CN108042142A - A kind of wearable human body attitude detection and myodynamia measuring system - Google Patents
A kind of wearable human body attitude detection and myodynamia measuring system Download PDFInfo
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- CN108042142A CN108042142A CN201711337228.XA CN201711337228A CN108042142A CN 108042142 A CN108042142 A CN 108042142A CN 201711337228 A CN201711337228 A CN 201711337228A CN 108042142 A CN108042142 A CN 108042142A
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- human body
- myodynamia
- attitude angle
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- attitude
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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
-
- 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
- A61B5/1123—Discriminating type of movement, e.g. walking or running
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/22—Ergometry; Measuring muscular strength or the force of a muscular blow
- A61B5/224—Measuring muscular strength
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/22—Ergometry; Measuring muscular strength or the force of a muscular blow
- A61B5/224—Measuring muscular strength
- A61B5/227—Measuring muscular strength of constricting muscles, i.e. sphincters
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/48—Other medical applications
- A61B5/4836—Diagnosis combined with treatment in closed-loop systems or methods
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
- A61B5/6802—Sensor mounted on worn items
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1619—Thorax
- A61H2201/1621—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/08—Trunk
- A61H2205/084—Chest
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/62—Posture
Abstract
The present invention discloses a kind of wearable human body attitude detection and myodynamia measuring system, including：Fixed band, attitude angle module and digital independent transmitting module；The fixed band is intended to be worn on human body different parts, and each fixed take carries attitude angle module and digital independent transmitting module, and the attitude angle module, baroceptor and digital independent transmitting module are placed in fixed band outside；The attitude angle module is used for the attitude angle at position where measuring it；The digital independent transmitting module is used to read the attitude angle datas of human body different parts, and passes through the data processing module that radio-frequency technique is sent to distal end, so that the data processing module determines according to the attitude angle data of human body different parts the posture of human body.The present invention use fixed band so that human body attitude detects and with myodynamia measuring system may be worn on, and easy to wear, not easily to fall off, highly reliable, information is various, highly practical.
Description
Technical field
The present invention relates to human-computer interaction, rehabilitation training and rehabilitation accessory field, more particularly, to a kind of wearable people
Body attitude detection and myodynamia measuring system.
Background technology
With the arrival of aging society, the rapidly increase of elderly population quantity.At the same time, due to disease and unexpected thing
Therefore generation, the quantity of limbs disturbance disabled person is also increased.Therefore, society is to the need of medical rehabilitation and monitoring device
Ask sustainable growth.In recent years, researcher both domestic and external proposes the auxiliary instruments such as ectoskeleton, assistant robot.Judge auxiliary
A whether outstanding important indicator of instrument performance is its man-machine interaction mode and its validity.
In existing research, electromyography signal is one of common man-machine interaction mode of auxiliary instrument.Muscle is generating receipts
Faint electromyography signal can be generated during contracting, these electromyography signals can specifically react human body intention.However electromyography signal right and wrong
Often faint, it is needed by amplification, filtering, this causes the collecting device of electromyography signal very expensive and is easily done by electromagnetic noise
It disturbs.Meanwhile electromyography signal sensor not only needs to be close to skin use, wearing is inconvenient, and electromyography signal easily by sweat stain,
The influence of the factors such as mental fatigue.These reasons result in electromyography signal should not be as a kind of human-computer interaction signal of universality.
Pressure/force square signal is also one of common man-machine interaction mode, however pressure/force square signal acquisition is inconvenient,
Comprising human body be intended to also bad extraction.It is very important that this so that pressure/force square signal has when as human-computer interaction signal
The defects of.
The attitude angle of human body is also a kind of common man-machine interaction mode, but human body attitude angle is only capable of reacting
Go out the current state of human body, it is very limited that human body is intended to expression.Meanwhile existing human body attitude angle collecting device is usual
It is optical device, expensive, personnel are also required to dress multiple optical markings when in use, and use is very inconvenient.
