CN113261952A - Human lower limb posture acquisition and plantar vibration rehabilitation system based on multiple sensors - Google Patents
Human lower limb posture acquisition and plantar vibration rehabilitation system based on multiple sensors Download PDFInfo
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Abstract
The invention discloses a human body lower limb posture acquisition and plantar vibration rehabilitation system based on multiple sensors, which comprises a foot vibration control module, an electromyographic signal acquisition module, a signal preprocessing module, a wireless transceiving module and an upper computer module. The foot vibration control module comprises a sole pressure sensor and a micro vibrator; the electromyographic signal acquisition module comprises an electromyographic signal front end conditioning module and a human body motion attitude sensor. The wireless transceiver module comprises a cluster transceiver module and a wireless module; the invention transmits the data to the upper computer in real time through wireless communication, controls the micro vibrator to apply mechanical vibration stimulation to the sole of the foot, and carries out foot vibration rehabilitation. The device can display the muscle electrical signals of the lower limbs of the human body, the movement posture and the change of the plantar pressure in real time, study the influence of foot vibration on the posture of the lower limbs of the human body, and adjust the vibration stimulation of the plantar in real time according to the change of the posture of the human body, the plantar pressure and the muscle electrical signals, thereby achieving the purpose of optimized foot rehabilitation training.
Description
Technical Field
The invention relates to the field of medical rehabilitation engineering, in particular to a human body lower limb posture acquisition and vola vibration rehabilitation system based on multiple sensors.
Background
In recent years, vibration stimulation has been widely used in rehabilitation medicine and sports medicine as a physical rehabilitation treatment means. The method has the advantages of high safety, strong repeatability, good comfort, non-invasive property and the like. The medicine is also gradually applied to the rehabilitation of old people and patients with nerve injury. Is helpful for improving the muscle strength and the balance ability of the human body. However, the effect of the foot vibration stimulation is influenced by many factors such as vibration characteristics, frequency, amplitude, vibration intensity, frequency, pause time and the like, and the mechanism of action is complicated. Most clinical researchers use arbitrary amplitude and frequency, have tactile properties, have not developed suitable conditions for vibration stimulation, and influence the clinical application of vibration stimulation due to differences in absorption of vibration by individuals and differences in psychological bearing of individuals. Therefore, a set of vibration rehabilitation courses with unified standards cannot be formed for different patients. Also, vibration stimulation is widely used in training athletes, and can stimulate the proprioceptors of human muscles and enhance the coordination ability of the central nervous system of the human body. But the most effective vibration stimulation conditions vary from individual to individual due to individual variability. In most cases, the vibration stimulation conditions are adjusted according to subjective feelings of human bodies or past experiences, and the effect of vibration training cannot be optimal. The existing vibration rehabilitation products on the market have large floor area and high price, and the strength of the vibration rehabilitation training is adjusted according to the subjective feeling of human bodies.
At present, most researchers mainly take human body balance indexes, strength of muscle strength after vibration rehabilitation and human body posture change as indexes of foot vibration rehabilitation effects. Therefore, the myoelectric signals of the human body and the changes of the human body posture in the vibration stimulation process need to be collected in real time. The equipment for generating vibration stimulation, collecting human body electromyographic signals and human body posture changes in the market at present is expensive, has single function, and cannot accurately adjust proper vibration stimulation conditions, so that rehabilitation training is carried out more effectively.
Disclosure of Invention
In order to overcome the prior art, the invention provides a human body lower limb posture acquisition and plantar vibration rehabilitation system based on multiple sensors. The device can provide vibration stimulation for the foot, wirelessly transmits data such as foot pressure, human lower limb movement posture, surface electromyographic signals and the like to an upper computer through an IMS frequency band of 2.4-2.5 GHz, processes the data through the upper computer at a PC (personal computer) end, displays changes of human lower limb posture, muscle force and foot pressure, detects the vibration rehabilitation effect of the foot in real time, and timely adjusts the vibration stimulation condition so as to achieve more effective rehabilitation training.
The purpose of the invention is realized by at least one of the following technical solutions.
