CN106667493A - Human body balance assessment system and assessment method - Google Patents

Abstract

The invention provides a human body balance assessment system and assessment method. The human body balance assessment system includes a man-machine interaction module, an action comparison module, a plantar pressure detection module, and a balance index quantification module. The human body balance assessment method includes: setting an application scene in the man-machine interaction module, allowing interactive actions between the human body and the application scene, using a somatosensory sensor to record three-dimensional coordinates of corresponding nodes of a human body skeleton model in real time, and using a plantar pressure sensor to measure the plantar pressure in real time; calculating the angles of human body joints, and determining if the action is standard or not; performing pretreatment on the plantar pressure value if so, and calculating the plantar pressure center; and assessing the balance ability of a human body according to the offset degree of the plantar pressure center. The somatosensory sensor and the plantar pressure sensor are combined; standard actions with different difficulties are designed for people groups with different balance disorders; the objectivity and the reliability of balance assessment can be improved; and the human body balance assessment system and assessment method has wide application value.

Description

Total balance of the body assessment system and appraisal procedure

Technical field

The present invention relates to a kind of total balance of the body index intelligent detection device, concretely relates to a kind of based on body-sensing sensing The total balance of the body assessment system and appraisal procedure of device and plantar pressure.

Background technology

Balanced ability of human body refer to human body maintain self stability ability, including maintain certain posture ability, or When being acted on by external force, regulate and control the ability that body keeps balance.Balanced capacity is one of important physiological function of human body, is also people The important indicator of body motion function.Balanced capacity obstacle is mainly shown as standing or shakiness of walking, and easily falls down.For old people For lower limb function impaired, it is fallen down can cause very big burden to family and society.Therefore, monitor and assess human body Balanced capacity is fallen down for preventing an accident, the diagnosis of lower-limb ailments and the assessment of rehabilitation training effect have important function.

At present, the total balance of the body measuring method for clinically generally adopting mainly includes observational method and scaling method etc..Observational method It is the time length that certain posture is kept according to tester, balance test conclusion is provided according to test case and experience by doctor. Scale rule is to do a series of actions and posture as requested by tester, and doctor passes through according to execution and standard Table look-up and provide respective level or fraction, finally according to scoring event test result is given.Both approaches are clinical balanced Check and treat and provide certain foundation, but tester and doctor are depended on more the conclusion that draws of said method, relative to machine Subjective for measurement assessment, measurement result and the impression of different people have larger difference, limit the visitor of balanced capacity See quantitatively evaluating.

The achievable human synovials of Kinect actively track the rehabilitation training (B of CN 102824176) with upper limb, but its nothing Method detects the trickle swing of human body, not enough for the detection sensitivity of lower limb malfunction crowd.It is traditional based on Kinect's Human body fall detection (A of CN 105719429) by the image change of limbs node so as to realize the detection of mass center of human body, but It is only applicable to the detection of human body tumble process and reminds, it is impossible to provide the early warning before falling and fall risk assessment.

And the balance master system (A of CN 105534500) for being based on acceleration transducer and plantar pressure detection lacks right The active control of subject motion's attitude and amplitude, it is impossible to differentiation be by dysequilibrium caused by trunk or lower limb problem, The assessment of quantification gradation can not be provided total balance of the body function.

The content of the invention

An object of the present invention is to provide a kind of total balance of the body assessment system, to solve existing balance assessment system Monitoring sensitivity is not enough, the problems such as quantitative evaluation subjectivity is strong.

The second object of the present invention is to provide a kind of total balance of the body appraisal procedure, to solve existing appraisal procedure objectivity Difference, the problems such as quantification gradation can not be provided and assess.

What an object of the present invention was realized in：

A kind of total balance of the body assessment system, including：

Human-computer interaction module, including body-sensing sensor and human-computer interaction terminal；The human-computer interaction terminal is provided with virtually Application scenarios, for realizing the body feeling interaction of human body and application scenarios, the body-sensing sensor is used to obtain the human body in real time Skeleton pattern respective nodes three-dimensional coordinate；

Action contrast module, obtains the three-dimensional coordinate letter of the human skeleton model respective nodes of the human-computer interaction module Breath, calculates human synovial opening angle；

Plantar pressure detection module, including plantar pressure sensor, signals collecting transmission circuit and analysis circuit；To obtain Bottom pressure distributed data is taken fully, the Center of Pressure of Human Sole is calculated in real time；And

Balance index quantization modules, the human synovial opening angle obtained using the action contrast module and the foot The balanced capacity of the sole pressure center quantitative evaluation human body that bottom pressure detection module is obtained.

The balance index quantization modules obtain joint opening angle from the action contrast module, judge the action of human body With default scene standard operation matching degree, sole pressure center is obtained from the plantar pressure detection module, calculate vola pressure The degrees of offset at power center, and the balanced capacity of the degrees of offset quantitative evaluation human body according to sole pressure center.

What the second object of the present invention was realized in：

A kind of total balance of the body appraisal procedure, comprises the steps：

(1) application scenarios, tested human body and application scenarios interactive action are set in human-computer interaction terminal, are sensed by body-sensing The three-dimensional coordinate of human skeleton model corresponding joint node of the device real time record human body during interactive action, by being placed in vola The real-time surveying record plantar pressure of pressure transducer；

(2) the joint opening angle of human body is calculated according to the three-dimensional coordinate of human skeleton model respective nodes, and with this Judge the action of human body and the matching degree of default scene；

(3) if human action is not inconsistent standardization, step (1) and (2) are carried out again, until action conformance with standard；If All the time the requirement of standard operation can not be reached, then selects the low standard operation of degree-of-difficulty factor else, repeat step (1) and (2), until moving Make conformance with standard；After human action conformance with standard, unruly-value rejecting and second differnce Filtering Processing are carried out to plantar pressure numerical value, Then sole pressure center is calculated；

(4) balanced capacity of the scale evaluation human body offset according to sole pressure center.

In the step (1), tested human body is with the interactive action of application scenarios：Tested human body both feet can not be moved It is dynamic, the fruit of front eminence in virtual application scene is won with the movement of trunk and upper limb.

In the step (1), different application scenarios are selected according to the limbs malfunction degree of tested human body, so as to Make interactive action difficulty different.

In the step (2), human synovial open-angle is calculated according to the three-dimensional coordinate of human skeleton model respective nodes The method of degree is：

As origin, human body front is X-axis, and left side is Y-axis, is vertically upward Z axis at midpoint with tester's foot spacing Rectangular coordinate system is set up, from body-sensing sensor left finesse, right finesse, left hand elbow, right hand elbow, left shoulder, right shoulder, left knee joint, the right side are obtained Knee joint, left ankle, the three dimensional space coordinate of right ankle, are set to L, M, N, O, P, Q, R, S, T, U, the goniometer that left hand elbow joint opens Calculate formula as follows：

∠ LNP=arccos (cos θ) × 180/ π

Wherein,Two vectors are carried out point multiplication operation by expression.

In the step (3), unruly-value rejecting and second differnce Filtering Processing are carried out to plantar pressure numerical value, wherein described two Order difference Filtering Processing is：

r_t=X_t+2-X_t+1-X_t+X_t-1

Wherein, x_tIt is primary signal, filters r_tSignal after process, subscript t is the sampling time.

In the step (3), sole pressure center computational methods are：

Wherein, (Xp, Yp) be Center of Pressure, F_iFor vola (x_i,y_i) pressure that measures of place.

Preset multiple different scenes to be tested, obtain being adapted to the different degree-of-difficulty factor actions of different crowd, so as to To quantization balance index.

Two foots are the most important supports of whole human body, and any trickle variation of limbs can produce the bright of plantar nervous arch Aobvious change.By the attitude and amplitude that control human body limb, the offset movement of center of gravity can be produced in vola.Only balance performance Intact crowd, self adjustment of vola center of gravity just can be relatively rapid more reasonable.The crowd of balance performance obstacle, lures in limb action In the case of leading nonequilibrium condition, can there is substantially skew and can not keep stable in vola center of gravity.It is dynamic in different amplitude limbs Gesture lower monitoring plantar nervous arch state, for quantitative evaluation balanced ability of human body has great importance.

Body-sensing sensor in combination with plantar pressure sensor, for different disequilibrium crowds design is passed through by the present invention The standard operation of different difficulty, and change while measuring plantar nervous arch, improve system using the method for information fusion The reliability of balanced capacity assessment, is with a wide range of applications.

The present invention is creatively introduced into body-sensing sensor in human body dynamic balancing assessment, using the people of body-sensing sensor record The coordinate motion state of body skeleton pattern, is arranged with reference to scene of game, increased the human-computer interaction of upper limks movements and the master of people See motility.Compared with traditional total balance of the body function assessment based on gait and attitude, the method utilizes default difference Total balance of the body control ability is assessed in difficult part, using the teaching of the invention it is possible to provide fine body balance quantifies grading.

Description of the drawings

Fig. 1 is the pie graph of human body balance assessment system.

Fig. 2 is the flow chart of the total balance of the body appraisal procedure of the present invention.

Fig. 3 is the joint of human body and foot in the total balance of the body assessment system and total balance of the body appraisal procedure of the present invention Bottom pressure detecting location schematic diagram.

Fig. 4 is the flow chart that joint opening angle is calculated.

Fig. 5 is balance index quantization flow figure.

Fig. 6 is balance performance test data figure when 1 liang of foot of volunteer is stood.

When Fig. 7 does Fig. 5 default scene actions for volunteer 1, resulting balance performance test data figure.

When Fig. 8 does Fig. 5 default scene actions for volunteer 2, resulting balance performance test data figure.

In figure, 1 is left hand carpal joint, and 2 is left hand elbow joint, and 3 is left shoulder joint, and 4 is joint spinal column, and 5 are right finesse pass Section, 6 is right hand elbow joint, and 7 is right shoulder joint, and 8 are the left knee joint of left section, and 9 is right joint knee joint, and 10 is right crus of diaphragm ankle joint, and 11 is left foot Ankle joint, 12 is left plantar pressure sensor, and 13 is right plantar pressure sensor；91 is human-computer interaction module, and 911 is man-machine friendship Mutual terminal, 912 is body-sensing sensor, and 92 is plantar pressure detection module, and 921 is plantar pressure sensor, and 922 is signals collecting Transmission circuit, 923 is analysis circuit, and 93 is action contrast module, and 94 is balance index quantization modules.

Specific embodiment

Below in conjunction with the accompanying drawings the present invention is described in further detail.

As shown in figure 1, total balance of the body assessment system includes that human-computer interaction module 91, action contrast module 93, vola are pressed Power detection module 92 and balance quantification of targets module 94.

Human-computer interaction module 91 includes body-sensing sensor 912 (Kinect sensor) and human-computer interaction terminal 911；Man-machine friendship Mutually terminal 911 is to be provided with the computer of human-computer interaction interface and be provided with the interest developed using C# programming languages to pick fruit Application scenarios.The program can form the virtual application scene that interest picks fruit in human-computer interaction interface, for realizing Human body is interacted with the action of application scenarios.In action interaction, the three-dimensional coordinate of human skeleton model respective nodes is by body Propagated sensation sensor 912 is obtained.

Plantar pressure detection module 92 includes plantar pressure sensor 921, signals collecting transmission circuit 922 and analysis circuit 923.Plantar pressure sensor 921 includes Wearable pliable pressure sensor, and experimenter is by the Wearable pliable pressure sensor Vola in footwear is placed in, signals collecting transmission circuit 922 is by from the real-time plantar nervous arch data acquisition of pressure transducer Transmit to analysis circuit 923, analysis circuit 923 calculates in real time sole pressure center.

Action contrast module 93 obtains the three-dimensional coordinate information of human skeleton model respective nodes, meter from human-computer interaction module Calculate each movable joint opening angle of human body.

Balance index quantization modules 94, the joint opening angle obtained using action contrast module and plantar pressure are detected The balanced capacity of the sole pressure center quantitative evaluation human body that module is obtained.

As shown in Fig. 2 total balance of the body appraisal procedure comprises the steps：

(1) detecting location is set according to human synovial shown in Fig. 3 and vola, application scenarios is set in human-computer interaction terminal, When test starts, tester's holding stance is motionless, and in test process, tester's both feet are immovable, using body upper limb Movement to win virtual applications scene in front eminence fruit, tester's human body and application scenarios interactive action, By the three-dimensional coordinate of human skeleton model respective nodes of the body-sensing sensor real time record human body during interactive action, by putting The real-time surveying record plantar pressure of pressure transducer in vola.

Different application scenarios are selected according to the limbs malfunction degree of testee's human body, so that interactive action is difficult Degree is different.

(2) joint of human body is calculated according to the three-dimensional coordinate of human skeleton model human skeleton model respective nodes Open/angle of bend, and the action of human body whether standard is judged with this.

(2a) human synovial opening angle is calculated according to the three-dimensional coordinate of human skeleton model respective nodes：

As origin, human body front is X-axis, and left side is Y-axis, is vertically upward Z axis at midpoint with tester's foot spacing Rectangular coordinate system is set up, from body-sensing sensor left finesse, right finesse, left hand elbow, right hand elbow, left shoulder, right shoulder, left knee joint, the right side are obtained Knee joint, left ankle, the three dimensional space coordinate of right ankle, are set to L, M, N, O, P, Q, R, S, T, U, the angle that such as left hand elbow joint opens Computing formula is as follows：

∠ LNP=arccos (cos θ) × 180/ π

Wherein,Two vectors are carried out point multiplication operation by expression.

According still further to above-mentioned computational methods, the opening angle in other joints of human body is calculated.

(2b) body-sensing sensor (Kinect sensor) judges the action of tester whether standard.

With the midpoint of tester's foot spacing as origin, human body front is X-axis, and left side is Y-axis, is vertically upward Z In the rectangular coordinate system that axle is set up ,/angle of bend is opened according to the joint of the human skeleton model of Kinect records, assessment is actual The matching degree of movement posture, amplitude and goal-selling, judges the action of human body whether standard.

If the action of human body is nonstandard, step (1) and (2) are carried out again, until human action conformance with standard；If All the time the requirement of standard operation can not be reached, then selects the low standard operation of degree-of-difficulty factor else, human body is treated in repeat step (1) and (2) After action conformance with standard, then next step is carried out.

(3) unruly-value rejecting and second differnce Filtering Processing are carried out to plantar pressure numerical value, sole pressure center is then calculated.

Plantar pressure signal to being gathered carries out pretreatment, is then calculated using Center of Pressure using the data of pretreatment Method obtains sole pressure center track, and so as to obtain with the midpoint of foot spacing as origin, human body front is X-axis, left Side is Y-axis, upwards in the rectangular coordinate system of Z axis, sole pressure center offsets the side-play amount of origin, i.e. Center of Pressure skew Degree amount.

Preprocessing process includes unruly-value rejecting and second differnce Filtering Processing, wherein, second differnce is filtered into：

r_t=X_t+2-X_t+1-X_t+X_t-1

Wherein, x_tFor primary signal, r_tFor the signal after process, subscript t is the sampling time.

Center of Pressure computational methods are：

Wherein, (Xp, Yp) be Center of Pressure, F_iFor vola (x_i,y_i) pressure that measures of place.

