CN107802268A - A kind of outer instantaneous spiral shell rotating shaft measuring method of human elbow anterior flexion and rear stretching and forearm medial rotation rotation - Google Patents
A kind of outer instantaneous spiral shell rotating shaft measuring method of human elbow anterior flexion and rear stretching and forearm medial rotation rotation Download PDFInfo
- Publication number
- CN107802268A CN107802268A CN201711253617.4A CN201711253617A CN107802268A CN 107802268 A CN107802268 A CN 107802268A CN 201711253617 A CN201711253617 A CN 201711253617A CN 107802268 A CN107802268 A CN 107802268A
- Authority
- CN
- China
- Prior art keywords
- mrow
- msub
- forearm
- mtr
- mtd
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1121—Determining geometric values, e.g. centre of rotation or angular range of movement
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1126—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb using a particular sensing technique
- A61B5/1127—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb using a particular sensing technique using markers
Abstract
The invention discloses a kind of human elbow anterior flexion and rear stretching and the outer instantaneous spiral shell rotating shaft measuring method of forearm medial rotation rotation, belong to field of measuring technique, the present invention includes following three steps：(1) collection of human upper limb locomotion data：Two index point moving mass are fixed on operator's upper arm, forearm appropriate location, the foundation for obtaining human body upper arm, forearm movable information (2) forearm motion model first：Using human body upper arm, forearm as a rigid body, elbow joint broad sense single-degree-of-freedom and forearm broad sense single-degree-of-freedom kinematics model are established.(3) rotation instantaneous screw axis in joint solves：By collecting upper arm, forearm exercise data, structure forearm rigid body obtains instantaneous position of the elbow joint helical axis in motion process with respect to the space displacement matrix of upper arm rigid motion.Easy realization of the invention, measurement point are calculated simple and measured accurately by being strapped on skeleton.
Description
Technical field
The invention belongs to skeleton field of measuring technique, specifically a kind of human elbow anterior flexion and rear stretching and forearm medial rotation
The outer instantaneous spiral shell rotating shaft measuring method of rotation.
Background technology
The instantaneous rotation that human elbow anterior flexion and rear stretching moves around instantaneous aroused in interest rotary motion rule and human body ancon around dynamic point
Rotating shaft is the basic data of skeletal system guiding movement, the bionical elbow joint mechanism of design and ancon motor function, is obtained relative
Accurate ancon joint motions information is for ensureing that bone training effect, the bionical elbow joint mechanism of design and ancon functional rehabilitation have
It is of practical significance.
By consulting domestic and foreign literature, human body ancon joint motions infomation detection is said from method of testing species：Greatly
It is by ultraviolet light camera system, multidimensional camera system, ectoskeleton donning system, electromagnetic tracking system, flexible sensor system mostly
System etc. carries out the relative motion data that detection obtains ancon joint, inherently divides, can be divided into two kinds of intrusive mood and non-intruding
Measuring method, intrusive mood measuring method are exactly to be directed through skin, the corresponding sports of tissue measurement shoulders of human body bone, such as purple
Outer smooth camera system, the autopsy experiment of human body ancon, this measuring method harm to the human body is big, general inadvisable, another
It is non-intrusion type measuring method：By taking index point in skeleton skin surface patch, closed by camera acquisition human body ancon
The moving image of section, by index point extraction and motion analysis, and based on the phase between the short disjunctor coordinate system of different limbs
Pose is analyzed to obtain human body ancon joint motions information, in foregoing detection method, using elbow joint motion analysis model
For single-degree-of-freedom rotary pair.
It is intricate shown in human body ancon joint Fig. 1 it can be seen from human anatomy, it by humerus, radius, ulna and its
Between humeroradial joint, humeroulnar joint, articulatio radioulnaris proximalis and distal radioulnar jojnt be formed by connecting, moved according to human skeleton model
Credit analyse, ancon joint (traditional elbow joint) complete it is anteflexion/after stretch and medial rotation/rotation of forearm outside motion process
In, rotary shaft is transient change, and the instantaneou axis of rotation is not about the fixed-point motion of ancon humerus one, but rotates fortune around dynamic point
It is dynamic, though and the instantaneou axis of rotation characteristics of motion is broad sense single-degree-of-freedom kinematic pair, extremely complex, not clear at present, this makes
It is more complicated to study the motion in ancon joint, in order to obtain ancon joint motions information, the present invention proposes a kind of human elbow
Anterior flexion and rear stretching and the outer instantaneous spiral shell rotating shaft measuring method of forearm medial rotation rotation, measuring method measurement are accurate.
