CN108568080B - 估测骑乘自行车的受测者下肢运动状态的方法及系统 - Google Patents
估测骑乘自行车的受测者下肢运动状态的方法及系统 Download PDFInfo
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Abstract
一种估测骑乘自行车的受测者下肢运动状态的方法及系统,该方法包括:令受测者连续踩踏自行车预设时间,以测量受测者下肢关节角度变化而取得关节角度信号,并测量自行车曲柄受力产生的力矩信号、施加于踏板的三轴踏力信号、曲柄角度信号及受测者下肢两条肌肉的肌电信号,且信号处理装置根据该关节角度信号、力矩信号、踏力信号、曲柄角度信号及受测者的人体计测数据,估算受测者下肢肌肉的活化数据及下肢关节的力矩数据,并根据上述肌电信号求得受测者下肢其余肌肉的肌电信号,且根据该等肌电信号求得受测者下肢肌肉的共缩百分比。本发明可评估受测者在骑乘自行车的过程中是否会造成下肢的运动伤害,以进行相关的预防措施。
Description
技术领域
本发明涉及一种估测人体运动状态的方法,特别是涉及一种估测骑乘自行车的受测者下肢运动状态的方法。
背景技术
近来由于自行车运动风气的盛行,其运动伤害的发生率也因而增加,此类重复性循环运动,肌肉收缩过程当中遭遇环境的阻抗必须使得生理软组织不断的适应与应付疲劳的累积,因此若骑乘策略不正确,久而久之将对骑乘者下肢肌肉骨骼及关节产生慢性运动伤害。
临床上对于肌肉骨骼运动伤害的评估,主要以放射线检查、疼痛问诊与触诊施予处方笺。普遍下肢疼痛患者(可自主活动者)接受骨科、康复科门诊初期,除接受X-ray摄影外,通常会以按压式疼痛触诊来作为是否有伤害的评估,然而,骑乘自行车此类重复性循环运动所产生的肌肉拉伤、肌肉挫伤是发生在一整条肌肉而非一段,一般的触诊并无法获得来自于体重以及受重力影响的疼痛病征,因此除了无法对骑乘自行车导致的运动伤害提供一完整的伤害评估外,也无法提供骑乘策略的改善与伤害的预防。
因此,若能预先对受测者估测其骑乘自行车时的运动状态,则能根据该运动状态评估受测者可能遭遇的运动伤害,进而提供骑乘策略的改善与伤害的预防。
发明内容
本发明的目的在于提供一种估测骑乘自行车的受测者下肢运动状态的方法,以供进一步根据该运动状态评估受测者可能遭遇的运动伤害,进而提供骑乘策略的改善与伤害的预防。
本发明一种估测骑乘自行车的受测者下肢运动状态的方法,包括下列步骤:(A)令一受测者骑乘设置在一脚踏车训练架上的一自行车并连续踩踏一预设时间,并以一关节量角装置在该预设时间内,测量该受测者的膝关节的角度变化,以得到一包含膝关节的角度变化的关节角度数据;(B)令设置在该自行车上的一力感测装置在该预设时间内,感测该自行车的曲柄的形变及/或感测施加于自行车的踏板的踏力,以得到与该受测者下肢施力相关的一力量数据;(C)令一角度测量装置测量在该预设时间内每个时间点所对应的曲柄角度,以得到一曲柄角度数据;(D)令一表面肌电信号测量装置在该预设时间内,测量该受测者下肢至少两条肌肉的电位变化并对应产生一肌电信号;(E)由一数据数字化装置将该关节角度数据、该力量数据、该曲柄角度数据及该肌电信号数字化并输出至一信号处理装置;(F)该信号处理装置的一肌肉骨骼模拟模块根据数字化的该关节角度数据、该力量数据、该曲柄角度数据及该受测者的一包括性别、身高、体重的人体计测数据,估算该受测者下肢肌肉的一活化数据,以及估算该受测者的膝关节的一力矩数据;(G)该肌肉骨骼模拟模块还根据数字化的该受测者下肢至少两条肌肉对应的该等肌电信号,将与该受测者下肢除了上述至少两条肌肉以外的其余肌肉对应的该活化数据转换成相对应的该肌电信号;及(H)该信号处理装置的一数据分析模块根据该受测者下肢肌肉对应的该等肌电信号,计算该受测者下肢肌肉的一共缩百分比。
在本发明的一些实施例中,在步骤(A)中,该关节量角装置是一电子量角器,其通过贴附在该受测者下肢的膝关节处的多个感测器测量该受测者的膝关节在三轴空间的旋转角度变化。
在本发明的一些实施例中,在步骤(B)中,该力感测装置是一设置在该自行车上的曲柄力矩感测器,其在该预设时间内感测该自行车的踏板连接的曲柄受力转动产生的形变。
在本发明的一些实施例中,在步骤(B)中,该力感测装置是一设置在该自行车的踏板上的三轴测力规,其在该预设时间内,测量施加于踏板的踏力。
在本发明的一些实施例中,在步骤(B)中,该力感测装置包括一设置在该自行车上的曲柄力矩感测器及一设置在该自行车的踏板上的三轴测力规,该曲柄力矩感测器在该预设时间内感测该自行车的踏板连接的曲柄受力转动产生的形变并输出一力矩信号,该三轴测力规在该预设时间内测量施加于踏板的踏力并输出一踏力信号,且该力量数据包含该力矩信号及该踏力信号。
在本发明的一些实施例中,在步骤(C)中,该角度测量装置是一设置在该自行车上且与链轮连动的一角度编码器,其在该预设时间内测量每个时间点所对应的曲柄角度。
在本发明的一些实施例中,在步骤(H)中,该数据分析模块是以如下的一肌肉共缩公式计算该共缩百分比,其中Coactivation为该共缩百分比:
在本发明的一些实施例中,在步骤(D)中,该表面肌电信号测量装置测量该受测者下肢单侧单脚两条肌肉或双侧双脚各一条肌肉的电位变化,并在对应该受测者的腓骨头处贴上一片电极贴片作为基准值,以去除皮肤表面所造成的噪声,测量频率为1000Hz。
在本发明的一些实施例中,在步骤(G)中,该肌肉骨骼模拟模块还对数字化的该受测者下肢至少两条肌肉对应的该等肌电信号以最大等长自主收缩方法做正规化后,再根据正规化的该等肌电信号,将与该受测者下肢除了上述至少两条肌肉以外的其余肌肉对应的该活化数据转换成相对应的该肌电信号。
在本发明的一些实施例中,在步骤(A)中,还以该关节量角装置在该预设时间内,测量该受测者的髋关节及踝关节的角度变化,以得到还包含髋关节及踝关节的角度变化的该关节角度数据;且在步骤(F)中,该肌肉骨骼模拟模块还根据数字化的该关节角度数据、该力量数据、该曲柄角度数据及该受测者的该人体计测数据,估算该受测者的髋关节及踝关节的一力矩数据
此外,本发明实现上述方法的一种估测骑乘自行车的受测者下肢运动状态的系统,包括:一自行车,其设置在一脚踏车训练架上,供一受测者骑乘并连续踩踏一预设时间;一关节量角装置,其在该预设时间内,测量该受测者的膝关节的角度变化,以得到一包含膝关节角度变化的关节角度数据;一力感测装置,其设置在该自行车上,且在该预设时间内感测该自行车的曲柄的形变及/或感测施加于自行车的踏板的踏力,以得到与该受测者下肢施力相关的一力量数据;一角度测量装置,其测量在该预设时间内每个时间点所对应的曲柄角度,以得到一曲柄角度数据;一表面肌电信号测量装置,其在该预设时间内测量该受测者下肢至少两条肌肉的电位变化并对应产生一肌电信号;一数据数字化装置,其收集该关节角度数据、该力量数据、该曲柄角度数据及该肌电信号并将其数字化;及一信号处理装置,其与该数据数字化装置电耦接,以取得数字化的该关节角度数据、该力量数据、该曲柄角度数据及该肌电信号,且该信号处理装置包含一肌肉骨骼模拟模块及一数据分析模块;该肌肉骨骼模拟模块根据数字化的该关节角度数据、该力量数据、该曲柄角度数据以及该受测者的一包括性别、身高、体重的人体计测数据,估算该受测者下肢肌肉的一活化数据,以及估算该受测者的膝关节的一力矩数据;该肌肉骨骼模拟模块还根据数字化的该受测者下肢至少两条肌肉对应的该等肌电信号,将与该受测者下肢除了上述至少两条肌肉以外的其余肌肉对应的该活化数据转换成相对应的该肌电信号;该数据分析模块根据该受测者下肢肌肉对应的该等肌电信号计算该受测者下肢肌肉的一共缩百分比。
本发明的有益的效果在于:根据受测者踩踏自行车的过程中测得的该关节角度信号、该力矩信号、该踏力信号及该曲柄角度信号求得受测者下肢肌肉的活化数据及关节力矩,且肌肉骨骼模拟模块可根据表面肌电信号测量装置测量受测者下肢两条肌肉的肌电信号及其估算出来的受测者下肢肌肉的活化数据,求得受测者下肢其它肌肉的肌电信号,而无需实际测量受测者下肢全部肌肉的肌电信号,且数据分析模块根据受测者下肢十四条肌肉对应的该等肌电信号求得一共缩(Coactivation)百分比,借此提供受测者下肢的髋、膝、踝关节对应不同曲柄角度的力矩、关节角度以及下肢肌肉的共缩百分比,供相关人员据以评估受测者在骑乘自行车的过程中是否会造成下肢的运动伤害,以进行相关的预防措施。
附图说明
图1是本发明估测骑乘自行车的受测者下肢运动状态的方法的一实施例的主要流程图;
图2是本实施例供受测者骑乘的自行车及其上装设的测量仪器示意图;
图3及图4显示本实施例应用的测量仪器及其连接关系示意图;
图5显示人体下肢膝关节周边十四条肌肉示意图;
图6显示人体下肢髋关节、膝关节及踝关节的旋转方向示意图;及
图7显示本实施例根据估算出的受测者各关节的力矩以及下肢肌肉的共缩百分比产生的一结果报表示意图。
具体实施方式
下面结合附图及实施例对本发明进行详细说明。
参阅图1,是本发明估测骑乘自行车的受测者下肢运动状态的方法的一实施例的主要流程图,且如图2至图4所示,该方法需先预备一设置在一脚踏车训练架100上的自行车1,一用以测量受测者下肢关节角度的关节量角装置,例如配置在一受测者身上的电子量角器20,一力感测装置,例如设置在自行车1上的一曲柄力矩感测器21及/或一三轴测力规22、一角度测量装置,例如设置在自行车1上用以测量曲柄角度的角度编码器23、一表面肌电信号测量装置24,一与电子量角器20、曲柄力矩感测器21、三轴测力规22、角度编码器23及表面肌电信号测量装置24电耦接的数据数字化装置25,以及一与数据数字化装置25电耦接的信号处理装置26,借此构成一估测骑乘自行车的受测者下肢运动状态的系统。
电子量角器(Goniometer)20,例如Biometrics Ltd所生产的电子量角器,可以收集人们关节旋转的角度,其具有一主机201及与主机201电连接的感测器202,通过将感测器202贴附在该受测者下肢的髋关节、膝关节及踝关节处,感测器202可测量髋关节、膝关节及踝关节的角度变化并输出一包含髋关节、膝关节及踝关节的角度变化的关节角度数据至主机201,以由主机201收集来自该等感测器202的关节角度数据。当然本实施例的关节量角装置并不限于上述的电子量角器20,其他任何可以测得关节角度的测量装置亦可,例如惯性感测器(inertial measurement unit)。
曲柄力矩感测器21可设在自行车1的中轴11,例如中轴式力矩感测器,或设在自行车的齿盘,例如齿盘式力矩感测器等,用以测量曲柄12因踩踏而产生的力矩;三轴测力规22设在自行车1的踏板13下表面,用以测量踏板13在三轴方向的受力;此外,本实施例亦可只使用曲柄力矩感测器21或者只使用三轴测力规22,并以其中一者测得的力量数据通过公式算出另一者所能测得的力量数据。
角度编码器23(例如采用绝对式角度编码器,E6F-AB3C-C,OMRON株式会社,京都,日本,BCD码输出)安装于自行车1的下管14,其解析度达360degree/Rate,且其利用皮带231摩擦轮组使其与链轮10同轴旋转,故可得知每个时间点所对应的曲柄角度。当然本实施例的角度测量装置并不限于上述的角度编码器23,也可利用外部摄影的方式来取得每个时间点所对应的曲柄角度。
表面肌电信号测量装置24通过粘贴在受测者3下肢皮肤表面的电极贴片241,测量皮肤下方肌肉的活动电位,以获得一肌电数据。在本实施例中,表面肌电信号测量装置24是放置在自行车1的后车架15上,且其只要测量受测者3的单侧,例如左侧大腿靠近皮肤表层的两条表面肌肉(群),该两条肌肉为单侧膝关节周边十四条肌群(如图5所示)的其中两条,至于其它十二条肌肉的肌电数据的取得方式将在以下进一步说明。且根据综合过去文献可知,骑乘自行车的伤害,除姿势不良外,主要以膝关节伤害为主。因此本实施例主要研究膝关节周边共十四条肌群的协调合作状况,以作为判断关节稳定性的依据。此外,本实施例会在受测者的对应腓骨头处贴上一片电极贴片作为基准值,以去除皮肤表面所造成的噪声,且表面肌电信号测量装置24的测量频率为1000Hz。
本实施例的数据数字化装置25是美国BIOPAC公司生产的多导生理记录仪MP150,其放置在自行车1的后车架15上以同时撷取(撷取频率设定为例如1000Hz)电子量角器20、曲柄力矩感测器21、三轴测力规22、角度编码器23及表面肌电信号测量装置24产生的数据,且将该等数据适当放大并转成数字化数据后记录。信号处理装置26可以是一个人计算机或笔记型计算机等,且其中包含一肌肉骨骼模拟模块261及一数据分析模块262,其中肌肉骨骼模拟模块261可以采用例如现有的OpenSim或AnyBody等肌肉骨骼模拟软体工具,数据分析模块262可以采用现有的Labview数据分析软体工具,但不以此为限。
上述装置皆设置好之后,即可进行本实施例估测骑乘自行车的受测者下肢运动状态的流程如下。首先,如图1的步骤S1,令受测者骑乘设置在脚踏车训练架100上的自行车1并连续踩踏一预设时间,例如5分钟、10分钟或30分钟等,或者连续踩踏一预定圈数,例如20圈、50圈等;然后,如图1的步骤S2所示,电子量角器20在该预设时间内将测量受测者3下肢的髋关节、膝关节及踝关节的角度,如图6所示,并输出包含髋关节、膝关节及踝关节的角度变化的一关节角度数据给数据数字化装置25。
同时,力感测装置在该预设时间内,感测自行车1的曲柄的形变及/或感测施加于自行车1的踏板的踏力,以得到与该受测者3下肢施力相关的一力量数据;亦即在本实施例中,若力感测装置同时使用曲柄力矩感测器21及三轴测力规22,则如图1的步骤S3所示,设置在自行车1上的曲柄力矩感测器21在该预设时间内,感测自行车1的踏板13连接的曲柄11因踩踏产生的力矩并输出一力矩信号,且如图1的步骤S4所示,设置在自行车1的踏板13上的三轴测力规22在该预设时间内,测量施加于踏板13的踏力(即踏板13在三轴方向的受力,如图3所示)而输出一踏力信号。
再者,如图1的步骤S5所示,设置在自行车1上且与链轮连动的角度编码器23在该预设时间内,测量每个时间点所对应的曲柄角度并输出一曲柄角度数据,且如图1的步骤S6所示,表面肌电信号测量装置24在该预设时间内,通过贴附于受测者3下肢左侧大腿表面的电极贴片241测量受测者1下肢两条肌肉的电位变化并对应输出一肌电信号。
同时,如图1的步骤S7所示,数据数字化装置25在该预设时间内以每秒1000次的撷取(取样)频率收集该关节角度数据、该力量数据(包含该力矩信号及该踏力信号)、该曲柄角度数据及该肌电信号并将其适当放大后数字化成数字信号并记录,再通过信号传输线将数字化的该关节角度数据、该力量数据(包括该力矩信号及该踏力信号)、该曲柄角度数据及该肌电信号传送给信号处理装置26。
然后,如图1的步骤S8所示,信号处理装置26的肌肉骨骼模拟模块261根据数字化的该关节角度数据、该力量数据及该曲柄角度数据,以及受测者1的一人体计测数据(包括性别、身高、体重等),估算受测者1下肢膝关节周边共十四条肌肉(群)的一活化数据(为介于0~1的数值),以及估算受测者1的髋关节、膝关节及踝关节的一力矩。具体而言,本实施例是通过实际测量的关节角度数据驱动肌肉骨骼模拟模块261,使产生模拟的一初始的下肢肌肉(膝关节周边十四条肌肉)的活化数据及关节力矩,再根据该力量数据(包括该力矩信号及该踏力信号)及该曲柄角度数据校正该初始的下肢肌肉的活化数据及关节力矩,以得到贴近受测者下肢(膝关节周边十四条肌肉)实际运动状况的肌肉活化数据及关节力矩。且由于肌肉骨骼模拟模块261估算上述肌肉活化数据及关节力矩的方式为已知技术且非本发明的重点,故于此不加详述。
因此,肌肉骨骼模拟模块261所估算的受测者1下肢肌肉的该活化数据将与关节承受的力矩相互关连,亦即受测者1下肢肌肉的活化数据与受测者的关节力矩有关,且关节力矩亦会受到受测者1下肢肌肉的活化数据的影响,因此,本实施例估算的肌肉活化数据及关节力矩更接近受测者下肢实际运动的状况。
而且本实施例通过实际测量的关节角度信号驱动肌肉骨骼模拟模块261,可改善已知以标记点驱动肌肉骨骼模拟系统的复杂性,有效缩短在受测者身上设定标记点的时间及简化数据计算的复杂性并提供准确的估算结果。
此外,由于肌电信号的正规化对于后续的分析十分重要,因此肌肉骨骼模拟模块261会采用一常見的肌电信号正规化方法,即最大等长自主收缩方法(Isometric maximalvoluntary contraction,iMVC,Neptune,Kautz et al.,1997;Bieuzen,Lepers et al.,2007),对数据数字化装置25传来的数字化后的该肌电信号(即测量该受测者下肢左侧大腿两条肌肉所得到的肌电信号)做正规化。
然后,如图1的步骤S9所示,肌肉骨骼模拟模块261根据数字化且正规化的受测者下肢左侧大腿两条肌肉对应的该等肌电信号,将与该受测者下肢除了上述两条肌肉以外的其余肌肉(共十二条肌肉)对应的该活化数据转换成相对应的该肌电信号。更确切地说,假设受测者下肢左侧大腿两条肌肉的活化数据分别为0.3、0.5,且其实际测量到的肌电信号为60mv、100mv,则肌肉骨骼模拟模块261即可根据受测者下肢左侧大腿两条肌肉的活化数据与肌电信号的对应关系,求得受测者下肢双侧其余肌肉(单侧十二条肌肉)分别的肌电信号。
借此,表面肌电信号测量装置24只要测量受测者下肢两条(甚至一条)肌肉的肌电信号,肌肉骨骼模拟模块261即可根据该肌电信号及其估算出来的该受测者下肢肌肉的活化数据,求得受测者下肢其它肌肉的肌电信号,而无需实际测量受测者下肢膝关节周边全部十四条肌肉的肌电信号,因为有些较深层的肌肉并无法通过贴附在体表的电极贴片测得肌电信号,而必须以扎针侵入身体的方式才能测得深层肌肉的肌电信号,因此通过本实施例上述做法,即能以不需侵入身体的方式获得受测者下肢膝关节周边全部十四条肌肉的肌电信号。
然后,如图1的步骤S10所示,信号处理装置26的数据分析模块262将与受测者下肢十四条肌肉对应的该等肌电信号代入一肌肉共缩公式如下,以计算受测者下肢肌肉的一共缩(Coactivation)百分比。由于该公式是既有的已知技术,故在此不赘述其计算过程。
而数据分析模块262可根据上述估算出的受测者各关节的力矩以及下肢肌肉的一共缩百分比,产生如图7所示的一结果报表,其中显示受测者的髋、膝、踝关节对应不同曲柄角度的力矩、关节角度,以及膝关节周边肌群中的大腿肢段(Thigh)(包含股外、股外侧肌和臀中肌(Vastus lateralis and medius,VL&VM)、股直肌(Rectus femoris,RF)、股二头肌长肌(Biceps femoris-longus,BF-long))肌肉的活化数值(介于0~1)及彼此之间产生的共缩值百分比(Co-act),以及小腿肢段(Shank)(包含外侧腓肠肌(Gastrocnemiuslateralis,GL)、比目鱼肌(Soleus,SO)与胫骨前肌(Tibialis anterior,TA))肌肉的活化数值(介于0~1)及彼此之间产生的共缩值百分比(Co-act)。
且在人体解剖学的概念上,因为髋、膝、踝关节皆属多肌群关节,因此膝关节周边肌群共缩的大小将反映膝关节的稳定性。因此,根据上述报表呈现的肌肉共缩数据及各关节的力矩和曲柄角度之间的关系,熟知人体肌肉骨骼系统相关领域的临床医护人员或体育教练等人员,即可从中判断受测者在不同骑乘阶段的施力是否正常、肌群的活化是否协调、关节受力是否过大,并据此评估受伤的部位以及受伤发生的原因,例如当报表呈现受测者在某一曲柄角度下的膝关节力矩为负值,而正常人为正值,即可推知相关的某几条肌肉受伤,以及根据报表呈现的肌肉共缩值即可判断关节在某些角度下是否稳定(因为共缩值越小代表关节越稳定,反之代表关节越不稳定),借此进一步根据关节的稳定性判断该些关节受伤的可能性及导致关节受伤的因素,例如某条肌肉受伤或某个姿势不当等,并借此提供受测者较佳的骑乘策略,调整适合受测者的自行车的各项参数,例如改变車架尺寸及踏板与曲柄的改良等,以降低及预防不当骑乘自行车所致的运动伤害。
综上所述,上述实施例通过受测者踩踏自行车的过程中,测量受测者下肢的关节角度变化,并以测得的关节角度信号驱动肌肉骨骼模型261,使根据关节角度信号产生初始的下肢肌肉(膝关节周边十四条肌肉)的活化数据及关节力矩,借此改善已知以标记点驱动肌肉骨骼模拟系统的复杂性,有效缩短设定标记点的时间及简化数据计算的复杂度,再根据受测者踩踏自行车的过程中测得的该力矩信号、该踏力信号及该曲柄角度信号校正该初始的下肢肌肉的活化数据及关节力矩,而得到贴近受测者下肢(膝关节周边十四条肌肉)实际运动状况的肌肉活化数据及关节力矩;且本实施例的表面肌电信号测量装置24只要测量受测者下肢两条肌肉的肌电信号,肌肉骨骼模拟模块261即可根据该肌电信号及其估算出来的该受测者下肢肌肉的活化数据,求得受测者下肢其它肌肉的肌电信号,而无需实际测量受测者下肢膝关节周边全部十四条肌肉的肌电信号,且数据分析模块262将受测者下肢十四条肌肉对应的该等肌电信号通过一肌肉共缩公式计算得到一共缩(Coactivation)百分比,并根据上述估算出的受测者各关节的力矩以及下肢肌肉的共缩百分比,产生针对受测者的一个人化结果报表,显示受测者的髋、膝、踝关节对应不同曲柄角度的力矩、关节角度以及下肢肌肉的共缩百分比,供相关人员据以评估受测者在骑乘自行车的过程中是否会造成下肢的运动伤害,确实达成本发明的目的。
Claims (18)
1.一种估测骑乘自行车的受测者下肢运动状态的方法,其特征在于,该方法包括下列步骤:
(A)令受测者骑乘设置在脚踏车训练架上的自行车并连续踩踏预设时间,并以关节量角装置在该预设时间内测量该受测者的膝关节的角度变化,以得到包含膝关节的角度变化的关节角度数据;
(B)令设置在该自行车上的力感测装置在该预设时间内感测该自行车的曲柄的形变及/或感测施加于该自行车的踏板的踏力,以得到与该受测者下肢施力相关的力量数据;
(C)令角度测量装置测量在该预设时间内每个时间点所对应的曲柄角度,以得到曲柄角度数据;
(D)令表面肌电信号测量装置在该预设时间内测量该受测者下肢至少两条肌肉的电位变化并对应产生肌电信号;
(E)由数据数字化装置将该关节角度数据、该力量数据、该曲柄角度数据及该肌电信号数字化并输出至信号处理装置;
