CN208677399U - Intelligent switch joint angle measurement unit and system - Google Patents
Intelligent switch joint angle measurement unit and system Download PDFInfo
- Publication number
- CN208677399U CN208677399U CN201820369370.6U CN201820369370U CN208677399U CN 208677399 U CN208677399 U CN 208677399U CN 201820369370 U CN201820369370 U CN 201820369370U CN 208677399 U CN208677399 U CN 208677399U
- Authority
- CN
- China
- Prior art keywords
- intelligent switch
- angle measurement
- module
- measurement unit
- joint
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
The utility model provides a kind of intelligent switch joint angle measurement unit, which includes inertia measuring module, control module, wireless communication module and power module；Wherein, the inertia measuring module is set to joint part to be measured, for acquiring angle-data and the output of joint part to be measured；The control module receives the angle-data of the inertia measuring module output, and the wireless communication module is sent to after being handled；The wireless communication module is wirelessly exported after receiving the data that the control module is sent；The power module is used to provide the described electricity consumption needed for intelligent switch joint angle measurement unit modules work；The utility model also provides a kind of intelligent switch joint angle measurement system including above-mentioned intelligent switch joint angle measurement unit；The utility model, which can be realized, implements static and dynamic activity measurement under any posture in three-dimensional space of joint, makes that the mobility of human synovial measures and assessment is more quick and effectively.
Description
Technical field
The utility model relates to a kind of surveys of the intelligent switch joint angle of angle measurement unit more particularly to human synovial mobility
Measure apparatus and system.
Background technique
Human synovial mobility, also known as range of motion refer to the angle rotated when joint motions.Human synovial is living
Dynamic degree measurement is to evaluate one of most basic, the most important means of joint motions functional status；It is also to determine that whether there is or not joint motions
Obstacle and obstacle degree determine therapeutic purpose and evaluate the important method of therapeutic effect.
It is clinically main at present to measure range of motion using joint angles ruler or disk protractor.Joint angles ruler and
Disk protractor is made of lever arm, fixed arm and activity centre.But it is influenced by tester, accuracy and reliability
Difference.
Video, optics get the measurement that the methods of label is also used for range of motion ready, but these methods want environment
Ask higher, required equipment price is expensive, and it is complicated for operation, it is mainly used in scientific research activity.
With the progress of electronic technology, in the measurement of human synovial mobility, by the measuring system of microsensor building
It is more and more widely used, such as uses single piece of six axle sensors, or using two pieces of 3-axis acceleration sensor measurements
Range of motion.
When measuring range of motion using single piece of six axle sensors, six axle sensors are placed on joint distal limb, by
In the motion state and spatial position that can not perceive and measure joint proximal extremity, during test, joint proximal extremity must be protected
Position is held to fix, it is immovable.It is limited to measure position, posture, it is inconvenient for use.
When measuring range of motion using two pieces of 3-axis acceleration sensors, two pieces of 3-axis acceleration sensors are placed respectively
Joint is close, on distal limb, does not need fixed proximal joint limbs.But 3-axis acceleration sensor is to general vibration and machinery
Noise is very sensitive, and when measurement needs entire body and joint is close, distal limb is all keeping stable state, otherwise can not accurately survey
Angle out, it is more demanding to subject and ambient enviroment.Compare and be suitble to static (passive) angle measurement, to joint dynamic moving degree
The validity and accuracy of measurement are poor, cannot fully meet quick, simplicity when clinic checks range of motion, accurately want
It asks.
Therefore under the premise of not limiting limb activity mode, static state, the dynamic of natural posture hypozygal are accurately acquired
Mobility information becomes a clinically urgent problem to be solved.
Utility model content
To solve the above problems, the utility model is directed to the deficiency of existing measurement of range of motion method, one is provided
The intelligent switch joint angle measurement unit and system of range of motion of the kind based on two inertia measuring modules, the intelligent switch joint angle
Measuring device and system structure are succinct and are easily installed use.
