CN111375183B

CN111375183B - Motion monitoring method and system for reciprocating motion

Info

Publication number: CN111375183B
Application number: CN201811622622.2A
Authority: CN
Inventors: 吕奕徵; 黄筠贻
Original assignee: Industrial Technology Research Institute ITRI
Current assignee: Industrial Technology Research Institute ITRI
Priority date: 2018-12-28
Filing date: 2018-12-28
Publication date: 2022-10-04
Anticipated expiration: 2038-12-28
Also published as: CN111375183A

Abstract

The invention discloses a method and a system for monitoring the action of reciprocating motion, wherein the monitoring method is suitable for a monitoring system comprising a computing device, at least one gravity sensor and at least one electromyographic signal sensor, the gravity sensor is arranged on at least one motion part of a human body, the electromyographic signal sensor is arranged on at least one muscle part of the human body, and the method comprises the following steps: in the process of reciprocating motion including a plurality of actions of a human body, a gravity sensor is used for detecting the relative angle between each motion part and a reference position of the human body, and an electromyographic signal sensor is used for detecting the starting sequence of muscle parts; judging the action of the human body according to the detected relative angle of each motion part; whether the force application of the human body in the action is correct or not is judged according to the starting sequence of the action and the muscle part.

Description

Reciprocating motion monitoring method and system

Technical Field

The present invention relates to a motion monitoring method and system, and more particularly, to a motion monitoring method and system for a reciprocating motion.

Background

In today with increasingly exuberant sports, riding a bicycle, running, climbing a mountain, climbing a step and walking are very popular sports. However, when the user performs the exercise, the wrong action often causes the human body to act in an inconsistent manner, which results in poor efficiency or speed, and the wrong way of applying force is likely to cause the human body to have athletic injuries such as strain, contusion or fracture.

The current commercial product measures the force and power of the user during exercise by using a Strain Gauge (Strain Gauge), and the accuracy of the user's motion and force application method during exercise cannot be known. Therefore, it is an important issue to monitor the accuracy and coordination of the movement and the force application manner of the user in real time when the user exercises.

Disclosure of Invention

The invention aims to provide a method and a system for monitoring the reciprocating motion actions, which can monitor the consistency of the actions and the muscle starting sequence when a human body does reciprocating motion so as to monitor whether the force application mode of the human body is correct or not, thereby improving the motion efficiency and speed.

The motion monitoring method of the reciprocating motion of an embodiment of the invention is suitable for the monitoring system comprising a computing device, at least one gravity sensor and at least one electromyographic signal sensor, wherein the gravity sensor is arranged at least one motion part of the human body, and the electromyographic signal sensor is arranged at least one muscle part of the human body, and the method comprises the following steps: in the process of reciprocating motion including a plurality of actions of a human body, a gravity sensor is used for detecting the relative angle between each motion part and a reference position of the human body, and an electromyographic signal sensor is used for detecting the starting sequence of muscle parts; judging the action of the human body according to the detected relative angle of each motion part; whether the force application of the human body in the action is correct or not is judged according to the starting sequence of the action and the muscle part.

An embodiment of the invention provides a motion monitoring system for reciprocating motion, which comprises at least one gravity sensor, at least one electromyographic signal sensor and a computing device. The gravity sensor is arranged on at least one motion part of the human body. The electromyographic signal sensor is arranged on at least one muscle part of a human body. The computing device is in communication connection with the gravity sensor and the electromyographic signal sensor and is used for: detecting the relative angle between each moving part and a reference position of a human body by using a gravity sensor, and detecting the starting sequence of muscle parts by using an electromyographic signal sensor; judging the action of the human body according to the detected relative angle of each motion part; and judging whether the force application of the human body in the action is correct or not according to the starting sequence of the action and the muscle part.

In order to make the present invention more comprehensible, embodiments accompanied with figures are described in detail below.

Drawings

FIG. 1A is a block diagram of a motion monitoring system for a reciprocating motion according to an embodiment of the present invention;

FIG. 1B is a flow chart of a method for monitoring motion of a reciprocating motion according to an embodiment of the present invention;

FIG. 2A is a flow chart of a method for monitoring motion of a reciprocating motion according to another embodiment of the present invention;

FIG. 2B is a diagram of the relationship between the user's pedaling and pulling motions and the crank angle according to the embodiment of the present invention shown in FIG. 2A;

FIG. 3 is a diagram illustrating an example of a reciprocating motion of a human body according to another embodiment of the present invention;

FIG. 4A is a flow chart of a method for motion monitoring of a reciprocating motion according to another embodiment of the present invention;

FIG. 4B is a schematic diagram illustrating an example of estimating a crank angle of a pedal of the pedaling apparatus being pedaled by the foot of the human body according to the embodiment of the present invention shown in FIG. 4A;

FIG. 5A is a flowchart illustrating a method for monitoring motion of a reciprocating motion according to another embodiment of the present invention;

FIGS. 5B to 5I are schematic views illustrating examples of the human body performing reciprocating motion according to the embodiment of FIG. 5A;

fig. 6 is a flowchart of a method for monitoring motion of a reciprocating motion according to another embodiment of the invention.

Description of the symbols

100: motion monitoring system

110: computing device

120 to 122: gravity sensor

130 to 132: electromyographic signal sensor

CRK: crank arm

G1: centre of fluted disc

GP: fluted disc

H1 to H3: level line

L1, L2: straight line

m _HK 、m _KA : slope of

P, K, A, PA 0. About. PA2: coordinate point

S110 to S130, S210 to S240, S410 to S440, S510 to S560, S610 to S680: step (ii) of

Θ _K : knee angle

Θ _H1 、Θ _H2 、Θ _H 、Θ _HK 、Θ _R 、Θ _A : angle of rotation

Detailed Description

The embodiment of the invention provides a method and a system for monitoring reciprocating motion. The method uses various sensors to monitor the human body information about the user performing reciprocating motion, including a gravity sensor to detect the relative angle of each moving part of the user and a reference position of the human body, and an electromyographic signal sensor to detect the activation sequence of each muscle part of the user. By integrating these information, it can be determined whether the current action performed by the user is correct, and whether the force application manner of the action is correct. The method of the embodiment of the invention can be applied to the motion monitoring of the motions of bicycle riding, running, climbing, stepping, walking and the like, and the embodiments are provided below for explanation.

Fig. 1A is a block diagram of a motion monitoring system for reciprocating motion according to an embodiment of the invention. Referring to fig. 1A, the motion monitoring system 100 of the present embodiment includes a computing device 110, at least one gravity sensor (G sensor) 120-122, and at least one electromyography sensor (EMG sensor) 130-132. The gravity sensors 120 to 122 are provided in at least one exercise portion of the human body, such as a knee, an ankle, and a foot (including a heel and a sole) in the case of a double-type stepping exercise. The electromyographic signal sensors 130 through 132 are provided in at least one muscle portion of the human body, such as a leg muscle, and the muscle portion may be a quadriceps femoris muscle, a biceps femoris muscle, a gastrocnemius muscle, a tibialis muscle, a soleus muscle, a rectus femoris muscle, a gluteus maximus muscle, or the like. The computing device 110 is connected to the gravity sensors 120 to 122 and the electromyographic signal sensors 130 to 132, respectively. It should be noted that, for simplicity, the motion monitoring system 100 of fig. 1A of the present embodiment only shows three gravity sensors 120 to 122 and three electromyographic signal sensors 130 to 132 as examples, but a person skilled in the art can appropriately adjust the number of the gravity sensors and the electromyographic signal sensors according to the actual application situation, and the present embodiment is not limited thereto.

The electromyographic signal sensors 130 to 132 and the gravity sensors 120 to 122 are, for example, wearable devices, such as a patch, a band, a waist support, a knee support, an ankle support, a belt, trousers, socks, or shoes that can be worn or worn by a user, but are not limited thereto. In one embodiment, the computing device 110 is a smart device such as a mobile phone, a tablet computer, a bracelet, a watch, glasses, etc., and in other embodiments, the computing device 110 may be configured on a device (e.g., a bicycle) on which the reciprocating motion rides or uses, but is not limited thereto.

The electromyographic signal sensors 130-132 and the gravity sensors 120-122 are connected to the computing device 110 via a connecting device (not shown) in a wired or wireless manner. For the wired method, the connection device may be a Universal Serial Bus (USB), an RS232, a universal asynchronous receiver/transmitter (UART), an internal integrated circuit (I2C), a Serial Peripheral Interface (SPI), a display port (display port), a thunderbolt port (thunderbolt), or a Local Area Network (LAN) interface, but is not limited thereto. For the wireless mode, the connection device may be a wireless fidelity (Wi-Fi) module, a Radio Frequency Identification (RFID) module, a bluetooth module, an infrared module, a near-field communication (NFC) module, or a device-to-device (D2D) module, and is not limited thereto.

The computing device 110 includes a storage device and a processor (not shown), for example. The storage device is, for example, any type of Random Access Memory (RAM), read-only memory (ROM), flash memory (flash memory), hard disk, or the like, or a combination thereof. The Processor may be, for example, a Central Processing Unit (CPU), or other programmable general purpose or special purpose Microprocessor (Microprocessor), digital Signal Processor (DSP), programmable controller, application Specific Integrated Circuit (ASIC), or other similar devices or combinations thereof. In this embodiment, the processor may load a computer program from the storage device to perform the motion monitoring method of the reciprocating motion according to the embodiment of the present invention.

Fig. 1B is a flowchart illustrating a method for monitoring motion of a reciprocating motion according to an embodiment of the invention. Referring to fig. 1A and fig. 1B, the method of the present embodiment is applied to the motion monitoring system 100 of fig. 1A, and the detailed steps of the method for monitoring the reciprocating motion according to the embodiment of the present invention are described below in conjunction with the operation relationship between the elements of the motion monitoring system 100.

First, in step S110, during a reciprocating motion (e.g., a single-car riding, running, climbing, stepping, walking, etc.) including a plurality of motions of the human body, the computing device 110 may detect a relative angle between each of the moving parts of the human body and a reference position of the human body using the gravity sensors 120 to 122 and detect a start-up sequence of muscle parts of the human body using the electromyographic signal sensors 130 to 132. Next, in step S120, the computing device 110 can determine the current motion of the human body according to the detected relative angle between each of the moving parts and a reference position of the human body. The computing device 110 is not limited to calculating the relative angle of the knees with respect to the buttocks or the relative angle of the ankles with respect to the knees of the human body based on the horizon, for example. The computing device 110 obtains the reference data of the starting sequence of the muscle parts of the action by judging the action, and the reference data can be, for example, the correct starting sequence of the muscle parts of the action stored in a storage device (or a remote server) in advance. Finally, in step S130, the computing device 110 compares the detected activation sequence of the muscle parts with the activation sequence of the muscle parts recorded in the acquired reference data to determine whether the force applied by the human body to perform the action is correct. Therefore, the embodiment can monitor the correctness of the muscle starting sequence when the human body does the reciprocating motion, and thereby the efficiency of the user in the reciprocating motion is improved.

In one embodiment, the computing device 110 stores information such as the angle change of the exercise part and the correct muscle activation sequence (i.e. the above-mentioned reference data) for performing each action in different types of reciprocating motions in its own storage device. Therefore, the computing device 110 can determine the current action of the human body by inquiring the information according to the detected relative angle of each motion part, and find out the correct muscle part starting sequence for implementing the action, so as to compare the correct muscle part starting sequence with the currently detected muscle part starting sequence to determine whether the force application of the action of the human body is correct.

In another embodiment, the motion monitoring system 100 further comprises a remote server (not shown). The remote server is, for example, a cloud storage device or a cloud server, in which, for example, information such as angle changes of motion parts and correct muscle part starting sequence for performing each action in the different types of reciprocating motions is stored. Thus, the computing device 110 can communicate with the remote server via the network to query the information from the remote server to determine the current action of the human body, and query the correct muscle part activation sequence to compare with the currently detected muscle part activation sequence to determine whether the force applied by the human body to the action is correct. The aforementioned network may be, for example, a Local Area Network (LAN) or the Internet (Internet), but is not limited thereto.

In another embodiment, the remote server stores the information and has a function of determining whether the current action and force application of the human body are correct. Specifically, the computing device 110 communicates with the remote server via a network, for example, and transmits the detected relative angles between the motion portions and the human body and the activation sequence of the muscle portions to the remote server, so as to receive the result of determining whether the force application is correct from the remote server. Specifically, the remote server determines the current action of the human body according to the information received from the computing device 110, and queries the correct muscle part activation sequence, so as to compare the muscle part activation sequence with the muscle part activation sequence received from the computing device 110 to determine whether the force applied by the human body to the action is correct, and finally returns the determination result to the computing device 110.

In summary, the motion monitoring system 100 according to the embodiment of the invention can determine whether the force applied to the human body by the computing device 110 is correct, assist in determining whether the force applied to the human body by the remote server is correct, and directly determine whether the force applied to the human body by the remote server is correct, which is not limited in the invention.

In addition, in one embodiment, the computing device 110 includes an alarm device, such as a display, a speaker, a light-emitting diode (LED) array, a vibrator, or any combination thereof, for visually, audibly, and/or tactilely prompting the user to notice the malfunction or the malfunction of the application of force. In other embodiments, the warning device may also be disposed on the gravity sensors 120-122 and/or the electromyographic signal sensors 130-132 for warning the user, which is not limited herein.

Various use scenarios of the motion monitoring system 100 of embodiments of the present invention are described below. Taking the example of the bicycle riding exercise, the motion monitoring system 100 is disposed at the hip and the knee of the human body by using only two gravity sensors (e.g., the gravity sensors 120 to 121), and the myoelectric signal sensors (e.g., the myoelectric signal sensors 130 to 132) are disposed at the muscle parts between the hip and the knee of the human body, such as the quadriceps femoris, the biceps femoris and the hip muscle group. Fig. 2A is a flowchart illustrating a method for monitoring motion of a reciprocating motion according to an embodiment of the invention. Referring to fig. 1A and fig. 2A, the present embodiment is applicable to the motion monitoring system 100 of fig. 1A, and includes the following steps:

first, in step S210, during the bicycle riding exercise, the computing device 110 calculates the relative angle between the hip and the knee using the

gravity sensors

120 and 121 placed on the hip and the knee with reference to the horizon, and detects the activation sequence of the muscle parts using the myoelectric signal sensors 130 to 132 placed between the hip, the knee, and the ankle.

Then, in step S220, the calculating device 110 can estimate the crank angle of the foot of the human body stepping on the pedal of the pedal device by using the calculated relative angle.

In detail, in an embodiment, before the user performs the bicycle riding exercise, the embodiment may first test the action of the user to ride the bicycle, for example, the computing device 110 may request the user to ride the bicycle for a period of time, and collect information about the relative angle between the hip and the knee and the current crank angle when the user performs various pedaling/lifting actions on the pedal of the bicycle during the riding, so as to record the collected information in the storage device of the computing device 110 or upload the collected information to a remote server for subsequent query and comparison. In this way, when the user is actually riding the bicycle, the computing device 110 can estimate the crank angle of the pedal device treaded by the foot of the human body by querying the storage device (or the remote server) according to the detected relative angle between the hip and the knee of the human body.

In another embodiment, the computing device 110 may also first obtain the specification of the bicycle (e.g., the size and structure of each component of the bicycle), and collect the relative positions of the ankle (representing the pedal position) and the hip (representing the seat cushion position) of the user performing various stepping/lifting motions on the pedals of the bicycle during the test of the user riding the bicycle, so as to estimate the crank angle according to the geometrical relationship between the pedals and the seat cushion recorded in the specification of the bicycle. The crank angle can be compared by querying by recording the collected information in a storage device of the computing device 110 or uploading the collected information to a remote server.

Next, in step S230, the computing device 110 determines the stepping operation or the pulling operation of the foot on the pedal based on the crank angle. In one embodiment, the computing device 110 determines whether the estimated crank angle is within a predetermined angle range (e.g., 90 ° ± 10 °), and if so, determines that the foot (e.g., left foot) of the user is pedaling the pedal, and the other foot (e.g., right foot) is pulling the pedal. In other embodiments, the computing device 110 determines whether the estimated crank angle falls within another predetermined angle range (e.g., 200 ° ± 10 °), and if so, determines that the foot (e.g., the right foot) of the user is pulling the pedal and the other foot (e.g., the left foot) is stepping the pedal.

For example, FIG. 2B is a diagram illustrating the relationship between the user's pedaling action and pulling action and the crank angle according to the embodiment of the present invention shown in FIG. 2A. Referring to fig. 2B, the embodiment shows the relationship between the positions of the gear plate GP and the crank CRK and the stepping action and the pulling action performed by the foot of the user when the foot of the user steps on or pulls up the pedal. When the crank CRK is horizontally right, the crank angle is 90 degrees, and the user can be judged to be performing the stepping action; when the direction of the crank CRK is vertical downwards, the angle of the crank is 180 degrees, and at the moment, the user can be judged to be ready to carry out the pulling and lifting action; when the direction of the crank CRK is towards the left, the angle of the crank is 270 degrees, and at the moment, the user can be judged to still perform the pulling action; when the crank CRK is vertically upward, the crank angle is 360 degrees, and it can be determined that the user is not performing the operation or is ready to perform the next stepping operation. By observing or recording the stepping or pulling actions of the pedal by the user, the crank angle corresponding to the stepping and pulling actions performed by the user can be known. Accordingly, every time the computing device 110 according to the embodiment of the present invention calculates the crank angle, the stepping action or the pulling action of the user on the pedal can be determined according to the calculated crank angle.

Accordingly, in step S240, the computing device 110 obtains reference data of the activation sequence of the muscle part by the determined motion, and compares the detected activation sequence of the muscle part with the reference data of the activation sequence of the muscle part to determine whether the force applied by the human body to perform the motion is correct.

In one embodiment, if the determined action is a stepping action, the computing device 110 can obtain reference data corresponding to the stepping action, wherein the starting sequence of the muscle parts is recorded as gluteus maximus → quadriceps femoris, and the detected starting sequence of the muscle parts is compared with the reference data, so as to determine whether the force applied by the human body to perform the action is correct. In other embodiments, if the determined action is a pulling action, reference data corresponding to the pulling action can be obtained, wherein the starting sequence of the muscle parts is recorded as tibialis anterior → biceps femoris → iliocostalis, and the computing device 110 can determine whether the force applied by the human body to perform the action is correct by comparing the detected starting sequence of the muscle parts with the reference data; the reference data of the muscle part starting sequence corresponding to each action can be stored in a storage device (or a remote server) in advance.

In one embodiment, the use of two gravity sensors can also be used to determine whether the running motion is correct. Fig. 3 is a diagram illustrating an example of a human body performing a reciprocating motion according to another embodiment of the present invention. Referring to fig. 1A and 3, during running, the motion monitoring system 100 is disposed at the hip and knee of the human body by using only two gravity sensors (e.g., the gravity sensors 120 to 121), and the electromyographic signal sensors (e.g., the electromyographic signal sensors 130 to 132) are disposed at the muscle parts of the legs of the human body, such as the hip muscle group, the quadriceps femoris muscle, the biceps femoris muscle, and the calf muscle group. In the present embodiment, the motion monitoring system 100 further includes a pressure sensor (not shown) disposed on the foot of the human body, and the method of the present embodiment includes the following steps:

during running exercise, the computing device 110 calculates the relative angle of the knee with respect to the hip (as shown in fig. 3, the angle Θ between the hip and knee connection lines and the level line) using the

gravity sensors

120, 121 respectively disposed at the hip and the knee, with reference to the level line (e.g., the dotted line in fig. 3) _H1 、Θ _H2 ) And the activation sequence of the muscle parts of the leg is detected by the electromyographic signal sensors 130 to 132 placed at the muscle parts of the leg.

The computing device 110 may utilize a pressure sensor to detect whether the foot has landed. When the pressure sensor detects that the foot falls to the ground, the computing device 110 determines whether the currently calculated relative angle between the hip and the knee falls within a predetermined angle range (e.g., 30 ° ± 10 °), thereby determining whether the running action performed by the human body is correct.

Wherein, when the foot falls to the ground, if the computing device 110 determines the currently calculated relative angle Θ between the hip and the knee of the human body _H1 (e.g., 70 °) does not fall within the predetermined angle range, the computing device 110 can determine that the running motion performed by the human body is not correct. On the other hand, if the computing device 110 determines the currently calculated relative angle Θ between the hip and knee of the human body _H2 If the angle (e.g., 35 °) falls within the predetermined angle range, the computing device 110 determines that the running motion performed by the human body is correct.

In addition to determining whether the running action is correct, the computing device 110 may also determine whether the force applied by the user to perform the running action is correct. For example, the running motion can be divided into four periods, namely a ground contact period, a standing period, a stepping period and a swinging period. Taking the running motion after the left foot lands on the ground as an example, during the ground contact period, the muscle part starting sequence is the developing membrane of the left foot → the subtalar joint (i.e. the reference data of the muscle part starting sequence); in stance phase, the muscle site initiation sequence is achilles tendon of the left foot → soleus → gastrocnemius (i.e. reference data for the muscle site initiation sequence); during the swing phase, the muscle region activation sequence is abdominal → pelvis → biceps femoris of the left and right feet (i.e. reference data for the muscle region activation sequence); during the swing phase, the muscle site activation sequence is biceps femoris of the right foot → rectus femoris of the right foot (i.e., reference data for the muscle site activation sequence). The computing device 110 can determine whether the force applied by the human body to perform the action is correct by comparing the detected starting sequence of the muscle parts with the reference data; the reference data of the muscle part starting sequence corresponding to each action can be stored in a storage device (or a remote server) in advance.

In one embodiment, when it is determined that the running action performed by the human body is incorrect, the computing device 110 may, for example, execute an alert action to remind the user that the running action performed by the human body is incorrect. For example, the computing device 110 may be configured with pressure sensors at the heel and the ball, respectively, to detect whether the user is walking with the ball falling first or the heel falling first. If the computing device 110 determines that the user is running with the heel falling first, it can determine that the running action of the user is incorrect and execute the warning action. If the computing device 110 determines that the user lands with the sole of the foot first while running, but the relative angle between the hip and the knee does not fall within the predetermined angle range while landing, it is also determined that the running action of the user is incorrect and a warning action is performed.

In one embodiment, the motion monitoring system 100 may be configured to be placed at the hip, knee, and ankle of the human body using three gravity sensors (e.g., the gravity sensors 120-122), and the myoelectric sensors (e.g., the myoelectric sensors 130-132) are placed at the muscle between the hip and the ankle of the human body. Fig. 4A is a flowchart illustrating a method for monitoring motion of a reciprocating motion according to another embodiment of the invention. Referring to fig. 1A and fig. 4A, the present embodiment is applicable to the motion monitoring system 100 of fig. 1A, and includes the following steps:

first, in step S410, in the course of the bicycle riding exercise, the computing apparatus 110 calculates a first relative angle between the hip and the knee and a second relative angle between the knee and the ankle based on the horizon line using the gravity sensors 120 to 122 placed on the hip, the knee, and the ankle, and detects the activation sequence of the muscle portions using the myoelectric signal sensors 130 to 132 placed on the muscle portions between the hip and the ankle.

Next, in step S420, the calculating device 110 estimates a crank angle of the foot of the human body stepping on the pedal of the pedal device by using the calculated first relative angle and the second relative angle.

In detail, similar to the embodiment of fig. 2A, the present embodiment may also test the movement of the user riding the bicycle or obtain the specification of the bicycle before the user performs the bicycle riding movement. The computing device 110 may request the user to ride the bicycle for a period of time, and collect information about the relative angle between the hip and the knee and the crank angle, or the relationship between the relative position of the ankle relative to the hip and the crank angle, when the user performs various pedaling/lifting actions on the pedal of the bicycle during the riding period, so as to record the collected information in the storage device of the computing device 110, or upload the collected information to a remote server for subsequent query and comparison. In this way, the computing device 110 can query the storage device (or the remote server) according to the detected first relative angle between the hip and the knee and the detected second relative angle between the knee and the ankle, so as to estimate the pedal angle of the foot pedal device.

FIG. 4B is a schematic diagram illustrating an example of estimating the crank angle of the pedal device of the foot pedal apparatus according to the embodiment of the invention shown in FIG. 4A. In the present embodiment, the relative positions of the foot and the pedal device are shown in fig. 4B, wherein the coordinate point H is the position of the hip, the coordinate point K is the position of the knee, and the straight line L1 between the coordinate points H, K represents the thigh. Slope m of straight line L1 _HK The calculation method of (A) is as follows:

wherein, Y _H Is the position of the coordinate point H on the Y axis, Y _K As the position of the coordinate point K on the Y axis, X _H Is the position of the coordinate point H on the X axis, X _K Is the position of the coordinate point K on the X-axis. An angle theta formed by the straight line L1 and a horizontal line H1 where the coordinate point H is located _H I.e. the first relative angle.

On the other hand, the ankle of the human body is located at the position of the coordinate point a, and the straight line L2 between the coordinate points K, A represents the calf. Slope m of line L2 _KA The calculation method is as follows:

wherein, Y _A Is the position of coordinate point A on the Y axis, Y _K As the position of the coordinate point K on the Y axis, X _A Is the position of coordinate point A on the X axis, X _K Is the position of the coordinate point K on the X-axis. An angle theta formed by the straight line L2 and a horizontal line H2 where the coordinate point K is located _R I.e. the second relative angle, and the angle formed by the straight line L2 and the level line H3 on which the coordinate point a is located is also the second relative angle Θ _R 。

Then, the computing device 110 can utilize the principle of trigonometric function:

to tan theta _HK Proceed tan to ^-1 Operated to obtain theta _HK Angle of (1), wherein

Θ _K ＝180-Θ _HK (4)

By calculating expressions (1) to (4), the computing device 110 can obtain the knee angle Θ formed by the straight line L2 and the straight line L1 _K I.e. the first relative angle theta _H Angle theta to the second phase _R The sum of (a) and (b).

Using the first relative angle theta _H And a second relative angle theta _R In combination with the previously obtained parameters of the bicycle specification (such as the relative position or distance between the bicycle pedal and the seat cushion), the computing device 110 can estimate the crank angle of the pedal device treaded by the human foot. The dotted line formed by connecting the coordinate points PA1, PA0, PA2 represents the pedal, the straight line from the center point G1 of the gear plate GP to the pedal center PA0 represents the crank CRK, and the angle between the straight line and the vertical line is the crank angle.

Returning to the flow of fig. 4A, in step S430, the computing device 110 determines the stepping or pulling operation of the foot on the pedal according to the crank angle. For example, the computing device 110 determines whether the estimated crank angle is within a predetermined angle range (e.g., 90 ° ± 10 °), and if so, determines that the foot of the user (e.g., the left foot) is pedaling the pedal, and the other foot (e.g., the right foot) is pulling the pedal. In other embodiments, the computing device 110 determines whether the estimated crank angle falls within a predetermined angle range (e.g., 200 ° ± 10 °), and if so, determines that the foot (e.g., the right foot) of the user is pulling the pedal, and the other foot (e.g., the left foot) is stepping the pedal.

Accordingly, in step S440, the computing device 110 obtains the reference data of the activation sequence of the muscle parts of the motion determined in step S430, and compares the activation sequence of the muscle parts with the reference data to determine whether the force applied by the human body to perform the motion is correct. The embodiment of the computing device 110 for determining whether the force applied by the human body during the action is correct is the same as or similar to the step S240 in the previous embodiment, and therefore the detailed description is omitted here for brevity.

In one embodiment, the use of three gravity sensors also allows for detection of correct hill climbing movements. Fig. 5A is a flowchart illustrating a method for monitoring motion of a reciprocating motion according to another embodiment of the invention. Referring to fig. 1A and 5A, in the case of performing a hill climbing exercise, the motion monitoring system 100 is disposed at the hip, knee and ankle of the human body using three gravity sensors (e.g., the gravity sensors 120 to 122), and the electromyographic signal sensors (e.g., the electromyographic signal sensors 130 to 132) are disposed at the muscle parts of the legs of the human body, such as the hip muscle group, quadriceps femoris, biceps femoris and calf muscle group. The method of the embodiment comprises the following steps:

in step S510, in the course of the human body performing the hill-climbing exercise including a plurality of motions, the computing apparatus 110 calculates a first relative angle between the hip and the knee and a second relative angle between the knee and the ankle based on the horizon line by using the gravity sensors 120 to 122 placed on the hip, the knee, and the ankle (refer to the description of the first relative angle between the hip and the knee and the second relative angle between the knee and the ankle in step S410 above), and detects the activation order of the muscle parts by using the myoelectric signal sensors 130 to 132 placed on the muscle parts between the hip and the knee.

In step S520, the computing device 110 estimates the knee angle of the knee of the human body by using the calculated first relative angle and the second relative angle. The manner of estimating the knee angle of the knee of the human body in this embodiment is the same as or similar to that in the embodiment shown in FIG. 4B, and therefore the detailed description thereof is not repeated herein.

Next, in step S530, the computing device 110 determines whether the knee angle is within a predetermined angle range to determine the action performed by the human body. In one embodiment, the computing device 110 determines whether the estimated knee angle is continuously decreased from 180 ° and falls within a predetermined angle range (e.g., 155 ° ± 10 °), and if so, determines that the user is performing an up-down movement (or a stair movement). In other embodiments, the computing device 110 determines whether the estimated knee angle is continuously decreased from 180 ° and falls within a predetermined angle range (e.g., 175 ° ± 10 °), and if so, determines that the user is walking.

Accordingly, in step S540, the computing device 110 obtains reference data of the activation sequence of the muscle parts through the motion determined in step S530, and compares the measured activation sequence of the muscle parts with the reference data to determine whether the force applied by the human body to perform the motion is correct. That is, depending on whether the determined motion is an uphill or downhill motion or a walking motion, the computing device 110 may query the corresponding correct muscle activation sequence, and compare the muscle activation sequence with the detected muscle activation sequence to determine whether the force applied by the human body to perform the motion is correct. Wherein the reference data of the corresponding correct muscle activation sequence may be stored in advance in a storage device (or a remote server). If the computing device 110 determines that the force applied by the human body is correct, the process proceeds to step S550, and no warning is given. Otherwise, if the computing device 110 determines that the force applied by the human body is not correct, the process proceeds to step S560, and the warning device is used to warn that the force applied is not correct, so as to remind the user to correct the force application manner.

For example, fig. 5B to 5E are examples of the human body performing an ascending motion in a climbing motion according to the embodiment of the invention shown in fig. 5A. For convenience of explanation, the left foot of the human body ascends first to serve as an exemplary embodiment, however, the ascending motion is not limited to be the left foot or the right foot, i.e., the left and right motions may be alternated.

In the uphill maneuver, as shown in FIG. 5B, the user steps the left foot forward to the forward step, where the muscle portions are activated in the order gluteus maximus of the left foot → quadriceps femoris of the left foot → biceps femoris of the left foot. Next, as shown in FIG. 5C, the user's left foot exerts downward force to stabilize the step, and the muscle regions start in the sequence of gastrocnemius → ball of the left foot. When the user shifts the center of gravity (i.e., shifts the center of gravity from the left foot to the right foot), the muscle portions are activated in the order of gastrocnemius muscle in the left foot → quadriceps muscle in the left foot → biceps femoris muscle in the left foot, as shown in fig. 5D. Finally, when the user completes the center of gravity shift and then continues to step the right foot up the stairs, as shown in FIG. 5E, the muscle portions are activated in the sequence of the tibialis anterior of the right foot → biceps femoris of the right foot → the ball of the right foot. Accordingly, the human body can implement a complete uphill motion by completing the motions of fig. 5B to 5E.

On the other hand, fig. 5F to 5I are examples of the descending movement of the human body in the mountain climbing movement according to the embodiment of the invention shown in fig. 5A. For convenience of explanation, the left foot of the human body is used as the first descending slope, but the descending slope is not limited to be the left foot or the right foot, i.e. the left and right motions may be alternated.

In the downhill motion, as shown in fig. 5F, the user first moves the left foot downward in the lateral direction to the step, and the muscle portions are activated in the sequence of quadriceps femoris of the right foot → gastrocnemius of the right foot → gluteus maximus of the left foot → tibialis anterior of the left foot. Then, as shown in FIG. 5G, the user's left foot is stepped on to the lower step, and the muscle activation sequence is gastrocnemius → ball of the left foot. Then, the user's left foot exerts downward force to stabilize the steps, as shown in FIG. 5H, and the muscle portions are activated in the sequence of gastrocnemius of the left foot → quadriceps of the left foot → tibialis anterior of the left foot. Finally, the user continues to step the right foot down the stairs, as shown in fig. 5I, and the muscle portions are activated in the sequence of the quadriceps femoris of the left foot → gastrocnemius of the left foot → gluteus maximus of the right foot → quadriceps femoris of the right foot → tibialis anterior muscle of the right foot → right sole of the foot.

Based on the muscle part activation sequence of the up-and-down-slope movement, the computing device 110 can compare the muscle part activation sequence corresponding to the determined up-and-down-slope movement or walking movement with the currently detected muscle part activation sequence in step S540 to determine whether the force applied by the user to perform the up-and-down-slope movement is correct.

In one embodiment, the above-mentioned embodiment of determining whether the action of the human body and the force application manner during the action are correct by using the knee angle can be combined with the detection of the pressure sensor to determine whether the action and the force application manner during the action are correct at the same time. For example, fig. 6 is a flowchart illustrating a method for monitoring motion of a reciprocating motion according to another embodiment of the invention. Referring to fig. 1A and fig. 6 synchronously, in the present embodiment, the motion monitoring system 100 further includes pressure sensors disposed on the sole and the heel of the human body, and the method of the present embodiment includes the following steps:

in step S610, during the hill-climbing exercise, the computing apparatus 110 calculates a first relative angle between the hip and the knee and a second relative angle between the knee and the ankle based on the horizon line by using the gravity sensors 120 to 122 placed on the hip, the knee, and the ankle, and detects the activation sequence of the muscle parts by using the myoelectric signal sensors 130 to 132 placed on the muscle parts between the hip and the ankle.

In step S620, the computing device 110 estimates the knee angle of the knee of the human body using the calculated first and second relative angles. The manner of estimating the knee angle of the human body in this embodiment is the same as or similar to that in the embodiment of fig. 4B, and therefore the detailed description thereof is not repeated herein.

Next, in step S630, the computing device 110 uses the pressure sensor to detect whether the sole or the heel of the foot first falls on the ground when the human body climbs the hill. Since the heel of the user' S foot falls first, the computing device 110 determines that the movement is incorrect if the heel of the user falls first, and the warning device warns that the movement is incorrect in step S640. On the other hand, if the sole of the foot is detected to land first, the computing device 110 further determines whether the calculated knee angle is within the predetermined angle range in step S650 to determine whether the action performed by the human body is correct. For example, the computing device 110 determines whether the action performed by the human body is correct by determining whether the calculated knee angle is within the predetermined angle range in addition to the action performed by the human body according to the step S530 in the embodiment of fig. 5A. For example, it is determined whether the knee angle falls within a predetermined angle range (e.g., 155 ° ± 10 °) to determine whether the uphill action performed by the user is correct. If the action is determined to be incorrect, in step S640, the computing device 110 uses an alarm device to warn that the action is incorrect. On the other hand, if the action is determined to be correct, in step S660, the computing device 110 obtains reference data of the activation sequence of the muscle parts according to the action determined in step S650, and compares the detected activation sequence of the muscle parts with the reference data to determine whether the force applied by the human body to perform the action is correct. If the computing device 110 determines that the force applied by the human body is correct, the process proceeds to step S670, and no warning is given. Otherwise, if the computing device 110 determines that the force applied by the human body is incorrect, step S680 is performed, and the warning device is used to warn that the force applied is incorrect, so as to remind the user to correct the force application manner. The implementation of steps S660 to S680 is the same as or similar to steps S540 to S560 of the previous embodiment, and therefore the detailed description thereof is omitted here.

In summary, the method and system for monitoring the reciprocating motion in the embodiments of the present invention synchronously utilize the sensing data of the gravity sensor and the electromyographic signal sensor to determine whether each motion of the user during the motions such as bicycle riding, running, mountain climbing, step climbing, walking and the like is correct and whether the force application manner of each motion is correct, so as to remind the user to correct the motion or force application manner by sending out a warning, thereby reducing the probability of motion injuries and improving the motion efficiency.

Although the present invention has been described with reference to the above embodiments, it should be understood that the invention is not limited thereto, and that various changes and modifications can be made by those skilled in the art without departing from the spirit and scope of the invention.

Claims

1. A motion monitoring method of a reciprocating motion, which is applied to a monitoring system including a computing device, a plurality of gravity sensors disposed at a plurality of moving parts of a human body, and a plurality of electromyographic signal sensors disposed at a plurality of muscular parts of the human body, the method comprising the steps of:

detecting a relative angle of each of the plurality of moving parts with respect to a reference position of the human body using the plurality of gravity sensors and detecting a start sequence of the plurality of muscle parts using the plurality of electromyographic signal sensors, during a reciprocating motion including a plurality of motions of the human body;

judging whether the actions of the human body in the reciprocating motion process are correct or not according to the relative angles corresponding to the motion parts detected by the gravity sensors respectively; and

judging whether the force application of the plurality of actions of the human body is correct or not by analyzing the starting sequence of a plurality of muscle parts associated with the plurality of actions;

wherein the detecting the relative angle of each of the plurality of moving parts with respect to the reference position of the human body using the plurality of gravity sensors and the detecting the activation sequence of the plurality of muscle parts using the plurality of electromyographic signal sensors includes: calculating a relative angle between the hip and the knee by using the plurality of gravity sensors disposed at the hip and the knee, and accordingly determining the plurality of actions performed by the human body; and detecting the activation sequence of the plurality of muscular parts with the plurality of electromyographic signal sensors of the plurality of muscular parts interposed between the hip and the knee;

wherein the monitoring system further comprises a pressure sensor disposed at a foot of the human body, and the step of calculating the relative angle between the hip and the knee using the plurality of gravity sensors disposed at the hip and the knee, and thereby determining the plurality of actions performed by the human body, comprises: detecting whether the foot falls to the ground by using the pressure sensor; and when the pressure sensor detects that the foot falls to the ground, judging whether the calculated relative angle is within a preset angle range so as to judge whether the actions performed by the human body are correct.

2. The motion monitoring method according to claim 1, wherein the step of judging whether the force applied by the human body to perform the plurality of motions is correct by analyzing the activation sequence of the plurality of muscle parts associated with the plurality of motions comprises:

and acquiring reference data corresponding to the correct starting sequence of a plurality of muscle parts of at least one action in the plurality of actions, and comparing the detected starting sequence of the plurality of muscle parts with the reference data to judge whether the force application of the human body to the at least one action is correct.

3. A motion monitoring system for reciprocating motion, comprising:

a plurality of gravity sensors disposed at a plurality of moving parts of a human body;

a plurality of electromyographic signal sensors disposed at a plurality of muscle regions of the human body; and

the computing device is in communication connection with the gravity sensors and the electromyographic signal sensors, and is used for:

detecting relative angles of the motion parts relative to a reference position of the human body by using the gravity sensors, and detecting the starting sequence of the muscle parts by using the electromyographic signal sensors;

judging whether the actions of the human body in the reciprocating motion process are correct or not according to the relative angles corresponding to the motion parts detected by the gravity sensors; and

determining whether the force applied by the human body to perform the plurality of actions is correct by analyzing the activation sequence of a plurality of muscle parts associated with the plurality of actions;

wherein the computing device is further to: calculating a relative angle between the hip and the knee by using the plurality of gravity sensors disposed at the hip and the knee, and accordingly determining the plurality of actions performed by the human body; and detecting the activation sequence of the plurality of muscular parts with the plurality of electromyographic signal sensors of the plurality of muscular parts interposed between the hip and the knee;

wherein the motion monitoring system further comprises: a pressure sensor in communication with the computing device, wherein the pressure sensor is disposed on a foot of the human body, wherein the computing device is further configured to: detecting whether the foot falls to the ground by using the pressure sensor; and when the pressure sensor detects that the foot falls to the ground, judging whether the calculated relative angle is within a preset angle range so as to judge whether the actions performed by the human body are correct.

4. The motion monitoring system of claim 3, wherein the computing device is further to: