CN112882562A - Data processing system and data processing method for intelligent wearable device - Google Patents
Data processing system and data processing method for intelligent wearable device Download PDFInfo
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- CN112882562A CN112882562A CN201911198358.9A CN201911198358A CN112882562A CN 112882562 A CN112882562 A CN 112882562A CN 201911198358 A CN201911198358 A CN 201911198358A CN 112882562 A CN112882562 A CN 112882562A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/014—Hand-worn input/output arrangements, e.g. data gloves
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
- A61B5/1071—Measuring physical dimensions, e.g. size of the entire body or parts thereof measuring angles, e.g. using goniometers
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1118—Determining activity level
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/45—For evaluating or diagnosing the musculoskeletal system or teeth
- A61B5/4528—Joints
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
- A61B5/6802—Sensor mounted on worn items
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0346—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
- A61B2562/02—Details of sensors specially adapted for in-vivo measurements
- A61B2562/0219—Inertial sensors, e.g. accelerometers, gyroscopes, tilt switches
Abstract
Data processing systems and methods are provided for a smart-wearable device worn by a subject and including a plurality of sets of sensors, each set of sensors disposed on the smart-wearable device at locations corresponding to different phalanges of the subject for obtaining sensor data of the respective phalanges, the sensor data including at least acceleration data and angular velocity or angular acceleration data; the data processing system includes a first motion determination unit for determining whether or not a first phalange and a second phalange connected by a first joint move only in a plane parallel to a ground plane based on acceleration data of any of the first phalange and the second phalange, respectively; and an angle determination unit for determining a joint angle assumed by the first phalanx and the second phalanx at the first joint based on angular velocity or angular acceleration data of the first phalanx and the second phalanx when it is determined that the arbitrary phalanx moves only in a plane parallel to the ground plane. Thereby, in certain situations, the joint angle is determined more accurately.
Description
Technical Field
The invention relates to data processing, in particular to data processing of sensor data from intelligent wearable equipment.
Background
Smart-worn devices such as smart gloves and the like have been developed and are beginning to be applied in industrial or medical environments to monitor the actions of the wearer of the smart-worn device. In an industrial environment, intelligent gloves can be used to monitor/analyze the operation of workers in a factory, ensuring that the workers perform production operations according to correct operating specifications, thereby improving production efficiency. In a medical environment, the intelligent wearable device can be used to monitor the patient's rehabilitation training to determine that the patient is properly trained to the order.
A plurality of sensors are generally provided in the smart wearable device to sense the movement of the wearer. In some cases, it is necessary to determine the angle that two phalanges, which are connected to a joint, of a wearer at the joint, i.e., the joint angle at the joint, in order to simulate or monitor the movement of the wearer. This is usually determined by respectively arranging accelerometers on two parts of the smart wearable device corresponding to two phalanges connected to the joint, respectively measuring acceleration data of the two phalanges, and then determining an included angle formed by the two phalanges according to the respective acceleration data of the two phalanges.
However, in some cases, determining the joint angle using acceleration data measured by an accelerometer may not be accurate, and therefore, it is desirable to provide a method that can more accurately determine the joint angle.
Disclosure of Invention
It is desirable to provide a data processing system and a data processing method for an intelligent wearable device, which are capable of recognizing a scenario in which it is difficult to determine an accurate joint angle using acceleration data, and then determining a joint angle from alternative sensor data in the scenario, thereby determining a joint angle more accurately.
According to one aspect, there is provided a data processing system for a smart-wearable device, the smart-wearable device being worn by a subject and comprising a plurality of sets of sensors, each set of sensors being disposed on the smart-wearable device at locations corresponding to different phalanges of the subject for obtaining sensor data of the respective phalanges, the sensor data comprising at least acceleration data and angular velocity or acceleration data; the data processing system includes a first motion determination unit for determining whether any of a first phalange and a second phalange, which are connected by a first joint, moves only in a plane parallel to a ground plane based on acceleration data of the any phalange; and an angle determination unit for determining a joint angle assumed by the first phalange and the second phalange at the first joint based on angular velocity or angular acceleration data of the first phalange and the second phalange when the first motion determination unit determines that the arbitrary phalange moves only in a plane parallel to a ground plane.
According to another aspect, there is provided a data processing method for a smart wearable device, the smart wearable device being worn by a subject and comprising a plurality of sets of sensors, each set of sensors being provided on the smart wearable device at positions corresponding to different phalanges of the subject for obtaining sensor data of the respective phalanges, the sensor data comprising at least acceleration data and angular velocity or acceleration data; the data processing method includes determining whether any phalange moves only in a plane parallel to a ground plane based on acceleration data of the any phalange of a first phalange and a second phalange, the first phalange and the second phalange being connected by a first joint; and determining a joint angle assumed by the first phalanx and the second phalanx at the first joint based on angular velocity or angular acceleration data of the first phalanx and the second phalanx when it is determined that the arbitrary phalanx moves only in a plane parallel to a ground plane.
According to another aspect, there is provided a smart wearable system comprising a smart wearable device worn by a subject, including a plurality of sets of sensors, each set of sensors being disposed on the smart wearable device at locations corresponding to different phalanges of the subject for obtaining sensor data of the respective phalanges, the sensor data including at least acceleration data and angular velocity or angular acceleration data; and a data processing system according to various embodiments of the present disclosure.
According to yet another aspect, there is provided a machine-readable storage medium storing computer program instructions that, when executed, cause a computer to perform a method according to various embodiments of the invention.
