CN109470502A - A kind of ectoskeleton Comfort Evaluation device and evaluation method based on multisensor - Google Patents
A kind of ectoskeleton Comfort Evaluation device and evaluation method based on multisensor Download PDFInfo
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Abstract
The invention discloses a kind of ectoskeleton Comfort Evaluation device and evaluation method based on multisensor, belong to wearable device Comfort Evaluation field, solves ectoskeleton Comfort Evaluation indefiniteness, without quantitative problem, scientific basis is provided for the efficient ectoskeleton comfort design of fast standard in the future.A kind of ectoskeleton Comfort Evaluation device based on multisensor, including computer, bluetooth module, bandage, pressure sensor and myoelectric sensor；Bandage is for simulating wearable device；Pressure sensor acquires bandage to the pressure of human body and the pressure in vola；Myoelectric sensor and direct body contact, for acquiring electromyography signal；Pressure sensor and the data of myoelectric sensor acquisition are transferred in computer by bluetooth module.The evaluation method of ectoskeleton Comfort Evaluation device based on multisensor, by wearing comfort, moving equilibrium, the comprehensive analysis of muscular fatigue degree, the comfort level of the evaluation ectoskeleton of qualitative, quantitative.
Description
Technical field
The invention belongs to wearable device Comfort Evaluation technical field, in particular to a kind of ectoskeleton based on multisensor
Comfort Evaluation device and evaluation method.
Background technique
Wearable device has obtained the extensive concern of science and technology and industrial circle in recent years.From Google Glass to Jowbone
Bracelet arrives the Intelligent hardware of domestic various software and hardware combinings again, oneself starts to walk out laboratory wearable device, becomes people day
Often one indispensable in life scientific and technological electronic product.
Wearable ectoskeleton equipment is the intelligence of physical strength and people in combination with machine, and it is man-machine that people can be allowed to dress
Integrated machine equipment receives instruction and completes the far super task of profile in one's power.From the market part of concept proposed by now
Volume is growing day by day, and ectoskeleton wearable device has played huge effect in fields such as science and technology, military affairs, medical treatment, energizations.
Ectoskeleton equipment is focusing on people always, and in this set system, machine and people are a kind of relationships of symbiosis.People and
All the time interaction carrying out with machine, during this, people needs and machine harmoniously safely cosily symbiosis,
To reach the work purpose for dressing the equipment.How to allow user when dressing the equipment, it is good physiologically having
Usage experience is ectoskeleton equipment Design and the critical issue used.
Herein it is proposed that the concept of comfort level expresses this good experience physiologically.Also mean that we want
This concept of comfort level is measured by objective Comfort Evaluation.Facing to increasingly intelligence and complicated design requirement, and
The more diversified market demand needs the Comfort Evaluation standard that can refer to, to help designer is more efficient reasonably to set
Count product.At the same time, which may also aid in that user is more acurrate to propose demand more humanely to obtain
It is adapted to his personal wearable equipment.
Summary of the invention
In view of the above analysis, the present invention is intended to provide a kind of ectoskeleton Comfort Evaluation device based on multisensor and commenting
Valence method solves ectoskeleton Comfort Evaluation indefiniteness, without quantitative problem, for the efficient ectoskeleton of fast standard in the future
Comfort design provides scientific basis.
The purpose of the present invention is mainly achieved through the following technical solutions:
A kind of ectoskeleton Comfort Evaluation device based on multisensor, including computer, bluetooth module, bandage, pressure pass
Sensor and myoelectric sensor；
Bandage includes ectoskeleton thigh bar bandage, ectoskeleton shank bar bandage and ectoskeleton waist bandage, is worn for simulating
Wear equipment；
Pressure sensor includes thigh pressure sensor, shank pressure sensor, lumbar pressure sensor and plantar pressure
Sensor, thigh pressure sensor, shank pressure sensor and lumbar pressure sensor for acquiring bandage to the pressure of human body,
Plantar pressure sensor is used to acquire the pressure in vola；
Myoelectric sensor and direct body contact, for acquiring electromyography signal；
Pressure sensor and the data of myoelectric sensor acquisition are transferred in computer by bluetooth module.
Further, thigh pressure sensor, shank pressure sensor and lumbar pressure sensor are by way of suture
Corresponding ectoskeleton thigh bar bandage, ectoskeleton shank bar bandage and ectoskeleton waist bandage are fixed on close to the side of human body.
Further, myoelectric sensor is equipped with eight, is respectively distributed to the left bicipital muscle of arm, the right bicipital muscle of arm, the left upper arm three
Flesh, the right triceps muscle of arm, left gluteus maximus, right gluteus maximus, left gastrocnemius and right gastrocnemius area.
Further, there are three plantar pressure sensor is set, toes, front foot and heel area are respectively distributed to.
A kind of evaluation method of the ectoskeleton Comfort Evaluation device based on multisensor, which is characterized in that including following
Step:
S1. the data of thigh pressure sensor, shank pressure sensor, lumbar pressure sensor are acquired, are handled,
Obtain wearing comfort degree index P1；
S2. the data of plantar pressure sensor are acquired, handled, obtain wearing comfort degree index P2；
S3. the data of myoelectric sensor are acquired, handled, obtain wearing appropriate index P3；
S4. P is taken1、P2、P3Average value obtain the comfort level of wearable device comprehensive and quantitative.
Further, comfort level index P1It is obtained by following formula,
Wherein, when F is that bandage is fixed on human body, the pressure that bandage generates human body acquires data by pressure sensor.
Further, comfort level index P2It is obtained by following formula,
P2=0.5*100*Ssingle_stance+0.5*100*(1-ASI)
In formula, Ssingle_stanceFor the ratio of left and right side single leg support time, ASI is that left and right side absolute symmetry refers to
Mark.
Further, Ssingle_stanceCloser to 1, both legs walking step state similitude is higher, and gait balance is better；
Ssingle_stanceIt is obtained by following formula,
In formula, Tsingle_stance_rightFor right leg single leg support time, Tsingle_stance_leftWhen for left leg single leg support
Between.
Further, ASI value is smaller, and both legs walking step state is similar, and gait balance is better；ASI is obtained by following formula,
In formula, Tsingle_stance_rightFor right leg single leg support time, Tsingle_stance_leftWhen for left leg single leg support
Between.
Further, comfort level index P3It is obtained by following formula,
In formula, RMDFFor the median frequency slope value in electromyography signal, RMNFFor the average frequency slope value in electromyography signal.
Compared with prior art, the present invention has the beneficial effect that:
1) the ectoskeleton Comfort Evaluation device of the invention based on multisensor, can be qualitative, quantitative by the device
The comfort index for providing exoskeleton robot, establish the Comfort Evaluation system of a set of specification, it is comfortable to have filled up ectoskeleton
The blank of property evaluation system；It can be before designing and making ectoskeleton batch production, it will be able to which comfort is done to its sample
Full forecast, thus Instructing manufacture design and improvement.
2) by the cooperation of bandage and pressure sensor, data is acquired, are handled, can obtain quantitative passing through bandage
Fixed wearable device comfort level index；The data of plantar pressure sensor are acquired, are handled, quantitative foot can be obtained
Wearable device comfort level index；The data of myoelectric sensor are acquired, are handled, quantitative human muscle's comfort level can be obtained
Index；Take P1、P2、P3Average value obtain the comfort level of wearable device comprehensive and quantitative.The present invention passes through to ectoskeleton wearable device
Wearing comfort, moving equilibrium, the comprehensive analysis of muscular fatigue degree are carried out, the comfort level of ectoskeleton has been carried out accurate comprehensive
Close evaluation.
Other features and advantages of the present invention will illustrate in the following description, also, part can become from specification
It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention can be by written explanation
Specifically noted structure is achieved and obtained in book and claims.
Detailed description of the invention
Attached drawing is only used for showing the purpose of specific embodiment, and is not to be construed as limiting the invention, in entire attached drawing
In, identical appended drawing reference indicates identical component.
Fig. 1 ectoskeleton Comfort Evaluation schematic device；
Fig. 2 ectoskeleton Comfort Evaluation quantification of targets flow chart；
The pressure value curve of toes, front foot and heel area in Fig. 3 walking process；
Fig. 4 electromyography signal pretreatment process；
1 left foot tonogram of Fig. 5 embodiment；
1 right crus of diaphragm tonogram of Fig. 6 embodiment.
Appended drawing reference:
1- computer；2- bluetooth module；3- ectoskeleton thigh bar bandage；4- ectoskeleton shank bar bandage；5- ectoskeleton waist
Bandage；6- thigh pressure sensor；7- shank pressure sensor；8- lumbar pressure sensor；9- plantar pressure sensor；10-
Myoelectric sensor；11- heel；12- front foot；13- toes.
Specific embodiment
Specifically describing the preferred embodiment of the present invention with reference to the accompanying drawing, wherein attached drawing constitutes the application a part, and
Together with embodiments of the present invention for illustrating the principle of the present invention, it is not intended to limit the scope of the present invention.
A kind of ectoskeleton Comfort Evaluation device based on multisensor, as shown in Figure 1, include computer 1, bluetooth module 2,
Ectoskeleton thigh bar bandage 3, ectoskeleton shank bar bandage 4, ectoskeleton waist bandage 5, thigh pressure sensor 6, shank pressure
Sensor 7, lumbar pressure sensor 8, plantar pressure sensor 9 and myoelectric sensor 10.
Thigh pressure sensor 6, shank pressure sensor 7 and lumbar pressure sensor 8 are fixed on by way of suture
Corresponding ectoskeleton thigh bar bandage 3, ectoskeleton shank bar bandage 4 and ectoskeleton waist bandage 5 are close to the side of human body；Vola
Pressure sensor is fabricated to insole soft board pattern, is placed in shoes, there are three plantar pressure sensor is set, is respectively distributed to toes
13,11 region of front foot 12 and heel；Myoelectric sensor is equipped with eight, is respectively distributed to the left bicipital muscle of arm, the right bicipital muscle of arm, the left upper arm
Triceps, the right triceps muscle of arm, left gluteus maximus, right gluteus maximus, left gastrocnemius and right gastrocnemius area.
Thigh pressure sensor, shank pressure sensor and lumbar pressure sensor are for acquiring bandage to the pressure of human body
Power, plantar pressure sensor are used to acquire the pressure in vola；Myoelectric sensor and direct body contact acquire electromyography signal；It passes
The data that sensor 6,7,8,9,10 acquires are transferred in computer by bluetooth module.
A kind of evaluation method of the ectoskeleton Comfort Evaluation device based on multisensor, as shown in Figure 2.
S1. the data of thigh pressure sensor, shank pressure sensor, lumbar pressure sensor are acquired, are handled,
Obtain wearing comfort degree index P1；
Thigh pressure sensor 6, shank pressure sensor 7 and lumbar pressure sensor 8 measure the pressure that bandage gives human body
Force value F, and wearing comfort degree index P is obtained according to algorithm1, the dermoskeleton being fixed by bandage be can reflect out by this value
The comfort of bone wearing.Interaction is fixed by bandage with ectoskeleton in human body, and the tightness of bandage directly affects human body
The effect of interactive system, bondage is too loose, and human body and ectoskeleton cannot achieve interaction；If bondage is too tight, and influences wearing comfort
Property.So needing to select a not only practical but also comfortable bondage pressure limit.Under normal circumstances, bandage is contacted with human muscle,
When pressure value is less than 10N, bandage is loose, slides up and down obvious；When pressure value is greater than 30N, Le can be generated and tie up sense, so selecting herein
It selects range of pressure values and is determined as that comfortably full marks 100, code of points is as follows between 10-30N:
When having the wearable device being fixed greater than 1 by bandage, wearing comfort degree is obtained by the above method respectively,
Then it is averaged to obtain wearing comfort degree index P1。
S2. the data of plantar pressure sensor are acquired, handled, obtain wearing comfort degree index P2。
After putting on ectoskeleton equipment, the variation that can not only cause stress to the place contacted with wearable device also can
It walks to balance to human body and impact, this is also an index for evaluating comfort level.
Plantar pressure sensor 9 measures the plantar pressure value of human body, and obtains wearing comfort degree index P according to algorithm2, lead to
Crossing this value may determine that the walking balance of ectoskeleton；There are three plantar pressure sensor is total, it is respectively distributed to toes, front foot
Area and heel area.
Fig. 3 is the pressure history partial enlargement in three region of heel, front foot and toes in two complete gait cycles
Figure, FheelFor the pressure of heel area, FsoleFor the pressure of forefoot region, FtoeFor the pressure in toes region.It can from Fig. 2
Out, when gait cycle starts, heel first contacts to earth, and heel pressure becomes larger rapidly, and then front foot pressure and toes pressure is also successively
Increase, when sole is liftoff, heel pressure, front foot pressure and toes pressure are successively reduced rapidly, when toes pressure minimizes
When, enter stage shaking peroid.
In a gait cycle, heel pressure and toes pressure are all in unicast crest state, ascent stage and lower depression of order
Section is all monotonous curve.Given threshold Fheel_limit, when heel pressure is by being less than Fheel_limitState becomes greater than Fheel_limitShape
At the time of state, extract as the key frame T for judging heel contactheel；Given threshold Ftoe_limit, when toes pressure is by being greater than
Ftoe_limitState becomes smaller than Ftoe_limitAt the time of state, extraction, which is used as, judges T at the time of toes are liftofftoe。
Assuming that the right crus of diaphragm heel contact moment is Theel_right, right crus of diaphragm toes are liftoff, and the moment is Ttoe_right, left foot heel contact
Moment is Theel_left, left foot toes are liftoff, and the moment is Ttoe_left, then know in i-th of gait cycle, from right side heel contact
As the beginning of a gait cycle, right leg single leg support time Tsingle_stance_rightWith the left leg single leg support time
Tsingle_stance_leftCalculation formula difference is as follows.
Tsingle_stance_right(i)=Theel_left(i+1)-Ttoe_left(i) (II)
Tsingle_stance_left(i)=Theel_right(i+1)-Ttoe_right(i) (III)
Plantar pressure index 1: the ratio S of left and right sides single leg support timesingle_stance, formula is as follows, in formula
Tsingle_stance_left、Tsingle_stance_rightRespectively indicate the left and right side single leg support time.Ssingle_stanceCloser to 1, then
Indicate that both legs walking step state similitude is higher, gait balance is better.Tsingle_stance_left、Tsingle_stance_rightComplete phase
Whens equal, Ssingle_stanceEqual to 1, both legs walking step state is identical at this time, and gait balance is best.
Plantar pressure index 2: left and right sides absolute symmetry index ASI, under formula shown in, T in formulasingle_stance_left、
Tsingle_stance_rightRespectively indicate the left and right side single leg support time.ASI value is smaller, indicates that both legs walking step state is similar, gait
Balance is better, under normal circumstances, it is believed that ASI < 10% can indicate that gait balance is preferable.
Wearing comfort degree index P2 full marks 100 divide, and calculation formula is as follows:
P2=0.5*100*Ssingle_stance+0.5*100*(1-ASI) (VI)
S3. the data of myoelectric sensor are acquired, handled, obtain wearing appropriate index P3；
Wearable device can also impact body muscle fatigue strength, this is also an index P for evaluating comfort level3。
Firstly, the electromyography signal acquired to myoelectric sensor 10 pre-processes, it is illustrated in figure 4 electromyography signal pretreatment
Overall process.
1) mean value is gone
During electromyographic signal collection, register instrument can cause to drift about to the electromyography signal of script zero-mean.Minimizing technology
It is as follows:
Surface myoelectric time series is gone into mean value:
s1(n)=s (n)-mean (s (n)) (VII)
2) high-pass filter for being then 10-20Hz by cutoff frequency.The present embodiment selects cutoff frequency for 16Hz, and 7
Rank, zero phase variation, non-causal Butterworth (butterworth) high-pass filter.
s2(n)=FilterHighpass, cutoff=16(s1(n)) (VIII)
Wherein: s (n) is original electromyography signal discrete-time series,
s1(n) to remove the electromyography signal discrete-time series after mean value,
s2It (n) is filtered electromyography signal discrete-time series.
High-pass filter can at least remove the noise of 3 kinds of separate sources.They are the letter as caused by register instrument respectively
Number drift；Motion artifacts；The interference of part electrocardio.
In myoelectricity collection process, muscle detected flesh opposite with joint relative movement, joint angles variation and electrode
Noise frequency caused by fiber is mobile is generally lower than 5~10Hz, and almost the radio-frequency component of most electromyography signals is equal
More than this range.Therefore, high-pass filter can remove most of motion artifacts in electromyography signal, and to useful myoelectricity
The influence very little of signal.In addition, in electromyography signal the radio-frequency component of 0~20Hz be it is unstable, this is because motor unit
Breaking out frequency has non-stationary property, and in most cases, outburst frequency is in this band limits.Due to myoelectricity
The unstability of these compositions in signal, it should they be considered as noise and eliminated.
3) Hz noise is removed
The main ingredient of ambient noise is Hz noise, and radio-frequency component is in 50Hz.Hz noise influences electromyography signal
Very big, its Amplitude Ration emg amplitude is much larger sometimes, can reach 1~3 order of magnitude, needs to remove power frequency using 50Hz trapper
Interference.
Secondly, carrying out feature extraction to pretreated electromyography signal.Common frequency domain analysis includes median frequency
(median frequency, MDF) and 2 kinds of frequency of average power (mean powerfrequency, MNF).
Median frequency (MDF) is the frequency that power spectrum is divided into upper and lower two equal areas regions, definition are as follows:
The definition of average frequency (MNF) is
In formula: P (f) is the power spectral density function of signal, using the classical power Spectral Estimation skill analyzed based on Fourier
Art estimates P (f)；f0It is the upper limiting frequency of power spectral density, the as half of sample frequency.
Average frequency and median frequency are commonly referred to be stable muscular fatigue indicator, in random or electric induction contraction of muscle
Period, average frequency and median frequency show similar time-varying process: i.e. with the increase of degree of fatigue, electromyography signal
The average frequency and median frequency of energy spectrum reduce.Median frequency and frequency of average power slowly increase in human normal movement
Add, if binding muscle, moves muscle, the two frequencies, which are advanced the speed, to become faster.The slope of two frequencies can react the two frequencies
The variation that rate is advanced the speed, RMDF、RMNFThe slope value for respectively representing median frequency slope value and average frequency, it is optional by testing
Taking two frequency slope threshold values is respectively 0.8 and 0.6, and overage then determines uncomfortable, wearing comfort degree index P3Full marks 100
Point, specific formula for calculation is as follows:
Myoelectric sensor of the present invention is equipped with eight, obtains the comfort level at eight positions in aforementioned manners respectively, then takes
Value obtains wearing comfort degree index P3。
S4. P is taken1、P2、P3Average value obtain the comfort level of wearable device comprehensive and quantitative.
Final ectoskeleton comfort level index P is shown below i.e. as the foundation for judging ectoskeleton comfort level:
P=(P1+P2+P3)/3 (XII)
Ectoskeleton comfort level index P comprehensive score 80 divides above be determined as comfortably.
Embodiment 1
Wearing comfort degree index P1
Experimenter's bandage pressure data: left thigh bandage pressure: 20N；Left leg bandage pressure: 27N；Right thigh bandage pressure
Power: 37N；Right leg bandage pressure: 25N；Waist bandage pressure: 40N.
P1=(PLeft thigh+PLeft leg+PRight thigh+PRight leg+PWaist)/5
={ 100+100+ [100-3* (37-30)]+100+ [100-3* (40-30)] }/5
=100+100+71+100+70=88.2
Wearing comfort degree index P2
From Fig. 5, Fig. 6:
Theel_right(i+1)={ 1.061,2.15,3.45,4.81 }
Ttoe_right(i)={ 0.61,1.73,2.9,4.4 }
Theel_left(i+1)={ 1.42,2.55,3.81,5.12 }
Ttoe_left(i)={ 0.96,2.04,3.31,4.59 }
Tsingle_stance_left(i)=Theel_right(i+1)-Ttoe_right(i)={ 0.45,0.42,0.55,0.41 }, takes
Average value can obtain Tsingle_stance_leftIt is 0.4575.
Tsingle_stance_right(i)=Theel_left(i+1)-Ttoe_left(i)={ 0.5,0.46,0.50,0.53 }, makes even
Mean value can obtain Tsingle_stance_rightIt is 0.4975.
Tsingle_stance_left< Tsingle_stance_right, so Ssingle_stance=0.4575/0.4975=0.92.
Find out the ratio S of left and right sides single leg support timesingle_stanceAverage value is 0.92；Left and right sides absolute symmetry refers to
Marking ASI value is 8.4%.
P2=0.5*100*Ssingle_stance+0.5*100*(1-ASI)
=0.5*100*0.92+0.5*100* (1-0.084)=46+45.8=91.8
Wearing comfort degree index P3
Experimenter's myoelectricity data: left bicipital muscle of arm RMNF、RMNFRespectively 0.6 and 0.3；Right bicipital muscle of arm RMNF、RMNFRespectively
For 0.7 and 0.5；Left triceps muscle of arm RMNF、RMNFRespectively 0.9 and 0.4；Right triceps muscle of arm RMNF、RMNFRespectively 1.2 and 0.6；It is left
Gluteus maximus RMNF、RMNFRespectively 0.9 and 0.7；Right gluteus maximus RMNF、RMNFRespectively 0.75 and 0.71；Left gastrocnemius RMNF、RMNFPoint
It Wei 0.68 and 0.46；Right gastrocnemius RMNF、RMNFRespectively 1.1 and 0.4.
P3=(PThe left bicipital muscle of arm+PThe right bicipital muscle of arm+PThe left triceps muscle of arm+PThe right triceps muscle of arm+PLeft gluteus maximus+PRight gluteus maximus+
PLeft gastrocnemius+PRight gastrocnemius)/8=100+100+ [0.5*100* (1.8-0.9)+50]+
[0.5*100*(1.8-1.2)+50]+[0.5*100*(1.8-0.9)+0.5*100*
(1.6-0.7)]+[0.5*100*(1.6-0.71)+50]+100+[0.5*100*(1.8-1.1)
+ 50] }/8=(100+100+95+80+90+94.5+100+85)/8=93.0625
Ectoskeleton comfort level index P=(P1+P2+P3)/3=(88.2+91.8+93.0625)/3=91.02 comprehensive score
Greater than 80, this ectoskeleton equipment has preferable comfort level.
The present invention provides a kind of ectoskeleton Comfort Evaluation device based on multisensor, can be determined by the device
Property, the quantitative comfort index for providing exoskeleton robot, establish the Comfort Evaluation system of a set of specification, have filled up dermoskeleton
The blank of bone Comfort Evaluation system；It can be before designing and making ectoskeleton, it will be able to the comprehensive pre- of comfort is done to it
It surveys, so that Instructing manufacture designs.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.
Claims (10)
1. a kind of ectoskeleton Comfort Evaluation device based on multisensor, which is characterized in that including computer, bluetooth module, tie up
Band, pressure sensor and myoelectric sensor；
The bandage includes ectoskeleton thigh bar bandage, ectoskeleton shank bar bandage and ectoskeleton waist bandage, is worn for simulating
Wear equipment；
The pressure sensor includes thigh pressure sensor, shank pressure sensor, lumbar pressure sensor and plantar pressure
Sensor, the thigh pressure sensor, shank pressure sensor and lumbar pressure sensor are for acquiring bandage to human body
Pressure, the plantar pressure sensor are used to acquire the pressure in vola；
The myoelectric sensor and direct body contact, for acquiring electromyography signal；
The pressure sensor and the data of myoelectric sensor acquisition are transferred in computer by bluetooth module.
2. the ectoskeleton Comfort Evaluation device according to claim 1 based on multisensor, which is characterized in that described big
It is big that leg pressure sensor, shank pressure sensor and lumbar pressure sensor are fixed on corresponding ectoskeleton by way of suture
Leg bar bandage, ectoskeleton shank bar bandage and ectoskeleton waist bandage are close to the side of human body.
3. the ectoskeleton Comfort Evaluation device according to claim 1 based on multisensor, which is characterized in that the flesh
Electric transducer is equipped with eight, and it is big to be respectively distributed to the left bicipital muscle of arm, the right bicipital muscle of arm, the left triceps muscle of arm, the right triceps muscle of arm, left stern
Flesh, right gluteus maximus, left gastrocnemius and right gastrocnemius area.
4. the ectoskeleton Comfort Evaluation device according to claim 1-3 based on multisensor, feature exist
In being respectively distributed to toes, front foot and heel area there are three the plantar pressure sensor is set.
5. the evaluation side of the ectoskeleton Comfort Evaluation device according to claim 1-4 based on multisensor
Method, which comprises the following steps:
S1. the data of thigh pressure sensor, shank pressure sensor, lumbar pressure sensor are acquired, are handled, obtained
Wearing comfort degree index P1；
S2. the data of plantar pressure sensor are acquired, handled, obtain wearing comfort degree index P2；
S3. the data of myoelectric sensor are acquired, handled, obtain wearing appropriate index P3；
S4. P is taken1、P2、P3Average value obtain the comfort level of wearable device comprehensive and quantitative.
6. the evaluation method of the ectoskeleton Comfort Evaluation device according to claim 5 based on multisensor, feature
It is, the comfort level index P1It is obtained by following formula,
Wherein, when F is that bandage is fixed on human body, the pressure that bandage generates human body acquires data by pressure sensor.
7. the evaluation method of the ectoskeleton Comfort Evaluation device according to claim 5 based on multisensor, feature
It is, the comfort level index P2It is obtained by following formula,
P2=0.5*100*Ssingle_stance+0.5*100*(1-ASI)
In formula, Ssingle_stanceFor the ratio of left and right side single leg support time, ASI is left and right side absolute symmetry index.
8. the evaluation method of the ectoskeleton Comfort Evaluation device according to claim 7 based on multisensor, feature
It is, the Ssingle_stanceCloser to 1, both legs walking step state similitude is higher, and gait balance is better；It is described
Ssingle_stanceIt is obtained by following formula,
In formula, Tsingle_stance_rightFor right leg single leg support time, Tsingle_stance_leftFor the left leg single leg support time.
9. the evaluation method of the ectoskeleton Comfort Evaluation device according to claim 7 based on multisensor, feature
It is, the ASI value is smaller, and both legs walking step state is similar, and gait balance is better；The ASI is obtained by following formula,
In formula, Tsingle_stance_rightFor right leg single leg support time, Tsingle_stance_leftFor the left leg single leg support time.
10. the evaluation method of the ectoskeleton Comfort Evaluation device according to claim 5-9 based on multisensor, special
Sign is, the comfort level index P3It is obtained by following formula,
In formula, RMDFFor the median frequency slope value in electromyography signal, RMNFFor the average frequency slope value in electromyography signal.
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| Publication number | Priority date | Publication date | Assignee | Title |
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