CN107595290A - A kind of joint angles measuring method and system - Google Patents
A kind of joint angles measuring method and system Download PDFInfo
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- CN107595290A CN107595290A CN201710672675.4A CN201710672675A CN107595290A CN 107595290 A CN107595290 A CN 107595290A CN 201710672675 A CN201710672675 A CN 201710672675A CN 107595290 A CN107595290 A CN 107595290A
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Abstract
The invention belongs to sensor technical field, there is provided a kind of joint angles measuring method and system, use the joint angle measuring device and method of micro- attitude transducer.Attitude transducer is fixed on the limbs at turning joint both ends by way of stickup or bandage, the limb motion posture result of attitude transducer measurement is converted into the movement angle in joint by specific mathematical relationship.It is more flexible its object is to provide a kind of low cost, the metering system of no site requirements limitation, the precision of prior art measurement is improved, lifts Consumer's Experience.Solve the problems, such as that precision is bad in the prior art and equipment is expensive.
Description
Technical field
The invention belongs to sensor technical field, more particularly, to a kind of joint angles measuring method and system.
Background technology
Angle change during physical activity joint motions is dress designing and Individual protection equitment, Human Machine Interface
With Human Modeling with emulation important evidence, be the researchs such as range of motion research, motion study, ergonomics base
Plinth.
Traditional joint angles measuring method is mainly estimated and angle block gauge measurement.The error of ocular estimate is larger, is only applicable
In rough observational measurement.Angle block gauge usually contains the mechanical structure specially designed, is mainly carved comprising two legs and a band
The dial plate of degree, the angle opened between two legs can be read on dial plate.Pass through two when measuring joint motion angle
Leg aligns with the limbs at joint both ends, directly reads the angle value on scale dial plate.This measuring method is quiet only for human body
Joint motion angular surveying in the case of state, metering system are fixed, it is difficult to are avoided artificial error in reading, can only once be measured single
Position, it is unsatisfactory for the measurement demand of personalization.
Another technical solution is by pasting optical markings point on human body, using the sky of optical device recording mark point
Between move, the movement angle of human synovial is obtained by graphical analysis.Optical profile type joint angle measuring device working method complexity,
It is expensive, influenceed greatly by light condition and obstruction conditions, and have specific site requirements.
The content of the invention
For the disadvantages described above or Improvement requirement of prior art, the embodiments of the invention provide a kind of joint angles measurement side
Method and system, use the joint angle measuring device and method of micro- attitude transducer.By attitude transducer by pasting or tying up
The mode of band is fixed on the limbs at turning joint both ends, and the limb motion posture result of the measurement of attitude transducer passes through specific
Mathematical relationship be converted into the movement angle in joint.It is more flexible its object is to provide a kind of low cost, no site requirements limitation
Metering system, improve prior art measurement precision, lifted Consumer's Experience.Solve that precision in the prior art is bad and equipment
The problem of expensive.
The joint angles measuring method that the present invention designs is simple to operate, easy to wear, and continuous turning joint can be achieved
Activity point of view measures.A typical case of the invention, at present doctor carry out joint diagnosis and rehabilitation judge when use
Joint angles measuring method be mainly angle block gauge measurement, it is necessary to special medical worker assists to wear and record measurement result,
Then the doctor in charge is given as clinical judgment.The present invention can substantially reduce the workload of medical worker, and staff only needs
Using the system, data record is carried out after the initial calibration of completion system is operated according to prompting, without artificial reading, and energy
Realize continuous measurement.On the other hand, user quickly grasps its application method by learning service manual and video so that Huan Zhe
In family achieve that joint motion angular surveying, can gather different periods joint motion angle or one section of continuous time
Joint motion angle.The normal range of movement in each joint is integrated in system support software and helps user's entry evaluation joint motion
Measurement result can also be realized telemedicine by situation, patient when seeing a doctor to diagnosis or in the future.
To achieve the above object, according to one aspect of the present invention, there is provided a kind of method of joint angles measurement, specifically
For：Joint angle measuring system obtains the attitude quaternion evidence of multiple nodes of joint motions by multiple micro- attitude transducers,
The multiple micro- attitude transducer is fixed on the both ends in joint；According to the attitude quaternion evidence got, the appearance is determined
Multiple state vectors corresponding to the metadata of state four；Cos operation is negated to the multiple state vectors determined, calculates institute
State the angle of joint motions.
