CN109646007A - A kind of human synovial angle measuring system towards wearable flexible sensor - Google Patents
A kind of human synovial angle measuring system towards wearable flexible sensor Download PDFInfo
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- CN109646007A CN109646007A CN201811428758.XA CN201811428758A CN109646007A CN 109646007 A CN109646007 A CN 109646007A CN 201811428758 A CN201811428758 A CN 201811428758A CN 109646007 A CN109646007 A CN 109646007A
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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
- A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
- A61B5/1071—Measuring physical dimensions, e.g. size of the entire body or parts thereof measuring angles, e.g. using goniometers
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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
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
- A61B5/6802—Sensor mounted on worn items
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Abstract
The invention belongs to human synovial angle fields, and disclose a kind of human synovial angle measuring system towards wearable flexible sensor.The measuring system includes measurement module, governor circuit module, signal transmission module and host computer, measurement module includes multiple subchannels arranged side by side, the measuring circuit for including flexible sensor in each subchannel and being connect with the flexible sensor, flexible sensor is attached on human synovial to be detected, and measuring circuit measures the knots modification of capacitor in flexible sensor；Signal transmission module is used to the knots modification for the capacitor that subchannel each in measurement module measures carrying out analog-to-digital conversion and passes to governor circuit module；Multiple digital signals packing from signal transmission module is passed to host computer by governor circuit module, and host computer receiving calculates separately multiple digital signals for the angle change of human synovial to be detected.Through the invention, it realizes the measurement of portable, accurate, stable human synovial angle, adapts to the adverse circumstances such as outdoor, underwater.
Description
Technical field
The invention belongs to human synovial angle fields, more particularly, to a kind of people towards wearable flexible sensor
Body joint angle measuring system.
Background technique
The measurement at human synovial angle has important application in the fields such as medical treatment, military, security protection and film making, uses
It is the hot spot studied in recent years that measuring system, which accurately and easily obtains the joint angle-dependent parameter during human motion,.Exist at present
In human synovial angular measurement field, most popular is the passive catching type equipment based on optical tracking method, such as Vicon
Motion capture system.But the system of the type is more demanding to use environment, using complexity, is unable to reach portable effect,
And exist from occlusion issue, data are easily lost, and lead to the subsequent a large amount of loss of data of needs；In the measuring system based on IMU
Middle measuring signal is easy drift, causes cumulative errors big；Measuring system based on sEMG passes through acquisition human skin surface layer telecommunications
Number, but the measuring signal is faint, and anti-interference is particularly poor；Mechanical wearable device volume is big, quality weight, to the fortune of subject
Dynamic obstruction is larger, and then designing a portable, accurate, stable wearable movement measurement system has scientific research and market value.
Summary of the invention
Aiming at the above defects or improvement requirements of the prior art, the present invention provides one kind for measuring human synovial angle
Flexible capacitance type sensor, wherein by the design to flexible sensor and other modules matched with the flexible sensor,
The characteristic that capacitance change is directly proportional to variable quantity is stretched in flexible sensor is taken full advantage of, by detecting to obtain flexible sensor
The variable quantity of middle capacitor rapidly and accurately reflects the variation of human synovial angle, which realizes portable, accurate, stable
Attitude measurement, adapt to the adverse circumstances such as outdoor, underwater, and observe human body sport parameter variation in real time on host computer,
And equipment cost is low, without expensive ancillary equipment, improves integrated level, reduces lower deployment cost.
To achieve the above object, it is proposed, according to the invention, provide a kind of human synovial angle towards wearable flexible sensor
Measuring system, which is characterized in that the measuring system includes measurement module, governor circuit module, signal transmission module and host computer,
Wherein,
The measurement module includes multiple subchannels arranged side by side, include in each subchannel flexible sensor and with the flexibility
The measuring circuit of sensor connection, the flexible sensor are attached on human synovial to be detected, human body joint motion to be detected
When drive the flexible sensor to stretch, so that its capacitor is changed, the measuring circuit is used to measure the change of the capacitor
Amount；
The signal transmission module is connect with the measurement module, for measuring subchannel each in the measurement module
The knots modification of capacitor carry out analog-to-digital conversion, and the multiple digital signals obtained after conversion are passed into the governor circuit mould
Block；
The governor circuit module is connect with the host computer, for receiving multiple numbers from the signal transmission module
Word signal simultaneously passes to the host computer by communications protocol after being wrapped into, and the host computer receives the multiple digital signal
Afterwards, it will be calculated separately to multiple digital signals as the angle change of human synovial to be detected, and calculated result will be shown, simultaneously should
Host computer is also used to control the switch of the measurement module.
It is further preferred that the flexible sensor includes flexible substrate and parallel plate electrode, the flexible substrate is using soft
Property non-conducting material be made, the parallel plate electrode is in a liquid state, and opposite be arranged in parallel in the flexible substrate forms flexible electrical
Hold, one end of the parallel plate electrode and external test circuit connection, when the sensor is attached at joint to be measured, joint to be measured
The flexible substrate is stretched when movement, to stretch the length and width that the parallel plate electrode changes the parallel plate electrode, is changed with this
Become the capacitor between the parallel plate electrode, external test circuit calculates acquisition joint motions to be measured by monitoring the capacitance change
When angle change, to realize the measurement of human synovial angle.
It is further preferred that the raw material of the flexible substrate preferably use platinum catalysis organosilicon.
It is further preferred that the parallel plate electrode preferably uses liquid metal-gallium indium eutectic molding.
It is further preferred that the distance between described parallel plate electrode relatively disposed in parallel is preferably 0.5mm~2.5mm.
It is further preferred that the host computer preferably calculates the variation of joint angles to be detected according to following expression formula:
Wherein, Δ C is the variable quantity of capacitor, and Δ θ is the corner in joint to be detected, and r is articulation radii, εrIt is dielectric layer phase
To dielectric constant, d is the spacing in flexible sensor between parallel plate electrode, and w is the width of parallel plate electrode in flexible sensor, εo
It is the dielectric constant of air.
It is further preferred that the communications protocol preferably uses RS485, CAN or IIC.
It is further preferred that it is preferable to use STM32 embeded processors to multiple digital signals for the governor circuit module
It is packaged.
It is further preferred that being provided with bluetooth module in the host computer and governor circuit module, transmitted convenient for data.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, can obtain down and show
Beneficial effect:
1, the present invention is linked together using flexible sensor and measuring circuit, realizes the modularization of measurement and control,
Bring benefit has two aspects, and on the one hand output is digital signal, can reduce outside noise interference, improve measurement result
On the other hand accuracy reduces the generation of parasitic capacitance, to improve the accuracy of sensor；
2, measuring system of the present invention measures joint angle, on the one hand, flexible sensor is close to human body surface, can accurately reflect
Joint angle variation；On the other hand, capacitance signal be capable of fast and stable reflection movement variation, the elongation of flexible sensor with
The linearity between capacitance variations value reaches 99.9%, can accurately reflect that joint angle changes；
3, measuring system provided by the invention uses flexible sensor, light-weight, can reduce and measure system in measurement process
The obstruction united to human motion has wearable property and reusability, and the installation and unloading of sensor are very convenient, structure letter
It is single, additional aids are not necessarily to, and there is waterproof action, can be used in such as field, under water complicated rugged environment；
4, the sample frequency that measuring system provided by the invention is up to 90HZ can be used for the measurement of strenuous exercise, such as
It runs, play badminton, play basketball and swims, using bus protocol, there is address discriminating function, can be added or remove at any time
Sensor, host computer procedure facilitate debugging and control, have good human-computer interaction characteristic.
Detailed description of the invention
Fig. 1 is that the human synovial angle constructed by preferred embodiment according to the invention towards wearable flexible sensor is surveyed
Measure system structure diagram.
Fig. 2 is the structural schematic diagram of flexible sensor ontology constructed by preferred embodiment according to the invention；
Fig. 3 a is the online serial ports of measurement module of single and multiple parallel connections constructed by preferred embodiment according to the invention
Test result after reading data in host computer shows figure；
Fig. 3 b is that the measurement module of single and multiple parallel connections constructed by preferred embodiment according to the invention is read offline
There are the test result display figures after the file in TF card in host computer；
Fig. 4 is the schematic diagram of the measurement human synovial angle of measuring system constructed by preferred embodiment according to the invention；
Angle change schematic diagram when Fig. 5 is sensor measurement knee joint constructed by preferred embodiment according to the invention；
Fig. 6 is sensor measurement schematic illustration constructed by preferred embodiment according to the invention,
In all the appended drawings, identical appended drawing reference is used to denote the same element or structure, in which:
1- conducting wire 2- fixing end 3- flexible substrate 4- parallel substrate 5- sheet metal
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
Not constituting a conflict with each other can be combined with each other.
Fig. 1 is that the human synovial angle constructed by preferred embodiment according to the invention towards wearable flexible sensor is surveyed
System structure diagram is measured, as shown in Figure 1, a kind of human synovial angle measuring system towards wearable flexible sensor, this is
System includes measurement module, signal transmission module, the governor circuit module of separation and upper display control module.Measurement module includes
The wearable flexible strain transducer and measuring circuit of multiple measurement joint positions are set.Strain transducer includes flexible capacitor
Sensor body, capacitance signal measuring circuit and bus communication module；Governor circuit module includes that MCU, power module, bus are logical
The bluetooth module and TF card module of news and serial communication module and assortable selection；Host computer includes display module, control module
With serial communication module and optional bluetooth module.The data for collecting multisensor are transmitted to host computer, to realize reality
When processing, show and save exercise data function.
Fig. 2 is the structural schematic diagram of flexible sensor ontology constructed by preferred embodiment according to the invention, such as Fig. 2 institute
Show, flexible sensor ontology is as non-conductive flexible substrate 3, parallel plate electrode 4, sheet metal 5 as made of liquid metal spray, thin
The part such as conducting wire 1 and nylon fixed agraffe forms.The conducting wire 1 drawn from sensor internal pole plate, for accessing measuring circuit；
The fixing end 2 of sensor, velcro fastener is posted in bottom, for sensor to be fixed on joint of lower extremity measuring point；Sensor knot
Capacitor arrangement is formed using parallel plate electrode on structure, inside is embedded with the parallel plate electrode 4 of two pieces of faces, is in a liquid state, to realize sensing
Device is suitable for the skin surface large deformation operating condition of human body lower limbs movement and generation, and the material that the flexible substrate of sensor uses is one
Kind platinum catalysis organosilicon, i.e. Ecoflex.It is interior for the normal work for guaranteeing sensor internal sensor module during large deformation
The parallel plate electrode 4 of two pieces of embedding faces is molded with by liquid metal-gallium indium eutectic, sheet metal, using thin in the present embodiment
For increasing to the multi-contact surface product of conducting wire and parallel plate electrode the end of pole plate is arranged in, the end of pole plate is by scale copper in copper sheet
And conducting wire 1 is drawn, for accessing measuring circuit.
The characteristics of due to moulding process, and in view of the factor that pole plate spacing can become smaller in sensor drawing process, pole
Minimum spacing is preferably 0.5mm between plate；After wearing in view of sensor, if sensor thickness is excessive, wearing will affect
Comfort, and the numerical value of sensor can become smaller, and vulnerable to the interference of noise, therefore maximum spacing is preferably 2.5mm
The flexible substrate of sensor is molded with by the shaped deposition method of forming, by injecting equal proportion mixing in a mold
Ecoflex-A, B mixed solution curing molding forms, and the fixed part at sensor both ends is adhesive with velcro fastener, for dressing
In each joint of lower limb.
Flexible strain transducer ontology uses plate capacitor structure, i.e. pole plate-dielectric-pole plate sandwich knot
Structure realizes that athletic posture measures by converting the deformation of fixed point to the capacitance variations of flexible sensor.Further
Ground can carry out topological network connection using star-like, bus structures between sensor, to realize multiposition while measure.
The capacitance signal generated when measuring circuit acquisition flexible sensor deformation, and can be by adjusting concatenated fixed capacity
To adjust the range of input capacitance；Capacitance signal is carried out analog-to-digital conversion by signal transmission module, then the digital signal of generation is led to
It crosses communications protocol and is sent back to governor circuit module.Further, communications protocol can be realized using RS485, CAN or IIC etc.
The network topology structure of anticipation.
Governor circuit module carries out packing processing to multichannel data using STM32 embeded processor, can pass through a variety of sides
Formula stores or is sent to upper control computer.Further, governor circuit module can pass through TF card offline storage capacitor number
According to so as to the analysis of further progress data；Or it is communicated by wired form by I/O communications protocol and host computer；Or
It is communicated using the portable equipments such as the wireless modes such as such as Bluetooth protocol and mobile phone.Further, governor circuit module further includes 5VUSB
Power supply module and lithium battery Voltage stabilizing module, for generating stable power supply supply；The governor circuit module includes RS485, CAN
With UART communication protocol module, and TF card module and bluetooth module can be loaded as desired.
The acquisition that the host computer is used to control measuring system starts and suspends, and the multichannel number of energy real-time rendering acquisition
According to, and there is special modality to show and X-axis, Y-axis indication range regulatory function.Further, host computer also has preliminary filter
Wave and preservation screenshot function.
Measuring circuit is directly embedded in flexible sensor, is reduced the length of analog circuit signal transmission and can be lowered the external world
Noise jamming.Measuring circuit leaves two CAN communication interfaces, a program downloading connects while guaranteeing volume minimization
Mouth and AccessPort interface, facilitate debugging.In measuring circuit, using double channel A/D 7746CDC chip, sample frequency highest
90HZ, significance bit are up to 21, and measurement accuracy is high, and can arrive through series connection fixed capacity, can eaily adjust measurement
Range.
Fig. 3 a is the online serial ports of measurement module of single and multiple parallel connections constructed by preferred embodiment according to the invention
Test result after reading data in host computer shows figure, and Fig. 3 b is single constructed by preferred embodiment according to the invention
It is read offline with the measurement module of multiple parallel connections there are the test result display figure after the file in TF card in host computer, as schemed
Shown in 3a and 3b, data are read by online serial ports or there are the files in TF card for reading offline, also there is simple filtering
Denoising is shown with channel selecting, realizes measurement and the analytic function at human synovial angle.
Fig. 4 is the schematic diagram of the measurement human synovial angle of measuring system constructed by preferred embodiment according to the invention,
As shown in figure 4, the both ends of sensor can be fixed on to human lower limb hip joints after sensor preparation is completed and demarcated, knee closes
Section, ankle-joint suitable position, for measuring the moving corner in each joint.
The measuring principle of sensor is further described below, Fig. 5 is constructed by preferred embodiment according to the invention
Angle change schematic diagram when sensor measurement knee joint, Fig. 6 are that sensor constructed by preferred embodiment according to the invention is surveyed
Schematic illustration is measured, as it can be seen in figures 5 and 6, regarding two parallel-plates in sensor and the middle layer between parallel-plate as one jointly
Elastic cuboid, for parallel plate capacitor, the size of capacitor depends on the positive area S between pole plate, i.e. the length L of pole plate with
Width w, pole plate spacing d and dielectric layer relative dielectric constant εr.The capacitor of sensor may be expressed as:
Assuming that the elastic material isotropism, then the elastomer is in drawing process as shown in Figure 5, the variable quantity of capacitor
It may be expressed as:
Wherein C is sensor capacitance after stretching, CoTo stretch front sensor capacitor, ε indicates that sensor stretches answering for variation
Become.If sensor application may be expressed as: in knee joint, the strain that sensor stretches
Wherein Δ θ indicates that joint rotation angle, r indicate to assume articulation radii when joint shape is ball.Then stretch front and back sensing
The variable quantity of device capacitor may be expressed as:
It can establish to obtain the variable quantity of capacitor and the relational expression of joint rotation angle, by detecting the variation delta C of capacitor,
The variation delta θ for obtaining angle can be calculated by above formula.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (9)
1. a kind of human synovial angle measuring system towards wearable flexible sensor, which is characterized in that the measuring system includes
Measurement module, governor circuit module, signal transmission module and host computer, wherein
The measurement module includes multiple subchannels arranged side by side, include in each subchannel flexible sensor and with the flexible sensing
The measuring circuit of device connection, the flexible sensor is attached on human synovial to be detected, band when human body joint motion to be detected
It moves the flexible sensor to stretch, its capacitor is made to change, the measuring circuit is used to measure the knots modification of the capacitor；
The signal transmission module is connect with the measurement module, the electricity for measuring subchannel each in the measurement module
The knots modification of appearance carries out analog-to-digital conversion, and the multiple digital signals obtained after conversion are passed to the governor circuit module；
The governor circuit module is connect with the host computer, for receiving multiple number letters from the signal transmission module
Number and the host computer is passed to by communications protocol after being wrapped into, after the host computer receives the multiple digital signal,
It will be calculated separately to multiple digital signals as the angle change of human synovial to be detected, and calculated result be shown, while on this
Position machine is also used to control the switch of the measurement module.
2. a kind of human synovial angle measuring system towards wearable flexible sensor as described in claim 1, feature exist
In, the flexible sensor includes flexible substrate and parallel plate electrode, and the flexible substrate is made of non-conducting material flexible,
The parallel plate electrode is in a liquid state, and opposite be arranged in parallel in the flexible substrate forms flexible capacitor, one end of the parallel plate electrode
With external test circuit connection, when the sensor is attached at joint to be measured, when movement in joint to be measured, stretches the flexibility
Matrix is changed between the parallel plate electrode to stretch the length and width that the parallel plate electrode changes the parallel plate electrode with this
Capacitor, it is external test circuit by monitor the capacitance change calculate obtain joint motions to be measured when angle change, thus
Realize the measurement of human synovial angle.
3. as claimed in claim 2 a kind of for measuring the flexible capacitance type sensor of human synovial angle, which is characterized in that
The raw material of the flexible substrate preferably use platinum catalysis organosilicon.
4. as claimed in claim 2 a kind of for measuring the flexible capacitance type sensor of human synovial angle, which is characterized in that
The parallel plate electrode preferably uses liquid metal-gallium indium eutectic molding.
5. as claimed in claim 2 a kind of for measuring the flexible capacitance type sensor of human synovial angle, which is characterized in that
The distance between described parallel plate electrode (4) relatively disposed in parallel is preferably 0.5mm~2.5mm.
6. it is as described in any one in claim 1-5 a kind of for measuring the flexible capacitance type sensor of human synovial angle,
It is characterized in that, the host computer preferably calculates the variation of joint angles to be detected according to following expression formula:
Wherein, Δ C is the variable quantity of capacitor, and Δ θ is the corner in joint to be detected, and r is articulation radii, εrIt is that dielectric layer is opposite to be situated between
Electric constant, d are the spacing in flexible sensor between parallel plate electrode, and w is the width of parallel plate electrode in flexible sensor, εoIt is empty
The dielectric constant of gas.
7. it is as claimed in any one of claims 1 to 6 a kind of for measuring the flexible capacitance type sensor of human synovial angle,
It is characterized in that, the communications protocol preferably uses RS485, CAN or IIC.
8. as claim 1-7 is described in any item a kind of for measuring the flexible capacitance type sensor of human synovial angle,
It is characterized in that, it is preferable to use STM32 embeded processors to be packaged to multiple digital signals for the governor circuit module.
9. as claim 1-8 is described in any item a kind of for measuring the flexible capacitance type sensor of human synovial angle,
It is characterized in that, is provided with bluetooth module in the host computer and governor circuit module, transmitted convenient for data.
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| CN201811428758.XA CN109646007A (en) | 2018-11-27 | 2018-11-27 | A kind of human synovial angle measuring system towards wearable flexible sensor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110338953A (en) * | 2019-07-24 | 2019-10-18 | 浙江工业大学 | A kind of auxiliary hip joint orthopedic system and straightening method |
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| CN102927899A (en) * | 2012-10-08 | 2013-02-13 | 东南大学 | Flexible shoulder joint motion sensor and measurement method thereof |
| CN107870004A (en) * | 2016-09-26 | 2018-04-03 | 中国科学院理化技术研究所 | flexible sensing device based on liquid metal |
| CN108403122A (en) * | 2018-02-12 | 2018-08-17 | 中国科学院宁波材料技术与工程研究所 | A kind of measuring system and its measurement method of human body joint motion |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102927899A (en) * | 2012-10-08 | 2013-02-13 | 东南大学 | Flexible shoulder joint motion sensor and measurement method thereof |
| CN107870004A (en) * | 2016-09-26 | 2018-04-03 | 中国科学院理化技术研究所 | flexible sensing device based on liquid metal |
| CN108403122A (en) * | 2018-02-12 | 2018-08-17 | 中国科学院宁波材料技术与工程研究所 | A kind of measuring system and its measurement method of human body joint motion |
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| CN110338953A (en) * | 2019-07-24 | 2019-10-18 | 浙江工业大学 | A kind of auxiliary hip joint orthopedic system and straightening method |
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Application publication date: 20190419 |