A human body lower limb posture acquisition and plantar vibration rehabilitation system based on multiple sensors is characterized by comprising a foot vibration control module, an electromyographic signal acquisition module, a signal preprocessing module, a wireless transceiver module and an upper computer module;
the foot vibration control module comprises a sole pressure sensor and a micro vibrator;
the sole pressure sensor is used for detecting the pressure between the hind foot, the fore foot and the ground when the vibration stimulation is applied to the sole
The micro vibrator is used for applying vibration stimulation to the local positions of the front and the rear feet under the control of the upper computer module;
the electromyographic signal acquisition module comprises an electromyographic signal front end conditioning module and a human body motion attitude sensor;
the electromyographic signal front-end conditioning module is used for collecting the surface electromyographic signals, amplifying and filtering the electrical signals and carrying out power frequency trapped wave signal processing;
the human motion attitude sensor is used for detecting the attitude information of the positions of thighs and shanks of the human body during vibration stimulation; the attitude information comprises an attitude angle, an angular velocity and an acceleration;
the signal preprocessing module is used for carrying out A/D conversion on the acquired pressure signals and the acquired electromyographic signals; analyzing the instruction of the upper computer to the micro vibrator; receiving attitude data of a human motion attitude sensor; adding identification to the data, integrating the data, and connecting and communicating with the wireless transceiver module through an nRF24L01 module;
the wireless transceiver module comprises an nRF24L01 wireless module and a cluster transceiver module;
the nRF24L01 wireless module is used for carrying out connection communication with the nRF24L01 modules and transmitting data;
the cluster transceiver module is used for processing high-concurrency data receiving and sending;
the upper computer module comprises a serial port communication module, a data processing module and a data display and storage module
The serial port communication is used for connecting and communicating with the wireless transceiving module, receiving data and sending an instruction for controlling the miniature vibration controller;
the data processing module is used for processing the posture data acquired by the human body posture sensor, acquiring information of the knee joint angle and the posture characteristic of the lower limb of the human body, processing data acquired by the foot pressure sensor and the electromyographic signal front end conditioning module after A/D conversion, and acquiring characteristic information of muscle force and foot pressure;
the data display and storage module is used for realizing three-dimensional graphic display of the posture information of the lower limbs of the human body, carrying out two-dimensional graphic display on the muscle force and the foot pressure information, and exporting and storing the posture information, the muscle force and the foot pressure information of the lower limbs of the human body, so that the follow-up research is facilitated;
preferably, the wireless transceiver module comprises an nRF24L01 wireless module and a cluster transceiver module, and can perform multichannel data acquisition and instruction transmission simultaneously; the upper computer module is a PC, a supercomputer, a cloud platform or the mobile terminal;
preferably, the electromyographic signal acquisition module and the first signal processing module are mounted in a wearable shell and can be worn on thighs and shanks of lower limbs of a human body, the signal processing module is connected with an electrode lead through an earphone socket, the electrode lead is connected with an electrode plate through a snap fastener, the electrode plate can be attached to corresponding muscles as required, and meanwhile, a reference electrode is arranged outside the shell and can be used as a reference electrode by using skin potential at a binding position. Meanwhile, the electromyographic signal acquisition module comprises a human body posture sensor and can acquire posture information of a wearing position;
preferably, the foot vibration control module and the second signal processing module are mounted in a wearable housing and can be fixed to the surface of a shoe. The pressure sensor and the micro vibrator are positioned on the front foot and the rear foot and are connected with the signal processing module through leads;
preferably, a detachable 5V1800mAh lithium battery is arranged in the wearable shell, can provide power for the first signal preprocessing module, the second signal preprocessing module, the electromyographic signal acquisition module and the foot vibration control module through a miroUSB male head, and is provided with a charging port of the miroUSB female head;
preferably, the radio transceiver module is transplanted with a FreeROST operating system, can be connected and communicated with a multi-channel nRF24L01 module through the nRF24L01 radio module, and transmits acquired data to the upper computer module through a URAST serial port; receiving a control instruction of the miniature vibration controller sent by the upper computer module and sending the control instruction to the signal preprocessing module through the RF24L01 wireless module;
preferably, the upper computer module can divide data according to corresponding identification, and different processing methods are adopted for different types of data. Meanwhile, according to the posture of the lower limbs of the human body, the foot pressure and the change of the electromyographic signals, instructions are issued to the foot vibration control module in time, and the position and the vibration frequency of foot vibration are adjusted. So as to achieve better vibration rehabilitation effect.
Compared with the prior art, the invention has the advantages that:
the information based on a single sensor can provide certain posture information of the lower limbs of the human body, but the vibration rehabilitation training state of the lower limbs of the human body in the foot vibration stimulation process cannot be completely represented. The surface electromyographic signals can reflect the activation condition of corresponding muscles, can reflect the change of the muscle force of the lower limbs of a human body in the process of foot vibration stimulation, and can display the part of muscles to be trained in real time; the pressure signal of the sole can detect the stress conditions of the sole and the ground, and the change of human body COP (coefficient of performance) can be analyzed through the stress distribution of the foot. The human body posture sensor fixed at the position of the large leg and the small leg can dynamically display the joint angle and the motion state of the human knee joint. Therefore, the rehabilitation training condition in the process of human foot vibration stimulation can be detected through the multiple sensors.
