CN113080946B - Human body sitting station transfer capability measuring device, measuring method and electronic equipment - Google Patents
Human body sitting station transfer capability measuring device, measuring method and electronic equipment Download PDFInfo
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Abstract
The invention provides a human body sitting station transfer capability measuring device, a measuring method and electronic equipment, and particularly relates to the technical field of medical rehabilitation; at least three gesture sensors respectively arranged at the positions of the lower leg, the thigh and the trunk of the human body; the upper computer is respectively connected with the gesture sensors and the force measuring pedal, and is used for acquiring joint angle data and joint moment at ankle joints, knee joints and hip joints according to received plantar force data measured by the force measuring pedal in the human body sitting station transferring motion process and motion gesture data of the positions of the lower legs, the thighs and the trunk of the human body measured by the gesture sensors. The invention can judge the motion capability, muscle strength and balance capability of the lower limbs of the human body in the transfer process of the sitting station according to the moment of each joint, has simple installation, low cost, simplicity and practicality and is easy for clinical popularization.
Description
Technical Field
The invention relates to the technical field of human body functionality evaluation, in particular to a sitting station transfer capability measuring device, a measuring method and electronic equipment.
Background
The transfer exercise of the sitting station is the most basic functional activity of the human being, is the basic premise that the human being independently performs daily life activities, and from the biomechanical point of view, the transfer exercise of the sitting station needs the mutual coordination among different muscles and needs enough muscle strength to promote the movement of the gravity center of the body; for cerebral apoplexy hemiplegia patients, the ability of sitting to transfer is an important functional basis for determining whether the patients can independently live; therefore, the assessment of the transfer ability of the sitting station is particularly important. Clinically, joint moment is a common index for evaluating the transfer capability of a sitting station, and in the design of rehabilitation training equipment, joint moment has significance for the selection of a driver, and in recent years, some students have started the study of the exercise assisting training equipment for the sitting station transfer, however, establishing an effective dynamic model of daily activities of human beings is a key step for designing an assisting device for disabled people, so that the analysis of the exercise for the sitting station transfer of the human body is crucial for the rehabilitation evaluation and the design of the rehabilitation training equipment.
At present, in the transfer motion analysis of a human body sitting station, a motion capture system is mostly adopted to collect joint angle information of the human body, however, the motion capture system based on a camera is high in measurement accuracy, high in price, high in measurement environment requirement, long in installation time consumption of a reflection mark, high in installation position requirement and easy to shield, and meanwhile, a special laboratory space is needed, and the post-treatment (including recognition, tracking and calculation of space coordinates of the reflection mark) is long in time, so that the method is unfavorable to be used as a clinical technical means.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, the present invention aims to provide a device, a method and an electronic device for measuring transfer capability of a human body sitting station, which are used for solving the problems of high price, high requirement on measurement environment, long time consumption for installing reflective markers, high requirement on installation positions, easy shielding, need of special laboratory space and long post-processing time in the prior art.
To achieve the above and other related objects, the present invention provides a human body sitting station transfer capability measuring apparatus comprising:
the force measuring pedal is arranged on the sole of the human body;
At least three gesture measuring devices respectively arranged at the positions of the lower leg, the thigh and the trunk of the human body;
The upper computer is respectively connected with the gesture measuring device and the force measuring pedal, and is used for acquiring joint angle data and joint moment at ankle joints, knee joints and hip joints according to received plantar force data measured by the force measuring pedal in the human body sitting station transferring motion process and motion gesture data of the positions of the lower legs, the thighs and the trunk of the human body measured by the gesture measuring devices.
In an alternative embodiment, the force pedal comprises a two-dimensional force measuring device or a multi-dimensional force measuring device.
In an alternative embodiment, the attitude measurement device comprises a combination of a two-axis acceleration sensor and a single-axis gyroscope, or a six-axis inertial sensor consisting of a 3-axis gyroscope and a 3-axis acceleration sensor, or a nine-axis attitude sensor consisting of a 3-axis accelerometer, a 3-axis gyroscope and a 3-axis electronic compass.
