CN112331300A - Acceleration sensor-based knee-climbing joint collaborative motion analysis system for children with cerebral palsy - Google Patents

Acceleration sensor-based knee-climbing joint collaborative motion analysis system for children with cerebral palsy Download PDF

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CN112331300A
CN112331300A CN202011285904.5A CN202011285904A CN112331300A CN 112331300 A CN112331300 A CN 112331300A CN 202011285904 A CN202011285904 A CN 202011285904A CN 112331300 A CN112331300 A CN 112331300A
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熊启亮
吴小鹰
江少锋
侯文生
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Nanchang Hangkong University
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Abstract

The invention provides a knee-climbing joint cooperative motion analysis system for children with cerebral palsy based on an acceleration sensor, which comprises a joint motion acceleration acquisition device and a joint cooperative motion analysis module based on acceleration, wherein the joint motion acceleration acquisition device comprises a device body and elastic bandages which are connected with two sides of the device body and are convenient to fix on the joints of limbs of the children with cerebral palsy, the acceleration acquisition module, a singlechip module, a display module, a wireless transmission module and a power supply module are respectively integrated on the device body, the singlechip module is used for processing triaxial acceleration signals acquired by the acceleration acquisition module, the joint cooperative motion analysis module is used for analyzing the joint cooperative motion analysis module based on the acceleration, the wireless transmission module is used for transmitting the joint cooperative motion analysis module to the upper computer, the power module is used for supplying power to the single chip microcomputer module, and the wireless transmission module is used for transmitting the joint cooperative motion analysis module to the upper computer. The system can be used for the daily rehabilitation training process of children with cerebral palsy, and the crawling motion posture analysis function is easy to expand.

Description

Acceleration sensor-based knee-climbing joint collaborative motion analysis system for children with cerebral palsy
Technical Field
The invention relates to the technical field of clinical rehabilitation of children with cerebral palsy, in particular to a knee-climbing joint collaborative motion analysis system for children with cerebral palsy based on an acceleration sensor.
Background
The incidence rate of cerebral palsy (cerebral palsy for short) is up to 1.5-4 per mill, which is the main disease of children limb disability after poliomyelitis is controlled, and abnormal movement posture is the main clinical manifestation of movement dysfunction. At present, no effective method for radically treating the cerebral palsy exists, and the later rehabilitation effect depends on the early evaluation of the abnormal motor dysfunction degree of the cerebral palsy to a great extent, so that the early intervention and early treatment are carried out.
Three-dimensional gait analysis (gait analysis) is a motion function assessment means combining motion capture, biomechanics and surface electromyography technologies, and is widely applied to the assessment of clinical motor dysfunction of cerebral palsy because it can provide objective and quantitative assessment results based on surface electromyography and kinematics measurement, but the technology is not suitable for children with walking ability in low age groups or children with difficulty in independent walking due to motor dysfunction. The current solutions usually involve tests performed by therapists or external aids, but this has to affect the assessment of the true motor dysfunction status. On the other hand, although the evaluation method based on the clinical scale score has greater age adaptability, the evaluation method with greater subjectivity is still a subject. Therefore, there is a need for a new technology or method capable of objectively and quantitatively evaluating the motor function disorder degree of cerebral palsy in the early stage of motor function development, especially in the stage of infants before independent walking ability is obtained.
The motion development milestones before the infants obtain independent walking ability comprise turning over, sitting alone, hand and knee crawling and the like, wherein the hand and knee crawling (knee crawling for short) is used as the first gross motion behavior related to the integral action of four limbs in the motion function development process of the infants, and particularly, an upper limb and lower limb coordinated motion mode formed by the hand and knee crawling plays an important role in the later-stage walking function development of the infants, so that crawling motion analysis can effectively reflect the motion function development state of the infants. On the other hand, the abnormal motor posture is the main clinical manifestation of the cerebral palsy motor dysfunction, and is usually expressed as abnormal crawling postures such as rabbit-jumping-like knee crawling, ataxia knee crawling, involuntary left-right swinging knee crawling, involuntary upper limb cross knee crawling and the like in the knee crawling stage of the infant, but the evaluation of the cerebral palsy abnormal crawling posture in the clinical practice still stays in the subjective description stage at present, namely, a method or a technology for objectively and quantitatively evaluating the motor dysfunction of the infant with cerebral palsy by utilizing the characteristics of the abnormal knee crawling motor posture of the infant with cerebral palsy is almost blank. At present, a clinical three-dimensional gait analysis system is expensive, has a closed interface and is not beneficial to expanding the crawling motion posture analysis function. Therefore, there is a need for a system and method for analyzing abnormal knee-climbing movement posture of children with cerebral palsy.