According to various embodiments of various aspects of the present disclosure, it is recognized that when a living object is monitored using a smart wearable device, when a certain joint portion of the object moves only in a plane parallel to a ground plane, for example, a palm of a hand makes a curling motion perpendicular to a ground surface finger, it is difficult to determine a joint angle at the joint from acceleration data measured by an accelerometer, thereby recognizing the specific case using the acceleration data, and in this case determining the joint angle using angular velocity or angular acceleration data, thereby obtaining an accurate angle value.
According to one embodiment of the various aspects, the angle determination unit is further configured to determine a joint angle at the first joint based on acceleration data of the first phalange and the second phalange when the first motion determination unit determines that any phalange is not moving only in a plane parallel to the ground plane. This allows the joint angle to be determined based on the acceleration data, rather than just movement in a plane parallel to the ground plane, in either of the first and second phalanges. The measurement error of the gyroscope for measuring the angular acceleration increases with time, and therefore, it is more accurate to determine the joint angle using the acceleration data when appropriate.
According to another embodiment of the various aspects, further comprising a second motion determination unit for determining whether acceleration data of the first phalange and the second phalange, respectively, exceeds a predetermined threshold when the first motion determination unit determines that the arbitrary phalange is not moving only in a plane parallel to a ground plane; wherein the angle determination unit is further configured to determine the joint angle at the first joint based on angular velocity or angular acceleration data of the first phalanx and the second phalanx when the second motion determination unit determines that acceleration data of either of the first phalanx and the second phalanx exceeds the predetermined threshold; and determining the joint angle at the first joint based on the acceleration data of the first phalanx and the second phalanx when the second motion determination unit determines that the acceleration data of the first phalanx and the second phalanx does not exceed the predetermined threshold. The accelerometer provides accurate measurement data when the object is stationary and moving at low speed, and the measurement result error increases when the object moves at high speed. According to the embodiment, the joint angle induced error determined by using the acceleration data during high-speed movement can be avoided, so that an accurate result can be obtained during high-speed movement, and meanwhile, the joint angle induced accumulated error determined by using the angular speed or the angular acceleration data for a long time can be avoided.
According to another embodiment of the various aspects, further comprising a second motion determination unit for determining whether acceleration data from the first phalange and the second phalange, respectively, exceeds a predetermined threshold, wherein the first motion determination unit is configured to determine whether the arbitrary phalange is moving only in a plane parallel to a ground plane based on the acceleration data of the arbitrary one of the first phalange and the second phalange when the second motion determination unit determines that the acceleration data of neither of the first phalange and the second phalange exceeds the predetermined threshold. Wherein the angle determination unit is configured to determine the joint angle at the first joint based on angular velocity or angular acceleration data of the first phalanx and the second phalanx when the second motion determination unit determines that the acceleration data of either of the first phalanx and the second phalanx exceeds the predetermined threshold. According to this embodiment, an alternative implementation of the previous embodiment is provided.
According to another embodiment of the various aspects, the first motion determination unit is configured to compare a component of the acceleration data of a respective one of the arbitrary phalanges with a predetermined threshold range, and determine that the respective phalange is moving only in a plane parallel to the ground plane when the component is within the predetermined threshold range.
According to another embodiment of the various aspects, the object comprises a portion of a body of a subject, the portion comprising a plurality of phalanges and one or more joints connecting respective ones of the plurality of phalanges, the plurality of phalanges including the first phalanx and the second phalanx, the plurality of sets of sensors being respectively disposed on each of the plurality of phalanges, wherein the first motion determination unit is to determine whether the phalanx is moving only in a plane parallel to a ground plane based on acceleration data of each of the plurality of phalanges; and the angle determination unit is configured to determine the joint angle at the first joint based on angular velocity or angular acceleration data of the first phalanx and the second phalanx when the first motion determination unit determines that the plurality of phalanges included in the portion are all moving only in a plane parallel to a ground plane. Thereby, the motion state of the object can be more accurately judged.
According to another embodiment of the various aspects, the angle determination unit further comprises a first joint angle determination unit and a second joint angle determination unit for determining a first joint angle and a second joint angle at the first joint for a first time instant and a second time instant, respectively, when the first motion determination unit determines that the arbitrary phalanx moves only in a plane parallel to the ground plane; and an angle processing unit for determining the joint angle at the first joint based on the first joint angle and the second joint angle. Therefore, a more accurate joint angle can be determined, and the influence caused by shaking of a moving object is avoided.
Drawings
Embodiments are illustrated by way of example, and not by way of limitation, in the figures of the accompanying drawings in which like reference numerals refer to similar elements.
Fig. 1 illustrates the arrangement of sensors relative to a subject's hand in a smart wearable device;
FIG. 2 illustrates several common gestures during hand movement;
FIG. 3 shows a block diagram of a data processing system for an intelligent wearable device, according to one embodiment;
FIGS. 4(a) and 4(b) show a spatial coordinate system of an object;
FIG. 5 shows a block diagram of a data processing system for an intelligent wearable device, in accordance with another embodiment;
FIG. 6 shows a block diagram of the angle determination unit 330 according to one embodiment;
fig. 7 shows a flowchart of a data processing method for a smart wearable device according to an embodiment;
fig. 8 shows a flowchart of a data processing method for a smart wearable device according to another embodiment.
Various aspects and features of various embodiments of the present invention are described with reference to the above-identified figures. The drawings described above are only schematic and are non-limiting. The size, shape, reference numerals, or appearance of the respective elements in the above-described drawings may be changed without departing from the gist of the present invention, and are not limited to only those shown in the drawings of the specification.
