CN107607151B - A kind of measurement weights and center of gravity of moving segments of human body parametric technique - Google Patents
A kind of measurement weights and center of gravity of moving segments of human body parametric technique Download PDFInfo
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Abstract
This application provides a kind of measurement weights and center of gravity of moving segments of human body parametric techniques, on the basis of introducing human body sport step chain, supplement weight square parameter, pass through position coordinates, barycentric coodinates and the total weight of the certain point that measurement links measure when around joint motions, link chain weight square is measured and is combined with link chain radius of gravity center measurement, weights and center of gravity of moving segments of human body parameter is obtained.The program can obtain weights and center of gravity of moving segments of human body parameter in conjunction under personal feature, consideration human body or so the disequilibrium of development and the actual conditions of body segment's motion process.
Description
Technical field
The present invention relates to field of communication technology, in particular to a kind of measurement weights and center of gravity of moving segments of human body parametric technique.
Background technique
The weight parameter of human body sport step includes link weight, link radius of gravity center and link weight square, is human body ring
The basic parameter of human figure structure and Mass Distribution feature is able to reflect in section inertial parameter.Link weight parameter is as foundation
Manikin, the basic data for carrying out human motion technology video recording analysis, order of accuarcy directly affect video recording analysis result
Precision.
Development history to human body segment parameter measuring study is exactly one and constantly explores better measurement method and to human body
The process of link parameter individuation measurement direction development.Within a quite long period of history, people are by means of being continuously improved
The reliability of human ring section weight parameter statistical model improves the degree of individuation measurement, makes to be calculated as much as possible
The actual conditions of each individual of link weight parametric approximation.In fact, since the foundation of most of statistical models all derives from
The sample of normal person group composition, the calculating for the link weight parameter of teenager and specific group are to be difficult and actual conditions
It is consistent.
Over nearly more than 100 years, somatometry is developed to from autopsy, domestic and international experts and scholars are to human body segment parameter
Measuring study is made that unremitting effort, has carried out bold exploration, promotes being constantly progressive for body segment's measuring study.
Generally, the method for acquisition human ring section weight parameter is most important autopsy method, somatometry method sum number
Learn modelling:
Autopsy method refers to through necropsy, carries out link weight parametric measurement to the human body of dismemberent, and simultaneously may be used
To carry out the research method of measuring moment of inertia.The value of autopsy method is based on being tested by corpse, establishes living body ring
The number concept of parameter is saved, but is needed in view of the difference between dead tissue and living tissue.In addition, since different authors are collected into
Corpse number of cases it is less, cutting technique again it is very complicated, so autopsy method sample content be extremely difficult to wanting for large sample
It asks, thus the popularization of measured result is necessarily restricted.
Due to the notable difference of corpse character and living body, living body is directly measured in fact, people are exploring always
Method to obtain human ring section weight parameter and rotary inertia, i.e. somatometry method.Over more than 100 years, successively once occur claiming
A variety of methods such as weight method, water seaoning, quick release method, mechanical vibration method, radioisotope method, CT method and MRI method.
From the point of view of current present Research, human body segment parameter model is mostly also symmetric form, and data are mostly to just
The measurement of normal adult, is unsuitable for specific group；Human body segment parameter model with high accuracy has been all made of with radionuclide penetrate
Collimation method, it is difficult to applied to the link parameter measurement to children.
In fact, the morphosis and Mass Distribution feature of human body have distinct individuality, especially special group really
Body personal characteristics is more obvious.Sportsman's body of for example population of athletes, different athletics events is widely different, certain project fortune
The phenomenon that mobilization can also generate human body advantage side characteristic remarkable due to project characteristic in long-term systematic training.Thus, no matter
Carrying out video recording analysis using the inertial parameters of human body parts of which kind of form all undoubtedly can largely obliterate of subject
Body characteristics.
Summary of the invention
In view of this, the application provides a kind of determining weights and center of gravity of moving segments of human body parametric technique, can in conjunction with personal feature,
Consider to obtain human body sport step under the disequilibrium of human body or so development and the actual conditions of body segment's motion process
Weight parameter.