In conclusion the auxiliary instruments such as existing ectoskeleton, assistant robot still lack suitable man-machine interaction mode.
Therefore, how to control sensor cost simultaneously, increasing body state and intent information that sensor can detect, promoted and be intended to
Recognition accuracy is the important research direction of human-computer interaction.
The content of the invention
The defects of for the prior art, it is an object of the invention to solve the auxiliary such as existing ectoskeleton, assistant robot
Instrument still lacks the technical issues of suitable man-machine interaction mode.
To achieve the above object, the present invention provides a kind of wearable human body attitude detection and myodynamia measurement system
System, including：Fixed band, attitude angle module and digital independent transmitting module；
The fixed band is intended to be worn on human body different parts, and each fixed take carries attitude angle module
With digital independent transmitting module, the attitude angle module, baroceptor and digital independent transmitting module are placed in fixation
Band outside；The attitude angle module is used for the attitude angle at position where measuring it；The digital independent transmitting module is used for
The attitude angle data of human body different parts is read, and passes through the data processing module that radio-frequency technique is sent to distal end, for described
Data processing module determines the posture of human body according to the attitude angle data of human body different parts.
Optionally, each fixed take also carries air bag, baroceptor and gas-guide tube；The air bag is placed in fixation
The inside of band is contacted with human body different parts, and internal pressure changes with human body different parts contraction of muscle；It is described
Baroceptor is used for position inside air bag pressure according to where it and exports corresponding voltage value；The gas-guide tube is used to connect institute
State air bag and baroceptor；The digital independent transmitting module is used to read the voltage value of human body different parts, and passes through and penetrate
Frequency technology is sent to the data processing module of distal end, so that the data processing module is true according to the voltage value of human body different parts
Determine the myodynamia of human body different parts.
Optionally, each fixed take also carries power module and reset circuit；The power module is used for as appearance
State angular measurement module, baroceptor and the power supply of digital independent transmitting module；The reset circuit is used to read the data
Transmitting module is taken to be resetted.
Optionally, the attitude angle module is GY953 inertial navigation sensors modules.
Optionally, the digital independent transmitting module is nRF24LE1 wireless modules.
Optionally, the data processing module receives the attitude angle data of human body different parts, forms attitude angle array, and
Limit filtration is carried out to the attitude angle array, wrong attitude angle data is measured to reject, utilizes SVM SVM algorithm
Classify to the attitude angle array after limit filtration, to differentiate human body attitude, human body attitude be divided into upstairs, downstairs, walk, run
Step or five class of deep-knee-bend, wherein, SVM SVM algorithm needs advance acquisition attitude angle data to be trained.
Optionally, the data processing module receives the voltage value of human body different parts, and each according to what is measured in advance
The Initial Voltage Value at position determines the myodynamia at each position, and the muscle at each position keeps measuring during diastole state multigroup
The Initial Voltage Value at each position that the average value of voltage value as measures in advance；Appoint when the data processing module receives human body
When the voltage value at a position of anticipating is more than the Initial Voltage Value at the position, the myodynamia at the position and the voltage value at the position and
The difference of Initial Voltage Value is directly proportional, when the voltage value at any one position of data processing module reception human body is less than or waits
When the Initial Voltage Value at the position, the myodynamia at the position is 0.
Optionally, the nRF24LE1 wireless modules read the posture of GY953 inertial navigation sensors modules using serial ports
Angular data, while the analog quantity of baroceptor output voltage values is converted into digital quantity using internal A/D converter.
Optionally, the fixed band is intended to be worn in left leg, right leg, trunk chest, left thigh and the right side of human body
Thigh position.
Optionally, when fixation, which takes, carries air bag, fixed band need to use non-elastic material, if fixed take carries
Air bag, in the thigh of installation air bag to human body, leg muscle keeps diastole state, and air bag is not required to contact with human skin, but
To ensure that air bag can fully detect contraction of muscle situation during use, being enclosed in air bag needs to be close to measured muscle, gas
Capsule periphery is encased with fixed band.