Detailed Description
Fig. 1 illustrates the arrangement of sensors with respect to a subject's hand in a smart wearable device. Fig. 1 is merely illustrative and not restrictive, and it is understood that the sensors are disposed at portions of the smart-wearable device corresponding to respective phalanges such that the sensors can receive sensor signals from the respective phalanges for subsequent processing when the smart-wearable device is worn by a subject. Although the distribution of the sensors is illustrated with the hand and phalanges of the subject as an example, it is not excluded to distribute the sensors with respect to other body parts, such as the legs of the subject, and to perform data processing based on the same principles and settings.
As shown in FIG. 1, to accurately simulate the motion of the various joints of the subject hand, the sensors are preferably located on the different phalanges to which each joint is attached, such as phalanges 1-12 shown in FIG. 1. For the movement of each joint, it is only necessary to collect sensor data of the sensors provided on the phalanges associated with that joint, from which the movement of that joint can be determined. In particular, the movement of the joint can be characterized by the joint angle at the joint, which refers to the angle between two phalanges connected to the joint at a certain joint, i.e. two adjacent phalanges. Taking joint a on the thumb as an example, in order to determine the joint angle at joint a of the thumb during finger movement, it is only necessary to receive sensor data of sensors provided on the phalanges 2 and 3, which joint a connects the phalanges 2 and 3.
As shown in fig. 1, no sensors are provided on the distal segments of the index, middle, ring and little fingers, which is not restrictive but is a preferred case designed in consideration of the greater limitation of the relative movement between these distal and middle segments of the fingers. To describe the hand motion more accurately, it is also contemplated to provide additional sensors at the end of these fingers. Also, with similar considerations in providing a single sensor 12 on the palm, it is also contemplated that additional sensors may be provided on the metacarpal bones connecting each of the index, middle, ring and little fingers to monitor the movement of the index, middle, ring and little fingers, respectively, relative to the metacarpal bones. In general, the placement of the sensors relative to the phalanges is not limiting, and may vary depending on the joint being addressed, or based on different considerations (e.g., motion limitations, accuracy).
Typically, the sensor disposed on the phalanges is an accelerometer. The obtained acceleration data can be processed to determine the joint angle. The acceleration sensor is subjected to the action of gravity when placed at rest, and has a gravity acceleration of 1 g. With this property, by measuring the component of the gravitational acceleration on the X/Y/Z axis of the acceleration sensor, it is possible to calculate its inclination angle with respect to the gravitational direction and obtain its acceleration vector. Thereby determining an acceleration vector of each phalanx on which the acceleration sensor is disposed. As will be described below with reference to fig. 4(a) and 4(b), when an object is resting on the ground, the object and the acceleration sensor provided on the object are in a spatial coordinate system. In the space coordinate system, a direction perpendicular to the ground plane is an X-axis, and directions parallel to the ground plane are a Y-axis and a Z-axis. When the object moves, the spatial coordinate system changes with the movement of the object.
After the acceleration vector for each phalange is determined, the joint angle at each joint can be determined using the acceleration vector of the phalange to which it is connected. For example, for the joint A, if the acceleration vector of the phalange 2 is determined to be (a)1,a2,a3) The acceleration vector of the phalange 3 is (b)1,b2,b3) Then, at joint a, the joint angle θ assumed by the phalanges 2 and 3 can be determined by the following formula:
θ＝arc cosθ (2)
typically, the acceleration vector of each phalange can be measured using the above-described accelerometers, and the motion of the corresponding joint is described by determining the angle between the respective phalanges. However, in some special cases, the joint angle calculated from the acceleration vector does not match the actual state, and it is difficult to accurately describe the motion of the joint.
Fig. 2 shows several common gestures during hand movement. In these gestures, the motion states of the fingers, especially the joint angles at the respective joints of the index finger, middle finger, ring finger and little finger, are difficult to accurately determine according to the above formula.
For example, when the gesture shown in fig. 2 is completed for the joint B on the index finger shown in fig. 1, the acceleration components of the phalange 4 and the phalange 5 connected by the joint B on the Y and Z axes parallel to the ground plane are both zero, and the acceleration component on the X axis perpendicular to the ground plane is-1 g, so that the acceleration vectors of the phalanges 4 and 5 are both (-1g,0,0), and substituting the above equations (1) and (2) results in cos θ being 1, and further θ being 0 degrees. Therefore, when the finger is moving only in a plane parallel to the ground plane, the joint angle determined from the acceleration data obtained by the above-mentioned accelerometer is always a constant value regardless of how it is moved.
However, as can be seen from fig. 2, the angle at which the phalanges 4 and 5 lie at joint B is not always 0 degrees. The calculated joint angle obviously does not accurately describe the motion at joint B.
Fig. 3 shows a block diagram of data processing system 100 for an intelligent wearable device according to one embodiment of the present disclosure.
In this embodiment of the present disclosure, the smart wearable device worn by the subject includes a plurality of sets of sensors, each set of sensors being disposed at locations corresponding to different phalanges of the subject to receive sensor data of the respective phalanges, as shown in fig. 1, each set of sensors may be disposed at locations corresponding to phalanges 1-12. Provided in each set of sensors are not only acceleration sensors for measuring acceleration data, but also gyroscopes for measuring angular velocity or angular acceleration data. Preferably, the accelerometer and gyroscope are a three-axis accelerometer and a three-axis gyroscope, respectively. In this way, sensor data can be received from the phalanges 1-12 in real time. The sensor data includes at least acceleration data and angular velocity or acceleration data.
