CN107806837A - A kind of non-intrusion type wrist joint axis motion model measuring method - Google Patents
A kind of non-intrusion type wrist joint axis motion model measuring method Download PDFInfo
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- CN107806837A CN107806837A CN201711032354.4A CN201711032354A CN107806837A CN 107806837 A CN107806837 A CN 107806837A CN 201711032354 A CN201711032354 A CN 201711032354A CN 107806837 A CN107806837 A CN 107806837A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
Abstract
The invention discloses a kind of non-intrusion type wrist joint axis motion model measuring method, belong to human engineering and field of measuring technique.The present invention includes following three steps：(1) carpal exercise data is gathered：Forearm and arm one flange of each bondage, four mark points are placed with each flange, in order to prevent being interfered with each other between mark point, the flange of forearm and hand is fixed on lifting platform away from wrist joint, the flange of wherein forearm as far as possible.(2) wrist joint axis motion model is established：Forearm and hand are considered as rigid body, establish the spatial linkage of 2DOF；(3) wrist joints sporting axis pose solves：By the wrist joints sporting data collected, space vector closed loop equation is built, and then with the parameter of the carpal axial-movement model of matlab Optimization Toolbox optimizations.The axis pose of wrist joints sporting is inscribed when accurately can obtain a certain using this method, the design for prosthesis and wrist joint convalescence device provides theoretical foundation.
Description
Technical field
The present invention relates to ergonomic and fields of measurement, more particularly to a kind of non-intrusion type wrist joint axis motion model
Measuring method.
Background technology
In ergonomic and surveying field, the model of wrist joint axis motion is most important, is found through consulting literatures
Wrist joint model to tilt disjoint two axis, i.e., wrist joint bend and stretch and take down the exhibits between axis exist certain angle and
Distance.The foundation of wrist joint model, on the one hand can be provided for artificial limb and carpal convalescence device design it is theoretical according to
According to input number on the other hand can also be used as to assess human body wrist joint and carry out functional assessment.Current carpal measurement side
Method is divided into intrusive mood and non-intrusion type.Intrusive mood measurement, which is common in, directly acts on mark point on bone, due to hindering to human body
Evil is larger, therefore general less adopts.Non-intrusion measurement then is used mark point being placed with and measured in human skin,
Therefore non-intrusion measurement reduces the injury to human body to a certain extent, but non-intrusion measurement is by the shadow of skin movements
Sound is larger.
Prior art literature is found by contrast, problems be present currently for the carpal measurement of non-intrusion type：(1)
Wrist joint is considered as the Hooke pair that axis intersects vertically, as in patent CN 1748642A on non-intrusion measurement human arm
The measuring method in joint；(2) influence that skin movements are brought to measurement is have ignored during measurement；The present invention not only may be used
Largely reduce skin fortune more accurately to measure the model of wrist joints sporting axis, and in measurement process
The dynamic interference brought.
The content of the invention
It is an object of the invention to the deficiency of the existing wrist joint measurement of synthesis to provide a kind of non-intrusion type wrist joint axis
Motion model measuring method, more accurate wrist joint axis motion model can be obtained using this method, this method is easily real
It is existing, and effectively avoid the measurement error that skin movements are brought.
To achieve these goals, the technical solution adopted by the present invention is：
A kind of non-intrusion type wrist joint axis motion model measuring method, including：The collection of wrist joints sporting data, wrist
Foundation, the solution of wrist joint axis motion model of joints axes model.
Firstth, the collection of wrist joints sporting data：Hand flange (2) and the hand bondage of 4 mark points, hand will be posted
Cushion is added between portion and hand flange (2), forearm is fixed to lifting platform by the forearm flange (1) for posting 4 mark points
On, cushion is added between forearm and forearm flange (1).Forearm part is established by 4 mark points on forearm flange (1)
Coordinate system O1(9), hand local coordinate system O is established by 4 mark points on hand flange (2)2(10), this method passes through
Vicon systems catch the position coordinates that system obtains 8 index points.The data of each index point are exactly in fixed coordinate system O
(11) coordinate under.