In one embodiment of the invention, multiple nodes of joint motions are obtained in the multiple micro- attitude transducer
Before attitude quaternion evidence, in addition to：
Compensation for calibrating errors is carried out to measurement error caused by initial alignment error.
It is in one embodiment of the invention, described that compensation for calibrating errors is carried out to measurement error caused by initial alignment error,
Including：
Get a reference value of initial attitude quaternary number, the initial attitude quaternary number that a reference value exports in theory
Value；
After arm level, the initial attitude quaternary number of reality output is got；
According to the initial attitude quaternary number and its corresponding a reference value, initial deviation quaternary number is calculated, it is described initial
Deviation quaternary number is a reference value and the ratio of the initial attitude quaternary number；
According to the initial deviation quaternary number calculated and the attitude quaternion evidence got, joint movements four are determined
First number, wherein, the joint movements quaternary number is the joint movements data after compensation for calibrating errors, and the joint movements quaternary number is
The product of the initial deviation quaternary number and the attitude quaternion.
In one embodiment of the invention, the attitude quaternion evidence got described in the basis, determines the posture
Multiple state vectors corresponding to four metadata, including：
The joint movements quaternary number is determined according to attitude quaternion evidence；
The vector of the initial forward direction of definition node；
According to the joint movements quaternary number, the vectorial and described initial attitude quaternary number of the initial forward direction
A reference value, determines the multiple state vector, the state vector be the joint movements quaternary number, it is described it is initial forwards
To vectorial and described initial attitude quaternary number a reference value product.
In one embodiment of the invention, after the angle for calculating the joint motions, in addition to：
The articulation angle degrees of data is sent to terminal device by the wireless transport module, so that in the terminal
Joint motion angle-data described in real time inspection in equipment.
It is another aspect of this invention to provide that a kind of system of joint angles measurement is additionally provided, including.
Including multiple micro- attitude transducers and micro- posture processor, the multiple micro- attitude transducer is fixed on joint two
End, the multiple micro- attitude transducer realize interconnection by transceiver and micro- posture processor, wherein,
Micro- attitude transducer is at least integrated with three axis microelectromechanicdevice system MEMS gyroscopes, a 3 axis MEMS acceleration
Meter and MEMS magnetometers；The three axis MEMS gyro is used for the angular speed for measuring ancon motion, and 3 axis MEMS accelerometer is used
In the acceleration of measurement ancon motion, earth's magnetic field size when MEMS magnetometers are used to measure ancon motion under different azimuth, institute
The data that micro- posture sensing processor is used to merge multisensor measurement are stated, obtain attitude quaternion, and get according to described
Attitude quaternion evidence, determine the attitude quaternion multiple state vectors corresponding to, and to it is described determine it is multiple
State vector negates cos operation, calculates the angle of the joint motions.
In one embodiment of the invention, the system also includes terminal device, and micro- posture processor passes through receipts
The angle-data of the joint motions is sent to the terminal device by hair device in real time, so as to be looked into real time on the terminal device
See the joint motion angle-data.
In one embodiment of the invention, micro- posture sensing processor is additionally operable to caused by initial alignment error
Measurement error carries out compensation for calibrating errors.
In one embodiment of the invention, micro- posture sensing processor is additionally operable to caused by initial alignment error
Measurement error carries out compensation for calibrating errors, including：
Get a reference value of initial attitude quaternary number, the initial attitude quaternary number that a reference value exports in theory
Value；
After arm level, the initial attitude quaternary number of reality output is got；
According to the initial attitude quaternary number and its corresponding a reference value, initial deviation quaternary number is calculated, it is described initial
Deviation quaternary number is a reference value and the ratio of the initial attitude quaternary number；
According to the initial deviation quaternary number calculated and the attitude quaternion evidence got, joint movements four are determined
First number, wherein, the joint movements quaternary number is the joint movements data after compensation for calibrating errors, and the joint movements quaternary number is
The product of the initial deviation quaternary number and the attitude quaternion.
In one embodiment of the invention, the attitude quaternion evidence that micro- posture processor is got according to,
The attitude quaternion multiple state vectors corresponding to are determined, including：
The joint movements quaternary number is determined according to attitude quaternion evidence；
The vector of the initial forward direction of definition node；
According to the joint movements quaternary number, the vectorial and described initial attitude quaternary number of the initial forward direction
A reference value, determines the multiple state vector, the state vector be the joint movements quaternary number, it is described it is initial forwards
To vectorial and described initial attitude quaternary number a reference value product.
