CN109330604A - A kind of human body, which is stood, shakes signal decomposition method and device - Google Patents
A kind of human body, which is stood, shakes signal decomposition method and device Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/1036—Measuring load distribution, e.g. podologic studies
- A61B5/1038—Measuring plantar pressure during gait
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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
- A61B5/40—Detecting, measuring or recording for evaluating the nervous system
- A61B5/4005—Detecting, measuring or recording for evaluating the nervous system for evaluating the sensory system
- A61B5/4023—Evaluating sense of balance
Abstract
It stands the invention discloses a kind of human body and shakes signal decomposition method and device, it include the actual conditions passively vacillated with two kinds of locomotory mechanism of active accommodation the present invention is based on foot pressure distribution center track, pass through corresponding interpolation, the mathematical methods such as Heron's formula, track itself is decomposed, obtain respectively representing the signal of two kinds of locomotory mechanism, passively vacillating in total balance of the body control process and active accommodation can be efficiently separated, reliable tool is provided to study and evaluating balanced ability of human body comprehensively, more specifically the motion process of gesture stability when human body is stood is presented.Such as the sense organ regulating power of vision, vestibular balanced capacity is mostly related to the active accommodation ability of human body, and effect is more reflected on human body active accommodation signal；And the degree of aging of human body, muscle overall stability are then more related to the whole machine balancing ability of human body, are more reflected in human body and passively vacillate on signal.
Description
Technical field
The invention belongs to technical field of medical detection, it is related to a kind of human body and stands to shake signal decomposition method and device.
Background technique
The weight distribution for the support construction and the upper body lower part of the body that the biped of human body itself is stood determines that human body itself is being stood
Unstability immediately, but also its adjustment process is extremely complex while improving balanced ability of human body.Various daily
In activity, skeletal musculature, the proprioception of nervous system and human body and visual performance etc. are played in balanced adjustment
Different effect.Meanwhile during human senility, with the decline of every function, this human body comprehensive of balanced capacity
Function also can be relatively early appearance degeneration sign, therefore the balanced capacity for assessing human body can be used as a routine of old monitoring
Index for examination, to realize the classification of physical condition and then implement different nurses.In addition, assessment balanced capacity also contributes to evading
Fall risk reduces the injury being likely to occur.
The assessment of balanced capacity generally clinically passes through observation using means, doctors such as clinical observation method, scale Evaluation Methods
Performance of the subject under different test items is scored, for example, transform to the performance of standing from sitting posture, stand still when
Length, the smooth degree for turning round 360 degree etc..These method subjectivities are strong, and the assessment result of different doctors may have larger difference, difficult
To quantify, objectively evaluate, and the relevant information for the main source of subject's equilibrium problem of more having no idea to provide, therefore it is answered
Guiding value used in its clinical diagnosis while having compared with big limitation is also very limited.
Centre of body weight can generate involuntary swing when human body stationary vertical is stood, and underfoot then show as pressure distribution
And the change at its center, the small sway of underfooting pressure distribution center reflect eyesight, vestibular organ and proprioception system
And the influence to balance control such as kinematic system.It can be measured using balance ergograph, record underfooting pressure point when human body is stood
The swinging track at cloth center, the measurement of correlation parameter of the track have become the quantitative criterion of assessment balanced ability of human body, can use
In research balancing and Correlative Influence Factors.
Meanwhile the correlative study of current stage shows the track of the pressure distribution center of underfooting when human body stationary vertical is stood
It is main comprising passively slowly vacillating relatively and the quickly adjustment of more active both locomotory mechanisms, the two are relatively independent
Locomotory mechanism respectively with participating in each system of balance system, organ has different degrees of association.From the pressure of underfooting point
Extracted respectively in the track at cloth center the relevant information with the two locomotory mechanisms facilitate deeper into research balancing, into
And facilitate the assessment of balanced ability of human body.
Summary of the invention
Human body stationary vertical can not independently shake when standing, and underfooting pressure distribution therewith can change.Currently, related side
Method is also limited to the direct parameter assessment to foot pressure distribution center track of standing, by calculate the area that track is covered with
And movement velocity etc. obtains the evaluation to total balance of the body.But the complexity of balanced ability of human body itself cause so directly from
Parameter that track mass motion obtains itself does not characterize total balance of the body regulating power strictly, and it is even more impossible to reflect that participating in balance adjusts
The relevant information of each system of section.Importantly, containing human body relatively passively in foot pressure distribution center track
It slowly vacillates and initiatively two kinds of locomotory mechanisms of quick adjustment, both locomotory mechanism reciprocal effects, and directly to track itself
Parameterizing obtained information is that this two parts moves the description mixed, can not distinguish the same of two kinds of locomotory mechanisms very well
When, it is easier to limit the accuracy of the balancing evaluation based on parameter.The present invention is based on such actual conditions, i.e. foot pressure
Distribution center track includes passively to vacillate and two kinds of locomotory mechanisms of active accommodation, passes through the mathematics such as corresponding interpolation, Heron's formula
Method decomposes track itself, obtains the signal for respectively representing two kinds of locomotory mechanism.The present invention is based on this to propose one kind
Human body, which is stood, shakes signal decomposition method and device.
The purpose of the present invention is achieved through the following technical solutions: a kind of human body standing shaking signal decomposition method,
Method includes the following steps:
1) foot Center of Pressure track COP (x, y) and time flag sequence T are recorded using test equipment, wherein x is a left side
Right direction coordinate, y are front-rear direction coordinate；
2) according to known foot Center of Pressure track COP (x, y), the vector acceleration sequence of track movement is obtained
Acc (xacc, yacc) and corresponding time flag sequence T, wherein xacc and yacc is respectively on left and right and front-rear direction
Component of acceleration；
3) according to vector acceleration sequence Acc (xacc, yacc) and its corresponding time flag sequence T, two two-phases are calculated
Minimum acceleration and its corresponding time label between adjacent sampled point, obtain corresponding sequence Acc_interval and T_interval；
4) acceleration rate threshold (general value 0.2-0.4) is set, screens numerical values recited in sequence Acc_interval and is less than
The acceleration of threshold value and its corresponding time tag, obtain corresponding time tag sequence T_interp；
5) position for inscribing original foot Center of Pressure track COP (x, y) when each in sequence label T_interp
It sets interpolation reconstruction and obtains representing passively slowly wandering track COP_interp (x_interp, y_interp), and track COP
The difference of (x, y) and COP_interp (x_interp, y_interp) is the track COP_ quickly adjusted for representing active
Resi (x_resi, y_resi), wherein x_interp, x_resi are the position of its track in the lateral direction, y_interp, y_
Resi is the position of its track in the longitudinal direction.
Further, the step 1) specifically includes following sub-step:
1.1) test equipment includes rectangular platform, four corners of rectangular platform according to after left front, left back, right, it is right before it is suitable
Sequence is sequentially arranged four pressure sensors, and the collected signal of institute is followed successively by w1、w2、w3、w4, former and later two pressure sensors
The distance of two pressure sensors of distance and left and right is respectively wd and lg；
In sampling instant tnThe coordinate of human body standing underfooting Center of Pressure when on platform:
X_instant=2lg (w1+w2-w3-w4)/(w1+w2+w3+w4)
Y_instant=2wd (w1-w2-w3+w4)/(w1+w2+w3+w4)
1.2) the coordinate COP_instant (x_instant, y_intant) for the instant underfooting Center of Pressure being calculated is passed through
After crossing exponential smoothing, sampling instant t is obtainednCoordinate record to track COP (x, y), calculation formula is as follows:
Wherein, α is smoothing factor, takes 0.2-0.4, (xn-1,yn-1) and (xn,yn) it is respectively tn-1And tnThe track at moment
Coordinate on COP (x, y).
Further, the step 2) specifically includes following sub-step:
2.1) left and right of the coordinate of track COP (x, y), front-rear direction are carried out at Savitzky-Golay filtering respectively
Reason；
2.2) track after filtering processing is calculated separately respectively according to left and right, front-rear direction referring to label T of corresponding time
The numerical gradient of a time obtains the velocity vector sequence Vel (xvel, yvel) of track；
2.3) to velocity vector sequence Vel (xvel, yvel) repeat step 2.1) and 2.2) in track COP (x,
Y) operation executed, obtains the vector acceleration sequence Acc (xacc, yacc) of track.
Further, the step 3) specifically includes following sub-step:
3.1) t in Acc (xacc, yacc) is calculatedn-1And tnThe adjacent two vector accelerations Acc at momentn-1(xaccn-1,
yaccn-1) and Accn(xaccn,yaccn) terminal be wired to the common starting point of two vectors vertical line H length h, calculation formula is such as
Under:
λ=(| | Accn-1||+||Accn||+||Accn-1-Accn||)/2
Wherein, λ is auxiliary parameter；
3.2) vertical o'clock of vertical line H is calculated separately to two vector Accn-1(xaccn-1,yaccn-1) and Accn(xaccn,yaccn)
Terminal distance, calculation formula is as follows:
Wherein, α1And α2It is the vertical point of vertical line H respectively to Accn-1(xaccn-1,yaccn-1) and Accn(xaccn,yaccn)
The distance of terminal, it is positive and negative to represent point position of hanging down, it is all that timing indicates at vertical o'clock on two terminal lines, if there is a negative value,
On the reverse extending line of its corresponding two terminals line；
If 3.3) α1·α2> 0, then acceleration representated by the vertical line is the minimum acceleration in the section, and numerical value is
accmin=h calculates corresponding time point, and calculation formula is as follows:
If α1·α2< 0, then Accn-1(xaccn-1,yaccn-1) or Accn(xaccn,yaccn) be the section minimum
Acceleration determines the numerical value acc of minimum acceleration more afterwardsminAnd corresponding time tmin；
3.4) to vector acceleration sequence Acc (xacc, yacc), adjacent vector acceleration repeats above-mentioned calculating two-by-two, obtains
Complete acceleration value sequence Acc_interval and corresponding time T_interval.
Further, the step 5) specifically includes following sub-step:
5.1) the upper track COP (x, y) of each moment in time tag sequence T_interp is calculated by cubic spline interpolation
Position coordinates, form discrete loci, be denoted as COP_rough；
5.2) connection COP_rough is calculated by cubic spline interpolation, obtains it included in the time tag sequence T
When the position coordinates that engrave, form continuous track, i.e. COP_interp (x_interp, y_interp)；
5.3) COP_resi (x_ is calculated according to track COP (x, y) and COP_interp (x_interp, y_interp)
Resi, y_resi), calculation formula is as follows:
Wherein, COP_interp (x_interp, y_interp) is passively slow wandering track, COP_resi (x_
Resi, y_resi) be active the track quickly adjusted.
The beneficial effects of the present invention are: the present invention devises a kind of human body standing shaking signal point for balanced ability of human body
Method and device is solved, passively vacillating in total balance of the body control process and active accommodation can be efficiently separated, for research comprehensively
Reliable tool is provided with evaluation balanced ability of human body.By foot Center of Pressure decomposing trajectories at passively vacillating and active accommodation
The track of two kinds of locomotory mechanism more specifically presents the motion process of gesture stability when human body is stood.Such as vision, vestibular
The sense organ regulating power of balanced capacity is mostly related to the active accommodation ability of human body, and effect is more reflected in human body active accommodation
On signal；And the degree of aging of human body, muscle overall stability are then more related to the whole machine balancing ability of human body, it is more to reflect
It passively vacillates on signal in human body.The present invention can individually extract the signal of both locomotory mechanisms.
Detailed description of the invention
Fig. 1 is that signal decomposition method flow chart is shaken in human body standing of the present invention；
Fig. 2 is the floor map of rectangular platform and measurement track of the invention, wherein subject is as represented by footprint
Towards standing on platform, the circle of dotted line that quadrangle identifies 1,2,3,4 indicates four pressure sensors；
Fig. 3 is the schematic diagram of decomposing trajectories result of the invention, wherein COP, Interp, Resi are foot pressure respectively
Center initial trace, passively slowly vacillate track and active quick adjusting track, dotted line is COP in (a), (c), solid line is
Interp；
Fig. 4 is the structural block diagram for the balanced capacity detection device that the present invention is suitable for decomposing trajectories technology.
Specific embodiment
The following further describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
A kind of human body proposed by the present invention, which is stood, shakes signal decomposition method, comprising the following steps:
1) foot Center of Pressure track COP (x, y) is recorded using test equipment and time flag sequence T (guarantees duration
10s or more, sample rate are higher than 50Hz), wherein x is left and right directions coordinate, and y is front-rear direction coordinate, and unit is millimeter (mm), when
Between the unit second (s)；
2) according to known foot Center of Pressure track COP (x, y), the vector acceleration sequence of track movement is obtained
Acc (xacc, yacc) and corresponding time flag sequence T, wherein xacc and yacc is respectively on left and right and front-rear direction
Component of acceleration；
3) according to vector acceleration sequence Acc (xacc, yacc) and its corresponding time flag sequence T, two two-phases are calculated
Minimum acceleration and its corresponding time label between adjacent sampled point, obtain corresponding sequence Acc_interval and T_interval；
4) acceleration rate threshold (general value 10-50mm/s appropriate is set2, value 25mm/s herein2), screen sequence
Numerical values recited is less than the acceleration and its corresponding time tag of threshold value in Acc_interval, obtains corresponding time tag sequence T_
interp；
5) position for inscribing original foot Center of Pressure track COP (x, y) when each in sequence label T_interp
It sets interpolation reconstruction and obtains representing passively slowly wandering track COP_interp (x_interp, y_interp), and track COP
The difference of (x, y) and COP_interp (x_interp, y_interp) is the track COP_ quickly adjusted for representing active
Resi (x_resi, y_resi), wherein x_interp, x_resi are the position of its track in the lateral direction, y_interp, y_
Resi is the position of its track in the longitudinal direction.
Further, the step 1) specifically includes following sub-step:
1.1) test equipment includes rectangular platform, four corners of rectangular platform according to after left front, left back, right, it is right before it is suitable
Sequence is sequentially arranged four pressure sensors, and the collected signal of institute is followed successively by w1、w2、w3、w4, former and later two pressure sensors
The distance of two pressure sensors of distance and left and right is respectively wd and lg；In sampling instant tnHuman body standing foot when on platform
The coordinate of lower Center of Pressure:
X_instant=2lg (w1+w2-w3-w4)/(w1+w2+w3+w4)
Y_instant=2wd (w1-w2-w3+w4)/(w1+w2+w3+w4)
1.2) the coordinate COP_instant (x_instant, y_intant) for the instant underfooting Center of Pressure being calculated is passed through
After crossing exponential smoothing, sampling instant t is obtainednCoordinate record to track COP (x, y), calculation formula is as follows:
Wherein, α is smoothing factor (general value 0.2-0.4, herein value 0.25), (xn-1,yn-1) and (xn,yn) respectively
For tn-1And tnCoordinate on the track COP (x, y) at moment.
Further, the step 2) specifically includes following sub-step:
2.1) left and right of the coordinate of track COP (x, y), front-rear direction are subjected to Savitzky-Golay filtering processing respectively
(recommending window width is 7, recommendation order is 3)；
2.2) track after filtering processing is calculated separately respectively according to left and right, front-rear direction referring to label T of corresponding time
The numerical gradient of a time obtains the velocity vector sequence Vel (xvel, yvel) of track；
2.3) to velocity vector sequence Vel (xvel, yvel) repeat step 2.1) and 2.2) in track COP (x,
Y) operation executed, obtains the vector acceleration sequence Acc (xacc, yacc) of track.
Further, the step 3) specifically includes following sub-step:
3.1) t in Acc (xacc, yacc) is calculatedn-1And tnThe adjacent two vector accelerations Acc at momentn-1(xaccn-1,
yaccn-1) and Accn(xaccn,yaccn) terminal be wired to the common starting point of two vectors vertical line H length h, calculation formula is such as
Under:
λ=(| | Accn-1||+||Accn||+||Accn-1-Accn||)/2
Wherein, λ is auxiliary parameter；
3.2) vertical o'clock of vertical line H is calculated separately to two vector Accn-1(xaccn-1,yaccn-1) and Accn(xaccn,yaccn)
Terminal distance, calculation formula is as follows:
Wherein, α1And α2It is the vertical point of vertical line H respectively to Accn-1(xaccn-1,yaccn-1) and Accn(xaccn,yaccn)
The distance of terminal, it is positive and negative to represent point position of hanging down, it is all that timing indicates at vertical o'clock on two terminal lines, if there is a negative value,
On the reverse extending line of its corresponding two terminals line；
If 3.3) α1·α2> 0, then acceleration representated by the vertical line is the minimum acceleration in the section, and numerical value is
accmin=h calculates corresponding time point, and calculation formula is as follows:
If α1·α2< 0, then Accn-1(xaccn-1,yaccn-1) or Accn(xaccn,yaccn) be the section minimum
Acceleration determines the numerical value acc of minimum acceleration more afterwardsminAnd corresponding time tmin；
3.4) to vector acceleration sequence Acc (xacc, yacc), adjacent vector acceleration repeats above-mentioned calculating two-by-two, obtains
Complete acceleration value sequence Acc_interval and corresponding time T_interval.
Further, the step 5) specifically includes following sub-step:
5.1) the upper track COP (x, y) of each moment in time tag sequence T_interp is calculated by cubic spline interpolation
Position coordinates, form discrete loci, be denoted as COP_rough；
5.2) connection COP_rough is calculated by cubic spline interpolation, obtains it included in the time tag sequence T
When the position coordinates that engrave, form continuous track, i.e. COP_interp (x_interp, y_interp)；
5.3) COP_resi (x_ is calculated according to track COP (x, y) and COP_interp (x_interp, y_interp)
Resi, y_resi), calculation formula is as follows:
Wherein, COP_interp (x_interp, y_interp) is passively slow wandering track, COP_resi (x_
Resi, y_resi) be active the track quickly adjusted.
A kind of balanced capacity detection device suitable for decomposing trajectories technology proposed by the present invention, the detection device include:
Medical D.C. regulated power supply, DC-DC isolation module, Voltage stabilizing module, rectangular platform, pressure sensor, signal imitation processing module,
Multiple signals synchronize A/D module, microprocessor module and magnetic coupling isolation module；
The medical D.C. regulated power supply, DC-DC isolation module, Voltage stabilizing module are sequentially connected；
Four corners of the rectangular platform arrange that pressure sensor, four pressure sensors connect at signal imitation respectively
After reason mould is filtered and amplifies, it is commonly connected to the synchronous A/D module of multiple signals；
The synchronous A/D module of the multiple signals, microprocessor module, magnetic coupling isolation module are sequentially connected；
The DC-DC isolation module is connect with four pressure sensors；The Voltage stabilizing module be signal imitation processing module,
Multiple signals synchronize A/D module, microprocessor module and magnetic coupling isolation and provide burning voltage；
The synchronous A/D module of the multiple signals by input clamping protection, frequency overlapped-resistable filter, sample/hold amplifier with
And high-speed ADC realizes the sampling of signal, guarantees the synchronization of four road signals；
The record for the data that the microprocessor module is used to complete to sample AD, storage, upload；
The magnetic coupling isolation module guarantees medical number for realizing the electrical isolation of data acquisition circuit and upstream port
According to the electrical safety of acquisition equipment.
Signal processing method in the present invention can help to obtain more relevant slow with central nervous system control ability
Ingredient and with the more relevant fast component track of peripheral neverous system control ability, by the discrete journey for calculating this two parts track
The indexs of correlation such as degree and movement velocity can assess stability and its adjusting that the body of tested crowd itself is stood respectively
The power of function, to provide more perfect balanced capacity evaluation.
| EO | EC | |||||
| COP | Interp | Resi | COP | Interp | Resi | |
| RMSD ML | 3.11 | 2.89 | 0.75 | 3.27 | 2.98 | 1.11a |
| (mm) | (0.96) | (0.92) | (0.45) | (1.08) | (1.03) | (0.73) |
| mVel ML | 5.20 | 3.41 | 2.75 | 6.19a | 3.53 | 3.94a |
| (mm/s) | (1.63) | (0.82) | (1.55) | (2.34) | (0.84) | (2.39) |
| RMSD AP | 4.24 | 4.03 | 0.94 | 4.50 | 4.12 | 1.47a |
| (mm) | (1.26) | (1.27) | (0.54) | (1.41) | (1.36) | (0.93) |
| mVel AP | 6.59 | 4.20 | 3.71 | 8.52a | 4.65a | 5.64a |
| (mm/s) | (1.83) | (0.97) | (1.83) | (2.81) | (0.98) | (3.04) |
Upper table is the result of 124 normal personnel of actual measurement, in which: ML, AP respectively represent left and right and front-rear direction；EO,
EC, which is represented, to open eyes and closes one's eyes；RMSD and mVel is respectively trajectory-based calculating parameter, RMSD full name root-mean-square
Deviation, that is, root-mean-square-deviation, characterize the dispersion degree of data, and mVel is the average speed of track.In table,
COP, Interp, Resi respectively indicate the original track COP, slow component track and fast component track in decomposition result, and subscript a is indicated
The significance of difference (P < 0.05) between each each parameter eye opening of signal is closed one's eyes.We by closing one's eyes it can be found that separated by probation
After the visual information for guaranteeing balance, increase, other than the increased variation of speed in addition to COP itself shakes range, slow component variation
It is unobvious, and fast component variation is obvious, shaking amplitude and speed significantly increase, that is to say, that shaking degree after human body is closed one's eyes
Raising the overwhelming majority be derived from fast component variations.This can illustrate to close one's eyes have no effect under human body midstance it is intrinsic
Stability, but because it has separated visual information, human body transfers to keep standing balance by frequent attitude regulation.
Technical solution of the present invention and beneficial effect is described in detail in above-described specific embodiment, Ying Li
Solution is not intended to restrict the invention the foregoing is merely presently most preferred embodiment of the invention, all in principle model of the invention
Interior done any modification, supplementary, and equivalent replacement etc. are enclosed, should all be included in the protection scope of the present invention.
Claims (7)
1. a kind of human body, which is stood, shakes signal decomposition method, which is characterized in that method includes the following steps:
1) foot Center of Pressure track COP (x, y) and time flag sequence T are recorded using test equipment, wherein x is right and left
To coordinate, y is front-rear direction coordinate；
2) according to known foot Center of Pressure track COP (x, y), the vector acceleration sequence Acc of track movement is obtained
(xacc, yacc) and corresponding time flag sequence T, wherein xacc and yacc is respectively the acceleration on left and right and front-rear direction
Spend component；
3) according to vector acceleration sequence Acc (xacc, yacc) and its corresponding time flag sequence T, adjacent two-by-two adopt is calculated
Minimum acceleration and its corresponding time label between sampling point, obtain corresponding sequence Acc_interval and T_interval；
4) set acceleration rate threshold, screen numerical values recited in sequence Acc_interval be less than threshold value acceleration and its to it is corresponding when
Between label, obtain corresponding time tag sequence T_interp；
5) position that original foot Center of Pressure track COP (x, y) is inscribed when each in sequence label T_interp is inserted
Value, which reconstructs, obtains representing passively slowly wandering track COP_interp (x_interp, y_interp), and track COP (x,
It y) is the track COP_resi quickly adjusted for representing active with the difference of COP_interp (x_interp, y_interp)
(x_resi, y_resi), wherein x_interp, x_resi are the position of its track in the lateral direction, y_interp, y_resi
For the position of its track in the longitudinal direction.
2. a kind of human body according to claim 1, which is stood, shakes signal decomposition method, which is characterized in that the step 1) tool
Body includes following sub-step:
1.1) test equipment includes rectangular platform, four corners of rectangular platform according to after left front, left back, right, right front sequence according to
Four pressure sensors of secondary arrangement, the collected signal of institute are followed successively by w1、w2、w3、w4, the distance of former and later two pressure sensors
And the distance of two pressure sensors in left and right is respectively wd and lg；In sampling instant tnIt presses human body standing underfooting when on platform
The coordinate at power center:
X_instant=2lg (w1+w2-w3-w4)/(w1+w2+w3+w4)
Y_instant=2wd (w1-w2-w3+w4)/(w1+w2+w3+w4)
1.2) the coordinate COP_instant (x_instant, y_intant) for the instant underfooting Center of Pressure being calculated is by referring to
After number is smooth, sampling instant t is obtainednCoordinate record to track COP (x, y), calculation formula is as follows:
Wherein, α is smoothing factor, takes 0.2-0.4, (xn-1,yn-1) and (xn,yn) it is respectively tn-1And tnMoment track COP (x,
Y) coordinate on.
3. a kind of human body according to claim 1, which is stood, shakes signal decomposition method, which is characterized in that the step 2) tool
Body includes following sub-step:
2.1) left and right of the coordinate of track COP (x, y), front-rear direction are subjected to Savitzky-Golay filtering processing respectively；
2.2) when the track after filtering processing being calculated separately each referring to label T of corresponding time according to left and right, front-rear direction
Between numerical gradient, obtain the velocity vector sequence Vel (xvel, yvel) of track；
2.3) to velocity vector sequence Vel (xvel, yvel) repeat step 2.1) and 2.2) in track COP (x, y) is held
Capable operation obtains the vector acceleration sequence Acc (xacc, yacc) of track.