Secondth, the foundation of wrist joints sporting model：Wrist joint is the two-freedom degree joint of a broad sense, i.e. wrist joints sporting
Flexion/extension axis (FE), receipts/showing shaft line (RUD) be continually changing, and flexion/extension axis (FE), receipts/showing shaft line in space
(RUD) it is located substantially near capitatum, to solve wrist joints sporting axis pose, wrist joint model is built and tilted not for axis
Two intersecting axis, are considered as rigid body by forearm and hand, and the space for finally establishing the parametrization of a two-freedom connects
Linkage；
3rd, wrist joint axis pose solves：According to the motion of the relative rigid body of mark point on rigid body during rigid motion not
Denaturation, under the coordinate data collection when mark point of forearm and hand is moved by vicon automatic Optic Motion Capture Systems
Come, constraint equation is established by building space vector closed loop, go to recognize wrist using the genetic algorithm optimization tool box in matlab
The relevant parameter of joint model.
Above-mentioned each step is specifically described below.
1) DATA REASONING
The forearm of tester is fixed on lifting platform (13) by forearm flange (1), between forearm and forearm flange (1)
Provided with cushion, tester's hand is fixed by hand flange (2), same addition elasticity between hand and hand flange (2)
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, forearm method
Blue (1) is with hand flange (2) as far as possible away from wrist joint.
In experimentation, when bending and stretching collection exercise data, guide rail (3) plane and guide rod (4) and human hands are constrained
Metacarpal bone,middle overlap, after tightening trip bolt (5), wrist is moved by Qu Xiangshen, reciprocal three cycles.Take down the exhibits gathered data
When, constraint guide rail (3) is overturn 90 ° support frame (12) is inserted by sliding block, constraint guide rail (3) plane is put down with metacarpal bone,middle
Together, after tightening trip bolt (5), wrist is received to abduction exercise from interior, reciprocal three cycles.
Four mark points (6) of forearm and hand four can be accurately collected using vicon automatic Optic Motion Capture Systems
The position of individual mark point (7).These position datas all describe under fixed coordinate system O (11), fixed coordinate system O (11)
Determined by vicon systems.As shown in figure 3, four mark points (6) of forearm determine forearm local coordinate system O1(9), hand
Four mark points (7) determine hand local coordinate system O2(10)。
8 mark points are designated as Pi, the position of each mark point is (xi yi zi), i represents the sequence number of mark point, i=
1,2,8, fixed coordinate system O (11) x, y, z axle uses O respectivelyx、 Oy、OzRepresent, forearm local coordinate system O1(9)
Origin is O1, x, y, z axle uses O respectively1x、O1y、O1zRepresent, wherein：
P in formula1Represent the position coordinates of the mark point of forearm first, P2Represent the position coordinates of the mark point of forearm second, P3
Represent the position coordinates of the mark point of forearm the 3rd, P4Represent the position coordinates of the mark point of forearm the 4th.
Hand local coordinate system O2(10) origin is O2, x, y, z axle uses O respectively2x、O2y、 O2zRepresent, wherein：
P in formula5Represent the position coordinates of the mark point of hand first, P6Represent the position coordinates of the mark point of hand second, P7
Represent the position coordinates of the mark point of hand the 3rd, P8Represent the position coordinates of the mark point of hand the 4th.
Forearm local frame of reference O1(9) it is relatively fixed the spin matrix of coordinate system O (11)It is expressed as：
Hand local frame of reference O2(10) it is relatively fixed the spin matrix of coordinate system O (11)It is expressed as：
2) foundation of wrist joint model：
The wrist joint model of human body is built and tilts disjoint two axis for axis, the angle between two axis is
α, distance is d.Forearm and hand are considered as rigid body, establish the spatial linkage of the parametrization of a two-freedom, is defined
(m1,l1) it is the relative forearm reference frame O of flexion/extension axis (FE)1(9) pose, (m2l2) it is that receipts/showing shaft line (RUD) is relative
Hand reference frame O2(10) pose.The direction l of flexion/extension axis (FE)1(1a1b1) represent, receipts/showing shaft line (RUD)
Direction l2(a2b21) represent, two intersection points between axis and common vertical line are designated as m1(m1x m1y m1z) and m2(m2x m2y
m2z).Obtain flexion/extension axis and be relatively fixed coordinate system O (11) pose be：
Receipts/showing shaft line (RUD) is relative to fixed coordinate system O (11) pose：
3) wrist joints sporting axis pose solves
The data collected by vicon motion capture systems are only the coordinate value of index point, therefore also need to do number
According to processing.The axis pose for bending and stretching and taking down the exhibits during wrist joints sporting is transient change, is bent and stretched to obtain t
With the position orientation relation between axis of taking down the exhibits, the pose of axis is solved by the use of space-closed vector ring is built as constraint equation.
As shown in figure 4, there is following relation in each vector：
All vectors must the computing under fixed coordinate system O (11), due to error e be present, therefore according to formula (7)：
The data bent and stretched and taken down the exhibits in a cycle T are brought into, utilize the genetic algorithm in matlab Optimization Toolboxes
Remove the relevant parameter of identification wrist joint model so that δ value is minimum.
Finally, it is necessary to which the parameter of identification is l1(1 a1 b1)、l2(a2 b2 1)、m1(m1x m1y m1z)、 m2(m2x m2y
m2z), d, the result finally given is brought into formula (5), formula (6) and just obtained under a certain moment t, wrist joint flexion/extension and receipts/
Numerical value of the pose of showing shaft line under fixed coordinate system O (11), try to achieve between flexion/extension (FE) and receipts/showing shaft line (RUD) away from
From and angle.
Compared with prior art, the present invention has the advantages that.
1st, this method builds wrist joint model to tilt disjoint two axis, has been obtained more by data processing
Accurate wrist joints sporting model；
2nd, existing wrist joint method, does not take into full account the error that skin movements are brought in measurement process, this method
The influence that skin movements are brought is taken into full account, is placed with using by mark point on flange, then is fixed to flange by cushion
The hand and forearm of human body, so as to effectively solve the error problem that skin tape is come in wrist joint measurement process；
3rd, practice have shown that, this method can effectively recognize wrist joints sporting model parameter, and method is relatively simple, be a kind of
Effectively non-intrusion type wrist joint axis motion model measuring method.
Brief description of the drawings
Fig. 1 is wrist joints sporting detects schematic diagram.
Fig. 2 is wrist joint axis motion model schematic diagram.
Fig. 3 is establishment of coordinate system schematic diagram.
Fig. 4 is that wrist joint axis pose calculates schematic diagram.
In Fig. 1-Fig. 4：1- forearm flanges, 2- hand flanges, 3- constraint guide rails, 4- guide rods, 5- trip bolts, before 6-
Arm mark point, 7- hand mark points, 8- sliding blocks, 9- forearm referentials, 10- hand referentials, 11- fixed coordinate systems, 12- branch
Support, 13- lifting platforms, FE- flexion/extension axis, RUD- receipts/showing shaft line.
Embodiment
Embodiment
The present invention comprises the following steps that：
1st, DATA REASONING
As shown in figure 1, the hand and forearm in tester are placed with 8 mark points, pass through vicon optical motion captures system
The position of system 8 mark points of collection.By taking flexion and extension as an example, in experimentation, gather flexion/extension exercise data when, wrist by
Qu Xiangshen is moved, reciprocal three cycles.