The content of the invention
It is outer instantaneous that the technical problem to be solved in the present invention is to provide a kind of human elbow anterior flexion and rear stretching and forearm medial rotation rotation
Spiral shell rotating shaft, and a kind of simple in construction, easy to use, the concise measuring method of algorithm.Its inventive concept is：In human body ancon
In the research of structure, modelling processing is the beginning of all work, is gained knowledge according to human dissection, and with reference to skeleton
Extract upper arm (being equivalent to determine rigid body) on the basis of, skeleton are kinematic out from human body, forearm (being equivalent to dynamic rigid body) is done
Corresponding kinematics analysis, as shown in Figure 2,3.The kinematical properties are equivalent to the kinematics mould of general rigid body in rational mechanics
Type, gained knowledge and learnt according to the general motion of rigid body in rational mechanics, forearm does anterior flexion and rear stretching relative to upper arm and medial rotation rotation is outer
Motion process spin matrix, you can it is determined that the instantaneou axis of rotation now.
Scheme is used by the present invention solves technical problem：
A kind of outer instantaneous spiral shell rotating shaft measuring method of human elbow anterior flexion and rear stretching and forearm medial rotation rotation, ancon exercise data
Collection：Four index points not in one plane are fixed on moving mass first, moving mass is fixed on motion flange, fortune
Dynamic flange is fixed on close to the anterior appropriate location of upper arm top, forearm, using VICON measuring systems, obtains above index point
Real time position.
The foundation of ancon motion model：To solve human elbow anterior flexion and rear stretching and the outer instantaneous spiral shell rotating shaft of forearm medial rotation rotation,
Using human body upper arm as fixed rigid body, forearm a broad sense single-degree-of-freedom ancon joint motions are established as real time kinematics rigid body
Model is learned, similarly, a broad sense single-degree-of-freedom forearm medial rotation is established and revolves outer kinematics model.
The solution of the joint instantaneou axis of rotation：It is constant with respect to the motion of rigid body according to the index point on rigid body during rigid motion
Property, the coordinate data when index point of upper arm and forearm is moved by VICON automatic Optic Motion Capture Systems is collected, led to
Structure space displacement matrix equation is crossed, extracts joint helical axis Relative motility parameters, joint forearm is obtained and is being transported relatively with upper arm
The instantaneou axis of rotation during dynamic, the instantaneou axis of rotation during the outer motion of joint forearm medial rotation rotation is obtained, in order to quantify joint
Center t at any time position, is updated to it with VICON detection frequency, is calculated using the matrix equation provided
To any time ancon joint instantaneou axis of rotation, all parameters in matrix equation be all by the upper arm that above measures to obtain,
The surface data of forearm motion.
The present invention compared with prior art, has advantages below and high-lighting effect：
The outer instantaneous spiral shell rotating shaft measuring method of a kind of human elbow anterior flexion and rear stretching and forearm medial rotation rotation of the present invention, Neng Gougen
According to human body ancon bone and the anatomical structure in joint, a broad sense single-degree-of-freedom ancon joint and forearm kinematics model are established.
According to the kinematic data of index point on VICON system detectio attribute blocks, the influence that measurement process is come due to Zona transformans is reduced,
And by building space displacement matrix equation, joint screw parameter is extracted, accurate human body ancon joint is obtained and instantaneously revolves
Rotating shaft.Specific checking computations are learnt：Of the invention easily to realize, measurement point is calculated simple and measured by being strapped on skeleton
Accurately.The outer instantaneous spiral shell rotating shaft measuring method of a kind of human elbow anterior flexion and rear stretching and forearm medial rotation rotation, it is characterised in that including with
Lower three steps；
(1) collection of ancon exercise data：Four index points not in one plane are fixed on moving mass first, moved
It is fixed on soon on motion flange, motion flange is fixed on close to the anterior appropriate location of upper arm top, forearm, is surveyed using VICON
Amount system, obtain the real time position of above index point.
(2) foundation of ancon motion model：In order to solve the instantaneous spiral shell rotating shaft of human elbow anterior flexion and rear stretching, using human body upper arm as
Fixed rigid body, forearm are established a broad sense single-degree-of-freedom ancon articular kinesiology model, can similarly built as real time kinematics rigid body
The broad sense single-degree-of-freedom kinematics model of the vertical outer motion of forearm medial rotation rotation.
(3) solution of the joint instantaneou axis of rotation：According on rigid body during rigid motion mark point with respect to rigid body motion invariance,
The coordinate data when mark point of upper arm and forearm is moved by VICON automatic Optic Motion Capture Systems collects, and passes through
Space displacement matrix equation is built, extracts joint helical axis Relative motility parameters, joint forearm is obtained and is being moved relatively with upper arm
During the instantaneou axis of rotation.
Each step to more than is described further below：
The collection of ancon exercise data：Tester's upper arm is fixed on test platform, and upper arm flange is fixed on upper arm, on
Cushion is added between arm flange and upper arm；Forearm flange is fixed on forearm, and bullet is equally added between forearm flange and hand
Property pad.In order to allow VICON automatic Optic Motion Capture Systems more accurately to collect index point, the situation for avoiding losing a little occurs, and has
Beneficial to elbow joint motion amplitude maximization, upper arm flange is with forearm flange as far as possible away from elbow joint.