To achieve the above and other related objects, the present invention also provides a method for measuring transfer capability of a human body sitting station, comprising the steps of:
Measuring plantar force data in the process of transferring movement of the human body sitting station by using a force measuring pedal, and measuring movement posture data of the positions of the lower leg, the thigh and the trunk of the human body in the process of transferring movement of the human body sitting station by using a posture measuring device;
And acquiring joint angle data and joint moment at ankle joints, knee joints and hip joints in the transfer process of the sitting station of the human body by utilizing the plantar force data and the movement posture data.
In an alternative embodiment, in the step of measuring plantar force data during a human body sitting station transfer motion using a force measuring pedal, the plantar force data includes human plantar horizontal and normal forces and force application positions.
In an alternative embodiment, the joint angle data at the ankle, knee and hip joints of the human body are calculated using euler angles in the motion pose data for the calf, thigh and torso positions of the human body.
In an optional embodiment, the step of obtaining the joint angle data and the joint moment at the ankle joint, the knee joint and the hip joint in the transfer process of the sitting station of the human body by using the plantar force data and the motion gesture data comprises the following steps:
acquiring ankle joint moment according to the plantar force data;
Acquiring knee joint moment according to the plantar force data and the motion gesture data measured by the gesture measuring device at the lower leg;
and acquiring hip joint moment according to the plantar force data and the motion gesture data measured by the gesture measuring device at the trunk.
In an alternative embodiment, the step of obtaining the joint angle data and the joint moment at the ankle joint, the knee joint and the hip joint in the transfer process of the sitting station of the human body by using the plantar force data and the movement posture data before the buttocks of the human body leave the seat comprises the following steps:
acquiring ankle joint moment according to the plantar force data;
Acquiring knee joint moment according to the plantar force data and the motion gesture data measured by the gesture measuring device at the lower leg;
Acquiring hip joint moment according to the motion gesture data measured by the gesture measuring device at the trunk;
Acquiring seat supporting force according to the plantar force data and the motion gesture data measured by the gesture measuring devices at the lower leg, the thigh and the trunk, and judging whether the buttocks of the human body leave the seat according to the seat supporting force;
when the buttocks of the human body leave the seat, the step of acquiring the joint angle data and the joint moment of the ankle joint, the knee joint and the hip joint in the transfer process of the sitting station of the human body by the movement gesture data comprises the following steps:
acquiring total potential energy and kinetic energy in the transfer process of the sitting station of the human body according to the motion gesture data, the barycenter coordinates of the human body lower leg, the thigh and the trunk and the lengths of the human body lower leg, the thigh and the trunk;
And acquiring joint moments at ankle joints, knee joints and hip joints in the transfer process of the human body sitting station according to the total potential energy and the kinetic energy in the transfer process of the human body sitting station.
In an optional embodiment, the method for measuring the transfer capability of the human body sitting station further includes the step of judging the movement capability, the muscle strength and the balance capability of the lower limbs of the human body in the transfer process of the sitting station according to the obtained joint angle data and the joint moment at the ankle joint, the knee joint and the hip joint in the transfer process of the sitting station.
To achieve the above and other related objects, the present invention also provides an electronic device including a processor and a memory coupled to each other, the memory storing program instructions, which when executed by the processor, implement the human body sitting station transfer capability measurement method.
According to the human body sitting station transfer capability measuring device, the measuring method and the electronic equipment, when in measurement, the gesture measuring device is arranged on the lower leg, the thigh and the trunk of a user, the feet stand on the force measuring pedal, the movement gesture data of the lower leg, the thigh and the trunk positions of the human body transmitted by the gesture measuring device in the sitting-to-standing process and the plantar force data transmitted by the force measuring pedal are recorded, the moment at each joint is calculated, and the movement capability, the muscle strength and the balance capability of the lower limb of the human body in the sitting-to-standing transfer process are judged according to the moment at each joint.
The invention provides a sitting station transfer measurement device based on a gesture measurement device and a force measurement pedal, which has the characteristics of practicality, simplicity, convenience in installation, unrestricted installation position, reasonable wiring and convenience in clinical popularization.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for the description of the embodiments or the prior art will be briefly described below, it will be apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art
FIG. 1 is a schematic view of a human body sitting station transfer capability measurement device of the present invention being worn on a human body;
FIG. 2 is a flow chart of the transfer capability measurement method for human body sitting station according to the present invention;
FIG. 3 is a schematic diagram of a mathematical model constructed in accordance with the simplified body-rigid model of the present invention;
Fig. 4 shows a block diagram of the electronic device of the present invention.