Under t, the position of 8 mark points is：
P1(235.6984 219.5886 960.4167),P2(236.211 295.7337 957.716),
P3(194.9982 258.908 957.5391),P4(273.4254 256.3104 959.5434),
P5(180.4009 409.6366 942.4073),P6(233.7286 467.6213 947.0558),
P7(235.792 412.195 946.8046),P8(178.0265 466.1292 942.5173)。
Forearm local coordinate system O is obtained by (1) formula1(9) origin:
O1(235.0832 257.6352 958.8038), x, y, z axle are：O1x(0.9991,-0.0331,0.0255) O1y
(0.0340 0.9988 -0.0348)、O1z(-0.0244 0.0356 0.9991)。
Hand local coordinate system O2(10) origin is O2(206.9870 438.8955 944.6963), x, y, z axle are:
O2x(-0.7299 0.6815 -0.0542)、O2y(0.6789 0.7318 0.0591)、 O2z(0.0799 0.0064 -
0.9968)。
Forearm local frame of reference O1(9) it is relatively fixed the spin matrix of coordinate system O (11)It is expressed as：
Hand local frame of reference O2(10) it is relatively fixed the spin matrix of coordinate system O (11)It is expressed as：
2nd, the foundation of wrist joint model：
Tilt disjoint two axis as shown in Fig. 2 the wrist joint model of human body is built for axis, two axis it
Between angle be α, distance be d.Forearm and hand are considered as rigid body, the space for establishing the parametrization of a two-freedom connects
Linkage, define (l1 m1) it is the relative forearm reference frame O of flexion/extension axis (FE)1(9) pose, (l2 m2) it is receipts/exhibition
Axis (RUD) is with respect to hand reference frame O2(10) pose.The direction l of flexion/extension axis (9)1(1 a1 b1) represent,
The direction l of receipts/showing shaft line (RUD)2(a2 b21) represent, two intersection points between axis and common vertical line are designated as m1(m1x m1y
m1z) and m2(m2x m2y m2z).The pose that flexion/extension axis (FE) is relatively fixed coordinate system O can be obtained by formula (5), formula (6)Receipts/showing shaft line (RUD) relative to fixed coordinate system O (11) pose
The data collected by vicon motion capture systems are only the coordinate value of index point, therefore also need to do number
According to processing.The axis pose for bending and stretching and taking down the exhibits during wrist joints sporting is transient change, is bent and stretched to obtain t
With the position orientation relation between axis of taking down the exhibits, the pose of axis is solved by the use of space-closed vector ring is built as constraint equation.
As shown in figure 4, in figure there is following relation in each vector：
All vectors must the computing under fixed coordinate system O (11), due to error e be present, therefore obtained according to above formula：
The data bent and stretched and taken down the exhibits in a cycle T are brought into, go to distinguish using the genetic algorithm in matlab tool boxes
Know the relevant parameter of wrist joint model so that δ value is minimum.
Finally, the parametric results m of identification1(-14.78115029 116.0295361 -56.52210627)、 m2(-
54.16107293 -35.84456843 58.06368374)
l1(1 -53.30903462 14.976680811)l2(- 68.5783805 40.92556321), d=
7.436956691, identification result is brought into (5), (6) formula, wrist joint flexion/extension axis (FE) and receipts/showing shaft can be tried to achieve
The pose of line (RUD) in the numerical value of fixed coordinate system O (11), try to achieve flexion/extension axis (FE) and receipts/showing shaft line (RUD) away from
From being 83.2312 ° for 7.436956691mm and angle.
Claims (4)
- A kind of 1. non-intrusion type wrist joint axis motion model measuring method, it is characterised in that：This method includes wrist joints sporting The collection of data, the foundation of wrist joint axis model, the solution of wrist joint axis motion model；Firstth, the collection of wrist joints sporting data：The hand flange (2) and hand bondage, hand and hand of 4 mark points will be posted Cushion is added between portion's flange (2), forearm is fixed on lifting platform by the forearm flange (1) for posting 4 mark points, forearm Cushion is added between forearm flange (1)；Forearm local coordinate system O is established by 4 mark points on forearm flange (1)1 (9), hand local coordinate system O is established by 4 mark points on hand flange (2)2(10), this method passes through vicon systems Seizure system obtains the position coordinates of 8 index points；The data of each index point are exactly the seat under fixed coordinate system O (11) Mark；Secondth, the foundation of wrist joints sporting model：Wrist joint be a broad sense two-freedom degree joint, i.e., wrist joints sporting bend/ It is continually changing in space to stretch axis, receipts/showing shaft line, and flexion/extension axis, receipts/showing shaft line are located substantially near capitatum, To solve wrist joints sporting axis pose, wrist joint model is built and tilts disjoint two axis for axis, by forearm and Hand is considered as rigid body, finally establishes the spatial linkage of the parametrization of a two-freedom；3rd, wrist joint axis pose solves：According on rigid body during rigid motion mark point with respect to rigid body motion invariance, The coordinate data when mark point of forearm and hand is moved by vicon automatic Optic Motion Capture Systems collects, and passes through Structure space vector closed loop establishes constraint equation, goes to recognize wrist joint model using the genetic algorithm optimization tool box in matlab Relevant parameter.
- A kind of 2. non-intrusion type wrist joint axis motion model measuring method according to claim 1, it is characterised in that：Survey The forearm of examination person is fixed on lifting platform (13) by forearm flange (1), and cushion is provided between forearm and forearm flange (1), Tester's hand is fixed by hand flange (2), and cushion is equally added between hand and hand flange (2)；In order to allow vicon Automatic Optic Motion Capture System more accurately collects index point, and the situation for avoiding losing a little occurs, forearm flange (1) and hand flange (2) away from wrist joint；In experimentation, when bending and stretching collection exercise data, the of guide rail (3) plane and guide rod (4) and human hands are constrained Three metacarpal bones are overlapped, and after tightening trip bolt (5), wrist is moved by Qu Xiangshen, reciprocal three cycles；, will during gathered data of taking down the exhibits Constrain guide rail (3) and overturn 90 ° by sliding block insertion support frame (12), constraint guide rail (3) plane is concordant with metacarpal bone,middle, tightens tight Gu after screw (5), wrist is received to abduction exercise from interior, reciprocal three cycles；Four marks of four mark points (6) of forearm and hand can be accurately collected using vicon automatic Optic Motion Capture Systems Remember the position of point (7)；These position datas all describe under fixed coordinate system O (11), fixed coordinate system O (11) be by What vicon systems determined；Four mark points (6) of forearm determine forearm local coordinate system O1(9), four mark points (7) of hand are true Determine hand local coordinate system O2(10)；8 mark points are designated as Pi, the position of each mark point is (xi yi zi), the sequence number of i expression mark points, i=1,2 ..., 8, fixed coordinate system O (11) x, y, z axle uses O respectivelyx、Oy、OzRepresent, forearm local coordinate system O1(9) origin is O1, x, y, Z-axis uses O respectively1x、O1y、O1zRepresent, wherein：<mrow> <mtable> <mtr> <mtd> <mrow> <msub> <mi>O</mi> <mn>1</mn> </msub> <mo>=</mo> <mrow> <mo>(</mo> <msub> <mi>P</mi> <mn>1</mn> </msub> <mi>+</mi> <msub> <mi>P</mi> <mi>2</mi> </msub> <mi>+</mi> <msub> <mi>P</mi> <mi>3</mi> </msub> <mi>+</mi> <msub> <mi>P</mi> <mi>4</mi> </msub> <mo>)</mo> </mrow> <mi>/4</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>O</mi> <mrow> <mn>1</mn> <mi>x</mi> </mrow> </msub> <mo>=</mo> <mfrac> <mrow> <msub> <mi>P</mi> <mn>4</mn> </msub> <mo>-</mo> <msub> <mi>P</mi> <mn>3</mn> </msub> </mrow> <mrow> <mo>|</mo> <mrow> <msub> <mi>P</mi> <mn>4</mn> </msub> <mo>-</mo> <msub> <mi>P</mi> <mn>3</mn> </msub> </mrow> <mo>|</mo> </mrow> </mfrac> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>O</mi> <mrow> <mn>1</mn> <mi>y</mi> </mrow> </msub> <mo>=</mo> <mfrac> <mrow> <msub> <mi>O</mi> <mrow> <mn>1</mn> <mi>x</mi> </mrow> </msub> <mo>&times;</mo> <msub> <mi>O</mi> <mrow> <mn>1</mn> <mi>z</mi> </mrow> </msub> </mrow> <mrow> <mo>|</mo> <mrow> <msub> <mi>O</mi> <mrow> <mn>1</mn> <mi>x</mi> </mrow> </msub> <mo>&times;</mo> <msub> <mi>O</mi> <mrow> <mn>1</mn> <mi>z</mi> </mrow> </msub> </mrow> <mo>|</mo> </mrow> </mfrac> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>O</mi> <mrow> <mn>1</mn> <mi>z</mi> </mrow> </msub> <mo>=</mo> <mfrac> <mrow> <mo>(</mo> <msub> <mi>P</mi> <mn>4</mn> </msub> <mo>-</mo> <msub> <mi>P</mi> <mn>3</mn> </msub> <mo>)</mo> <mo>&times;</mo> <mo>(</mo> <msub> <mi>P</mi> <mn>2</mn> </msub> <mo>-</mo> <msub> <mi>P</mi> <mn>1</mn> </msub> <mo>)</mo> </mrow> <mrow> <mo>|</mo> <mrow> <mo>(</mo> <msub> <mi>P</mi> <mn>4</mn> </msub> <mo>-</mo> <msub> <mi>P</mi> <mn>3</mn> </msub> <mo>)</mo> </mrow> <mo>&times;</mo> <mrow> <mo>(</mo> <msub> <mi>P</mi> <mn>2</mn> </msub> <mo>-</mo> <msub> <mi>P</mi> <mn>1</mn> </msub> <mo>)</mo> </mrow> <mo>|</mo> </mrow> </mfrac> </mrow> </mtd> </mtr> </mtable> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>1</mn> <mo>)</mo> </mrow> </mrow>P