In measurement process, when bending and stretching collection exercise data, forearm keeps nature, preceding after fixing upper arm and measuring table
Arm is moved by Qu Xiangshen, reciprocal three cycles.Outside the rotation of forearm medial rotation during motion gathered data, adjustment forearm flange is fixed on forearm
Appropriate location, VICON systems are made to be able to detect that all data of the index point in a period of motion, fixed upper arm and measurement are flat
After platform, forearm is moved from medial rotation to outside rotation, reciprocal three periods of motion.
Using VICON measuring systems, the real time position data of above index point can be accurately obtained.By 8 marks of upper arm and forearm
Point is designated as Pi, the position of each index point is (xi yi zi), wherein i=1,2,8, these real time position datas are all
Being described under VICON coordinate systems, upper arm fixed coordinate system origin represents that x, y, z axle is represented with X1, Y1, Z1 respectively with O1,
Being calculated to simplify, its direction is consistent with VICON system-based coordinate systems direction, wherein：
O1=(P1+P2+P3+P4)/4 (1)
P1、P2、P3、P4For upper arm index point.
Forearm index point is expressed as P in upper arm coordinate systemii, now i=5,6,7,8, wherein：
Pii=Pi-O1 (2)
The foundation of ancon motion model：To solve human elbow anterior flexion and rear stretching and the outer instantaneous spiral shell rotating shaft of forearm medial rotation rotation,
Using human body upper arm as fixed rigid body, forearm establishes a broad sense single-degree-of-freedom ancon joint and preceding as real time kinematics rigid body
Arm medial rotation revolves outer kinematics model.
The solution of the joint instantaneou axis of rotation：It is constant with respect to the motion of rigid body according to the index point on rigid body during rigid motion
Property, the coordinate data when index point of upper arm and forearm is moved by VICON automatic Optic Motion Capture Systems is collected, led to
Structure space displacement matrix equation is crossed, extracts joint helical axis Relative motility parameters, joint forearm is obtained and is being transported relatively with upper arm
The instantaneou axis of rotation during dynamic.Joint helical axis Relative motility parameters are extracted, joint forearm is obtained and is being moved relatively with upper arm
During the instantaneou axis of rotation.
S1 builds space displacement matrix equation：Forearm index point represents in fixed coordinate system O1, at 1, the j moment, the table of moment 1
Show that measurement starts, moment j represents measurement process, and be named as k, q, r, j on forearm index point, and Equation is expressed as at 4 points：
D in formula 31jImplication for the forearm j moment relative to the relative displacement matrix at 1 moment, (k1x,k1y,k1z) indicate for k
Position o'clock at 1 moment relative to upper arm fixed coordinate system, (kjx,kjy,kjz) fixed for k index points at the j moment relative to upper arm
The position of coordinate system.
Write as matrix equation：
Obtain transposed matrix：
S2 extracts joint helical axis Relative motility parameters, according to equation below, obtains helical axis kinematic parameter：
φ is spiral Shaft angle, and u is the direction vector of helical axis,For in the forearm at the 1 moment three-dimensional coordinate vector of a bit, s
For the amount of movement in helical axis directions,Relative rotation matrices for the forearm j moment relative to 1 moment, as shown in Figure 5.
S3 obtains the relative instantaneou axis of rotation with upper arm in motion process of joint forearm according to the screw parameter tried to achieve.
Brief description of the drawings
Fig. 1 is human body ancon skeletal structure schematic diagram.
Fig. 2 is human body ancon articular kinesiology model schematic.
Fig. 3 is that human body ancon arthritis adhesive plaster index point moves schematic diagram.
Fig. 4 is attribute block, attribute block adpting flange, attribute block binding structure schematic diagram.
Fig. 5 is rigid motion helical axis kinematics parameters.
Fig. 6 is forearm anterior flexion and rear stretching and certain outer moment helical axis schematic diagram of medial rotation rotation.
Embodiment
Present invention specific implementation example is further illustrated below in conjunction with accompanying drawing
The collection of ancon exercise data：As shown in Figure 2,3, 4,8 index points are placed with the upper arm and forearm of tester, led to
Cross the position that vicon automatic Optic Motion Capture Systems gather 8 index points.By taking flexion and extension as an example, in experimentation, collection
During flexion/extension exercise data, forearm is moved by Qu Xiangshen, reciprocal three cycles.
