CN112949031A

CN112949031A - Upper limb movement space range calculation system, construction method and use method thereof

Info

Publication number: CN112949031A
Application number: CN202110112278.8A
Authority: CN
Inventors: 郝卫亚; 倪彬; 袁书芳
Original assignee: CHINA INSTITUTE OF SPORT SCIENCE
Current assignee: CHINA INSTITUTE OF SPORT SCIENCE
Priority date: 2021-01-27
Filing date: 2021-01-27
Publication date: 2021-06-11
Anticipated expiration: 2041-01-27
Also published as: CN112949031B

Abstract

The invention relates to a construction method of an upper limb movement space range estimation system, an obtained system and a use method of the system. The construction method comprises the following steps: carrying out a simulated kinematics experiment of upper limb actions by taking a subject as an action implementer, and acquiring kinematics data by capturing the motion of the upper limb actions; establishing a whole body human model; analyzing the kinematic data by combining the human body model, and calculating to obtain a three-dimensional space coordinate dynamic change value of the human body node mark points, the cutter or non-cutter instrument or the freehand hand mark points in the upper limb action; calculating an upper limb action space range index; and establishing an upper limb action space range calculation system. The upper limb action spatial range calculation system established by the invention can calculate the upper limb action spatial range index of the injured person, help criminal investigation personnel to study and judge the compatibility of the action track of the injured person in the injury case and the case site space, and provide scientific basis for conjecturing the case event evolution process.

Description

Upper limb movement space range calculation system, construction method and use method thereof

Technical Field

The invention relates to an upper limb action spatial range calculation system, a construction method and a use method thereof, wherein the upper limb action can be a slashing action or a stabbing action of a tool holder, or a swiping action of other instruments, or a hand swiping action of an instrument without holding, and belongs to the technical fields of biomechanical modeling, computer simulation technology and computer visualization.

Background

According to the knowledge of the applicant, the morphological characteristics of the cut wound, the judgment of the cutter, the action characteristics of the cutting action and the individual characteristics of the pest are the key four factors of the investigation and judicial appraisal of the cutting and killing of case criminals. The four elements are mutually associated and gradually deepened to form an element system for judging the chopping and killing cases and court trial; the action characteristic of the hacking behavior is a central link for correlating forensic autopsy physical evidence with criminal suspect identity discrimination, and plays a key pivotal role in case evolution. The chopping action is performed in a specific space environment, when a victim swings a cutter, whether the distance between surrounding human bodies and the victim is smaller than the safe distance of injury or not and whether the space position overlapping relationship exists between the motion area of the human body or the object and the coverage area of the chopping action or not exist or not, and the core technology for solving the problems is the space compatibility analysis based on the space range of the chopping action. In case cutting and killing study judgment and court trial, the cutting action space range is used as a quantitative index for effective study judgment, not only is reflected on a quantitative damage area, but also the potential threat degree of a cutter holder can be evaluated, and by combining testimony and physical evidence information, a more perfect evidence chain is taken as guarantee, case detection and justice judgment are assisted, and the scientific and technological construction of the criminal behaviors of law-based punishment in China is promoted. However, until now, criminal investigation still depends on empirical estimation, is influenced by subjective judgment of individuals, has low accuracy, and no related technical method can quantitatively describe the spatial range of the cutting action at present. Therefore, it is necessary to develop a technical method capable of quantitatively determining the scope of the slashing action space to fill up the gap of the technical research.

The inventor of the present invention has made an effort to study the technique for reproducing the cases of the slash injury, and has applied to the present invention patent "system and method for reproducing cases of the slash injury" (application No. CN202010278731.8, application publication No. CN111523265A) on 10/4/2020, and has now obtained a new research result in quantitatively determining the range of the motion space, and has applied to the present invention.

Disclosure of Invention

The invention aims to: in view of the problems of the prior art described above, the present invention proposes a method for constructing an upper limb movement spatial range estimation system, a system obtained by constructing the same, and a method for using the same, based on the results of studies by the inventors of the subject group. The invention can particularly provide reliable quantitative basis for the detection of the damage cases and the accurate judgment of the court trial.

The technical scheme for solving the technical problems of the invention is as follows:

a construction method of an upper limb action space range calculation system is characterized by comprising the following steps:

firstly, a subject is taken as an action implementer to carry out a simulated kinematics experiment of the upper limb action, and kinematics data is obtained by capturing the motion of the upper limb action; the upper limb action is a cutting action or a stabbing action of a tool, a swinging action of a tool-free instrument or a hand swinging action of bare hands; the kinematic data comprises original data of human body node marking points, cutter or non-cutter instruments or freehand hand marking points;

secondly, establishing a whole body model; analyzing the kinematic data by combining the human body model, and calculating to obtain a three-dimensional space coordinate dynamic change value of the human body node mark points, the cutter or non-cutter instrument or the freehand hand mark points in the upper limb action;

thirdly, calculating an upper limb action space range index according to the data obtained in the second step;

when the upper limb movement is used as a slashing movement or a stabbing movement for holding a cutter or a swinging movement for holding a non-cutter instrument, the upper limb movement space range index comprises a rotation radius R of a movement track of the top end of the cutter or the non-cutter instrument in the horizontal plane around the vertical center line of a movement executor, and the maximum height Z of the movement track of the top end of the cutter or the non-cutter instrument in the vertical direction; the rotating radius Rp of the motion trail of the hand holding the cutter or the hand holding the non-cutter instrument in the horizontal plane around the vertical center line of the action performer, and the maximum height Zp of the motion trail of the hand holding the cutter or the hand holding the non-cutter instrument in the vertical direction;

when the upper limb movement is used as a hand swing movement of a bare hand, the upper limb movement space range index comprises a rotation radius R of a motion trail of the bare hand in a horizontal plane around a vertical center line of a movement performer and a maximum height Z of the motion trail of the bare hand in a vertical direction;

fourthly, establishing a mathematical model which comprises a formula I, a formula II, a formula Ip and a formula IIp:

formula I: r ═ a × L + b × L_k，

Formula II: z ═ c, LS + d, L_k，

Formula Ip: rp ═ a × L,

formula IIp: zp ═ c × LS;

in each formula, R is the rotating radius R of the third step, Z is the maximum height Z of the third step, Rp is the rotating radius Rp of the third step, and Zp is the maximum height Zp of the third step; l is the sum of the lengths of the upper arm and forearm of the action performer; LS is the sum of the length of the upper arm, the length of the forearm and the shoulder height of the person performing the action; lk is the length of the tool or the non-tool instrument, and is 0 when the upper limb acts as the hand swing action of bare hands; a. b, c and d are coefficients;

the method for acquiring L, LS specific values comprises the following steps: calculated from an existing anthropometric parameter dataset or obtained by measuring the subject in a first step; the method for obtaining the specific value of Lk comprises the following steps: measuring tool or non-tool instruments in a first step;

when the upper limb movement is used as a chopping action or a stabbing action for holding a cutter or a swinging action for holding a non-cutter instrument, the specific numerical values of a, b, c and d are calculated according to the specific numerical values of R, Z, Rp, Zp, L, LS and Lk by combining the formulas I, II, Ip and IIp, and then the specific numerical values are combined with the formulas I and II to obtain an upper limb movement space range mathematical model, namely an upper limb movement space range calculation system of the upper limb movement;

and when the upper limb movement is used as a hand-operated swinging movement, enabling Lk to be 0, calculating specific numerical values of a and c according to specific numerical values of R, Z, L, LS by combining formula I and formula II, and combining the specific numerical values with formula I and formula II to obtain an upper limb movement space range mathematical model, namely the upper limb movement space range calculation system of the upper limb movement.

The construction method is based on simulated kinematics experimental results, and technical means of motion biomechanics and statistics are applied to establish an upper limb action spatial range calculation system, so that the spatial ranges of the wounded persons (namely action implementers) with different ages and sexes can be calculated, the spatial ranges of the wounded persons in different posture and posture struck by different upper limb striking actions are calculated, criminal reconnaissance personnel are helped to study and judge the compatibility of cutters or non-cutter instruments of the whole process of the actions of the wounded persons in the injury cases, the upper limb movement tracks and the case site space, and scientific basis is provided for the process of estimating the case evolution.

The technical scheme of the invention is further perfected as follows:

preferably, the construction method further comprises:

fifthly, generalizing the mathematical model of the upper limb action space range obtained in the fourth step; the generalization is direct generalization or experimental generalization;

when the generalization is direct generalization, the specific process of the generalization is as follows:

h1, constructing an anthropometric parameter dataset:

grouping the people according to gender and age, calculating the sum L of the lengths of the upper arm and the forearm corresponding to each height H of the adult or the minor in each group of the people and the sum LS of the length of the upper arm, the length of the forearm and the shoulder height according to the national standard GB 10000-88 of the Chinese adult and the human body size GB/T26158-2010 of the Chinese minor, and forming a anthropometric parameter data set corresponding to each group of the people according to the sum L;

h2, in the fourth step, when a L, LS specific numerical value is obtained, determining the group of people to which the action performer belongs according to the sex and age of the subject; in the anthropometric parameter data set corresponding to the crowd group, two adjacent heights H are inquired according to the heights H of the testees₁And H₂And corresponding L₁And L₂、LS₁And LS₂(ii) a By linear interpolation, rootAccording to H, H₁And H₂、L₁And L₂、LS₁And LS₂Calculating the sum L of the lengths of the upper arm and the forearm of the subject and the sum LS of the length of the upper arm, the length of the forearm and the shoulder height; the calculation formula is as follows:

L＝L₁+(H-H₁)*(L₂-L₁)/(H₂-H₁)，

LS＝LS₁+(H-H₁)*(LS₂-LS₁)/(H₂-H₁)；

h3, continuing the rest steps of the fourth step, and finally obtaining the upper limb action space range calculation system after direct generalization;

when the generalization is an experimental generalization, the generalization is specifically selected from:

K. generalization of human body experiment:

systematically carrying out simulated kinematic experiments on adult or juvenile subjects with different sexes and different ages, and obtaining a correspondingly generalized upper limb action space range calculation system according to the first step to the fourth step;

l, tool generalization:

systematically enabling the testee to use different types of tools or non-tool instruments to carry out a simulated kinematics experiment, and obtaining a correspondingly generalized upper limb action space range calculation system according to the first step to the fourth step;

m, generalization of anthropometric indexes:

establishing a corresponding anthropometric parameter data set by introducing anthropometric data of different countries or by carrying out measurements of contemporary people; and obtaining the corresponding generalized upper limb action space range calculation system according to the first step to the fourth step.

In the above preferred scheme, the direct generalization is based on the assumption that the upper limb movement geometries of groups of different sexes and different age stages are similar, so that the existing mathematical model can be used for different groups; the human body measurement parameters of different groups of individuals are different, after the human body measurement parameter data set of the group is established, the human body measurement parameters corresponding to the individuals are searched through the heights of the individuals, and the upper limb movement space range calculation system with different sexes and different age groups is formed.

In the experiment generalization, the human body experiment generalization can avoid errors possibly brought by assuming the geometric similarity of the upper limb actions; the tool generalization can obtain an upper limb action space range calculation system with stronger pertinence aiming at different types of tools or non-tool instruments; the generalization of anthropometry indexes can expand the application range to individual crowds in different countries, or make a calculation system more in line with the state of modern anthropometry.

Preferably, the construction method further comprises: sixthly, verifying whether the upper limb action space range calculation system obtained in the fourth step is reliable or verifying whether generalization of the fifth step is reliable;

the specific process of the verification comprises the following steps:

s1, randomly selecting at least 2 subjects, sequentially repeating the first step to the third step, and calculating to obtain the upper limb action space range index of each subject;

s2, aiming at each subject, calculating the upper limb motion space range index of each subject by adopting the upper limb motion space range estimation system obtained in the fourth step or the upper limb motion space range estimation system obtained in the fifth step;

and S3, comparing the results obtained in S1 and S2, calculating the average error of R, Z, and if the average errors are less than 10%, verifying that the result is reliable.

With this preferred scheme, the reliability of the entire scheme can be further ensured through verification.

Preferably, in the first step, while obtaining the kinematic data, a video is photographed and obtained with a camera; in the second step, generating a stick figure animation of the upper limb movement by combining the human body model according to the obtained dynamic change value of each three-dimensional space coordinate; the second step further comprises: and comparing the stick figure animation with the video obtained in the first step to ensure that the analysis processing is correct.

By adopting the preferred scheme, the analysis is further ensured to be correct through comparing the animation with the video, and the occurrence of serious deviation is avoided as early as possible.

Preferably, in the first step, the motion capture adopts a three-dimensional motion acquisition and analysis system comprising a plurality of infrared camera lenses; the human body node mark points, the cutter or non-cutter instrument or the bare-handed hand mark points respectively adopt infrared reflective balls; the hitting targets of the upper limb actions are different body parts of the target human body in different body positions;

in the second step, a whole body human model is established by adopting a QTM software system; and in the process of calculating the three-dimensional space coordinate dynamic change value of each marking point in the upper limb action, performing data smoothing by adopting a second-order low-pass filtering method, and if the motion trail of the marking point occasionally has data discontinuity, performing automatic supplement by adopting a QTM software polynomial interpolation method.