In recent years, researchers try to quantitatively evaluate the dysfunction of children with cerebral palsy by using surface electromyographic signals generated in the muscle contraction process in the knee climbing process, but related research works also find that the effect of differentiating the muscle contraction characteristics to represent the abnormal crawling posture of the children with cerebral palsy is limited. The inventor of the application believes that joint cooperative motion in the knee crawling can fully expose cerebral palsy abnormal movement postures after research and analysis, and meanwhile joint movement acceleration in the joint movement process is the most intuitive measurement signal of the movement postures, so that joint cooperative movement characteristics in the knee crawling are explored based on the acceleration signal in the joint movement process, and possibility is provided for objective assessment of cerebral palsy child movement dysfunction.
Disclosure of Invention
The invention provides a knee-climbing joint cooperative motion analysis system for cerebral palsy children, which is based on an acceleration sensor and aims at solving the technical problems that the existing three-dimensional motion capture system clinically used for evaluating abnormal crawling postures of cerebral palsy children is only suitable for laboratory environments, is high in price, is closed in interface, is not beneficial to expanding the crawling motion posture analysis function and cannot be used in the daily rehabilitation training process of cerebral palsy children.
In order to solve the technical problems, the invention adopts the following technical scheme:
a knee-climbing joint collaborative motion analysis system for children with cerebral palsy based on an acceleration sensor comprises a joint motion acceleration acquisition device and a joint collaborative motion analysis module based on acceleration; wherein the content of the first and second substances,
the joint movement acceleration acquisition device comprises a device body and an elastic bandage, wherein an acceleration acquisition module, a single-chip microcomputer module, a display module, a wireless transmission module and a power supply module are integrated on the device body respectively, the acceleration acquisition module is used for acquiring triaxial acceleration signals of joint movement of limbs in the knee climbing action process, the single-chip microcomputer module is used for processing the acquired triaxial acceleration signals, then transmitting the processed triaxial acceleration signals to the display module for display and transmitting the processed triaxial acceleration signals to the wireless transmission module for analysis by an upper computer, the power supply module is used for supplying power to the single-chip microcomputer module, and the elastic bandage is connected with two sides of the device body so as to fix the device body on the joints of limbs of children with cerebral palsy;
the joint cooperative motion analysis module based on acceleration is arranged in an upper computer and comprises:
the tangential acceleration conversion unit is used for carrying out vector synthesis on the three-axis acceleration signals transmitted by the wireless transmission module to obtain tangential acceleration;
the crawling cycle dividing unit is used for defining the time interval between the tangential acceleration peaks of two continuous motions of the limb joint in the vertical direction as a complete crawling cycle;
the tangential acceleration preprocessing unit is used for filtering the tangential acceleration subjected to period division by adopting a low-pass filter, then carrying out amplitude normalization on tangential acceleration curves of different crawling periods by adopting the maximum value of the amplitude of the tangential acceleration curve of each joint, then resampling the normalized data to be 0-100% of the crawling period, and finally averaging the multi-period tangential acceleration curves subjected to normalization and resampling;
the original matrix construction unit is used for arranging the tangential acceleration curves of all joints in a 0-100% crawling period according to a set sequence to form an original matrix on the basis of the pretreatment of the tangential acceleration pretreatment unit
Figure BDA0002782377820000031
Wherein m represents the number of joints, and t represents the number of resampling data points in a single crawling cycle;
a non-negative matrix decomposition unit for firstly setting the number r of joint cooperative modes, wherein r is more than or equal to 1 and less than or equal to 8, then establishing 0-1 uniformly distributed random matrixes W and H and forming an initial reconstruction matrix VrW × H, then by calculating the parameters
Figure BDA0002782377820000032
To judge the reconstruction matrix VrAnd the original matrix VOThe difference between the two, continuously iterates to make the reconstructed matrix VrCloser and closer to the original matrix VOUntil the preset condition is met, finally, a non-negative matrix factorization algorithm is used for reconstructing the matrix V when the preset condition is metrBy the formula
Figure BDA0002782377820000033
And (5) performing matrix decomposition, and extracting and outputting a posture coordination matrix W and an activation coefficient matrix H.