In general, by the above technical scheme conceived by the present invention compared with prior art, have below beneficial to effect
Fruit：
The present invention use fixed band so that human body attitude detects and with myodynamia measuring system may be worn on, wearing side
Just, not easily to fall off, highly reliable, information is various, highly practical.
NRF24LE1 wireless modules that the present invention uses, GY953 inertial navigation sensors module, baroceptor, movement
The devices such as power supply, it is cheap, there are good economic benefits.
For the present invention using radio-frequency technique transmitted data on network to data processing module, network structure is simple, is easy to build, easily
In replacement.
The present invention is capable of detecting when human body attitude and myodynamia, contribute to the units such as hospital, recovery centre to patient into
Row recovery training, while the rehabilitations product such as ectoskeleton, assistant robot can be efficiently applied to.
Description of the drawings
Fig. 1 is wearable human body attitude detection and the overall structure signal of myodynamia measuring system provided by the invention
Figure；
Fig. 2 detects for human body attitude provided by the invention and myodynamia measuring system dresses scheme of installation；
Fig. 3 dresses pictorial diagram and Centroid pictorial diagram for system provided by the invention；
Fig. 4 dresses mode and fundamental diagram for air bag provided by the invention, and Fig. 4 a dress schematic diagram, figure for air bag
4b is air bag operation principle schematic diagram；
Fig. 5 is the modular structure schematic diagram of attitude detection node provided by the invention；
Fig. 6 is the pictorial diagram of attitude detection node provided by the invention；
Fig. 7 is the modular structure schematic diagram of attitude detection provided by the invention and myodynamia measuring node；
Fig. 8 is the pictorial diagram of attitude detection provided by the invention and myodynamia measuring node；
Fig. 9 is that the program of attitude detection node provided by the invention realizes flow chart；
Figure 10 is the program realization flow chart of attitude detection provided by the invention and myodynamia measuring node；
Figure 11 is that the program of Centroid provided by the invention realizes flow chart；
Figure 12 is myodynamia Measurement Algorithm flow chart provided by the invention；
Figure 13 is differentiation human body attitude algorithm flow chart provided by the invention.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, it is right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
Conflict is not formed each other to can be combined with each other.
The present invention discloses a kind of portable wearable human attitude detection and myodynamia measuring system, can not only be real-time
The posture of user is detected, and the myodynamia of user can be measured.It has easy donning, real-time it is high, it is highly reliable,
Information comprehensively and lower-price characteristic.
In field of human-computer interaction, interactive mode is continuously available innovation and development, can detect body state and identification human body
The sensor of intention is widely used, including pressure sensor, stiffness sensor, inertial sensor etc..Single-sensor is obtained
Body state and intent information are than relatively limited, therefore Multi-sensor Fusion detection body state, obtain human body and be intended to letter
Breath is now extremely popular direction.How in real time sensor, effectively, is easily transmitted also pole after data are obtained
To be important.When detecting body state, the communication between equipment is more succinct than wire transmission using being wirelessly transferred, and is easy to as people
Received.In current research, wireless sensor network, individual and self-organizing network, Radio Frequency Identification Technology and ZigBee
Network technology is largely used to structure local network, to realize that heat transfer agent and control are transferred between each single sensor node orders
Order.
Based on above-mentioned thinking, the present invention combines " Multi-sensor Fusion " theory, devises a kind of wearable human body appearance
State detects and myodynamia measuring system, and the wherein system includes two subsystems：That is human body attitude detection subsystem and limbs
Dynamometry subsystem.The two subsystems can also can together exist with individualism.
Human body attitude detection subsystem includes fixed band, attitude angle module and digital independent transmitting module.It is fixed
Band is intended to be worn on human body different parts, and each fixed take carries attitude angle module and digital independent transmitting mould
Block, attitude angle module, baroceptor and digital independent transmitting module are placed in fixed band outside；Attitude angle module
For measuring the attitude angle at its place position；Digital independent transmitting module is used to read the attitude angle data of human body different parts,
And pass through the data processing module that radio-frequency technique is sent to distal end, so that data processing module is according to the posture of human body different parts
Angular data determines the posture of human body.
Wherein, attitude angle module is GY953 inertial navigation sensors modules.Digital independent transmitting module is
NRF24LE1 wireless modules.
Myodynamia measurement subsystem includes：Fixed band, air bag and baroceptor；Air bag is placed in the inside of fixed band,
It is contacted with human body different parts, internal pressure changes with human body different parts contraction of muscle；Baroceptor is used
Corresponding voltage value is exported in position inside air bag pressure according to where it；Digital independent transmitting module is different for reading human body
The voltage value at position, and pass through the data processing module that radio-frequency technique is sent to distal end, so that data processing module is according to human body
The voltage value of different parts determines the myodynamia of human body different parts.
Optionally, each fixed take also carries power module, reset circuit and gas-guide tube；Power module is used for
Attitude angle module, baroceptor and the power supply of digital independent transmitting module；Reset circuit is used to emit digital independent
Module is resetted；Gas-guide tube is used to connect air bag and baroceptor.
Optionally, data processing module receives the attitude angle data of human body different parts, forms attitude angle array, and to appearance
State angle array carries out limit filtration, and wrong attitude angle data is measured to reject, and amplitude limit is filtered using SVM SVM algorithm
Attitude angle array after ripple is classified, to differentiate human body attitude, human body attitude be divided into upstairs, downstairs, walk, run or deep-knee-bend
Five classes, wherein, SVM SVM algorithm needs advance acquisition attitude angle data to be trained.
Optionally, data processing module receives the voltage value of human body different parts, and according to each position measured in advance
Initial Voltage Value determine the myodynamia at each position, the muscle at each position keeps the multigroup voltage measured during diastole state
The Initial Voltage Value at each position that the average value of value as measures in advance；When data processing module receives any one portion of human body
When the voltage value of position is more than the Initial Voltage Value at the position, the myodynamia at the position and the voltage value at the position and voltage are initial
The difference of value is directly proportional, when data processing module receives the electricity of the voltage value less than or equal to the position at any one position of human body
When pressing initial value, the myodynamia at the position is 0.
Wherein, data processing module can be host computer, can lead between digital independent transmitting module and data processing module
Centroid connection is crossed, Centroid includes：NRF24LE1 wireless modules and nRF24LE1 wireless module special test bottom plates.
Wherein, human body attitude detection subsystem is alternatively referred to as attitude detection node, and myodynamia measurement subsystem can also claim
For myodynamia measuring node.
In a specific example, in use, three attitude detection nodes are worn on left leg, right leg, body respectively
Body metastomium measures the attitude angle of three body parts；Two attitude detections and myodynamia measuring node are worn on respectively
Left thigh, right thigh position measure two body part attitude angles and leg muscle strength.More than the appearance that will measure of five nodes
To Centroid, Centroid carries out unified integration to above- mentioned information, encapsulates framing for state angle and myodynamia data sending.
In the present system, the function of each key modules is as follows：
With contraction of muscle volume change can occur for air bag, inside air bag pressure be caused to change, to experience flesh
Meat is shunk；
Baroceptor can export different voltage values according to the different pressure of air bag.
GY953 inertial navigation sensors module can measure attitude angle (Eulerian angles), acceleration, earth's magnetic field, but be at this
Attitude angle data is used only in system.
NRF24LE1 wireless modules are gone out data sending by radio-frequency technique, while it can utilize serial ports to read
The attitude angle data of GY953, and the analog voltage of baroceptor is converted into digital quantity using internal A/D converter.