The data processing system 100 comprises an interface unit 110 for interacting with the sets of sensors of the smart wearable device, receiving sensor data from the sets of sensors, preferably in real time. In a preferred embodiment, the interface unit is capable of receiving sensor data from different phalanges to which a certain joint is connected in groups. For example, the receiving unit can receive sensor data from a first phalanx and a second phalanx to which a first joint is connected, respectively, and transmit the sensor data from the two phalanges as a set to a subsequent unit for processing, and the above-described receiving and transmitting operations can be performed for each joint. The interface unit 110 can also send the received data to a memory (not shown) for reading in subsequent processing.
The data processing system 100 further comprises a first motion determination unit 120 and an angle determination unit 130. The first motion determination unit 120 receives sets of sensor data from the interface unit 110, at least sensor data from the first and second phalanges, so that a joint angle can be determined for at least the first joint. When joint angles at other joints need to be determined, sensor data for corresponding other phalanges may also be received.
The first motion determination unit 120 can determine whether any of the first and second phalanges moves only in a plane parallel to the ground plane, such as those shown in fig. 2, based on acceleration data in the received sensor data of the any phalange.
As shown in fig. 4(a), when an object is standing in the ground plane, a spatial coordinate system (X, Y, Z) thereof is defined, wherein the Y axis and the Z axis are parallel to the ground plane, and the X axis is perpendicular to the ground plane, and thus, the YZ axis constitutes a coordinate plane parallel to the ground plane. When the object is rotationally moved as shown in fig. 4(b), the coordinate system moves in accordance with the movement of the object. A three-axis accelerometer can be attached to an object and the coordinate system is employed to measure acceleration components accX, accY and accZ along the X, Y and Z axes in real time to obtain acceleration vectors (accX, accY, accZ) for the object. In fig. 4(b) the case where the object moves along three coordinate axes is shown, but in practice the object may move in any of XY, YZ or XZ planes. The situation described with reference to fig. 2 occurs when the object is only moving in the YZ plane parallel to the ground plane.
The interface unit 110 can receive acceleration vectors (accX, accY, accZ) for each phalanx from a corresponding set of sensors, in particular acceleration sensors, and send them to the first motion determination unit 120. The first motion determination unit 120 determines whether any of the first and second phalanges moves only in a plane parallel to the ground plane based on the acceleration vector from the any phalange, thereby determining whether the first and second phalanges move only in a plane parallel to the ground plane with respect to each other because the first and second phalanges are connected by a first joint.
The arbitrary phalanx may refer to the first phalanx, the second phalanx, or both the first and second phalanges. It will be appreciated that when either of the first and second phalanges is determined to move only in a plane parallel to the ground plane, it is likely that the other phalange will also move only in a plane parallel to the ground plane, given the motion constraints between the two adjacent phalanges connected by the same joint. Thus, the two phalanges move relative to each other only in a plane parallel to the ground plane.
In a preferred embodiment, the first motion determination unit 120 is capable of determining whether the distal phalanx is moving in a plane parallel to the ground plane based on acceleration data of the distal phalanx of the first and second phalanges, and if so, may determine that the other proximal phalanx is also moving in a plane parallel to the ground plane, taking into account the motion constraints between the first and second phalanges. From this it can be determined that the two phalanges move relative to each other only in a plane parallel to the ground plane.
In a further preferred embodiment, the first motion determination unit 120 is capable of determining whether the first and second phalanges, respectively, are moving in a plane parallel to the ground plane based on their acceleration data. If both phalanges are determined to move only in a plane parallel to the ground plane, it can be more accurately determined that both phalanges are moving only in a plane parallel to the ground plane relative to each other.
Here, "only move in a plane parallel to the ground plane" is not intended to be limited to only the presence of movement in a plane parallel to the ground plane, and in fact there may be movement in other planes as long as the main movement of the object is in a plane parallel to the ground plane. This can be determined from the acceleration vector of each phalange.
For example, the first motion determination unit 120 can compare a certain component or components of the acceleration vector of a certain phalange with a corresponding predetermined threshold range, thereby determining whether the phalange is moving only in a plane parallel to the ground plane. For example, the first motion determination unit 120 compares the scalar value of the component accX of the acceleration vector of the first phalanx with a predetermined threshold range, preferably between 0.85g-1g, where g represents a gravitational acceleration value, when within the predetermined threshold range it means that the first phalanx has little or no motion in a plane perpendicular to the ground plane. Further, the first motion determination unit 120 can also compare the components accY and accZ of the acceleration vector of the first phalanx with predetermined threshold ranges, respectively, or compare the values of the components accY and accZ of the acceleration vector of the first phalanx with the values of the component accX, respectively, to assist in determining the motion state of the phalanx.
If the first motion determination unit 120 determines that the scalar value of the component accX of the acceleration vector of the first phalanx is between 0.85g-1g, it can be determined that the first phalanx moves only in a plane parallel to the ground plane, whereas it does not move only in a plane parallel to the ground plane.
Likewise, the first motion determination unit 120 can perform similar processing based on acceleration data, in particular an acceleration vector, from the second phalanx to determine whether the second phalanx is moving only in a plane parallel to the ground plane.
If the first motion determination unit 120 determines that any of the first and second phalanges move only in a plane parallel to the ground plane, it can be determined that they move only in a plane parallel to the ground plane with respect to each other, since the first and second phalanges are connected by the same joint and there is a motion constraint. Although the processing of the first motion determination unit 120 is described with reference to the first and second phalanges, it will be appreciated that the above processing can be performed for each group of phalanges connected by the same joint, and for groups of phalanges simultaneously.