More preferably, in the first step, the human body node marking points include a left head marking point, a right head marking point, a forehead marking point, a zenith marking point, a thoracic vertebra a marking point, a thoracic vertebra B marking point, a left shoulder marking point, a right shoulder marking point, a left elbow outer marking point, a right elbow outer marking point, a left elbow inner marking point, a right elbow outer marking point, a right wrist outer marking point, a left wrist inner marking point, a right wrist inner marking point, a left hand marking point, a right hand marking point, a left hip marking point, a right hip marking point, a left knee front marking point, a right knee front marking point, a left knee outer marking point, a left knee inner marking point, a right knee inner marking point, a left calcaneus marking point, a right calcaneus marking point, a left outer ankle marking point, a right outer ankle marking point, a left metatarsus a marking point, a metatarsus B marking point, a right metatarsus B marking point, a left metatarsus B marking point, a right metatarsus B marking point, a left metatarsus B marking point, and a sacral marker point;

wherein the left head mark point is positioned above the left ear of the head, the right head mark point is positioned above the right ear of the head, the forehead mark point is positioned in the middle of the forehead of the head, the apophysis mark point is positioned in the center of the suprasternal fossa on the median line, the thoracic vertebra A mark point is positioned in the second thoracic vertebra of the spine, the thoracic vertebra B mark point is positioned in the twelfth thoracic vertebra of the spine, the left shoulder mark point is positioned in the left shoulder peak, the right shoulder mark point is positioned in the right shoulder peak, the left outer elbow mark point is positioned in the left elbow joint outer epicondyle, the right outer elbow mark point is positioned in the right elbow joint outer upper epicondyle, the left inner elbow mark point is positioned in the left elbow joint inner epicondyle, the right inner elbow mark point is positioned in the right elbow joint inner epicondyle, the left outer wrist mark point is positioned in the radius styloid of the left wrist, the right outer wrist mark point is positioned in the radius styloid of the right wrist, the left inner mark point is positioned in the left wrist inner side, the inner right wrist marking point is located at a symmetrical point of the outer right wrist marking point at the inner side of the right wrist, the left hand marking point is located at a first upward phalange of the index finger of the left hand, the right hand marking point is located at a first upward phalange of the index finger of the right hand, the left hip marking point is located at a front left iliac epicondyle of the pelvis, the right hip marking point is located at a front right iliac epicondyle of the pelvis, the front left knee marking point is located at a tibial tuberosity of the front left knee, the front right knee marking point is located at a tibial tuberosity of the front right knee, the outer left knee marking point is located at an outer left upper condyle of the left knee joint, the outer right knee marking point is located at an outer upper condyle of the right knee joint, the inner left heel marking point is located at an inner upper condyle of the left knee joint, the inner right knee marking point is located at an inner upper epicondyle of the right knee joint, the left heel marking point is located at a rear, the left lateral malleolus marking point is located at a left lateral malleolus bulge, the right lateral malleolus marking point is located at a right lateral malleolus bulge, the left metatarsal A marking point is located at a left foot second metatarsal, the right metatarsal A marking point is located at a right foot second metatarsal, the left metatarsal B marking point is located at a left foot fifth metatarsal tuberosity, the right metatarsal B marking point is located at a right foot fifth metatarsal tuberosity, and the sacrum marking point is located below the lumbar spine and in the middle of the two coxa bones;

the tool or non-tool instrument or the freehand marking point is a marking point at two ends and a marking point at the middle part of the tool or non-tool instrument or a freehand marking point for implementing upper limb actions, and the freehand marking point is superposed with the left hand marking point or the right hand marking point or the freehand marking point is positioned at the back of the freehand;

the body positions of the target human body comprise a standing position, a sitting position and a lying position; the body part of the target human body as a hitting target comprises upper limbs, lower limbs, a neck, a chest, an abdomen, a back and a head;

in the second step, the cut-off frequency of the second-order low-pass filtering is 21 Hz.

With the above preferred embodiment, the specific detailed features in the first and second steps can be further optimized.

Preferably, in the third step, the specific calculation process is as follows:

u1 marking the three-dimensional coordinates of a tool tip or non-tool instrument tip or freehand hand_k(t),y_k(t),z_k(t)]；

U2, determining horizontal coordinate [ x ] of the vertical center line of the trunk by calculating hip joint midpoint coordinates_hc(t),y_hc(t)]The calculation formula of the dynamic change in the chopping process is as follows:

in the formula [ x_hl(t),y_hl(t)]And [ x ]_hr(t),y_hr(t)]Respectively are dynamic coordinates of the left hip joint point and the right hip joint point in the x direction and the y direction;

u2, calculating dynamic change values of the movement radius of the tool tip or the non-tool instrument tip or the free hand movement track around the body vertical central line:

in the formula [ x_k(t),y_k(t)]Dynamic coordinates in x and y directions for the tool tip or non-tool instrument tip or free-hand;

u3, and taking the maximum value of the calculation result in the formula V, namely that the tool tip or the tip of the non-tool instrument or the trajectory of the free hand motion is around the vertical center line of the operator in the horizontal planeThe value of the radius of rotation R; vertical direction z of tool tip or non-tool instrument tip or bare-handed hand_k(t) obtaining the maximum height Z value of the tool tip or the top of the non-tool instrument or the motion track of the free-hand in the vertical direction;

u4, calculating the R value and the Z value of each subject, and calculating the average value of all subjects, namely obtaining the upper limb movement space range index;

when the Rp and Zp need to be calculated, the calculation is performed by referring to the calculation process of the free hand in U1 to U4.

By adopting the preferable scheme, the specific calculation process of the third step can be further optimized.

Preferably, in the fourth step, the existing anthropometric parameter data set comprises national standards of 'Chinese adult human body size GB 10000-88' and 'Chinese minor human body size GB/T26158-containing material 2010';

when L, LS specific values are obtained by calculation according to the existing anthropometric parameter data set, a linear interpolation method is adopted:

querying two adjacent height H in the existing anthropometric parameter dataset according to the height H of the subject₁And H₂And corresponding L₁And L₂、LS₁And LS₂(ii) a According to H, H₁And H₂、L₁And L₂、LS₁And LS₂Calculating the sum L of the lengths of the upper arm and the forearm and the sum LS of the length of the upper arm, the length of the forearm and the shoulder height; the calculation formula is as follows:

L＝L₁+(H-H₁)*(L₂-L₁)/(H₂-H₁)，

LS＝LS₁+(H-H₁)*(LS₂-LS₁)/(H₂-H₁)。

by adopting the preferred scheme, the specific detail characteristics of the fourth step can be further optimized.