Power module is used to power for modules.
Reset circuit is used to be resetted to nRF24LE1 wireless modules.
Further, human body attitude detection and myodynamia measuring system include each node circuit figure.
Further, human body attitude detection and myodynamia measuring system include the software program for aiming at system development.
Further, human body attitude detection and myodynamia measuring system include size of human body leg and body that detection obtains
The dry attitude angle for waiting positions also includes the myodynamia for the left and right thigh that measurement is drawn.
Further, human body attitude detection and myodynamia measuring system further include each bottom layer node and Centroid
The radio-frequency technique network to communicate, for transmitting data.
Further, human body attitude detection and myodynamia measuring system further include to perceive the air bag of muscle variation
And baroceptor design.
Further, human body attitude detection and myodynamia measuring system further include the muscle measurement of measurement myodynamia
Algorithm and the algorithm for differentiating human body attitude, the pressure for baroceptor to be measured are converted into myodynamia data and will not
Same human body attitude carries out identification and classification.
The present invention allows five nodes to wear using fixed band, easy to wear, not easily to fall off, highly practical.This hair
The devices such as the bright nRF24LE1 wireless modules used, GY953 inertial navigation sensors module, baroceptor, mobile power, valency
Lattice are cheap, have good economic benefits；Using radio-frequency technique transmitted data on network to Centroid, network structure is simple, easily
In building, it is easily changed.
Wearable human body attitude detection provided in an embodiment of the present invention and myodynamia measuring system mainly apply with
Human-computer interaction, rehabilitation accessory field, the attitude detection and myodynamia measuring system can be to the attitude angles of human body significant points
It is detected, muscle power can also be measured, easy donning, highly reliable, of low cost, information is comprehensive.The invention is man-machine
Interaction provides a kind of novel method, has larger potentiality for improving rehabilitation appliances performance.
Fig. 1 shows the overall structure diagram of human body attitude detection and myodynamia measuring system of the present invention, in order to just
In explanation, illustrate only with the relevant part of the embodiment of the present invention, details are as follows：
Wearable human body attitude detection and myodynamia measuring system include three attitude detection nodes C1, C2, C3
With five bottom layer nodes such as two attitude detections and myodynamia measuring node M1, M2, one communicates with bottom layer node, collects bottom
The Centroid N of node layer information.When needing the data using the system, can increase be connected with Centroid N it is upper
Machine, host computer can read the data of Centroid.
Fig. 2 and Fig. 3 show human body attitude detection of the present invention and the wearing modes and centromere of myodynamia measuring system
Point.Respectively one attitude detection node of wearing, left thigh, right thigh respectively dress a posture inspection for left leg, right leg, trunk chest
Survey and myodynamia measuring node.Sensor node circuit board parallel to human body, and GY953 inertial navigation sensors module with
NRF24LE1 wireless modules are located at vertical direction, and under, nRF24LE1 wireless modules exist GY953 inertial navigation sensors modules
On.Each sensor node is fixed on fixed band on human body.Each bottom sensor node transfers data to centromere
Point, Centroid arrange data and encapsulate framing, can be communicated with host computer.
Fig. 4 shows attitude detection and myodynamia measurement in human body attitude detection and myodynamia measuring system of the present invention
The air bag wearing mode and operation principle of node.For convenience of description, illustrated only in figure and the relevant portion of the embodiment of the present invention
Point.When installing air bag, leg muscle keeps diastole state, as shown in fig. 4 a.Air bag is not required to contact with human skin, but to protect
Air bag can fully detect contraction of muscle situation during card use, and being enclosed in air bag needs to be close to rectus femoris, and air bag periphery is with admittedly
Determine band to encase.Particularly, the fixed band at two is using non-elastic material, other fixation bands at three are required without this.Work as thigh
When firmly, with the contraction of muscle at balloon contacts, compression bladder, as shown in Figure 4 b, air bag volume becomes smaller and internal pressure becomes larger.
