CN209574702U - A kind of lower limb exoskeleton formula gait analysis system - Google Patents
A kind of lower limb exoskeleton formula gait analysis system Download PDFInfo
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Abstract
The disclosure is directed to a kind of lower limb exoskeleton formula gait analysis systems.Data acquisition module, multiple sensors module and the data processing module created using embedded microcontroller, wherein, the data acquisition module is for acquiring human body movement data of the multiple sensors on communication bus, and complete arrangement, synthesis and the upload of data, the multiple sensors module is for acquiring a variety of human body lower limbs exercise data sensing datas, including inertia measurement instrument, angular encoder and plantar nervous arch sensor, the data that the data processing module is collected for receiving data and integration module uploads, and carry out Human Body Gait Analysis.The utility model realizes collecting and analyzing for human body lower limbs motion state, can adapt to the posture of all ages and classes side, on the basis of guaranteeing system stability and safety, further increase measurement and the analysis precision of system, moreover, the utility model is easy to use, structure is simple.
Description
Technical field
This disclosure relates to healing robot technical field more particularly to a kind of lower limb exoskeleton formula gait analysis system.
Background technique
In recent years, ageing phenomenon is gradually reduced the pliable legs of the elderly, and the elderly is disabled probability
Rapid increase.As the problem of domestic aging increasingly aggravates, the population ratio of China old age disabled person will be increased considerably.
The reason of traditional athletic rehabilitation Medical Devices will not be able to satisfy the demand of the elderly's rehabilitation, one side is the play of the size of population
Increase, the reason of another aspect be traditional equipment working efficiency and intelligence degree it is lower.
Thus, the intelligent exoskeleton robot with adaptive adjustment capability will obtain the huge market demand.It is grinding
During the control strategy for studying carefully intelligent exoskeleton robot, gait analysis result is by the input source important as one.
Gait analysis is used not only for the morbid state assessment that auxiliary doctor completes leg patient, but also to a certain extent
Assess the postoperative rehabilitation situation of patient.During intelligent exoskeleton is gradually popularized, gait analysis system is outer in intelligence
The development phase of bone can provide corresponding human body walking for intelligent control and consider parameter with lower limb exercise；It is set in ectoskeleton
The standby debugging stage is capable of providing some abnormal gait behavioral parameters and limb activity feature, including tumble, strain and spasm etc..
Gait analysis in the prior art exists centainly in data-handling capacity, user's compatibility and accuracy reverse side
Defect.
Utility model content
To overcome the problems in correlation technique, the embodiment of the present disclosure provides a kind of lower limb exoskeleton formula gait analysis system
System.
According to the first aspect of the embodiments of the present disclosure, a kind of lower limb exoskeleton formula gait analysis system is provided, comprising:
Data acquisition module, data processing module and several sensor modules of communication connection；Wherein,
The data acquisition module, for acquiring human body fortune of several the described sensor modules respectively on communication bus
Dynamic data, complete arrangement, the synthesis of data, and result is sent to data processing module；
Several described sensor modules, for acquiring a variety of human body lower limbs exercise data sensing datas respectively and passing through
Communication bus is sent；
The data processing module, the data that acquisition module uploads for receiving data, and carry out Human Body Gait Analysis.
Several described sensor modules, including several angular encoder modules, several matrix form pressure sensors
Module and several Inertial Measurement Units；Wherein,
The angular encoder module is respectively arranged on the outside of human hip and knee endoprosthesis, parallel with joint shaft,
For measuring the rotation displacement information in human body lower limbs joint；
The Inertial Measurement Unit is respectively arranged on the outside of human body or so thigh, shank and sufficient face, for measure leg and
Rotation change information of the foot relative to human body waist；The side for wherein passing through bundling belt with the Inertial Measurement Unit connecting on the outside of sufficient face
Formula connection；
The matrix form pressure sensor module is in insole shape, is placed at vola, for acquiring plantar nervous arch letter
Breath.
The system also includes:
Data disaply moudle for being summarized and being visualized the data analysis result of data processing module, and leads to
It crosses Bluetooth chip and is sent to display terminal.
The system also includes:
Power module, for providing power for modules；It is designed using isolated power supply, there is voltage detecting, electric current to examine
It surveys, large capacity filtering, insulation blocking function.
The data acquisition module, as main operation chip, uses LAN chip and data point using embedded microcontroller
Analyse module connection.
