CN108392204B - Human body segment quality measuring method and device - Google Patents

Human body segment quality measuring method and device Download PDF

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CN108392204B
CN108392204B CN201810130238.4A CN201810130238A CN108392204B CN 108392204 B CN108392204 B CN 108392204B CN 201810130238 A CN201810130238 A CN 201810130238A CN 108392204 B CN108392204 B CN 108392204B
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human body
measured
force
mass
point
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CN108392204A (en
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王宋然
张素才
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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
    • 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
    • A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
    • A61B5/1072—Measuring physical dimensions, e.g. size of the entire body or parts thereof measuring distances on the body, e.g. measuring length, height or thickness
    • 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
    • A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
    • A61B5/1075—Measuring physical dimensions, e.g. size of the entire body or parts thereof for measuring dimensions by non-invasive methods, e.g. for determining thickness of tissue layer
    • 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
    • A61B5/1118—Determining activity level
    • 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

Abstract

The invention discloses a human body segment quality measurement method, which comprises the following steps: collecting the length from the mass center of each measured human body section of the measured person to the rotary joint (the connecting joint of the measured body section and the unmeasured body section); wearing a gesture detection device on each detected human body section of the detected personnel and providing a force measuring platform; according to the mode that the posture of the non-measured body section is kept unchanged, the posture of the measured body section is changed, and the mode that the plane of the posture change of the measured body section and the human body supporting point are on the same plane, the corresponding included angles of the measured body section under three postures and the acting force and the position of the corresponding human body supporting point are collected, then the human body supporting point is subjected to mechanical analysis, and the mass of the measured body section is calculated. The invention calculates the mass of the human body section by measuring the position and acting force of the human body supporting point and combining theoretical mechanics, and the used force measuring device has simple structure and no harm to human body in the measuring process.

Description

Human body segment quality measuring method and device
Technical Field
The invention relates to a method and a device for measuring the mass of a human body segment.
Background
The human body inertia parameters include: the mass, mass center position and rotational inertia of the whole human body and each body segment are basic parameters for carrying out human body movement and injury and prevention research, and are important components for engineering, human science and human science research, wherein the mass of each body segment of the human body is particularly important, and a practical human body segment mass measuring method and device are lacked in the market.
The measuring application field of the quality of each body segment of the human body is very wide, and the measuring device is applicable to the design of safety protection equipment (such as industrial railings, civil balcony guardrails, safety belts and the like), the development of a sham dummy and a disabled artificial limb, and is also applicable to the aspects of body shaping, weight-losing quality change, medical diagnosis and the like.
The human body is divided into a plurality of segments according to ossification marks, each segment is called a human body segment (human-body segment), the human body segment is divided into 15 parts including a head and neck, an upper trunk, a lower trunk, a left upper arm, a right upper arm, a left forearm, a right forearm, a left hand, a right hand, a left thigh, a right thigh, a left shank, a right shank, a left foot and a right foot by an obvious ossification mark boundary point.
The Chinese patent document CN1682649A discloses a method and equipment for measuring the weight of a human body link, which require that personnel to be measured adopt prone position auxiliary measurement, and have complex measuring devices and measuring methods.
Other body segment measurement methods: the human body segment quality measuring method based on CT nuclear magnetic resonance has the advantages of harm to human body, high cost and poor universality in the measuring process. The human body segment measuring method based on the kinematic equation has the advantages of higher data sampling difficulty and higher measuring operability, and requires professional experience.
Disclosure of Invention
The invention aims to provide a human body segment quality measuring method which adopts standing posture measurement to solve the problem of inconvenient prone posture measurement.
The invention also aims to provide a human body segment quality measuring device which adopts standing posture measurement to solve the problem of inconvenient prone posture measurement.
To this end, the invention provides in one aspect a method for measuring the mass of a body segment of a human, comprising the steps of: step one, acquiring the length from the mass center of each measured human body section of a measured person to a rotary joint, namely a joint connected with the measured human body section and an unmeasured human body section; wearing a posture detection device on each measured human body section of a measured person and providing a force measurement platform, wherein the posture detection device on the measured human body section is used for acquiring an included angle between the measured human body section and a vertical axis, the posture detection device on the unmeasured human body section is used for ensuring that the posture of the unmeasured human body section is unchanged, and the force measurement platform comprises two force measurement units for measuring the acting force and the position of two human body supporting points on the human body coronal plane and two force measurement units for measuring the acting force and the position of two human body supporting points on the human body sagittal plane; and thirdly, collecting the corresponding included angles of the measured body section under three postures and the acting force and the position of the corresponding human body supporting point according to the mode that the posture of the unmeasured body section is kept unchanged and the posture of the measured body section is changed and the mode that the plane of the posture change of the measured body section and the human body supporting point are on the same plane, then carrying out mechanical analysis on the human body supporting point, establishing a mechanical equation, and calculating the mass of the measured body section.
According to another aspect of the present invention, there is provided a human body segment mass measurement device comprising a base, and a first force measuring unit, a second force measuring unit, a third force measuring unit, a fourth force measuring unit and a fifth measuring unit connected to the base, wherein the first force measuring unit and the second force measuring unit are used for measuring the acting force and the position of two human body support points in a coronal plane of a human body; the third force measuring unit, the fourth force measuring unit and the fifth measuring unit are used for measuring the acting force and the position of two human body supporting points on the sagittal plane of the human body, wherein the third force measuring unit is used for measuring the acting force and the position of the human body supporting points when the hand of the human body is used as a support, and the first force measuring unit, the second force measuring unit, the fourth force measuring unit and the fifth measuring unit are used for measuring the acting force and the position of the human body supporting points when the foot of the human body is used as a support.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention calculates the mass of the human body section by combining the force of the human body supporting point with the theoretical mechanics. The force measuring device has simple structure and no harm to human body in the measuring process;
2. the invention can provide data support for body type change detection, such as: the clinical medicine rehabilitation effect evaluation, the objective evaluation of body atrophy, the body shaping, the physical training scheme and the like provide reliable basis.
In addition to the objects, features and advantages described above, the present invention has other objects, features and advantages. The present invention will be described in further detail with reference to the drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:
FIG. 1 is a schematic view of a human body segment mass measurement device according to the present invention;
FIG. 2 is a schematic view of a load cell and load cell at the coronal plane according to the invention;
FIG. 3 is a schematic view of a force cell and force sensor in the sagittal plane according to the present invention;
FIG. 4 is a schematic view of a load cell with a support device according to the present invention;
fig. 5 is a virtual plan view of a human body according to the present invention;
FIG. 6 is a simplified diagram of a human body structure according to the present invention;
fig. 7 is a diagram of human body stress analysis according to the present invention:
FIG. 8 is a human head and neck measurement diagram according to the present invention;
FIG. 9 is a right hand measurement of a person in accordance with the present invention;
FIG. 10 is a measurement view of the right forearm of a person in accordance with the invention;
FIG. 11 is a measurement view of the right upper arm of the human body according to the present invention;
FIG. 12 is a measurement of the right foot of a person in accordance with the present invention;
FIG. 13 is a measurement of the right calf of a human body according to the invention;
fig. 14 is a measurement view of the right thigh of a human body according to the present invention.
Detailed Description
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.
Fig. 1-14 illustrate some embodiments according to the invention.
As shown in fig. 1, the human body segment mass measuring device includes a base 1, and five force measuring units 2, 3, 4, 5, and 6 connected to the base 1. The force measuring units 3 and 5 are arranged perpendicular to the coronal plane of the human body and are used for measuring the force of the supporting points of the coronal plane when the position of the measured section of the human body on the coronal plane changes; the force measuring units 2, 4 and 6 are arranged perpendicular to the sagittal plane of the human body for measuring the forces of the support points of the sagittal plane when the position of the measured segment of the human body changes in the sagittal plane. The load cells arranged below the load cells may be arranged in 2, 4 or more.
As shown in fig. 2, the force measuring unit 3 includes a base plate 31 and a force sensor 32 connected to the base plate 31, and the force sensor 32 is connected to a sole plate 33. The load cell is disposed in the coronal plane.
The load cell 5 has the same structure as the load cell 3. When the human body support point is in the coronal plane, the force measuring units 3 and 5 are used for measuring the acting force of the ground on the human body support point.
As shown in fig. 3, the load cell 4 includes a base plate 41, a load cell 42 connected to the base plate 41, and a sole plate 43 connected to the load cell 42. The load cells are arranged in the sagittal plane.
The load cell 2 and the load cell 6 have the same structure as the load cell 4. When the human body supporting point is in the sagittal plane, the force measuring units 2 or 6 and 4 are used for measuring the acting force of the ground on the human body supporting point.
As shown in fig. 4, the third force measuring unit 2 is connected to a supporting rod 22, wherein the supporting rod 22 is used for adjusting the height of the third force measuring unit 2, the set screw 21 is used for adjusting the height of the supporting rod 22, the supporting rod is arranged on the base 1, and the third measuring unit 2 is used for measuring the acting force and the position of a supporting point of a human body when the hand of the human body is used as a support. The fifth force measuring unit 6 is used for measuring the mass of the upper body of the human body by the following measuring method after knowing the mass center of the upper body above the lumbar vertebrae of the human body.
The force measuring unit may be provided with a plurality of force measuring sensors 32 to form a force measuring platform for measuring the supporting force and position of the human body on the ground of the human body supporting point.
The human body force measuring device comprises the display device 7 for displaying the mass of the measured body segment of the human body. According to the force of the human body supporting point measured by the force measuring unit on the human body, the calculated mass of the human body segment is displayed on the display device 7 according to the human body segment calculation method.
A simplified diagram of the anatomy is shown in fig. 5, with the anatomy being: 7 is the head and neck, 8 is the truck, 9 is the left upper arm, 10 is the right upper arm, 11 is the left forearm, 12 is the right forearm, 13 is the left hand, 14 is the right hand, 15 is the left thigh, 16 is the right thigh, 17 is the left shank, 18 is the right shank, 19 is the left foot, 20 is the right foot. All the names refer to national standard GB/T17245-2004 Chinese adult male human body inertia parameters. As known from national standard GB/T17245-2004, normal human body mass is symmetrical, i.e. as shown in figure 4, the centroid of the symmetrical part is on the vertical axis, i.e. on the intersection of the coronal and sagittal planes.
The human body segment measuring method comprises the following steps: the human body is equivalent to a rigid body, and the force (N) of the supporting point of the human body is measured by a force measuring unit i ，N j ). The angle sensor is arranged on the measured body section of the human body to measure the included angle a between the measured body section and the vertical axis i . The national standard knows the position of the mass center of the measured body section, and the sensor is bound on the unmeasured body section, so that the pose of the unmeasured body section is unchanged before and after the pose of the measured body section is changed. The position of the measured body segment of the human body is changed, the force of the supporting point is also changed, the mechanical analysis is carried out on one point, and the mass of the body segment of the human body is calculated according to a mechanical equation.
The specific measurement process is as follows:
the plane of the posture change of the tested body section and the human body supporting point are positioned on the same plane: knowing that the plane where the posture of the measured body section changes and two support points A, B of the human body are on the same plane, the position from the mass center of the measured body section to the position of the rotary joint (the connecting joint of the measured body section and the non-measured body section) is L by the national standard GB/T17245-2004.
Let the mass of the measured body section be m i The mass of the non-measured body segment of the human body after the measured body segment is removed is m j The method comprises the steps of carrying out a first treatment on the surface of the And in the initial position, the included angle between the measured body section and the vertical axis is ai, and the midpoint of the inner side of the weighing unit in the same plane is set as the origin of coordinates O. The horizontal distance from the supporting point A to the origin O is X, measured by a force measuring unit i The horizontal distance between the point B and the origin is X j Force N of two supporting points of A, B i And N j At this time, the horizontal distance from the centroid of the measured body segment to the point A is y i The horizontal distance from the centroid of the unmeasured body segment to the point A is y j . Stress analysis for point a (as shown in fig. 6):
N j (X i +X j )-m j gy j -m i gy i ＝0--------------------------------------------(1)
the posture of the unmeasured body section is kept unchanged, the posture of the measured body section is changed, at the moment, the included angle between the measured body section and the vertical axis is aj, and the origin is unchanged. The position of the support point A, B is measured by the load cell. The horizontal distance between the supporting point A and the origin is X i The horizontal distance between the point B and the origin is X j Force N of two supporting points', A, B i ' and N j ' at this time, the horizontal distance from the centroid of the measured body segment to the point A is y i +(Lsinaj-Lsinai)+(X i ’-X i )＝y i ++ (Lsiaj-Lsiai) +DeltaX, the horizontal distance from the centroid of the unmeasured body segment to point A is y j +(X i ’-X i )＝y j +Δx. And (3) analyzing the stress of the point A to obtain:
N j '(X i '+X j ')-m i g(y i +ΔX+L(sinaj-sinai))-m j g(y j +ΔX)＝0-----------(2)
the posture of the unmeasured body section is kept unchanged, the posture of the measured body section is changed, and the included angle between the measured body section and the vertical axis is a k The origin is unchanged. The position of the support point A, B is measured by the load cell. The horizontal distance between the supporting point A and the origin is X i ", the horizontal distance of the point B from the origin is X j Force N of two supporting points of' A, B i "and N j At this time, the horizontal distance from the centroid of the measured body segment to the point A is y i +(Lsina k -Lsina i )+(X i ”-X i )＝y i +(Lsina k -Lsina i ) +ΔX', horizontal distance from centroid of unmeasured body segment to point A is y j +(X i ”-X i )＝y j +Δx'. And (3) analyzing the stress of the point A to obtain:
N j ”(X i ”+X j ”)-m i g(y i +ΔX'+L(sinak-sinai))-m j g(y j +ΔX')＝0--------(3)
the combined type (1), (2) and (3) are obtained:
thereby solving the mass m of the human body measured body section according to the formula i 。
a. Human head and neck 7 quality calculation method
When measuring head and neck 7, the human body has two supporting points A, B, and national standard GB/T17245-2004 obtains the mass center m of the head and neck 7 1 Perpendicular distance L from neck rotation 0 The method comprises the steps of carrying out a first treatment on the surface of the Let the mass of the head and neck 7 of the human body be m 1 The body mass after head and neck 7 removal is m 2 . In the initial position, the included angle between the head and neck 7 and the vertical axis in the coronal plane is a 1 head and neck . Let the distance inside the load cell in the coronal plane be the midpoint as the origin. The horizontal distance from the point A of the supporting point in the coronal plane to the origin is X as measured by a force measuring unit 0 The horizontal distance between the point B and the origin is X 1 The acting forces of the two supporting points A, B are respectively N 1 ，N 2 . The horizontal distance of the supporting point A of the center of mass of the head and neck 7 is y 1 The horizontal distance from the mass center of the human body with the head and neck 7 removed to the supporting point A is y 0 . Let the intersection point of the three-dimensional plane of the human body be the origin. Mechanical analysis of the point A (clockwise moment is negative, and anticlockwise moment is positive):
N 2 (X 0 +X 1 )-m 2 gy 0 -m 1 gy 1 ＝0-------------------------------------------(1)
the posture of the body section which is not measured is kept unchanged, and the included angle between the head and neck 7 of the human body and the vertical axis is a 2 heads When the intersection point of the three-dimensional plane of the human body is set as the origin point. Measured by a force measuring unit: the horizontal distance between the supporting point A and the origin in the coronal plane is X 0 The horizontal distance between the point B and the origin is X 1 ' the acting forces of the two supporting points A, B are N respectively 1 ’，N 2 '. At this time: the horizontal distance of the supporting point A of the center of mass of the head and neck 7 is y 1 +(X 0 ’-X 0 )＝y 1 +ΔX 0 The horizontal distance from the mass center of the human body with the head and neck 7 removed to the supporting point A is y 0 +L 0 (sina 2 heads -sina 1 head )+(X 0 ’-X 0 )＝y 1 +L 0 (sina 2 heads -sina 1 head )+ΔX 0 。(a 1 headNeck of patient Not equal to a 2 head and neck And the clockwise angle is negative and the counterclockwise angle is positive). And (3) mechanically analyzing the point A to obtain:
N' 2 (X' 0 +X 1 ')-m 2 g(y 0 +ΔX 0 )-m 1 g(y 1 +L 0 (sina 2 heads -sina 1 head )+ΔX 0 )＝0-----(2)
Is obtained by the formula (1) and the formula (2):
N 2 (X 0 +X 1 )-N' 2 (X' 0 +X′ 1 )+m 2 gΔX 0 +m 1 g[L 0 (sina 2 heads -sina 1 head )+ΔX 0 ]＝0----------(3)
The posture of the body section which is not measured is kept unchanged, and the included angle between the head and neck 7 of the human body and the vertical axis is a 3 head When the intersection point of the three-dimensional plane of the human body is set as the origin point. Measured by a force measuring unit: the horizontal distance between the supporting point A and the origin in the coronal plane is X 0 ", the horizontal distance of the point B from the origin is X 1 ", the acting forces of the two supporting points A, B are respectively N 1 ”，N 2 ". At this time: the horizontal distance of the supporting point A of the center of mass of the head and neck 7 is y 1 +(X 0 ”-X 0 )＝y 1 +ΔX 0 ' the horizontal distance from the mass center of the human body with the head and neck 7 removed to the supporting point A is y 0 +L 0 (sina 3 head -sina 1 head )+(X 0 ”-X 0 )＝y1+L 0 (sina 3 head -sina 1 head )+ΔX 0 ’。(a1 Head and neck Not equal to a3 Head and neck And the clockwise angle is negative and the counterclockwise angle is positive). And (3) mechanically analyzing the point A to obtain:
N″ 2 (X″ 0 +X″ 1 )-m 2 g(y 0 +ΔX' 0 )-m 1 g(y 1 +L 0 (sina 3 head -sina 1 head )+ΔX' 0 )＝0----(4)
Is obtained by the formula (1) and the formula (4):
and (3) and (5) of the combined type:
i.e. calculate mass m of neck 7 1 。
b. Method for calculating mass of right hand 14 of human body
When measuring the right hand 14, the length from the center of mass of the right hand 14 to the wrist joint is L1, and the mass of the right hand 14 is m, which is obtained by the national standard GB/T17245-2004 at the two support points C, D of the human body 4 The mass of the human body after the right hand 14 is removed is m 3 。
In the initial position, the right hand 14 rotates in the coronal plane at an angle a to the vertical axis 1 right hand And setting the intersection point of the three-dimensional plane of the human body as an origin. Measured by a force measuring unit: the horizontal distance between the supporting point A and the origin in the coronal plane is X 2 The horizontal distance between the point B and the origin is X 3 The acting forces of the two supporting points A, B are respectively N 3 ，N 4 . At this time, the horizontal distance from the center of mass of the right hand 14 to the point A of the supporting point is y 2 The horizontal distance from the mass center of the human body after the right hand 14 is removed to the supporting point A is y 3 Mechanical analysis of C point:
N 4 (X 2 +X 3 )-m 3 gy 3 -m 4 gy 2 ＝0--------------------------------------------(6)
maintaining the posture of other body segments unchanged, when the right hand 14 forms an included angle a with the vertical axis in the coronal plane 2 right hand Let the intersection point of the three-dimensional plane of the human body be the origin. Measured by a force measuring unit: the horizontal distance between the supporting point A and the origin in the coronal plane is X 2 The horizontal distance between the point B and the origin is X 3 ' the acting forces of the two supporting points A, B are N respectively 3 ’、N 4 '. At this time: the horizontal distance of the supporting point A of the centroid of the right hand 14 is y 3 +L 1 (sina 2 right hand -sina 1 right hand )+(X 2 ’-X 2 )＝y 3 +L 0 (sina 2 heads -sina 1 head )+ΔX 2 The horizontal distance from the mass center of the human body after the right hand 14 is removed to the supporting point A is y 2 +(X 2 ’-X 2 )＝y 2 +ΔX 2 。(a 1 right hand Not equal to a 2 right hand And the clockwise angle is negative and the counterclockwise angle is positive). Mechanical analysis of C point:
N' 4 (X' 2 +X 3 ')-m 3 g(y 3 +ΔX 2 )-m 4 g(y 2 +L 1 (sina 2 arm -sina 1 arm )+ΔX 2 )＝0------(7)
From formulae (6) to (7):
N 4 (X 2 +X 3 )-N' 4 (X' 2 +X′ 3 )+m 3 gΔX 2 +m 4 g[L 1 (sina 2 right hand -sina 1 right hand )+ΔX 2 ]＝0------(8)
Maintaining the posture of other body segments unchanged, when the right hand 14 forms an included angle a with the vertical axis in the coronal plane 3 right hand Let the intersection point of the three-dimensional plane of the human body be the origin. Measured by a force measuring unit: the horizontal distance between the supporting point A and the origin in the coronal plane is X 2 ", the horizontal distance of the point B from the origin is X 3 ", the acting forces of the two supporting points A, B are respectively N 3 ”、N 4 ". At this time: the horizontal distance of the supporting point A of the centroid of the right hand 14 is y 3 +L 1 (sina 3 right hand -sina 1 right hand )+(X 2 ”-X 2 )＝y 3 +L 0 (sina 2 heads -sina 1 head )+ΔX 2 ' the horizontal distance from the centroid of the human body after the right hand 14 is removed to the supporting point A is y 2 +(X 2 ”-X 2 )＝y 2 +ΔX 2 ’。(a 1 right hand Not equal to a 3 right hand And the clockwise angle is negative and the counterclockwise angle is positive). Mechanical analysis of C point:
N″ 4 (X″ 2 +X″ 3 )-m 3 g(y 3 +ΔX' 2 )-m 4 g(y 2 +L 1 (sina 3 arm -sina 1 arm )+ΔX' 2 )＝0------(9)
From formulae (6) - (9):
and (3) obtaining the combined type (8) and (10):
i.e. mass m of right hand 14 4 The left hand 13 was calculated by the same method.
C. Method for calculating mass of 12 body segments of right forearm of human body
When measuring the right forearm 12, the human body has two supporting points E, F in the coronal plane, and the distance from the center of mass of the right forearm 12 to the elbow joint is L as obtained by national standard GB/T17245-2004 2 Length L of right forearm is measured 3 . Let the mass of the right forearm 12 be m 6 The body mass after removal of the right hand 14 and the right forearm 12 is m 5 ；
In the initial position, when the included angles between the right forearm 12 and the right hand 14 in the coronal plane and the vertical axis are a respectively 1 Right forearm 、b 1 right hand When the intersection point of the three-dimensional plane of the human body is taken as an origin, the horizontal distance between the E point of the supporting point in the coronal plane and the origin measured by the force measuring unit is X 4 The horizontal distance between the point F and the origin is X 5 The acting forces of the two supporting points A, B are respectively N 5 ，N 6 The horizontal distance from the center of mass of the right forearm 12 to the support point E is y 4 The horizontal distance from the centroid of the right hand 14 to the support point E is (y 4 -L 2 sina 1 Right forearm +L 3 sina 1 Right forearm +L 1 sinb 1 right hand ) The horizontal distance from the center of mass of the human body, excluding the right hand 14 and the right forearm 12, to the supporting point E is y 5 . Mechanical analysis is carried out on the E point to obtain (clockwise moment is negative, and anticlockwise moment is positive):
the posture of the unmeasured body section is kept unchanged, when the included angles of the right forearm 12 and the right hand 14 in the coronal plane and the vertical axis are respectively a 2 right forearm 、b 2 right hand Let the intersection point of the three-dimensional plane of the human body be the origin. Measured by a force measuring unit: the horizontal distance between the supporting point A and the origin in the coronal plane is X 4 ' the horizontal distance from the point F to the origin is X 5 ' the acting forces of the two supporting points E, F are N respectively 5 ’、N 6 '. The horizontal distance from the center of mass of the right forearm 12 to the point of support E is:
(y 4 -L 2 sina 1 Right forearm +L 2 sina 2 right forearm +X' 4 -X 4 ＝y 4 -L 2 sina 1 Right forearm +L 2 sina 2 right forearm +ΔX 4 ) The horizontal distance from the center of mass of the right hand 14 to the support point A is:
(y 4 -L 2 sina 1 Right forearm +L 3 sina 2 right forearm +L 1 sinb 2 right hand +X' 4 -X 4 ＝y 4 -L 2 sina 1 Right forearm +L 3 sina 2 right forearm +L 1 sinb 2 right hand +ΔX 4 ) The horizontal distance from the human body centroid after the right hand 14 and the right forearm 12 are removed to the supporting point E is y 5 +X 4 ’-X 4 ＝y 5 +ΔX 4 The supporting forces of the left foot and the right foot are respectively N measured by the force measuring unit 5 ’，N 6 '. Mechanical analysis is carried out on the E point to obtain (a) 1 Right forearm Not equal to a 2 right forearm And the clockwise angle is negative and the counterclockwise angle is positive):
N' 6 (X' 4 +X′ 5 )-m 4 g[y 4 -L 2 sina 1 Right forearm +L 3 sina 2 right forearm +L 1 sinb 2 right hand +ΔX 4 ]-m 5 g(y 5 +ΔX 4 )-m 6 g(y 4 -L 2 sina 1 Right forearm +L 2 sina 2 right forearm +ΔX 4 )＝0----(12)
N 6 (X 4 +X 5 )-N' 6 (X' 4 +X' 5 )+m 4 g[L 3 (sina 2 right forearm -sina 1 Right forearm )+L 1 (sinb 2 right hand -sinb 1 right hand )+ΔX 4 ]+m 5 gΔX 4 +m 6 g[L 2 (sina 2 right forearm -sina 1 Right forearm )+ΔX 4 ]＝0----(13)
The posture of the unmeasured body section is kept unchanged, when the included angles of the right forearm 12 and the right hand 14 in the coronal plane and the vertical axis are respectively a 3 right forearm 、b 3 right hand Let the intersection point of the three-dimensional plane of the human body be the origin. Measured by a force measuring unit: the horizontal distance between the E point of the supporting point in the coronal plane and the origin is X 4 ", the horizontal distance of the F point from the origin is X 5 ", the acting forces of the two supporting points E, F are respectively N 5 ”、N 6 ". The horizontal distance from the center of mass of the right forearm 12 to the point of support E is:
(y 4 -L 2 sina 1 Right forearm +L 2 sina 2 right forearm +X″ 4 -X 4 ＝y 4 -L 2 sina 1 Right forearm +L 2 sina 3 right forearm +ΔX' 4 ) The horizontal distance from the right hand (14) centroid to the support point E is:
(y 4 -L 2 sina 1 Right forearm +L 3 sina 2 right forearm +L 1 sinb 2 right hand +X 4 ”-X 4 ＝y 4 -L 2 sina 1 Right forearm +L 3 sina 3 right forearm +L 1 sinb 3 right hand +ΔX' 4 ) The horizontal distance from the human body mass center after the right hand 14 and the right forearm 12 are removed to the supporting point A is y 5 +X 4 ”-X 4 The supporting forces of the left foot and the right foot which are respectively equal to y5 and delta X4' are measured to be N by the force measuring unit 5 ”，N 6 ". Mechanical analysis is carried out on the point A to obtain (a) 1 Right forearm Not equal to a 3 right forearm And the clockwise angle is negative and the counterclockwise angle is positive):
from formulae (11) - (14):
and (3) obtaining the combined type (13) and (15):
m in the above 4 For the mass of the right hand 14, all L are known, i.e. the mass m of the right forearm (12) is found 6 The mass of the left forearm was determined in the same manner.
d. Method for calculating mass of body segment of right upper arm 10 of human body
When measuring the upper right arm 10, the human body has two supporting points G, H in the coronal plane, and the national standard GB/T17245-2004 obtains: the distance from the center of mass of the right upper arm 10 of the human body to the shoulder joint is L 4 The length of the upper right arm is measured to be L 5 I.e., the distance from the center of mass of the right forearm 12 to the shoulder is (L 2 +L 5 ) The length from the center of mass of the right hand 14 to the shoulder joint is (L 1 +L 3 +L 5 ). Setting: the right upper arm 10 of the human body has a mass of m 8 The body mass after removal of the right hand 14, the right forearm 12 and the right upper arm 10 is m 7 。
In the initial position, when the angles between the right upper arm 10, the right forearm 12 and the right hand 14 in the coronal plane and the vertical axis are respectively c 1 right upper arm 、a 11 right forearm 、b 11 right hand When the intersection point of the three-dimensional plane of the human body is taken as an origin, the horizontal distance between the G point of the supporting point in the coronal plane and the origin measured by the force measuring unit is X 6 The horizontal distance from the point H to the origin is X 7 The acting forces of the two supporting points G, H are respectively N 7 ，N 8 . The horizontal distance from the center of mass of the upper right arm 10 to the support point G is y 6 The horizontal distance from the centroid of the right forearm 12 to the support point G is: (y) 6 -L 4 sinc 1 right upper arm +L 5 sinc 1 right upper arm +L 2 sina 11 right forearm ) The method comprises the steps of carrying out a first treatment on the surface of the The horizontal distance from the centroid of the right hand 14 to the support point G is:
(y 6 -L 4 sinc 1 right upper arm +L 5 sinc 1 right upper arm +L 3 sina 11 right forearm +L 1 sinb 11 right hand ) The horizontal distance from the human body centroid after the right hand 14 and the right forearm 12 are removed to the supporting point G is y 7 Mechanical analysis is carried out on the G point to obtain (clockwise moment is negative, and anticlockwise moment is positive):
maintaining the posture of the unmeasured body section unchanged, when the included angles of the right upper arm 10, the right forearm 12 and the right hand 14 in the coronal plane and the vertical axis are respectively c 2 right upper arm 、a 12 right forearm 、b 12 right hand The intersection point of the three-dimensional plane of the human body is taken as an origin, and the horizontal distance between the G point of the supporting point in the coronal plane and the origin is measured by a force measuring unit to be X 6 ' the horizontal distance from the origin to the H point is X 7 ' the acting forces of the two supporting points G, H are N respectively 7 ’，N 8 '. The horizontal distance from the center of mass of the upper right arm 10 to the support point G at this time is: (y) 6 -L 4 sinc 1 right upper arm +L 4 sinc 2 right upper arm +X' 6 -X 6 ＝y 6 -L 4 sinc 1 right upper arm +L 4 sinc 2 right upper arm +ΔX 6 ) The horizontal distance from the center of mass of the right forearm 12 to the support point G is:
y 6 -L 4 sinc 1 right upper arm +L 5 sinc 2 right upper arm +L 2 sina 12 right forearm +X' 6 -X 6 ＝y 6 -L 4 sinc 1 right upper arm +L 5 sinc 2 right upper arm +L 2 sina 12 right forearm +ΔX 6 ) The method comprises the steps of carrying out a first treatment on the surface of the The horizontal distance from the centroid of the right hand (14) to the support point G is:
the horizontal distance from the mass center of the human body after the upper right arm 10, the forearm 12 and the right hand 14 are removed to the point G is y 7 +X 6 ’-X 6 ＝Y 7 +ΔX 6 . Mechanical analysis of the G point to obtain (c 1) Right upper arm Not equal to c2 Right upper arm And the clockwise angle is negative and the counterclockwise angle is positive): n' 8 (X' 6 +X' 7 )-m 7 g(y 7 +ΔX 6 )-m 8 g(y 6 -L 4 sinc 1 right upper arm +L 4 sinc 2 right upper arm +ΔX 6 )-m 6 g[y 6 -L 4 sinc 1 right upper arm +L 5 sinc 2 right upper arm +L 2 sina 12 right forearm +ΔX 6 ]-m 4 g[y 6 -L 4 sinc 1 right upper arm +L 5 sinc 2 right upper arm +L 3 sina 12 right forearm +L 1 sinb 12 right hand +ΔX 6 ]＝0--------(17)
From formulae (16) - (17):
N 8 (X 6 +X 7 )-N' 8 (X' 6 +X' 7 )+m 8 g[L 4 (sinc 2 right upper arm -sinc 1 right upper arm )+ΔX 6 ]+m 7 gΔX 6 m 6 g[L 5 (sinc 2 right upper arm -sinc 1 right upper arm )+L 2 (sina 12 right forearm -sina 11 right forearm )+ΔX 6 ]-m 4 g[L 5 (sinc 2 right upper arm -sinc 1 right upper arm )+L 3 (sina1 2 right upper arm -sina 11 right upper arm )+L 2 (sina 12 right hand -sina 11 right hand )+ΔX 6 ]＝0---(18)
Maintaining the posture of the unmeasured body section unchanged, when the included angles of the right upper arm 10, the right forearm 12 and the right hand 14 in the coronal plane and the vertical axis are respectively c 3 right upper arm 、a 13 right forearm 、b 13 right hand The intersection point of the three-dimensional plane of the human body is taken as an origin, and the horizontal distance between the G point of the supporting point in the coronal plane and the origin is measured by a force measuring unit to be X 6 ", the horizontal distance of the H point from the origin is X 7 ", the acting forces of the two supporting points G, H are respectively N 7 ”，N 8 ". The horizontal distance from the center of mass of the upper right arm 10 to the support point G at this time is: (y) 6 -L 4 sinc 1 right upper arm +L 4 sinc 3 right upper arm +X″ 6 -X 6 ＝y 6 -L 4 sinc 1 right upper arm +L 4 sinc 3 right upper arm +ΔX' 6 ) The horizontal distance from the centroid of the right forearm 12 to the support point G is:
y 6 -L 4 sinc 1 right upper arm +L 5 sinc 3 right upper arm +L 2 sina 13 right forearm +X' 6 '-X 6 ＝y 6 -L 4 sinc 1 right upper arm +L 5 sinc 3 right upper arm +L 2 sina 13 right forearm +X' 6 ) The method comprises the steps of carrying out a first treatment on the surface of the The horizontal distance from the centroid of the right hand 14 to the support point G is:
the horizontal distance from the mass center of the human body after the upper right arm 10, the forearm 12 and the right hand 14 are removed to the point G is y 7 +X 6 ”-X 6 ＝Y 7 +ΔX 6 '. Mechanical analysis of the G point to obtain (c) 1 right upper arm Not equal to c 3 right upper arm And the clockwise angle is negative and the counterclockwise angle is positive). N' 8 (X″ 6 +X″ 7 )-m 7 g(y 7 +ΔX' 6 )-m 8 g(y 6 -L 4 sinc 1 right upper arm +L 4 sinc 3 right upper arm +ΔX' 6 )-m 6 g[y 6 -L 4 sinc 1 right upper arm +L 5 sinc 3 right upper arm +L 2 sina 13 right forearm +ΔX' 6 ]-m 4 g[y 6 -L 4 sinc 1 right upper arm +L 5 sinc 3 right upper arm +L 3 sina 13 right forearm +L 1 sinb 13 right hand +ΔX' 6 ]＝0------(19)
From formulae (16) - (19):
N 8 (X 6 +X 7 )-N″ 8 (X″ 6 +X″ 7 )+m 8 g[L 4 (sinc 3 right upper arm -sinc 1 right upper arm )+ΔX' 6 ]+m 7 gΔX' 6 m 6 g[L 5 (sinc 3 right upper arm -sinc 1 right upper arm )+L 2 (sina 13 right forearm -sina 11 right forearm )+ΔX' 6 ]-m 4 g[L 5 (sinc 3 right upper arm -sinc 1 right upper arm )+L 3 (sina 13 right upper arm -sina 11 right upper arm )+L 2 (sina 13 right hand -sina 11 right hand )+ΔX' 6 ]＝0---------(20)
And (3) obtaining the combined type (18), (20):
namely:
that is, the mass m of the upper right arm 10 is obtained 8 . The mass of the upper left arm 9 can be found in the same way.
I.e. the right arms 10, 12 and 14 have the following masses: m is m 10 +m 12 +m 14 . The mass of the left arms 9, 11 and 13 was found with the same superposition calculation.
e. Calculate the mass of the right foot 20 (the toe is straightened in the coronal plane during the calculation)
When measuring the right foot 20, the human body supporting point is I, J, and the length of the ankle joint of the right foot 20 is L, which is known from national standard GB/T17245-2004 6 Let the mass of the right foot 20 of the human body be m 10 The mass of the human body after the right foot 20 is removed is m 9 。
In the initial position, the right foot 20 rotates in the sagittal plane at an angle a to the vertical axis 1 right foot The midpoint of the inner side lengths of the two force measuring units in the sagittal plane is taken as an origin, and the force measuring units measureThe horizontal distance between the support point I and the origin in the sagittal plane is X 8 The horizontal distance from the point J to the origin is X 9 The acting forces of the two supporting points I, J are respectively N 9 、N 10 . At this time, the horizontal distance from the center of mass of the right foot 20 to the point of the support point J is y 8 The horizontal distance from the mass center of the human body after the right foot 14 is removed to the J point of the supporting point is y 9 Mechanical analysis of J point (clockwise moment is negative, anticlockwise moment is positive):
N 9 (X 8 +X 9 )-m 9 gy 9 -m 10 gy 8 ＝0--------------------------------------(21)
keeping the posture of other body segments unchanged, when the right foot 20 has an included angle a with the vertical axis in the sagittal plane 2 right foot Let the midpoint of the inner lengths of the two force measuring units in the sagittal plane be the origin, and the horizontal distance from the point of support I to the origin in the sagittal plane measured by the force measuring units is X 8 The horizontal distance from the J point to the origin is X 9 ' the acting forces of the two supporting points I, J are N respectively 9 ’、N 10 '. At this time, the horizontal distance from the center of mass of the right foot 20 to the point j is:
(y 8 -L 6 sina 1 right foot +L 6 sina 2 right foot +X′ 8 -X 8 ＝y 8 -L 6 sina 1 right foot +L 6 sina 2 right foot +ΔX 8 ). The horizontal distance between the mass center of the human body after the right foot is removed and the supporting point J is as follows: y is 9 +X 8 ’-X 8 ＝Y 9 +ΔX 8 。(a 1 right foot Not equal to a 2 right foot And the clockwise angle is negative and the counterclockwise angle is positive). Mechanical analysis of J points:
N′ 9 (X′ 8 +X′ 9 )-m 9 g(y 9 +ΔX 8 )-m 10 g[y 8 -L 6 sina 1 right foot +L 6 sina 2 right foot +ΔX 8 ]＝0----(22)
Obtained from formulas (21) - (22):
N 9 (X 8 +X 9 )-N' 9 (X′ 8 +X′ 9 )+m 9 gΔX 8 +m 10 g[L 6 sina 2 right foot -L 6 sina 1 right foot +ΔX 8 ]＝0-----(23)
Keeping the posture of other body segments unchanged, when the right foot 20 has an included angle a with the vertical axis in the sagittal plane 3 right foot The middle point of the inner side lengths of the two force measuring units in the sagittal plane is taken as an origin, and the horizontal distance between the supporting point I in the sagittal plane and the origin measured by the force measuring units is X 8 ", the horizontal distance of the J point from the origin is X 9 ", the acting forces of the two supporting points I, J are respectively N 9 ”、N 10 ". At this time, the horizontal distance from the center of mass of the right foot 20 to the point j is: y is 8 -L 6 sina 1 right foot +L 6 sina 3 right foot +X″ 8 -X 8 ＝y 8 -L 6 sina 1 right foot +L 6 sina 3 right foot +ΔX′ 8 . The horizontal distance between the mass center of the human body and the supporting point J after the right foot is removed is y 9 +X 8 ”-X 8 ＝Y 9 +ΔX 8 ’。(a 1 right foot Not equal to a 3 right foot And the clockwise angle is negative and the counterclockwise angle is positive). Mechanical analysis of J points:
N″ 9 (X″ 8 +X″ 9 )-m 9 g(y 9 +ΔX′ 8 )-m 10 g[y 8 -L 6 sina 1 right foot +L 6 sina 3 right foot +ΔX′ 8 ]＝0------(24)
From formulae (21) - (24):
N 9 (X 8 +X 9 )-N″ 9 (X″ 8 +X″ 9 )+m 9 gΔX′ 8 +m 10 g[L 6 sina 3 right foot -L 6 sina 1 right foot +ΔX′ 8 ]＝0------(25)
And (3) obtaining the combined type (23) and (25):
namely, the mass of the right foot of the human body is calculated to be m 20 10 The mass of the left foot 19 was calculated in the same way.
f. Calculate the mass of the right leg 18 of the human body
When measuring the right calf 18, the human body has two support points K, L in the sagittal plane. From national standard GB/T17245-2004, the distance between the mass center of the right leg 18 and the knee joint is known to be L 7 The length of the right leg 18 of the human body is L 8 The distance from the center of mass of the right foot 20 to the knee joint is (l6+l8); let the mass of the right calf be m 12 The mass of the human body after the removal of the right calf 18 and the right foot 20 is m 11 。
In the initial position, the right calf 18 and the right foot 20 have an angle a with the vertical axis in the sagittal plane 1 right calf 、b 1 right foot When the middle point of the inner side lengths of the two force measuring units in the coronal plane is taken as an origin, the horizontal distance between the K point of the support point in the sagittal plane measured by the force measuring units and the origin is X 10 The horizontal distance from the point L to the origin is X 11 At this time, the acting forces of the two supporting points K, L are N respectively 11 ，N 12 . The horizontal distance from the center of mass of the right calf 18 to the human body support point K is y 10 The horizontal distance from the centroid of the right foot 20 to the support point K is:
(y 10 -L 7 sin a 1 right calf +L 8 sin a 1 right calf +L 6 sin b 1 right foot ) The horizontal distance from the human body mass center after the right calf 18 and the right foot 20 are removed to the supporting point K is y 11 Mechanical analysis is carried out on the K point to obtain (clockwise moment is negative, and anticlockwise moment is positive):
N 12 (X 10 +X 110 )+m 10 g(y 10 -L 7 sina 1 right calf +L 8 sina 1 right calf +L 6 sinb 1 right foot )-m 11 gy 11 +m 12 gy 10 ＝0------(26)
The posture of the unmeasured body segment is kept unchanged, and when the included angles between the right lower leg 18 and the right foot 20 in the sagittal plane and the vertical axis are respectively a 2 right calf 、b 2 right foot ，(a 1 right calf Not equal to a 2 right calf And the clockwise angle is negative and the anticlockwise angle is positive), the midpoint of the inner side lengths of the two force measuring units in the sagittal plane is taken as an origin, and the horizontal distance between the K point of the supporting point in the coronal plane and the origin measured by the force measuring units is X 10 ' the horizontal distance from the origin to the L point is X 11 ' at this time, the acting forces of the two supporting points K, L are N respectively 11 ’，N 12 '. The horizontal distance from the center of mass of the right calf 18 to the support point K is: (y) 10 -L 7 sina 1 right calf +L 7 sina 2 right calf +X′ 10 -X 10 ＝y 10 -L 7 sina 1 right calf +L 7 sina 2 right calf +ΔX 10 ) The horizontal distance from the center of mass of the right foot 20 to the supporting point K is:
(y 10 -L 7 sina 1 right calf +L 8 sina 2 right calf +L 6 sinb 2 right foot +X 1 ' 0 -X 10 ＝y 10 -L 7 sina 1 right calf +L 8 sina 2 right calf +L 6 sinb 2 right foot +ΔX 10 ) The horizontal distance from the centroid of the human body after the right calf 18 and the right foot 20 are removed to the K point is y 11 +x 10 ’-x 10 ＝y 11 +Δx 10 . Mechanical analysis of the K point (clockwise moment is negative, and anticlockwise moment is positive):
N′ 12 (X′ 10 +X′ 11 )+m 10 g(y 10 -L 7 sina 1 right calf +L 8 sina 2 right calf +L 6 sinb 2 right foot +ΔX 10 )-m 11 g(y 11 +ΔX 10 )+m 12 g(y 10 -L 7 sina 1 right calf +L 7 sina 2 right calf +ΔX 10 )＝0--------(27)
From formulas (26) - (27):
N 12 (X 10 +X 11 )-N′ 12 (X′ 10 +X′ 11 )+m 10 g[L 8 (sina 1 right calf -sina 2 right calf )+L 6 (sinb 1 right foot -sinb 2 right foot )-ΔX 10 ]+m 11 gΔX 10 +m 12 g(L 7 (sina 1 right calf -sina 2 right calf )-ΔX 10 )＝0----(28)
The posture of the unmeasured body segment is kept unchanged, and when the included angles between the right lower leg 18 and the right foot 20 in the sagittal plane and the vertical axis are respectively a 3 right calf 、b 3 right foot ，(a 1 right calf Not equal to a 3 right calf And the clockwise angle is negative and the anticlockwise angle is positive), the midpoint of the inner side lengths of the two force measuring units in the coronal plane is taken as an origin, and the horizontal distance between the K point of the support point in the sagittal plane and the origin measured by the force measuring units is X 10 ", the horizontal distance of the L point from the origin is X 11 At this time, the forces of the two supporting points K, L are N respectively 11 ”，N 12 ". The horizontal distance from the center of mass of the right calf 18 to the support point K is:
(y 10 -L 7 sina 1 right calf +L 7 sina 3 right calf +X″ 10 -X 10 ＝y 10 -L 7 sina 1 right calf +L 7 sina 3 right calf +ΔX′ 10 ) The horizontal distance from the center of mass of the right foot 20 to the supporting point K is:
(y 10 -L 7 sina 1 right calf +L 8 sina 3 right calf +L 6 sinb 3 right foot +X″ 10 -X 10 ＝y 10 -L 7 sina 1 right calf +L 8 sina 3 right calf +L 6 sinb 3 right foot +ΔX′ 10 ) The horizontal distance from the centroid of the human body after the right calf 18 and the right foot 20 are removed to the K point is y 11 +x 10 ”-x 10 ＝y 11 +Δx 10 '. Mechanical analysis of K points:
N″ 12 (X″ 10 +X″ 11 )+m 10 g(y 10 -L 7 sina 1 right calf +L 8 sina 3 right calf +L 6 sinb 3 right foot +ΔX′ 10 )-m 11 g(y 11 +ΔX′ 10 )+m 12 g(y 10 -L 7 sina 1 right calf +L 7 sina 3 right calf +ΔX′ 10 )＝0------(29)
From formulae (26) - (29):
and (3) obtaining the combined type (28), (30):
i.e. calculate the mass of the right calf 18 as m 12 The mass of the left calf 17 was calculated in the same way.
g. Measurement of the mass of the right thigh 16
When the right thigh 16 is measured, the human body has two support points P, Q in the sagittal plane, and the distance from the center of mass of the human body right thigh 16 to the hip joint is known as L from national standard GB/T17245-2004 9 The right thigh 16 has a length L 10 I.e., the distance from the center of mass of the right calf 18 to the hip joint is (L 7 +L 10 ) The distance from the centroid of the right foot 20 to the hip joint is (L 6 +L 8 +L 10 ) The method comprises the steps of carrying out a first treatment on the surface of the Let the mass of the right thigh be m 14 The mass of the human body after the right leg (16, 18, 20) is removed is m 13 。
In the initial position, when the right thigh 16, the right calf 18 and the right foot 20 are in the sagittal plane and have an angle c with the vertical axis respectively 1 right thigh 、a 11 right calf 、b 11 right foot When the middle point of the inner side lengths of the two force measuring units in the sagittal plane is taken as an origin, the horizontal distance between the supporting point P in the coronal plane and the origin measured by the force measuring units is X 12 The horizontal distance from the origin to the Q point is X 13 The forces at the two force points P, Q are N 13 ，N 14 . The horizontal distance from the center of mass of the right thigh 20 to the human body support point P is y 12 The horizontal distance from the centroid of the right calf 18 to the support point P is then (y 12 -L 9 sinc 1 right thigh +L 10 sinc 1 right thigh +L 7 sina 11 right calf ). The horizontal distance from the centroid of the right foot 20 to the supporting point E is (y 12 -L 9 sinc 1 right thigh +L 10 sinc 1 right thigh +L 8 sina 11 right calf +L 6 sinb 11 right foot ) The horizontal distance from the mass center of the human body after the right legs (16, 18, 20) are removed to the P point is y 13 Mechanical analysis of the P point (clockwise moment is negative, and anticlockwise moment is positive):
N 14 (X 12 +X 13 )+m 14 gy 12 -m 13 gy 13 +m 12 g(y 12 -L 9 sinc 1 right thigh +L 10 sinc 1 right thigh +L 7 sina 11 right calf )+m 10 g(y 12 -L 9 sinc 1 right thigh +L 10 sinc 1 right thigh +L 8 sina 11 right calf +L 6 sinb 11 right foot )＝0-----(31)
Maintaining the posture of the unmeasured body segment unchanged, when the angles between the right thigh 16, the right calf 18 and the right foot 20 and the vertical axis in the sagittal plane are respectively c 2 right thigh 、a 12 right calf 、b 12 right foot The middle point of the inner side lengths of the two measuring units in the sagittal plane is taken as an origin, and the horizontal distance between the supporting point P in the coronal plane and the origin measured by the measuring units is X 12 ' the horizontal distance from the origin to the Q point is X 13 ' at this time, the forces at the two force points P, Q are N respectively 13 ’，N 14 ’。(c 1 right thigh Not equal to c 2 right thigh And the clockwise angle is negative and the counterclockwise angle is positive), the horizontal distance from the center of mass of the right thigh 20 to the fulcrum P is:
(y 12 -L 9 sinc 1 right thigh +L 9 sinc 2 right thigh +X 1 ' 2 -X 12 ＝y 12 -L 9 sinc 1 right thigh +L 9 sinc 2 right thigh +ΔX 12 )，
The horizontal distance from the centroid of the right calf 18 to the support point P is:
(y 12 -L 9 sinc 1 right thigh +L 10 sinc 2 right thigh +L 7 sina 12 right calf +X 1 ' 2 -X 12 ＝y 12 -L 9 sinc 1 right thigh +L 10 sinc 2 right thigh +L 7 sina 12 right calf +ΔX 12 )。
The horizontal distance from the centroid of the right foot 20 to the support point P is:
the horizontal distance from the mass center of the human body after the right legs (16, 18, 20) are removed to the P point is y 13 +X 12 ’-X 12 ＝y 13 +ΔX 12 Mechanical analysis of the P point (clockwise moment is negative, and anticlockwise moment is positive):
N′ 14 (X′ 12 +X′ 13 )+m 14 g(y 12 -L 9 sinc 1 right thigh +L 9 sinc 2 right thigh +ΔX 12 )-m 13 g(y 13 +ΔX 12 )+m 12 g(y 12 -L 9 sinc 1 right thigh +L 10 sinc 2 right thigh +L 7 sina 12 right calf +ΔX 12 )+m 10 g(y 12 -L 9 sinc 1 right thigh +L 10 sinc 2 right thigh +L 8 sina 12 right calf +L 6 sinb 12 right foot +ΔX 12 )＝0----(32)
Obtained from formulas (31) - (32):
N 14 (X 12 +X 13 )-N′ 14 (X′ 12 +X′ 13 )+m 14 g(L 9 (sinc 1 right thigh -sinc 2 right thigh )-ΔX 12 )+m 12 g[L 10 (sinc 1 right thigh -sinc 2 right thigh )+L 7 (sina 11 right calf -sina 12 right calf )-ΔX 12 ]+m 10 g[L 10 (sinc 1 right thigh -sinc 2 right thigh )+L 8 (sina 11 right calf -sina 12 right calf )+L 6 (sinb 11 right foot -sinb 12 right foot )-ΔX 12 ]＝0--(33)
Maintaining the posture of the unmeasured body segment unchanged, when the angles between the right thigh 16, the right calf 18 and the right foot 20 and the vertical axis in the sagittal plane are respectively c 3 right thigh 、a 13 right calf 、b 13 right foot The middle point of the inner side lengths of the two measuring units in the sagittal plane is taken as an origin, and the horizontal distance between the supporting point P in the coronal plane and the origin measured by the measuring units is X 12 ", the horizontal distance of the Q point from the origin is X 13 ", the forces at the two force points P, Q are N respectively 13 ”，N 14 ”。(c 1 right thigh Not equal to c 3 right thigh And the clockwise angle is negative and the counterclockwise angle is positive), the horizontal distance from the center of mass of the right thigh 20 to the fulcrum P is:
(y 12 -L 9 sinc 1 right thigh +L 9 sinc 3 right thigh +X″ 12 -X 12 ＝y 12 -L 9 sinc 1 right thigh +L 9 sinc 3 right thigh +ΔX′ 12 )，
The horizontal distance from the centroid of the right calf 18 to the support point P is:
(y 12 -L 9 sinc 1 right thigh +L 10 sinc 3 right thigh +L 7 sina 13 right calf +X′ 12 -X 12 ＝y 12 -L 9 sinc 1 right thigh +L 10 sinc 3 right thigh +L 7 sina 13 right calf +ΔX′ 12 )，
The horizontal distance from the centroid of the right foot 20 to the support point P is:
the horizontal distance from the mass center of the human body after the right legs (16, 18, 20) are removed to the P point is y 13 +X 12 ”-X 12 ＝y 13 +ΔX 12 ' mechanical analysis of the P point (clockwise moment is negative, counterclockwise moment is positive):
N” 14 (X” 12 +X” 13 )+m 14 g(y 12 -L 9 sinc 1 right thigh +L 9 sinc 3 right thigh +ΔX' 12 )-m 13 g(y 13 +ΔX' 12 )+m 12 g(y12-L 9 sinc 1 right thigh +L 10 sinc 3 right thigh +L 7 sina 13 right calf +ΔX' 12 )+m 10 g(y 12 -L 9 sinc 1 right thigh +L 10 sinc 3 right thigh +L 8 sina 13 right calf +L 6 sinb 13 right foot +ΔX' 12 )＝0----(34)
From formulae (31) - (34):
N 14 (X 12 +X 13 )-N” 14 (X” 12 +X” 13 )+m 14 g(L 9 (sinc 1 right thigh -sinc 3 right thigh )-ΔX' 12 )+m 12 g[L 10 (sinc 1 right thigh -sinc 3 right thigh )+L 7 (sina 11 right calf -sina 13 right calf )-ΔX' 12 ]+m 10 g[L 10 (sinc 1 right thigh -sinc 3 right thigh )+L 8 (sina 11 right calf -sina 13 right calf )+L 6 (sinb 11 right foot -sinb 13 right foot )-ΔX' 12 ]＝0
And (3) the combined type (33) and (35) are obtained:
i.e. calculate the mass m of the right thigh 16 14 The mass of the left thigh 15 is calculated in the same way.