4. a kind of human body according to claim 1, which is stood, shakes signal decomposition method, which is characterized in that the step 3) tool
Body includes following sub-step:
3.1) t in Acc (xacc, yacc) is calculatedn-1And tnThe adjacent two vector accelerations Acc at momentn-1(xaccn-1,yaccn-1)
And Accn(xaccn,yaccn) terminal be wired to the common starting point of two vectors vertical line H length h, calculation formula is as follows:
λ=(| | Accn-1||+||Accn||+||Accn-1-Accn||)/2
Wherein, λ is auxiliary parameter；
3.2) vertical o'clock of vertical line H is calculated separately to two vector Accn-1(xaccn-1,yaccn-1) and Accn(xaccn,yaccn) end
The distance of point, calculation formula are as follows:
Wherein, α1And α2It is the vertical point of vertical line H respectively to Accn-1(xaccn-1,yaccn-1) and Accn(xaccn,yaccn) terminal
Distance, it is positive and negative to represent a point position of hanging down, be all that timing indicates to hang down o'clock on two terminal lines, it is right at its if there is a negative value
On the reverse extending line for the two terminal lines answered；
If 3.3) α1·α2> 0, then acceleration representated by the vertical line is the minimum acceleration in the section, numerical value accmin=
H calculates corresponding time point, and calculation formula is as follows:
If α1·α2< 0, then Accn-1(xaccn-1,yaccn-1) or Accn(xaccn,yaccn) it is that the minimum of the section accelerates
Degree determines the numerical value acc of minimum acceleration more afterwardsminAnd corresponding time tmin；
3.4) to vector acceleration sequence Acc (xacc, yacc), adjacent vector acceleration repeats above-mentioned calculating two-by-two, obtains complete
Acceleration value sequence Acc_interval and corresponding time T_interval.
5. a kind of human body according to claim 1, which is stood, shakes signal decomposition method, which is characterized in that in the step 4)
Acceleration rate threshold takes 10-50mm/s2。
6. a kind of human body according to claim 1, which is stood, shakes signal decomposition method, which is characterized in that the step 5) tool
Body includes following sub-step:
5.1) position of the upper track COP (x, y) of each moment in time tag sequence T_interp is calculated by cubic spline interpolation
Coordinate is set, discrete loci is formed, is denoted as COP_rough；
5.2) connection COP_rough is calculated by cubic spline interpolation, at the time of obtaining it included in time tag sequence T
On position coordinates, form continuous track, i.e. COP_interp (x_interp, y_interp)；
5.3) COP_resi (x_resi, y_ are calculated according to track COP (x, y) and COP_interp (x_interp, y_interp)
Resi), calculation formula is as follows:
Wherein, COP_interp (x_interp, y_interp) be passively slowly wandering track, COP_resi (x_resi,
It y_resi is) track of active quickly adjusted.
7. a kind of balanced capacity detection device suitable for decomposing trajectories technology, which is characterized in that the detection device includes: medical
D.C. regulated power supply, DC-DC isolation module, Voltage stabilizing module, rectangular platform, pressure sensor, signal imitation processing module, multichannel
Signal synchronizes A/D module, microprocessor module and magnetic coupling isolation module；
The medical D.C. regulated power supply, DC-DC isolation module, Voltage stabilizing module are sequentially connected；
Four corners of the rectangular platform arrange that pressure sensor, four pressure sensors connect signal imitation processing mould respectively
After being filtered and amplifying, it is commonly connected to the synchronous A/D module of multiple signals；
The synchronous A/D module of the multiple signals, microprocessor module, magnetic coupling isolation module are sequentially connected；
The DC-DC isolation module is connect with four pressure sensors；The Voltage stabilizing module is signal imitation processing module, multichannel
Signal synchronizes A/D module, microprocessor module and magnetic coupling isolation and provides burning voltage；
The synchronous A/D module of the multiple signals passes through input clamping protection, frequency overlapped-resistable filter, sample/hold amplifier and height
Fast ADC realizes the sampling of signal, guarantees the synchronization of four road signals；
The record for the data that the microprocessor module is used to complete to sample AD, storage, upload；
The magnetic coupling isolation module guarantees that medical data is adopted for realizing the electrical isolation of data acquisition circuit and upstream port
Collect the electrical safety of equipment.
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