CN113017609A - Human body swing period knee joint moment measuring method for wearable device - Google Patents
Human body swing period knee joint moment measuring method for wearable device Download PDFInfo
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- 210000000629 knee joint Anatomy 0.000 title claims abstract description 65
- 238000000034 method Methods 0.000 title claims abstract description 26
- 230000001133 acceleration Effects 0.000 claims abstract description 17
- 210000001699 lower leg Anatomy 0.000 claims description 60
- 230000005484 gravity Effects 0.000 claims description 34
- 244000309466 calf Species 0.000 claims description 18
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 17
- 238000006073 displacement reaction Methods 0.000 claims description 12
- 210000002414 leg Anatomy 0.000 claims description 9
- 210000003423 ankle Anatomy 0.000 claims description 7
- 238000009795 derivation Methods 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 5
- 238000005070 sampling Methods 0.000 claims description 4
- 230000005021 gait Effects 0.000 abstract description 7
- 238000005259 measurement Methods 0.000 description 7
- 238000004422 calculation algorithm Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 210000002683 foot Anatomy 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 101000911772 Homo sapiens Hsc70-interacting protein Proteins 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000037396 body weight Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000004394 hip joint Anatomy 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001575 pathological effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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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
- A61B5/4538—Evaluating a particular part of the muscoloskeletal system or a particular medical condition
- A61B5/4585—Evaluating the knee
-
- 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
-
- 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
- A61B5/112—Gait analysis
-
- 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
- A61B5/1121—Determining geometric values, e.g. centre of rotation or angular range of movement
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/22—Ergometry; Measuring muscular strength or the force of a muscular blow
-
- 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
- A61B5/4538—Evaluating a particular part of the muscoloskeletal system or a particular medical condition
- A61B5/4595—Evaluating the ankle
-
- 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
-
- 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
Abstract
The invention discloses a method for measuring the moment of a knee joint in a human body swing period for wearable equipment, and belongs to the field of wearable sensors. The method can measure and output the moment of the knee joint in the swing period when the user walks, and the moment is used for evaluating the gait of the user. The knee joint moment of the user in the swing period is calculated and output by utilizing the angular velocity and acceleration data acquired by the inertial sensor unit. The knee joint moment measuring device is convenient to use, free of site limitation, low in cost, capable of measuring the knee joint moment of a user in the swing period with high precision, and high in reliability and good in popularization prospect.
Description
Technical Field
The invention belongs to the field of wearable sensors, and particularly relates to a method for measuring the moment of a knee joint of a wearable device in a human body swing period.
Background
The knee joint moment is one of important indexes reflecting human motion ability, and has a great application value, so that the measurement of the knee joint moment is widely researched. Large laboratory measuring devices such as optical motion capture systems, force measuring tables, etc. are often used for measuring knee joint moment in clinic, but they have the disadvantages of high price, limited space, inconvenient use, etc. Compared with large-scale laboratory gait parameter measuring equipment such as an optical motion capture system, a force measuring table and the like, the wearable sensor is widely applied to the field of gait measurement as a new technology due to the advantages of being small and exquisite, low in cost, free of time and space limitation, easy to popularize and the like. However, there is currently only a few studies to measure knee joint moments using wearable sensors placed on the lower extremities of the human body.
Disclosure of Invention
The invention aims to provide a method for measuring the moment of a knee joint in a human body swing period, which is used for a wearable device.
Some of the nouns referred to in the present invention have the following meanings:
the swing phase is a component of the walking gait cycle of a person, and as shown in fig. 1, taking the right leg as an example, the period from the foot of the right leg stepping forward to the foot landing is the swing phase of the right leg.
For convenience of description, a sagittal plane is defined, which is a plane perpendicular to the horizontal plane and dividing the human body into left and right parts as shown in fig. 2, and the main motion occurs in the sagittal plane when a person walks.
The knee joint moment during the swing period is the moment generated by the knee joint during the swing period, as shown in fig. 3.
For convenience of description, an X-axis and a Y-axis are defined, as shown in fig. 3: the X-axis is the horizontal forward direction in the sagittal plane, and the Y-axis is the vertical upward direction in the sagittal plane.
For convenience of description, the angle of the lower leg is defined as the angle between the lower leg and the Y-axis in the sagittal plane, as shown in FIG. 3.
In order to solve the technical problem, the invention adopts the following specific technical scheme:
a human body swing period knee joint moment measuring method for a wearable device comprises the following steps:
s1: identifying the swing period of a user in the walking process by using two wearable devices worn on the upper sides of the outer sides of ankles of two shanks, and measuring shank angles and X-axis and Y-axis displacements of ankle joints in the sagittal plane of a human body;
s2: obtaining the motion acceleration of the gravity centers of the two crus by carrying out quadratic derivation on the gravity center motion equations of the two crus, and then respectively obtaining the acting force of the knee joint on the gravity centers of the two crus by utilizing Newton's second law; and substituting the measured or calculated calf weight, the moment of inertia, the linear distance from the ankle joint to the calf gravity center and the linear distance from the knee joint to the calf gravity center of the current user into a calf moment balance equation to obtain the knee joint moment in the swing period of the two calves.
Preferably, in S2, the knee joint moment calculation process in the swing period of both lower legs includes the following steps:
s21: calculating the X-axis acceleration a of the center of gravity of the lower leg during the swing periodxAnd acceleration of Y-axis ay：
ax＝(dx+lca·sinθ)″
ay＝(dy+lca·cosθ)″
In the formula: dx、dyRespectively, X-axis displacement and Y-axis displacement of the ankle joint, theta is the angle of the shank, lcaThe straight line distance from the ankle joint to the center of gravity of the crus is obtained, and the derivation is carried out twice on the time;
s22: calculating the acting force of the knee joint on the lower leg in the X-axis direction and the Y-axis direction in the swing period:
Fx＝m·ax
Fy＝m·(ay+g)
in the formula: fx、FyRespectively acting forces of the knee joint on the lower leg in the X-axis direction and the Y-axis direction, wherein m is the mass of the lower leg, and g is the gravity acceleration;
s23: calculating the moment of the knee joint in the swing period according to a shank moment balance equation:
in the formula: t is the moment of the knee joint,
is the angular acceleration of the lower leg, equal to the two derivatives of the angle of the lower leg, R is the moment of inertia of the lower leg,/ckIs the linear distance from the knee joint to the center of gravity of the lower leg.
Preferably, the shank mass, the moment of inertia, the linear distance from the ankle joint to the shank center of gravity, and the linear distance from the knee joint to the shank center of gravity are calculated by the height and the weight of the user:
m＝km·mb
R＝m·(kR·H)2
lca＝kca·H
lck＝kck·H
in the formula: k is a radical ofm、kR、kca、kckAs a proportional parameter, mbIs the user's weight, and H is the user's height.
Preferably, the human hip joint displacement measuring method for the wearable device comprises a singlechip and an inertial sensor which are connected, wherein the inertial sensor comprises a three-dimensional accelerometer and a three-dimensional angular velocity meter.
Preferably, the inertial sensor is an inertial sensor based on an MPU6050 chip.
Preferably, the two wearable devices are worn 2-4 cm above the outer sides of the ankles of the two shanks.
Preferably, the sampling frequencies of the two wearable devices are not lower than 100 Hz.
The technical features of the above-described preferred embodiments may be combined with each other without conflicting ones, and are not limited thereto.
Compared with the prior art, the invention has the beneficial effects that:
1) the invention is used for measuring the moment of the knee joint in the swing period, is not limited by the field and is easy to popularize.
2) The invention is suitable for gait of various pathological conditions, and has good application value and wide application range.
3) The wearable device is used for measurement, and redundant devices do not need to be carried, so that the wearable device can be conveniently applied to daily life.
Drawings
FIG. 1 is a schematic diagram of the swing phase of a human body according to the present invention;
FIG. 2 is a schematic view in the sagittal plane of the present invention;
FIG. 3 is a schematic view of the X-axis, Y-axis, ankle joint displacement, calf angle, calf center of gravity in the present invention;
FIG. 4 is a schematic view of the force exerted on the lower leg of the present invention;
FIG. 5 is a schematic view of the sensor placement location of the present invention;
FIG. 6 is a schematic diagram illustrating measurement results of moment of a knee joint during a swing period in accordance with the present invention;
in fig. 5, reference numeral 1 denotes an inertial sensor unit placed on the lower leg.
Detailed Description
The invention will be further described below with reference to the accompanying drawings for better understanding.
The invention uses the wearable device to measure the moment of the knee joint in the swing period of the human body. Taking a certain user as an example, the specific implementation process of the human body swing period knee joint moment measuring method is as follows:
(1) preparation work:
in this embodiment, the user wears the wearable device at a position 3cm above the outer side of the ankle of the right calf, and is configured to measure the moment of the right knee joint of the user in the swing period, as shown in fig. 5; similarly, another wearable device is also worn 3cm above the outer side of the ankle of the left calf of the user to measure the moment of the left knee joint of the user in the swing period, the measurement methods of the moment of the knee joints on both sides are completely the same, and the description is mainly given by taking the right leg as an example.
The wearable device comprises a single chip microcomputer for processing signal data and an inertial sensor based on an MPU6050 chip, wherein the inertial sensor comprises a three-dimensional accelerometer and a three-dimensional angular velocity meter, and the sampling frequency is 100 Hz.
The user walks on a flat ground, the inertial sensor collects acceleration and angular velocity data, and the singlechip uses a built-in gait recognition algorithm to recognize the walking swing period of the user by using the data, so that the shank angle and X-axis and Y-axis displacements of the ankle joint in the sagittal plane of the human body are obtained.
(2) Calculating the moment of the knee joint in the swing period:
after the preparation work is finished, the calculation of the moment of the knee joint in the swing period can be started, the calculation principle is that the motion acceleration of the gravity centers of the two crus is obtained by carrying out quadratic derivation on the gravity center motion equations of the two crus, and then the acting force of the knee joint on the gravity centers of the two crus is respectively obtained by utilizing a Newton second law; and substituting the measured or calculated calf weight, the moment of inertia, the linear distance from the ankle joint to the calf gravity center and the linear distance from the knee joint to the calf gravity center of the current user into a calf moment balance equation to obtain the knee joint moment in the swing period of the two calves.
As shown in fig. 4, the process of specifically calculating the moment of the knee joint in the swing period of the two lower legs in this embodiment includes the following sub-steps:
1) calculating the X-axis acceleration a of the center of gravity of the lower leg during the swing periodxAnd acceleration of Y-axis ay：
ax＝(dx+lca·sinθ)″
ay＝(dy+lca·cosθ)″
In the formula: dx、dyRespectively, X-axis displacement and Y-axis displacement of the ankle joint, theta is the angle of the shank, lcaThe straight line distance from the ankle joint to the center of gravity of the crus is obtained, and the derivation is carried out twice on the time;
2) calculating the acting force of the knee joint on the lower leg in the X-axis direction and the Y-axis direction in the swing period:
Fx＝m·ax
Fy＝m·(ay+g)
in the formula: fx、FyRespectively acting forces of the knee joint on the lower leg in the X-axis direction and the Y-axis direction, wherein m is the mass of the lower leg, and g is the gravity acceleration;
3) calculating the moment of the knee joint in the swing period according to a shank moment balance equation:
in the formula: t is the moment of the knee joint,
is the angular acceleration of the lower leg, equal to the two derivatives of the angle of the lower leg, R is the moment of inertia of the lower leg,/ckIs the linear distance from the knee joint to the center of gravity of the lower leg.
Wherein, the shank mass m, the moment of inertia R and the linear distance l from the ankle joint to the shank gravity center in the shank moment balance equationcaLinear distance l from knee joint to center of gravity of lower legckAll can pass through the height of the user in advanceAnd body weight, the respective calculation formulas are as follows:
m＝km·mb
R＝m·(kR·H)2
lca＝kca·H
lck＝kck·H
in the formula: k is a radical ofm、kR、kca、kckAs a proportional parameter, mbThe weight of the user and the height of the user are obtained by directly measuring the user.
In this embodiment, the user is 1.7 meters in height and 70 kilograms in weight; k is a radical ofmSet to 0.061, kRSet to 0.1, kcaSet to 0.16, kckSet to 0.16.
Therefore, the moment of the knee joint in the swing period of the user when walking can be obtained only by the sensor on the ankle of the user, and the moment is used for evaluating the gait of the user.
(3) Knee joint moment measuring effect in swing period:
in this embodiment, the method can accurately measure and obtain the moment of the knee joint of the user in the swing period. For example, the right leg walks 3 steps in the measurement process of the user, and 3 swing periods are provided, wherein the moment measurement result of one swing period is shown in fig. 6, so that the device and the method of the invention can realize the moment measurement of the knee joint of the user in the swing period compared with the prior art.
The above-mentioned embodiments are only some preferred embodiments of the present invention, but not intended to limit the present invention. Various changes and modifications may be made by one of ordinary skill in the pertinent art without departing from the spirit and scope of the present invention. For example, the above embodiments may also use other algorithms or use other sensors to calculate the lower leg angle and ankle joint X-axis and Y-axis displacement, such as millimeter wave radar, infrared sensors, laser radar, and the like. The wearable equipment can also use two sets of the wearable equipment at the same time so as to achieve the purpose of measuring the moment of the knee joint in the swing periods of the left side and the right side at the same time. The wearable device may also be modified in other configurations or ways known in the art, such as using another inertial sensor chip, using a higher sampling frequency, etc.
Therefore, the technical scheme obtained by adopting the mode of equivalent replacement or equivalent transformation is within the protection scope of the invention.
Claims (7)
1. A method for measuring the moment of a knee joint in a human body swing period of a wearable device is characterized by comprising the following steps:
s1: identifying the swing period of a user in the walking process by using two wearable devices worn on the upper sides of the outer sides of ankles of two shanks, and measuring shank angles and X-axis and Y-axis displacements of ankle joints in the sagittal plane of a human body;
s2: obtaining the motion acceleration of the gravity centers of the two crus by carrying out quadratic derivation on the gravity center motion equations of the two crus, and then respectively obtaining the acting force of the knee joint on the gravity centers of the two crus by utilizing Newton's second law; and substituting the measured or calculated calf weight, the moment of inertia, the linear distance from the ankle joint to the calf gravity center and the linear distance from the knee joint to the calf gravity center of the current user into a calf moment balance equation to obtain the knee joint moment in the swing period of the two calves.
2. The method for measuring human body swing period knee joint moment for a wearable device according to claim 1, wherein in S2, the knee joint moment calculation process in the swing period of the two lower legs includes the following steps:
s21: calculating the X-axis acceleration a of the center of gravity of the lower leg during the swing periodxAnd acceleration of Y-axis ay：
ax＝(dx+lca·sinθ)″
ay＝(dy+lca·cosθ)″
In the formula: dx、dyRespectively, X-axis displacement and Y-axis displacement of the ankle joint, theta is the angle of the shank, lcaThe straight line distance from the ankle joint to the center of gravity of the crus is obtained, and the derivation is carried out twice on the time;
s22: calculating the acting force of the knee joint on the lower leg in the X-axis direction and the Y-axis direction in the swing period:
Fx＝m·ax
Fy＝m·(ay+g)
in the formula: fx、FyRespectively acting forces of the knee joint on the lower leg in the X-axis direction and the Y-axis direction, wherein m is the mass of the lower leg, and g is the gravity acceleration;
s23: calculating the moment of the knee joint in the swing period according to a shank moment balance equation:
in the formula: t is the moment of the knee joint,
is the angular acceleration of the lower leg, equal to the two derivatives of the angle of the lower leg, R is the moment of inertia of the lower leg,/ckIs the linear distance from the knee joint to the center of gravity of the lower leg.
3. The method according to claim 2, wherein the lower leg mass, the moment of inertia, the linear distance from the ankle joint to the center of gravity of the lower leg, and the linear distance from the knee joint to the center of gravity of the lower leg are calculated from the height and the weight of the user:
m＝km·mb
R＝m·(kR·H)2
lca＝kca·H
lck＝kck·H
in the formula: k is a radical ofm、kR、kca、kckAs a proportional parameter, mbIs the user's weight, and H is the user's height.
4. The method according to claim 1, wherein the method for measuring the moment of the knee joint during the human swing phase of the wearable device comprises a single chip microcomputer and an inertial sensor which are connected, and the inertial sensor comprises a three-dimensional accelerometer and a three-dimensional angular velocity meter.
5. The method according to claim 4, wherein the inertial sensor is an inertial sensor based on an MPU6050 chip.
6. The method for measuring moment of the knee joint in the human body swing period of the wearable device according to claim 1, wherein the two wearable devices are worn 2-4 cm above the outer sides of the ankles of the two lower legs.
7. The method for measuring human swing period knee joint moment for wearable devices according to claim 1, wherein the sampling frequency of the two wearable devices is not lower than 100 Hz.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| TWI784815B (en) * | 2021-11-26 | 2022-11-21 | 國泰醫療財團法人國泰綜合醫院 | Calculation System of Gait Balance Index of Waist Inertial Sensing Device |
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2021
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| US20060004299A1 (en) * | 2004-06-30 | 2006-01-05 | Honda Motor Co., Ltd. | Motion measurement method, motion measurement system, and motion measurement program |
| US20130073248A1 (en) * | 2011-09-20 | 2013-03-21 | Noel Perkins | Apparatus and method for employing miniature inertial measurement units for deducing forces and moments on bodies |
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| TWI784815B (en) * | 2021-11-26 | 2022-11-21 | 國泰醫療財團法人國泰綜合醫院 | Calculation System of Gait Balance Index of Waist Inertial Sensing Device |
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