Inscribed at 1, the position of 8 index points is：
1P1(88.45031,273.0711,837.2647),1P2(166.1756,274.8842,841.8455),
1P3(166.1756,274.8842,841.8455),1P4(132.6032,227.2049,818.8338),
1P5(439.7643,208.5741,757.6406),1P6(513.9912,196.7798,766.3503),
1P7(470.8855,197.1223,800.4714),1P8(479.417,202.7582,726.2701)
Under t, the position of 8 index points is：
tP1(88.22546,273.0368,837.277),tP2(166.0312,274.8918,841.9113),
tP3(125.8689,324.4791,855.2818),tP4(132.4993,227.2034,818.8992),
tP5(440.4059,209.7388,759.9684),tP6(515.2634,198.1683,770.8627),
tP7(471.2239,197.6752,803.7907),tP8(481.3215,204.1584,729.6448)
8 index points of upper arm and forearm are designated as Pi, the position of each index point is (xi yi zi), wherein i=1,
2,8, obtain the upper arm fixed coordinate system O1 origins of coordinates by (1) formula is at 1 moment：
1O=(477.0537,202.4352,766.0667)
The upper arm fixed coordinate system O1 origins of coordinates are in t：
tO=(477.0537 202.4352 766.0667)
Obtained by (2), the forearm index point data that 1 moment represented in upper arm coordinate system are：
1P55=(- 36.6478 7.3036-6.0982)1P66=(38.2097, -4.2669,4.7961)
1P77=(- 5.8298, -4.7600,37.7240)1P88=(4.2678,1.7233, -36.4218)
The data of t expression are in upper arm coordinate system：
tP55=(- 36.0082,8.4908, -2.6307)tP66=(39.4255, -2.6591,10.7712)
tP77=(- 5.6559, -3.7558,42.3359)tP88=(5.9133,2.9865, -31.8120)
The solution of the joint instantaneou axis of rotation：It is constant with respect to the motion of rigid body according to the index point on rigid body during rigid motion
Property, the coordinate data when index point of upper arm and forearm is moved by VICON automatic Optic Motion Capture Systems is collected, led to
Structure space displacement matrix equation is crossed, extracts joint helical axis Relative motility parameters, joint forearm is obtained and is being transported relatively with upper arm
The instantaneou axis of rotation during dynamic.Specially：There are above-mentioned 1 moment and t data value, bring above-mentioned (3), (4), (5) equation into,
Obtaining space displacement matrix is：
It is equal by both members corresponding amount according to equation (6), obtain helical axis kinematic parameter：Its x, y, z direction vectors are：
0.0201, -0.0374, -0.0119, the coordinate of any is on helical axis：(1.37,0.24978,1.521), according to what is tried to achieve
Screw parameter u direction vector and the coordinate of a bit, it is relative instantaneous in motion process with upper arm to obtain joint forearm
Rotary shaft.The coordinate of two moment points is similarly chosen, elbow joint medial rotation can be drawn and revolve outer instantaneous screw axis, before the specific a certain moment
Instantaneous screw axis is stretched after bending and the outer instantaneous screw axis of medial rotation rotation is as shown in Figure 6.
In order to quantify articulation center t at any time position, it is updated with VICON detection frequency, utilized
The simple matrix equation provided is calculated any time ancon joint instantaneou axis of rotation, and all parameters in equation are all logical
Cross and above measure obtained upper arm, the surface data of forearm motion.
It is to be used in the described outer instantaneous spiral shell rotating shaft measuring method of a kind of human elbow anterior flexion and rear stretching and forearm medial rotation rotation
Ancon joint motions information on the right side of human body is detected, is equally applicable to detect ancon upper arm joint motions information on the left of human body, is not limited to
This example.
Above-mentioned embodiment is explained and illustrated to the essence of the present invention, but is not construed as limitation of the present invention,
Any simple modifications made based on essence of the invention, as long as its kinematics and method of testing are based on the principle, should all fall into this
Within the scope of invention right is claimed.
Claims (5)
1. a kind of human elbow anterior flexion and rear stretching and the outer instantaneous spiral shell rotating shaft measuring method of forearm medial rotation rotation, it is characterised in that including
Three steps below；
(1) collection of ancon exercise data：Four index points not in one plane are fixed on moving mass first, moved
Block is fixed on motion flange, and motion flange is fixed on close to the anterior appropriate location of upper arm top, forearm, is surveyed using VICON
Amount system, obtain the real time position of above index point；
(2) foundation of ancon motion model：In order to solve the instantaneous spiral shell rotating shaft of human elbow anterior flexion and rear stretching, using human body upper arm as
Fixed rigid body, forearm are established a broad sense single-degree-of-freedom ancon articular kinesiology model, can similarly built as real time kinematics rigid body
The broad sense single-degree-of-freedom kinematics model of the vertical outer motion of forearm medial rotation rotation；
(3) solution of the joint instantaneou axis of rotation：According on rigid body during rigid motion mark point with respect to rigid body motion invariance,
The coordinate data when mark point of upper arm and forearm is moved by VICON automatic Optic Motion Capture Systems collects, and passes through
Space displacement matrix equation is built, extracts joint helical axis Relative motility parameters, joint forearm is obtained and is being moved relatively with upper arm
During the instantaneou axis of rotation.