In response to the first motion determination unit 120 determining that any of the first and second phalanges is moving only in a plane parallel to the ground plane, the angle determination unit 130 receives angular velocity or angular acceleration data from the first and second phalanges from the interface unit 110 or the memory, and determines the angle that the first and second phalanges assume based on these data, i.e., the joint angle at the first joint connecting the first and second phalanges.
For example, when angular acceleration is measured using a gyroscope, if the finger performs a curling motion in a plane parallel to the ground plane as shown in fig. 2, then for the curling motion of a certain phalange of the finger, its angular velocity can be obtained by integrating the angular acceleration about the X axis at that time, and when it is determined that the phalange moves only in a plane parallel to the ground plane, the angular acceleration about the Y axis and the Z axis is zero. Therefore, the angle formed by two adjacent phalanges connected by the same joint of the finger, i.e., the joint angle, can be determined by subtracting the angular velocities of the two phalanges, as shown in the following formula:
θ(t)＝∫Gyro_X2(t)*dt-∫Gyro_X1(t)*dt (3)
wherein ^ Gyro _ X2(t) is the angular acceleration of the second joint at time t, [ integral ] Gyro _ X1(t) is the angular acceleration of the first joint at time t.
If the first motion determination unit 120 determines that either or both of the first and second phalanges do not move only in a plane parallel to the ground plane, it may be determined that the first and second phalanges do not move only in a plane parallel to the ground plane with respect to each other. The angle determination unit 130 may determine the joint angle at the first joint by the above equations (1) and (2) directly using the acceleration vectors from the first phalanx and the second phalanx.
After the joint angle is determined, the determined joint angle can be displayed or output as a basis to a subsequent process to simulate the motion of the object. In one embodiment, the joint angle can be displayed along with the simulated object.
While the above description has been made with reference to first and second phalanges being connected by a first articulation, it will be appreciated that the above-described process can be performed for a plurality of different articulated phalanges.
Fig. 5 shows a block diagram of a data processing system 200 for an intelligent wearable device according to another embodiment, in which like reference numerals are used to denote like elements. The data processing system 200 comprises an interface unit 210, a first motion determination unit 220 and an angle determination unit 230. The interface unit 210 and the first motion determination unit 220 perform the same functions as the interface unit 110 and the first motion unit 120 shown in fig. 3.
The data processing system 200 further comprises a second motion determination unit 240 which determines whether acceleration data from the first phalanx and the second phalanx, respectively, exceeds a predetermined threshold in response to the first motion determination unit determining that any of the first phalanx and the second phalanx is not moving only in a plane parallel to the ground plane. If the acceleration data of any one of the first and second phalanges exceeds a predetermined threshold value, i.e., any one of the first and second phalanges is in a high-speed movement state, the joint angle determined using the acceleration data is inaccurate, and thus, even if any one of the first and second phalanges does not move only in a plane parallel to the ground plane, the angle determining unit 230 determines the joint angle at the first joint using the above formula (3) based on the angular velocity or angular acceleration data from the first and second phalanges.
In a specific embodiment, the scalar values of the components of the acceleration vector of each of the first phalanx and the second phalanx can be compared with a predetermined threshold, respectively, for example, the scalar values of accX, accY, accZ of each phalanx are compared with a predetermined threshold, respectively, which may be 1.2g, g being the value of the gravitational acceleration. If the value of any one of the components is greater than the threshold value, the second motion determination unit 240 determines that the corresponding phalanx is in high-speed motion, and at this time, the angle determination unit 230 receives angular velocity or angular acceleration data from the first and second phalanges and determines a joint angle at the first joint based on the angular velocity or angular acceleration data. It is also possible to design the angle determination unit 230 to determine the joint angle at the first joint based on the angular velocity or angular acceleration data only if it is determined that both the first and second phalanges are in high-speed motion.
While the above description has been made with reference to fig. 5 in the case where it is determined in the first determination unit 220 whether the first and second phalanges move relative to each other only in a plane parallel to the ground plane, and then it is determined in the second determination unit 240 whether the first and second phalanges are in high-speed motion, it is also conceivable that it is determined in the second determination unit 240 that the first and second phalanges are in low-speed motion or stationary, and then it is determined in the first determination unit 220 whether the first and second phalanges move relative to each other only in a plane parallel to the ground plane, and if so, the joint angle is determined using the angular velocity or angular acceleration data, and otherwise, the joint angle is determined using the acceleration data.
Fig. 6 shows a block diagram of the angle determination unit 330 according to an embodiment. The angle determination unit 330 comprises a first joint angle determination unit 332, a second joint angle determination unit 334 and an angle processing unit 336, the first joint angle determination unit 332 and the second joint angle determination unit 334 determining a first joint angle and a second joint angle at the first joint for a first and a second time instant, respectively, which may be adjacent sensor data sampling or acquisition time instants. The angle processing unit 336 receives the determined first joint angle and second joint angle and determines a joint angle at the first joint based thereon. Specifically, the angle processing unit 336 can determine the final joint angle based on the first joint angle and the second joint angle using smoothing processing. Although the above process has been described with reference to two adjacent moments, it is also contemplated to perform smoothing using joint angles at different moments determined by sensor data at more than two moments to obtain a final joint angle. Simply, the final joint angle can be determined by averaging the determined joint angles at different times.
Preferably, the joint angles for different moments in time can be obtained only at different moments in time during which it is determined that the first and second phalanges move relative to each other in a plane parallel to the ground plane, and the smoothing process described above is performed to obtain the final joint angle. When the object, such as a hand, performs the operation shown in fig. 2, the motion of the hand can be simulated more accurately by the smoothing processing. The angle determination unit 330 can be incorporated in the processing systems shown in fig. 3 and 5, instead of the angle determination units 130 and 230, respectively.
