CN209377579U - The combined sensor of joint motions detection - Google Patents
The combined sensor of joint motions detection Download PDFInfo
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- CN209377579U CN209377579U CN201820678637.XU CN201820678637U CN209377579U CN 209377579 U CN209377579 U CN 209377579U CN 201820678637 U CN201820678637 U CN 201820678637U CN 209377579 U CN209377579 U CN 209377579U
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Abstract
A kind of combined sensor of joint motions detection, comprising: support frame, inertial measuring unit and infrared calibration device；Spatial attitude information of the measurement data reflection joint bone structure of inertial measuring unit in entire motion process, infrared calibration device is used to that authentic signature point to be arranged in periarticular setting position, authentic signature point can only be sensed within the scope of infrared detection, and the spatial position of authentic signature point is able to reflect spatial movement situation when joint bone structure moves within the scope of infrared detection；During joint motions, pass through the corresponding relationship between inertial measuring unit and infrared calibration device, the measurement data of inertial measuring unit supplements spatial movement situation of the authentic signature point outside infrared detection range, is able to reflect spatial movement situation of the joint bone structure in entire motion process to obtain authentic signature point.Solve the problems, such as that subject motion is limited, meanwhile, space occupied is small.
Description
Technical field
The utility model relates to capture articulation technique field, and in particular to the combined type sensing of joint motions detection
Device.
Background technique
Application No. is 201510778570.8 invention disclosed patents, entitled joint motions detection system and sides
Method, which solve large-scale gait laboratory using multiple motion capture cameras capture joint motions encountered in the problem of,
Such as, application No. is do not needed in 201510778570.8 patent of invention to multiple video cameras progress system calibrating, and land occupation sky
Between it is small.
But application No. is the technical solution of 201510778570.8 patent of invention, there is also certain inconveniences, e.g.,
It uses the spatial position of optical sensing devices capture authentic signature point and forms corresponding spatial movement data, so that, it is tested
Person must move within the scope of the validity test of optical sensing devices, the spatial movement data in joint can just be collected, if tested
Person moves to outside the validity test range, then cannot collect the spatial movement data in joint, that is, application No. is
201510778570.8 patent of invention has carried out stringent limitation to the motion range and space of subject, so that subject
It cannot arbitrarily walk about.
Summary of the invention
In order to make capture joint motions it is easy to operate, space occupied is small and subject is facilitated arbitrarily to walk about, the application provide
A kind of combined sensor of joint motions detection
It include: support frame, inertial measuring unit and infrared calibration device；
The inertial measuring unit and infrared calibration device are respectively arranged on support frame as described above, wherein the inertia is surveyed
Measure spatial attitude information of the measurement data reflection joint bone structure of device in entire motion process, the infrared calibration device
For authentic signature point to be arranged in periarticular setting position, the authentic signature point can only be felt within the scope of infrared detection
It measures, and the spatial position of authentic signature point is able to reflect space when joint bone structure moves within the scope of infrared detection
Motion conditions；
It is worn after on joint after support frame as described above, during the joint motions, passes through the inertial measuring unit
Corresponding relationship between infrared calibration device, by the measurement data of the inertial measuring unit to the authentic signature point red
Spatial movement situation outside outer detection range is supplemented, and is able to reflect joint bone structure whole to obtain the authentic signature point
Spatial movement situation in a motion process.
In a kind of embodiment, inertial measuring unit is inertial sensor.
In a kind of embodiment, infrared calibration device is several infrared markers points.
In a kind of embodiment, infrared markers point is in spherical or hemispherical.
In a kind of embodiment, support frame is in cross-shaped configuration, and the quantity of infrared markers point is four, four infrared markers points
Four free ends of support frame are respectively arranged at, inertial measuring unit is set to the intersection of support frame.
In a kind of embodiment, support frame is in disc structure, several uniformly distributed circumference in support frame of infrared markers point
Edge, inertial measuring unit are set to the central point of support frame.
In a kind of embodiment, the height of support frame is more than or equal to the height of inertial measuring unit, and inertial measuring unit runs through
It is set in support frame.
According to the combined sensor of above-described embodiment, when being used for joint motions detection, when subject is in infrared inspection
When surveying movement in range, the sky in joint can be obtained in real time by the spatial position of the authentic signature point of infrared calibration device normalization
Between exercise data can be by the measurement data of inertial measuring unit to true when subject moves outside infrared detection range
The spatial movement data of real mark point are supplemented, to obtain the spatial movement data in the entire motion process of subject, thus
Solve the problems, such as that subject motion is limited in the prior art, meanwhile, space occupied is small, easy to operate.