Description of element reference numerals
1. A force measuring pedal; 2. a first attitude measurement device; 3. a second attitude measurement device; 4. a third attitude measurement device; 5. an electronic device; 51. a processor; 52. a communicator; 53. a memory.
Detailed Description
Other advantages and effects of the present invention will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present invention with reference to specific examples. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict.
It should be noted that the illustrations provided in the following embodiments merely illustrate the basic concept of the present invention by way of illustration, and only the components related to the present invention are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complicated.
Please refer to fig. 1-4. It should be noted that the illustrations provided in the following embodiments merely illustrate the basic concept of the present invention by way of illustration, and only the components related to the present invention are shown in the illustrations, not according to the number, shape and size of the components in actual implementation, and the form, number and proportion of each component in actual implementation may be arbitrarily changed, and the layout of the components may be more complex.
Fig. 1 shows a schematic view of the human body sitting station transfer capability measuring device of the present invention being worn on a human body. Referring to fig. 1, the human body sitting station transfer measurement device may include: a force measuring pedal 1, at least three attitude measuring devices and an upper computer (not shown).
Referring to fig. 1, in the present embodiment, a force measuring pedal 1 is located under a foot of a person to be measured, and is used for measuring a ground reaction force during a transfer motion of a sitting station of the person, and the force measuring pedal 1 may be, for example, a two-dimensional force measuring device, and may be used for measuring a plantar horizontal force and a normal force of the person, and a force application position, and plantar horizontal force is a frictional force between the person and the ground. It will be appreciated that in other embodiments, the force measuring pedal 1 may also employ a multi-dimensional force measuring device, which can measure the joint moment at the ankle, knee and hip joints before the buttocks of the human body leave the seat and the joint moment at the ankle, knee and hip joints after the buttocks of the human body leave the seat.
Referring to fig. 1, in the present embodiment, the posture measuring device includes three parts, for example, on three parts of the lower leg, thigh and trunk of the human body, for measuring the movement posture data of the lower leg, thigh and trunk of the human body during the transfer process of the sitting position of the human body. As an example, the posture measurement device may be located at any position at the human lower leg, thigh, and torso without restricting the centroid position placed at the human lower leg, thigh, and torso. It will be appreciated that in other embodiments, the attitude measurement device is a combination of a two-axis acceleration sensor and a single-axis gyroscope, or a six-axis inertial sensor consisting of a 3-axis gyroscope and a 3-axis acceleration sensor, or a nine-axis attitude sensor consisting of a 3-axis accelerometer, a 3-axis gyroscope, and a 3-axis electronic compass. As an example, the motion gesture data includes motion gesture data such as acceleration, angular velocity, and euler angle. As an example, the three posture measurement devices include a first posture measurement device 2 provided on the lower leg of the human body, a second posture measurement device 3 provided on the thigh of the human body, and a third posture measurement device 4 provided on the trunk of the human body.
The upper computer is respectively connected with the gesture measuring device and the force measuring pedal 1, and is used for acquiring joint angle data and joint moment at ankle joints, knee joints and hip joints according to received plantar force data measured by the force measuring pedal 1 and motion gesture data of the positions of the lower legs, the thighs and the trunk of the human body measured by the gesture measuring devices in the process of transferring movement of the sitting station of the human body, and sending operation instructions to the force measuring pedal 1 and the gesture measuring devices for measurement.
Fig. 2 shows a flow chart of a method for measuring the transfer capability of the human body sitting station by using the device for measuring the transfer capability of the human body sitting station. Referring to fig. 2, the method for measuring the transfer capability of the human body sitting station includes:
Step S1: measuring plantar force data in the process of human body sitting station transferring movement by using a force measuring pedal 1, and measuring movement posture data of the positions of the lower leg, the thigh and the trunk of a human body in the process of human body sitting station transferring movement by using a posture measuring device;
step S2: acquiring joint angle data and joint moment at ankle joints, knee joints and hip joints in the transfer process of the sitting station of the human body by utilizing the plantar force data and the movement posture data;
step S3: and judging the movement capacity, the muscle strength and the balance capacity of the lower limbs of the human body in the transfer process of the sitting station according to the obtained joint angle data and the joint moment of the ankle joint, the knee joint and the hip joint in the transfer process of the sitting station.