2. a kind of human elbow anterior flexion and rear stretching according to claim 1 and the outer instantaneous spiral shell rotating shaft measurement side of forearm medial rotation rotation
Method, it is characterised in that the collection of ancon exercise data：Tester's upper arm is fixed on test platform, and upper arm flange is fixed on
On arm, cushion is added between upper arm flange and upper arm；Forearm flange is fixed on forearm, same between forearm flange and hand
Add cushion；In order to allow VICON automatic Optic Motion Capture Systems more accurately to collect index point, the situation for avoiding losing a little goes out
It is existing, and be advantageous to elbow joint motion amplitude maximization, upper arm flange is with forearm flange as far as possible away from elbow joint.
3. a kind of human elbow anterior flexion and rear stretching according to claim 1 and the outer instantaneous spiral shell rotating shaft measurement side of forearm medial rotation rotation
Method, it is characterised in that in measurement process, when bending and stretching collection exercise data, forearm keeps nature, fixed upper arm and measurement
After platform, forearm is moved by Qu Xiangshen, reciprocal three cycles；Outside the rotation of forearm medial rotation during motion gathered data, forearm flange is adjusted
Forearm appropriate location is fixed on, VICON systems is able to detect that all data of the index point in a period of motion, in fixation
After arm and measuring table, forearm is moved from medial rotation to outside rotation, reciprocal three periods of motion.
4. a kind of human elbow anterior flexion and rear stretching according to claim 1 and the outer instantaneous spiral shell rotating shaft measurement side of forearm medial rotation rotation
Method, it is characterised in that using VICON measuring systems, can accurately obtain the real time position data of above index point；By upper arm with before
8 index points of arm are designated as Pi, the position of each index point is (xi yi zi), wherein i=1,2 ..., 8, these real time position numbers
According to all being described under VICON coordinate systems, upper arm fixed coordinate system origin is represented with O1, and x, y, z axle uses X1, Y1, Z1 respectively
Represent, calculated to simplify, its direction is consistent with VICON system-based coordinate systems direction, wherein：
O1=(P1+P2+P3+P4)/4 (1)
P1、P2、P3、P4For upper arm index point；
Forearm index point is expressed as P in upper arm coordinate systemii, now i=5,6,7,8, wherein：
Pii=Pi-O1 (2)。
5. a kind of human elbow anterior flexion and rear stretching according to claim 1 and the outer instantaneous spiral shell rotating shaft measurement side of forearm medial rotation rotation
Method, it is characterised in that the foundation of ancon motion model：To solve human elbow anterior flexion and rear stretching and the outer instantaneous spiral shell of forearm medial rotation rotation
Rotating shaft, a broad sense single-degree-of-freedom ancon joint is established as real time kinematics rigid body using human body upper arm as fixed rigid body, forearm
And forearm medial rotation revolves outer kinematics model；
The solution of the joint instantaneou axis of rotation：According to motion invariance of the index point on rigid body during rigid motion with respect to rigid body, lead to
Cross coordinate data when VICON automatic Optic Motion Capture Systems move the index point of upper arm and forearm to collect, pass through structure
Space displacement matrix equation is built, extracts joint helical axis Relative motility parameters, joint forearm is obtained and is being moved through relatively with upper arm
The instantaneou axis of rotation in journey；Joint helical axis Relative motility parameters are extracted, obtain joint forearm relatively with upper arm in motion process
In the instantaneou axis of rotation；
S1 builds space displacement matrix equation：Forearm index point represents that, at 1, the j moment, the moment 1 represents in fixed coordinate system O1
Measurement starts, moment j expression measurement process, and 4 points are named as k, q, r, j on forearm index point, and Equation is expressed as：
(kjx,kjy,kjz,1)T=[D1j](k1x,k1y,k1z,1)T
(qjx,qjy,qjz,1)T=[D1j](q1x,q1y,q1z,1)T
(rjx,rjy,rjz,1)T=[D1j](r1x,r1y,r1z,1)T (3)
(jjx,jjy,jjz,1)T=[D1j](j1x,j1y,j1z,1)T
D in formula 31jImplication for the forearm j moment relative to the relative displacement matrix at 1 moment, (k1x,k1y,k1z) indicate for k
Position o'clock at 1 moment relative to upper arm fixed coordinate system, (kjx,kjy,kjz) fixed for k index points at the j moment relative to upper arm
The position of coordinate system；
Write as matrix equation：
<mrow>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<mrow>
<msub>
<mi>k</mi>
<mrow>
<mi>j</mi>
<mi>x</mi>
</mrow>
</msub>
<mo>,</mo>
<msub>
<mi>q</mi>
<mrow>
<mi>j</mi>
<mi>x</mi>
</mrow>
</msub>
<mo>,</mo>
<msub>
<mi>r</mi>
<mrow>
<mi>j</mi>
<mi>x</mi>
</mrow>
</msub>
<mo>,</mo>
<msub>
<mi>j</mi>
<mrow>
<mi>j</mi>
<mi>x</mi>
</mrow>
</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>k</mi>
<mrow>
<mi>j</mi>
<mi>y</mi>
</mrow>
</msub>
<mo>,</mo>
<msub>
<mi>q</mi>
<mrow>
<mi>j</mi>
<mi>y</mi>
</mrow>
</msub>
<mo>,</mo>
<msub>
<mi>r</mi>
<mrow>
<mi>j</mi>
<mi>y</mi>
</mrow>
</msub>
<mo>,</mo>
<msub>
<mi>j</mi>
<mrow>
<mi>j</mi>
<mi>y</mi>
</mrow>
</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>k</mi>
<mrow>
<mi>j</mi>
<mi>z</mi>
</mrow>
</msub>
<mo>,</mo>
<msub>
<mi>q</mi>
<mrow>
<mi>j</mi>
<mi>z</mi>
</mrow>
</msub>
<mo>,</mo>
<msub>
<mi>r</mi>
<mrow>
<mi>j</mi>
<mi>z</mi>
</mrow>
</msub>
<mo>,</mo>
<msub>
<mi>j</mi>
<mrow>
<mi>j</mi>
<mi>z</mi>
</mrow>
</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mn>1</mn>
<mo>,</mo>
<mn>1</mn>
<mo>,</mo>
<mn>1</mn>
<mo>,</mo>
<mn>1</mn>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>=</mo>
<mo>&lsqb;</mo>
<msub>
<mi>D</mi>
<mrow>
<mn>1</mn>
<mi>j</mi>
</mrow>
</msub>
<mo>&rsqb;</mo>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<mrow>
<msub>
<mi>k</mi>
<mrow>
<mn>1</mn>
<mi>x</mi>
</mrow>
</msub>
<mo>,</mo>
<msub>
<mi>q</mi>
<mrow>
<mn>1</mn>
<mi>x</mi>
</mrow>
</msub>
<mo>,</mo>
<msub>
<mi>r</mi>
<mrow>
<mn>1</mn>
<mi>x</mi>
</mrow>
</msub>
<mo>,</mo>
<msub>
<mi>j</mi>
<mrow>
<mn>1</mn>
<mi>x</mi>
</mrow>
</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>k</mi>
<mrow>
<mn>1</mn>
<mi>y</mi>
</mrow>
</msub>
<mo>,</mo>
<msub>
<mi>q</mi>
<mrow>
<mn>1</mn>
<mi>y</mi>
</mrow>
</msub>
<mo>,</mo>
<msub>
<mi>r</mi>
<mrow>
<mn>1</mn>
<mi>y</mi>
</mrow>
</msub>
<mo>,</mo>
<msub>
<mi>j</mi>
<mrow>
<mn>1</mn>
<mi>y</mi>
</mrow>
</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>k</mi>
<mrow>
<mn>1</mn>
<mi>z</mi>
</mrow>
</msub>
<mo>,</mo>
<msub>
<mi>q</mi>
<mrow>
<mn>1</mn>
<mi>z</mi>
</mrow>
</msub>
<mo>,</mo>
<msub>
<mi>r</mi>
<mrow>
<mn>1</mn>
<mi>z</mi>
</mrow>
</msub>
<mo>,</mo>
<msub>
<mi>j</mi>
<mrow>
<mn>1</mn>
<mi>z</mi>
</mrow>
</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mn>1</mn>
<mo>,</mo>
<mn>1</mn>
<mo>,</mo>
<mn>1</mn>
<mo>,</mo>
<mn>1</mn>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>4</mn>
<mo>)</mo>
</mrow>
</mrow>
Obtain transposed matrix：
<mrow>
<mo>&lsqb;</mo>
<msub>
<mi>D</mi>
<mrow>
<mn>1</mn>
<mi>j</mi>
</mrow>
</msub>
<mo>&rsqb;</mo>
<mo>=</mo>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<mrow>
<msub>
<mi>k</mi>
<mrow>
<mi>j</mi>
<mi>x</mi>
</mrow>
</msub>
<mo>,</mo>
<msub>
<mi>q</mi>
<mrow>
<mi>j</mi>
<mi>x</mi>
</mrow>
</msub>
<mo>,</mo>
<msub>
<mi>r</mi>
<mrow>
<mi>j</mi>
<mi>x</mi>
</mrow>
</msub>
<mo>,</mo>
<msub>
<mi>j</mi>
<mrow>
<mi>j</mi>
<mi>x</mi>
</mrow>
</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>k</mi>
<mrow>
<mi>j</mi>
<mi>y</mi>
</mrow>
</msub>
<mo>,</mo>
<msub>
<mi>q</mi>
<mrow>
<mi>j</mi>
<mi>y</mi>
</mrow>
</msub>
<mo>,</mo>
<msub>
<mi>r</mi>
<mrow>
<mi>j</mi>
<mi>y</mi>
</mrow>
</msub>
<mo>,</mo>
<msub>
<mi>j</mi>
<mrow>
<mi>j</mi>
<mi>y</mi>
</mrow>
</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>k</mi>
<mrow>
<mi>j</mi>
<mi>z</mi>
</mrow>
</msub>
<mo>,</mo>
<msub>
<mi>q</mi>
<mrow>
<mi>j</mi>
<mi>z</mi>
</mrow>
</msub>
<mo>,</mo>
<msub>
<mi>r</mi>
<mrow>
<mi>j</mi>
<mi>z</mi>
</mrow>
</msub>
<mo>,</mo>
<msub>
<mi>j</mi>
<mrow>
<mi>j</mi>
<mi>z</mi>
</mrow>
</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mn>1</mn>
<mo>,</mo>
<mn>1</mn>
<mo>,</mo>
<mn>1</mn>
<mo>,</mo>
<mn>1</mn>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<msup>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<mrow>
<msub>
<mi>k</mi>
<mrow>
<mn>1</mn>
<mi>x</mi>
</mrow>
</msub>