In order to solve the above technical problems, the technical solution of the application is achieved in that
A kind of determining weights and center of gravity of moving segments of human body parametric technique, this method comprises:
When determining the first movement link weight parameter in four limbs, respectively in the first movement link and the second movement link
It selects a little as measurement point；First movement link is distributed on human body in relative symmetry with the second movement link；
At the first movement link M position mobile around corresponding joint, M position coordinates of corresponding measurement point are measured, with
And M total centre of gravity position coordinates of human body；It is determined in the first movement link corresponding joint according to M position coordinates of measurement point
Heart H1Coordinate；The total centre of gravity circle of human body when determining that the first movement link is mobile according to M total centre of gravity position coordinates of human body
Center of circle Q1Coordinate and radius R1；Wherein, M is the integer greater than 2；
At the second movement link M position mobile around corresponding joint, M position coordinates of corresponding measurement point are measured, with
And M total centre of gravity position coordinates of human body；It is determined in the second movement link corresponding joint according to M position coordinates of measurement point
Heart H2Coordinate；The total centre of gravity circle of human body when determining that the second movement link is mobile according to M total centre of gravity position coordinates of human body
Center of circle Q2Coordinate and radius R2；
If it is determined that R1Greater than R2, it is determined that H1With Q1Place straight line, same to H2Total centre of gravity circle corresponding with the first movement link
The intersection point A of tangent line1Coordinate；
Determine the weight of the first movement link are as follows:Wherein, W is human total weight, D1For center of circle Q1To friendship
Point A1Distance, D2For center H1To intersection point A1Distance.
As can be seen from the above technical solution, in the base for introducing human body sport step chain, augmenting weight square parameter in the application
On plinth, by position coordinates, barycentric coodinates and the total weight of the certain point that measurement links measure when around joint motions, by link
The measurement of chain weight square is combined with link chain radius of gravity center measurement, obtains weights and center of gravity of moving segments of human body parameter.The program can be tied
It closes under personal feature, consideration human body or so the disequilibrium of development and the actual conditions of body segment's motion process, obtains people
Body moves link weight parameter.
Detailed description of the invention
Fig. 1 is balance plate schematic diagram in the prior art；
Fig. 2 provides a kind of measuring instrument schematic diagram in the prior art for the application；
Fig. 3 is that the first movement link weight parameter flow diagram is determined in the embodiment of the present application one；
Fig. 4 is that the second movement link weight parameter flow diagram is determined in the embodiment of the present application one；
Fig. 5 is the schematic diagram at each center and center of gravity depicted according to the parameter that measuring instrument exports；
Fig. 6 is the conjunction position of centre of gravity schematic diagram that left and right lower limb determine when mobile around joint；
Fig. 7 is that the embodiment of the present application midpelvis weight parameter determines schematic diagram；
Fig. 8 is that the weight parameter of head in the embodiment of the present application determines schematic diagram.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and examples,
Technical solution of the present invention is described in detail.
The population characteristic of special population is ignored in the measurement of current human's movement link weight parameter；Even living body is surveyed
Provided human body segment parameter is also only limitted to normal person group to amount at present, is not enough to embody the particularity of special population.
Ignore the disequilibrium of human body left and right sides development；Existing manikin is mostly symmetry manikin,
Particularly with population of athletes, sportsman's advantage side feature of certain projects is obvious, some situations should not be considered as human body left and right
Symmetrically.
Ignore the actual conditions of body segment's motion process；Only divided using a geometrical concept-articulation center as boundary
Body segment and the parameter testing carried out；The link for being not enough to describe in movement is overall.
Ignore the relativity of both body segment, link chain.The introducing of relativity concept can reduce error source, with more smart
True parameter is actually needed to meet.