It is determined above with reference to sensor data from two phalanges to which a first joint is connected whether motion for that first joint occurs in a plane parallel to the ground plane. However, in order to more accurately determine whether the movement of the phalanges caused by the joint movement occurs in the predetermined plane, it is possible to use sensor data including all the phalanges in the body part of the first joint, and if it is determined that each phalange of the body part moves only in a plane parallel to the ground plane, it means that the movement of the entire body part is in a plane parallel to the ground plane, and therefore, the movement of the phalanges caused by the first joint movement occurs in the predetermined plane, so that the joint movement can be more accurately determined.
In a particular embodiment, the object comprises a portion of a subject's body including a plurality of phalanges and one or more joints connecting respective ones of the plurality of phalanges, and a plurality of sets of sensors are respectively disposed on each phalange for obtaining sensor data for each phalange. As shown in fig. 1, for example, if the index finger is composed of three phalanges (defined as a first phalange, a second phalange and a third phalange from bottom to top) and two joints (a first joint and a second joint), a set of sensors may be disposed on each phalange to obtain sensor data of each phalange.
The first motion determination unit determines whether the part of the body, such as the index finger, moves only in a plane parallel to the ground plane based on acceleration data from each of three phalanges of a plurality of phalanges, such as the index finger; in particular, it is only determined that the portion, i.e. the index finger, moves only in a plane parallel to the ground plane if all three phalanges move only in a plane parallel to the ground plane.
When the first motion determination unit determines that the part of the body moves only in a plane parallel to the ground plane, the angle determination unit determines the joint angle at the first joint based on angular velocity or angular acceleration data in the sensor data from the first phalanx and the second phalanx. Of course, the angle determination unit can also determine the joint angle at the second joint based on angular velocity or angular acceleration data in the sensor data of the second phalanx and the third phalanx.
The data processing system for the intelligent wearable device is described in detail above with reference to different embodiments, which can be combined with each other to obtain different effects. Furthermore, the above-mentioned respective units are not restrictive, and the functions of the above-mentioned respective units can be combined/changed/modified to obtain corresponding effects. The functions of these units can be implemented by software or corresponding hardware, or by means of a processor, for example a computer program readable in a memory and executable by a processor to implement the functions of the units.
Also contemplated is a smart wearing system including a smart wearing device worn by a subject, such as a glove, including a plurality of sets of sensors, each set of sensors disposed on the smart wearing device at locations corresponding to different phalanges of the subject for obtaining sensor data of the respective phalanges, the sensor data including at least acceleration data and angular velocity or acceleration data. Preferably, each set of sensors includes at least an acceleration sensor for measuring acceleration data and a gyroscope for measuring angular velocity data or angular acceleration data. The intelligent wearing system further comprises a data processing system according to the above embodiments.
In one aspect, the data processing system in the smart wearable system may be incorporated in a smart wearable device worn by a subject, for example, a processing unit is provided on the smart wearable device to execute the functions of the data processing system according to the above-described embodiments. On the other hand, the data processing system can also be provided at a remote location, and receives sensor data from the smart wearable device to perform the functions of the data processing system according to the above-described embodiments. Even if a part of the functions of the data processing system according to the above-described embodiments can be executed in a processing unit provided on the smart wearable device, communication with the processing unit at the remote location causes the processing unit at the remote location to execute another part of the functions.
Fig. 7 shows a data processing method 1000 for a smart wearable device according to one embodiment. The intelligent wearable device is worn by a subject and comprises a plurality of groups of sensors, and each group of sensors is arranged on the intelligent wearable device at positions corresponding to different phalanges of the subject and used for obtaining sensor data of the corresponding phalanges.
According to the method 1000, at 1100, sensor data for a first phalanx and a second phalanx is received from a sensor group disposed at the first phalanx and the second phalanx, the sensor data including at least acceleration data and angular velocity or acceleration data.
At 1200, it is determined whether any of a first phalange and a second phalange, which are connected by a first joint, is moving only in a plane parallel to a ground plane based on acceleration data of the phalange, and thus whether the first phalange and the second phalange are moving only in a plane parallel to the ground plane relative to each other. In a particular embodiment, a component of the acceleration data for each of the first and second phalanges can be compared to a predetermined threshold range; the phalange is determined to be moving only in a plane parallel to the ground plane when the component is within a predetermined threshold range.
When it is determined that any of the first and second phalanges are only moving in a plane parallel to the ground plane, at 1300, a joint angle assumed by the first and second phalanges at the first joint is determined based on angular velocity or acceleration data of the first and second phalanges.
When it is determined that any of the first and second phalanges is not moving only in a plane parallel to the ground plane, at 1400, a joint angle at the first joint is determined based on acceleration data of the first and second phalanges.
It is also contemplated that the object comprises a portion of a subject's body that includes a plurality of phalanges including the first phalanx and the second phalanx and one or more joints connecting each of the plurality of phalanges. In this case, at 1100, sensor data for a plurality of phalanges is received; at 1200, determining whether each of a plurality of phalanges is moving only in a plane parallel to a ground plane based on acceleration data for the phalange; when it is determined that the plurality of phalanges comprising the portion are all moving only in a plane parallel to the ground plane, the joint angle at the first joint is determined at 1300 based on angular velocity or acceleration data of the first and second phalanges.