Inside air bag pressure can be measured by baroceptor, it is that can obtain the power of muscle generation to recycle myodynamia Measurement Algorithm
Amount.
Fig. 5 and Fig. 6 shows the mould of attitude detection node in human body attitude detection and myodynamia measuring system of the present invention
Block schematic diagram and pictorial diagram.For convenience of description, illustrate only and the relevant part of the embodiment of the present invention.Attitude detection node point
It Bao Kuo not power module 1, GY953 inertial navigation sensors module 2, nRF24LE1 wireless modules 3 and reset circuit 4.The present invention
In embodiment, GY953 inertial navigation sensors module is measured by three-axis gyroscope, three axis accelerometer, three axle magnetometer
The attitude angle of body part, i.e. roll angle Roll, pitch angle Pitch and yaw angle Yaw.Built-in 51 in nRF24LE1 wireless modules
Microcontroller, the MCU as attitude detection node.GY953 inertial navigation sensors module passes through serial ports and the wireless moulds of nRF24LE1
Block is connected, it can continue to send to nRF24LE1 wireless modules after the instruction of nRF24LE1 wireless modules reading data is received
Attitude angle data.After the attitude angle data of GY953 is received, nRF24LE1 wireless modules are by radio-frequency technique with the frequency of 20Hz
Rate continues to send data to Centroid.In the interval for sending data to Centroid twice in nRF24LE1 wireless modules, such as
Fruit receives multiple attitude angle datas, that nRF24LE1 wireless module can only send newest attitude angle data to Centroid.It removes
Outside this, the reset for the reset pin control node that reset circuit passes through nRF24LE1 wireless modules.Power module uses 3.7V,
The rechargeable lithium battery of 600mAh, and with TPS7333Q linear regulator chip voltage stabilizings, when power module is working properly, white
LED light can be lighted normally.
Fig. 7 and Fig. 8 shows the mould of attitude detection node in human body attitude detection and myodynamia measuring system of the present invention
Block schematic diagram and pictorial diagram.For convenience of description, illustrate only and the relevant part of the embodiment of the present invention.The node is above
Air bag 7 and baroceptor 10 are added on the attitude detection node.In the embodiment of the present invention, baroceptor model
XGZP6847.The sensor output voltage and institute pressure measurement are linear by force, when institute's pressure measurement is by force a unit atmospheric pressure,
Output voltage values are 0.5V；When institute's pressure measurement is higher than a unit atmospheric pressure 20kPa by force, the voltage value of output is 2.5V.
NRF24LE1 wireless modules include converter, can carry out voltage AD conversion to baroceptor.The work feelings of other component
Condition is consistent with attitude detection node.After receiving the attitude angle data of GY953 and collecting the pressure data of two air bags,
NRF24LE1 wireless modules continue to send data to Centroid with the frequency of 20Hz by radio-frequency technique.
Fig. 9 shows that the program for the attitude detection node that embodiment provides realizes flow chart.The realization flow of detection node
It is as follows：
(1) after node starts, first initialized, include the initialization of clock, pin, interruption etc..It has initialized
It is entered step after (2).
(2) nRF24LE1 wireless modules send the instruction for reading attitude angle data to GY953 modules.Delay a period of time
Afterwards, if nRF24LE1 wireless modules do not receive the data come up of GY953 transmissions, it is wrong to illustrate that instruction is sent, need again into
Row step (2)；If receiving the attitude angle data of GY953, it is correct to illustrate that instruction is sent, enters step (3).
(3) start timer, receive GY953 data.It is using the attitude angle data frame received with verification mode judgement
It is no correct, if correctly, being put into step (4)；If data are incorrect, enter step (5).
(4) attitude angle data is carried out and is verified and encapsulated.Whether timer is judged by 50ms, if had already passed through
50ms just sends packaged data to Centroid, enters step (5), otherwise continue waiting for.