in formula1Represent the position coordinates of the mark point of forearm first, P2Represent the position coordinates of the mark point of forearm second, P3Before expression The position coordinates of the mark point of arm the 3rd, P4Represent the position coordinates of the mark point of forearm the 4th；Hand local coordinate system O2(10) origin is O2, x, y, z axle uses O respectively2x、O2y、O2zRepresent, wherein：<mrow> <mtable> <mtr> <mtd> <mrow> <msub> <mi>O</mi> <mn>2</mn> </msub> <mo>=</mo> <mrow> <mo>(</mo> <msub> <mi>P</mi> <mn>5</mn> </msub> <mo>+</mo> <msub> <mi>P</mi> <mn>6</mn> </msub> <mo>+</mo> <msub> <mi>P</mi> <mn>7</mn> </msub> <mo>+</mo> <msub> <mi>P</mi> <mn>8</mn> </msub> <mo>)</mo> </mrow> <mo>/</mo> <mn>4</mn> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>O</mi> <mrow> <mn>2</mn> <mi>x</mi> </mrow> </msub> <mo>=</mo> <mfrac> <mrow> <msub> <mi>P</mi> <mn>6</mn> </msub> <mo>-</mo> <msub> <mi>P</mi> <mn>5</mn> </msub> </mrow> <mrow> <mo>|</mo> <mrow> <msub> <mi>P</mi> <mn>6</mn> </msub> <mo>-</mo> <msub> <mi>P</mi> <mn>5</mn> </msub> </mrow> <mo>|</mo> </mrow> </mfrac> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>O</mi> <mrow> <mn>2</mn> <mi>y</mi> </mrow> </msub> <mo>=</mo> <mfrac> <mrow> <msub> <mi>O</mi> <mrow> <mn>2</mn> <mi>x</mi> </mrow> </msub> <mo>&times;</mo> <msub> <mi>O</mi> <mrow> <mn>2</mn> <mi>z</mi> </mrow> </msub> </mrow> <mrow> <mo>|</mo> <mrow> <msub> <mi>O</mi> <mrow> <mn>2</mn> <mi>x</mi> </mrow> </msub> <mo>&times;</mo> <msub> <mi>O</mi> <mrow> <mn>2</mn> <mi>z</mi> </mrow> </msub> </mrow> <mo>|</mo> </mrow> </mfrac> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>O</mi> <mrow> <mn>2</mn> <mi>z</mi> </mrow> </msub> <mo>=</mo> <mfrac> <mrow> <mo>(</mo> <msub> <mi>P</mi> <mn>6</mn> </msub> <mo>-</mo> <msub> <mi>P</mi> <mn>5</mn> </msub> <mo>)</mo> <mo>&times;</mo> <mo>(</mo> <msub> <mi>P</mi> <mn>8</mn> </msub> <mo>-</mo> <msub> <mi>P</mi> <mn>7</mn> </msub> <mo>)</mo> </mrow> <mrow> <mo>|</mo> <mrow> <mo>(</mo> <msub> <mi>P</mi> <mn>6</mn> </msub> <mo>-</mo> <msub> <mi>P</mi> <mn>5</mn> </msub> <mo>)</mo> </mrow> <mo>&times;</mo> <mrow> <mo>(</mo> <msub> <mi>P</mi> <mn>8</mn> </msub> <mo>-</mo> <msub> <mi>P</mi> <mn>7</mn> </msub> <mo>)</mo> </mrow> <mo>|</mo> </mrow> </mfrac> </mrow> </mtd> </mtr> </mtable> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>2</mn> <mo>)</mo> </mrow> </mrow>P in formula5Represent the position coordinates of the mark point of hand first, P6Represent the position coordinates of the mark point of hand second, P7Represent hand The position coordinates of the mark point of portion the 3rd, P8Represent the position coordinates of the mark point of hand the 4th；Forearm local frame of reference O1(9) it is relatively fixed the spin matrix of coordinate system O (11)It is expressed as：Hand local frame of reference O2(10) it is relatively fixed the spin matrix of coordinate system O (11)It is expressed as：
