CN111419236B - Motion mode independent lower limb dynamics real-time resolving method based on inertial sensor - Google Patents

Motion mode independent lower limb dynamics real-time resolving method based on inertial sensor Download PDF

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CN111419236B
CN111419236B CN202010237501.7A CN202010237501A CN111419236B CN 111419236 B CN111419236 B CN 111419236B CN 202010237501 A CN202010237501 A CN 202010237501A CN 111419236 B CN111419236 B CN 111419236B
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CN111419236A (en
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丁振
马建涛
王志鹏
张�浩
尹逊峰
姜峰
杨炽夫
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Harbin Institute of Technology
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Abstract

The invention relates to a motion mode independent lower limb dynamics real-time resolving method based on an inertial sensor, and belongs to the technical field of exoskeleton dynamics modeling. The real-time settlement method comprises the following steps: step one, basic assumption: simplifying a human body into a 7-rod 9-degree-of-freedom model, defining relevant geometrical parameters of the human body, and determining parameters of the human body model; step two, establishing a human walking kinematics model; step three, solving the acting force of the sole of the human body; step four, solving the internal force of the joint of the human body from the foot; and fifthly, solving joint moment from the upper limb. The invention provides a real-time calculation method of motion mode independent lower limb dynamics based on an inertial sensor, which mainly solves the problem of equipment limitation required by calculation of human lower limb joint moment, calculates human lower limb joint moment accurately and conveniently in real time by using a low-cost method, and provides a lower limb inverse dynamics modeling method based on IMU (inertial measurement unit) during walking of a human body.

Description

Motion mode independent lower limb dynamics real-time resolving method based on inertial sensor
Technical Field
The invention relates to a motion mode independent lower limb dynamics real-time resolving method based on an inertial sensor, and belongs to the technical field of exoskeleton dynamics modeling.
Background
Currently, in the research of lower limb joint moment calculation, a method based on a dynamic equation is a main research method. However, because the limitation of human motion information and sole acting force measurement is difficult to break through, the acquisition of human joint moment by using the optical dynamic capturing and force measuring platform still takes the dominant role. More and more researches try to break through the limit of equipment and solve the moment of the joints of the human body by using a low-cost method. In the research of human motion information measurement, the passive mechanical method is gradually eliminated because of the large defects, although students are still using the method. Methods based on optical motion capture systems remain the "gold standard" in the industry. IMU (inertial measurement unit) based methods are receiving increasing attention as a new trend at present due to their convenience, accuracy and freedom from space limitations. For the existing human body lower limb inverse dynamics, the human body movement and sole pressure information cannot be effectively obtained in real time, so that the human body lower limb joint moment cannot be effectively solved in real time, and meanwhile, the human body assistance effect is greatly limited only according to the statistical human body lower limb joint moment curve in the research of human body assistance.
Disclosure of Invention
The invention aims to provide a real-time calculation method for motion mode independent lower limb dynamics based on an inertial sensor, so as to solve the defects of the prior art, and provides a real-time, accurate and convenient method for calculating human motion information and lower limb joint moment based on an IMU, thereby providing accurate basis for human assistance and improving assistance effect.
The real-time motion mode independent lower limb dynamics resolving method based on the inertial sensor comprises the following steps of:
step one, basic assumption: simplifying a human body into a 7-rod 9-degree-of-freedom model, defining relevant geometrical parameters of the human body, and determining parameters of the human body model;
step two, establishing a human walking kinematics model;
step three, solving the acting force of the sole of the human body;
step four, solving the internal force of the joint of the human body from the foot;
and fifthly, solving joint moment from the upper limb.
Further, in the step one, in the 7-bar 9-degree-of-freedom model, the 7 bar includes: the single rigid rod piece that is formed by the simplification of human whole upper limbs, human right side thigh, right side shank, right foot, left side thigh, left side shank and left foot, 9 degrees of freedom include: upper limb tilt rotation, upper limb x-direction translation, upper limb y-direction translation, right hip rotation, right knee rotation, right ankle rotation, left hip rotation, left knee rotation, and left ankle rotation.
Further, in step one, the relevant geometrical parameters of the human body include:
θ 7 and theta 4 The meaning is respectively the angles of the left ankle joint and the right ankle joint, and is respectively defined as the included angle between the connecting line of the left ankle joint and the right ankle joint and the barycenter of the foot and the straight line of the lower leg;
θ 6 and theta 3 The meaning is respectively the angle of the left knee joint and the right knee joint, and is respectively defined as the included angle between the straight line where the left thigh and the right thigh are positioned and the straight line where the lower leg is positioned;
θ 5 and theta 2 The meaning is respectively the angles of the left hip joint and the right hip joint, and is respectively defined as the included angle between the straight line where the left thigh and the right thigh are positioned and the straight line where the trunk is positioned;
θ 1 and q 1 The meaning is trunk inclination angle, which is defined as the included angle between the trunk and the vertical direction;
q 7 and q 4 The meaning is the inclination angle of the left foot and the right foot respectively, and the inclination angles are respectively defined as the included angles between the connecting line of the left ankle joint and the right ankle joint and the mass center of the foot and the vertical direction;
q 5 and q 2 The meaning is the inclination angles of the left thigh and the right thigh respectively, and the inclination angles are defined as the included angles of the left thigh and the right thigh and the vertical direction respectively;
q 6 and q 3 Meaning is the included angle between the left and right lower legs and the vertical direction;
h 7 and h 4 The mass center length of the left foot and the right foot is defined as the length from the ankle joint to the mass center of the left foot and the right foot respectively;
h 6 and h 3 The meaning is the length of the mass center of the left and right thighs, and the definition is the distance from the left and right knee joints to the mass center of the left and right thighs;
h 5 and h 2 The meaning is the length of the mass center of the left and right thighs respectively, and the distance from the left and right hip joints to the mass center of the left and right thighs is defined respectively;
h 1 the length of the mass center of the trunk is defined as the distance from the mass center of the upper limb to the hip joint in the sagittal plane;
L i the length of each limb segment is defined as the distance between the centers of joints at the two ends of each limb segment.
Further, in the second step, the relation between the coordinates of the mass center of each limb segment, the inclination angle of the limb segment and the geometrical parameters of the human body is as follows:
Figure SMS_1
Figure SMS_2
Figure SMS_3
Figure SMS_4
and combining with IMU information, obtaining the acceleration information of the upper limb centroid in the world coordinate system by second-order derivation of the formula (1-4).
Further, in the third step, the calculating of the sole acting force of the human body includes: solving the sole acting force of a single-leg supporting phase, solving the vertical sole acting force in a double-leg supporting phase and solving the horizontal sole acting force in the double-leg supporting phase, wherein,
the single-leg support phase sole acting force calculation comprises the following steps:
the total plantar pressure is:
Figure SMS_5
wherein GRF is x GRF for horizontal plantar effort y Is the sole acting force in the vertical direction, a x,i Acceleration in the horizontal direction of the mass center of the limb segment, a y,i For the acceleration of the mass center of the limb segment in the vertical direction, the acceleration information of the mass center of the upper limb is obtained by the IMU information installed on the upper limb:
Figure SMS_6
wherein a is b1,S To consolidateAcceleration of IMU at upper limb, w b1,S For the angular velocity of the IMU affixed to the upper limb,
Figure SMS_7
to be by IMU 1 The center of the coordinate system points to the vector of the centroid of the upper limb,
the conversion relation between the information and the measurement information of the IMU is as follows:
Figure SMS_8
wherein the method comprises the steps of
Figure SMS_9
Is a directional cosine matrix from the upper limb local coordinate system to the sensor coordinate system,
Figure SMS_10
wherein the method comprises the steps of
Figure SMS_11
Is a vector pointing from the center of the hip joint to the centroid of the upper limb,/->
Figure SMS_12
To be directed from the hip centre to the IMU 1 Vector of the center of the coordinate system.
The expression of the upper limb mass center acceleration in the limb segment coordinate system is as follows:
Figure SMS_13
solving the vertical sole acting force in the double-leg supporting phase comprises the following steps:
and in the support phase of the two legs, the total sole acting force is decomposed to the left foot and the right foot to solve the joint moment. The specific gravity coefficient of the single-side sole pressure accounting for the total sole acting force is as follows:
η z,v ＝a 1 /(e^(a 2 -a 3 t d /T d )-a 4 )-a 5 (10)
wherein t is d For the time elapsed from the start of the two-leg support phase, T d A for the whole time of the leg support phase 1 To a 5 Is constant.
The calculation method of the single-side sole pressure is as follows:
GRF_yr＝GRF*η z,v (11)
GRF_yl＝GRF-GRF_yr (12)
the GRF_yr and GRF_yl are respectively applied to the sole in the right side and the left side in the vertical direction;
the solving of the horizontal sole acting force in the double-leg supporting phase comprises the following steps:
the specific gravity coefficient of the single-sided plantar pressure to the total plantar effort is expressed as:
η z,l ＝b 1 /(e^(-(2t d /T d )^b 2 )-b 3 (13)
wherein t is d For the time elapsed from the start of the two-leg support phase, T d B for the whole time of the leg support phase 1 To b 3 Is constant.
GRF_xl＝GRF/η z,l (14)
GRF_xr＝GRF-GRF_xl (15)
Wherein GRF_xl and GRF_xr are left and right horizontal plantar forces, respectively.
Further, in the fourth step, the solving the intra-articular forces of the human body from the foot includes: foot stress analysis, calf stress analysis, thigh stress analysis and upper limb stress analysis, wherein,
the foot stress analysis includes:
the acting force of the ground to the foot comprises a vertical supporting force and a horizontal friction force, the supporting force is always vertically upwards, the friction force is backwards when the heel touches the ground, the friction force is forwards when the front sole touches the ground, the whole sole touches the ground, the acting force of the lower leg to the foot comprises a horizontal acting force, a vertical acting force and a moment,
the force balance equation is:
Figure SMS_14
the moment balance equation is:
Figure SMS_15
wherein J 4 For moment of inertia of the right foot about the centroid, F 34x And F 34y Respectively the horizontal acting force and the vertical acting force of the right leg to the right foot, F G4x And F G4y Respectively, a horizontal force and a vertical force facing the right foot, M 34 Is the action moment of the right calf on the right foot, l xx Is the force arm of the related acting force about the centroid, wherein the value is positive when the acting point of the force in the vertical direction is positioned on the right side of the centroid, the value is negative when the acting point of the force in the horizontal direction is positioned below the centroid, the value is positive when the acting point of the force in the horizontal direction is positioned above the centroid,
similarly, the left foot meets the same dynamics rule;
the calf stress analysis includes:
the right calf is acted by the right foot through the ankle joint to the calf, the gravity and the thigh through the hip joint to the calf,
the force balance equation is:
Figure SMS_16
the moment balance equation is:
Figure SMS_17
the same principle is satisfied for the left lower leg with the law of the same dynamics;
the thigh stress analysis comprises:
the right thigh is subjected to the forces of the right shank on the thigh through the knee joint, gravity and the forces of the upper limb on the shank through the hip joint,
the force balance equation is:
Figure SMS_18
the moment balance equation is:
Figure SMS_19
the same rule is satisfied for the left lower leg in the same way;
the upper limb stress analysis comprises the following steps:
the upper limb receives the acting force of the right thigh to the thigh through the right hip joint, the gravity and the acting force of the left thigh to the thigh through the left hip joint,
the force balance equation is:
Figure SMS_20
the moment balance equation is:
Figure SMS_21
further, in the fifth step, the solving the joint moment from the upper limb includes: solving the moment of the ankle joint of the single leg support phase and the moment of the ankle joint of the double leg support phase, wherein,
the single leg support phase ankle joint moment solving comprises the following steps:
the sole force of the support foot is the same as the total ground reaction force:
Figure SMS_22
substituting the formula (24) into each limb force balance equation to obtain all internal forces, substituting the internal forces into a moment balance equation on the basis of the internal forces, and obtaining ankle moment as follows:
Figure SMS_23
the moment solving of the ankle joint of the leg support phase comprises the following steps:
simplifying the action of the sole acting force on the foot into sole acting moment:
Figure SMS_24
adding all the moment balance to obtain the sum of the action moments of the soles of the left and right sides, namely:
GRM＝GRM_r+GRM_l＝∑M ij i＝1…7,j＝1…7 (27)
in the specific gravity of the single-sided plantar moment within the overall plantar pressure, the curve on the augmentation side is expressed as:
η M ＝c 1 /(e^(-(t/T d -c 2 )^c 3 ))+c 4 (t/T d )^2 (28)
wherein c 1 、c 2 、c 3 And c 4 Is a constant value, and is used for the treatment of the skin,
the method for solving the single-side sole action moment comprises the following steps:
Figure SMS_25
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substituting the unilateral sole acting force into a foot moment balance equation on the basis, and solving the joint moment as follows:
Figure SMS_26
the remaining moments are all solved in the balance equation, and for the two-leg support phase, the total duration of the support phase is estimated by using the duration of the single-leg support phase,
T single,k /T single,k-1 ＝T double,k /T double,k-1 (31)。
the invention has the main advantages that: the invention provides a real-time calculation method of motion mode independent lower limb dynamics based on an inertial sensor, which mainly solves the problem of equipment limitation required by calculation of human lower limb joint moment, calculates human lower limb joint moment accurately and conveniently in real time by using a low-cost method, and provides a lower limb inverse dynamics modeling method based on IMU (inertial measurement unit) during walking of a human body.
Drawings
FIG. 1 is a schematic diagram of a human model and related parameters;
FIG. 2 is a graph of a right foot stress analysis;
FIG. 3 is a diagram of a right calf stress analysis;
FIG. 4 is a diagram of a right thigh stress analysis;
FIG. 5 is a diagram of upper limb stress analysis;
fig. 6 is a graph of the sole moment of action specific gravity.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-5, the invention provides a real-time motion mode independent lower limb dynamics resolving method based on an inertial sensor, which comprises the following steps:
step one, basic assumption: simplifying a human body into a 7-rod 9-degree-of-freedom model, defining relevant geometrical parameters of the human body, and determining parameters of the human body model;
step two, establishing a human walking kinematics model;
step three, solving the acting force of the sole of the human body;
step four, solving the internal force of the joint of the human body from the foot;
and fifthly, solving joint moment from the upper limb.
Specifically, the motion mode independent lower limb dynamics real-time resolving method based on the inertial sensor comprises the following steps: step one, simplifying a human body into a 7-rod 9-degree-of-freedom model. Wherein, the head and the double arms of the human body are ignored, the mass of the human body is attributed to the upper limbs, the whole upper limbs of the human body are simplified into a single rigid rod piece, the relevant geometrical parameters of the human body are defined, and the parameters of the human body model are obtained on the basis. Step two, deducing a human body motion rule from the mass center of the upper limb, and establishing a motion model of the mass center of each limb segment when the human body walks normally. And thirdly, combining a dynamics principle, respectively carrying out single-leg support phase sole acting force solving, double-leg support phase vertical sole acting force solving and double-leg support phase horizontal sole acting force solving. And fourthly, respectively carrying out stress analysis on the foot, the lower leg, the thigh and the upper limb, and solving all intra-articular forces. And fifthly, respectively calculating the moment of the ankle joint of the single leg support phase and the moment of the ankle joint of the double leg support phase by combining the internal force results.
In a preferred embodiment of this part, in step one, in the 7-bar 9 degree of freedom model, the 7-bar includes: the head and the arms of the human body are ignored, the mass of the human body is attributed to the upper limbs, a single rigid rod piece which is formed by simplifying the whole upper limbs of the human body, a right thigh, a right shank, a right foot, a left thigh, a left shank and a left foot of the human body, and the 9 degrees of freedom comprise: upper limb tilt rotation, upper limb x-direction translation, upper limb y-direction translation, right hip rotation, right knee rotation, right ankle rotation, left hip rotation, left knee rotation, and left ankle rotation.
Referring to fig. 1, in a preferred embodiment of this part, in step one, the relevant geometrical parameters of the human body include:
θ 7 and theta 4 The meaning is respectively the angles of the left ankle joint and the right ankle joint, and is respectively defined as the included angle between the connecting line of the left ankle joint and the right ankle joint and the barycenter of the foot and the straight line of the lower leg;
θ 6 and theta 3 Meaning respectively to the leftThe right knee joint angle is respectively defined as an included angle between a straight line where the left thigh and the right thigh are positioned and a straight line where the lower leg is positioned;
θ 5 and theta 2 The meaning is respectively the angles of the left hip joint and the right hip joint, and is respectively defined as the included angle between the straight line where the left thigh and the right thigh are positioned and the straight line where the trunk is positioned;
θ 1 and q 1 The meaning is trunk inclination angle, which is defined as the included angle between the trunk and the vertical direction;
q 7 and q 4 The meaning is the inclination angle of the left foot and the right foot respectively, and the inclination angles are respectively defined as the included angles between the connecting line of the left ankle joint and the right ankle joint and the mass center of the foot and the vertical direction;
q 5 and q 2 The meaning is the inclination angles of the left thigh and the right thigh respectively, and the inclination angles are defined as the included angles of the left thigh and the right thigh and the vertical direction respectively;
q 6 and q 3 Meaning is the included angle between the left and right lower legs and the vertical direction;
h 7 and h 4 The mass center length of the left foot and the right foot is defined as the length from the ankle joint to the mass center of the left foot and the right foot respectively;
h 6 and h 3 The meaning is the length of the mass center of the left and right thighs, and the definition is the distance from the left and right knee joints to the mass center of the left and right thighs;
h 5 and h 2 The meaning is the length of the mass center of the left and right thighs respectively, and the distance from the left and right hip joints to the mass center of the left and right thighs is defined respectively;
h 1 the length of the mass center of the trunk is defined as the distance from the mass center of the upper limb to the hip joint in the sagittal plane;
L i the length of each limb segment is defined as the distance between the centers of joints at the two ends of each limb segment.
In the preferred embodiment of this part, in the second step, the relation between the coordinates of the centroids of the limb segments and the inclination angles of the limb segments and the geometrical parameters of the human body is as follows:
Figure SMS_27
Figure SMS_28
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Figure SMS_29
Figure SMS_30
and combining with IMU information, obtaining the acceleration information of the upper limb centroid in the world coordinate system by second-order derivation of the formula (1-4).
In a preferred embodiment of this portion, in step three, the calculating of the human plantar force includes: solving the sole acting force of a single-leg supporting phase, solving the vertical sole acting force in a double-leg supporting phase and solving the horizontal sole acting force in the double-leg supporting phase, wherein,
the single-leg support phase sole acting force calculation comprises the following steps:
the total plantar pressure is:
Figure SMS_31
wherein GRF is x GRF for horizontal plantar effort y Is the sole acting force in the vertical direction, a x,i Acceleration in the horizontal direction of the mass center of the limb segment, a y,i For the acceleration of the mass center of the limb segment in the vertical direction, the acceleration information of the mass center of the upper limb is obtained by the IMU information installed on the upper limb:
Figure SMS_32
wherein a is b1,S Acceleration, w, of an IMU attached to an upper limb b1,S For the angular velocity of the IMU affixed to the upper limb,
Figure SMS_33
to be by IMU 1 The center of the coordinate system points to the vector of the centroid of the upper limb,
the conversion relation between the information and the measurement information of the IMU is as follows:
Figure SMS_34
wherein the method comprises the steps of
Figure SMS_35
Is a directional cosine matrix from the upper limb local coordinate system to the sensor coordinate system,
Figure SMS_36
wherein the method comprises the steps of
Figure SMS_37
Is a vector pointing from the center of the hip joint to the centroid of the upper limb,/->
Figure SMS_38
To be directed from the hip centre to the IMU 1 Vector of the center of the coordinate system.
The expression of the upper limb mass center acceleration in the limb segment coordinate system is as follows:
Figure SMS_39
solving the vertical sole acting force in the double-leg supporting phase comprises the following steps:
and in the support phase of the two legs, the total sole acting force is decomposed to the left foot and the right foot to solve the joint moment. The specific gravity coefficient of the single-side sole pressure accounting for the total sole acting force is as follows:
η z,v ＝a 1 /(e^(a 2 -a 3 t d /T d )-a 4 )-a 5 (10)
wherein t is d For the time elapsed from the start of the two-leg support phase, T d A for the whole time of the leg support phase 1 To a 5 Is constant.
The calculation method of the single-side sole pressure is as follows:
GRF_yr＝GRF*η z,v (11)
GRF_yl＝GRF-GRF_yr(12)
the GRF_yr and GRF_yl are respectively applied to the sole in the right side and the left side in the vertical direction;
the solving of the horizontal sole acting force in the double-leg supporting phase comprises the following steps:
the specific gravity coefficient of the single-sided plantar pressure to the total plantar effort is expressed as:
η z,l ＝b 1 /(e^(-(2t d /T d )^b 2 )-b 3 (13)
wherein t is d For the time elapsed from the start of the two-leg support phase, T d B for the whole time of the leg support phase 1 To b 3 Is constant.
GRF_xl＝GRF/η z,l (14)
GRF_xr＝GRF-GRF_xl(15)
Wherein GRF_xl and GRF_xr are left and right horizontal plantar forces, respectively.
In a preferred embodiment of this portion, in step four, said solving for intra-articular forces of the human body from the foot includes: foot stress analysis, calf stress analysis, thigh stress analysis and upper limb stress analysis, wherein,
referring to fig. 2, the foot stress analysis includes:
the acting force of the ground to the foot comprises a vertical supporting force and a horizontal friction force, the supporting force is always vertically upwards, the friction force is backwards when the heel touches the ground, the friction force is forwards when the front sole touches the ground, the whole sole touches the ground, the acting force of the lower leg to the foot comprises a horizontal acting force, a vertical acting force and a moment,
the force balance equation is:
Figure SMS_40
the moment balance equation is:
Figure SMS_41
wherein J 4 For moment of inertia of the right foot about the centroid, F 34x And F 34y Respectively the horizontal acting force and the vertical acting force of the right leg to the right foot, F G4x And F G4y Respectively, a horizontal force and a vertical force facing the right foot, M 34 Is the action moment of the right calf on the right foot, l xx Is the force arm of the related acting force about the centroid, wherein the value is positive when the acting point of the force in the vertical direction is positioned on the right side of the centroid, the value is negative when the acting point of the force in the horizontal direction is positioned below the centroid, the value is positive when the acting point of the force in the horizontal direction is positioned above the centroid,
similarly, the left foot meets the same dynamics rule;
referring to fig. 3, the calf stress analysis includes:
the right calf is acted by the right foot through the ankle joint to the calf, the gravity and the thigh through the hip joint to the calf,
the force balance equation is:
Figure SMS_42
the moment balance equation is:
Figure SMS_43
the same principle is satisfied for the left lower leg with the law of the same dynamics;
referring to fig. 4, the thigh stress analysis includes:
the right thigh is subjected to the forces of the right shank on the thigh through the knee joint, gravity and the forces of the upper limb on the shank through the hip joint,
the force balance equation is:
Figure SMS_44
the moment balance equation is:
Figure SMS_45
the same rule is satisfied for the left lower leg in the same way;
referring to fig. 5, the upper limb stress analysis includes:
the upper limb receives the acting force of the right thigh to the thigh through the right hip joint, the gravity and the acting force of the left thigh to the thigh through the left hip joint,
the force balance equation is:
Figure SMS_46
the moment balance equation is:
Figure SMS_47
in a preferred embodiment of this portion, in step five, the solving the joint moment from the upper limb includes: solving the moment of the ankle joint of the single leg support phase and the moment of the ankle joint of the double leg support phase, wherein,
the single leg support phase ankle joint moment solving comprises the following steps:
the sole force of the support foot is the same as the total ground reaction force:
Figure SMS_48
substituting the formula (24) into each limb force balance equation to obtain all internal forces, substituting the internal forces into a moment balance equation on the basis of the internal forces, and obtaining ankle moment as follows:
Figure SMS_49
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the moment solving of the ankle joint of the leg support phase comprises the following steps:
simplifying the action of the sole acting force on the foot into sole acting moment:
Figure SMS_50
adding all the moment balance to obtain the sum of the action moments of the soles of the left and right sides, namely:
GRM＝GRM_r+GRM_l＝∑M ij i＝1…7,j＝1…7 (27)
FIG. 6 is a graph of the specific gravity of the single-sided plantar moment within the overall plantar pressure, wherein the curve on the increased side may be expressed as:
η M ＝c 1 /(e^(-(t/T d -c 2 )^c 3 ))+c 4 (t/T d )^2 (28)
wherein c 1 、c 2 、c 3 And c 4 Is a constant value, and is used for the treatment of the skin,
the method for solving the single-side sole action moment comprises the following steps:
Figure SMS_51
substituting the unilateral sole acting force into a foot moment balance equation on the basis, and solving the joint moment as follows:
Figure SMS_52
the remaining moments are all solved in the balance equation, and for the two-leg support phase, the total duration of the support phase is estimated by using the duration of the single-leg support phase,
T single,k /T single,k-1 ＝T double,k /T double,k-1 (31)。

Claims (6)

1. the real-time motion mode independent lower limb dynamics resolving method based on the inertial sensor is characterized by comprising the following steps of:
step one, basic assumption: simplifying a human body into a 7-rod 9-degree-of-freedom model, defining relevant geometrical parameters of the human body, and determining parameters of the human body model;
step two, establishing a human walking kinematics model;
step three, solving the acting force of the sole of the human body;
step four, solving the internal force of the joint of the human body from the foot;
step five, solving the joint moment from the upper limb,
in the third step, the calculating of the sole acting force of the human body comprises: solving the sole acting force of a single-leg supporting phase, solving the vertical sole acting force in a double-leg supporting phase and solving the horizontal sole acting force in the double-leg supporting phase, wherein,
the single-leg support phase sole acting force calculation comprises the following steps:
the total plantar pressure is:
Figure QLYQS_1
wherein GRF is x GRF for horizontal plantar effort y Is the sole acting force in the vertical direction, a x,i Acceleration in the horizontal direction of the mass center of the limb segment, a y,i For the acceleration of the mass center of the limb segment in the vertical direction, the acceleration information of the mass center of the upper limb is obtained by the IMU information installed on the upper limb:
Figure QLYQS_2
wherein a is b1,S Acceleration, w, of an IMU attached to an upper limb b1,S For the angular velocity of the IMU affixed to the upper limb,
Figure QLYQS_3
to be by IMU 1 The center of the coordinate system points to the vector of the centroid of the upper limb,
the conversion relation between the information and the measurement information of the IMU is as follows:
Figure QLYQS_4
wherein the method comprises the steps of
Figure QLYQS_5
Is a directional cosine matrix from the upper limb local coordinate system to the sensor coordinate system,
Figure QLYQS_6
wherein the method comprises the steps of
Figure QLYQS_7
Is a vector pointing from the center of the hip joint to the centroid of the upper limb,/->
Figure QLYQS_8
To be directed from the hip centre to the IMU 1 The vector of the center of the coordinate system,
the expression of the upper limb mass center acceleration in the limb segment coordinate system is as follows:
Figure QLYQS_9
solving the vertical sole acting force in the double-leg supporting phase comprises the following steps:
when the two legs support the looks, decompose the joint moment with total sole effort left and right feet, unilateral sole pressure is the proportion coefficient of total sole effort:
η z,v ＝a 1 /(e^(a 2 -a 3 t d /T d )-a 4 )-a 5 (10)
wherein t is d For the time elapsed from the start of the two-leg support phase, T d A for the whole time of the leg support phase 1 To a 5 Is a constant value, and is used for the treatment of the skin,
the calculation method of the vertical sole pressure in the double-leg supporting phase is as follows:
GRF_yr＝GRF*η z,v (11)
GRF_yl＝GRF-GRF_yr (12)
the GRF_yr and GRF_yl are respectively applied to the sole in the right side and the left side in the vertical direction;
the solving of the horizontal sole acting force in the double-leg supporting phase comprises the following steps:
the specific gravity coefficient of the single-sided plantar pressure to the total plantar effort is expressed as:
η z,l ＝b 1 /(e^(-(2t d /T d )^b 2 )-b 3 (13)
wherein t is d For the time elapsed from the start of the two-leg support phase, T d B for the whole time of the leg support phase 1 To b 3 Is a constant value, and is used for the treatment of the skin,
GRF_xl＝GRF/η z,l (14)
GRF_xr＝GRF-GRF_xl (15)
wherein GRF_xl and GRF_xr are left and right horizontal plantar forces, respectively.
2. The method of motion mode independent lower limb dynamics real-time resolution of an inertial sensor of claim 1, wherein in step one, the 7-bar 9 degree of freedom model, the 7-bar comprises: the single rigid rod piece that is formed by the simplification of human whole upper limbs, human right side thigh, right side shank, right foot, left side thigh, left side shank and left foot, 9 degrees of freedom include: upper limb tilt rotation, upper limb x-direction translation, upper limb y-direction translation, right hip rotation, right knee rotation, right ankle rotation, left hip rotation, left knee rotation, and left ankle rotation.
3. The method for real-time motion-mode independent lower limb dynamics calculation of an inertial sensor according to claim 1, wherein in step one, the relevant geometrical parameters of the human body include:
θ 7 and theta 4 The meaning is respectively the angles of the left ankle joint and the right ankle joint, and is respectively defined as the included angle between the connecting line of the left ankle joint and the right ankle joint and the barycenter of the foot and the straight line of the lower leg;
θ 6 and theta 3 The meaning is respectively the angle of the left knee joint and the right knee joint, and is respectively defined as the included angle between the straight line where the left thigh and the right thigh are positioned and the straight line where the lower leg is positioned;
θ 5 and theta 2 The meaning is respectively the angles of the left hip joint and the right hip joint, and is respectively defined as the included angle between the straight line where the left thigh and the right thigh are positioned and the straight line where the trunk is positioned;
θ 1 and q 1 The meaning is trunk inclination angle, which is defined as the included angle between the trunk and the vertical direction;
q 7 and q 4 The meaning is the inclination angle of the left foot and the right foot respectively, and the inclination angles are respectively defined as the included angles between the connecting line of the left ankle joint and the right ankle joint and the mass center of the foot and the vertical direction;
q 5 and q 2 The meaning is the inclination angles of the left thigh and the right thigh respectively, and the inclination angles are defined as the included angles of the left thigh and the right thigh and the vertical direction respectively;
q 6 and q 3 Meaning is the included angle between the left and right lower legs and the vertical direction;
h 7 and h 4 The mass center length of the left foot and the right foot is defined as the length from the ankle joint to the mass center of the left foot and the right foot respectively;
h 6 and h 3 The meaning is the length of the mass center of the left and right thighs, and the definition is the distance from the left and right knee joints to the mass center of the left and right thighs;
h 5 and h 2 The meaning is the length of the mass center of the left and right thighs respectively, and the distance from the left and right hip joints to the mass center of the left and right thighs is defined respectively;
h 1 the length of the mass center of the trunk is defined as the distance from the mass center of the upper limb to the hip joint in the sagittal plane;
L i meaning the length of each limb segment, defined as the distance between the centers of joints at the two ends of each limb segmentDistance.
4. The method for real-time calculation of motion mode independent lower limb dynamics of inertial sensor according to claim 3, wherein in the second step, the relation between the coordinates of each limb segment centroid and the limb segment inclination angle and the human body geometrical parameters is:
Figure QLYQS_10
Figure QLYQS_11
Figure QLYQS_12
Figure QLYQS_13
and combining with IMU information, obtaining the acceleration information of the upper limb centroid in the world coordinate system by second-order derivation of the formula (1-4).
5. The method for real-time motion-mode independent lower limb dynamics solving for the inertial sensor according to claim 1, wherein in the fourth step, the solving for the intra-articular forces of the human body from the foot comprises: foot stress analysis, calf stress analysis, thigh stress analysis and upper limb stress analysis, wherein,
the foot stress analysis includes:
the acting force of the ground to the foot comprises a vertical supporting force and a horizontal friction force, the supporting force is always vertically upwards, the friction force is backwards when the heel touches the ground, the friction force is forwards when the front sole touches the ground, the whole sole touches the ground, the acting force of the lower leg to the foot comprises a horizontal acting force, a vertical acting force and a moment,
the force balance equation is:
Figure QLYQS_14
the moment balance equation is:
Figure QLYQS_15
wherein J 4 For moment of inertia of the right foot about the centroid, F 34x And F 34y Respectively the horizontal acting force and the vertical acting force of the right leg to the right foot, F G4x And F G4y Respectively, a horizontal force and a vertical force facing the right foot, M 34 Is the action moment of the right calf on the right foot, l xx Is the force arm of the related acting force about the centroid, wherein the value is positive when the acting point of the force in the vertical direction is positioned on the right side of the centroid, the value is negative when the acting point of the force in the horizontal direction is positioned below the centroid, the value is positive when the acting point of the force in the horizontal direction is positioned above the centroid,
similarly, the left foot meets the same dynamics rule;
the calf stress analysis includes:
the right calf is acted by the right foot through the ankle joint to the calf, the gravity and the thigh through the hip joint to the calf,
the force balance equation is:
Figure QLYQS_16
the moment balance equation is:
Figure QLYQS_17
the same principle is satisfied for the left lower leg with the law of the same dynamics;
the thigh stress analysis comprises:
the right thigh is subjected to the forces of the right shank on the thigh through the knee joint, gravity and the forces of the upper limb on the shank through the hip joint,
the force balance equation is:
Figure QLYQS_18
the moment balance equation is:
Figure QLYQS_19
the same rule is satisfied for the left lower leg in the same way;
the upper limb stress analysis comprises the following steps:
the upper limb receives the acting force of the right thigh to the thigh through the right hip joint, the gravity and the acting force of the left thigh to the thigh through the left hip joint,
the force balance equation is:
Figure QLYQS_20
the moment balance equation is:
Figure QLYQS_21
6. the method for real-time calculation of motion-mode independent lower limb dynamics of an inertial sensor according to claim 1, wherein in step five, the calculating the joint moment from the upper limb comprises: solving the moment of the ankle joint of the single leg support phase and the moment of the ankle joint of the double leg support phase, wherein,
the single leg support phase ankle joint moment solving comprises the following steps:
the sole force of the support foot is the same as the total ground reaction force:
Figure QLYQS_22
substituting the formula (24) into each limb force balance equation to obtain all internal forces, substituting the internal forces into a moment balance equation on the basis of the internal forces, and obtaining ankle moment as follows:
Figure QLYQS_23
the moment solving of the ankle joint of the leg support phase comprises the following steps:
simplifying the action of the sole acting force on the foot into sole acting moment:
Figure QLYQS_24
adding all the moment balance to obtain the sum of the action moments of the soles of the left and right sides, namely:
GRM＝GRM_r+GRM_l＝∑M ij i＝1…7,j＝1…7 (27)
in the specific gravity of the single-sided plantar moment within the overall plantar pressure, the curve on the augmentation side is expressed as:
η M ＝c 1 /(e^(-(t/T d -c 2 )^c 3 ))+c 4 (t/T d )^2 (28)
wherein c 1 、c 2 、c 3 And c 4 Is a constant value, and is used for the treatment of the skin,
the method for solving the single-side sole action moment comprises the following steps:
Figure QLYQS_25
substituting the unilateral sole acting force into a foot moment balance equation on the basis, and solving the joint moment as follows:
Figure QLYQS_26
the remaining moments are all solved in the balance equation, and for the two-leg support phase, the total duration of the support phase is estimated by using the duration of the single-leg support phase,
T single,k /T single,k-1 ＝T double,k /T double,k-1 (31)。
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