CN110051361A - A kind of wearable lower limb skeleton motion detection device - Google Patents
A kind of wearable lower limb skeleton motion detection device Download PDFInfo
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- CN110051361A CN110051361A CN201910404864.2A CN201910404864A CN110051361A CN 110051361 A CN110051361 A CN 110051361A CN 201910404864 A CN201910404864 A CN 201910404864A CN 110051361 A CN110051361 A CN 110051361A
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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
- A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
- A61B5/0205—Simultaneously evaluating both cardiovascular conditions and different types of body conditions, e.g. heart and respiratory condition
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1112—Global tracking of patients, e.g. by using GPS
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/112—Gait analysis
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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
- A61B5/1126—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb using a particular sensing technique
- A61B5/1128—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb using a particular sensing technique using image analysis
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Abstract
Wearable lower limb skeleton motion detection device, including main control singlechip and the pressure sensor block being correspondingly connected with main control singlechip, acceleration transducer, gyroscope, bluetooth module, rhythm of the heart module, communicating circuit and cell phone application client, the pressure sensor block and acceleration transducer are respectively arranged on wearer's leg joint and foot bottom, pressure sensor block is used to detect the contact pressure on wearer's foot and ground, and acceleration transducer is used to detect the motion frequency of the foot；The gyroscope is equipped with two, is separately positioned on two joints up and down of the shank of user.Traditional single-sensor is detected into control mode, is improved to detect accurate multiple sensors detection.
Description
Technical field
The present invention relates to a kind of wearable skeleton motion detection devices.Especially lower limb exoskeleton body gait and power side
The comprehensive monitoring in face.
Background technique
In the current aging serious age, since Empty nest elderly is more, and the physical problems of the elderly are all mostly
Legs and feet are inconvenient, and the defect of arteriosclerosis and obstruction of lower limbs etc, physical strength, energy are not equal to before, and existing wearable skeleton motion detection device cannot
Monitor the physical trait state of old man in real time.
Very much, the CN201811647849 exoskeleton robot of application of bone robot, including lower limb mechanism, upper limb
Mechanism and Backpack, lower limb mechanism include big leg assembly, small leg piece and driving joint, and big leg assembly and small leg piece pass through transmission
Articulation connection；Limb mechanism of upper includes upper arm, forearm and driving joint, and upper arm and forearm are rotatablely connected by driving joint；
Backpack knapsack plate and multidigit control device.
CN201811128060 lower limb rehabilitation ectoskeleton and exoskeleton robot, comprising: joint assembly, the joint assembly
Including the first linking arm and the second linking arm, the first linking arm and the rotation connection of the second linking arm；Transmission component, the transmission group
Part connects first linking arm and the second linking arm；And power device.
The synchronous ectoskeleton mechanical arm of CN is a kind of synchronous ectoskeleton mechanical arm, belongs to bio-robot technical field.It is wrapped
Include support device and be symmetrically mounted on be the support device two sides two arms, each described arm includes large arm, small
Arm and transmission device, the large arm and the forearm are hinged, the transmission device include the large arm set being socketed on human arm,
The transmission device being mounted in the large arm.But lower limb exoskeleton body gait monitoring method and device do not have a large amount of disclosures also.
Summary of the invention
Object of the present invention is to mention by real time datas such as leg speed, the gaits of related lower limb skeletons of acquisition sensor acquisition
A kind of wearable skeleton motion detection device out, for the comprehensive monitoring in terms of lower limb exoskeleton body gait and power, and root
System rehabilitation scheme and walking auxiliary are realized according to the power unit in real time data control wearer.
The technical solution adopted in the present invention has: a kind of wearable lower limb skeleton motion detection device, including master control monolithic
Machine and the pressure sensor block being correspondingly connected with main control singlechip, acceleration transducer, gyroscope, bluetooth module, heart rate prison
It surveys module, communicating circuit and cell phone application client, the pressure sensor block and acceleration transducer and is respectively arranged on wearer's leg
Joint and foot bottom, pressure sensor block are used to detect the contact pressure on wearer's foot and ground, and acceleration transducer is for examining
Survey the motion frequency of the foot；The gyroscope is equipped with two, is separately positioned on two joints up and down of the shank of user,
Gyroscope is used to detect the inclination angle on shank and ankle and ground；The bluetooth module upload user information is to main control singlechip；
The rhythm of the heart module is for detecting wearer's heart rate；The main control singlechip is used to receive the pressure letter of pressure sensor block
Number, the motion frequency signal of acceleration transducer and the angle signal of gyroscope, and human body is judged after analytic operation
Gait information；The communicating circuit is used to main control singlechip judging that the gait information of human body is transferred to wearer and mobile phone
Collected data are transferred to cell phone application client by communicating circuit by APP client, rhythm of the heart module.
Further, described to be equipped with camera module, camera module typing walking video, and it is uploaded to cell phone application visitor
Family end.
Further, the communicating circuit includes wire circuit and radio-circuit (bluetooth), main control singlechip and each module
Between be to be connected by wire circuit, between rhythm of the heart module and cell phone application client and main control singlechip and cell phone application
It is to be connected between client by radio-circuit.
Further, the bluetooth module uses the bluetooth mould of model JDY-08 bluetooth 4.0BLE low-power consumption CC2541
Block.
Further, the rhythm of the heart module is MAX30102 blood oxygen wrist heart rate pulse detection heartbeat sensor.
Further, the pressure sensor block includes the module of fexible film pressure sensor and a/d conversion device.
Traditional single-sensor is detected control mode, the multiple sensors being improved under varying environment mode by the present invention
Detection control, using upper adaptability with higher, system is simple and convenient, in order to layman for different occasions
It uses.
The invention has the following beneficial effects: the 1) present invention to detect control mode for traditional single-sensor, is improved to
Multiple sensors under varying environment mode detect control, and are able to detect that multiple parameters, in the application for different occasions
Upper adaptability with higher, system is simple and convenient, in order to layman's use.The structure of detection is simple and at low cost,
2) present system can also according to the needs of users be extended function on the basis of existing.It can be deposited based on bluetooth module
Store up the function of upload user information, integrated use technology of Internet of things, by the exchange of information with processing, it can be achieved that comprehensive intelligence
Energyization identification, positioning, monitoring and management, convenient outgoing children monitor the physical condition of old man, find in time, handle, answer in time
With having a extensive future.3) detection device of present system mostly uses greatly noncontacting proximity sensor, is swift in response, and reduces and detects, is anti-
The time for presenting consumption, for human body, using effect is very prominent under walking, the occasion moved.
Detailed description of the invention
Fig. 1 is invention's principle block diagram.
Fig. 2 is the wearing schematic diagram of wearer.
Fig. 3 is the control flow chart of system；
Fig. 4 is that the pressure change an of walking cycle and MPU6050 acquire data mode curve.
Specific embodiment
The present invention will be further described below with reference to the drawings.
As shown in Figure 1, wearable lower limb skeleton motion detection device of the present invention, including main control singlechip and with master control list
Pressure sensor block that piece machine is correspondingly connected with, acceleration transducer, gyroscope, bluetooth module, rhythm of the heart module, communicating circuit
With cell phone application client, the pressure sensor block and acceleration transducer are respectively arranged on wearer's leg joint and foot bottom, pressure
Power sensing module is used to detect the contact pressure on wearer's foot and ground, and acceleration transducer is used to detect the movement of the foot
Frequency；The gyroscope is equipped with two, is separately positioned on two joints up and down of the shank of user, and gyroscope is small for detecting
The inclination angle of leg and ankle and ground；The bluetooth module upload user information is to main control singlechip；The rhythm of the heart module
For detecting wearer's heart rate；The main control singlechip is used to receive pressure signal, the acceleration transducer of pressure sensor block
Motion frequency signal and gyroscope angle signal, and judge after analytic operation the gait information of human body；It is described logical
News circuit is used to judge main control singlechip that the gait information of human body to be transferred to wearer and cell phone application client, heart rate prison
It surveys module and collected data is transferred to by cell phone application client by communicating circuit.
Gyroscope is equipped with two (then left and right foot is respectively two gyroscopes when left and right foot measures simultaneously), and and acceleration sensing
Device integration, the 6 axis motion process component of conformability released using MPU6050 gyroscope (InvenSense company), interior 3 axis of band
Gyroscope and 3 axle acceleration sensors.It is separately positioned on knee joint part, the leg ankle of wearer, gyroscope is for detecting
The inclination angle on wearer's thigh, shank and sole and ground extends to measurement gait.Detection data can be with cell phone application connection.
Pressure sensor block and acceleration transducer are set to the foot bottom of wearer, and pressure sensor block is for detecting institute
The contact pressure on wearer's foot and ground is stated, the motion frequency that acceleration transducer is used to detect foot in wearer (swings arm speed
Degree).
Pressure sensor block is six modules of the point type fexible film pressure sensor through AD conversion.Using RFP diaphragm type foot
Base pressure force snesor.What is read by diaphragm type sensor thus is analog signal so needing by just can be by after AD conversion
Single-chip microcontroller, which is read, to be used, and following procedure is the value by reading after AD conversion, it can be seen that 6 point type calculation of pressure are used,
It is more acurrate to judge pressure whether in threshold value, to reduce error.What is read by diaphragm type sensor thus is analog signal
So needing by that just can take uses by monolithic is machine-readable after AD conversion, following procedure is by reading after AD conversion
Value, it can be seen that use 6 point type calculation of pressure, its advantage is that more acurrate can must judge pressure whether in threshold value, thus
Reduce error.
Pressure sensor block reading program:
Bluetooth module uses the bluetooth module of model JDY-08 bluetooth 4.0BLE low-power consumption CC2541.Bluetooth module uploads
User information to main control singlechip, integrated use technology of Internet of things passes through exchanging with processing, it can be achieved that comprehensive intelligence for information
Energyization identification, positioning, monitoring and management, it might even be possible to which the physical condition that old man is monitored for the children that go out is found, in time in time
Processing, has a extensive future.
Rhythm of the heart module is MAX30102 wrist heart rate pulse detection heartbeat sensor.Heart rate is arranged in rhythm of the heart module
Monitoring modular is for detecting wearer's heart rate, with cell phone application connection.
Main control singlechip be used to receive the pressure signal of pressure sensor block, acceleration transducer motion frequency signal with
And the angle signal of gyroscope, and judge after analytic operation the gait information of human body.
Due to the hardware resource that the design is related to, this system is designed with closed-loop control detection device: by STM32 controller,
The units such as the detection of MPU6050 gyro sensor and feedback module, cell phone application client form.The system can be to different operations
The detection and processing of a variety of non-electric parameters such as pressure, acceleration, heart rate under mode, the step width of cell phone application image scanning fitting
And the data such as leg speed are transmitted to STM32, STM32 passes through sensor feedback network to gait and stability analysis again.
Core of the invention processor is the STM32 single-chip microcontroller using ARM kernel, and the high reliability for the algorithm of invention mentions
For hardware guarantee.Design introduces closed-loop control, selects closed-loop sensors network, is examined using STM32 plus sensor network closed loop
Observing and controlling system, to realize a kind of light-duty detection device, for acquiring leg speed, gait, the stride of related bone etc. of sensor acquisition
Real time data (bending degree), the pressure stress point of sole, and rehabilitation health care scheme is proposed according to real time data, this is counted when necessary
Realize that walking is assisted according to the power unit that can be controlled in wearer.The further bone robot of manufacture auxiliary walking.
In the presence of plantar pressure sensor detection both feet have pressure everywhere, standing state is kept；When a wherein foot
Hind paw pressure detecting level off to 0 when, the pressure of another foot is maximum；MPU6050 module is consecutively detected the bending journey of leg
When degree reaches maximum angle threshold value, this angle illustrates the situation that business concern operating a porters' service is walked, and the variation of this angle illustrates the variation of foot walking ability；
It can be shown in cell phone application, heart rate module detects heart rate data and passes through Bluetooth transmission cell phone application end, can be in mobile phone terminal
Real time inspection.Thin-film pressure sensor resistance-pressure is in simple power function relationship, and resistance-reciprocal-pressure is in approximately linear
Relationship, resistance-pressure characteristic curve repeatability are good.Good tolerance, functional material upgrading, moisture-proof thermal friction is good, selects
The high-quality substrate of PU, area are greater than 50 square centimeters, can pad in sole, rational deployment and design.Packaging technology is stablized, good
Protective effect；Plantar pressure sensor uses diaphragm pressure sensor: RFP thin-film pressure sensor can be to any contact surface
Pressure carries out static and dynamic and measures, and diaphragm pressure sensor believes the pressure conversion for being applied to sensor sensing region at resistance
Number, relation curve is then demarcated according to power~resistance and obtains the extraneous change information exerted pressure, pressure is bigger, and sensor is defeated
Resistance out is smaller.
The 6 axis motion process component of conformability that MPU6050 gyroscope (InvenSense company) is released, interior 3 axis gyro of band
Instrument and 3 axle acceleration sensors, and contain an IIC interface, it can be used for connecting external magnetic force sensor, utilize included number
Movement processor (DMP:Digital Motion Processor) hardware acceleration engine can be to application by main IIC interface
End exports complete 9 axis posture fusion calculation data.There is DMP, the motion process data provided using InvenSense company
Posture solution is very easily realized in library.The MPU6050 module that the present invention uses is called by the joint of 4 MPU6050 modules,
The inclination angle at corresponding joint is acquired, the maximum angle position of lower limb is accurately calculated.The two of MPU6050 modules house shank
The position in a joint.To cadence, lift leg height and image detection step width, stride are contacted etc. together with acceleration transducer.
MPU6050 band digital moving processing (DMP:Digital Motion Processing), can export 6 axis or 9 axis
(needing external Magnetic Sensor) attitude algorithm data；MPU6050 is distributed at knee joint and ankle (ankle), and when detection passes through pressure biography
The cooperation of sensor does not generate dip angle signal at corresponding ankle when detecting less touch with the ground.The confusion of signal will not be generated.Collection
At can process control, measurement range is ± 250, ± 500, ± 1000 and the 3 axis angular rate sensor (gyros of ± 2000 °/sec
Instrument)；It is integrated can process control, range is 3 axle acceleration sensors of ± 2g, ± 4g, ± 8g and ± 16g；Included digital temperature
Sensor, exportable interruption (interrupt), support gesture recognition, panning, picture zoom, rolling, in rapid decrease
Disconnected, high-G is interrupted, zeroing induction, striking induction, is shaken inducing function, is carried 1024 byte FIFO, is helped to reduce system
System power consumption；The IIC communication interface of up to 400Khz, extra small package dimension: 4x4x0.9mm (QFN).
App is developed using mobile phone terminal software Fusion App, the use of language is lua language, and lua language is lightweight
Prolongable scripting language is write by the C language of standard.The advantage developed using lua language are as follows: easily insertion, gently
The advantages such as quantization, exploitation environment is substantially unrestricted, small in size, and starting is fast.
The requirement of APP interface, record button are responsible for calling system camera and record a video, picture display component, in display
The picture once shot；Heart rate display component can be used for observing heart rate in real time
Fig. 3 is the control flow of system: the control flow of detection system of the present invention is as shown in Figure 4: carrying out system first
Initialization, configures I/O port, serial ports system clock, subsequently into pressure detecting function, system detection is to the presence of pressure
When, go to judge whether that both feet all have pressure, if an only foot there are feet state is in when pressure, if with the presence of pressure
Or no pressure, in the presence of standing pattern or the success of serial ports no initializtion is then judged as, whether the downward detection MPU6050 of continuation, which has, is inclined
Angle exists, and is standing or no initializtion success if aclinal, returns to initialization of (a) serial ports, judges if detection is with the presence of inclination angle
For walking motion.
Above embodiments do not limit the present invention in any way, all to be made in a manner of equivalent transformation to above embodiments
Other improvement and application, belong to protection scope of the present invention.
Communicating circuit is used to main control singlechip judging that the gait information of human body is transferred to wearer and cell phone application client
Collected data are transferred to cell phone application client by communicating circuit by end, rhythm of the heart module.
Communicating circuit in the present invention includes wire circuit and radio-circuit, is to pass through between main control singlechip and wearer
Wire circuit is connected, between rhythm of the heart module and cell phone application client and between main control singlechip and cell phone application client
It is to be connected by radio-circuit.
Mobile phone is equipped with camera module, camera module typing walking video, and is uploaded to cell phone application client.This hair
The different control signal of bright point of multiple sensor Real-time Feedback shaping modes general frame designs, the information processing of sensor and generation
Programming.Meanwhile camera typing walking video is also called by mobile phone A pp, analysis is scanned to the image of acquisition, just
The parameters such as the range of gait information typing, operation, sensor detection can be set and be adjusted, realize summary, intelligence
The gait simulation system of energyization, while the adjustment of whole system is also more improved specific.
In conjunction with Fig. 3, image scanning identifying system is executed after user uses or wipe for the first time data, to the step of walking
Wide, leg speed is analyzed by a series of algorithm, is controlled the holder brushless motor in wearer to adjust wearer and is coped with different fields
The needs of conjunction.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
It for member, can also make several improvements without departing from the principle of the present invention, these improvement also should be regarded as of the invention
Protection scope.
Claims (7)
1. a kind of wearable lower limb skeleton motion detection device, it is characterised in that: including main control singlechip and with master control monolithic
Pressure sensor block, acceleration transducer, gyroscope, bluetooth module, rhythm of the heart module and the cell phone application that machine is correspondingly connected with
Client, the pressure sensor block and acceleration transducer are respectively arranged on wearer's leg joint and foot bottom, pressure sensing mould
Block is used to detect the contact pressure on wearer's foot and ground, and acceleration transducer is used to detect the motion frequency of the foot；Institute
Gyroscope is stated equipped with two, is separately positioned on two joints up and down of the shank of user, gyroscope for detect shank and
The inclination angle of ankle and ground；The bluetooth module upload user information is to main control singlechip；The rhythm of the heart module is for examining
Survey wearer's heart rate；The main control singlechip is used to receive the movement of the pressure signal, acceleration transducer of pressure sensor block
The angle signal of frequency signal and gyroscope.
2. wearable lower limb skeleton motion detection device as described in claim 1, it is characterised in that: also set on the wearer
There are camera module, camera module typing walking video, and is uploaded to cell phone application client.
3. wearable lower limb skeleton motion detection device as described in claim 1, it is characterised in that: main control singlechip and wearing
It is to be connected between person by wire circuit, between rhythm of the heart module and cell phone application client and main control singlechip and mobile phone
It is to be connected between APP client by radio-circuit.
4. wearable lower limb skeleton motion detection device as described in claim 1, it is characterised in that: the bluetooth module uses
The bluetooth module of model JDY-08 bluetooth 4.0BLE low-power consumption CC2541.
5. wearable lower limb skeleton motion detection device as described in claim 1, it is characterised in that: the rhythm of the heart module
For MAX30102 blood oxygen wrist heart rate pulse detection heartbeat sensor.
6. wearable lower limb skeleton motion detection device as described in claim 1, it is characterised in that: the pressure sensor block
For six modules of the point type fexible film pressure sensor through AD conversion；Pressure sensor block is set to the foot bottom of wearer, pressure
Sensing module is used to detect the contact pressure of wearer's foot and ground.
7. wearable lower limb skeleton motion detection device as described in claim 1, it is characterised in that: gyroscope is equipped with two,
And it is integrated with acceleration transducer, using MPU6050 gyroscope, interior 3 axis gyroscope of band and 3 axle acceleration sensors；Respectively
Knee joint part, the leg ankle of wearer are set.
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| CN201910404864.2A CN110051361A (en) | 2019-05-16 | 2019-05-16 | A kind of wearable lower limb skeleton motion detection device |
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| CN201910404864.2A CN110051361A (en) | 2019-05-16 | 2019-05-16 | A kind of wearable lower limb skeleton motion detection device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110420029A (en) * | 2019-08-03 | 2019-11-08 | 苏州自如医疗器械有限公司 | A kind of walking step state wireless detecting system based on Multi-sensor Fusion |
| CN110693501A (en) * | 2019-10-12 | 2020-01-17 | 上海应用技术大学 | Wireless walking gait detection system based on multi-sensor fusion |
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