<mo>,</mo>
<msub>
<mi>q</mi>
<mrow>
<mn>1</mn>
<mi>x</mi>
</mrow>
</msub>
<mo>,</mo>
<msub>
<mi>r</mi>
<mrow>
<mn>1</mn>
<mi>x</mi>
</mrow>
</msub>
<mo>,</mo>
<msub>
<mi>j</mi>
<mrow>
<mn>1</mn>
<mi>x</mi>
</mrow>
</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>k</mi>
<mrow>
<mn>1</mn>
<mi>y</mi>
</mrow>
</msub>
<mo>,</mo>
<msub>
<mi>q</mi>
<mrow>
<mn>1</mn>
<mi>y</mi>
</mrow>
</msub>
<mo>,</mo>
<msub>
<mi>r</mi>
<mrow>
<mn>1</mn>
<mi>y</mi>
</mrow>
</msub>
<mo>,</mo>
<msub>
<mi>j</mi>
<mrow>
<mn>1</mn>
<mi>y</mi>
</mrow>
</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>k</mi>
<mrow>
<mn>1</mn>
<mi>z</mi>
</mrow>
</msub>
<mo>,</mo>
<msub>
<mi>q</mi>
<mrow>
<mn>1</mn>
<mi>z</mi>
</mrow>
</msub>
<mo>,</mo>
<msub>
<mi>r</mi>
<mrow>
<mn>1</mn>
<mi>z</mi>
</mrow>
</msub>
<mo>,</mo>
<msub>
<mi>j</mi>
<mrow>
<mn>1</mn>
<mi>z</mi>
</mrow>
</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mn>1</mn>
<mo>,</mo>
<mn>1</mn>
<mo>,</mo>
<mn>1</mn>
<mo>,</mo>
<mn>1</mn>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mrow>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msup>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>5</mn>
<mo>)</mo>
</mrow>
</mrow>
S2 extracts joint helical axis Relative motility parameters, according to equation below, obtains helical axis kinematic parameter：
φ is spiral Shaft angle, and u is the direction vector of helical axis,To be in the forearm at the 1 moment three-dimensional coordinate vector of a bit, s
Amount of movement in helical axis directions,Relative rotation matrices for the forearm j moment relative to 1 moment；
S3 obtains the relative instantaneou axis of rotation with upper arm in motion process of joint forearm according to the screw parameter tried to achieve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711253617.4A CN107802268B (en) | 2017-12-02 | 2017-12-02 | A kind of human elbow anterior flexion and rear stretching and the outer instantaneous spiral shell shaft measurement method of forearm medial rotation rotation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711253617.4A CN107802268B (en) | 2017-12-02 | 2017-12-02 | A kind of human elbow anterior flexion and rear stretching and the outer instantaneous spiral shell shaft measurement method of forearm medial rotation rotation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107802268A true CN107802268A (en) | 2018-03-16 |
| CN107802268B CN107802268B (en) | 2019-12-03 |
Family
ID=61589319
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711253617.4A Active CN107802268B (en) | 2017-12-02 | 2017-12-02 | A kind of human elbow anterior flexion and rear stretching and the outer instantaneous spiral shell shaft measurement method of forearm medial rotation rotation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107802268B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108634932A (en) * | 2018-04-08 | 2018-10-12 | 中国人民解放军陆军军医大学第附属医院 | A kind of shoulder joint fixture and its method for applying to shoulder joint detection |
| CN110076758A (en) * | 2019-05-23 | 2019-08-02 | 上海大学 | Apery type lower limb exoskeleton configuration method based on hybrid mechanism |
| WO2022110573A1 (en) * | 2020-11-24 | 2022-06-02 | 中国标准化研究院 | Rigid upper arm model-based method for positioning functional rotation center of shoulder |
| CN114711760A (en) * | 2022-04-06 | 2022-07-08 | 哈尔滨工业大学 | Joint axis calculation method |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1748642A (en) * | 2005-10-13 | 2006-03-22 | 上海交通大学 | Method for non-intrusion measuring human hand and arm joint |
| WO2010082157A1 (en) * | 2009-01-16 | 2010-07-22 | Koninklijke Philips Electronics N.V. | Method for determining the rotation axis of a joint and device for monitoring the movements of at least one body part |
-
2017
- 2017-12-02 CN CN201711253617.4A patent/CN107802268B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1748642A (en) * | 2005-10-13 | 2006-03-22 | 上海交通大学 | Method for non-intrusion measuring human hand and arm joint |
| WO2010082157A1 (en) * | 2009-01-16 | 2010-07-22 | Koninklijke Philips Electronics N.V. | Method for determining the rotation axis of a joint and device for monitoring the movements of at least one body part |
Non-Patent Citations (3)
| Title |
|---|
| 李剑锋 等: "人体上肢运动的雅克比矩阵与灵活性分析", 《上海交通大学学报》 * |
| 荆旭 等: "基于关节自由度约束的上臂轴旋转跟踪误差补偿", 《上海交通大学学报》 * |