In addition, the invention can research the action mechanism of foot vibration stimulation on human body balance by acquiring the posture, muscle force and pressure parameters of the lower limbs of the human body in the foot vibration stimulation process, and meanwhile, the micro vibrators are distributed on the front and rear feet of the feet, so that the micro vibrators can perform certain rehabilitation vibration training on the old and patients with lower limb dyskinesia, can also provide vibration training for athletes, and can improve certain motor skills. In the invention, the signal is transmitted based on the wireless module, so that a signal line between the upper computer and the sensor can be simplified, the constraint of a wire rod is eliminated, the influence on the training effect in the vibration rehabilitation training process is reduced, and the data detection is more convenient. Besides the traditional PC upper computer, the system can also use mobile terminals such as Android mobile phones and the like to perform wireless data receiving and sending and data processing, greatly improves the convenience and the practicability of the system, and is convenient for use in environments such as families, communities, training grounds and the like.
Drawings
FIG. 1 is a schematic diagram of a multi-sensor-based human lower limb posture acquisition and plantar vibration rehabilitation system module according to an embodiment of the invention;
FIG. 2 is a flow chart of a multi-sensor analysis control according to an embodiment of the present invention;
FIG. 3 is a detailed block diagram of an embodiment of the present invention;
FIG. 4 is a schematic diagram of a PC side upper computer in the embodiment of the present invention;
Detailed Description
The following detailed description will be given with reference to examples and drawings, but the scope of the present invention is not limited thereto.
As shown in fig. 1, a multi-sensor based human lower limb posture collection and plantar vibration rehabilitation system comprises a foot vibration control module, an electromyographic signal collection module, a signal preprocessing module, a wireless transceiver module and an upper computer module.
The foot vibration control module of the invention also comprises a sole pressure sensor and a micro vibrator, wherein the pressure sensor and the micro vibrator are respectively positioned on the front foot and the rear foot and are connected with the signal processing module through leads. The pressure sensors detect the pressure between the hindfoot, the forefoot and the ground during the application of the vibratory stimulus by the sole of the foot. The micro vibrator applies vibration stimulation to the local positions of the front and the rear feet under the control of the upper computer module. The foot vibration control module and the second signal processing module are arranged in the wearable shell and can be fixed on the surface of the shoe. The wearable shell is internally provided with a detachable 5V1800mAh lithium battery which can provide power for the electromyographic signal acquisition module through a miroUSB male head and is provided with a charging port of the miroUSB female head.
The electromyographic signal acquisition module comprises an electromyographic signal front end conditioning module and a human body motion attitude sensor, wherein the electromyographic signal front end conditioning module is used for acquiring surface electromyographic signals, and carrying out amplification, filtering and power frequency notch processing on the electrical signals. The human motion attitude sensor is used for detecting the attitude information of the positions of thighs and calves of the human body during vibration stimulation; the attitude information comprises an attitude angle, an angular velocity and an acceleration; the myoelectric signal acquisition module and the first signal processing module are arranged in the wearable shell and can be worn on thighs and shanks of lower limbs of a human body, the signal processing module is connected with an electrode lead through an earphone socket, the electrode lead is connected with an electrode plate through a snap fastener, the electrode plate can be attached to corresponding muscles according to needs, meanwhile, a reference electrode is arranged outside the shell, and skin potential of a binding position can be used as the reference electrode. Meanwhile, the electromyographic signal acquisition module comprises a human body posture sensor and can acquire posture information of a wearing position.
The wireless transceiver module is transplanted with an operating system, can be connected and communicated with a multi-channel nRF24L01 module through the nRF24L01 wireless module, and transmits acquired data to an upper computer module through a URAST serial port; and receiving a control instruction of the miniature vibration controller sent by the upper computer module and sending the control instruction to the signal preprocessing module through the RF24L01 wireless module.
The upper computer module of the invention transmits and receives data through the URAST serial port and the wireless transmitting and receiving module, and can divide the data according to the corresponding identification and adopt different processing methods for different types of data. Meanwhile, according to the posture of the lower limbs of the human body, the foot pressure and the change of the electromyographic signals, instructions are issued to the foot vibration control module in time, and the position and the vibration frequency of foot vibration are adjusted to achieve a better vibration rehabilitation effect. The upper computer module comprises a serial port communication module, a data processing module and a data display and storage module; the serial port communication module is used for connecting and communicating with the wireless transceiving module, receiving data and sending an instruction for controlling the miniature vibration controller; the data processing module is used for processing the posture data acquired by the human body posture sensor, acquiring information of the knee joint angle and the posture characteristic of the lower limbs of the human body, processing data acquired by the foot pressure sensor and the electromyographic signal front end conditioning module after A/D conversion, and acquiring characteristic information of muscle force and foot pressure; the data display and storage module is used for realizing three-dimensional graphic display of the posture information of the lower limbs of the human body, carrying out two-dimensional graphic display on the muscle force and the foot pressure information, and exporting and storing the posture information of the lower limbs of the human body, the muscle force and the foot pressure information, so that the follow-up research is facilitated.
In the embodiment, the electromyographic signal acquisition module and the first signal processing module are arranged in the wearable shell with the lithium battery and are fixed on the outer sides of the upper leg and the lower leg so as to detect the attitude angle, the acceleration and the angular velocity of the upper leg and the lower leg during the foot vibration stimulation; the electrode plates are attached to corresponding muscle groups, connected with the myoelectricity front-end conditioning module through electrode wires and used for collecting surface myoelectricity signals; the foot pressure sensors are respectively arranged at the positions of the front foot and the rear foot and used for collecting pressure signals of the front foot and the rear foot. The collected data are transmitted to an upper computer in real time, and the posture of the lower limbs of the human body, the corresponding muscle force and the COP (coefficient of performance) of the soles are obtained through corresponding processing, the state of the vibration rehabilitation training is obtained through analysis, and the position and the frequency of the foot vibration stimulation are further controlled, and the method is specifically shown in fig. 2.
As shown in fig. 3, in this embodiment, the surface electromyogram signal is collected by a self-developed surface electromyogram signal front-end conditioning module, the pressure sensor is an RFP603 thin film flexible thin film pressure sensor, and the human posture sensor is an IMU901 angle sensor. The foot vibration stimulus is provided by a micro-vibrator. The signal preprocessing module realizes data receiving of the sensor, AD conversion and control of the microcontroller. The nRF24L01 module in the wireless transceiver module realizes the wireless receiving and sending of data, and communicates with the PC upper computer through the USRAT. The PC upper computer realizes the functions of data processing, display and data storage.
The invention requires first fixing each sensor before working. The myoelectric signal acquisition modules are fixed on the outer sides of the upper leg and the lower leg by using a binding belt respectively, the electrode plates are attached to the front of the corresponding muscle groups, hairs on the skin of the relevant muscle groups are removed, and the muscle groups are wiped to be reddish by using alcohol. Meanwhile, the foot vibration control modules are respectively arranged on the outer sides of the two shoes, and the sole pressure sensors and the miniature vibration controllers are respectively fixed in the two shoes at the positions of the front and the rear feet. Is connected with the foot vibration controller through a lead.
The whole system is powered by a lithium battery, a battery switch is turned on, so that each module is powered on to work, and the wireless receiving and transmitting module is connected with a USB serial port of a computer through a USB wire and is powered by the computer. As shown in fig. 4, the upper computer at the PC end is opened, the detection serial port on the upper computer is clicked, the correct serial port is selected, the baud, the check position and the stop position are set, the serial port is opened, the connection condition of the middle nRF24L01 module of the wireless transceiver module starts to be monitored, after the relevant modules are successfully connected, the acquisition button is changed from grey to red, the acquisition button is clicked to send a command to each module, each module starts to send acquired data, and the surface myoelectric signals, the plantar pressure signals and the movement postures of the lower limbs and the shanks of the human body are displayed on the interface in real time. After the condition of the vibration rehabilitation training is obtained by analyzing the collected data, the position and the frequency of the vibration of the foot can be adjusted by giving an instruction to the foot vibration control module through the sending window so as to achieve a better vibration rehabilitation effect. The acquisition button is updated to stop after being clicked. Clicking the stop button will stop receiving data. And when a disconnection button is clicked, the wireless transceiver module disconnects the wireless connection with each module. After the serial port disconnection button is clicked, the upper computer disconnects the connection with the wireless transceiving module. And clicking a window for storing and popping up a set storage address, and storing all the data acquired after setting to a PC (personal computer) end in a CSV (common format) format, thereby facilitating subsequent research. The invention can be matched with a remote data cloud platform to support the continuous recording and analysis of individual long-term data, thereby realizing personalized management.