A kind of intelligent switch joint angle measurement unit provided by the utility model, including inertia measuring module, control module, nothing
Line communication module and power module；Wherein, the inertia measuring module is set to joint part to be measured, for acquiring pass to be measured
Save the angle-data at position and output；The control module receives the angle-data of the inertia measuring module output, is located
The wireless communication module is sent to after reason；The wireless communication module receives after the data that the control module is sent with wireless
Mode is exported；The power module is used to provide the described needed for the work of intelligent switch joint angle measurement unit modules and uses
Electricity.
In a preferred embodiment, the inertia measuring module includes three-axis gyroscope and 3-axis acceleration sensor.
In a preferred embodiment, the angle-data of the inertia measuring module acquisition includes acceleration information and angle
Speed data.
In a preferred embodiment, the control module is single-chip microcontroller or microprocessor (MCU, Micro Control
Unit), angle-data for exporting the inertia measuring module carries out analog-to-digital conversion, digital filtering, vector operation and whole
It closes, and data are sent to the wireless communication module by treated.
In a preferred embodiment, the wireless communication module is bluetooth module, Wi-Fi module or mobile communications network
Module.
In a preferred embodiment, the power module is lithium battery module, for the power supply of whole device, the power supply
Module includes charge and discharge circuit and charge protector.
In a preferred embodiment, the inertia measuring module in the intelligent switch joint angle measurement unit, control module, nothing
Line communication module and power module are all set in a shell, and fixed device is provided on the shell, and formation can facilitate
Fixed portable wearable device.
The utility model also provides a kind of intelligent switch joint angle measurement system, which includes two
A intelligent switch joint angle measurement unit and mobile terminal as described above；Wherein, the first intelligent switch joint angle measurement unit
It is set to the first joint part, for acquiring angle-data and the output of first joint part；Second intelligent switch joint angle is surveyed
Amount device is set to second joint position, for acquiring angle-data and the output at the second joint position；The mobile terminal
Receive the first joint of the first intelligent switch joint angle measurement unit and the second intelligent switch joint angle measurement unit transmission
The angle-data at position and second joint position, shows measurement result after processing.
In a preferred embodiment, first joint part and the second joint position are located at joint two to be measured
Side.
In a preferred embodiment, the mobile terminal is mobile phone or PAD (tablet computer Pad, portable
Android device), the mobile terminal is to the first intelligent switch joint angle measurement unit and second intelligent switch joint angle
The angle-data of degree measuring device transmission is analyzed and processed, and is calculated range of motion, is shown the angle during joint motions
Variation, and joint motion value is automatically uploaded to database.
The intelligent switch joint angle measurement unit and system of the utility model are remote, proximal extremity according to composition human synovial
Relative tertiary location calculates the angle change of corresponding joint, provides static and dynamic human synovial angle detection, Neng Goushi
Now to static and dynamic activity measurement is implemented under any posture in three-dimensional space of joint, make the mobility of human synovial
Measurement and assessment are more quick and effective.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model intelligent switch joint angle measurement unit.
Fig. 2 is the composed structure schematic diagram of the utility model intelligent switch joint angle measurement system.
Fig. 3 is the utility model intelligent switch joint angle measurement system setting position view.
Specific embodiment
For the above-mentioned and other purposes, feature and advantage of the utility model can be clearer and more comprehensible, it is cited below particularly practical
Novel preferred embodiment, and cooperate institute's accompanying drawings, it is described in detail below:
Referring to Fig. 1, Fig. 1 is the structural schematic diagram of the utility model intelligent switch joint angle measurement unit, as shown, this
Utility model intelligent switch joint angle measurement unit 100 includes inertia measuring module 110, control module 120, wireless communication module
130 and power module 140；Wherein, inertia measuring module 110 is set to joint part to be measured, for acquiring joint portion to be measured
The angle-data of position is simultaneously exported to control module 120, and in the present embodiment, inertia measuring module 110 includes three-axis gyroscope
1101 and 3-axis acceleration sensor 1102, angle-data collected include acceleration information and angular velocity data.Control mould
Block 120 is single-chip microcontroller or microprocessor (MCU, Micro Control Unit), turns data progress modulus after receiving data
Change, digital filtering, vector operation and integration, are then forwarded to wireless communication module 130, wireless communication module 130 again by data with
Wireless mode is exported, which can be bluetooth module, Wi-Fi module or mobile communications network mould
Block, including supporting the energy such as GSM, CDMA, CDMA2000, WCDMA, TD-SCDMA, TD_LTE, FDD-LET currently in use
Enough realize the various modules such as 3G, 4G even 5G of network communication；Power module 140 is connected with above-mentioned modules, the power supply mould
Block 140 includes charge and discharge circuit and charge protector for providing electricity consumption needed for modules work.
In addition, in actual operation, described above can be used to by the intelligent switch joint angle measurement unit of the utility model
Property measurement module 110, control module 120, wireless communication module 130 and power module 140 be all set in a shell, then
Fixed device is provided on shell, formation can facilitate fixed portable wearable device, and be embedded in electricity in housing outer surface
Source switch and indicator light can be convenient the power supply of control power module and understand working sensor state by indicator light in time.
In this way, the intelligent switch joint angle measurement unit of the utility model, which can be convenient, to be arranged and is fixed on to be measured when measurement
Joint part.
The utility model additionally provides a kind of intelligent switch joint angle measurement system, please refers to Fig. 2 and Fig. 3, and Fig. 2 is that this is practical
The composed structure schematic diagram of novel intelligent joint angle measuring system, Fig. 3 are the utility model intelligent switch joint angle measurement systems
Position view is set, as shown, the intelligent switch joint angle measurement system of the utility model includes two as described above
Intelligent switch joint angle measurement unit and mobile terminal 230；Wherein, 210 device of the first intelligent switch joint angle measurement is set to
One joint part 310, for acquiring angle-data and the output of first joint part 310；Second intelligent switch joint angle measurement
220 devices are set to second joint position 320, for acquiring angle-data and the output at the second joint position 320；By Fig. 3
As can be seen that the first joint part 310 and second joint position 320 are located at the two sides in joint to be measured, mobile terminal 230 is connect
Receive the first joint part of the first intelligent switch joint angle measurement unit 210 and the transmission of the second intelligent switch joint angle measurement unit 220
310 and second joint position 320 angle-data, be analyzed and processed, calculate range of motion, the angle during joint motions
Degree variation, shows measurement result after processing, and joint motion value is automatically uploaded to database.Mobile terminal therein
230 can be the mobile electron processing equipment that mobile phone or PAD etc. are able to carry out wireless telecommunications.
It is further to note that the intelligent switch joint angle measurement unit and system of the utility model are not only only applicable to
The joint of human body, if necessary to carry out joint angles measurement, more specifically situation, this is practical new in the joint of other animals
Type can also measure the angle of various mechanical equipment junctions, and principle is identical with measurement human body or joint of animal angle, and can
To realize the function of remotely monitoring by using mobile network communication module.
The intelligent switch joint angle measurement unit of the utility model and the course of work of system is described below:
When the intelligent switch joint angle measurement unit of the utility model is started to work, selection needs the joint measured, find by
The angle that is comfortable on of people is surveyed, two measuring devices are individually fixed in joint is remote, on axis vertical line of proximal extremity；It closes
The booting of mobility measuring device is saved, mobile terminal is opened, receives three-axis gyroscope sensor signal, obtains initial angle；It is tested
Person joint starts to bend, stretch activity, acceleration and gyro of the mobile terminal to collected two intelligent switch joint angle measurement units
Instrument signal does integral operation and data fusion, and control module acquires the data of inertia measuring module output, then data is carried out low
Pass filter removes denoising, then sends mobile terminal, mobile terminal in real time by wireless communication module for pretreated data
First the angular velocity data on each axis of three-axis gyroscope output is integrated, and calculates current initial angle, then pass through rotation
Turn vector operation to resolve to obtain the estimation attitude quaternion of gyroscope, while using the 3-axis acceleration data obtained, passing through height
This Newton iteration method, which is iterated, finds most suitable quaternary number correction factor, finally exports acceleration using inertia measuring module
Sensing data is as observational variable, the current initial angle and three axis for being calculated three-axis gyroscope using Kalman filtering algorithm
Acceleration transducer data obtain correction factor and carry out fusion calculation, calculate revised range of motion and in mobile terminal
Display screen is shown.
The signal processing algorithm process of the utility model intelligent switch joint angle measurement unit is as follows:
A threshold value about acceleration and angular speed is set first, utilizes the output number of acceleration transducer and gyroscope
According to carrying out judgment object motion state.
When joint remains static, an initial angle is obtained using the angular speed that gyro measures.Then mould is controlled
Whether root tuber is in static according to threshold decision testee, if so, continuing to use acceleration transducer calculates joint angles；It is no
At the time of the moment is then used switching as sensor, the attitude angle of back is updated using the angular speed that gyro measures；
The joint angle angle value that gyro provides is corrected to the observation of gravity vector using acceleration transducer, using Kalman filtering algorithm
Its state is estimated, its joint angles is corrected by data fusion, and show calculated result on mobile terminals.
Knee sprung mobility measurement sequentially includes the following steps:
(1) testee sits/lies on the back in bed, and knee joint is placed in comfortable angle position, by intelligence packaged as shown in Figure 3
Energy joint angle measuring device is fixed on ipsilateral along thigh and shank axis；
(2) it keeps knee joint to stablize, connects intelligent switch joint angle measurement unit power supply, show initial angle；
(3) testee as shown in Figure 3, starts to bend, stretches knee joint until maximum activity degree；
(4) mobile terminal calculates joint by receiving the data spread out of from two intelligent switch joint angle measurement units
Mobility changes in real-time display knee joint angle on mobile terminal screen.
The intelligent switch joint angle measurement unit and system of the utility model are remote, proximal extremity according to composition human synovial
Relative tertiary location calculates the angle change of corresponding joint, provides static and dynamic human synovial angle detection, Neng Goushi
Now to static and dynamic activity measurement is implemented under any posture in three-dimensional space of joint, make the mobility of human synovial
Measurement and assessment are more quick and effective, instruct in anthropological measuring, intelligent artificial limb, the design of man-machine system and evaluation, clinical rehabilitation
The fields such as experienced and evaluation, sports science have a wide range of applications.
Particular embodiments described above has carried out into one the purpose of this utility model, technical scheme and beneficial effects
Step is described in detail, it should be understood that being not used to limit this foregoing is merely specific embodiment of the utility model
The protection scope of invention, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should all
It is included within the scope of protection of this utility model.
Claims (10)
1. a kind of intelligent switch joint angle measurement unit, it is characterised in that:
The intelligent switch joint angle measurement unit includes inertia measuring module, control module, wireless communication module and power module；
Wherein, the inertia measuring module is set to joint part to be measured, for acquiring the angle-data of joint part to be measured simultaneously
Output；
The control module receives the angle-data of the inertia measuring module output, and the channel radio is sent to after being handled
Interrogate module；
The wireless communication module is wirelessly exported after receiving the data that the control module is sent；
The power module is used to provide the described electricity consumption needed for intelligent switch joint angle measurement unit modules work.
2. intelligent switch joint angle measurement unit as described in claim 1, it is characterised in that:
The inertia measuring module includes three-axis gyroscope and 3-axis acceleration sensor.
3. intelligent switch joint angle measurement unit as claimed in claim 2, it is characterised in that:
The angle-data of the inertia measuring module acquisition includes acceleration information and angular velocity data.
4. intelligent switch joint angle measurement unit as described in claim 1, it is characterised in that:
The control module is single-chip microcontroller or microprocessor, and the angle-data for exporting the inertia measuring module carries out
Analog-to-digital conversion, digital filtering, vector operation and integration, and data are sent to the wireless communication module by treated.
5. intelligent switch joint angle measurement unit as described in claim 1, it is characterised in that:
The wireless communication module is bluetooth module, Wi-Fi module or mobile communications network module.
6. intelligent switch joint angle measurement unit as described in claim 1, it is characterised in that:
The power module be lithium battery module, for the power supply of whole device, the power module include charge and discharge circuit and
Charge protector.
7. intelligent switch joint angle measurement unit as described in claim 1, it is characterised in that:
Inertia measuring module, control module, wireless communication module and power supply mould in the intelligent switch joint angle measurement unit
Block is all set in a shell, and fixed device is provided on the shell, and formation can facilitate fixed portable wearable device.
8. a kind of intelligent switch joint angle measurement system, it is characterised in that:
The intelligent switch joint angle measurement system includes two described in any item intelligent switch joint angle measurement dresses of such as claim 1-7
It sets and mobile terminal；
Wherein, the first intelligent switch joint angle measurement unit is set to the first joint part, for acquiring first joint part
Angle-data simultaneously exports；
Second intelligent switch joint angle measurement unit is set to second joint position, for acquiring the angle number at the second joint position
According to and export；
The mobile terminal receives the first intelligent switch joint angle measurement unit and the second intelligent switch joint angle measurement dress
The first joint part of transmission and the angle-data at second joint position are set, shows measurement result after processing.
9. intelligent switch joint angle measurement system as claimed in claim 8, it is characterised in that:
First joint part and the second joint position are located at joint two sides to be measured.
10. intelligent switch joint angle measurement system as claimed in claim 8, it is characterised in that:
The mobile terminal is mobile phone or PAD, and the mobile terminal is to the first intelligent switch joint angle measurement unit and described
The angle-data of second intelligent switch joint angle measurement unit transmission is analyzed and processed, and calculates range of motion, display joint fortune
Angle change during dynamic, and joint motion value is automatically uploaded to database.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820369370.6U CN208677399U (en) | 2018-03-19 | 2018-03-19 | Intelligent switch joint angle measurement unit and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820369370.6U CN208677399U (en) | 2018-03-19 | 2018-03-19 | Intelligent switch joint angle measurement unit and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208677399U true CN208677399U (en) | 2019-04-02 |
Family
ID=65875818
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820369370.6U Active CN208677399U (en) | 2018-03-19 | 2018-03-19 | Intelligent switch joint angle measurement unit and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208677399U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110051362A (en) * | 2019-06-04 | 2019-07-26 | 常州迪普医疗器械科技有限公司 | Joint motions intelligent measuring systems and measurement method |
| CN110051331A (en) * | 2019-06-04 | 2019-07-26 | 常州迪普医疗器械科技有限公司 | Human synovial activity intelligent device for measuring and working method |
| CN111067540A (en) * | 2019-12-26 | 2020-04-28 | 南京康龙威康复医学工程有限公司 | Joint angle measuring system |
| CN111110411A (en) * | 2019-12-30 | 2020-05-08 | 上海理工大学 | Dynamic hip joint prosthesis control system |
| CN111568428A (en) * | 2020-04-13 | 2020-08-25 | 汕头大学医学院 | Human joint mobility detection system and detection method |
| TWI710355B (en) * | 2019-11-20 | 2020-11-21 | 緯創資通股份有限公司 | Joint bending state determining device and method |
| CN113703519A (en) * | 2020-05-21 | 2021-11-26 | 北京小米移动软件有限公司 | Method and device for determining posture of folding screen and storage medium |
| TWI781692B (en) * | 2021-07-20 | 2022-10-21 | 晶翔機電股份有限公司 | Device and method for evaluating postural control ability |
-
2018
- 2018-03-19 CN CN201820369370.6U patent/CN208677399U/en active Active
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110051362A (en) * | 2019-06-04 | 2019-07-26 | 常州迪普医疗器械科技有限公司 | Joint motions intelligent measuring systems and measurement method |
| CN110051331A (en) * | 2019-06-04 | 2019-07-26 | 常州迪普医疗器械科技有限公司 | Human synovial activity intelligent device for measuring and working method |
| TWI710355B (en) * | 2019-11-20 | 2020-11-21 | 緯創資通股份有限公司 | Joint bending state determining device and method |
| CN112823742A (en) * | 2019-11-20 | 2021-05-21 | 纬创资通股份有限公司 | Joint bending state determination device and method |
| US11672443B2 (en) | 2019-11-20 | 2023-06-13 | Wistron Corp. | Joint bending state determining device and method |
| CN111067540A (en) * | 2019-12-26 | 2020-04-28 | 南京康龙威康复医学工程有限公司 | Joint angle measuring system |
| CN111110411A (en) * | 2019-12-30 | 2020-05-08 | 上海理工大学 | Dynamic hip joint prosthesis control system |
| CN111568428A (en) * | 2020-04-13 | 2020-08-25 | 汕头大学医学院 | Human joint mobility detection system and detection method |
| CN113703519A (en) * | 2020-05-21 | 2021-11-26 | 北京小米移动软件有限公司 | Method and device for determining posture of folding screen and storage medium |
| TWI781692B (en) * | 2021-07-20 | 2022-10-21 | 晶翔機電股份有限公司 | Device and method for evaluating postural control ability |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208677399U (en) | Intelligent switch joint angle measurement unit and system | |
| Bertolotti et al. | A wearable and modular inertial unit for measuring limb movements and balance control abilities | |
| KR101751760B1 (en) | Method for estimating gait parameter form low limb joint angles | |
| Ribeiro et al. | Inertial measurement units: A brief state of the art on gait analysis | |
| CN110327048B (en) | Human upper limb posture reconstruction system based on wearable inertial sensor | |
| CN111700624B (en) | Pattern recognition method and system for detecting motion gesture by intelligent bracelet | |
| CN107320108B (en) | Joint mobility measuring method | |
| CN202218347U (en) | Motion attitude capturing device and system of motion attitude capturing device | |
| CN104771175B (en) | Catch the wearable intelligent ring of human limb three-dimensional attitude | |
| CN111693024A (en) | Wearable human body sensing monitoring equipment based on nine-axis inertia measurement unit | |
| RU121947U1 (en) | TRAFFIC CAPTURE SYSTEM | |
| CN206193786U (en) | Motion data detecting device | |
| CN107432739A (en) | A kind of smart garment system for health monitoring | |
| Lin et al. | Development of an ultra-miniaturized inertial measurement unit WB-3 for human body motion tracking | |
| CN113288121A (en) | Gait analysis system | |
| CN107943271A (en) | Exercise data detection method, apparatus and system | |
| CN111895997A (en) | Human body action acquisition method based on inertial sensor without standard posture correction | |
| CN106901748A (en) | A kind of measurement of range of motion device based on acceleration transducer | |
| CN105824432A (en) | Motion capturing system | |
| CN106112997B (en) | Ectoskeleton clothes | |
| Castañeda et al. | Knee joint angle monitoring system based on inertial measurement units for human gait analysis | |
| CN114391831A (en) | Hip-knee joint angle and dynamic force line resolving system | |
| CN112472074A (en) | Sitting gait data acquisition and analysis system based on acceleration sensor | |
| CN108043009A (en) | A kind of basketball movement component for including smart motion wrist guard and its application method | |
| CN211484594U (en) | Body feeling balance detector |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |