CN108955507A - Identify the sensor that human body limb movement is intended to - Google Patents
Identify the sensor that human body limb movement is intended to Download PDFInfo
- Publication number
- CN108955507A CN108955507A CN201810744009.1A CN201810744009A CN108955507A CN 108955507 A CN108955507 A CN 108955507A CN 201810744009 A CN201810744009 A CN 201810744009A CN 108955507 A CN108955507 A CN 108955507A
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- wearer
- joint
- retainer plate
- sensor
- hall sensor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1126—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb using a particular sensing technique
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Physics & Mathematics (AREA)
- Biomedical Technology (AREA)
- Medical Informatics (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Physiology (AREA)
- Biophysics (AREA)
- Pathology (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Heart & Thoracic Surgery (AREA)
- Dentistry (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention relates to a kind of sensors that identification human body limb movement is intended to, including retainer plate, four-way linear hall sensor, strong tape, four-way linear hall sensor is separately mounted to the position of front, rear, left and right four of retainer plate, each linear hall sensor connection power supply line and all the way output signal line；Strong tape is worn on wearer's joint to be measured；Retainer plate equipped with four-way linear hall sensor is placed in outside wearer joint to be measured, by the change of magnetic field strength for the strong tape that four-way linear hall sensor measurement wearer's corresponding joint is worn, position of the wearer joint to be measured relative to retainer plate is determined, so that it is determined that the motion intention of wearer.The features such as present invention has structure simple, and small in size, light quality is easy to use, and accuracy is high can be realized to wearer motion's intention assessment for wearable power-assisting robot and wearable healing robot, keep the motion accompanying of robot and wearer.
Description
Technical field
The present invention relates to a kind of human motion intention assessment sensors, human-computer interaction, people suitable for wearable robot
Machine is co-melting and the control of man-machine power.
Background technique
With the rapid development of science and technology, wearable power-assisting robot is in manufacturing industry and wearable healing robot
A big research hotspot is had become in medical field, intelligent robot control also becomes one of the key technology in the field, wherein machine
Device people can accurately identify the motion intention of wearer, realize it is good it is man-machine follow, keep wearer effective with robot
Combining together becomes particularly important.
Patent publication No. 201510741056.9 disclose it is a kind of for acquiring the novel sensor of human motion signal, should
Sensor combines acquisition human motion signal by the way that motion-captured module, electromyography signal module, flesh are moved signaling module, then leads to
Cross microcontroller will acquisition motor message handle after be input to bluetooth module, so that it is sent useful signal to main controller, wherein
Motion-captured module is mainly made of accelerometer, gyroscope and magnetometer, and changing sensor can be used in acquiring the movement of human body
Signal, but the sensor have the defects that it is certain: 1) the sensor overall volume is larger, inconvenience be mounted on the wearable machine through gathering
On the device person；2) device need and meanwhile acquire wearer acceleration of motion, angular speed and muscle signal merge after
It could identify, it is higher to the hardware requirement of sensor, increase the complexity of sensor；3) sensor needs to acquire human body
The extraction of electromyography signal, influence of such mode vulnerable to extraneous factor, and electromyography signal needs directly to contact skin or implantation
Physical strength, the very big use condition for limiting myoelectricity and extracting from the aspect of safe and healthy.
Summary of the invention
For the disadvantages described above of the prior art in this field, the present invention provides a kind of small in size, light qualities, use
Convenient, it can be wearable power-assisted that accuracy is high and peripheral circuit simply identifies the sensor that human body limb movement is intended to
Robot and wearable healing robot are realized to wearer motion's intention assessment, and the motion accompanying of robot and wearer is kept
Property.
To achieve the above object, the technical scheme is that
A kind of sensor that identification human body limb movement is intended to, including retainer plate, four-way linear hall sensor, strong tape, four
The position of front, rear, left and right four of retainer plate, each linear hall sensor connection are separately mounted to linear hall sensor
Power supply line and all the way output signal line；Strong tape is worn on wearer's joint to be measured；Equipped with four-way linear hall sensor
Retainer plate is placed in outside wearer joint to be measured, the strong tape worn by four-way linear hall sensor measurement wearer's corresponding joint
Change of magnetic field strength, to determine position of the wearer joint to be measured relative to retainer plate, so that it is determined that the movement of wearer is anticipated
Figure.
The four-way linear hall sensor exports 0-3.6v analog signal, and by single-chip microcontroller or the acquisition of AD capture card and
Reason.
The retainer plate is made of two and half circles, and two and half circle one end are connected by a hinge, and the other end passes through clamping lock
Locking connection；Forward and backward, right three directions of the retainer plate are equipped with screw hole.
The strong tape is the bandage made by magnetic material, can be directly anchored to the joint position to be measured of wearer, make
It is corresponding with retainer plate position.
It is placed in the sensor parallel connection that wearer's each each identification human body limb movement of joint to be measured is intended to, is used
Motion intention in identification each joint of the entire limbs of wearer.
The beneficial effects of the present invention are:
Motion intention identification sensor provided by the invention, by detection wearer motion joint relative to robot corresponding joint
Change in location, so that reaching movement of the determining wearer in the moment joint tends to i.e. motion intention, by limb to be detected
Body different motion joint installs inventive sensor, merges different key sensor data and realizes to the entire limbs of wearer
The intention assessment of movement.
The features such as present invention has structure simple, and small in size, light quality is easy to use, and accuracy is high, can be wearable
Power-assisting robot and wearable healing robot realize to wearer motion's intention assessment, keep the fortune of robot and wearer
Dynamic followability.Human motion of the invention, which is intended to sensor, to apply and wearable power-assisting robot, wearable healing robot
Equal artificial intelligence fields.Human motion of the invention is intended to sensor and exports 0-3.6v analog signal, can be directly by common monolithic
Machine or AD capture card are acquired and are handled, and have the characteristics such as low noise, accurate linear convergent rate.
Detailed description of the invention
Fig. 1 is the structure overall schematic for the sensor that identification human body limb movement of the invention is intended to；
Fig. 2 is the sensor half structural schematic diagram that identification human body limb movement of the invention is intended to；
Fig. 3 is sensor the other half structural schematic diagram that identification human body limb movement of the invention is intended to；
Fig. 4 is the sensor using effect schematic diagram that identification human body limb movement of the invention is intended to.
Specific embodiment
The invention will be further described with embodiment with reference to the accompanying drawing.
As shown in Figures 1 to 4, the sensor that identification human body limb movement of the invention is intended to, comprising: hinge 1, forward direction line
Property Hall sensor 2, dextrad linear hall sensor 3, clamping lock 4, rivet 5, left-hand Hall sensor 6, backward Hall sensor
7, retainer plate 8, strong tape 9, circuit output etc..
Forward direction linear hall sensor 2, backward Hall sensor 7, left-hand Hall sensor 6, dextrad linear Hall sensing
Device 3 is separately mounted to the position of front, rear, left and right four of retainer plate 8, each linear hall sensor connection power supply line and all the way
Output signal line；Retainer plate 8 is for being fixed at the movable joint of wearer or wearable robot, such as the forearm of upper limb and upper
Arm, the thigh of lower limb and calf joint position, can be respectively used for measuring upper limb shoulder joint stretching and beading, receive outreach in shoulder joint, elbow closes
Save stretching and beading, thigh stretching and beading, thigh exhibition receipts, shank stretching and beading.Have on retainer plate 8 and is equipped with screw hole, side in forward and backward, right three directions
Just it is fixed on wearable robot arm or pedipulator, while retainer plate 8 is additionally provided with hinge 1 and clamping lock 4, in retainer plate 8
Hinge 1 and the segmental arc of clamping lock 4 wearer can be facilitated to dress by 1 Unscrew of hinge, and clamping lock 4 is for being closed fixation
Locking when enclosing 8, to prevent the uncontrollable opening of retainer plate 8.
Four-way linear hall sensor is after four position of front, rear, left and right for being integrated in sensor retainer plate, for adopting in real time
Position of the limbs joint of collection wearer relative to the retainer plate of sensor, Hall sensor use high-precision import linear Hall
Sensor SS49E can be 5V according to the voltage than changing output such as Strength Changes of surrounding magnetic field, the input voltage of SS49E,
Measurement distance is within 1cm, and output voltage intensity is 0-3.6V, and the voltage is by that can measure wearer's limbs after calibration
The real-time range of strong tape and retainer plate, by fusion 4 to distance parameter, that is, can determine wearer be tested this moment joint relative to
The position of retainer plate, to reflect the motion intention that wearer is tested joint.
The strong tape is the bandage made by magnetic material, can be directly anchored to the joint position to be measured of wearer, make
It is corresponding with retainer plate position, when movement tendency is made in wearer joint to be measured, since strong tape is for four sides of retainer plate
To magnetic field occur linear change, by the above-mentioned description to linear hall sensor, can accurately determine wearer at this time
Motion intention.
The outlet line is mainly made of 6 lines, the analog signal line including 5V power supply line, ground wire and four direction.
The size of analog quantity directly reacts the opposite position with retainer plate in joint to be measured at this time in the simulation model line of four direction, i.e., in fact
When reflect the motion intention in joint to be measured.And the analog quantity of four direction, can be directly by monolithic all within the scope of 0-3.6V
Machine or capture card acquisition process are transferred to digital quantity and are demarcated, and can accurately measure the movement meaning in the wearer joint
Figure, and applicable algorithm realize human-computer fusion, it is man-machine follow, power control etc., for example it does position-force control, that is, pass through by
Closed-loop process is done in the position in tested joint of acquisition, that is, be able to achieve robot and wearer keep it is good it is man-machine follow, and make
The presence of the imperceptible machine of people will not generate additional active force to wearer.
Claims (5)
1. a kind of sensor that identification human body limb movement is intended to, including retainer plate, four-way linear hall sensor, strong tape,
It is characterized by: the four-way linear hall sensor is separately mounted to the position of front, rear, left and right four of retainer plate, each line
Property Hall sensor connection power supply line and output signal line all the way；Strong tape is worn on wearer's joint to be measured；Equipped with four-way
The retainer plate of linear hall sensor is placed in outside wearer joint to be measured, and by four-way linear hall sensor, measurement wearer is corresponding
The change of magnetic field strength for the strong tape that joint is worn, to determine position of the wearer joint to be measured relative to retainer plate, thus really
Determine the motion intention of wearer.
2. the sensor that identification human body limb movement according to claim 1 is intended to, it is characterised in that: the four-way is linear
Hall sensor exports 0-3.6v analog signal, and is acquired and handled by single-chip microcontroller or AD capture card.
3. it is according to claim 1 identification human body limb movement be intended to sensor, it is characterised in that: the retainer plate by
Two and half circles are constituted, and two and half circle one end are connected by a hinge, and the other end is locked by clamping lock and connected；The retainer plate
Forward and backward, right three directions are equipped with screw hole.
4. the sensor that identification human body limb movement according to claim 1 is intended to, it is characterised in that: the strong tape is
The bandage made by magnetic material, can be directly anchored to the joint position to be measured of wearer, keep it corresponding with retainer plate position.
5. the sensor that identification human body limb movement according to claim 1 to 4 is intended to, it is characterised in that: be placed in and wear
The sensor parallel that each identification human body limb movement of wearer's each joint to be measured is intended to connects, for identification wearer
The motion intention in entire each joint of limbs.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810744009.1A CN108955507B (en) | 2018-07-09 | 2018-07-09 | Sensor for recognizing human body limb movement intention |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810744009.1A CN108955507B (en) | 2018-07-09 | 2018-07-09 | Sensor for recognizing human body limb movement intention |
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| Publication Number | Publication Date |
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| CN108955507A true CN108955507A (en) | 2018-12-07 |
| CN108955507B CN108955507B (en) | 2020-07-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810744009.1A Active CN108955507B (en) | 2018-07-09 | 2018-07-09 | Sensor for recognizing human body limb movement intention |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112181150A (en) * | 2020-10-10 | 2021-01-05 | 宿州赛尔沃德物联网科技有限公司 | Hand joint motion collection system |
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|---|---|---|---|---|
| CN101879101A (en) * | 2010-08-19 | 2010-11-10 | 上海理工大学 | Bionic mechanical prosthetic hand driven by wrist joint |
| US20120065550A1 (en) * | 2004-12-29 | 2012-03-15 | Disilvestro Mark R | System and Method for Determining Patient Follow-Up Subsequent to an Orthopaedic Procedure |
| CN103494659A (en) * | 2013-10-07 | 2014-01-08 | 河北工业大学 | Control method for artificial limb knee and ankle joints |
| CN105852872A (en) * | 2016-03-25 | 2016-08-17 | 京东方科技集团股份有限公司 | Sensor device applied to joints and prosthesis system |
| CN105881563A (en) * | 2014-12-09 | 2016-08-24 | 苏茂 | Human body flexion and extension movement detecting device |
| CN106705878A (en) * | 2017-01-20 | 2017-05-24 | 山东大学 | Solid end mill deformation measurement device in spiral hole milling processing process |
| CN107115114A (en) * | 2017-04-28 | 2017-09-01 | 王春宝 | Human Stamina evaluation method, apparatus and system |
-
2018
- 2018-07-09 CN CN201810744009.1A patent/CN108955507B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120065550A1 (en) * | 2004-12-29 | 2012-03-15 | Disilvestro Mark R | System and Method for Determining Patient Follow-Up Subsequent to an Orthopaedic Procedure |
| CN101879101A (en) * | 2010-08-19 | 2010-11-10 | 上海理工大学 | Bionic mechanical prosthetic hand driven by wrist joint |
| CN103494659A (en) * | 2013-10-07 | 2014-01-08 | 河北工业大学 | Control method for artificial limb knee and ankle joints |
| CN105881563A (en) * | 2014-12-09 | 2016-08-24 | 苏茂 | Human body flexion and extension movement detecting device |
| CN105852872A (en) * | 2016-03-25 | 2016-08-17 | 京东方科技集团股份有限公司 | Sensor device applied to joints and prosthesis system |
| CN106705878A (en) * | 2017-01-20 | 2017-05-24 | 山东大学 | Solid end mill deformation measurement device in spiral hole milling processing process |
| CN107115114A (en) * | 2017-04-28 | 2017-09-01 | 王春宝 | Human Stamina evaluation method, apparatus and system |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112181150A (en) * | 2020-10-10 | 2021-01-05 | 宿州赛尔沃德物联网科技有限公司 | Hand joint motion collection system |
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| CN108955507B (en) | 2020-07-17 |
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