(4) balanced capacity and output result of the scale evaluation human body offset according to sole pressure center.

When quantization balance index is carried out to a certain individuality, multiple different scenes should be preset, repeatedly be tested, typically Should be tested at least provided with three different scenes and respectively.

As shown in Figure 5, the sole pressure center side-play amount under different default scenes is calculated respectively.Further according in plantar pressure Heart side-play amount and action norm carry out quantization grading, and side-play amount is more big more frequent, and human body dynamic equilibrium function is poorer.

Specific embodiment

Using the method for the present invention, different volunteers are tested, Fig. 6~8 show the balance of tested volunteer Function data.In the case where 1 liang of foot of volunteer is stood, distribution pressure is measured by being placed in the pressure transducer in vola, and counted Side-play amount of the vola centrally along human body left and right directions (Y-axis) is calculated, two sufficient stability of standing are preferable, without skew, as shown in Figure 6. In the case where 2 liang of foots of volunteer are stood, the balance performance data tested are identical with Fig. 6.Subsequently, volunteer 1 and volunteer 2 The default same scene actions of Fig. 5 are done respectively, vola center offset is measured and calculate respectively, and its result is as shown in Figure 7,8.From As can be seen that both Y-axis produce significantly skew in figure, and side-play amount and deviation frequency are different.Fig. 7, the aspiration shown in 8 Person 1, the Y-axis side-play amount mean square deviation of volunteer 2 are respectively 0.03843,0.05062.It can be seen that, for erectility cannot be distinguished by Centre-of gravity shift, by the present invention default scene action induce, can measure and obtain obvious difference, to function of human body assess Sensitivity greatly improve.

The total balance of the body assessment system of the present invention, using Wearable pliable pressure sensor and radio detection transmission system Wearable is placed in vola in footwear by system, experimenter, can be freely in the search coverage positioned at Kinect sensor dead ahead Walk about and measure dynamic pressure distribution and athletic posture information.By the non-equilibrium limbs attitude acting ring of the different difficulty levels of manufacture Border, assesses total balance of the body control ability.For different degrees of limbs malfunction crowd, write interest is utilized to pick fruit Application scenarios, and the action of different difficulty is designed, actively to select variety classes according to the concrete condition of tested main body Limb action attitude and amplitude, using Kinect detect actual act with design standard operation matching degree, while inspection Plantar nervous arch situation of change is surveyed, so as to realize balancing the quantitative evaluation of control ability.

Claims (9)

1. a kind of total balance of the body assessment system, it is characterised in that include：

Human-computer interaction module, including body-sensing sensor and human-computer interaction terminal；The human-computer interaction terminal is provided with virtual application Scene, for realizing the body feeling interaction of human body and application scenarios, the body-sensing sensor is used to obtain the bone of the human body in real time The three-dimensional coordinate of frame model respective nodes；

Action contrast module, obtains the three-dimensional coordinate information of the human skeleton model respective nodes of the human-computer interaction module, meter Calculate human synovial opening angle；

Plantar pressure detection module, including plantar pressure sensor, signals collecting transmission circuit and analysis circuit；To obtain foot Bottom pressure distributed data, calculates in real time the Center of Pressure of Human Sole；And

Balance index quantization modules, the human synovial opening angle obtained using the action contrast module and the vola are pressed The balanced capacity of the sole pressure center quantitative evaluation human body that power detection module is obtained.

2. total balance of the body assessment system according to claim 1, it is characterised in that the balance index quantization modules from The action contrast module obtains human synovial opening angle, and the action for judging human body matches journey with default scene standard operation Degree, from the plantar pressure detection module sole pressure center is obtained, and calculates the degrees of offset of sole pressure center, and according to foot The balanced capacity of the degrees of offset quantitative evaluation human body at bottom pressure center.

3. a kind of total balance of the body appraisal procedure, it is characterised in that comprise the steps：

(1) application scenarios, tested human body and application scenarios interactive action are set in human-computer interaction terminal, by body-sensing sensor reality The three-dimensional coordinate of human skeleton model respective nodes of the Shi Jilu human bodies during interactive action, is passed by the pressure for being placed in vola The real-time surveying record plantar pressure of sensor；

(2) human synovial opening angle is calculated according to the three-dimensional coordinate of human skeleton model respective nodes, and people is judged with this The action of body whether standard；

(3) if human action is not inconsistent standardization, step (1) and (2) are carried out again, until action conformance with standard；If human body Action can not reach all the time the requirement of standard operation, then select the low standard operation of degree-of-difficulty factor else, repeat step (1) and (2), directly To action conformance with standard；After human action conformance with standard, unruly-value rejecting and second differnce filtering are carried out to plantar pressure numerical value Process, then calculate sole pressure center；

(4) balanced capacity of the scale evaluation human body offset according to sole pressure center.

4. total balance of the body appraisal procedure according to claim 3, it is characterised in that in the step (1), tested people Body is with the interactive action of application scenarios：Tested human body both feet are immovable, won with the movement of trunk and upper limb virtual The fruit of front eminence in application scenarios.

5. total balance of the body appraisal procedure according to claim 3, it is characterised in that in the step (1), according to tested The limbs malfunction degree of examination human body selects different application scenarios, so that interactive action difficulty is different.

6. total balance of the body appraisal procedure according to claim 3, it is characterised in that in the step (2), according to human body The three-dimensional coordinate of skeleton pattern respective nodes calculates the method for physical activity joint opening angle：

As origin, human body front is X-axis, and left side is Y-axis at midpoint with tester's foot spacing, is vertically upward Z axis foundation Rectangular coordinate system, from body-sensing sensor left finesse, right finesse, left hand elbow, right hand elbow, left shoulder, right shoulder, left knee joint, right knee joint, a left side are obtained The three dimensional space coordinate of ankle, right ankle, is set to L, M, N, O, P, Q, R, S, T, U, and the angle calculation that left hand elbow joint opens is public Formula is as follows：

$\stackrel{\→}{NL}=\stackrel{\→}{L}-\stackrel{\→}{N}$

$\stackrel{\→}{NP}=\stackrel{\→}{P}-\stackrel{\→}{N}$

$cos\mathrm{\θ}=(\stackrel{\→}{NL}\·\stackrel{\→}{NP})/\left(\right|\stackrel{\→}{NL}|\×|\stackrel{\→}{NP}\left|\right)$

∠ LNP=arccos (cos θ) × 180/ π

Wherein,Two vectors are carried out point multiplication operation by expression.

7. total balance of the body appraisal procedure according to claim 3, it is characterised in that in the step (3), presses vola Power numerical value carries out unruly-value rejecting and second differnce Filtering Processing, wherein the second differnce Filtering Processing is：

r_t=X_t+2-X_t+1-X_t+X_t-1

Wherein, x_tIt is primary signal, r_tIt is signal after process, subscript t is the sampling time.

8. total balance of the body appraisal procedure according to claim 3, it is characterised in that in the step (3), plantar pressure Center calculation method is：

$\left\{\begin{array}{c}{X}_p=\frac{\underset{i}{\Σ}{F}_i{x}_i}{\underset{i}{\Σ}{F}_i}\\ Y_p=\frac{\underset{i}{\Σ}{F}_i{y}_i}{\underset{i}{\Σ}{F}_i}\end{array}\right.$

Wherein, (Xp, Yp) be Center of Pressure, F_iFor vola (x_i,y_i) pressure that measures of place.

9. total balance of the body appraisal procedure according to claim 3, it is characterised in that presetting multiple different scenes is carried out Test, obtains being adapted to the different degree-of-difficulty factor actions of different crowd, so as to obtain quantifying balance index.