Fig. 3 shows a schematic representation of a mathematical model constructed according to the present invention from a simplified body-rigid model. The steps S1 to S3 of the human body sitting position transfer capability measuring method of the present embodiment will be specifically described below with reference to fig. 2 and 3.
Referring to fig. 2 and 3, in step S1, plantar force data including a plantar horizontal force F x and a normal force F y of a human body and a force application position (x, y) in a transfer motion process of a sitting station of the human body are measured by using a force measuring pedal 1, and when joint moments at ankle joints, knee joints and hip joints of the human body are calculated, the plantar force measuring device may be a two-dimensional force measuring device or a multidimensional force measuring device.
Referring to fig. 2 and 3, in step S1, motion gesture data of the positions of the lower leg, the thigh and the trunk of the human body (including two states of the buttocks of the human body before leaving the seat and after leaving the seat) are obtained by the gesture measuring devices arranged at the positions of the lower leg, the thigh and the trunk of the human body, wherein the motion gesture data includes acceleration and angular velocity. As an example, an attitude measurement device such as a combination of a two-axis acceleration sensor and a single-axis gyroscope, or a six-axis inertial sensor composed of a 3-axis gyroscope and a 3-axis acceleration sensor, or a nine-axis attitude sensor composed of a 3-axis accelerometer, a 3-axis gyroscope, and a 3-axis electronic compass.
Referring to fig. 2 and 3, step S2 further includes step S21 of calculating joint angle data at ankle, knee and hip joints of the human body by using euler angles in the motion posture data of the positions of the lower leg, thigh and trunk of the human body; and S22, acquiring joint moments of an ankle joint, a knee joint and a hip joint in the transfer process of the sitting station of the human body by utilizing the plantar force data and the joint angle data.
In step S21, joint angle data θ i at the ankle, knee and hip joints in the process of transferring movement of the sitting station of the human body (including two states of the human body before the buttocks leave the seat and after the buttocks leave the seat) is calculated by using euler angles in the movement posture data of the positions of the lower leg, the thigh and the trunk of the human body, i=1, 2,3, and respectively represents the ankle, the knee and the hip joints. As an example, the euler angles include a roll angle α, a pitch angle β, and a yaw angle γ.
Referring to fig. 2 and 3, specifically, step S21 may further include:
step S211: the three gesture measuring devices are respectively fixed at the positions of the lower leg, the thigh and the trunk through binding bands, an inertial coordinate system W of the gesture measuring device is defined, a global coordinate system { OXYZ } is established at the foot, a coordinate origin O is positioned at an ankle joint, a local coordinate system { O ixiyizi } is respectively established at the lower leg, the thigh and the trunk, i=1, 2 and 3, the coordinate origins are respectively positioned at the ankle joint, the knee joint and the hip joint, and the joint angle theta i is defined as an included angle between y i and the positive X direction.
Step S212: let the lengths of the lower leg, thigh and trunk be l 1、l2 and l 3, respectively, the joint rotation centers be A, B, C, respectively, for the ankle angle θ 1, the position vector of the knee joint center B in the coordinate system { o 1x1y1z1 } is:
step S213: let the rotation matrix of the coordinate system { o 1x1y1z1 } relative to the inertial coordinate system W be The rotation matrix of the global coordinate system { OXYZ } with respect to the inertial coordinate system W is/>The general formula of the rotation transformation matrix is:
The Euler angle gamma i、βi、αi measured by the gesture measuring device is brought into the above formula to obtain the corresponding
Rotation matrix of the coordinate system { o 1x1y1z1 } with respect to the coordinate system { ozz }:
Step S214: the position vector of the knee center B in the coordinate system { ozz } is:
step S215: the direction vector from point a to point B is denoted as a, so a is:
a＝[ox oy oz]T
Therefore, the angle between the vector a and the positive X-axis direction, i.e., the ankle angle, is:
step S216: the rotation matrix is an orthogonal matrix, so Are orthogonal, thus/>Are also orthogonal, so:
Thus:
θ1＝cos-1(ox)。
step S217: similarly, θ 2、θ3 can be obtained by the same method.