Compared with prior art, the present invention has the advantages that：Measured using the joint angles of micro- attitude transducer
Device and method.Attitude transducer is fixed on the limbs at turning joint both ends by way of stickup or bandage, posture
The limb motion posture result of the measurement of sensor is converted into the movement angle in joint by specific mathematical relationship.Its purpose exists
It is a kind of inexpensive in providing, more flexible, the metering system of no site requirements limitation, the precision of raising prior art measurement, lifting
Consumer's Experience.
Brief description of the drawings
Fig. 1 is joint angles measuring method flow chart in the embodiment of the present invention；
Fig. 2 a are micro- attitude transducer position views in the embodiment of the present invention；
Fig. 2 b are micro- attitude transducer initial calibration position views in the embodiment of the present invention；
Fig. 3 is the structural representation of attitude sensing system in the embodiment of the present invention.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in each embodiment of invention described below
Conflict can is not formed each other to be mutually combined.
The embodiments of the invention provide a kind of method of joint angles measurement, as shown in figure 1, this method is specially：
S101. it (is, for example, elbow joint or knee that joint angle measuring system obtains joint by multiple micro- attitude transducers
Joint, in the embodiment of the present invention by taking elbow joint as an example) motion multiple nodes attitude quaternion evidence, useTable
Show.The plurality of micro- attitude transducer is fixed on the both ends in joint；
Joint angle measuring system includes multiple micro- attitude transducers, and an attitude transducer is at least integrated with three axles
Micro-electromechanical system (MEMS) gyroscope, 3 axis MEMS accelerometer and MEMS magnetometers；The three axis MEMS gyro is used to measure
The angular speed of ancon motion, 3 axis MEMS accelerometer are used for the acceleration for measuring ancon motion, and MEMS magnetometers are used to measure
Earth's magnetic field size when ancon moves under different azimuth, the data that micro- attitude transducer collects are sent to micro sensing processor
Afterwards, data analysis and integration are carried out by the processor, gets the attitude quaternion evidence of multiple nodes.
Compared with the sensing technology used in traditional gesture-capture system, MEMS (Micro-Electro-
Mechanic System, MEMS) sensor has small volume, in light weight, reliability is high, cost is low, is easy to large-scale production etc.
Advantage.Recently as the popularization of MEMS technology and the decline of its price, MEMS possesses wide future in engineering applications, especially
It is using significant to volume and the virtual reality system of cost sensitivity.
For example, Fig. 2 a illustrate the situation that 2 micro- attitude transducers are separately fixed at the both ends of elbow, it can be seen that
Node a and node b is bundled in the both ends in joint respectively, and the wireless module that the measurement data of node is internally integrated by it is sent to
Receiving terminal, receiving terminal can be terminal device (such as mobile phone or PCs).By place after receiving terminal acquisition node data
Reason obtains real-time articulation angle and recorded.
Wherein, due to everyone physique height differences, when carrying out joint angles measurement with the system, the position of node binding
It is difficult to and is completely superposed with normal place, the initial alignment error of node can causes the measurement error of joint motion angle.Such as
Shown in Fig. 2 b, the dotted line represents node ideal mounting position, and solid line represents node actual installation position.Deviation be present in its position.
Therefore, it is necessary to the initial alignment error for realizing node by certain initial calibration procedure compensates, and then during reduction joint motions
Angle measurement error.
Therefore, before the attitude quaternion evidence for multiple nodes that the plurality of micro- attitude transducer obtains joint motions, this hair
Bright embodiment can also carry out error/compensation for calibrating errors, including following method to initial installation：
The a reference value of initial attitude quaternary number is got, the initial attitude quaternary numerical value that a reference value exports in theory,
WithRepresent, wherein i is the number of micro- attitude transducer, is indicated for convenience, and the embodiment of the present invention is arranged to 2
Micro- attitude transducer, micro- attitude transducer of varying number can be set according to different situations in practice, and the embodiment of the present invention is to this
It is and unrestricted；
After arm level, the initial attitude quaternary number of reality output is got, is usedTo represent；
According to the initial attitude quaternary number and its corresponding a reference value, initial deviation quaternary number is calculated, is usedRepresent.The initial deviation quaternary number is a reference value and the ratio of the initial attitude quaternary number；That is, benchmark
It is that initial attitude quaternary number and initial deviation quaternary number meet following relation：
The attitude quaternion evidence that initial deviation quaternary number according to calculating is got with this, determines joint movements quaternary
Number, useRepresent, wherein, the joint movements quaternary number is the joint movements data after compensation for calibrating errors, and the node is transported
Dynamic quaternary number is the product of the initial deviation quaternary number and the attitude quaternion.That is, formula can be used：
To represent.
S102. the attitude quaternion evidence got according to this, the attitude quaternion multiple state vectors corresponding to are determined；
S102 is specific as follows：
The joint movements quaternary number is determined according to attitude quaternion evidenceIt can determine that in previous step；
The vector of the initial forward direction of definition node, useRepresent；
According to the joint movements quaternary number, the vector of the initial forward direction and the benchmark of the initial attitude quaternary number
Value, determine the plurality of state vector, the state vector be the joint movements quaternary number, the initial forward direction vector and
The product of a reference value of the initial attitude quaternary number.That is, the attitude quaternion of two nodes is obtainedIt
Afterwards, you can two state vectors are determined：
S103. cos operation is negated to multiple state vectors that this is determined, calculates the angle of the joint motions.
The vector obtained according to S102WithAfterwards, you can obtain the activity point of view in joint between two nodes：
Alternatively, after this calculates the angle of the joint motions, the embodiment of the present invention also includes：
The articulation angle degrees of data is sent to terminal device (such as mobile end in Fig. 2 a by the wireless transport module
End and/or PC) so that real time inspection joint motion angle-data on the terminal device.
The embodiment of the present invention additionally provides a kind of system of joint angles measurement, as shown in figure 3, the system includes:
Multiple micro- attitude transducers 201 and micro- posture processor 202, the multiple micro- attitude transducer 201 are fixed on pass
Both ends are saved, (transceiver can be wiredly and/or wirelessly transport module, example to the multiple micro- attitude transducer 201 by transceiver
Such as bluetooth or WIFI transport modules) interconnected with micro- realization of posture processor 202, wherein,
Micro- attitude transducer 201 is at least integrated with three axis microelectromechanicdevice system MEMS gyroscopes 2011, three axles
Mems accelerometer 2012 and MEMS magnetometers 2013；The three axis MEMS gyro 2011 is used for the angle speed for measuring ancon motion
Degree, 3 axis MEMS accelerometer 2012 are used for the acceleration for measuring ancon motion, and MEMS magnetometers 2013 are used to measure ancon fortune
Earth's magnetic field size when dynamic under different azimuth, micro- posture sensing processor 202 are used for the data for merging multisensor measurement,
Attitude quaternion is obtained, and according to the attitude quaternion evidence got, determines that the attitude quaternion is multiple corresponding to
State vector, and cos operation is negated to the multiple state vectors determined, calculate the angle of the joint motions.
Alternatively, system can also include terminal device, and micro- posture processor 202 is by transceiver by the joint motions
Angle-data be sent to the terminal device in real time so that real time inspection joint motion angle-data on the terminal device.
Wherein, due to everyone physique height differences, when carrying out joint angles measurement with the system, the position of node binding
It is difficult to and is completely superposed with normal place, the initial alignment error of node can causes the measurement error of joint motion angle.Cause
This, it is necessary to the initial alignment error for realizing node by certain initial calibration procedure compensates, and then reduces joint motions hour angle
Spend measurement error.
Therefore, it is micro- before the plurality of micro- attitude transducer 201 obtains the attitude quaternion evidence of multiple nodes of joint motions
Posture sensing processor 202 is additionally operable to carry out error/compensation for calibrating errors, including following method to initial installation：
The a reference value of initial attitude quaternary number is got, the initial attitude quaternary numerical value that a reference value exports in theory,
WithRepresent, wherein i is the number of micro- attitude transducer 201, is indicated for convenience, and the embodiment of the present invention is arranged to 2
Individual micro- attitude transducer 201, micro- attitude transducer 201 of varying number can be set according to different situations in practice, and the present invention is in fact
Apply example to this and it is unrestricted；
After arm level, the initial attitude quaternary number of reality output is got, is usedTo represent；
According to the initial attitude quaternary number and its corresponding a reference value, initial deviation quaternary number is calculated, is usedRepresent.The initial deviation quaternary number is a reference value and the ratio of the initial attitude quaternary number；That is, base
Standard is that initial attitude quaternary number and initial deviation quaternary number meet following relation：
The attitude quaternion evidence that initial deviation quaternary number according to calculating is got with this, determines joint movements quaternary
Number, useRepresent, wherein, the joint movements quaternary number is the joint movements data after compensation for calibrating errors, and the node is transported
Dynamic quaternary number is the product of the initial deviation quaternary number and the attitude quaternion.That is, formula can be used：
To represent.
The attitude quaternion evidence that micro- posture sensing processor 202 is got according to this, determine the attitude quaternion according to corresponding
Multiple state vectors, it is specific as follows：
The joint movements quaternary number is determined according to attitude quaternion evidenceIt can determine that in previous step；
The vector of the initial forward direction of definition node, useRepresent；
According to the joint movements quaternary number, the vector of the initial forward direction and the benchmark of the initial attitude quaternary number
Value, determine the plurality of state vector, the state vector be the joint movements quaternary number, the initial forward direction vector and
The product of a reference value of the initial attitude quaternary number.That is, the attitude quaternion of two nodes is obtained
Afterwards, you can two state vectors are determined：
Micro- posture sensing processor 202 negates cos operation to multiple state vectors that this is determined, calculates the joint
The angle of motion.According to the vector determinedWithAfterwards, you can obtain the activity point of view in joint between two nodes：
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, all any modification, equivalent and improvement made within the spirit and principles of the invention etc., all should be included
Within protection scope of the present invention.
Claims (10)
- A kind of 1. joint angles measuring method, it is characterised in that including：Joint angle measuring system obtains the attitude quaternion evidence of multiple nodes of joint motions by multiple micro- attitude transducers, The multiple micro- attitude transducer is fixed on the both ends in joint；According to the attitude quaternion evidence got, the attitude quaternion multiple state vectors corresponding to are determined；Cos operation is negated to the multiple state vectors determined, calculates the angle of the joint motions.
- 2. according to the method for claim 1, it is characterised in that obtain joint motions in the multiple micro- attitude transducer Before the attitude quaternion evidence of multiple nodes, in addition to：Compensation for calibrating errors is carried out to measurement error caused by initial alignment error.
- 3. according to the method for claim 2, it is characterised in that described that measurement error caused by initial alignment error is carried out Compensation for calibrating errors, including：Get a reference value of initial attitude quaternary number, the initial attitude quaternary numerical value that a reference value exports in theory；After arm level, the initial attitude quaternary number of reality output is got；According to the initial attitude quaternary number and its corresponding a reference value, initial deviation quaternary number, the initial deviation are calculated Quaternary number is a reference value and the ratio of the initial attitude quaternary number；According to the initial deviation quaternary number calculated and the attitude quaternion evidence got, joint movements quaternary is determined Number, wherein, the joint movements quaternary number is the joint movements data after compensation for calibrating errors, and the joint movements quaternary number is institute State the product of initial deviation quaternary number and the attitude quaternion.
- 4. according to the method described in claim any one of 1-3, it is characterised in that the posture quaternary got described in the basis Data, the attitude quaternion multiple state vectors corresponding to are determined, including：The joint movements quaternary number is determined according to attitude quaternion evidence；The vector of the initial forward direction of definition node；According to the joint movements quaternary number, the benchmark of the vectorial and described initial attitude quaternary number of the initial forward direction Value, determines the multiple state vector, and the state vector is the joint movements quaternary number, the initial forward direction The product of a reference value of vectorial and described initial attitude quaternary number.
- 5. according to the method for claim 4, it is characterised in that after the angle for calculating the joint motions, Also include：The articulation angle degrees of data is sent to terminal device by the wireless transport module, so that in the terminal device Joint motion angle-data described in upper real time inspection.
- 6. a kind of joint angle measuring system, it is characterised in that the joint angle measuring system includes multiple micro- posture sensings Device and micro- posture processor, the multiple micro- attitude transducer are fixed on joint both ends, and the multiple micro- attitude transducer passes through Transceiver realizes interconnection with micro- posture processor, wherein,Micro- attitude transducer be at least integrated with a three axis microelectromechanicdevice system MEMS gyroscopes, 3 axis MEMS accelerometer and MEMS magnetometers；The three axis MEMS gyro is used for the angular speed for measuring ancon motion, and 3 axis MEMS accelerometer is used to survey The acceleration of ancon motion is measured, earth's magnetic field size when MEMS magnetometers are used to measure ancon motion under different azimuth is described micro- Posture sensing processor is used for the data for merging multisensor measurement, obtains attitude quaternion, and according to the appearance got The metadata of state four, the attitude quaternion multiple state vectors corresponding to are determined, and to the multiple states determined Vector negates cos operation, calculates the angle of the joint motions.
- 7. system according to claim 6, it is characterised in that the system also includes terminal device, at micro- posture The angle-data of the joint motions is sent to the terminal device by reason device in real time by transceiver, so as to be set in the terminal Joint motion angle-data described in standby upper real time inspection.
- 8. system according to claim 6, it is characterised in that micro- posture sensing processor is additionally operable to initial installation Measurement error caused by error carries out compensation for calibrating errors.
- 9. system according to claim 8, it is characterised in that micro- posture sensing processor is additionally operable to initial installation Measurement error caused by error carries out compensation for calibrating errors, including：Get a reference value of initial attitude quaternary number, the initial attitude quaternary numerical value that a reference value exports in theory；After arm level, the initial attitude quaternary number of reality output is got；According to the initial attitude quaternary number and its corresponding a reference value, initial deviation quaternary number, the initial deviation are calculated Quaternary number is a reference value and the ratio of the initial attitude quaternary number；According to the initial deviation quaternary number calculated and the attitude quaternion evidence got, joint movements quaternary is determined Number, wherein, the joint movements quaternary number is the joint movements data after compensation for calibrating errors, and the joint movements quaternary number is institute State the product of initial deviation quaternary number and the attitude quaternion.
- 10. system according to claim 9, it is characterised in that the appearance that micro- posture processor is got according to The metadata of state four, the attitude quaternion multiple state vectors corresponding to are determined, including：The joint movements quaternary number is determined according to attitude quaternion evidence；The vector of the initial forward direction of definition node；According to the joint movements quaternary number, the benchmark of the vectorial and described initial attitude quaternary number of the initial forward direction Value, determines the multiple state vector, and the state vector is the joint movements quaternary number, the initial forward direction The product of a reference value of vectorial and described initial attitude quaternary number.
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| CN108852360A (en) * | 2018-03-16 | 2018-11-23 | 北京工业大学 | A kind of human body lower limbs hip and knee angle detection system and method |
| CN108917589A (en) * | 2018-07-18 | 2018-11-30 | 上海交通大学 | A kind of manipulator joint angle measurement system, platform and measurement method |
| CN109745671A (en) * | 2019-02-21 | 2019-05-14 | 山东中医药大学 | A kind of device assisting elbow fracture initiative rehabilitation |
| CN109805937A (en) * | 2018-12-07 | 2019-05-28 | 南京医科大学 | Three-dimensional leg exercise detection system and method based on permanent magnetism location technology |
| CN109864872A (en) * | 2019-02-21 | 2019-06-11 | 山东中医药大学 | A kind of method of elbow fracture initiative rehabilitation quantized data acquisition |
| CN112861606A (en) * | 2020-12-24 | 2021-05-28 | 北京航空航天大学 | Virtual reality hand motion recognition and training method based on skeleton animation tracking |
| CN113080879A (en) * | 2021-05-06 | 2021-07-09 | 陕西福音假肢有限责任公司 | Circuit and method for continuously and dynamically measuring joint movement angle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108852360A (en) * | 2018-03-16 | 2018-11-23 | 北京工业大学 | A kind of human body lower limbs hip and knee angle detection system and method |
| CN108917589A (en) * | 2018-07-18 | 2018-11-30 | 上海交通大学 | A kind of manipulator joint angle measurement system, platform and measurement method |
| CN109805937A (en) * | 2018-12-07 | 2019-05-28 | 南京医科大学 | Three-dimensional leg exercise detection system and method based on permanent magnetism location technology |
| CN109745671A (en) * | 2019-02-21 | 2019-05-14 | 山东中医药大学 | A kind of device assisting elbow fracture initiative rehabilitation |
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| CN112861606A (en) * | 2020-12-24 | 2021-05-28 | 北京航空航天大学 | Virtual reality hand motion recognition and training method based on skeleton animation tracking |
| CN113080879A (en) * | 2021-05-06 | 2021-07-09 | 陕西福音假肢有限责任公司 | Circuit and method for continuously and dynamically measuring joint movement angle |
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