| 陈文斌: "人体上肢运动学分析与类人肢体设计及运动规划", 《中国博士学位论文全文数据库 信息科技辑》 * |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108634932A (en) * | 2018-04-08 | 2018-10-12 | 中国人民解放军陆军军医大学第附属医院 | A kind of shoulder joint fixture and its method for applying to shoulder joint detection |
| CN108634932B (en) * | 2018-04-08 | 2023-12-19 | 中国人民解放军陆军军医大学第一附属医院 | Method for applying shoulder joint clamp to shoulder joint detection |
| CN110076758A (en) * | 2019-05-23 | 2019-08-02 | 上海大学 | Apery type lower limb exoskeleton configuration method based on hybrid mechanism |
| CN110076758B (en) * | 2019-05-23 | 2022-07-12 | 上海大学 | Human-simulated lower limb exoskeleton configuration method based on parallel-serial mechanism |
| WO2022110573A1 (en) * | 2020-11-24 | 2022-06-02 | 中国标准化研究院 | Rigid upper arm model-based method for positioning functional rotation center of shoulder |
| US11883160B2 (en) | 2020-11-24 | 2024-01-30 | China National Institute Of Standardization | Positioning method of functional rotation center of shoulder based on rigid upper arm model |
| CN114711760A (en) * | 2022-04-06 | 2022-07-08 | 哈尔滨工业大学 | Joint axis calculation method |
| CN114711760B (en) * | 2022-04-06 | 2023-01-24 | 哈尔滨工业大学 | Joint axis calculation method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107802268B (en) | 2019-12-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107802268A (en) | A kind of outer instantaneous spiral shell rotating shaft measuring method of human elbow anterior flexion and rear stretching and forearm medial rotation rotation | |
| CN102824177B (en) | Three-dimensional human body gait quantitative analysis system and method | |
| CN106539587A (en) | A kind of fall risk assessment and monitoring system and appraisal procedure based on sensor of doing more physical exercises | |
| CN103761392B (en) | Muscle strength model optimizing method for humanoid robot synergic movement | |
| CN103054585B (en) | Biological motion information based upper limb shoulder elbow wrist joint motion function evaluation method | |
| CN108030496B (en) | Method for measuring coupling relation between rotating center of upper limb shoulder glenohumeral joint and lifting angle of upper arm of human body | |
| CN107115114A (en) | Human Stamina evaluation method, apparatus and system | |
| CN109875565A (en) | A kind of cerebral apoplexy upper extremity exercise function method for automatically evaluating based on deep learning | |
| CN103340632B (en) | Human joint angle measuring method based on feature point space position | |
| CN106344026A (en) | Portable human joint parameter estimation method based on IMU (inertial measurement unit) | |
| CN102525795A (en) | Fast automatic positioning method of foot massaging robot | |
| CN107806837B (en) | Non-invasive wrist joint axis motion model measuring method | |
| CN110193830B (en) | Ankle joint gait prediction method based on RBF neural network | |
| CN109741371A (en) | A kind of human action based on inertial sensor describes method | |
| CN108013880A (en) | A kind of instantaneous aroused in interest measuring method of human elbow anterior flexion and rear stretching around instantaneous aroused in interest movement | |
| CN110478860B (en) | Hand dysfunction virtual rehabilitation system based on natural interaction of hand and object | |
| CN105708469B (en) | Wearable human walking movement captures system | |
| Lin et al. | Using hybrid sensoring method for motion capture in volleyball techniques training | |
| CN116548960A (en) | Motion pattern recognition algorithm and system for human body micro-inertia measurement unit | |
| CN205667548U (en) | A kind of limb spasm evaluating apparatus | |
| CN109102572A (en) | Power transformation emulates virtual hand bone ratio in VR system and estimates method | |
| CN103340603A (en) | Human body inertial parameter recognition method | |
| CN112115813A (en) | Human body electromyographic signal labeling method and device and computing equipment | |
| CN205923985U (en) | Initiative kinaesthesia azimuth test device that is used for shank forward swing under simulated weightlessness status | |
| CN205913332U (en) | Initiative kinaesthesia azimuth test device that is used for thigh side pendulum under simulated weightlessness status |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |