | 2016-07-06 | A kind of wearable data collection system and its method based on multi-sensor fusion |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610526747.XA CN106037753B (en) | 2016-07-06 | 2016-07-06 | A kind of wearable data collection system and its method based on multi-sensor fusion |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106037753A true CN106037753A (en) | 2016-10-26 |
| CN106037753B CN106037753B (en) | 2019-08-13 |
Family
ID=57201103
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610526747.XA Active CN106037753B (en) | 2016-07-06 | 2016-07-06 | A kind of wearable data collection system and its method based on multi-sensor fusion |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106037753B (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106821682A (en) * | 2017-03-14 | 2017-06-13 | 北京飞天时间科技发展有限公司 | A kind of wearable waist power assisting device |
| CN106859922A (en) * | 2017-03-13 | 2017-06-20 | 张萌 | A kind of lower limb assistance exoskeleton robot based on variable flexibility joint |
| CN107874763A (en) * | 2017-12-11 | 2018-04-06 | 无锡智开医疗机器人有限公司 | A kind of lower limb data collecting system |
| CN107928678A (en) * | 2017-12-06 | 2018-04-20 | 中北大学 | Wearable Patellar instability test device and method based on micro-inertia measuring array |
| CN108714889A (en) * | 2018-06-12 | 2018-10-30 | 广西科技师范学院 | A kind of ectoskeleton man-machine system |
| CN108992071A (en) * | 2018-08-06 | 2018-12-14 | 上海博灵机器人科技有限责任公司 | A kind of lower limb exoskeleton formula gait analysis system |
| CN109115386A (en) * | 2018-09-30 | 2019-01-01 | 中国船舶重工集团公司第七0七研究所 | A kind of plantar pressure measuring device for wearable ectoskeleton power-assisting robot |
| CN109470502A (en) * | 2018-10-30 | 2019-03-15 | 北京机械设备研究所 | A kind of ectoskeleton Comfort Evaluation device and evaluation method based on multisensor |
| CN109758274A (en) * | 2019-02-28 | 2019-05-17 | 清华大学 | Measurement method and system of the distal femur relative to prosthese gasket line of force track in single condyle knee replacements |
| CN110051361A (en) * | 2019-05-16 | 2019-07-26 | 南京晓庄学院 | A kind of wearable lower limb skeleton motion detection device |
| CN110320845A (en) * | 2019-07-23 | 2019-10-11 | 上海博灵机器人科技有限责任公司 | A kind of multi-path data acquiring system |
| CN110362015A (en) * | 2019-07-23 | 2019-10-22 | 上海博灵机器人科技有限责任公司 | A kind of multi-path data acquiring system for realizing high real-time based on 5.8G WIFI |
| CN111267071A (en) * | 2020-02-14 | 2020-06-12 | 上海航天控制技术研究所 | Multi-joint combined control system and method for exoskeleton robot |
| CN113063411A (en) * | 2020-06-29 | 2021-07-02 | 河北工业大学 | Exoskeleton evaluation system and method of use thereof |
| CN113080946A (en) * | 2021-04-29 | 2021-07-09 | 合肥工业大学 | Human body sitting and standing transfer capacity measuring device and method and electronic equipment |
| CN114983400A (en) * | 2022-07-27 | 2022-09-02 | 南昌大学 | Lower limb joint mobility monitoring system and monitoring method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103226398A (en) * | 2013-03-25 | 2013-07-31 | 上海交通大学 | Data gloves based on micro-inertial sensor network technique |
| CN103750843A (en) * | 2014-01-10 | 2014-04-30 | 北京工业大学 | Human motion capture device in joint space |
| CN104434122A (en) * | 2014-12-04 | 2015-03-25 | 电子科技大学 | Crank and rocker mechanism for measuring angle data of human body lower limb joint |
| CN104434124A (en) * | 2014-12-04 | 2015-03-25 | 电子科技大学 | Human lower limb gait data acquisition system |
| CN105662419A (en) * | 2016-04-25 | 2016-06-15 | 电子科技大学 | Plantar pressure measuring device and method for exoskeleton control |
| WO2016090483A1 (en) * | 2014-12-08 | 2016-06-16 | Rohit Seth | Wearable wireless hmi device |
-
2016
- 2016-07-06 CN CN201610526747.XA patent/CN106037753B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103226398A (en) * | 2013-03-25 | 2013-07-31 | 上海交通大学 | Data gloves based on micro-inertial sensor network technique |
| CN103750843A (en) * | 2014-01-10 | 2014-04-30 | 北京工业大学 | Human motion capture device in joint space |
| CN104434122A (en) * | 2014-12-04 | 2015-03-25 | 电子科技大学 | Crank and rocker mechanism for measuring angle data of human body lower limb joint |
| CN104434124A (en) * | 2014-12-04 | 2015-03-25 | 电子科技大学 | Human lower limb gait data acquisition system |
| WO2016090483A1 (en) * | 2014-12-08 | 2016-06-16 | Rohit Seth | Wearable wireless hmi device |
| CN105662419A (en) * | 2016-04-25 | 2016-06-15 | 电子科技大学 | Plantar pressure measuring device and method for exoskeleton control |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106859922A (en) * | 2017-03-13 | 2017-06-20 | 张萌 | A kind of lower limb assistance exoskeleton robot based on variable flexibility joint |
| CN106821682A (en) * | 2017-03-14 | 2017-06-13 | 北京飞天时间科技发展有限公司 | A kind of wearable waist power assisting device |
| CN107928678B (en) * | 2017-12-06 | 2020-08-28 | 中北大学 | Wearable patella instability testing device and method based on micro-inertia measurement array |
| CN107928678A (en) * | 2017-12-06 | 2018-04-20 | 中北大学 | Wearable Patellar instability test device and method based on micro-inertia measuring array |
| CN107874763A (en) * | 2017-12-11 | 2018-04-06 | 无锡智开医疗机器人有限公司 | A kind of lower limb data collecting system |
| CN108714889A (en) * | 2018-06-12 | 2018-10-30 | 广西科技师范学院 | A kind of ectoskeleton man-machine system |
| CN108992071A (en) * | 2018-08-06 | 2018-12-14 | 上海博灵机器人科技有限责任公司 | A kind of lower limb exoskeleton formula gait analysis system |
| CN109115386A (en) * | 2018-09-30 | 2019-01-01 | 中国船舶重工集团公司第七0七研究所 | A kind of plantar pressure measuring device for wearable ectoskeleton power-assisting robot |
| CN109470502A (en) * | 2018-10-30 | 2019-03-15 | 北京机械设备研究所 | A kind of ectoskeleton Comfort Evaluation device and evaluation method based on multisensor |
| CN109758274A (en) * | 2019-02-28 | 2019-05-17 | 清华大学 | Measurement method and system of the distal femur relative to prosthese gasket line of force track in single condyle knee replacements |
| CN110051361A (en) * | 2019-05-16 | 2019-07-26 | 南京晓庄学院 | A kind of wearable lower limb skeleton motion detection device |
| CN110320845A (en) * | 2019-07-23 | 2019-10-11 | 上海博灵机器人科技有限责任公司 | A kind of multi-path data acquiring system |
| CN110362015A (en) * | 2019-07-23 | 2019-10-22 | 上海博灵机器人科技有限责任公司 | A kind of multi-path data acquiring system for realizing high real-time based on 5.8G WIFI |
| CN111267071A (en) * | 2020-02-14 | 2020-06-12 | 上海航天控制技术研究所 | Multi-joint combined control system and method for exoskeleton robot |
| CN113063411A (en) * | 2020-06-29 | 2021-07-02 | 河北工业大学 | Exoskeleton evaluation system and method of use thereof |
| CN113080946A (en) * | 2021-04-29 | 2021-07-09 | 合肥工业大学 | Human body sitting and standing transfer capacity measuring device and method and electronic equipment |
| CN113080946B (en) * | 2021-04-29 | 2024-05-14 | 合肥工业大学 | Human body sitting station transfer capability measuring device, measuring method and electronic equipment |
| CN114983400A (en) * | 2022-07-27 | 2022-09-02 | 南昌大学 | Lower limb joint mobility monitoring system and monitoring method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106037753B (en) | 2019-08-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106037753B (en) | A kind of wearable data collection system and its method based on multi-sensor fusion | |
| CN110916679B (en) | Human body lower limb pose gait detection device and method | |
| Gujarathi et al. | Gait analysis using imu sensor | |
| US20160370854A1 (en) | Method and System for Analyzing a Movement of a Person | |
| CN105795571B (en) | A kind of data collecting system and method for ectoskeleton pressure footwear | |
| CN106805980A (en) | A kind of gait analysis system and analysis method | |
| CN108186021B (en) | Gait zero-speed detection method and system based on multi-mode information fusion | |
| CN108577854A (en) | Gait recognition method and gait ancillary equipment | |
| Rouhani et al. | Ambulatory measurement of ankle kinetics for clinical applications | |
| CN103622792A (en) | Information collecting and controlling system of external skeleton assist robot | |
| CN108939436A (en) | A kind of the active leg training system and its operating method of strong side Ipsilateral collaboration | |
| CN109480857B (en) | Device and method for detecting frozen gait of Parkinson disease patient | |
| CN108992071A (en) | A kind of lower limb exoskeleton formula gait analysis system | |
| CN106419929A (en) | Quantitative detection device for equilibrium stability of posture of Parkinson's disease patient | |
| Agostini et al. | Wearable sensors for gait analysis | |
| CN107520834A (en) | A kind of lower limb exoskeleton biped supporting zone real time discriminating device | |
| CN112617806B (en) | Intelligent device for walking gesture training | |
| Panero et al. | Comparison of different motion capture setups for gait analysis: Validation of spatio-temporal parameters estimation | |
| US20160345870A1 (en) | Method for detecting ambulatory status and device for detecting ambulatory status | |
| CN110652299A (en) | Multi-source sensing information fusion system for soft exoskeleton of lower limbs | |
| WO2022233138A1 (en) | Gait analysis system | |
| Bajpai et al. | A novel instrumented outsole for real-time foot kinematic measurements: validation across different speeds and simulated foot landing | |
| CN209574702U (en) | A kind of lower limb exoskeleton formula gait analysis system | |
| CN110693501A (en) | Wireless walking gait detection system based on multi-sensor fusion | |
| US10722149B2 (en) | Real-time biofeedback rehabilitation tool guiding and illustrating foot placement for gait training |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |