CN108030496A - A kind of human upper limb shoulder Glenohumeral joint pivot and upper arm lifting angle coupled relation measuring method - Google Patents
A kind of human upper limb shoulder Glenohumeral joint pivot and upper arm lifting angle coupled relation measuring method Download PDFInfo
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- 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
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- 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 upper limb shoulder Glenohumeral joint pivot and upper arm lifting angle coupled relation measuring method, the collection of shoulders of human body joint motions data：Index point moving mass is fixed on shoulder blade, on humerus, six index points are fixed on the seventh cervical spine of human body, eighth dorsal vertebra, jugular notch, xiphoid, lateral epicondyle, epicondylus medialis position, obtain the movable information of corresponding bone.The foundation of head movement model：Using shoulder blade, humerus as a rigid body, based on rotation geometry knowledge, the pivot kinematics model constant with respect to adjacent rigid pose is established.Glenohumeral joint pivot and lifting angle coupled relation solve：By consistency of the articulation center with respect to adjacent rigid index point pose, regression parameter is obtained, the instantaneous position of pivot is obtained to the greatest extent, so as to obtain lifting angle and pivot coupled relation.Measurement point of the present invention is fixed on human body by bondage or flange, reduces deformation, and it is accurate to calculate simple and measurement.
Description
Technical field
The invention belongs to field of measuring technique, is specifically that a kind of human upper limb shoulder Glenohumeral joint pivot is lifted with upper arm
Lift angle coupled relation measuring method.
Background technology
Human upper limb shoulder Glenohumeral joint pivot is planning training dermoskeleton with the movable information that upper arm lifting angle couples
The basic data that bone system guiding movement, the bionical shoulder joint mechanism of design and head movement function damage recover, to bone into
, it is necessary to design the guiding movement rule of exoskeleton system with reference to relevant information during row rehabilitation training.Therefore, obtain relatively accurate
The movable information of upper limb shoulder Glenohumeral joint pivot and upper arm lifting angle coupled relation is for ensureing bone training effect, setting
Counting bionical shoulder joint mechanism, shoulder function simulation and human engineering has very strong theory significance and practical significance.
It is intricate shown in shoulders of human body joint Fig. 1, Fig. 2 according to skeleton information, it by humerus, shoulder blade,
Clavicle, breastbone and Glenohumeral joint, acromioclavicular joint, articulatio sternoclavicularis and the scapulothoracu therebetween are formed by connecting, its mesothorax lock closes
Section and the scapulothoracu kinematics are even unclear, according to human skeleton model kinematics analysis, the broad-mouthed receptacle for holding liquid upper arm in shoulder joints
Joint (traditional shoulder joint) complete abduction/adduction, it is anteflexion/after in the motion process stretched, center of rotation is in human body
It is drift in motion process of the shoulder joints relative to human body breastbone, and drift orbit is not linear, but have more
The low curvature camber line of section is formed, and the drift at shoulder center is also not limited in sagittal plane, this makes research shoulder Glenohumeral joint
Movement is more complicated.
By consulting domestic and foreign literature, shoulders of human body joint motions infomation detection is said from test method species：Point
For ultraviolet light camera system, multidimensional camera system, ectoskeleton donning system, electromagnetic tracking system, flexible sensor system etc..From
Substantially divide, two kinds of measuring methods of intrusive mood and non-intruding, intrusive mood measuring method can be divided into：It is directed through skin, tissue
Measure the corresponding sports of shoulders of human body bone, such as ultraviolet light shooting, shoulders of human body autopsy experiment, this measuring method pair
Human body harm is big, and experiment is complicated, general undesirable；Another kind is non-intrusion type measuring method：By in skeleton skin table
Face paste takes index point, obtains the movable information of shoulder bone by the movement of index point, has Shanghai Communications University than more typical
Patent of invention：The measuring method (patent No. 2005100304385) of non-intruding human hand and arm joint, but he is the shoulders of human body broad-mouthed receptacle for holding liquid upper arm
Joint pivot goes to handle as centering, does not meet the specific characteristics of motion of shoulders of human body bone；Also Zhejiang University Yang Can
Army's teaching inventive patent：Wearable high-precision data acquisition upper limb exoskeleton (the patent No.：2011102767071), the patent
Also moved using shoulders of human body Glenohumeral joint pivot as centering.In order to obtain accurate Glenohumeral joint pivot and upper arm
Lifting angle coupled relation, the present invention propose that a kind of human upper limb shoulder Glenohumeral joint pivot is coupled with human body upper arm lifting angle
Relation measuring method, measuring method measurement is accurate, and measuring method is simple.