- A kind of 3. non-intrusion type wrist joint axis motion model measuring method according to claim 1, it is characterised in that：Will The wrist joint model of human body is built tilts disjoint two axis for axis, and the angle between two axis is α, and distance is d；Will Forearm and hand are considered as rigid body, establish the spatial linkage of the parametrization of a two-freedom, define (m1,l1) it is flexion/extension Axis (FE) is with respect to forearm reference frame O1(9) pose, (m2 l2) it is the relative hand reference coordinate of receipts/showing shaft line (RUD) It is O2(10) pose；The direction l of flexion/extension axis (FE)1(1 a1 b1) represent, the direction l of receipts/showing shaft line (RUD)2(a2 b21) represent, two intersection points between axis and common vertical line are designated as m1(m1x m1y m1z) and m2(m2x m2y m2z)；Obtain flexion/extension The pose that axis is relatively fixed coordinate system O (11) is：Receipts/showing shaft line (RUD) is relative to fixed coordinate system O (11) pose：
- A kind of 4. non-intrusion type wrist joint axis motion model measuring method according to claim 1, it is characterised in that：Wrist Joint motions axis pose solvesThe data collected by vicon motion capture systems are only the coordinate value of index point, therefore also need to do at data Reason；The axis pose for bending and stretching and taking down the exhibits during wrist joints sporting is transient change, bends and stretches and takes down the exhibits to obtain t Position orientation relation between axis, the pose of axis is solved by the use of space-closed vector ring is built as constraint equation；Following relation be present in each vector：<mrow> <mover> <mrow> <msub> <mi>OO</mi> <mn>2</mn> </msub> </mrow> <mo>&RightArrow;</mo> </mover> <mo>-</mo> <mover> <mrow> <msub> <mi>OO</mi> <mn>1</mn> </msub> </mrow> <mo>&RightArrow;</mo> </mover> <mo>=</mo> <mover> <mrow> <msub> <mi>O</mi> <mn>1</mn> </msub> <msub> <mi>m</mi> <mn>1</mn> </msub> </mrow> <mo>&RightArrow;</mo> </mover> <mo>+</mo> <mover> <mrow> <msub> <mi>m</mi> <mn>1</mn> </msub> <msub> <mi>m</mi> <mn>2</mn> </msub> </mrow> <mo>&RightArrow;</mo> </mover> <mo>+</mo> <mover> <mrow> <msub> <mi>m</mi> <mn>2</mn> </msub> <msub> <mi>O</mi> <mn>2</mn> </msub> </mrow> <mo>&RightArrow;</mo> </mover> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>7</mn> <mo>)</mo> </mrow> </mrow>All vectors must the computing under fixed coordinate system O (11), due to error e be present, therefore according to formula (7)：The data bent and stretched and taken down the exhibits in a cycle T are brought into, go to distinguish using the genetic algorithm in matlab Optimization Toolboxes Know the relevant parameter of wrist joint model so that δ value is minimum；<mrow> <mi>&delta;</mi> <mo>=</mo> <mfrac> <mn>1</mn> <mi>T</mi> </mfrac> <mi>m</mi> <mi>i</mi> <mi>n</mi> <msubsup> <mo>&Integral;</mo> <mn>0</mn> <mi>T</mi> </msubsup> <mi>e</mi> <mi>d</mi> <mi>t</mi> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>9</mn> <mo>)</mo> </mrow> </mrow>Finally, it is necessary to which the parameter of identification is l1(1 a1 b1)、l2(a2 b2 1)、m1(m1x m1y m1z)、m2(m2x m2y m2z), d, The result finally given is brought into formula (5), formula (6) and just obtained under a certain moment t, wrist joint flexion/extension and receipts/showing shaft line Numerical value of the pose under fixed coordinate system O (11), try to achieve the distance between flexion/extension (FE) and receipts/showing shaft line (RUD) and angle.
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