Based on above-mentioned measurement problem, the application provides a kind of measurement weights and center of gravity of moving segments of human body parametric technique, is introducing people
On the basis of body moves link chain, supplement weight square parameter, the certain point that is measured when around joint motions by measurement links
Link chain weight square is measured and is combined with link chain radius of gravity center measurement by position coordinates, barycentric coodinates and total weight, obtains people
Body moves link weight parameter.The program can be in conjunction with the disequilibrium and human body of personal feature, consideration human body or so development
Under the actual conditions of link motion process, weights and center of gravity of moving segments of human body parameter is obtained.
Human body is made of too many levels, and each link (limbs between two articulation centers) has weight and center of gravity.
It is needed according to human motion analysis, human body mainly has hip joint, knee joint, shoulder joint, elbow joint, cervical vertebra joint and lumbar vertebrae to close
Section, totally 10 joints, the link weight for needing to measure and center of gravity parameter have thigh, shank to fill up, entire lower limb, upper arm, forearm
Add hand, entire upper limb, head, upper trunk and pelvis, the weight and center of gravity of totally 15 links.
When the application implements, measuring instrument or balance plate can be used, by taking measuring instrument as an example, which can be for people
Entire body is on measuring instrument by body with various postures, at this point, the coordinate and total weight of the total centre of gravity of human body can be measured.
On the measuring instrument or outside measuring instrument, there are the position coordinates that can measure certain specified point, such as infrared rays survey
Deng, and the coordinate measured is incident upon in same level with the total centre of gravity coordinate that measuring instrument is measured.
It is balance plate schematic diagram in the prior art referring to Fig. 1, Fig. 1.The balance plate can be used and measure human total weight
With total centre of gravity position.Infrared measuring device can be installed above balance plate, with the coordinate position of measurement markers point.
Referring to fig. 2, Fig. 2 provides a kind of measuring instrument schematic diagram in the prior art for the application.Measuring instrument in Fig. 2 includes
Pedestal 1, balance plate 2, infrared facility bracket 3, the coupling part 4 between infrared facility bracket and pedestal.
Pedestal for make the measuring instrument measure weight and when coordinate it is firm, for balance plate for supporting human body, human body can be with
It allows each link mobile around corresponding joint on balance plate, load cell is installed below balance plate, for measuring human body
Gravity and center of gravity, infrared facility bracket moved above entire balance plate by bracket for installing laser emitter, with
So that light beam is navigated to measurement point, determines the coordinate of measurement point.
Since the measuring instrument has been disclosed, only it is used to carry out the measurement of barycentric coodinates and weight in this application, no
The structure of the measuring instrument is discussed in detail again.
The embodiment of the present application can pass through two for the measurement of the movement link parameter of four limbs and other link parameter measurements
A embodiment illustrates respectively:
Linkage rule used in this application is provided before determining relevant parameter, in the embodiment of the present application, that is, divides weight
The interaction relation of the heart and total centre of gravity, i.e., when forming a centre-of-gravity motion of total centre of gravity, total centre of gravity also links therewith, generates one
Track similar with centre-of-gravity path is divided, feature size ratio are equal to this and divide the ratio between weight and total weight, specifically: body
Weight is equal to the product of surveyed link weight and link radius of gravity center with the product of total centre of gravity garden radius.
Equipment in the embodiment of the present application for determining weight parameter is known as processing equipment, for measurement position coordinate and again
The measuring instrument and balance plate of amount are known as measuring device.
Embodiment one
For the movement link parameter of four limbs: thigh, shank fill up, entire lower limb, upper arm, forearm add hand and entire upper limb
Weight parameter.
First provide below measure determine shank fill up, entire lower limb, forearm add hand and entire upper limb weight parameter mistake
Journey.
When determining the first movement link weight parameter in four limbs, respectively in the first movement link and the second movement link
It selects a little as measurement point；First movement link is distributed on human body in relative symmetry with the second movement link；
When the first movement link is that left leg adds left foot, the second movement link is that right leg adds right foot；
When the first movement link is entire left lower extremity, the second movement link is entire right lower extremity；
When the first movement link is that left forearm adds left hand, the second movement link is that right forearm adds the right hand；
When the first movement link is entire left upper extremity, the second movement link is entire right upper extremity.
At the first movement link M position mobile around corresponding joint, measuring device measures M position of corresponding measurement point
M total centre of gravity position coordinates of coordinate and human body.
Wherein, M is the integer greater than 2；I.e. at least movement three times, measures 3 or 3 or more measured values.
At the second movement link M position mobile around corresponding joint, measuring device measures M position of corresponding measurement point
M total centre of gravity position coordinates of coordinate and human body.
When needing to measure any movement link weight parameter, it is assumed that human body is made of two links, a surveyed link, such as
Left lower extremity, a motionless link, other links of the human body in addition to left lower extremity.
It keeps the other links of human body motionless on balance plate or measuring instrument, allows surveyed link (left lower extremity) around joint (left hip)
Mobile three positions, can measure three total centre of gravity positions by balance plate in this way.
It allows surveyed link to move in a circle around articulation center, a fixed point is arbitrarily determined in surveyed link, in this way, root
Joint instantaneous center of rotation can be found out according to this three position put.
It is that the first movement link weight parameter flow diagram is determined in the embodiment of the present application one referring to Fig. 3, Fig. 3.Specifically
Step are as follows:
Step 301, processing equipment is at the first movement link M position mobile around corresponding joint, according to the M of measurement point
Position coordinates determine the center H of the first movement link corresponding joint1Coordinate；It is true according to M total centre of gravity position coordinates of human body
The center of circle Q of the total centre of gravity circle of human body when fixed first movement link movement1Coordinate and radius R1。
Wherein, M is the integer greater than 2；I.e. at least movement three times, measures 3 or 3 or more measured values.
Step 302, the processing equipment is at the second movement link M position mobile around corresponding joint, according to the M of measurement point
A position coordinates determine the center H of the second movement link corresponding joint2Coordinate；According to M total centre of gravity position coordinates of human body
Determine the center of circle Q of the total centre of gravity circle of human body when the second movement link is mobile2Coordinate and radius R2。
Step 303, the processing equipment is if it is determined that R1Greater than R2, it is determined that H1With Q1Place straight line, same to H2With the first sports ring
Save the intersection point A of the tangent line of corresponding total centre of gravity circle1Coordinate.
Step 304, which determines that the weight of the first movement link is W1。
Wherein, W is human total weight, D1For center of circle Q1To intersection point A1Distance, D2For center H1To friendship
Point A1Distance.
Referring to fig. 4, Fig. 4 is that the second movement link weight parameter flow diagram is determined in the embodiment of the present application one.Specifically
Step are as follows:
Step 401, processing equipment is in center H2With intersection point A1Center of gravity S is selected according to preset step-length on the extended line of line, and
Determine the coordinate of the center of gravity S of motionless link；The motionless link is that the first movement link and second move owning except link
Move link.
Step 402, which determines center H2With total centre of gravity Q1Place straight line, with center of gravity S and center H1Place straight line
Intersection point A2Coordinate.
Step 403, which determines that the weight of the second movement link is W2。
Wherein, W is human total weight, D3For center of circle Q1To intersection point A2Distance, D4For center H2To friendship
Point A2Distance.
Step 404, if meeting conditionThen determine the weight of the second movement link currently determined
For true weight；Otherwise, center of gravity S is selected again according to preset step-length, until meeting the condition, obtains the second movement link
Weight.
Wherein,For center H1To the distance of center of gravity S,To hand over
Point A2To the distance of center of gravity S,For center H1With total centre of gravity Q1Distance,For center H1With intersection point A1Distance.
Processing equipment is if it is determined that R2Greater than R1, then determine that the first movement link and second moves link as follows
Weight parameter:
The first step, processing equipment determine H2With Q2Place straight line, same to H1With cutting for the second corresponding total centre of gravity circle of movement link
The intersection point A of line3Coordinate.
Second step, the processing equipment determine the weight of the second movement link are as follows:Wherein, W is that human body is total
Weight, D5For center of circle Q2To intersection point A3Distance, D6 be center H2To intersection point A3Distance.
Third step, the processing equipment is in center H1With intersection point A3Center of gravity S is selected according to preset step-length on the extended line of line,
And determine the coordinate of the center of gravity S of motionless link；The motionless link is the institute except the first movement link and the second movement link
There is movement link.
4th step, the processing equipment determine center H1With total centre of gravity Q2Place straight line, with center of gravity S and center H2Place straight line
Intersection point A4Coordinate.
5th step, the processing equipment determine the weight of the first movement link are as follows:Wherein, W is human body gross weight
Amount, D7For center of circle Q2To intersection point A4Distance, D8For center H1To intersection point A4Distance.
6th step, if meeting conditionThe processing equipment determines the first sports ring currently determined
The weight of section is true weight；Otherwise, center of gravity S is selected again according to preset step-length, until meeting the condition, obtains first
Move the weight of link, wherein For center H2To the distance of center of gravity S,For intersection point A4To the distance of center of gravity S,For center H2With total centre of gravity Q2Distance,For center H2With intersection point A3's
Distance.
By the above method, it can determine that shank fills up, entire lower limb, forearm add the weight parameter of hand and entire upper limb,
The weight that the entire left lower extremity measured then can be used subtracts weight of the difference as left thigh that left leg adds the weight of left foot
Amount；
Using the weight for the entire right lower extremity measured to subtract right leg adds the difference of right sufficient weight as right thigh
Weight；
Use the weight for the entire left upper extremity measured subtract left forearm add left hand weight difference as left upper arm
Weight；
Use the weight for the entire right upper extremity measured subtract right forearm add the right hand weight difference as right upper arm
Weight.
Specific example is given below, determining for the mass parameter of the first movement link and the second movement link is described in detail
Journey.
In the embodiment of the present application, the first movement link is left lower extremity, and the second movement link is right lower extremity, in left lower extremity and the right side
Measurement point is marked on lower limb respectively, and M times mobile rotating around left hip joint and right hip joint, the left hip measured on balance plate
(HL), right hip (HR) articulation center and left total centre of gravity garden (QL), right total centre of gravity garden (QR) and total weight W, total weight W can make
It is weighed up with additional weighing-appliance.
Referring to Fig. 5, Fig. 5 is the schematic diagram at each center and center of gravity depicted according to the parameter that measuring instrument exports.In Fig. 5,
Signal gives left hip (HL), right hip (HR) articulation center and left total centre of gravity garden (QL), right total centre of gravity garden (QR) schematic diagram.
It is the conjunction position of centre of gravity schematic diagram that left and right lower limb determine when mobile around joint referring to Fig. 6, Fig. 6.In Fig. 6, H is crossedRPoint
Making the center of circle is QLCircle tangent line, point of contact TR, straight lineWith straight lineIntersection point AR.Since the center of circle is QLCircle half
Diameter and QThe coordinate of L, center HLAnd HRCoordinate measured, therefore, can be acquired by mathematical knowledgeLength andLength, to find out surveyed link weight W according to the relationship of the arm of force and torqueHL:
Wherein,For intersection point ARTo point QLDistance,For intersection point ARTo center of gravity HLAway from
From.
Following for finding out WHRValue, search for motionless link center of gravity S by preset step-length, find out true Golden Triangle △
HLSHR.It is final to determine WHR、WSAnd S location.
Motionless link center of gravity S in addition to two lower limb must be located atOn, therefore, in straight lineExtended line on press
Preset step-length successively takes S ' point, the articulation center H of this image point and two surveyed linksLAnd HRA Golden Triangle is constituted, is cried
Golden Triangle △ HLS’HR。
In this triangle, the articulation center H of total centre of gravity garden contralateral limbs is generatedRWith total centre of gravity garden QLOn line
With the articulation center H for generating total centre of gravity garden limbsLWith the intersection point A of the on line of image point S 'L, it is WHLAnd WSConjunction center of gravity, and with
WHRSynthesize total centre of gravity QL.By known surveyed link weight WHLAnd its center of gravity HL, the motionless position link center of gravity S ' is set again now,
W can then be found outAL:
It is aware of WAL, then W can be found outHR:
Required WHRIt is whether true, it can be judged with following formula: WAL-WHLWhether W is equal toAR-WHR.If equal, required WHR
And WALIt is true；If unequal, next circulation is carried out, i.e., takes another postulated point S ' by a fixed step size, is calculated
And differentiate, until finding out true WHR、WALAnd WSUntil.
In the embodiment of the present application, big the surveyed link of center of gravity circle is measured by being directed to, it can be by straight with the tangent line of great circle
Connect the weight parameter for acquiring surveyed link, in practical applications, can in surveyed link one weight of attachment, so as to so that
Corresponding the surveyed link of the weight corresponds to that center of gravity radius of circle is long, and then be easy to get the weight of surveyed link weighting material, in this way
The weight of surveyed link can be obtained in the weight for subtracting additional weight again.
Embodiment two
The weight parameter that the link other than four limbs is measured in the present embodiment, measures the weight parameter of pelvis first.
It is selected on the upper body of human body a little as measurement point, by allowing pelvis and two lower limb to remain stationary, allows body
Dry plus head and two upper limbs form a link and move M times around joint of lumbar vertebra, measure M position coordinates of corresponding measurement point, and
M total centre of gravity position coordinates of human body；The coordinate of the center L of joint of lumbar vertebra is determined according to M position coordinates of measurement point；According to
M total centre of gravity position coordinates of human body determine the center of circle Q of the total centre of gravity circle of human body3Coordinate；
Referring to Fig. 7, Fig. 7 is that the embodiment of the present application midpelvis weight parameter determines schematic diagram.W in Fig. 7LAnd WPConjunction center of gravity R
In straight line Q3On N；WRFor WLAnd WPConjunction weight, WLFor upper body, the total weight of head and two upper limbs, WPFor pelvis weight；WNFor
WHRAnd WHLConjunction weight, WHRFor right lower extremity weight, WHLFor left lower extremity weight, N is the conjunction center of gravity of left lower extremity and right lower extremity, WNFor
The conjunction weight of left lower extremity and right lower extremity；Then
WR=W-WN；
Wherein,For point Q3The distance between to point R,For point Q3To between point N away from
From；
According toAnd point N, point Q3Coordinate obtain point R coordinate.
The center of gravity P that preset step-length obtains pelvis is pressed on straight line in point L and point R；
Processing equipment determinesWL=WR-WP；Wherein, WPFor the weight of pelvis, DRLIt is point R to point L's
Distance,
If meeting condition WP+WN+WL=W, it is determined that the W currently obtainedP、WLFor true weight；Otherwise, continue according to pre-
If step-length selects the center of gravity P of pelvis, until meeting the condition, W is obtainedP、WL。
Then, the weight parameter of measuring head:
It selects a little on head as measurement point, discount measures M position of corresponding measurement point around cervical vertebra joint motions M times
Set M total centre of gravity position coordinates of coordinate and human body；The center C in cervical vertebra joint is determined according to M position coordinates of measurement point
Coordinate；The center of circle Q of the total centre of gravity circle of human body is determined according to M total centre of gravity position coordinates of human body4Coordinate and radius
Referring to Fig. 8, Fig. 8 is that the weight parameter of head in the embodiment of the present application determines schematic diagram.It provides in Fig. 8 according to measurement point
M position coordinates determine cervical vertebra joint center C coordinate, and the center of gravity E of head determined according to anatomy, and in head
The center of circle Q of total centre of gravity circle when around cervical vertebra movement4Coordinate and radiusThe center of circle of total centre of gravity circle of the head when being moved around cervical vertebra
With the center of circle Q of the center of gravity circle in Fig. 73It is to be overlapped, due to varying in weight for mobile limbs, only radius is not identical.
Processing equipment determinesWherein, WEFor the weight of head, DECFor center C to the distance of center of gravity E, center of gravity
E is the center of gravity on the head determined according to human anatomy.
Finally, measuring the weight of trunk on human body:
WT=W-WLimb-WP-WE；Wherein, WTFor the weight of trunk on human body, WLimbFor the weight of human limb.