The content of the invention
The technical problem to be solved in the present invention is, there is provided a kind of Glenohumeral joint pivot and upper arm lifting angle of detecting
Coupled relation, and a kind of simple in structure, easy to use, the concise measuring method of algorithm.Its inventive concept is：In human body shoulder
In the research of portion's structure, modelling processing is the beginning of all work, is gained knowledge according to human dissection, and with reference to skeleton
Learnt on the basis of, skeleton are kinematic：Shoulder Glenohumeral joint is equivalent to ball pair, extracts breastbone out from human body and (is equivalent to
Determine rigid body, establish human body coordinate system), shoulder blade (is equivalent to dynamic rigid body 1), and humerus (being equivalent to dynamic rigid body 2) kinematic chain is done accordingly
Kinematics analysis, as shown in Figure 3,4.There is rotation geometry knowledge to obtain：Glenohumeral joint pivot relative to adjacent shoulder blade,
The position of humerus and posture remain constant, based on the kinematic principle, obtain shoulders of human body Glenohumeral joint pivot
Movable information, and by each moment shoulder Glenohumeral joint pivot, obtain in the moment upper arm lifting angle information, so as to obtain
To human body upper arm and the coupled relation of shoulder Glenohumeral joint pivot.As shown in Figure 8,9.
Scheme is used by the present invention solves technical problem：
The collection of shoulder joints exercise data：By containing four, in one plane the moving mass of index point is not fixed on shoulder
On shoulder blade, humerus, six index points are fixed on the seventh cervical spine of human body, eighth dorsal vertebra, jugular notch, xiphoid, outer
Epicondyle, epicondylus medialis position, obtain the movable information of corresponding bone.
The foundation of head movement model：Using shoulder blade, humerus as a rigid body, because three on a line
Position and the posture of rigid body can be fully described in index point, analyze gathered data, choose shoulder blade, three on humerus moving mass
A not continuous exercise data of index point on one wire, based on rotation geometry knowledge, establishes pivot with respect to adjacent rigid
The constant kinematics model of pose.
Glenohumeral joint pivot and lifting angle coupled relation solve：By relatively adjacent bone index point (etc. of articulation center
Valency is in corresponding bone) consistency of pose, regression parameter is obtained, the instantaneous position of pivot is obtained to the greatest extent, so as to obtain
Lifting angle and pivot coupled relation.
In order to quantify the position of articulation center t at any time, it is updated with the detection frequency of VICON systems,
Any time shoulder Glenohumeral joint pivot and the coupled relation at upper arm lifting angle is calculated using the matrix equation provided,
All parameters in matrix equation are all the human body breastbones by above measuring, shoulder shoulder blade, humerus, and upper arm is outside upper
Condyle, the surface data of epicondylus medialis position movement.
Compared with prior art, the present invention haing the following advantages and high-lighting effect：
A kind of human upper limb shoulder Glenohumeral joint pivot of the present invention is measured with human body upper arm lifting angle coupled relation
Method, according to shoulders of human body bone and the anatomical structure in joint, can establish the kinematics model in shoulders of human body joint, according to
VICON system detectios index point (wherein shoulder blade, humerus paste respectively one have four mark point sets into attribute block, the mark
Will block reduces the influence of skin deformation in movement, and considers VICON system detectio data Losing Datas, on each attribute block
Fix four index points not on one face, analyze experimental data, chosen from each moving mass not on one wire
Three points, represent the movable information of corresponding bone) kinematic data, closed by algorithm is answered, obtaining accurate shoulders of human body
Save pivot and human body upper arm lifting angle coupled relation.Whole measurement process is simple, easy to use, and algorithm is concise.
Each step to more than is described further below：
The collection of shoulder joints exercise data：
Four index points are fixed on to seventh cervical spine (C7), eighth dorsal vertebra (T8), jugular notch (IJ), the sword shape of breastbone first
On cartilage (PX), an attribute block is fixed on operator's shoulder blade acromion position (shown in Fig. 6), a mark passes through flange soon
(shown in Fig. 7) is fixed on the former optional position from Glenohumeral joint pivot human body upper arm, before two other index point is fixed on
Condylus lateralis humeri (EL) under arm stretching state, on epicondylus medialis (EM), regulation experiment baffle, makes human body upper arm in 0 ° of lifting face, preceding
Arm naturally droops in the lifting face, and forearm front portion is close to test baffle, as shown in Fig. 5,8.
In experimental data gatherer process, human body upper arm is close to baffle and carries out lifting by pendant position, until upper arm be raised to it is pre-
Measuring point, thus reciprocal three cycles.Regulation experiment baffle again, makes human body upper arm successively between 15 °, 30 °, 45 ° ... 135 °
Lifting face in repeat above-mentioned experiment, the interval angles in lifting face are 15 °.
Using VICON measuring systems, the location information data of corresponding bony landmark point is obtained.These location information datas be all
Described under VICON system coordinate systems.By the seventh cervical spine (C7) of human body, eighth dorsal vertebra (T8), jugular notch (IJ), sword shape
Cartilage (PX), shoulder blade moving mass (four index points), humerus movement fast (four index points), lateral epicondyle (EL) and epicondylus medialis
(EM) 14 index points are denoted as Pi, the position of each index point is expressed as (x in VICON base coordinates systemi yi zi) ', wherein
I=1,2,14, VICON system coordinate system coordinate origins are O, and X, Y, Z axis is represented with x, y, z respectively：Four on breastbone
Index point determines human body coordinate system, coordinate origin Othx, X, Y, Z axis uses x respectivelythx、ythx、zthxRepresent, be specially：
VICON system coordinate systems：
Human body coordinate system：
To obtain shoulder blade moving mass, humerus moves the fast, expression of lateral epicondyle and epicondylus medialis index point in human body coordinate system, needs
Establish the conversion between human body coordinate system and VICON system coordinate systems：
Two coordinate system O (x, y, z) and Othx=(xthx,ythx,zthx) between homogeneous transformation matrices
R3×3For spin matrix, P1×3For motion vector；
In view of shoulder blade moving mass, the motion amplitude of humerus moving mass is larger, may be due to blocking during specific experiment
The positional information of whole index points cannot be captured completely, as a result cause VICON system detectios data portion to be lost, by three not
Position and the posture of rigid body can be fully described in index point on a line, thus in shoulder blade moving mass, humerus fortune
Four index points on one face are fixed not on motion block, the mark that three data are not lost is chosen from shoulder blade and humerus attribute block
The description that will point is moved as it.Work as i=5, when 6,7,9,10,11,13,14, shoulder blade moving mass (choosing three index points),
Humerus movement fast (choosing three index points), lateral epicondyle and epicondylus medialis index point are expressed as P in human body coordinate systemii, i.e.,：
The foundation of head movement model：Using shoulder blade, humerus as a rigid body, by three not on a line
Position and the posture of rigid body can be fully described in index point, and based on rotation geometry knowledge, it is relatively adjacent to establish pivot
The constant kinematics model of rigid body pose.
Glenohumeral joint pivot and lifting angle coupled relation solve：By articulation center with respect to adjacent rigid index point pose
Consistency, build kinematics model math equation, obtain regression parameter, and then obtain pivot instantaneous position, construction
Lifting angle and the kinematical equation of pivot, so as to obtain lifting angle and pivot coupled relation.Specific method is：
S1. shoulder joint instantaneous centre of rotation is asked for
As shown in Figure 4：kP1、kP2、kP3It is index point on shoulder blade, footmark k represents frame number,kC1、kC2、kC3It is the mark on humerus
Point, footmark k represent frame number, are derived by rotation geometry, articulation centerkJ is remained not relative to the index point in adjacent rigid
Become, meet following relational expression：
kJ=[kP1-kP2,kP1-kP3,(kP1-kP2,kP1-kP3),kP1][a,b,c,1]' (5)
Wherein：(a, b, c, d, e, f) is regression parameter, and two formula simultaneous, obtain：
kJ=[kP1-kP2,kP1-kP3,(kP1-kP2,kP1-kP3),kC1-kC2,kC1-kC3,(kC1-kC2,kC1-kC3)]
[a, b, c, d, e, f ,] '=- (kP1-kC1) (7)
More frame data of corresponding continuous acquisition, obtain equation below group：
AX=B (8)
Wherein：
X=[a, b, c, d, e, f] '
B=[- (1P1-1C1)；-(2P1-2C1)；……；-(FP1-FC1)]
To the greatest extent and by the solution of matrix equation, regression parameter X is obtained
X=(A'A)-1A'B (9)
After obtaining regression parameter, the data for moving each moment are brought into formula (5) or (6), obtain each moment shoulder joint rotation
The positional information at center.
S2. the coupled relation at shoulder Glenohumeral joint instantaneous centre of rotation and upper arm lifting angle is established：Humerus lifting angle is defined as the upper arm
Angle between bone attitude vectors and human body coordinate system Z axis；
Humerus attitude vectors are：
Humerus lifting angle is：
Wherein VupaFor humerus attitude vectors, VEL、VEMBe lateral epicondyle, epicondylus medialis with respect to human body coordinate system attitude vectors, qkFor
The opposite position vector with human body coordinate system in k frames of shoulder Glenohumeral joint pivot, zthxFor human body coordinate system Z breastbone sides
To coordinate representation, θ is lifting angle, as shown in Figure 9.
By required pivot as a result, asking for lifting angle, so that the coupled relation of lifting angle and pivot is obtained, wherein just
Parameter in journey is all the position of the index point by above measuring.
Brief description of the drawings
Fig. 1 is upper limb shoulder bone schematic diagram on the right side of human body.
Fig. 2 is upper limb shoulder skeletal structure schematic diagram on the right side of human body.
Fig. 3 is upper limb shoulder Glenohumeral joint on the right side of human body with respect to shoulder blade, humerus coordinate system schematic diagram.
Fig. 4 connects adjacent bone principle schematic for upper limb shoulder Glenohumeral joint on the right side of human body.
Fig. 5 is human upper limb mark point pasting method schematic diagram.
Fig. 6 is shoulder blade attribute block schematic diagram.
Fig. 7 is humerus attribute block flanged joint schematic diagram.
Fig. 8 moves schematic diagram for upper limb testing principle on the right side of human body.
Fig. 9 calculates schematic diagram for human body lifting angle.
Embodiment
The present invention is further illustrated below in conjunction with attached drawing.
The collection of shoulder joints exercise data：As shown in Fig. 5,6,7,8, in seventh cervical spine (C7), the eighth dorsal vertebra of human body
(T8), shoulder blade moving mass (four index points), humerus movement fast (four index points), lateral epicondyle (EL) and epicondylus medialis (EM) patch
14 index points, the positional information of 14 index points is gathered by VICON measuring systems.Exemplified by being tested by 135 ° of lifting faces,
During experiment, regulation experiment baffle, making human body upper arm, forearm naturally droops in the lifting face, preceding in 135 ° of lifting faces
Arm front portion is close to test baffle, and arm has in lifting face naturally droops the pre- measuring point that position moves to human body upper arm lifting,
Reciprocal three cycles.
Position and the posture of rigid body, comprehensive analysis experiment number can be fully described by three index points not on a line
According to, in k frames, the description that the index point that three data are not lost is moved as it is chosen from shoulder blade and humerus attribute block,
Jugular notch (IJ), xiphoid (PX), seventh cervical spine (C7), eighth dorsal vertebra (T8), shoulder blade moving mass are (selected successively for it
Three index points), the position of humerus movement fast (selected three index points), lateral epicondyle (EL) and epicondylus medialis (EM) 12 index points
Information is：
kP1(218.4188,294.7262,1438.967),kP2(229.7008,232.1246,1275.314)；
kP3(220.3792,436.7015,1521.921),kP4(228.1619,454.5494,1229.671)；
kP5(22.23278,402.5447,1475.425),kP6(48.78961,333.6144,1502.145)；
kP7(64.55576,385.8308,1504.752),kP9(-24.298,297.6608,1291.269)；
kP10(-31.8932,289.2097,1215.914),kP11(-1.66444,252.4488,1253.062)；
kP13(-21.7984,306.7228,1134.667),kP14(56.23081,358.1233,1111.245)；
By formula (2), the coordinate origin of human body coordinate system is obtained：
Othx=(218.4,294.7,1439.0)
Reference axis：
xthx=(- 1.8042,0.1257, -0.1724)
ythx=(- 0.003251, -0.041291,0.003917)
zthx=(- 0.000953,0.002238,0.022795)
Two coordinate system O (x, y, z) and Othx=(xthx,ythx,zthx) in the homogeneous transformation matrices at the moment：
Wherein R3×3For spin matrix, P1×3For motion vector
By above formula (4), can try to achieve shoulder blade moving mass (selected three index points), humerus movement fast (selected three index points),
The expression of lateral epicondyle and epicondylus medialis index point in human body coordinate system:
kP55(201.8048,-88.2468,64.2858),kP66(168.9249,-19.3935,81.4985)；
kP77(156.9326,-72.2040,87.9767),kP99(249.4705,2.1445,-124.9242)；
kP1010(260.1084,4.0301,-199.8707),kP1111(225.4325,41.6508,-169.3847)；
kP1313(255.3128,-21.7903,-279.5918),kP1414(182.4489,-81.1068,-304.4851)；
The foundation of head movement model：Using shoulder blade, humerus as a rigid body, there are three not on a line
Index point can describe position and the posture of rigid body, based on rotation geometry knowledge, establish pivot relatively it is adjacent just
The constant kinematics model of posture.
Glenohumeral joint pivot and lifting angle coupled relation solve：By articulation center with respect to adjacent rigid index point pose
Consistency, build kinematics model math equation.Bring equation (5), (6), (7), (8), (9) acquisition recurrence of above-mentioned structure into
Parameter (- 0.7140,1.4648, -0.0252, -1.0384, -0.7816,0.0159), therefrom extracts shoulder blade and corresponds to return and join
Number (- 0.7140,1.4648, -0.0252), substitutes into above-mentioned equation (5), (6), obtains an instantaneous position of shoulder joint pivot
Put (209.9099, -62.751, -22.6918).Bring the position solution of acquisition into equation (10), (11), obtain lifting angle
3.0666 degree, you can obtain and correspond to the coupled relation at a lifting angle in one pivot of the moment, so as to set up shoulder
Coupled relation of the Glenohumeral joint instantaneous centre of rotation at the moment and upper arm lifting angle.
In order to quantify the position of articulation center t at any time, it is updated with the detection frequency of VICON, is utilized
The coupled relation of any time shoulder Glenohumeral joint pivot and upper arm, equation is calculated in the simple matrix equation provided
In all parameters be all human body breastbone by above measuring, shoulder shoulder blade, humerus, upper arm lateral epicondyle, epicondylus medialis
The surface data of movement.
Measured in a kind of human upper limb shoulder Glenohumeral joint pivot and human body upper arm lifting angle coupled relation
Method, is to be used to detect upper limb shoulder Glenohumeral joint movable information on the right side of human body, is equally applicable to upper limb shoulder on the left of detection human body
Portion's Glenohumeral joint movable information, is not limited to this example.
The above 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 test method 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 upper limb shoulder Glenohumeral joint pivot and human body upper arm lifting angle coupled relation measuring method, its feature
It is, including following three steps:
The collection of step (1) shoulder joints exercise data：By containing four, in one plane the moving mass of index point is not fixed
On shoulder blade, humerus, seventh cervical spine, eighth dorsal vertebra, jugular notch, the sword shape that six index points are fixed on to human body are soft
Bone, lateral epicondyle, epicondylus medialis position, obtain the movable information of corresponding bone；
The foundation of step (2) head movement model：Using shoulder blade, humerus as a rigid body, based on rotation geometry knowledge,
Establish the pivot kinematics model constant with respect to adjacent rigid pose；
Step (3) Glenohumeral joint pivot and lifting angle coupled relation solve：By articulation center with respect to adjacent rigid index point
The consistency of pose, obtains regression parameter, and then obtains the instantaneous position of pivot, so as to obtain lifting angle and pivot
Coupled relation.