Claims (7)
1. A human body lower limb posture acquisition and plantar vibration rehabilitation system based on multiple sensors is characterized by comprising a foot vibration control module, an electromyographic signal acquisition module, a signal preprocessing module, a wireless transceiver module and an upper computer module;
the foot vibration control module comprises a sole pressure sensor and a micro vibrator;
the sole pressure sensor is used for detecting the pressure between the hind foot, the forefoot and the ground when the vibration stimulation is applied to the sole, and the micro vibrator is used for applying the vibration stimulation to the local positions of the forefoot and the hind foot under the control of the upper computer module;
the electromyographic signal acquisition module comprises an electromyographic signal front end conditioning module and a human body motion attitude sensor;
the electromyographic signal front-end conditioning module is used for acquiring the electromyographic signals on the surface, and amplifying, filtering and carrying out signal processing of power frequency trapped waves on the electric signals;
the human motion attitude sensor is used for detecting the attitude information of the positions of thighs and shanks of the human body during vibration stimulation; the attitude information comprises an attitude angle, an angular velocity and an acceleration;
the signal preprocessing module is used for carrying out A/D conversion on the acquired pressure signals and the acquired electromyographic signals; analyzing the instruction of the upper computer to the micro vibrator; receiving attitude data of a human motion attitude sensor; adding identification to the data, integrating the data, and connecting and communicating with the wireless transceiver module through an nRF24L01 module;
the wireless transceiver module comprises an nRF24L01 wireless module and a cluster transceiver module;
the nRF24L01 wireless module is used for carrying out connection communication with the nRF24L01 modules and transmitting data;
the cluster transceiver module is used for processing high-concurrency data receiving and sending;
the upper computer module comprises a serial port communication module, a data processing module and a data display and storage module;
the serial port communication module is used for being connected and communicated with the wireless transceiving module, receiving data and sending an instruction for controlling the miniature vibration controller;
the data processing module is used for processing the posture data acquired by the human body posture sensor, acquiring information of the knee joint angle and the posture characteristic of the lower limb of the human body, processing data acquired by the foot pressure sensor and the electromyographic signal front end conditioning module after A/D conversion, and acquiring characteristic information of muscle force and foot pressure;
the data display and storage module is used for realizing three-dimensional graphic display of the posture information of the lower limbs of the human body, carrying out two-dimensional graphic display on the muscle force and the foot pressure information, and exporting and storing the posture information, the muscle force and the foot pressure information of the lower limbs of the human body.
2. The multi-sensor based human lower limb posture collection and plantar vibration rehabilitation system of claim 1, wherein the wireless transceiver module comprises an nRF24L01 wireless module and a cluster transceiver module, and can perform multichannel data collection and command transmission simultaneously; the upper computer module is a PC, a supercomputer, a cloud platform or the mobile terminal.
3. The multi-sensor based human body lower limb posture collection and plantar vibration rehabilitation system as claimed in claim 1, wherein the electromyographic signal collection module and the first signal processing module are mounted in a wearable housing and can be worn on thighs and calves of the human body lower limbs, the signal processing module is connected with an electrode lead through an earphone socket, the electrode lead is connected with an electrode sheet through a snap fastener, the electrode sheet can be attached to corresponding muscles as required, and meanwhile, a reference electrode is arranged outside the housing and can use skin potential at a binding position as the reference electrode; meanwhile, the electromyographic signal acquisition module comprises a human body posture sensor and is used for acquiring the posture information of the wearing position.
4. The multi-sensor based human lower limb posture acquisition and plantar vibration rehabilitation system of claim 1, wherein the foot vibration control module and the second signal processing module are mounted in a wearable housing and can be fixed on the surface of a shoe; the pressure sensor and the micro vibrator are positioned on the front foot and the rear foot and are connected with the signal processing module through leads.
5. The multi-sensor based human lower limb posture collection and plantar vibration rehabilitation system of claim 1, wherein a detachable 5V1800mAh lithium battery is arranged in the wearable shell, can provide power for the first signal preprocessing module, the second signal preprocessing module, the electromyographic signal collection module and the foot vibration control module through a miroUSB male head, and is provided with a charging port of the miroUSB female head.
6. The multi-sensor based human lower limb posture collection and plantar vibration rehabilitation system of claim 1, wherein an operating system is transplanted to the wireless transceiver module, the nRF24L01 wireless module can be used for being connected with and communicating with a plurality of nRF24L01 modules, and collected data are transmitted to the upper computer module through a URAST serial port; and receiving a control instruction of the miniature vibration controller sent by the upper computer module and sending the control instruction to the signal preprocessing module through the RF24L01 wireless module.
7. The multi-sensor based human lower limb posture acquisition and plantar vibration rehabilitation system of claim 1, wherein the upper computer module divides data according to corresponding identifications and adopts different processing methods for different types of data; and according to the posture of the lower limbs of the human body, the foot pressure and the change of the electromyographic signals, giving an instruction to the foot vibration control module to adjust the position and the vibration frequency of the foot vibration.
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