Detailed description of the invention
Fig. 1 is combined sensor structural schematic diagram；
Fig. 2 is combined sensor application schematic diagram；
Fig. 3 is prior art joint space exercise data acquisition schematic diagram；
Fig. 4 is the joint space exercise data acquisition schematic diagram of the application；
Fig. 5 is the schematic diagram in Fig. 4 after the fitting of the spatial data of inertia measurement data and authentic signature point.
Specific embodiment
The utility model is described in further detail below by specific embodiment combination attached drawing.
In the utility model embodiment, by the way that inertia measurement and infrared survey fusion carry out joint motions in one
It detecting, in the technology to solve the problems, such as existing joint motions detection or space occupied is big or subject motion is limited,
Meanwhile it being missed by inertia measurement and infrared survey fusion in use, also can solve inertia measurement and measured in joint motions detection
The big problem of difference.
Embodiment one:
In order to preferably merge inertial survey technique and infrared measurement technique in detection of joints, this example provides a kind of pass
The combined sensor of motion detection is saved, structure chart is referring to FIG. 1, include support frame 1, inertial measuring unit 2 and infrared mark
Determine device 3；Specifically, inertial measuring unit 2 and infrared calibration device 3 are respectively arranged on support frame 1, wherein inertia measurement
Spatial attitude information of the measurement data reflection joint bone structure of device 2 in entire motion process, infrared calibration device 3 are used for
In periarticular setting position, authentic signature point is set, authentic signature point can only be sensed within the scope of infrared detection, and
The spatial position of authentic signature point is able to reflect spatial movement situation when joint bone structure moves within the scope of infrared detection.
The inertial measuring unit 2 of this example is inertial sensor, and the infrared calibration device 3 of this example is several infrared markers
Point, it is preferred that infrared markers point is in spherical or hemispherical.
The specific structure and shape of the support frame 1 of this example do not limit specifically, as long as support frame 1 has certain rigidity
, after which refers to that inertial measuring unit 2 and infrared calibration device 3 are installed on support frame 1,1 energy of support frame
Immobilize shape.
The structure for the support frame 1 that this example provides is cross-shaped configuration, the infrared mark of this example corresponding with the cross-shaped configuration
The quantity of note point is four, and four infrared markers points are respectively arranged at four free ends of support frame 1, inertial measuring unit
It is set to the intersection of support frame 1.
In another embodiment, the structure of support frame 1 can be collar plate shape structure, several infrared markers points are uniformly distributed
In the circumferential edges of support frame 1, inertial measuring unit 2 is set to the central point of support frame 1.
In order to enable inertial measuring unit 2 to be embedded into support frame 1, it is preferred that the height of support frame 1 is more than or equal to inertia
The height of device 2 enables inertial measuring unit 2 to be disposed through in support frame 1.
Directly it is worn on the joint of subject due to the combined sensor of this example, and support frame 1 is required to have simultaneously
There is certain rigidity, in a preferred embodiment, in order to make combined sensor and subject's fitness with higher, namely
Be contact support frame 1 with subject allow on one side subject have tool compared with Experience Degree, support frame 1 directly connects with subject
The one side of touching, i.e. support frame 1 are provided with soft layer in the opposite face of infrared calibration device 3 so that, support frame 1 directly with it is tested
When person contacts, the rigidity of support frame 1 is avoided to generate subject uncomfortable.
The combined sensor of this example can be worn on the joint of subject, due to the different joint bone structures of subject
Position and shape it is different, some position inconvenience combined sensor wearings, in order to enable combined sensor be placed by
The different joint parts of examination person, combined sensor can also be affixed on the joint of subject, and e.g., support frame 1 is equipped with soft
Viscous layer is arranged in the one side of matter layer, in this way, support frame 1 can be directly affixed on the joint of subject by viscous layer.
The concrete application of the combined sensor of this example is as follows:
Frame 1 to be supported is worn after on joint, if joint moves within the scope of infrared detection, can obtain inertia survey simultaneously
Measure the spatial position of the authentic signature point in the measurement data and infrared calibration device 3 of device 2；If joint is in infrared detection range
When outer movement, the measurement data of inertial measuring unit 2 at this moment can only be obtained, and cannot be obtained true in infrared calibration device 3
The spatial position of mark point；Since the relative space position of inertial measuring unit 2 and infrared calibration device 3 is fixed, need to used
Property measuring device 2 and the relative space position relationship of infrared calibration device 3 are demarcated, and specific scaling method is as follows.
Under inertial sensor coordinate system, the rotation angle of inertial sensor output and the matrix of change in displacement are expressed as:
(△ Ri, △ Ti), under infrared coordinate system, when combined sensor is transferred to new position P1 by initial position P0, then has P1=
P0 (△ Rr, △ Tr), wherein (△ Rr, △ Tr) is the angle of infrared markers point and the transformation matrices of displacement；Due to infrared mark
The relative space position for determining device and inertial sensor is fixed, and is moved to the position P1 by the position P0 in combined sensor movement
When, output valve of the inertial sensor under inertial coodinate system are as follows: △ Ri, △ Ti, if by infrared coordinate system to inertial coodinate system
Transition matrix is TRri, then has: (△ Ri, △ Ti)=(△ Rr, △ Tr) TRri can acquire TRri as a result,.
During joint motions, except infrared detection range, need that inertial measuring unit 2 and infrared calibration will be passed through
Corresponding relationship between device 3, the sky by the measurement data of inertial measuring unit 2 to authentic signature point outside infrared detection range
Between motion conditions supplemented, with obtain authentic signature point be able to reflect joint bone structure in entire motion process space fortune
Emotionally condition.Such as, pass through transition matrix TRri, data (the △ Rr, △ inertial sensor data being converted under infrared coordinate system
Tr)=(△ Ri, △ Ti) TRri-1, thus, it is possible to obtain spatial position number of the authentic signature point except infrared detection range
According to, so, authentic signature point is able to reflect spatial movement situation of the joint bone structure in entire motion process, thus, it solves
The problem of limited space is detected in infrared calibration device 3 application process.
Embodiment two:
For embodiment one, the combined sensor that this example provides embodiment one is answered in one of joint motions detection
With application schematic diagram is as shown in Figure 2.
Combined sensor is worn after the joint part of subject, then using virtual point caliberating device 4 in joint bone structure
Virtual tag point is set at anatomical features position；The mark point of virtual tag point is arranged in the anatomical structure of joint bone structure,
Virtual tag point is arranged by virtual point caliberating device 4 in corresponding characteristic feature point, the virtual tag point and authentic signature point it
Between establish have corresponding space reflection relationship.
The detailed process of sensing data is: authentic signature point is sensed within the scope of infrared detection using infrared sensing device 5
Spatial position, to obtain the spatial movement data of authentic signature point, and also according to virtual tag point and authentic signature point
Relative space position, infrared sensing device 5 sense the space of virtual tag point and authentic signature point within the scope of infrared detection
Station-keeping data；It between the infrared sensing device 5 of this example and infrared calibration device 3 is communicated by photoinduction, it is red
External sensed device 5 can constantly feel each authentic signature point within the scope of infrared detection, thus according to the dynamic of each authentic signature point
State situation of change forms spatial movement data.
The detailed process of acquisition data is: within the scope of infrared detection, acquiring the spatial movement data of infrared sensing device 5
And the station-keeping data in the space of virtual tag point and authentic signature point, meanwhile, acquire the measurement number of inertial measuring unit 2
According to.And outside infrared detection range, the measurement data of inertial measuring unit 2 is only acquired, finally, the data of acquisition are transferred to number
According in analytical equipment 6.
In addition, also to utilize the spatial movement data and inertia measurement of the authentic signature point acquired within the scope of infrared detection
Corresponding relationship between the measurement data of device 2 carries out spatial movement data of the authentic signature point outside infrared detection range
Supplement, to obtain overall space exercise data of the authentic signature point in entire motion process；Specifically, in infrared detection range
Outside, it can get inertial sensor data (△ Ri, △ Ti), by transition matrix TRri, inertial sensor data be converted into red
Data (△ Rr, △ Tr) under outer coordinate system, (△ Rr, △ Tr)=(△ Ri, △ Ti) TRri-1；
Equally available joint space position: Crnt=Crnt-1(△ Rr, △ Tr), the final authentic signature point that obtains exist
Overall space exercise data in entire motion process.
Data analysis set-up 6 by the overall space exercise data of authentic signature point by optimization operation and virtual tag point with
The overall space exercise data of space reflection Relation acquisition virtual tag point between authentic signature point, and according to virtual tag point
Overall space exercise data sunykatuib analysis joint bone structure motion conditions.Since the spatial position of initial virtual tag point is
Fixed, according to the change of the spatial position of authentic signature point, the spatial movement data of generation update virtual tag by optimization
Point makes it that dynamic change accordingly occur, and then reflects true joint motions.Such as, data analysis set-up is according to virtual tag point
Spatial movement data under anatomical coordinate system along the displacement of reference axis and around the rotation of reference axis, and the three of sunykatuib analysis joint
The exercise data for tieing up six degree of freedom, the real motion feature in joint is characterized with this, makes objective detection structure, quantization, accurately anti-
Reflect joint actual conditions.
Within the scope of infrared detection, also to be carried out using drift_flux model of the authentic signature point to inertial measuring unit 2
Correction, specific correction course are as follows:
Joint bone structure space coordinate Cr1, Cr2 ... Crn is established according to anatomic points, wherein n represents joint bone structure
Joint number；
Respective coordinates Cb1, Cb2 ... Cbn are established according to the infrared markers point in combined sensor, both sides relation is
Crn=CbnTRr；
When intra-articular structure moves within the scope of infrared detection, the infrared markers coordinate Cbn of combined sensor can be obtained
With inertial sensor data (△ Ri, △ Ti)；
By Crn=CbnTRr, joint space position in the movement of joint bone structure, the coordinate relationship of different moments are calculated
Are as follows: Crnt=Crnt-1(△ Rr, △ Tr) ... ... ... (1)；
The inertial sensor data of t-1 to t moment is then converted by infrared coordinate system by transition matrix TRri simultaneously
Under data (△ Rr, △ Tr)=TRerr (△ Ri, △ Ti) TRri-1……(2)；
TRerr is sensor error coefficient matrix, initial value 1, because there are drift errors for inertial sensor, red
The error coefficient of inertial sensor is corrected using formula (1) and (2) in outer visual range, to can get more accurately
Data.
In order to illustrate the application combined sensor joint motions detection in application with application No. is
The difference and advantage of 201510778570.8 patent of invention, as shown in figure 3, for application No. is 201510778570.8 inventions
The spatial movement data acquisition schematic diagram of the joint bone structure of patent, Fig. 4 are the spatial movement of the combined sensor of the application
Data acquisition schematic diagram, the spatial movement data that Fig. 5 is Fig. 4 are fitted schematic diagram, and Fig. 3-Fig. 5 is intended merely to show the application and Shen
Please number for 201510778570.8 patent of invention data acquisition difference, therefore, in corresponding figure do not indicate specific
Data unit and data type.
From the figure 3, it may be seen that application No. is 201510778570.8 patents of invention to collect within the scope of infrared detection
Corresponding spatial movement data, and the spatial movement data outside infrared detection range cannot be collected, that is, the movement model of subject
It encloses beyond after infrared detection range, subject's joint motions situation cannot be obtained in time, as shown in Figure 4, in infrared detection model
In enclosing, the application can collect the spatial movement data of authentic signature point and the measurement data of inertial sensor simultaneously, red
Outside outer detection range, although the spatial movement data of authentic signature point cannot be collected, inertial sensor can be collected
Measurement data；As shown in Figure 5, by the fitting of the spatial movement data of the measurement data supplement authentic signature point of inertial sensor
Afterwards, the mass motion situation of joint bone structure can be reflected by the spatial movement data of the authentic signature point after fitting.
The application of the combined sensor of the application keeps the overall structure of joint motions detection system simple, meanwhile, also not
Need to lay multiple video cameras, space occupied can flexibly be chosen, and the test space of subject is unrestricted, easy to operate.
Use above specific case is illustrated the utility model, is merely used to help understand the utility model, and
Not to limit the utility model.Think of for those skilled in the art of the present invention, according to the utility model
Think, several simple deductions, deformation or replacement can also be made.
Claims (7)
1. a kind of combined sensor of joint motions detection characterized by comprising support frame, inertial measuring unit and red
Outer caliberating device；
The inertial measuring unit and infrared calibration device are respectively arranged on support frame as described above, wherein the inertia measurement dress
Spatial attitude information of the measurement data reflection joint bone structure set in entire motion process, the infrared calibration device are used for
Authentic signature point is set in periarticular setting position, the authentic signature point can only be sensed within the scope of infrared detection
It arrives, and the spatial position of authentic signature point is able to reflect the fortune of space when joint bone structure moves within the scope of infrared detection
Emotionally condition.
2. combined sensor as described in claim 1, which is characterized in that the inertial measuring unit is inertial sensor.
3. combined sensor as described in claim 1, which is characterized in that the infrared calibration device is several infrared marks
Note point.
4. combined sensor as claimed in claim 3, which is characterized in that the infrared markers point is in spherical or hemispherical.
5. combined sensor as claimed in claim 3, which is characterized in that support frame as described above is in cross-shaped configuration, described red
The quantity of external markers is four, and four infrared markers point is respectively arranged at four free ends of support frame as described above, described
Inertial measuring unit is set to the intersection of support frame as described above.
6. combined sensor as claimed in claim 3, which is characterized in that support frame as described above is in disc structure, described several
A uniformly distributed circumferential edges in support frame as described above of infrared markers point, the inertial measuring unit are set to support frame as described above
Central point.
7. combined sensor as claimed in any one of claims 1 to 6, which is characterized in that the height of support frame as described above be greater than etc.
In the height of the inertial measuring unit, the inertial measuring unit is disposed through in support frame as described above.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108553105A (en) * | 2018-05-08 | 2018-09-21 | 上海逸动医学科技有限公司 | Combined sensor, joint motions detecting system and the method for joint motions detection |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108553105A (en) * | 2018-05-08 | 2018-09-21 | 上海逸动医学科技有限公司 | Combined sensor, joint motions detecting system and the method for joint motions detection |
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