2. a kind of human upper limb shoulder Glenohumeral joint pivot according to claim 1 is coupled with human body upper arm lifting angle
Relation measuring method, it is characterised in that measuring apparatus is VICON automatic Optic Motion Capture Systems.
3. a kind of human upper limb shoulder Glenohumeral joint pivot according to claim 1 is coupled with human body upper arm lifting angle
Relation measuring method, it is characterised in that four index points, are fixed on the seventh cervical spine of breastbone by the step (1) first
(C7), eighth dorsal vertebra (T8), jugular notch (IJ), on xiphoid (PX), an attribute block is fixed on operator's omoplate
Bone acromion position, a mark are fixed on the former optional position from Glenohumeral joint pivot human body upper arm soon, two other mark
Note point is fixed on forearm straight configuration to condylus lateralis humeri (EL), and on epicondylus medialis (EM), regulation experiment baffle, makes human body upper arm exist
0 ° of lifting face, tester's forearm naturally droop in the lifting face；
In experimentation, forearm front portion is close to test baffle, and arm naturally droops position in lifting face and moves to human body
The pre- measuring point of upper arm lifting, reciprocal three cycles；Experiment baffle is sequentially adjusted in again, makes human body upper arm at 15 °, 30 °, 45 ° ...
Above-mentioned experiment is repeated in 135 ° of lifting faces；
Using VICON measuring systems, the location information data of corresponding bony landmark point is obtained；These location information datas be all
Described under VICON system coordinate systems；By the seventh cervical spine (C7) of human body, eighth dorsal vertebra (T8), jugular notch (IJ), sword shape
Cartilage (PX), shoulder blade moving mass, humerus movement it is fast (, 14 index points of lateral epicondyle (EL) and epicondylus medialis (EM) be denoted as Pi, each
The position of index point is expressed as (x in VICON base coordinates systemi yi zi) ', wherein i=1,2,14, VICON systems
Coordinate system coordinate origin of uniting is O, and X, Y, Z axis is represented with x, y, z respectively：Four index points determine human body coordinate system on breastbone, sit
Mark origin is Othx, X, Y, Z axis uses x respectivelythx、ythx、zthxRepresent, be specially：
VICON system coordinate systems：
X=(0,0,1)
Y=(0,1,0)
Z=(0,0,1)
O=(0,0,0)
Human body coordinate system：
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To obtain shoulder blade moving mass, humerus moves the fast, expression of lateral epicondyle and epicondylus medialis index point in human body coordinate system, needs
Establish the conversion between human body coordinate system and VICON system coordinate systems：
Two coordinate system O (x, y, z) and Othx=(xthx,ythx,zthx) between homogeneous transformation matrices
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<mo>,</mo>
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<mi>z</mi>
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<mi>t</mi>
<mi>h</mi>
<mi>x</mi>
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<mtr>
<mtd>
<mrow>
<mn>0</mn>
<mo>,</mo>
</mrow>
</mtd>
<mtd>
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<mn>0</mn>
<mo>,</mo>
</mrow>
</mtd>
<mtd>
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<mn>0</mn>
<mo>,</mo>
</mrow>
</mtd>
<mtd>
<mn>1</mn>
</mtd>
</mtr>
</mtable>
</mfenced>
</mrow>
R3×3For spin matrix, P1×3For motion vector；
In view of shoulder blade moving mass, the motion amplitude of humerus moving mass is larger, may be due to blocking during specific experiment
The positional information of whole index points cannot be captured completely, as a result cause VICON system detectios data portion to be lost, by three not
Position and the posture of rigid body is fully described in index point on a line, thus in shoulder blade moving mass, humerus moving mass
Upper fixation not four index points on one face, choose the index point that three data are not lost from shoulder blade and humerus attribute block
Description as its movement；Work as i=5, when 6,7,9,10,11,13,14, shoulder blade moving mass, humerus movement is fast (chooses three
Index point), lateral epicondyle and epicondylus medialis index point be expressed as P in human body coordinate systemii, i.e.,：
<mrow>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<msub>
<mi>P</mi>
<mrow>
<mi>i</mi>
<mi>i</mi>
</mrow>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>1</mn>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>=</mo>
<msup>
<mi>T</mi>
<mrow>
<mi>O</mi>
<mo>&RightArrow;</mo>
<msub>
<mi>O</mi>
<mrow>
<mi>t</mi>
<mi>h</mi>
<mi>x</mi>
</mrow>
</msub>
</mrow>
</msup>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<msub>
<mi>P</mi>
<mi>i</mi>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>1</mn>
</mtd>
</mtr>
</mtable>
</mfenced>
</mrow>
Shoulder blade moving mass, humerus move fast, lateral epicondyle and epicondylus medialis index point is expressed as P in human body coordinate systemii, wherein
I=5,6...14, are：
<mrow>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<msup>
<mi>P</mi>
<mrow>
<mi>i</mi>
<mi>i</mi>
</mrow>
</msup>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>1</mn>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>=</mo>
<msup>
<mi>T</mi>
<mrow>
<mn>1</mn>
<mo>&RightArrow;</mo>
<mn>2</mn>
</mrow>
</msup>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<msup>
<mi>P</mi>
<mi>i</mi>
</msup>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>1</mn>
</mtd>
</mtr>
</mtable>
</mfenced>
</mrow>
。
4. a kind of human upper limb shoulder Glenohumeral joint pivot and human body upper arm lifting angle coupling according to claims 1
Conjunction relation measuring method, it is characterised in that the step (2), using shoulder blade, humerus as a rigid body, because of three
Position and the posture of rigid body can be fully described in the index point on a line, analyze gathered data, choose shoulder blade,
Three not continuous exercise datas of index point on one wire, based on rotation geometry knowledge, are established in rotation on humerus moving mass
The heart kinematics model constant with respect to adjacent rigid pose.
5. a kind of human upper limb shoulder Glenohumeral joint pivot and human body upper arm lifting angle coupling according to claims 1
Conjunction relation measuring method, it is characterised in that the step (3), by articulation center with respect to adjacent rigid index point pose not
Denaturation, builds kinematics model math equation, obtains regression parameter, and then obtains the instantaneous position of pivot, constructs lifting
Angle and the kinematical equation of pivot, so as to obtain lifting angle and pivot coupled relation；
S1. shoulder joint instantaneous centre of rotation is asked for
kP1、kP2、kP3It is index point on shoulder blade, footmark k represents frame number,kC1、kC2、kC3It is the index point on humerus, footmark k tables
Show frame number, derived by rotation geometry, articulation centerkJ remains constant relative to the index point in adjacent rigid, meets as follows
Relational expression：
kJ=[kP1-kP2,kP1-kP3,(kP1-kP2,kP1-kP3),kP1][a,b,c,1]'
kJ=[kC1-kC2,kC1-kC3,(kC1-kC2,kC1-kC3),kC1]·[d,e,f,1]'
Wherein：(a, b, c, d, e, f) is regression parameter, and two formula simultaneous, obtain：
kJ=[kP1-kP2,kP1-kP3,(kP1-kP2,kP1-kP3),kC1-kC2,kC1-kC3,(kC1-kC2,kC1-kC3)]
[a, b, c, d, e, f ,] '=- (kP1-kC1)
More frame data of corresponding continuous acquisition, obtain equation below group：
AX=B
Wherein：
<mrow>
<mi>A</mi>
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<mtable>
<mtr>
<mtd>
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<mi>P</mi>
<mn>1</mn>
</mmultiscripts>
<mn>1</mn>
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<mi>P</mi>
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</mmultiscripts>
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<mo>,</mo>
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<mi>P</mi>
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</mmultiscripts>
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</msub>
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<mn>1</mn>
</msub>
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<msub>
<mmultiscripts>
<mi>P</mi>
<mi>F</mi>
</mmultiscripts>
<mn>2</mn>
</msub>
<mo>,</mo>
</mrow>
</mtd>
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<mi>P</mi>
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<mn>1</mn>
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<msub>
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<mi>P</mi>
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</mmultiscripts>
<mn>3</mn>
</msub>
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</mtd>
<mtd>
<mrow>
<mrow>
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<mi>F</mi>
</mmultiscripts>
<mn>2</mn>
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<mi>C</mi>
<mi>F</mi>
</mmultiscripts>
<mn>1</mn>
</msub>
<mo>-</mo>
<msub>
<mmultiscripts>
<mi>C</mi>
<mi>F</mi>
</mmultiscripts>
<mn>3</mn>
</msub>
</mrow>
<mo>)</mo>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
</mrow>
X=[a, b, c, d, e, f] '
B=[- (1P1-1C1)；-(2P1-2C1)；……；-(FP1-FC1)]
To the greatest extent and by the solution of matrix equation, regression parameter X is obtained
X=(A'A)-1A'B
After obtaining regression parameter, bring following equation into, the data for moving each moment are brought into, obtain each moment shoulder joint rotation
Turn the positional information at center；
iJ=[iP1-iP2,iP1-iP3,(iP1-iP2,iP1-iP3),iP1][a,b,c,1]'
Or
iJ=[iC1-iC2,iC1-iC3,(iC1-iC2,iC1-iC3),iC1]·[d,e,f,1]'
S2. the coupled relation at shoulder Glenohumeral joint instantaneous centre of rotation and upper arm lifting angle is established
Humerus lifting angle is defined as the angle between humerus attitude vectors and human body coordinate system Z axis；
Humerus attitude vectors are：
<mrow>
<msub>
<mi>V</mi>
<mrow>
<mi>u</mi>
<mi>p</mi>
<mi>a</mi>
</mrow>
</msub>
<mo>=</mo>
<mfrac>
<mn>1</mn>
<mn>2</mn>
</mfrac>
<mrow>
<mo>(</mo>
<msub>
<mi>V</mi>
<mrow>
<mi>E</mi>
<mi>L</mi>
</mrow>
</msub>
<mo>-</mo>
<msub>
<mi>V</mi>
<mrow>
<mi>E</mi>
<mi>M</mi>
</mrow>
</msub>
<mo>)</mo>
</mrow>
<mo>-</mo>
<msup>
<mi>q</mi>
<mi>k</mi>
</msup>
</mrow>
Humerus lifting angle is：
<mrow>
<mi>&theta;</mi>
<mo>=</mo>
<mi>a</mi>
<mi>r</mi>
<mi>c</mi>
<mi>c</mi>
<mi>o</mi>
<mi>s</mi>
<mrow>
<mo>(</mo>
<mfrac>
<mrow>
<msub>
<mi>V</mi>
<mrow>
<mi>u</mi>
<mi>p</mi>
<mi>a</mi>
</mrow>
</msub>
<mo>.</mo>
<msub>
<mi>z</mi>
<mrow>
<mi>t</mi>
<mi>h</mi>
<mi>x</mi>
</mrow>
</msub>
</mrow>
<mrow>
<mo>|</mo>
<msub>
<mi>V</mi>
<mrow>
<mi>u</mi>
<mi>p</mi>
<mi>a</mi>
</mrow>
</msub>
<mo>|</mo>
<mo>.</mo>
<mo>|</mo>
<msub>
<mi>z</mi>
<mrow>
<mi>t</mi>
<mi>h</mi>
<mi>x</mi>
</mrow>
</msub>
<mo>|</mo>
</mrow>
</mfrac>
<mo>)</mo>
</mrow>
</mrow>
Wherein VupaFor humerus attitude vectors, VEL、VEMBe lateral epicondyle, epicondylus medialis with respect to human body coordinate system attitude vectors, qkFor shoulder
The opposite position vector with human body coordinate system in k frames of portion's Glenohumeral joint pivot, zthxFor human body coordinate system Z breastbones direction
Coordinate representation, θ is lifting angle；
By required pivot as a result, asking for lifting angle, so that the coupled relation of lifting angle and pivot is obtained, wherein just
Parameter in journey is all the position of the index point by above measuring.
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