In conclusion passing through measurement on the basis of the application is by introducing human body sport step chain, supplement weight square parameter
Position coordinates, barycentric coodinates and the total weight for the certain point that link measures when around joint motions measure link chain weight square
It is combined with link chain radius of gravity center measurement, obtains weights and center of gravity of moving segments of human body parameter.The program can combine personal feature, examine
Consider under the disequilibrium of human body or so development and the actual conditions of body segment's motion process, obtains human body sport step weight
Measure parameter.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent substitution, improvement and etc. done be should be included within the scope of the present invention.
Claims (10)
1. a kind of determining weights and center of gravity of moving segments of human body parametric technique, which is characterized in that this method comprises:
When determining the first movement link weight parameter in four limbs, selected in the first movement link and the second movement link respectively
A little it is used as measurement point；First movement link is distributed on human body in relative symmetry with the second movement link；
At the first movement link M position mobile around corresponding joint, M position coordinates of corresponding measurement point, Yi Jiren are measured
M total centre of gravity position coordinates of body；The center H of the first movement link corresponding joint is determined according to M position coordinates of measurement point1
Coordinate；The center of circle of the total centre of gravity circle of human body when determining that the first movement link is mobile according to M total centre of gravity position coordinates of human body
Q1Coordinate and radius R1；Wherein, M is the integer greater than 2；
At the second movement link M position mobile around corresponding joint, M position coordinates of corresponding measurement point, Yi Jiren are measured
M total centre of gravity position coordinates of body；The center H of the second movement link corresponding joint is determined according to M position coordinates of measurement point2
Coordinate；The center of circle of the total centre of gravity circle of human body when determining that the second movement link is mobile according to M total centre of gravity position coordinates of human body
Q2Coordinate and radius R2；
If it is determined that R1Greater than R2, it is determined that H1With Q1Place straight line, same to H2The tangent line of total centre of gravity circle corresponding with the first movement link
Intersection point A1Coordinate；
Determine the weight of the first movement link are as follows:Wherein, W is human total weight, D1For center of circle Q1To intersection point A1
Distance, D2For center H1To intersection point A1Distance.
2. the method according to claim 1, wherein the method further includes:
In center H2With intersection point A1Center of gravity S is selected according to preset step-length on the extended line of line, and determines the center of gravity S of motionless link
Coordinate；The motionless link is all movement links except the first movement link and the second movement link；
Determine center H2With total centre of gravity Q1Place straight line, with center of gravity S and center H1The intersection point A of place straight line2Coordinate；
Determine the weight of the second movement link are as follows:Wherein, W is human total weight, D3For center of circle Q1To intersection point A2
Distance, D4For center H2To intersection point A2Distance；
If meeting conditionThe weight for then determining the second movement link currently determined is true weight；
Otherwise, center of gravity S is selected again according to preset step-length, until meeting the condition, obtains the weight of the second movement link, wherein For center H1To the distance of center of gravity S,For intersection point A2To center of gravity S's
Distance,For center H1With total centre of gravity Q1Distance,For center H1With intersection point A1Distance.
3. the method according to claim 1, wherein the method further includes:
If it is determined that R2Greater than R1, it is determined that H2With Q2Place straight line, same to H1The tangent line of total centre of gravity circle corresponding with the second movement link
Intersection point A3Coordinate；
Determine the weight of the second movement link are as follows:Wherein, W is human total weight, D5For center of circle Q2To intersection point A3
Distance, D6 be center H2To intersection point A3Distance.
4. according to the method described in claim 3, it is characterized in that, the method further includes:
In center H1With intersection point A3Center of gravity S is selected according to preset step-length on the extended line of line, and determines the center of gravity S of motionless link
Coordinate；The motionless link is all movement links except the first movement link and the second movement link；
Determine center H1With total centre of gravity Q2Place straight line, with center of gravity S and center H2The intersection point A of place straight line4Coordinate；
Determine the weight of the first movement link are as follows:Wherein, W is human total weight, D7For center of circle Q2To intersection point A4
Distance, D8For center H1To intersection point A4Distance；
If meeting conditionThe weight for then determining the first movement link currently determined is true weight；
Otherwise, center of gravity S is selected again according to preset step-length, until meeting the condition, obtains the weight of the first movement link, wherein For center H2To the distance of center of gravity S,For intersection point A4To center of gravity S's
Distance,For center H2With total centre of gravity Q2Distance,For center H2With intersection point A3Distance.
5. the method according to claim 1, wherein
When the first movement link is that left leg adds left foot, the second movement link is that right leg adds right foot；
When the first movement link is entire left lower extremity, the second movement link is entire right lower extremity；
When the first movement link is that left forearm adds left hand, the second movement link is that right forearm adds the right hand；
When the first movement link is entire left upper extremity, the second movement link is entire right upper extremity.
6. according to the method described in claim 5, it is characterized in that,
Use the weight for the entire left lower extremity measured subtract left leg add left foot weight difference as the weight of left thigh；
Using the weight for the entire right lower extremity measured to subtract right leg adds the difference of right sufficient weight as the weight of right thigh；
Use the weight for the entire left upper extremity measured subtract left forearm add left hand weight difference as the weight of left upper arm；
Use the weight for the entire right upper extremity measured subtract right forearm add the right hand weight difference as the weight of right upper arm.
7. according to the described in any item methods of claim 2-6, which is characterized in that the method further includes:
It is selected on the upper trunk of human body a little as measurement point, by allowing pelvis and two lower limb to remain stationary, allows trunk
Add head and two upper limbs to form a link to move M times around joint of lumbar vertebra, measures M position coordinates of corresponding measurement point, Yi Jiren
M total centre of gravity position coordinates of body；The coordinate of the center L of joint of lumbar vertebra is determined according to M position coordinates of measurement point；According to people
M total centre of gravity position coordinates of body determine the center of circle Q of the total centre of gravity circle of human body3Coordinate；
WLAnd WPConjunction center of gravity R in straight line Q3On N；WRFor WLAnd WPConjunction weight, WLFor the gross weight of upper trunk, head and two upper limbs
Amount, WPFor pelvis weight；WNFor WHRAnd WHLConjunction weight, WHRFor right lower extremity weight, WHLFor left lower extremity weight, N be left lower extremity and
The conjunction center of gravity of right lower extremity, WNFor the conjunction weight of left lower extremity and right lower extremity；Then
WR=W-WN；
Wherein,For point Q3The distance between to point R,For point Q3The distance between to point N；
According toAnd point N, point Q3Coordinate obtain point R coordinate.
8. the method according to the description of claim 7 is characterized in that the method further includes:
The center of gravity P that preset step-length obtains pelvis is pressed on straight line in point L and point R；
It determinesWL=WR-WP；Wherein, WPFor the weight of pelvis, DRLFor point R to the distance of point L, DPLFor point P
To the distance of point L；
If meeting condition WP+WN+WL=W, it is determined that the W currently obtainedP、WLFor true weight；Otherwise, continue according to default step
The center of gravity P of long selection pelvis obtains W until meeting the conditionP、WL。
9. according to the method described in claim 8, it is characterized in that, the method further includes:
It selects on head a little as measurement point, discount around cervical vertebra joint motions M times, sit by M position for measuring corresponding measurement point
M total centre of gravity position coordinates of mark and human body；The seat of the center C in cervical vertebra joint is determined according to M position coordinates of measurement point
Mark；The center of circle Q of the total centre of gravity circle of human body is determined according to M total centre of gravity position coordinates of human body4Coordinate and radius
It determinesWherein, WEFor the weight of head, DECIt is according to human body solution for center C to the distance of center of gravity E, center of gravity E
Cut open the center of gravity for learning determining head.
10. according to the method described in claim 9, it is characterized in that, the method further includes:
WT=W-WLimb-WP-WE；Wherein, WTFor the weight of trunk on human body, WLimbFor the weight of human limb.
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