(5) stop timer, reset timer.Return to step (2).
Figure 10 shows that the attitude detection of embodiment offer and the program of myodynamia measuring node realize flow chart.Posture
The realization flow of detection and myodynamia measuring node is as follows：
(1) after node starts, first initialized, include the initialization of clock, pin, interruption etc..It has initialized
It is entered step after (2).
(2) nRF24LE1 wireless modules send the instruction for reading attitude angle data to GY953 modules.Delay a period of time
Afterwards, if nRF24LE1 wireless modules do not receive the data come up of GY953 transmissions, it is wrong to illustrate that instruction is sent, need again into
Row step (2)；If receiving the attitude angle data of GY953, it is correct to illustrate that instruction is sent, enters step (3).
(3) start timer, receive GY953 data.It is using the attitude angle data frame received with verification mode judgement
It is no correct, if correctly, being put into step (4)；If data are incorrect, enter step (6).
(4) start converter, baroceptor output voltage is AD converted.
(5) attitude angle and baroceptor data are carried out and verification encapsulates.Whether timer is judged by 50ms, if
50ms is had already passed through, packaged data is just sent to Centroid, enters step (6), otherwise continue waiting for.
(6) stop timer, reset timer.Return to step (2).
Figure 11 shows that the program for the Centroid that embodiment provides realizes flow chart.The realization flow of Centroid is such as
Under：
(1) after node starts, first initialized, include the initialization of clock, pin, interruption etc..It has initialized
It is entered step after (2).
(2) data that bottom layer node transmission comes up are received.
(3) judge whether data are correct using with verification mode, if correctly, just sending data to host computer, and returning
Step (2)；If incorrect, with regard to discard, and return to step (2).
Figure 12 shows the myodynamia Measurement Algorithm flow chart that the embodiment of the present invention uses.By taking node M 1 as an example, limbs
Dynamometry algorithm flow is as follows：
(1) parameter initialization, and receive leg muscle and keep lower ten groups of human body attitude detections of diastole state and myodynamia
The air pressure sensor voltage data that measuring node M1 is detected ask for the average value I1 of this ten groups of data, I1 are arranged to node
The Initial Voltage Value of M1.
(2) the air pressure sensor voltage data D1 of receiving node M1.Judge whether D1 is less than I1, if it is, entering step
Suddenly (3) otherwise enter step (4).
(3) if D1 is less than I1, D1 is revised as I1.Subsequently enter step (4).
(4) myodynamia F (k is a constant) is obtained by formula F=k* (D1-I1), exports myodynamia F, returned
Step (2).
Figure 13 shows the differentiation human body attitude algorithm flow chart that the embodiment of the present invention uses.Human body attitude distinguished number stream
Journey is as follows：
(1) parameter initialization.
(2) attitude angle data of five bottom layer nodes of C1, C2, C3, M1, M2 is received, forms attitude angle array theta [5].
(3) limit filtration is carried out to attitude angle array theta [5], wrong attitude angle data is measured to reject.
(4) classified using SVM SVM algorithm to attitude angle array theta [5], differentiate into different human bodies
Posture, human body attitude be divided into upstairs, downstairs, walk, run, five class of deep-knee-bend.Return to step (2) after the completion of classification.Wherein support
Vector machine SVM algorithm needs advance acquisition attitude angle data to be trained.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, all any modification, equivalent and improvement made within the spirit and principles of the invention etc., should all include
Within protection scope of the present invention.
Claims (10)
1. a kind of wearable human body attitude detection and myodynamia measuring system, which is characterized in that including：Fixed band, appearance
State angular measurement module and digital independent transmitting module；
The fixed band is intended to be worn on human body different parts, and each fixed take carries attitude angle module sum number
According to transmitting module is read, it is outer that the attitude angle module, baroceptor and digital independent transmitting module are placed in fixed band
Side；
The attitude angle module is used for the attitude angle at position where measuring it；
The digital independent transmitting module is used to read the attitude angle data of human body different parts, and passes through radio-frequency technique and be sent to
The data processing module of distal end, so that the data processing module determines human body according to the attitude angle data of human body different parts
Posture.
2. wearable human body attitude detection according to claim 1 and myodynamia measuring system, which is characterized in that
Each fixed take also carries air bag and baroceptor；
The air bag is placed in the inside of fixed band, is contacted with human body different parts, and internal pressure is with human body different parts flesh
Meat shrinks and changes；
The baroceptor is used for position inside air bag pressure according to where it and exports corresponding voltage value；
The digital independent transmitting module is used to read the air pressure sensor voltage value of human body different parts, and passes through radio-frequency technique
The data processing module of distal end is sent to, so that the data processing module determines human body according to the voltage value of human body different parts
The myodynamia of different parts.
3. wearable human body attitude detection according to claim 2 and myodynamia measuring system, which is characterized in that
Each fixed take also carries power module, reset circuit and gas-guide tube；
The power module is used for as attitude angle module, baroceptor and the power supply of digital independent transmitting module；
The reset circuit is used to reset the digital independent transmitting module；
The gas-guide tube is used to connect the air bag and baroceptor.
4. wearable human body attitude detection according to claim 1 and myodynamia measuring system, which is characterized in that
The attitude angle module is GY953 inertial navigation sensors modules.
5. wearable human body attitude detection according to claim 1 and myodynamia measuring system, which is characterized in that
The digital independent transmitting module is nRF24LE1 wireless modules.
6. wearable human body attitude detection according to claim 1 and myodynamia measuring system, which is characterized in that
The data processing module receives the attitude angle data of human body different parts, forms attitude angle array, and to the attitude angle number
Group carries out limit filtration, and wrong attitude angle data is measured to reject, using SVM SVM algorithm to limit filtration after
Attitude angle array is classified, to differentiate human body attitude, human body attitude be divided into upstairs, downstairs, walk, run or five class of deep-knee-bend,
Wherein, SVM SVM algorithm needs advance acquisition attitude angle data to be trained.
7. wearable human body attitude detection according to claim 2 and myodynamia measuring system, which is characterized in that
The data processing module receives the voltage value of human body different parts, and according to the Initial Voltage Value at each position measured in advance
Determine the myodynamia at each position, the muscle at each position keeps the average value of the multigroup voltage value measured during diastole state i.e.
Initial Voltage Value for each position measured in advance；When the data processing module receives the voltage at any one position of human body
When value is more than the Initial Voltage Value at the position, the difference of the myodynamia at the position and the voltage value at the position and Initial Voltage Value
It is directly proportional, at the beginning of the data processing module receives the voltage of the voltage value less than or equal to the position at any one position of human body
During initial value, the myodynamia at the position is 0.
8. wearable human body attitude detection according to claim 4 or 5 and myodynamia measuring system, feature exist
In the nRF24LE1 wireless modules read the attitude angle data of GY953 inertial navigation sensors modules using serial ports, and utilize
The analog quantity of baroceptor output voltage values is converted to digital quantity by internal A/D converter.
9. wearable human body attitude detection according to claim 1 or 2 and myodynamia measuring system, feature exist
In the fixed band is intended to be worn in left leg, right leg, trunk chest, left thigh and the right thigh position of human body.
10. wearable human body attitude detection according to claim 2 and myodynamia measuring system, which is characterized in that
When fixation, which takes, carries air bag, fixed band need to use non-elastic material, if fixed take carries air bag, in installation air bag
To human body thigh when, leg muscle keeps diastole state, and air bag is not required to contact with human skin, but to ensure use during
Air bag can fully detect contraction of muscle situation, and being enclosed in air bag needs to be close to measured muscle, and air bag periphery is wrapped with fixed band
Firmly.
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Application publication date: 20180518 |