(F)该信号处理装置的肌肉骨骼模拟模块根据数字化的该关节角度数据、该力量数据、该曲柄角度数据及该受测者的包括性别、身高、体重的人体计测数据,估算该受测者下肢肌肉的活化数据,以及估算该受测者的膝关节的力矩数据;
(G)该肌肉骨骼模拟模块还根据数字化的该受测者下肢至少两条肌肉对应的肌电信号,将与该受测者下肢除了上述至少两条肌肉以外的其余肌肉对应的活化数据转换成相对应的肌电信号;及
(H)该信号处理装置的数据分析模块根据该受测者下肢肌肉对应的肌电信号,计算该受测者下肢肌肉的共缩百分比,且该数据分析模块是以如下的肌肉共缩公式计算该共缩百分比,其中Coactivation为该共缩百分比:
2.根据权利要求1所述的估测骑乘自行车的受测者下肢运动状态的方法,其特征在于:在步骤(A)中,该关节量角装置是电子量角器,该电子量角器通过贴附在该受测者下肢的膝关节处的多个感测器测量该受测者的膝关节在三轴空间的旋转角度变化。
3.根据权利要求1所述的估测骑乘自行车的受测者下肢运动状态的方法,其特征在于:在步骤(B)中,该力感测装置是设置在该自行车上的曲柄力矩感测器,该曲柄力矩感测器在该预设时间内感测该自行车的踏板连接的曲柄受力转动产生的形变。
4.根据权利要求1所述的估测骑乘自行车的受测者下肢运动状态的方法,其特征在于:在步骤(B)中,该力感测装置是设置在该自行车的踏板上的三轴测力规,该三轴测力规在该预设时间内测量施加于踏板的踏力。
5.根据权利要求1所述的估测骑乘自行车的受测者下肢运动状态的方法,其特征在于:在步骤(B)中,该力感测装置包括设置在该自行车上的曲柄力矩感测器及设置在该自行车的踏板上的三轴测力规,该曲柄力矩感测器在该预设时间内感测该自行车的踏板连接的曲柄受力转动产生的形变并输出力矩信号,该三轴测力规在该预设时间内测量施加于踏板的踏力并输出踏力信号,且该力量数据包含该力矩信号及该踏力信号。
6.根据权利要求1所述的估测骑乘自行车的受测者下肢运动状态的方法,其特征在于:在步骤(C)中,该角度测量装置是设置在该自行车上且与链轮连动的角度编码器,该角度编码器在该预设时间内测量每个时间点所对应的曲柄角度。
7.根据权利要求1所述的估测骑乘自行车的受测者下肢运动状态的方法,其特征在于:在步骤(D)中,该表面肌电信号测量装置测量该受测者下肢单侧单脚两条肌肉或双侧双脚各条肌肉的电位变化,并在对应该受测者的腓骨头处贴上一片电极贴片作为基准值,以去除皮肤表面所造成的噪声,测量频率为1000Hz。
8.根据权利要求1所述的估测骑乘自行车的受测者下肢运动状态的方法,其特征在于:在步骤(G)中,该肌肉骨骼模拟模块还对数字化的该受测者下肢至少两条肌肉对应的肌电信号以最大等长自主收缩方法做正规化后,再根据正规化的肌电信号,将与该受测者下肢除了上述至少两条肌肉以外的其余肌肉对应的活化数据转换成相对应的肌电信号。
9.根据权利要求1所述的估测骑乘自行车的受测者下肢运动状态的方法,其特征在于:在步骤(A)中,还以该关节量角装置在该预设时间内测量该受测者的髋关节及踝关节的角度变化,以得到还包含髋关节及踝关节的角度变化的该关节角度数据;且在步骤(F)中,该肌肉骨骼模拟模块还根据数字化的该关节角度数据、该力量数据、该曲柄角度数据及该受测者的该人体计测数据,估算该受测者的髋关节及踝关节的力矩数据。
10.一种估测骑乘自行车的受测者下肢运动状态的系统,其特征在于,该系统包括:
自行车,其设置在脚踏车训练架上,供受测者骑乘并连续踩踏预设时间;
关节量角装置,其在该预设时间内测量该受测者的膝关节的角度变化,以得到包含膝关节角度变化的关节角度数据;
力感测装置,其设置在该自行车上,且在该预设时间内感测该自行车的曲柄的形变及/或感测施加于自行车的踏板的踏力,以得到与该受测者下肢施力相关的力量数据;
角度测量装置,其测量在该预设时间内每个时间点所对应的曲柄角度,以得到曲柄角度数据;
表面肌电信号测量装置,其在该预设时间内测量该受测者下肢至少两条肌肉的电位变化并对应产生肌电信号;
数据数字化装置,其收集该关节角度数据、该力量数据、该曲柄角度数据及该肌电信号并将其数字化;及
信号处理装置,其与该数据数字化装置电耦接,以取得数字化的该关节角度数据、该力量数据、该曲柄角度数据及该肌电信号,且该信号处理装置包含肌肉骨骼模拟模块及数据分析模块;该肌肉骨骼模拟模块根据数字化的该关节角度数据、该力量数据、该曲柄角度数据以及该受测者的包括性别、身高、体重的人体计测数据,估算该受测者下肢肌肉的活化数据,以及估算该受测者的膝关节的力矩数据;该肌肉骨骼模拟模块还根据数字化的该受测者下肢至少两条肌肉对应的肌电信号,将与该受测者下肢除了上述至少两条肌肉以外的其余肌肉对应的活化数据转换成相对应的肌电信号;该数据分析模块根据该受测者下肢肌肉对应的肌电信号计算该受测者下肢肌肉的共缩百分比,且该数据分析模块是以如下的肌肉共缩公式计算该共缩百分比,其中Coactivation为该共缩百分比:
11.根据权利要求10所述的估测骑乘自行车的受测者下肢运动状态的系统,其特征在于:该关节量角装置是电子量角器,该电子量角器通过贴附在该受测者下肢的膝关节处的多个感测器测量该受测者的膝关节在三轴空间的旋转角度变化。
12.根据权利要求10所述的估测骑乘自行车的受测者下肢运动状态的系统,其特征在于:该力感测装置是设置在该自行车上的曲柄力矩感测器,该曲柄力矩感测器在该预设时间内感测该自行车的踏板连接的曲柄受力转动产生的形变。
13.根据权利要求10所述的估测骑乘自行车的受测者下肢运动状态的系统,其特征在于:该力感测装置是设置在该自行车的踏板上的三轴测力规,该三轴测力规在该预设时间内测量施加于踏板的踏力。
14.根据权利要求10所述的估测骑乘自行车的受测者下肢运动状态的系统,其特征在于:该力感测装置包括设置在该自行车上的曲柄力矩感测器及设置在该自行车的踏板上的三轴测力规,该曲柄力矩感测器在该预设时间内感测该自行车的踏板连接的曲柄受力转动产生的形变并输出力矩信号,该三轴测力规在该预设时间内测量施加于踏板的踏力并输出踏力信号,且该力量数据包含该力矩信号及该踏力信号。
15.根据权利要求10所述的估测骑乘自行车的受测者下肢运动状态的系统,其特征在于:该角度测量装置是设置在该自行车上且与链轮连动的角度编码器,该角度编码器在该预设时间内测量每个时间点所对应的曲柄角度。
16.根据权利要求10所述的估测骑乘自行车的受测者下肢运动状态的系统,其特征在于:该表面肌电信号测量装置测量该受测者下肢单侧单脚两条肌肉或双侧双脚各条肌肉的电位变化,并在对应该受测者的腓骨头处贴上一片电极贴片作为基准值,以去除皮肤表面所造成的噪声,测量频率为1000Hz。
17.根据权利要求10所述的估测骑乘自行车的受测者下肢运动状态的系统,其特征在于:该肌肉骨骼模拟模块还对数字化的该受测者下肢至少两条肌肉对应的肌电信号以最大等长自主收缩方法做正规化后,再根据正规化的肌电信号,将与该受测者下肢除了上述至少两条肌肉以外的其余肌肉对应的活化数据转换成相对应的肌电信号。
18.根据权利要求10所述的估测骑乘自行车的受测者下肢运动状态的系统,其特征在于:该关节量角装置还在该预设时间内测量该受测者的髋关节及踝关节的角度变化,以得到还包含髋关节及踝关节的角度变化的该关节角度数据;且该肌肉骨骼模拟模块还根据数字化的该关节角度数据、该力量数据、该曲柄角度数据及该受测者的该人体计测数据,估算该受测者的髋关节及踝关节的力矩数据。
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