Namely the right leg (16, 18, 20) has the following mass: m is m 10 +m 12 +m 14 。
h. Set human trunk 8Is of mass m 15 M is then 15 Equal to the total mass of the body minus the mass of the extremities and head and neck.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (6)

1. A method for measuring the mass of a body segment, comprising the steps of:
step one, obtaining the length from the mass center of each measured human body section of a measured person to a rotary joint, wherein the rotary joint is a connecting joint of the measured human body section and an unmeasured human body section;
wearing a posture detection device on each measured human body section of a measured person and providing a force measurement platform, wherein the posture detection device on the measured human body section is used for acquiring an included angle between the measured human body section and a vertical axis, the posture detection device on the unmeasured human body section is used for ensuring that the posture of the unmeasured human body section is unchanged, and the force measurement platform comprises two force measurement units for measuring the acting force and the position of two human body supporting points on the human body coronal plane and two force measurement units for measuring the acting force and the position of two human body supporting points on the human body sagittal plane;
collecting the corresponding included angles of the measured human body section under three postures and the acting force and the position of the corresponding human body supporting point according to the mode that the posture of the unmeasured human body section is kept unchanged, the posture of the measured human body section is changed, and the mode that the plane of the posture of the measured human body section is changed and the human body supporting point are on the same plane, then carrying out mechanical analysis on the human body supporting point, establishing a mechanical equation, and calculating the mass of the measured human body section; the method comprises the steps of obtaining the mass of a left hand, a left forearm and a left upper arm according to the measurement sequence of the left hand, the left forearm and the left upper arm, obtaining the mass of a right hand, the right forearm and the right upper arm according to the measurement sequence of the right hand, the right forearm and the right upper arm, obtaining the mass of a left foot, a left shank and a left thigh according to the measurement sequence of the left foot, the left shank and the left thigh, obtaining the mass of a right foot, the right shank and the right thigh according to the measurement sequence of the right foot, the right shank and the right thigh, wherein the measurement sequence of the head and the neck is any measurement stage, and finally calculating the trunk mass;
in the third step, the plane where the posture of the measured human body segment is changed and the two supporting points A, B of the human body are located on the same plane, and the mass m of the measured human body segment i The measurement of (2) comprises the steps of:
the initial position, the included angle between the measured human body section and the vertical axis is a i Let the midpoint of the inner side of the force measuring unit in the same plane be the origin of coordinates O, measured by the force measuring platform: the horizontal distance between the supporting point A and the original point O is X i The horizontal distance between the point B and the origin is X j Force N of two supporting points of A, B i And N j ；
The posture of the body segment of the human body which is not measured is kept unchanged, the posture of the body segment of the human body which is measured is changed, and the included angle between the body segment of the human body which is measured and the vertical axis is a j The origin is unchanged, and is measured by the force measuring platform: the horizontal distance between the supporting point A and the origin is X i The horizontal distance between the point B and the origin is X j Force N of two supporting points', A, B i ' and N j ’；
The posture of the body segment of the human body which is not measured is kept unchanged, the posture of the body segment of the human body which is measured is changed again, and the included angle between the body segment of the human body which is measured and the vertical axis is a k The origin is unchanged, measured by the force cell: the position of the supporting point A, B, and the horizontal distance between the supporting point A and the origin is X i ", the horizontal distance of the point B from the origin is X j Force N of two supporting points of' A, B i "and N j ”；
Substituting the obtained measurement values into the following formulas, and calculating to obtain the mass of the measured human body segment:
in the above, Δx=x i ’-X i ，ΔX’＝X i ”-X i 。
2. A measuring device employing the method for measuring the mass of a human body segment according to claim 1, comprising a base (1), and a first force measuring cell (3), a second force measuring cell (5), a third force measuring cell (2), a fourth force measuring cell (4) and a fifth force measuring cell (6) connected to the base, wherein,
the first force measuring unit (3) and the second force measuring unit (5) are used for measuring acting force and positions of two human body supporting points in a human body coronal plane; the third force measuring unit (2) or the fifth force measuring unit (6) and the fourth force measuring unit (4) are used for measuring the acting force and the position of two body support points on the sagittal plane of the human body,
the third force measuring unit (2) is used for measuring acting force and position of a human body supporting point when a human hand is used as a support, and the first force measuring unit (3), the second force measuring unit (5), the fourth force measuring unit (4) and the fifth force measuring unit (6) are used for measuring acting force and position of the human body supporting point when a human foot is used as a support.
3. The measurement device of the human body segment quality measurement method according to claim 2, wherein the weighing units of the third, fourth and fifth force measuring units comprise a base plate and a number of force measuring sensors connected to the base plate, a pallet supported on the number of force measuring sensors, the number of force measuring sensors being arranged in a sagittal plane.
4. A measuring device for a human body segment quality measuring method according to claim 3, characterized in that the third force measuring unit (2) is connected to a support bar (22), wherein the support bar (22) is used for adjusting the height of the third force measuring unit (2), and the support bar comprises two bars that can slide up and down each other and a set screw (21) for fixing the relative position of the two bars.
5. The measuring device of a human body segment quality measuring method according to claim 2, characterized in that the first force measuring cell (3) and the second force measuring cell (5) comprise a base plate, a number of force measuring sensors connected to the base plate, which are arranged in a coronal plane, and a plantar pallet supported on the number of force measuring sensors.
6. The measuring device of the human body segment quality measuring method according to claim 2, further comprising a display device (7) for displaying the quality of the measured human body segment.
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