The present invention also provides:

the upper limb motion space range calculation system obtained by the construction method is disclosed.

The present invention also provides:

the method for using the upper limb movement spatial range estimation system described above is characterized by comprising the following steps:

firstly, determining a target individual as an action implementer; determining the sex, age and height of a target individual and determining the upper limb action of the target individual; when the upper limb acts as a cutting action or a stabbing action for holding a cutter or a swinging action for holding a non-cutter instrument, determining the length Lk of the cutter or the non-cutter instrument, and when the upper limb acts as a free-hand swinging action of the hand, the Lk is 0;

secondly, according to the anthropometric parameter data set adopted by the upper limb movement space range calculation system, two adjacent heights H are inquired according to the height H' of the target individual₁And H₂And corresponding L₁And L₂、LS₁And LS₂(ii) a By linear interpolation, according to H', H₁And H₂、L₁And L₂、LS₁And LS₂Calculating the sum L 'of the lengths of the upper arm and the forearm of the action performer and the sum LS' of the length of the upper arm, the length of the forearm and the shoulder height; the calculation formula is as follows:

L′＝L₁+(H′-H₁)*(L₂-L₁)/(H₂-H₁)，

LS′＝LS₁+(H′-H₁)*(LS₂-LS₁)/(H₂-H₁)；

and thirdly, substituting the L ', LS' and Lk of the target individual into an upper limb action space range calculation system, and calculating an upper limb action space range index of the target individual, namely a rotation radius R of the cutter tip or the top end of the non-cutter instrument or the motion track of the free hand in the horizontal plane around the vertical center line of the action performer, and the maximum height Z of the cutter tip or the top end of the non-cutter instrument or the motion track of the free hand in the vertical direction.

By adopting the use method, the upper limb action space range index of the target individual under the actual scene can be calculated, thereby providing reliable quantitative basis for the accurate judgment of case detection and court trial.

The invention has the following beneficial effects:

(1) the invention provides an index system of the upper limb action space range in the injury case, which can overcome the problem of insufficient objectivity in the existing subjective estimation analysis method when the injury cases such as slash and stabbing are researched and judged, realize the first time that the compatibility of the upper limb action and the case site space is influenced in the quantitative description of the upper limb action, and provide a scientific method for case research and judgment and court trial.

(2) The invention provides a system and a method for calculating the upper limb action space range in a damage case by fusing various types of data such as anthropometry, human upper limb action kinematics experiments, cutter geometric dimensions and the like for the first time. Based on the experimental result of human body simulated kinematics, the invention designs a set of systematic calculation method which accords with the spatial range of human upper limb actions of human bodies of various ages, different sexes, different beating actions and beating parts and different posture postures by using a research method of motion biomechanics and statistics, establishes a mathematical model of the spatial range of the upper limb actions of the injury event, and provides reliable quantitative basis for the accurate judgment of the injury case detection and the court trial.

(3) The invention has good improved optimization performance (namely generalization), and can introduce or increase human body measurement data, increase human body simulation kinematics experiment and other methods for updating and improve the accuracy and the adaptability of the calculation system.

(4) The invention has a wider application scene range. The method can be applied to the calculation of the movement range of the cutting (puncturing) injury action of sharp instruments such as a cutter and the like, and can also be applied to the calculation of the movement range of a rod-shaped blunt instrument in the case of the swinging injury. Meanwhile, the method can also be applied to the calculation of the motion range of the swing motion (such as sports motion) when the instrument is held or not held in other scenes.

(5) The invention has the characteristics of high precision, economy, practicability, flexibility and good expandability.

Drawings

FIG. 1 is a schematic diagram of the arrangement of the laboratory apparatus according to example 1 of the present invention.

FIG. 2 is a schematic diagram showing the positions of the marks attached to the marker points of the examinee and the knife in example 1 of the present invention.

Fig. 3 to 5 are schematic diagrams of the subject performing the slash action in embodiment 1 of the present invention.

Fig. 6 is a schematic view of a whole-body human model established based on QTM software according to embodiment 2 of the present invention.

Fig. 7 is a schematic diagram of generating a stick diagram of the slashing action based on QTM software parsing according to embodiment 2 of the present invention.

Fig. 8 is a schematic diagram of a slash action range description index in embodiment 3 of the present invention.

FIG. 9 is a flow chart of the overall process of construction summarized in example 6 of the present invention.

FIG. 10 is a flowchart of embodiment 7 of the present invention.

Detailed Description

The invention is described in further detail below with reference to embodiments and with reference to the drawings. The invention is not limited to the examples given.

Example 1

This embodiment is a specific example of a first step of the method for constructing the upper limb movement spatial range estimation system according to the present invention.

In the method for constructing the upper limb movement space range estimation system, the first step mainly comprises the following steps:

carrying out a simulated kinematics experiment of upper limb actions by taking a subject as an action implementer, and acquiring kinematics data by capturing the motion of the upper limb actions; the upper limb action is a cutting action or a stabbing action of holding a cutter, a swinging action of holding a non-cutter instrument or a hand swinging action of bare hands; the kinematic data includes raw data of body node markers, tool or non-tool instruments, or freehand hand markers. At the same time as the kinematic data is obtained, a video is captured and obtained with a camera. The motion capture adopts a three-dimensional motion acquisition and analysis system comprising a plurality of infrared camera lenses; the human body node mark points, the cutter or the non-cutter instrument or the bare-handed hand mark points respectively adopt infrared reflective balls; the target of the upper limb movement is different body parts of the target human body in different body positions. The body positions of the target human body comprise a standing position, a sitting position and a lying position; the body part of the target human body as the target of impact includes upper limbs, lower limbs, neck, chest, abdomen, back, head.

As an example, the upper limb movement of the present embodiment is a cutting movement or a stabbing movement with a knife, and specific examples are as follows.

Motion capture experiment of human body slashing action

1. Test object

Randomly collecting 16 healthy young male subjects, wearing black close-fitting clothes, and recording basic information such as the measured age, the height, the weight and the like.

2. Laboratory instruments and materials

(1) Laboratory apparatus

The experiment is completed in a sports biomechanics laboratory of the sports science institute of the State general sports administration, the arrangement condition of laboratory equipment is shown in figure 1, and in the experiment, a Qualisys three-dimensional motion acquisition and analysis system (8 infrared camera lenses) (200Hz) is used for carrying out motion capture on the hacking and stabbing actions of a subject, and 1 high-speed camera (CASIO EX-F1) (300 Hz) is used for carrying out video auxiliary shooting.