Compared with the prior art, the knee-climbing joint collaborative motion analysis system for the children with cerebral palsy based on the acceleration sensor, provided by the invention, has the advantages that the joint motion acceleration acquisition device acquires and uploads the three-axis acceleration signals of the joint motion of the limb in the knee climbing action process to the upper computer, and the joint collaborative motion analysis module based on the acceleration in the upper computer analyzes the acquired three-axis acceleration signals, and specifically comprises the steps of firstly carrying out vector synthesis, crawling cycle segmentation, filtering, normalization, resampling and average processing on the three-axis acceleration signals to obtain the change curve of the motion tangential acceleration of each joint in a three-dimensional space in the knee climbing cycle; then, an original matrix V is constructed according to the tangential acceleration curve of each jointO(ii) a Then establishing random matrixes W and H and forming an initial reconstruction matrix Vr(ii) a Then continuously iterating to judge a reconstruction matrix VrAnd the original matrix VOUntil a preset condition is met; finally, a reconstruction matrix V meeting the preset condition is subjected to non-negative matrix factorization algorithmrPerforming matrix decomposition, extracting and outputting posture cooperative matrixes W andthe coefficient matrix H is activated. Therefore, the system is intended to effectively solve the problems of analysis and extraction of cooperative motion forms among a plurality of joints in and among limbs of the knee-climbing middle limb of the cerebral palsy child through measurement and analysis of the joint motion acceleration signals in the knee-climbing process of the cerebral palsy child, and how the cerebral palsy affects the cooperative motion forms of the joints in the knee-climbing middle limb.
Further, the acceleration acquisition module adopts a gravity acceleration gyroscope sensor MPU-6050.
Further, the singlechip module adopts an STC89C52 series singlechip.
Further, the wireless transmission module adopts an HC-05 Bluetooth module.
Furthermore, the device body is fixed on elbow joints, wrist joints, knee joints and ankle joints on the four sides of the four limbs of the children with cerebral palsy.
Further, acceleration signals V corresponding to the limb joints in the front-back direction, the horizontal direction and the vertical direction in the crawling process in the tangential acceleration conversion unitAP、VMLAnd VVTBy the formula
Figure BDA0002782377820000041
And carrying out vector synthesis to obtain the tangential acceleration.
Furthermore, a Butterworth second-order low-pass filter is adopted in the tangential acceleration preprocessing unit for filtering, and a formula is adopted
Figure BDA0002782377820000042
Carrying out normalization processing; wherein x isiRepresenting the tangential acceleration, y, at a certain moment i in the creep cycleiThe tangential acceleration after normalization processing is shown.
Further, the original matrix in the original matrix construction unit
Figure BDA0002782377820000051
Further, the initial values of the random matrices W and H established in the non-negative matrix factorization unit are respectively as follows:
Figure BDA0002782377820000052
Figure BDA0002782377820000053
wherein, lk refers to the first row and k column elements of the matrix, When (WHH)T)lkWhen 0, the corresponding position element is not updated, T represents transposition, HTA transposed matrix, W, representing the H matrixTDenotes the transpose matrix of W matrix, kj refers to the jth row and jth column element of the k-th row of the matrix, when (W)TWH)kjWhen the value is 0, the corresponding position element is not updated.
Further, the preset conditions in the non-negative matrix factorization unit are as follows: the number r of joint cooperation modes with the reconstructed VAF value of all joints being more than 90 percent and the VAF value of a single joint being more than 75 percent is used as the minimum joint cooperation mode number required for reconstructing all original joint movement modes.
Drawings
Fig. 1 is a schematic block diagram of a system for analyzing cooperative movement of knee joints of children with cerebral palsy based on an acceleration sensor.