Fig. 8 shows a data processing method 2000 for a smart wearable device according to an embodiment. Process 2100-. When it is determined that the acceleration data of any one of the first phalanx and the second phalanx exceeds a predetermined threshold, a joint angle at the first joint is determined at 2260 based on the angular velocity or angular acceleration data of the first phalanx and the second phalanx. And when it is determined that the acceleration data for both the first and second phalanges does not exceed the predetermined threshold, then at 2400 a joint angle at the first joint is determined based on the acceleration data in the sensor data for the first and second phalanges.
The above describes the case where it is determined whether each phalange is moving in a predetermined plane and then whether each phalange is undergoing high velocity motion, and vice versa. Specifically, after receiving sensor data of each phalange, determining whether acceleration data of a first phalange and a second phalange respectively exceeds a preset threshold value; when it is determined that the acceleration data of both do not exceed the predetermined threshold, the process 1200 shown in fig. 7 further determines whether any of the first and second phalanges moves only in a plane parallel to the ground plane based on the respective acceleration data of the first and second phalanges, and the process thereafter may be referred to as shown in fig. 7. When it is determined that the acceleration data for either of the first and second phalanges exceeds a predetermined threshold, the process 1200 as shown in fig. 7 can be omitted, and the joint angle at the first joint determined 1300 directly based on the angular velocity or angular acceleration data for the first and second phalanges. The processing in this case is merely explained with reference to the processing of fig. 7, and is not shown in the drawings.
The above has been described with reference to only one moment of time, in a preferred embodiment also a plurality of moments of time may be considered. Specifically, determining the joint angle at the first joint based on angular velocity or angular acceleration data of the first and second phalanges in 1300 may further include determining a first joint angle and a second joint angle at the first joint for a first time instant and a second time instant, respectively; and determining a joint angle at the first joint based on the determined first joint angle and second joint angle.
It is understood that the data processing system and method of the various embodiments of the present disclosure can be implemented by a computer program/software. The software can be loaded into the working memory of a data processor and when executed is used to perform a method according to embodiments of the present disclosure.
Exemplary embodiments of the present disclosure cover both: the computer program/software of the present disclosure is created/used from the beginning and the existing program/software is transferred to the computer program/software using the present disclosure by means of an update.
According to further embodiments of the present disclosure, a machine (e.g., computer) readable medium, such as a CD-ROM, is provided, wherein the readable medium has stored thereon computer program code which, when executed, causes a computer or processor to perform a method according to embodiments of the present disclosure. The machine-readable medium may be, for example, an optical storage medium or a solid-state medium supplied together with or as part of other hardware.
Computer programs for carrying out methods according to embodiments of the present disclosure may also be distributed in other forms, such as via the internet or other wired or wireless telecommunication systems.
The computer program may also be provided over a network, such as the world wide web, and can be downloaded into the operating computers of data processors from such a network.
It has to be noted that embodiments of the present disclosure are described with reference to different subject-matters. In particular, some embodiments are described with reference to method type claims whereas other embodiments are described with reference to apparatus type claims. However, a person skilled in the art will gather from the above and the following description that, unless other notified, in addition to any combination of features belonging to one type of subject-matter also any combination between features relating to different subject-matters is considered to be disclosed with this application. Also, all features can be combined, providing a synergistic effect greater than a simple sum of the features.
The foregoing description of specific embodiments of the present disclosure has been described. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
The present disclosure has been described above with reference to specific embodiments, and it will be understood by those skilled in the art that the technical solutions of the present disclosure can be implemented in various ways without departing from the spirit and essential characteristics of the present disclosure. The specific embodiments are merely illustrative and not restrictive. In addition, any combination of these embodiments can be used to achieve the purpose of the present disclosure. The scope of the disclosure is defined by the appended claims.
The word "comprising" in the description and in the claims does not exclude the presence of other elements or steps, the words "first", "second", etc. do not denote any order or importance, nor do they denote any order or importance. The functions of the respective elements described in the specification or recited in the claims may be divided or combined into plural corresponding elements or may be implemented by a single element.
Claims (15)
1. A data processing system for a smart-wearable device, the smart-wearable device being worn by a subject and comprising a plurality of sets of sensors, each set of sensors being arranged on the smart-wearable device at positions corresponding to different phalanges of the subject for obtaining sensor data of the respective phalanges, the sensor data comprising at least acceleration data and angular velocity or angular acceleration data; the data processing system comprises
A first motion determination unit for determining whether any phalange of a first phalange and a second phalange is moving only in a plane parallel to a ground plane based on acceleration data of the any phalange, the first phalange and the second phalange being connected by a first joint; and
an angle determination unit for determining a joint angle assumed by the first phalange and the second phalange at the first joint based on angular velocity or angular acceleration data of the first phalange and the second phalange when the first motion determination unit determines that the arbitrary phalange moves only in a plane parallel to a ground plane.
2. The data processing system of claim 1, wherein the angle determination unit is further configured to determine the joint angle at the first joint based on acceleration data of the first phalanx and the second phalanx when the first motion determination unit determines that the arbitrary phalanx is not moving only in a plane parallel to a ground plane.
3. The data processing system according to claim 1, further comprising a second motion determination unit for determining whether acceleration data of the first phalanx and the second phalanx respectively exceed a predetermined threshold when the first motion determination unit determines that the arbitrary phalanx is not moving only in a plane parallel to a ground plane;
wherein the angle determination unit is further configured to determine the joint angle at the first joint based on angular velocity or angular acceleration data of the first phalanx and the second phalanx when the second motion determination unit determines that acceleration data of either of the first phalanx and the second phalanx exceeds the predetermined threshold; and determining the joint angle at the first joint based on the acceleration data of the first phalanx and the second phalanx when the second motion determination unit determines that the acceleration data of both the first phalanx and the second phalanx does not exceed the predetermined threshold.
4. The data processing system of claim 1, further comprising a second motion determination unit for determining whether acceleration data from the first phalanx and the second phalanx, respectively, exceeds a predetermined threshold,
wherein the first motion determination unit is configured to determine whether the arbitrary phalange moves only in a plane parallel to a ground plane based on the acceleration data of the arbitrary phalange of the first phalange and the second phalange when the second motion determination unit determines that the acceleration data of both the first phalange and the second phalange does not exceed the predetermined threshold.
5. The data processing system of claim 4, wherein the angle determination unit is further configured to determine the joint angle at the first joint based on angular velocity or angular acceleration data of the first and second phalanges when the second motion determination unit determines that the acceleration data of either of the first and second phalanges exceeds the predetermined threshold.
6. The data processing system of claim 1, wherein the first motion determination unit is further configured to compare a predetermined component of acceleration data of a corresponding one of the arbitrary phalanges with a predetermined threshold range, and determine that the corresponding phalange is moving only in a plane parallel to a ground plane when the predetermined component is within the predetermined threshold range.
7. The data processing system of any of claims 1-6, wherein the object comprises a portion of a body of a subject, the portion including a plurality of phalanges including the first phalanx and the second phalanx, and one or more joints connecting respective ones of the plurality of phalanges, the plurality of sets of sensors being disposed on each of the plurality of phalanges, respectively,
wherein the first motion determination unit is to determine whether the phalanges move only in a plane parallel to a ground plane based on acceleration data of each of the plurality of phalanges; and
the angle determination unit is configured to determine the joint angle at the first joint based on angular velocity or angular acceleration data of the first phalange and the second phalange when the first motion determination unit determines that the plurality of phalanges included in the portion are all moving only in a plane parallel to a ground plane.
8. The data processing system of any of claims 1-6, wherein the angle determination unit further comprises,
a first joint angle determination unit and a second joint angle determination unit for determining a first joint angle and a second joint angle at the first joint for a first time instant and a second time instant, respectively, when the first motion determination unit determines that the arbitrary phalanx moves only in a plane parallel to a ground plane; and
an angle processing unit for determining the joint angle at the first joint based on the first joint angle and the second joint angle.
9. An intelligent wearing system comprises
The intelligent wearable device worn by a subject comprises a plurality of groups of sensors, each group of sensors is arranged at positions on the intelligent wearable device corresponding to different phalanges of the subject and used for obtaining sensor data of the corresponding phalanges, and the sensor data at least comprises acceleration data and angular velocity or angular acceleration data; and
the data processing system of any of claims 1-8.
10. A data processing method for a smart wearable device, the smart wearable device being worn by a subject and comprising a plurality of sets of sensors, each set of sensors being arranged on the smart wearable device at positions corresponding to different phalanges of the subject for obtaining sensor data of the respective phalanges, the sensor data comprising at least acceleration data and angular velocity or angular acceleration data; the data processing method comprises
Determining whether any of a first phalange and a second phalange are moving only in a plane parallel to a ground plane based on acceleration data of the phalange, the first phalange and the second phalange being connected by a first joint; and
determining a joint angle assumed by the first phalanx and the second phalanx at the first joint based on angular velocity or angular acceleration data of the first phalanx and the second phalanx when it is determined that the arbitrary phalanx moves only in a plane parallel to a ground plane.
11. The data processing method of claim 10, further comprising
Determining the joint angle at the first joint based on acceleration data of the first phalanx and the second phalanx when it is determined that the arbitrary phalanx is not moving only in a plane parallel to a ground plane.
12. The data processing method of claim 10, further comprising
Determining whether acceleration data of the first phalanx and the second phalanx, respectively, exceeds a predetermined threshold when it is determined that the arbitrary phalanx is not moving only in a plane parallel to a ground plane;
determining the joint angle at the first joint based on angular velocity or angular acceleration data of the first phalanx and the second phalanx when it is determined that the acceleration data of either of the first phalanx and the second phalanx exceeds the predetermined threshold; and
determining the joint angle at the first joint based on acceleration data in sensor data of the first phalanx and the second phalanx when it is determined that neither the acceleration data of the first phalanx nor the second phalanx exceeds the predetermined threshold.
13. The data processing method of claim 10, further comprising
Determining whether acceleration data of the first phalanx and the second phalanx, respectively, exceeds a predetermined threshold;
when it is determined that the acceleration data of both the first phalange and the second phalange do not exceed the predetermined threshold, determining whether the first phalange and the second phalange move only in a plane parallel to a ground plane based on the acceleration data of the first phalange and the second phalange, respectively; and
determining the joint angle at the first joint based on angular velocity or angular acceleration data of the first phalanx and the second phalanx when it is determined that the acceleration data of either of the first phalanx and the second phalanx exceeds the predetermined threshold.
14. The data processing method of any of claims 10-13, wherein the object comprises a portion of a body of a subject, the portion comprising a plurality of phalanges and one or more joints connecting respective ones of the plurality of phalanges, the plurality of phalanges including the first phalanx and the second phalanx, the plurality of sets of sensors respectively disposed on each of the plurality of phalanges, the method further comprising
Determining whether the phalanges move only in a plane parallel to a ground plane based on acceleration data for each of the plurality of phalanges; and
determining the joint angle at the first joint based on angular velocity or angular acceleration data of the first phalanx and the second phalanx when it is determined that the plurality of phalanges comprising the portion are all moving only in a plane parallel to a ground plane.
15. A machine readable storage medium storing computer program instructions that when executed cause a computer to perform the method of any of claims 10-14.
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