(2) Experimental Material

The experimental materials include a cutter or a substitute (a false knife), a silica gel dummy, a tight-fitting dress, an infrared reflective ball (a mark point), and the like (table 1).

TABLE 1 summary of the laboratory instruments and materials

3. Experimental step (1) preparation before experiment

1) Before formal experiments, Qualissys infrared and CASIO video cameras are debugged, so that the cutting and hitting actions of volunteers can be completely shot, and three-dimensional space calibration is carried out.

2) 37 marking points are pasted on the body and the cutter of the volunteer, and a whole body three-dimensional model is established by utilizing a Qualisys software system. Marker dots were affixed to the subject and the knife (fig. 2). A human body model of 35 markers was used, and a list of marker sticking positions is shown in Table 2. The cutter mark points comprise two end mark points and a middle mark point of the cutter.

3) In order to prevent the injury during the acupuncture action, the testee performs the warm-up exercises of running, arm swing, chopping and the like for 5 to 10 minutes before the experiment.

TABLE 2 human body mark point name and fixed position List

(2) Experiment of simulating slash kinematics

The subject was subjected to chop simulation kinematics as follows, requiring the subject to perform the movements at the indicated location with the subjective maximum effort. Motion capture is carried out on the chopping action by applying acquisition and processing software QTM (Qualisys Track manager) software of a Qualisys system, and kinematic data of the mark points are acquired; and (5) carrying out video shooting by adopting a Cassieo camera. The experimental procedure was as follows:

1) subjects used a real knife to cut down the back and neck of the standing dummy, respectively (fig. 3); puncturing the abdomen of the dummy with a real knife, and chopping the forearm of the dummy with a dummy knife (fig. 4); the neck of the lying dummy was hacked using a real knife (fig. 5).

2) After each subject completes one action test, the next action test is carried out after the rest time of 1 min.

Example 2

This embodiment is a specific example of the second step of the method for constructing the upper limb movement spatial range estimation system according to the present invention.

In the method for constructing the upper limb movement space range estimation system, the second step mainly comprises the following steps:

establishing a whole body human model; and analyzing the kinematic data by combining the human body model, and calculating to obtain a three-dimensional space coordinate dynamic change value of the human body node mark points, the cutter or non-cutter instrument or the freehand hand mark points in the upper limb action. Generating a stick figure animation of the upper limb action by combining the human body model according to the obtained dynamic change value of each three-dimensional space coordinate; and comparing the stick drawing with the video obtained in the first step to ensure that the analysis processing is correct. A whole body human model established by a QTM software system; and in the process of calculating the dynamic change value of the three-dimensional space coordinate of each mark point in the upper limb action, performing data smoothing by adopting a second-order low-pass filtering method, and automatically supplementing by adopting an interpolation method of a QTM software polynomial if the motion trail of the mark point occasionally has data discontinuity. The cut-off frequency of the second order low-pass filtering is 21 Hz.

As an example, the present embodiment is a continuation of embodiment 1, and specific example contents are as follows.

Analyzing and processing chopping action original data acquired by a Qualisys motion capture system based on a whole body human model (figure 6) established by a QTM software system, and calculating three-dimensional space coordinate dynamic change values of key joint points such as a head, a neck, a left shoulder, a left elbow, a left wrist, a right shoulder, a right elbow, a right wrist, a left hip, a right hip, a left knee, a right knee, a left ankle, a right ankle and the like and a knife handle and a knife tip of a knife in the chopping action in the human model. And smoothing data by adopting a second-order low-pass filtering method, wherein the cutoff frequency is 21 Hz.

In the processing process, in the analysis processing process of the QTM software system, stick figure animation (figure 7) of the slash action is generated and compared with the video shot by the CASIO camera in the embodiment 1, so that the accuracy of the analysis processing of the slash action is ensured. The motion trail of the mark point in the motion captured original data has data discontinuous part occasionally, and the interpolation method of QTM software polynomial is adopted for automatic supplement.

Example 3

This embodiment is a specific example of the third step of the method for constructing the upper limb movement spatial range estimation system according to the present invention.

In the method for constructing the upper limb movement space range estimation system, the third step mainly comprises the following steps:

and calculating the upper limb action space range index according to the data obtained in the second step.

When the upper limb movement is used as a slashing movement or a stabbing movement for holding a cutter or a swinging movement for holding a non-cutter instrument, the upper limb movement space range index comprises a rotation radius R of a movement track of the top end of the cutter or the non-cutter instrument in the horizontal plane around the vertical center line of a movement executor, and the maximum height Z of the movement track of the top end of the cutter or the non-cutter instrument in the vertical direction; the rotating radius Rp of the motion trail of the hand holding the cutter or the hand holding the non-cutter instrument in the horizontal plane around the vertical center line of the action performer, and the maximum height Zp of the motion trail of the hand holding the cutter or the hand holding the non-cutter instrument in the vertical direction.

When the upper limb movement is used as a hand swing movement of a bare hand, the upper limb movement space range index comprises a rotation radius R of a motion trail of the bare hand in a horizontal plane around a vertical center line of a movement performer and a maximum height Z of the motion trail of the bare hand in a vertical direction.

The specific calculation process is as follows:

u3, taking the maximum value of the calculation result in the formula V to obtain the rotating radius R value of the tool tip or the top end of the non-tool instrument or the track of the free-hand motion in the horizontal plane around the vertical center line of the operator; vertical direction z of tool tip or non-tool instrument tip or bare-handed hand_k(t) obtaining the maximum height Z value of the tool tip or the top of the non-tool instrument or the motion track of the free-hand in the vertical direction;

u4, calculating the R value and the Z value of each subject, and calculating the average value of all subjects, namely obtaining the upper limb movement space range index.

As an example, the present embodiment is a continuation of embodiment 2, and specific example contents are as follows.

The spatial extent of the slashing action is described by the indices R, Z, Rp, Zp (fig. 8), according to the slashing action motion characteristics and criminal investigation needs. Wherein R is the rotation radius of the motion trail of the tool nose (A) in the horizontal plane around the vertical center line of the slasher; z is the maximum height of the motion trail of the tool nose (A) in the vertical direction; rp is the rotation radius of the motion track of the tool holding hand (B) in the horizontal plane around the vertical center line of the operator; zp is the maximum height of the movement track of the tool holding hand (B) in the vertical direction.

The indices R, Z, Rp, Zp of the spatial range of the slashing action of each subject were calculated in accordance with the above-mentioned U1 to U4, and the results are shown in table 3.

TABLE 3 maximum spatial extent of the lancing action (units: mm; Mean + -SD)

Example 4

This embodiment is a specific example of the fourth step of the method for constructing the upper limb movement spatial range estimation system according to the present invention.

In the method for constructing the upper limb movement space range estimation system of the present invention, the fourth step mainly includes:

establishing a mathematical model comprising a formula I, a formula II, a formula Ip and a formula IIp:

formula I: r ═ a × L + b × L_k，

Formula II: z ═ c, LS + d, L_k，

Formula Ip: rp ═ a × L,

formula IIp: zp ═ c × LS;

Wherein, the existing anthropometry parameter data set comprises national standards of 'Chinese adult human body size GB 10000-88' and 'Chinese minor human body size GB/T26158-2010';

L＝L₁+(H-H₁)*(L₂-L₁)/(H₂-H₁) (VI)

LS＝LS₁+(H-H₁)*(LS₂-LS₁)/(H₂-H₁) (VII)

as an example, the present embodiment is a continuation of embodiment 3, and specific examples are as follows.

1. Mathematical model

The sum of the lengths of the upper arm and the forearm of the injured person is L, and the sum of the length of the upper arm, the length of the forearm and the shoulder height is LS. According to national standard of Chinese adult human body size (GB 10000-88), the length of the upper arm, the length of the forearm and the shoulder height all belong to anthropometric data, so L and LS are anthropometric parameters in the invention and are related to sex, age and height of an individual.

Assuming that the range of motion of the blade tip R and L and the length of the blade (L) are in the chopping action_k) All becomeProportional relationship, and the height Z is related to LS and the length (L)_k) Are all in direct proportion; meanwhile, the movement range Rp of the hand holding the knife is in direct proportion to L, and the height Zp is in direct proportion to LS. Therefore, the following relationship exists:

R＝a*L+b*L_k……………………………………………(I)

Z＝c*LS+d*L_k…………………………………………(II)

Rp＝a*L…………………………………………………(Ip)

Zp＝c*LS………………………………………………(IIp)

wherein a, b, c and d are parameters related to different slashing actions and different body posture (standing or lying positions) of the slashed person.

2. Determination of coefficients in a mathematical model

(1) Calculation of parameters L and LS

In this experiment, the average age of the subject was 24 years, and the height H was 1740 mm. According to the national standard of Chinese adult human body size (GB 10000-88), the height of the adult is H₁1686mm to H₂1764 mm. H can be calculated in Chinese adult human body size (GB 10000-88)₁And H₂Corresponding L₁＝550，L₂＝587；LS₁＝1922，LS₂＝2029。

Calculating the L value and LS value of the height H-1740 mm according to a linear interpolation method:

L＝L₁+(H-H₁)*(L₂-L₁)/(H₂-H₁) (VI)

LS＝LS₁+(H-H₁)*(LS₂-LS₁)/(H₂-H₁) (VII)

substituting the values to obtain L-575.6 and LS-1996.1.

(2) Calculating coefficients

The previously calculated L and LS parameters and the length L of the cutter in the slash experiment_kRespectively substituted into formulas I, II, Ip and IIp, passing through the tableThe mean values of the indices (R, Z, Rp, Zp) of the hacking range in Table 3 were used to calculate the parameters a, b, c, d corresponding to the hacking motion of the subject and the posture of the subject (Table 4).

TABLE 4 parameters of the mathematical model of the range of motion of the chopping motion

To this end, we have built a mathematical model of the spatial range of slash action based on the mean of the ranges of motion in the slash experiments for 16 subjects.

Example 5

This embodiment is a specific example of the fifth step of the method for constructing the upper limb movement spatial range estimation system according to the present invention.

In the method for constructing the upper limb movement space range estimation system of the present invention, the fifth step mainly includes:

generalizing the mathematical model of the upper limb action space range obtained in the fourth step; the generalization is direct generalization or experimental generalization;

h1, constructing an anthropometric parameter dataset:

h2, in the fourth step, when a L, LS specific numerical value is obtained, determining the group of people to which the action performer belongs according to the sex and age of the subject; in the anthropometric parameter data set corresponding to the crowd group, two adjacent heights H are inquired according to the heights H of the testees₁And H₂And corresponding L₁And L₂、LS₁And LS₂(ii) a Using linear interpolation, according to H, H₁And H₂、L₁And L₂、LS₁And LS₂Calculating the sum L of the lengths of the upper arm and the forearm of the subject and the sum LS of the length of the upper arm, the length of the forearm and the shoulder height; the calculation formula is as follows:

L＝L₁+(H-H₁)*(L₂-L₁)/(H₂-H₁) (VI)

LS＝LS₁+(H-H₁)*(LS₂-LS₁)/(H₂-H₁) (VII)

K. generalization of human body experiment:

l, tool generalization:

m, generalization of anthropometric indexes:

Wherein, the direct generalization is based on the assumption that the upper limb movement geometry of groups with different sexes and different age stages is similar, so that the existing mathematical model can be used for different groups; the anthropometric parameters of individuals in different groups are different, after the anthropometric parameter data set of the group is established, the anthropometric parameters corresponding to the individuals are searched through the heights of the individuals, and the upper limb action space range calculation systems of different sexes and different age groups are formed.

As an example, the present embodiment is based on embodiment 4, and is implemented in accordance with the direct generalization of the above. The obtained anthropometric parameter data set is an anthropometric parameter of the range of motion of the slashing action, and after generalization, each coefficient of the mathematical model basically has no change, so that the data of the table 4 can be directly used.

Example 6

This embodiment is a specific example of the sixth step of the method for constructing the upper limb movement spatial range estimation system according to the present invention.

In the method for constructing the upper limb movement space range estimation system of the present invention, the sixth step mainly includes:

verifying whether the upper limb action space range calculation system obtained in the fourth step is reliable or verifying whether generalization in the fifth step is reliable;

the specific process of the verification comprises the following steps:

As an example, the present embodiment is based on embodiment 5, and specific examples are as follows.

1. Test of human body cutting and hitting

In order to verify the correctness of the chopping motion space range mathematical model and the calculation method, 5 subjects are randomly selected to perform a chopping motion capture experiment, extraction of joint three-dimensional space coordinates and calculation of chopping motion space range indexes.

2. Application of chopping range mathematical model

According to the height of 5 subjects, the respective L and LS parameters were calculated according to the data set "parameters for anthropometry of the range of motion of the chopping stroke" of example 5, using the formulas VI and VII of example 4, respectively. And then, applying formulas I and II to calculate the respective slash action space range.

3. Comparison of Experimental data with mathematical models

As shown in table 5, the comparison of the results of the human body experiment and the mathematical model calculation shows that the total error is 5.14%, and the maximum error is 8.48%. From different indexes, the errors of the two indexes of the tool nose movement range in the chopping process are smaller; the average error of R is 5.91%, and the maximum error is 8.48%; the average error of Z is 4.37%, and the maximum error is 5.46%.

TABLE 5 comparison of results from human experiments and mathematical models

Therefore, the invention establishes the chopping motion space range mathematical model and the calculation method based on the biomechanics experiment of the chopping motion of the human body and combining with anthropometric data, the total error range is less than 10 percent, and the technical scheme is reliable.

In the research and judgment of the cutting and killing cases, the index (R and Z) of the motion range of the tool nose is very important, and the error of the calculation result of the mathematical model is very small and can be used as a main research and judgment index.

Fig. 9 shows the overall flow of the present invention for constructing the upper limb movement spatial range estimation system, in combination with embodiments 1 to 6.

Example 7

The present embodiment is a specific example of a method of using the upper limb movement spatial range estimation system.

The invention discloses a using method of an upper limb movement space range estimation system, which comprises the following steps:

L′＝L₁+(H′-H₁)*(L₂-L₁)/(H₂-H₁)，

LS′＝LS₁+(H′-H₁)*(LS₂-LS₁)/(H₂-H₁)；

and thirdly, substituting the L ', LS' and Lk of the target individual into an upper limb action space range calculation system, and calculating an upper limb action space range index of the target individual, namely a rotation radius R of a tool tip or a non-tool instrument tip or a free-hand motion track in a horizontal plane around the vertical center line of an action executor, and a maximum height Z of the tool tip or the non-tool instrument tip or the free-hand motion track in the vertical direction.

As an example, the present embodiment is based on embodiment 4, and specific examples are as follows.

In a case, a suspect of a 31-year-old female is king, the height H is 1630mm, and the suspect holds the suspect in a hand, L_kA 500mm long chopper is used in an office to chop the neck of a victim. The site trace conjectures which one falls down when the hammer is cut and is in a lying position.

In the data set "anthropometric parameters of the range of motion of the chopping stroke" of example 5, H can be found₁＝1572mm， H₂1642mm, H is within this range; l is₁＝499，L₂＝533；LS₁＝1772，LS₂1868. The above formula gives L '527.2 and LS' 1851.5.

According to the formulas I and II and the values of the coefficients a, b, c and d corresponding to the neck in the lying position, R is 1061.3 mm, and Z is 1949.0 mm.

According to the movement range, criminal investigators can analyze the compatibility between the chopping action and the indoor space placing device; meanwhile, the trace which is possibly left on the indoor appliance by the cutter in the chopping process can be searched, and a new clue is provided for case study and judgment.

The flow of this embodiment is shown in fig. 10.

In addition to the above embodiments, the present invention may have other embodiments. All technical solutions formed by adopting equivalent substitutions or equivalent transformations fall within the protection scope of the claims of the present invention.

Claims

1. A construction method of an upper limb action space range calculation system is characterized by comprising the following steps:

firstly, a subject is taken as an action implementer to carry out a simulated kinematics experiment of the upper limb action, and kinematics data is obtained by capturing the motion of the upper limb action; the upper limb action is a cutting action or a stabbing action of holding a cutter, a swinging action of holding a non-cutter instrument or a hand swinging action of bare hands; the kinematic data comprises original data of human body node marking points, cutter or non-cutter instruments or freehand hand marking points;

when the upper limb movement is used as a chopping or punching movement for holding a cutter or a swinging movement for holding a non-cutter instrument, the upper limb movement space range index comprises a rotation radius R of a movement track of the top end of the cutter or the non-cutter instrument in the horizontal plane around the vertical center line of a movement executor, and the maximum height Z of the movement track of the top end of the cutter or the non-cutter instrument in the vertical direction; the rotating radius Rp of the motion track of the hand holding the cutter or the hand holding the non-cutter instrument in the horizontal plane around the vertical center line of the action performer, and the maximum height Zp of the motion track of the hand holding the cutter or the hand holding the non-cutter instrument in the vertical direction;

formula I: r ═ a × L + b × L_k，

Formula II: z ═ c, LS + d, L_k，

Formula Ip: rp ═ a × L,

formula IIp: zp ═ c × LS;

in each formula, R is the rotating radius R of the third step, Z is the maximum height Z of the third step, Rp is the rotating radius Rp of the third step, and Zp is the maximum height Zp of the third step; l is the sum of the lengths of the upper arm and forearm of the action performer; LS is the sum of the length of the upper arm, the length of the forearm and the shoulder height of the action performer; lk is the length of the tool or the non-tool instrument, and is 0 when the upper limb acts as the hand swing action of bare hands; a. b, c and d are coefficients;

2. The build method of claim 1, further comprising:

h1, constructing an anthropometric parameter dataset:

grouping the groups according to gender and age, calculating the sum L of the lengths of the upper arm and the forearm and the sum LS of the length of the upper arm, the length of the forearm and the shoulder height of the adult or the minor in each group according to the national standard GB 10000-88 of the human body size of Chinese adults and GB/T26158-containing 2010 of Chinese minor, and forming a anthropometric parameter data set corresponding to each group;

L＝L₁+(H-H₁)*(L₂-L₁)/(H₂-H₁)，

LS＝LS₁+(H-H₁)*(LS₂-LS₁)/(H₂-H₁)；

K. generalization of human body experiment:

l, tool generalization:

m, generalization of anthropometric indexes:

3. The build method of claim 2, further comprising: sixthly, verifying whether the upper limb action space range calculation system obtained in the fourth step is reliable or verifying whether generalization of the fifth step is reliable;

the specific process of the verification comprises the following steps:

4. The construction method according to claim 1 or 2, wherein in the first step, a video is photographed and obtained with a camera while obtaining the kinematic data; in the second step, generating a stick figure animation of the upper limb movement by combining the human body model according to the obtained dynamic change value of each three-dimensional space coordinate; the second step further comprises: and comparing the stick figure animation with the video obtained in the first step to ensure that the analysis processing is correct.

5. The construction method according to claim 1 or 2, wherein in the first step, the motion capture adopts a three-dimensional motion acquisition and analysis system comprising a plurality of infrared camera lenses; the human body node mark points, the cutter or non-cutter instrument or the bare-handed hand mark points respectively adopt infrared reflective balls; the hitting targets of the upper limb actions are different body parts of the target human body in different body positions;

in the second step, a whole body human model is established by adopting a QTM software system; and in the process of calculating the dynamic change value of the three-dimensional space coordinate of each marking point in the upper limb action, performing data smoothing by adopting a second-order low-pass filtering method, and if the motion trail of the marking point occasionally has data discontinuity, performing automatic supplement by adopting an interpolation method of a QTM software polynomial.

6. The constructing method according to claim 5, wherein in the first step, the human body node markers include a left head marker, a right head marker, a forehead marker, a zenith marker, a thoracic A marker, a thoracic B marker, a left shoulder marker, a right shoulder marker, a left elbow marker, a right elbow marker, a left elbow internal marker, a right elbow internal marker, a left wrist external marker, a right wrist external marker, a left wrist internal marker, a right wrist internal marker, a left hand marker, a right hand marker, a left hip marker, a right hip marker, a left knee anterior marker, a right knee anterior marker, a left knee external marker, a right knee external marker, a left knee internal marker, a right knee internal marker, a left calcaneus marker, a right calcaneus marker, a left ankle external marker, a right metatarsus A marker, a left metatarsus B marker, a right metatarsus A marker, a metatarsus B marker, a left metatarsus B marker, a right metatarsus B marker, a left shoulder marker, a right shoulder marker, a left elbow external marker, a marker, a right metatarsal B marker point, and a sacral marker point;

wherein the left head mark point is positioned above the left ear of the head, the right head mark point is positioned above the right ear of the head, the forehead mark point is positioned in the middle of the forehead of the head, the apophysis mark point is positioned in the center of the suprasternal fossa on the median line, the thoracic vertebra A mark point is positioned in the second thoracic vertebra of the spine, the thoracic vertebra B mark point is positioned in the twelfth thoracic vertebra of the spine, the left shoulder mark point is positioned in the left shoulder peak, the right shoulder mark point is positioned in the right shoulder peak, the left outer elbow mark point is positioned in the left elbow joint outer epicondyle, the right outer elbow mark point is positioned in the right elbow joint outer upper epicondyle, the left inner elbow mark point is positioned in the left elbow joint inner epicondyle, the right inner elbow mark point is positioned in the right elbow joint inner epicondyle, the left outer wrist mark point is positioned in the radius styloid of the left wrist, the right outer wrist mark point is positioned in the radius styloid of the right wrist, the left inner mark point is positioned in the left wrist inner side, the right wrist inner mark point is located at a symmetrical point of a right wrist outer mark point at the inner side of the right wrist, the left hand mark point is located at a first phalanx upward protrusion part of a left index finger, the right hand mark point is located at a first phalanx upward protrusion part of a right index finger, the left hip mark point is located at a left anterior superior iliac spine of a pelvis, the right hip mark point is located at a right anterior superior iliac spine of the pelvis, the left knee anterior mark point is located at a tibial tuberosity part of the left knee anterior, the right knee anterior mark point is located at a tibial tuberosity part of the right knee anterior, the left knee outer mark point is located at a left knee outer epicondyle, the right knee outer mark point is located at a right knee outer epicondyle, the left knee inner mark point is located at a left knee inner epicondyle, the right knee inner mark point is located at a right knee inner epicondyle, the left heel mark point is located at a left heel rear portion uplift, the right heel mark, the left lateral malleolus marking point is located at the lateral bulge of the left lateral malleolus, the right lateral malleolus marking point is located at the lateral bulge of the right lateral malleolus, the left metatarsal A marking point is located at the second metatarsal of the left foot, the right metatarsal A marking point is located at the second metatarsal of the right foot, the left metatarsal B marking point is located at the fifth metatarsal tuberosity of the left foot, the right metatarsal B marking point is located at the fifth metatarsal tuberosity of the right foot, and the sacrum marking point is located below the lumbar vertebrae and in the middle of two hipbones;

the tool or non-tool instrument or the freehand marking point is a marking point at two ends and a middle marking point of the tool or non-tool instrument or a freehand marking point for implementing upper limb actions, and the freehand marking point is superposed with the left hand marking point or the right hand marking point or is positioned at the back of the freehand;

7. The construction method according to claim 1 or 2, wherein in the third step, the specific calculation process is as follows:

in the formula [ x_h1(t)，y_h1(t)]And [ x ]_hr(t)，y_hr(t)]Respectively are dynamic coordinates of the left hip joint point and the right hip joint point in the x direction and the y direction;

u2, calculating dynamic change values of motion radiuses of a tool tip or a non-tool instrument tip or a free-hand motion track around a body vertical central line:

in the formula [ x_k(t)，y_k(t)]Dynamic coordinates in x and y directions for the tool tip or non-tool instrument tip or free-hand;

u3, taking the maximum value of the calculation result in the formula V to obtain the rotating radius R value of the cutter tip or the top end of the non-cutter instrument or the motion trail of the free hand in the horizontal plane around the vertical center line of the action performer; vertical direction z for taking tool tip or non-tool instrument tip or bare-handed hand_k(t) maximum value, i.e. the vertical direction of the tool tip or the tip of the non-tool instrument or the trajectory of the free-hand motionA maximum height Z value of;

u4, calculating the R value and the Z value of each subject, and calculating the average value of all subjects to obtain the upper limb action space range index;

8. The construction method according to claim 1 or 2, wherein in the fourth step, the existing anthropometric parameter data set comprises national standards of "human body size of Chinese adults GB 10000-88", "human body size of Chinese minors GB/T26158-2010";

L＝L₁+(H-H₁)*(L₂-L₁)/(H₂-H₁)，

LS＝LS₁+(H-H₁)*(LS₂-LS₁)/(H₂-H₁)。

9. an upper limb movement spatial range estimation system obtained by the construction method according to any one of claims 1 to 8.

10. A method for using the upper limb movement spatial range estimation system according to claim 9, comprising the steps of:

L′＝L₁+(H′-H₁)*(L₂-L₁)/(H₂-H₁)，

LS′＝LS₁+(H′-H₁)*(LS₂-LS₁)/(H₂-H₁)；

and thirdly, substituting the L ', LS' and Lk of the target individual into an upper limb action space range calculation system, and calculating an upper limb action space range index of the target individual, namely a rotation radius R of a tool tip or a non-tool instrument tip or a free-hand motion track in a horizontal plane around the vertical center line of the action executor, and a maximum height Z of the tool tip or the non-tool instrument tip or the free-hand motion track in the vertical direction.