Fig. 2 is a schematic view of the joint motion acceleration acquisition device provided by the invention.
Fig. 3 is a schematic diagram of an implementation effect of the joint motion acceleration acquisition device provided by the invention.
Fig. 4 is a schematic analysis flow diagram of the joint cooperative motion analysis module provided by the invention.
Fig. 5 is a schematic diagram of calculation of the directional acceleration in the three-dimensional space provided by the present invention.
FIG. 6 is a schematic diagram of crawling cycle segmentation provided by the present invention.
FIG. 7 is a raw matrix formed by eight joint tangential acceleration curves after preprocessing provided by the present invention.
FIG. 8 is a schematic representation of the VAF values provided by the present invention as the number of joint coordination patterns increases.
FIG. 9 is a schematic diagram of the output results of the posture coordination matrix W and the activation coefficient matrix H provided by the present invention.
In the figure, 1, an apparatus body; 11. an acceleration acquisition module; 12. a single chip module; 13. a display module; 14. a wireless transmission module; 15. a power supply module; 2. an elastic bandage; 3. and the joint cooperative motion analysis module based on acceleration.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained below by combining the specific drawings.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1 to 9, the present invention provides an acceleration sensor-based knee-crawling joint cooperative motion analysis system for children with cerebral palsy, including a joint motion acceleration acquisition device and an acceleration-based joint cooperative motion analysis module; wherein the content of the first and second substances,
the joint movement acceleration acquisition device comprises a device body 1 and an elastic bandage 2, wherein an acceleration acquisition module 11, a singlechip module 12, a display module 13, a wireless transmission module 14 and a power supply module 15 are respectively integrated on the device body 1, the acceleration acquisition module 11 is used for acquiring three-axis acceleration signals of limb joint movement in the knee climbing action process, the single chip microcomputer module 12 is used for processing the acquired triaxial acceleration signal, transmitting the processed triaxial acceleration signal to the display module 13 for display, transmitting the processed triaxial acceleration signal to the wireless transmission module 14 to be transmitted to an upper computer such as a PC (personal computer) end for analysis, the power module 15 is used for supplying power to the single chip microcomputer module 12, the power module 15 can specifically adopt a lithium battery to supply power to the single chip microcomputer module 12 after passing through an AMS1117-3.3V voltage stabilizing chip, the elastic bandage 2 is connected with the two sides of the device body 1, so that the device body 1 can be fixed on the limb joints of children with cerebral palsy conveniently;
the joint cooperative motion analysis module 3 based on acceleration is arranged in an upper computer, and comprises:
the tangential acceleration conversion unit is used for carrying out vector synthesis on the three-axis acceleration signals transmitted by the wireless transmission module 14 to obtain tangential acceleration; specifically, when the hands and the knees are crawled, the limbs and the joints need to cooperatively move among multiple joints, each joint has a specific cooperative cooperation mode in a three-dimensional space, namely joint cooperation, motion acceleration signals of the limbs and the joints in the crawling process in the front-back direction (AP), the horizontal direction (ML) and the vertical direction (VT) can be obtained by the acceleration acquisition module 11 of the hardware device part, and the accelerations obtained after vector synthesis of the tangential acceleration signals in the three directions are called tangential acceleration, so that the motion state of the joints in the three-dimensional space is described and used for extracting the subsequent joint cooperation;
the crawling cycle dividing unit is used for defining the time interval between the tangential acceleration peaks of two continuous motions of the limb joint in the vertical direction as a complete crawling cycle; specifically, the knee crawling motion is a rhythmic repetitive motion accompanied by periodic motion of joints, so that before joint collaborative mode extraction is performed, a crawling cycle needs to be effectively segmented, wherein a complete crawling cycle is defined as a time interval between two consecutive times of reaching the same position of a limb motion state, and in the present application, a left wrist joint is used as a detection object for crawling cycle segmentation, that is, a time interval between two consecutive motion acceleration peaks of a wrist joint in a vertical direction is a complete crawling cycle, as shown in fig. 6;
the tangential acceleration preprocessing unit is used for filtering the tangential acceleration after period division by adopting a low-pass filter, then carrying out amplitude normalization on tangential acceleration curves of different crawling periods by adopting the maximum amplitude value of each joint tangential acceleration curve, then resampling the normalized data to obtain 0-100% of a crawling period, namely resampling the data in a single crawling period to obtain 101 data points so as to average the data in different periods in the later period, and finally averaging the multi-period tangential acceleration curves subjected to normalization and resampling to obtain a characteristic curve reflecting the joint motion activity level;
the original matrix construction unit is used for arranging the tangential acceleration curves of all joints in a 0-100% crawling period according to a set sequence to form an original matrix on the basis of the pretreatment of the tangential acceleration pretreatment unit
Figure BDA0002782377820000081
Wherein m represents the number of joints, and t represents the number of resampling data points in a single crawling cycle;
a non-negative matrix decomposition unit for firstly setting the number r of joint cooperative modes, wherein r is more than or equal to 1 and less than or equal to 8, then establishing 0-1 uniformly distributed random matrixes W and H and forming an initial reconstruction matrix VrW × H, then by calculating the parameters
Figure BDA0002782377820000082
To judge the reconstruction matrix VrAnd the original matrix VOThe difference between the two, continuously iterates to make the reconstructed matrix VrCloser and closer to the original matrix VOUntil the preset condition is met; wherein, the larger the VAF value is, the larger the reconstruction matrix V isrWith the original matrix VOThe closer, the more closely, the appropriate number of joint synergies can be extracted by setting the VAF threshold, and fig. 8 shows the variation of VAF value with the increase of the number of joint synergies; and finally, carrying out non-Negative Matrix Factorization (NMF) algorithm on the reconstructed matrix V meeting the preset conditionrBy the formula
Figure BDA0002782377820000083
Performing matrix decomposition, extracting andoutputting a posture coordination matrix W and an activation coefficient matrix H; the physiological significance of the posture coordination matrix W and the activation coefficient matrix H is as follows: physiologically, joint coordination can be regarded as a regulation strategy of the central nervous system of a human to limb joint movement; the posture coordination relationship refers to a constant proportional relationship (weight) of joint motion amplitude participating in a certain specific motion task, and the activation coefficient is a coding form for regulating and controlling the specific joint posture coordination by the human motion control system according to specific motion input. Thus, the control model of joint coordination can be summarized as: at different times during an action cycle, the motion system invokes several different functional posture coordination modes, i.e., posture coordination matrices W, by assigning different motion activation coefficients, i.e., activation coefficient matrices H, to form coordinated motions between the "tissue" joints in time and space. Therefore, the scheme carries out quantitative analysis on the extracted joint cooperation mode from the following two aspects: firstly, coordinating the weight relation among joints in different combinations in a matrix W by the posture; and secondly, the characteristics of the activation coefficient matrix H in the knee climbing period comprise time sequence, duration and peak time parameters of different joint cooperation modes.
Compared with the prior art, the knee-climbing joint collaborative motion analysis system for the children with cerebral palsy based on the acceleration sensor, provided by the invention, has the advantages that the joint motion acceleration acquisition device acquires and uploads the three-axis acceleration signals of the joint motion of the limb in the knee climbing action process to the upper computer, and the joint collaborative motion analysis module based on the acceleration in the upper computer analyzes the acquired three-axis acceleration signals, and specifically comprises the steps of firstly carrying out vector synthesis, crawling cycle segmentation, filtering, normalization, resampling and average processing on the three-axis acceleration signals to obtain the change curve of the motion tangential acceleration of each joint in a three-dimensional space in the knee climbing cycle; then, an original matrix V is constructed according to the tangential acceleration curve of each jointO(ii) a Then establishing random matrixes W and H and forming an initial reconstruction matrix Vr(ii) a Then continuously iterating to judge a reconstruction matrix VrAnd the original matrix VOUntil a preset condition is met; finally, the method satisfies the preset conditions through a nonnegative matrix factorization algorithmReconstruction matrix VrAnd (5) performing matrix decomposition, and extracting and outputting a posture coordination matrix W and an activation coefficient matrix H. Therefore, the system is intended to effectively solve the problems of analysis and extraction of cooperative motion forms among a plurality of joints in and among limbs of the knee-climbing middle limb of the cerebral palsy child through measurement and analysis of the joint motion acceleration signals in the knee-climbing process of the cerebral palsy child, and how the cerebral palsy affects the cooperative motion forms of the joints in the knee-climbing middle limb.
As a specific embodiment, the acceleration acquisition module 11 adopts an existing gravitational acceleration gyroscope sensor MPU-6050, and specifically, the sensor MPU-6050 is composed of a 3-axis MEMS accelerometer with 16-bit ADC conversion, a 3-axis MEMS gyroscope with 16-bit ADC conversion, a data motion processing engine DMP, a sensor data register, and the like, and can be externally connected with a 3-axis magnetometer in a user programming manner to form a 9-axis inertial measurement unit; the embedded DMP collects the motion state information of the accelerometer and the gyroscope and performs data operation on the motion state information, so that the power consumption can be saved, the software architecture is reduced, the data operation of an MCU (micro control unit) applied externally and the processing load of sensor synchronization are reduced, and more accurate motion data analysis is provided. Of course, those skilled in the art can also implement other types of acceleration sensors based on the sensor MPU-6050.
As a specific embodiment, the single chip microcomputer module 12 is implemented by using an existing STC89C52 series single chip microcomputer, and the gravity acceleration gyroscope sensor MPU-6050 transmits the acquired triaxial acceleration signal to the single chip microcomputer by using an I2C bus; the display module 13, such as an LCD, is connected with the singlechip module 12 in a parallel data transmission mode, the data transmission ports DB 0-DB 7 are respectively connected to corresponding I/O ports of the singlechip, and when the P0 port is used as the I/O port, a pull resistor is added to pull high voltage to drive the liquid crystal.
As a specific embodiment, the wireless transmission module 14 is implemented by using an existing HC-05 bluetooth module, and specifically, a TX port of the HC-05 bluetooth module is connected to an RX/P3.0 end of a data receiving end of a single chip, and the RX port is connected to a TX/P3.1 end of a data transmitting end of the single chip to perform wireless transmission of data, and the data is transmitted to an upper computer, such as a PC end, to perform subsequent joint cooperation data analysis.
As a specific embodiment, the device body 1 is fixed on elbow joints, wrist joints, knee joints and ankle joints on two sides of four limbs of a cerebral palsy child, namely, the elastic bandage 2 is adopted to fix the device body 1 on main joints on two sides of four limbs of the cerebral palsy child, so that the knee of the cerebral palsy child can acquire the motion acceleration of the joints of four limbs of the cerebral palsy child in real time in the knee climbing process, and the acceleration data is transmitted to the PC end by using a Bluetooth transmission mode, thereby realizing the data analysis of a plurality of joint cooperative motion modes.
As a specific embodiment, please refer to fig. 5, in which the tangential acceleration conversion unit corresponds to acceleration signals V in the front-back direction, the horizontal direction and the vertical direction of the limb joint during the crawling processAP、VMLAnd VVTBy the formula
Figure BDA0002782377820000101
And carrying out vector synthesis to obtain the tangential acceleration.
As a specific embodiment, the tangential acceleration preprocessing unit adopts an existing butterworth second-order low-pass filter for filtering, and the cut-off frequency is 9 Hz; using a formula
Figure BDA0002782377820000102
Carrying out normalization processing; wherein x isiRepresenting the tangential acceleration, y, at a certain moment i in the creep cycleiThe tangential acceleration after normalization processing is shown. Specifically, if the maximum value of the tangential acceleration in the whole crawling cycle is N, all the tangential acceleration values in the whole crawling cycle are divided by the maximum value N, so that the tangential acceleration in the whole crawling cycle is normalized to be in a range of 0-1.
As a specific embodiment, the original matrix in the original matrix construction unit
Figure BDA0002782377820000103
t is 101. Specifically, 0-100% of the total climbing agent is addedThe tangential acceleration curves of 8 joints in the row cycle are arranged from top to bottom according to the sequence of a left elbow joint (LEL), a left wrist joint (LWR), a left knee joint (LKN), a left ankle joint (LAN), a right elbow joint (REL), a right wrist joint (RWR), a right knee joint (RKN) and a right ankle joint (RAN) to form an original matrix formed by tangential acceleration characteristic curves
Figure BDA0002782377820000104
(8 rows by 101 columns) where each 1 row represents a joint and each 1 column represents data points at various times of the full crawl cycle, as shown in detail in fig. 7.
As a specific embodiment, the initial values of the random matrix W and H established in the non-negative matrix factorization unit are respectively as follows, that is, the iterative update formulas of the posture coordination matrix W and the activation coefficient matrix H are as follows, and then iteration is started from the initial values:
Figure BDA0002782377820000111
Figure BDA0002782377820000112
wherein, lk refers to the first row and k column elements of the matrix, When (WHH)T)lkWhen 0, the corresponding position element is not updated, T represents transposition, HTA transposed matrix, W, representing the H matrixTDenotes the transpose matrix of W matrix, kj refers to the jth row and jth column element of the k-th row of the matrix, when (W)TWH)kjWhen the value is 0, the corresponding position element is not updated.
As a specific embodiment, the preset conditions in the non-negative matrix factorization unit are: the reconstructed VAF value of all joints is larger than 90%, and the number r of joint cooperation modes with the VAF value of a single joint larger than 75% is taken as the minimum number of joint cooperation modes required for reconstructing all original joint motion modes, and the specific steps are summarized as follows:
firstly, according to a formula
Figure BDA0002782377820000113
Solving the original matrix VOAnd a reconstruction matrix VrVAF value in between;
② according to the formula
Figure BDA0002782377820000114
Determining the tangential acceleration curve (original matrix V) of each jointOMiddle each row) and the reconstructed tangential acceleration curve (reconstruction matrix V)rEach row of) between VAFsm(m is 1 to 8);
thirdly, the VAF value obtained by calculation is judged, and the reconstructed VAF of all 8 jointsallGreater than 90% VAF of a single joint at the same timemThe number r of joint cooperation modes with a value greater than 75% is taken as the minimum number of joint cooperation modes, and the final result (matrix W moment H) is output. Otherwise, repeating the first step and the second step until the conditions are met. Fig. 9 is a schematic diagram of joint coordination patterns extracted from joints of a left elbow joint, a left wrist joint, a left knee joint, a left ankle joint, a right elbow joint, a right wrist joint, a right knee joint, a right ankle joint, and the like during knee climbing of a child with cerebral palsy.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.

Claims (10)

1. The knee-climbing joint collaborative movement analysis system for the cerebral palsy children based on the acceleration sensor is characterized by comprising a joint movement acceleration acquisition device and a joint collaborative movement analysis module based on acceleration; wherein the content of the first and second substances,
the joint movement acceleration acquisition device comprises a device body and an elastic bandage, wherein an acceleration acquisition module, a single-chip microcomputer module, a display module, a wireless transmission module and a power supply module are integrated on the device body respectively, the acceleration acquisition module is used for acquiring triaxial acceleration signals of joint movement of limbs in the knee climbing action process, the single-chip microcomputer module is used for processing the acquired triaxial acceleration signals, then transmitting the processed triaxial acceleration signals to the display module for display and transmitting the processed triaxial acceleration signals to the wireless transmission module for analysis by an upper computer, the power supply module is used for supplying power to the single-chip microcomputer module, and the elastic bandage is connected with two sides of the device body so as to fix the device body on the joints of limbs of children with cerebral palsy;
the joint cooperative motion analysis module based on acceleration is arranged in an upper computer and comprises:
the tangential acceleration conversion unit is used for carrying out vector synthesis on the three-axis acceleration signals transmitted by the wireless transmission module to obtain tangential acceleration;
the crawling cycle dividing unit is used for defining the time interval between the tangential acceleration peaks of two continuous motions of the limb joint in the vertical direction as a complete crawling cycle;
the tangential acceleration preprocessing unit is used for filtering the tangential acceleration subjected to period division by adopting a low-pass filter, then carrying out amplitude normalization on tangential acceleration curves of different crawling periods by adopting the maximum value of the amplitude of the tangential acceleration curve of each joint, then resampling the normalized data to be 0-100% of the crawling period, and finally averaging the multi-period tangential acceleration curves subjected to normalization and resampling;
an original matrix construction unit, which is used for arranging the tangential acceleration curves of all joints in a 0-100% crawling period according to a set sequence to form an original matrix V on the basis of the pretreatment of the tangential acceleration pretreatment unitO m×tWherein m represents the number of joints, and t represents the number of resampled data points in a single crawling cycle;
a non-negative matrix decomposition unit for firstly setting the number r of joint cooperative modes, wherein r is more than or equal to 1 and less than or equal to 8, and then establishing uniformly distributed slave matrix with 0-1Machine matrices W and H and forming an initial reconstruction matrix VrW × H, then by calculating the parameters
Figure FDA0002782377810000021
To judge the reconstruction matrix VrAnd the original matrix VOThe difference between the two, continuously iterates to make the reconstructed matrix VrCloser and closer to the original matrix VOUntil the preset condition is met, finally, a non-negative matrix factorization algorithm is used for reconstructing the matrix V when the preset condition is metrBy the formula
Figure FDA0002782377810000024
And (5) performing matrix decomposition, and extracting and outputting a posture coordination matrix W and an activation coefficient matrix H.
2. The acceleration sensor-based knee-climbing joint cooperative motion analysis system for children with cerebral palsy according to claim 1, characterized in that the acceleration acquisition module adopts a gravity acceleration gyroscope sensor MPU-6050.
3. The acceleration sensor-based knee-climbing joint collaborative motion analysis system for children with cerebral palsy according to claim 1, characterized in that the single chip microcomputer module adopts STC89C52 series single chip microcomputers.
4. The acceleration sensor-based knee-climbing joint collaborative motion analysis system for children with cerebral palsy according to claim 1, wherein the wireless transmission module adopts an HC-05 Bluetooth module.
5. The acceleration sensor-based knee-climbing joint collaborative motion analysis system for children with cerebral palsy according to claim 1, wherein the device body is fixed on elbow joints, wrist joints, knee joints and ankle joints on both four limbs of the children with cerebral palsy.
6. The acceleration sensor-based knee-climbing for children with cerebral palsy according to claim 1The joint cooperative motion analysis system is characterized in that acceleration signals V corresponding to the limb joints in the front-back direction, the horizontal direction and the vertical direction in the crawling process in the tangential acceleration conversion unitAP、VMLAnd VVTBy the formula
Figure FDA0002782377810000022
And carrying out vector synthesis to obtain the tangential acceleration.
7. The acceleration-sensor-based system for analyzing cooperative knee-crawling joint movement of children with cerebral palsy according to claim 1, wherein the tangential acceleration preprocessing unit employs a butterworth second-order low-pass filter for filtering, and employs a formula
Figure FDA0002782377810000023
Carrying out normalization processing; wherein x isiRepresenting the tangential acceleration, y, at a certain moment i in the creep cycleiThe tangential acceleration after normalization processing is shown.
8. The acceleration sensor-based knee-crawling joint collaborative motion analysis system for children with cerebral palsy according to claim 1, wherein the original matrix V in the original matrix construction unitO m×tM is 8 and t is 101.
9. The acceleration sensor-based knee-crawling joint collaborative motion analysis system for children with cerebral palsy according to claim 1, wherein the initial values of the random matrices W and H established in the non-negative matrix factorization unit are respectively as follows:
Figure FDA0002782377810000031
Figure FDA0002782377810000032
wherein, lk refers to the first row and k column elements of the matrix, When (WHH)T)lkWhen 0, the corresponding position element is not updated, T represents transposition, HTA transposed matrix, W, representing the H matrixTDenotes the transpose matrix of W matrix, kj refers to the jth row and jth column element of the k-th row of the matrix, when (W)TWH)kjWhen the value is 0, the corresponding position element is not updated.
10. The acceleration sensor-based knee-crawling joint collaborative motion analysis system for children with cerebral palsy according to claim 1, wherein the preset conditions in the non-negative matrix factorization unit are: the number r of joint cooperation modes with the reconstructed VAF value of all joints being more than 90 percent and the VAF value of a single joint being more than 75 percent is used as the minimum joint cooperation mode number required for reconstructing all original joint movement modes.
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