Referring to fig. 2 and 3, in step S22, the foot sole force data and the joint angle data are used to obtain the ankle, knee and hip joint moment during the transfer of the sitting station, wherein the ankle, knee and hip joint moment obtaining during the transfer of the sitting station includes the ankle, knee and hip joint moment obtaining step S221 before the buttocks of the human leave the seat and the ankle, knee and hip joint moment obtaining step S222 after the buttocks of the human leave the seat.
Let l ci (i=1, 2, 3) denote the distance of the centroid of body segment i from its local coordinate system origin, m i denote the mass of body segment i (i=1, 2, 3), g denote the gravitational acceleration, a ij (i=1, 2,3; j=x, Y) denote the centroid acceleration of rigid body i in the J-axis direction in the defined global coordinate system { ozz }, J ci (i=1, 2, 3) denote the moment of inertia of rigid body i with respect to its centroid,Is a second derivative of θ i, namely angular acceleration.
In step S221, the joint moments at the ankle, knee and hip joints are measured by steps S2211-S2215 before the buttocks of the human body leave the seat.
Step S2211: the barycenter coordinates of the human body lower leg, the thigh and the trunk are obtained through calculation according to the joint angle data of the human body lower leg, the thigh and the trunk and the national standard formulation of the human body inertial parameter of Chinese adults, and the barycenter position is estimated according to the national standard formulation of the human body inertial parameter of Chinese adults:
lower leg:
xc1＝lc1cosθ1
yc1＝lc1sinθ1
thigh:
xc2＝l1cosθ1+lc2cosθ2
yc2＝l1sinθ1+lc2sinθ2
Torso:
xc3＝l1cosθ1+l2cosθ2+lc3cosθ3
xc3＝l1cosθ1+l2cosθ2+lc3cosθ3
The centroid acceleration can be obtained through calculation of centroid coordinate derivative data of the human body lower leg, thigh and trunk and acceleration data synthesis theorem in motion gesture data of the positions of the lower leg, thigh and trunk.
Step S2212: calculating ankle moment M 1 according to the plantar force data:
The plantar force measured by the force measuring plate of the force measuring pedal 1 is F x、Fy, the action points are (x, y), and the action point position is the action position of the force measured by the force measuring pedal 1, so the acting force of the ankle joint is as follows:
F1y＝Fy
F1x＝Fx
ankle joint action moment:
M1＝yFx+xFy。
Step S2213: calculating knee joint moment M z according to the plantar force data and the movement posture data measured by the posture measuring device at the lower leg:
According to the force balance principle, the knee joint acting force:
F2y＝F1y-m1g-m1a1y
F2x＝F1x-m1a1y
Moment of action of knee joint:
step S2214: calculating hip joint moment M 3 according to the motion gesture data measured by the gesture measuring device at the trunk:
For the torso, hip joint effort:
F3y＝m3g+m3a3y
F3x＝m3a3x
f 3X represents the friction force between a person and the seat;
Hip joint effort distance:
Step S2215: acquiring a seat supporting force F Seat with a seat cover according to the plantar force data and the motion posture data measured by the posture measuring devices at the lower leg, the thigh and the trunk:
F Seat with a seat cover -m2g-F′3y+F2y＝m2a2y
Wherein, F' 3y is the reaction force of F 3y, the sign is opposite, and the magnitude is equal, can be used for judging whether human buttock leaves the seat through calculating the seat supporting force.
In step S222, after the buttocks of the human body leave the seat, the movement posture data is used to obtain the joint angle data and the joint moment at the ankle joint, the knee joint and the hip joint in the transfer process of the sitting station of the human body. When the buttocks of the human body leave the seat, the seat supporting force is 0, that is, F Seat with a seat cover =0 in step S2215, and the joint moments at the ankle, knee and hip joints are measured by steps S2221-S2222.
Step S2221: acquiring total potential energy E p and kinetic energy E k of a human body in the transfer process of sitting and standing of the human body according to the motion gesture data, barycenter coordinates of the human body's lower leg, thigh and trunk and the lengths of the human body's lower leg, thigh and trunk:
Ep＝m1glc1sinθ1+m2g(l1sinθ1+lc2sinθ1)+m3g(l1sinθ1+l2sinθ2+lc3sinθ3)
Step S2222: acquiring joint moment tau i at ankle joints, knee joints and hip joints in the human body sitting station transferring process according to the total potential energy and kinetic energy in the human body sitting station transferring process;
L＝Ek-Ep
Wherein i=1, 2,3, respectively correspond to the ankle joint, knee joint and hip joint of the human body.
It should be noted that the calculation of the joint moments at the ankle, knee and hip joints of the human body in two different manners before the human buttocks leave the seat and after the human buttocks leave the seat, that is, the calculation manner defined in step S221 and step S222 is to reduce the calculation amount, because the calculation manner defined in step S222 requires relatively less known amount, and the calculation amount can be reduced. It will be appreciated that in some embodiments, the steps of step S221 may also be employed throughout the transfer of the human seat (including both the sub-process before the human buttocks leave the seat and the sub-process after the human buttocks leave the seat).
Referring to fig. 2, in step S3, the motion capability, muscle force and balance capability of the lower limbs of the human body in the transfer process of the sitting station are determined according to the obtained joint angle data and joint moment at the ankle joint, knee joint and hip joint in the transfer process of the sitting station. For example, the angle data, the moment data and the health data of human lower limbs at the ankle joint, the knee joint and the hip joint are obtained through the analysis of a preset program of an upper computer, the transfer capability assessment of the human sitting station is carried out through a cloud database of the upper computer, and the health level of the lower limb movement capability, the muscle strength and the balance capability of a measurer is divided.
It should be noted that, as shown in fig. 4, the method for measuring the transfer capability of the human body sitting station according to the present invention may be implemented by an electronic device 4, and the electronic device 4 may be, for example, an upper computer or be disposed in the upper computer. The electronic device 4 comprises a memory 43 and a processor 41 connected to each other, the memory 43 storing program instructions which, when executed by the processor 41, implement the above-mentioned human body sitting position transfer capability measuring method. When communication with the outside is required, the electronic device 4 further includes a communicator 42, and the communicator 42 is connected to the processor 41.
The processor 41 may be a general-purpose processor, including a central processing unit (Central Processing Unit, abbreviated as CPU), a network processor (Network Processor, abbreviated as NP), and the like; but also digital signal processors (DIGITALSIGNAL PROCESSING, abbreviated as DSP), application Specific Integrated Circuits (ASIC), field-Programmable gate arrays (FPGA) or other Programmable logic devices, discrete gate or transistor logic devices, discrete hardware components; the memory 43 may include a random access memory (Random Access Memory, abbreviated as RAM) and may further include a nonvolatile memory (Non-volatileMemory), such as at least one magnetic disk memory.
It should be noted that the program instructions in the memory 43 may be implemented in the form of software functional units and may be stored in a computer readable storage medium when sold or used as a separate product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, an electronic device 4, or a network device, etc.) to perform all or part of the steps of the method of the various embodiments of the present invention.
The present invention may also provide a storage medium storing a program which, when executed by the processor 41, implements the path planning method of the robotic lawnmower described above; the storage media includes all forms of non-volatile memory, media, and memory devices including, for example: semiconductor memory devices such as EPROM, EEPROM, and flash memory devices; magnetic disks, such as internal hard disks or removable disks; magneto-optical disk; CD-ROM and DVD-ROM discs.
In summary, the human body sitting and standing transfer capability measuring device, the measuring method and the electronic equipment are characterized in that when in measurement, the gesture measuring device is arranged on the lower leg, the thigh and the trunk of a user, the feet stand on the force measuring pedal, the movement gesture data of the lower leg, the thigh and the trunk of the human body transmitted by the gesture measuring device in the sitting and standing process and the plantar force data transmitted by the force measuring pedal are recorded, the moment at each joint is calculated, and the movement capability, the muscle strength and the balance capability of the lower limb of the human body in the sitting and standing transfer process are judged according to the moment at each joint. The posture measuring device of the human body sitting station transfer capability measuring device can be arranged at any position of the corresponding body section, and the installation position is not limited. The invention has the characteristics of practicality, simplicity, convenient installation, reasonable wiring and convenient clinical popularization, and effectively overcomes various defects in the prior art.
In the description herein, numerous specific details are provided, such as examples of components and/or methods, to provide a thorough understanding of embodiments of the invention. One skilled in the relevant art will recognize, however, that an embodiment of the invention can be practiced without one or more of the specific details, or with other apparatus, systems, components, methods, components, materials, parts, and so forth. In other instances, well-known structures, materials, or operations are not specifically shown or described in detail to avoid obscuring aspects of embodiments of the invention.
Reference throughout this specification to "one embodiment," "an embodiment," or "a particular embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment, and not necessarily all embodiments, of the present invention. Thus, the appearances of the phrases "in one embodiment," "in an embodiment," or "in a specific embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics of any specific embodiment of the present invention may be combined in any suitable manner with one or more other embodiments. It will be appreciated that other variations and modifications of the embodiments of the invention described and illustrated herein are possible in light of the teachings herein and are to be considered as part of the spirit and scope of the invention.
It will also be appreciated that one or more of the elements shown in the figures may also be implemented in a more separated or integrated manner, or even removed because of inoperability in certain circumstances or provided because it may be useful depending on the particular application.
In addition, any labeled arrows in the drawings/figures should be considered only as exemplary, and not limiting, unless otherwise specifically indicated. Furthermore, the term "or" as used herein is generally intended to mean "and/or" unless specified otherwise. Combinations of parts or steps will also be considered as being noted where terminology is foreseen as rendering the ability to separate or combine is unclear.
The above description of illustrated embodiments of the invention, including what is described in the abstract, is not intended to be exhaustive or to limit the invention to the precise forms disclosed herein. Although specific embodiments of, and examples for, the invention are described herein for illustrative purposes only, various equivalent modifications are possible within the spirit and scope of the present invention, as those skilled in the relevant art will recognize and appreciate. As noted, these modifications can be made to the present invention in light of the foregoing description of illustrated embodiments of the present invention and are to be included within the spirit and scope of the present invention.
The systems and methods have been described herein in general terms as being helpful in understanding the details of the present invention. Furthermore, various specific details have been set forth in order to provide a thorough understanding of embodiments of the invention. One skilled in the relevant art will recognize, however, that an embodiment of the invention can be practiced without one or more of the specific details, or with other apparatus, systems, assemblies, methods, components, materials, parts, and/or the like. In other instances, well-known structures, materials, and/or operations are not specifically shown or described in detail to avoid obscuring aspects of embodiments of the invention.
Thus, although the invention has been described herein with reference to particular embodiments thereof, a latitude of modification, various changes and substitutions are intended in the foregoing disclosures, and it will be appreciated that in some instances some features of the invention will be employed without a corresponding use of other features without departing from the scope and spirit of the invention as set forth. Therefore, many modifications may be made to adapt a particular situation or material to the essential scope and spirit of the present invention. It is intended that the invention not be limited to the particular terms used in following claims and/or to the particular embodiment disclosed as the best mode contemplated for carrying out this invention, but that the invention will include any and all embodiments and equivalents falling within the scope of the appended claims. Accordingly, the scope of the invention should be determined only by the following claims.
Claims (8)
1. A human body sitting station transfer capability measuring device, comprising:
the force measuring pedal is arranged on the sole of the human body;
At least three gesture measuring devices respectively arranged at the positions of the lower leg, the thigh and the trunk of the human body;
The upper computer is respectively connected with the gesture measuring device and the force measuring pedal, and is used for acquiring joint angle data and joint moment at ankle joints, knee joints and hip joints according to received plantar force data measured by the force measuring pedal in the process of transferring movement of a sitting station of a human body and movement gesture data of the positions of the lower legs, the thighs and the trunk of the human body measured by the gesture measuring devices;
the method for acquiring the joint angle data and the joint moment at the ankle joint, the knee joint and the hip joint according to the received plantar force data measured by the force measuring pedal in the human body sitting station transferring movement process and the movement posture data of the positions of the lower leg, the thigh and the trunk of the human body measured by the posture measuring devices comprises the following steps:
before the buttocks of the human body leave the seat, acquiring ankle joint moment according to the plantar force data; acquiring knee joint moment according to the plantar force data and the motion gesture data measured by the gesture measuring device at the lower leg; acquiring hip joint moment according to the motion gesture data measured by the gesture measuring device at the trunk;
Acquiring seat supporting force according to the plantar force data and the motion gesture data measured by the gesture measuring devices at the lower leg, the thigh and the trunk, and judging whether the buttocks of the human body leave the seat according to the seat supporting force;
When the buttocks of the human body leave the seat, acquiring total potential energy and kinetic energy in the transfer process of the sitting station of the human body according to the movement posture data, the barycenter coordinates of the lower legs, the thighs and the trunk of the human body and the lengths of the lower legs, the thighs and the trunk of the human body; and acquiring joint moments at ankle joints, knee joints and hip joints in the transfer process of the human body sitting station according to the total potential energy and the kinetic energy in the transfer process of the human body sitting station.
2. The human body sitting position transfer capability measurement device according to claim 1, wherein the force measurement pedal comprises a two-dimensional force measurement device or a multi-dimensional force measurement device.
3. The human body sitting position transfer capability measuring device according to claim 1, wherein the posture measuring device comprises a combination of a two-axis acceleration sensor and a single-axis gyroscope, or a six-axis inertial sensor, or a nine-axis posture sensor.
4. A method for measuring transfer capability of a human body sitting station, comprising the steps of:
Measuring plantar force data in the process of transferring movement of the human body sitting station by using a force measuring pedal, and measuring movement posture data of the positions of the lower leg, the thigh and the trunk of the human body in the process of transferring movement of the human body sitting station by using a posture measuring device;
acquiring joint angle data and joint moment at ankle joints, knee joints and hip joints in the transfer process of the sitting station of the human body by utilizing the plantar force data and the movement posture data;
Wherein, the step of utilizing the plantar force data and the movement gesture data to obtain the joint angle data and the joint moment at the ankle joint, the knee joint and the hip joint in the transfer process of the sitting station of the human body comprises the following steps:
before the buttocks of the human body leave the seat, acquiring ankle joint moment according to the plantar force data; acquiring knee joint moment according to the plantar force data and the motion gesture data measured by the gesture measuring device at the lower leg; acquiring hip joint moment according to the motion gesture data measured by the gesture measuring device at the trunk;
Acquiring seat supporting force according to the plantar force data and the motion gesture data measured by the gesture measuring devices at the lower leg, the thigh and the trunk, and judging whether the buttocks of the human body leave the seat according to the seat supporting force;
When the buttocks of the human body leave the seat, acquiring total potential energy and kinetic energy in the transfer process of the sitting station of the human body according to the movement posture data, the barycenter coordinates of the lower legs, the thighs and the trunk of the human body and the lengths of the lower legs, the thighs and the trunk of the human body; and acquiring joint moments at ankle joints, knee joints and hip joints in the transfer process of the human body sitting station according to the total potential energy and the kinetic energy in the transfer process of the human body sitting station.
5. The method for measuring the transfer capability of a human body sitting station according to claim 4, wherein in the step of measuring plantar force data during the transfer motion of the human body sitting station using a force measuring pedal, the plantar force data includes a human plantar horizontal force, a normal force, and a force application position.
6. The method for measuring the transfer ability of a human body in sitting position according to claim 4, wherein the joint angle data at the ankle joint, knee joint and hip joint of the human body is calculated using euler angles in the movement posture data of the lower leg, thigh and trunk positions of the human body.
7. The method for measuring the transfer capability of a human body sitting station according to any one of claims 4 to 6, further comprising the step of judging the movement capability, muscle strength and balance capability of the lower limbs of the human body during the transfer of the human body sitting station according to the obtained joint angle data and joint moment at the ankle joint, knee joint and hip joint during the transfer of the human body sitting station.
8. An electronic device comprising a processor and a memory coupled to each other, the memory storing program instructions that when executed by the processor implement the human sit-stand transfer capability measurement method of any one of claims 4-7.
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| CN113876317A (en) * | 2021-11-09 | 2022-01-04 | 南宁师范大学 | Multichannel human body lower limb movement information acquisition system and method based on human body acupuncture point positioning |
| CN117357315B (en) * | 2023-12-07 | 2024-04-09 | 浙江强脑科技有限公司 | Resistance adjustment method and device for knee joint, intelligent artificial limb, terminal and medium |
| CN117357314B (en) * | 2023-12-08 | 2024-04-05 | 浙江强脑科技有限公司 | Seating control method, apparatus, intelligent leg prosthesis, terminal and storage medium |
| CN117357313B (en) * | 2023-12-08 | 2024-04-09 | 浙江强脑科技有限公司 | Resistance control method and device based on intention switching, artificial limb, terminal and medium |
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