The embedded microcontroller is specially 32 8-digit microcontrollers of ARM Cortex-M kernel.
The data acquisition module is connect using SPI and iic bus agreement with the sensor module.
The data analysis module is using X86-based microprocessor as main analysis chip.
The communication bus is specially iic bus or spi bus.
The communication chip is specially Ethercat chip or Bluetooth chip.
The technical scheme provided by this disclosed embodiment can include the following benefits:
Data acquisition module, multiple sensors module and the data processing module created using embedded microcontroller,
In, the data acquisition module completes data for acquiring human body movement data of the multiple sensors on communication bus
Arrangement, synthesis and upload, the multiple sensors module wraps for acquiring a variety of human body lower limbs exercise data sensing datas
Inertia measurement instrument, angular encoder and plantar nervous arch sensor are included, the data processing module is collected for receiving data
The data uploaded with integration module, and carry out Human Body Gait Analysis.
The utility model realizes collecting and analyzing for human body lower limbs motion state, can adapt to the body of all ages and classes side
State further increases measurement and the analysis precision of system, moreover, this reality on the basis of guaranteeing system stability and safety
With novel easy to use, structure is simple.
The high real-time communication feature of Ethercat is utilized in the utility model, overcomes data answering in each tie point
It is miscellaneous to verify and handle process, so that sensor and data acquisition module realize real time communication.It is declined using the insertion of multiplex roles
Controller overcomes that sensor type is more, transmission quantity bigger difficulty as data acquisition module, also greatly reduces each mould
The cost of coupling and integrated hardware between block, while also increasing the scalability of whole system；For human body walking
The big problem of primary data information (pdi) amount required for attitude data realizes human body using the analog-to-digital conversion module based on FPGA
The high frame per second acquisition mode of plantar nervous arch, while the pin for also reducing embedded microcontroller uses and computation burden；
Further, since the matrix form plantar pressure sensor and angular coding sensor that use are touch sensor, result essence
Degree is high, finally makes the gait index analysis of human body and gait analysis result more accurate and stable.
Human body lower limbs gait analysis system scheme provided by the utility model is the wearable assistance exoskeleton product of lower limb
Research and development provide big data support, especially in the design development phase of the product, in assistance exoskeleton Design Stage, people
Body lower limb gait analysis result can be used for improving the structure design and user experience of product；In the control of assistance exoskeleton product
Development phase, human body walking posture analysis can provide initial data for intelligentized Shared control.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not
The disclosure can be limited.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the disclosure
Example, and together with specification for explaining the principles of this disclosure.
Fig. 1 is a kind of lower limb exoskeleton formula gait analysis system overall construction drawing shown according to an exemplary embodiment；
Fig. 2 is a kind of lower limb exoskeleton formula gait analysis system overall structure shown according to another exemplary embodiment
Figure；
Fig. 3 is matrix form pressure sensor module structural schematic diagram shown according to an exemplary embodiment.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all implementations consistent with this disclosure.On the contrary, they be only with it is such as appended
The example of the consistent device and method of some aspects be described in detail in claims, the disclosure.
In order to acquire the elderly, leg need rehabilitation training people or abnormal gait person training, and
It is capable of providing the adaptability of quickly and easily usage experience and various crowds, exoskeleton-type gait analysis system comes into being.It can
Wearing property makes exoskeleton-type gait analysis system be not only able to provide comfortable usage experience, additionally it is possible to protect to the full extent
Demonstrate,prove the correctness of sensor positioning and the reliability of overall work.
Fig. 1 is a kind of lower limb exoskeleton formula gait analysis system overall construction drawing shown according to an exemplary embodiment,
Include:
The primary structure of the utility model by communicate to connect data acquisition module 1, data processing module 2 and several biography
Sensor module 3；Wherein,
The data acquisition module 1, for acquiring several described sensor modules human body on communication bus respectively
Exercise data, completes arrangement, the synthesis of data, and result is sent to data processing module；
Several described sensor modules 3, for acquiring a variety of human body lower limbs exercise data sensing datas respectively and leading to
Cross communication bus transmission；
The data processing module 2, the data that acquisition module uploads for receiving data, and carry out Human Body Gait Analysis.
Specifically, several described sensor modules 3, including several angular encoder modules 31, several matrix forms
Pressure sensor module 32 and several Inertial Measurement Units 33；Wherein,
The angular encoder module 31 is respectively arranged on the outside of human hip and knee endoprosthesis, flat with joint shaft
Row, for measuring the rotation displacement information in human body lower limbs joint；
The Inertial Measurement Unit 33 is respectively arranged on the outside of human body or so thigh, shank and sufficient face, for measuring leg
With foot relative to the rotation change information of human body waist；Wherein pass through bundling belt with the Inertial Measurement Unit connecting on the outside of sufficient face
Mode connects；
The matrix form pressure sensor module 32 is in insole shape, is placed at vola, for acquiring plantar nervous arch letter
Breath.
Wherein, the data acquisition module 1 using embedded microcontroller as main operation chip, using LAN chip with
Data analysis module connection, fused sensing data is uploaded to data analysis module 2；In embedded microcontroller
Ethercat slave station is established in inside, connect with the Ethercat main website that data analysis module 2 is established, and realizes real time high-speed data
Transmission；It is connect using SPI and iic bus agreement with sensor module 3, to receiving sensor initial data.
Wherein, data analysis module 2 is established more on this basis using X86-based microprocessor as main analysis chip
Tasking operating system is simultaneously established Ethercat main website and is connect with data acquisition module 1, receives on data acquisition module 1 to realize
The sensor fused data of biography.
Wherein, further include power module (containing battery), designed using isolated power supply, there is voltage detecting, current detecting, big
The functions such as capacity filtering, insulation blocking；Wherein power module possesses one piece of 24V output battery, is converted to 5V using isolated power supply
Data acquisition module 1 is provided and data processing module 2 uses；5V is used to turn the voltage step-down module of 3.3V as sensor module 3
Driving input is provided.
Fig. 2 is the lower limb exoskeleton formula gait analysis system structural schematic diagram of one preferred embodiment of the utility model.Institute
The data acquisition module stated uses the programmable microcontroller of ARM Cortex-M kernel, and processing frequency can achieve 180Mhz,
Meet the data transmission of 9 road IIC communication protocol equipment and multichannel SPI protocol equipment.The module is connect with power module downwards, is gathered around
There is DC-DC (5V-3.3V) buck functionality；On LAN chip basis, ethercat protocol slave station is established by programming, passes through two
A RJ45 network interface is connect with data processing module；The module also includes an Inertial Measurement Unit, for recording human body waist
Initial attitude provides basic data for others sensor module.The data analysis module includes the processor of X86-based
System module, for running multiple task real-time operation system, which is connect and is gathered around with power module using DC-DC (24V-5V)
There are a whole set of bulky capacitor filtering, current detecting, voltage detecting and overcurrent protection isolation features.The sensor module includes 4
Coder module, 7 Inertial Measurement Units and 2 plantar pressure sensor modules are adopted by DC-DC (5V-3.3V) with data
Collect module connection, wherein coder module, is connect using SISS Serial Port Line with data acquisition module, and Inertial Measurement Unit uses
Iic bus is connect with data acquisition module, and matrix form plantar pressure sensor is connect using spi bus with data acquisition module.
Fig. 3 is the matrix form pressure sensor module structural schematic diagram of one preferred embodiment of the utility model, described
Matrix form plantar pressure sensor, as pressure sensitive unit, is programmed using 32*32 dot matrix voltage dependent resistor using using FPGA
Segmented scanning is realized, the analog-to-digital conversion of pressure data is completed using multiple 8 road AD amplification and acquisition chip, by all lattice points
On pressure data data acquisition module is uploaded to by SPI high-speed bus.
In fact, the lower limb exoskeleton acquisition system may include:
Data processing module and data acquisition module are set in human body rear portion hip joint part, wherein the data processing
Module is used to analyze the gait index of human body, and the data acquisition module is for acquiring multiple sensors module data simultaneously respectively
And data are subjected to integration and are connect by data uplink module with data processing module, the data disaply moudle is used for
The data analysis result of data processing module is summarized and visualized, and display terminal is sent to by Bluetooth chip.
The placed angle coder module at human body or so hip joint, for measuring the rotary state of human hip；In
Placed angle coder module at human body or so knee joint, for measuring the rotary state of human body knee joint.The angular coding
It is rotational angle between rotational angle and human thigh and shank between human body or so thigh and waist that device is detected；Angle
It spends encoder and the information is transmitted to data acquisition module by data communication module；The data communication module uses SSIS
Agreement is used for transmission 17 parallactic angle degree digital signals.
Fixed Inertial Measurement Unit, the pose at the back for recording human body, as human body at human body back hip joint
Reference attitude；On this basis, Inertial Measurement Unit is placed respectively in the big leg outer side of human body or so and small leg outer side, use respectively
In the rotation displacement that detection leg portion and lower leg portion and human body waist are occurred in gait walking process.It is put at vamp
Inertial Measurement Unit is set, is fixedly connected with human foot, for measuring the conversion of the pose between foot and shank；Inertia measurement list
Member it is detected be rigid body connected therewith instantaneous acceleration and angular velocity information；Inertial Measurement Unit passes through the information
Data communication module is uploaded to data acquisition module；The data communication module includes IIC chip, for high on iic bus
Data are transmitted fastly.
The permanent moment configuration pressure sensitive unit at Human Sole, for acquiring the pressure distributed intelligence of Human Sole；Institute
It states matrix form pressure sensitive unit and uses matrix form voltage dependent resistor principle, it being capable of output pressure analog signal.It adopts on this basis
With the analog-to-digital conversion module based on FPGA, the pressure signal of acquisition matrix formula pressure sensor.The matrix form pressure sensor
Plantar nervous arch information is uploaded to data acquisition module by data communication module；The data acquisition module includes SPI
Chip, for transmitting plantar nervous arch data on spi bus.
Particularly, the data acquisition module will obtain multiple sensors signal, data by a variety of data communication modules
Acquisition module is responsible for carrying out the sensor new peak into information fusion, including human synovial angle information, leg and vola are swung
Acceleration and angular speed and plantar nervous arch information, and fused information is uploaded to data processing unit.Described is upper
Journey is transmitted through using Ethercat agreement, real-time data sharing is realized by LAN chip.The data processing unit is for depositing
Fused information is stored up, and completes the gait index analysis of human body.The data are stored as using DRAM (dynamic
Random access memory) fused sensing data is serialized, using the further of data processing module
Analysis and as the result is shown.The gait index analysis of the human body includes human body walking attitude data and gait analysis data；It is described
Human body walking attitude data includes comprising step-length, being striden by Inertial Measurement Unit and the obtained information of angular coding sensor
Length, leg speed, cadence and step number；By Inertial Measurement Unit and the obtained information of matrix form pressure sensor, when including single step
Between, the time that strides, stand up time, duration of oscillation, standing phase, double-legged support initial stage, single foot support phase, both feet support latter stage, pendulum
Dynamic phase, the load-bearing reaction phase, support phase mid-term, support phase latter stage, swings early period, swing phase early stage, in swing phase at the phase of contacting to earth for the first time
Phase, swing phase latter stage and period；It is obtained by Inertial Measurement Unit, angular coding sensor and matrix form pressure sensor
Information twitches acceleration comprising thigh, thigh swings function and ground shock power.
Human body walking attitude data and gait analysis data are carried out visualization processing by the data disaply moudle, and are led to
It crosses Bluetooth chip and is transmitted to display terminal, bluetooth receiving module can be established on the display terminal and corresponding data are shown
Processing routine, and possess corresponding human-computer interaction function.
Specifically, above system includes the data acquisition module created on embedded microcontroller, multiple sensors
Module and data processing module；
Wherein, the data acquisition module is used to acquire human body movement data of the multiple sensors on communication bus, and
And the arrangement of data, synthesis are completed, and result is uploaded to data processing module；
The multiple sensors module is connect with data acquisition module, for acquiring a variety of human body lower limbs exercise data sensings
Device data；
The data processing module data that acquisition module uploads for receiving data, and carry out Human Body Gait Analysis.
The data disaply moudle is used to that the data analysis result of data processing module to be summarized and be visualized, and
Display terminal is sent to by Bluetooth chip.
Embedded microcontroller is specially 32 8-digit microcontrollers of ARM Cortex-M kernel.
Sensor is specifically as follows inertia measurement instrument.
Sensor is specifically as follows angular encoder.
Sensor is specifically as follows plantar nervous arch sensor.
The acquisition chip of plantar nervous arch sensor is specially A/D chip.
Communication bus is specifically as follows spi bus.
Communication bus is specifically as follows iic bus.
Upload communication chip is specifically as follows Ethercat chip.
Communication chip is specifically as follows Bluetooth chip.
Further include respectively with data processing module, data acquisition module and multiple sensors module power supply mould interconnected
Block.
The utility model proposes a kind of lower limb exoskeleton formula gait analysis systems, comprising: is created using embedded microcontroller
Data acquisition module, multiple sensors module and the data processing module built, wherein the data acquisition module is more for acquiring
Human body movement data of the kind sensor on communication bus, and arrangement, synthesis and the upload of data are completed, a variety of sensings
Device module is for acquiring a variety of human body lower limbs exercise data sensing datas, including inertia measurement instrument, angular encoder and vola
Pressure distribution sensor, the data that the data processing module is collected for receiving data and integration module uploads, go forward side by side pedestrian
Body gait analysis.The utility model realizes collecting and analyzing for human body lower limbs motion state, can adapt to all ages and classes side
Posture, guaranteeing system stability and on the basis of safety, further increase measurement and the analysis precision of system, moreover,
The utility model is easy to use, and structure is simple.
The high real-time communication feature of Ethercat is utilized in the utility model, overcomes data answering in each tie point
It is miscellaneous to verify and handle process, so that sensor and data acquisition module realize real time communication.It is declined using the insertion of multiplex roles
Controller overcomes that sensor type is more, transmission quantity bigger difficulty as data acquisition module, also greatly reduces each mould
The cost of coupling and integrated hardware between block, while also increasing the scalability of whole system；For human body walking
The big problem of primary data information (pdi) amount required for attitude data realizes human body using the analog-to-digital conversion module based on FPGA
The high frame per second acquisition mode of plantar nervous arch, while the pin for also reducing embedded microcontroller uses and computation burden；
Further, since the matrix form plantar pressure sensor and angular coding sensor that use are touch sensor, result essence
Degree is high, finally makes the gait index analysis of human body and gait analysis result more accurate and stable.
Human body lower limbs gait analysis system scheme provided by the utility model is the wearable assistance exoskeleton product of lower limb
Research and development provide big data support, especially in the design development phase of the product, in assistance exoskeleton Design Stage, people
Body lower limb gait analysis result can be used for improving the structure design and user experience of product；In the control of assistance exoskeleton product
Development phase, human body walking posture analysis can provide initial data for intelligentized Shared control.
Those skilled in the art will readily occur to its of the disclosure after considering specification and practicing disclosure disclosed herein
Its embodiment.This application is intended to cover any variations, uses, or adaptations of the disclosure, these modifications, purposes or
Person's adaptive change follows the general principles of this disclosure and including the undocumented common knowledge in the art of the disclosure
Or conventional techniques.The description and examples are only to be considered as illustrative, and the true scope and spirit of the disclosure are by following
Claim is pointed out.
It should be understood that the present disclosure is not limited to the precise structures that have been described above and shown in the drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present disclosure is only limited by the accompanying claims.
Claims (9)
1. a kind of lower limb exoskeleton formula gait analysis system characterized by comprising
For acquiring human body movement data of several sensor modules respectively on communication bus, the arrangement, comprehensive of data is completed
The data acquisition module of conjunction；Several are for acquiring a variety of human body lower limbs exercise data sensing datas respectively and total by communicating
The sensor module that line is sent；The data that acquisition module uploads for receiving data, and carry out at the data of Human Body Gait Analysis
Manage module；
The data acquisition module, data processing module and the communication connection of several sensor modules.
2. lower limb exoskeleton formula gait analysis system according to claim 1, which is characterized in that the sensor module,
It is used to measure that the rotation displacement information viewpoint coder module in human body lower limbs joint, several are for acquiring vola including several
The matrix form pressure sensor module of pressure distributed intelligence is used to measure leg and foot with several and turns with respect to human body waist
The Inertial Measurement Unit of dynamic change information；Wherein,
The angular encoder module is respectively arranged on the outside of human hip and knee endoprosthesis, parallel with joint shaft；
The Inertial Measurement Unit is respectively arranged on the outside of human body or so thigh, shank and sufficient face；Wherein it is connect on the outside of sufficient face
Inertial Measurement Unit connected by way of bundling belt；
The matrix form pressure sensor module is in insole shape, is placed at vola.
3. lower limb exoskeleton formula gait analysis system according to claim 1, which is characterized in that the system also includes:
For being summarized and being visualized the data analysis result of data processing module, and it is sent to by Bluetooth chip aobvious
Show the data disaply moudle of terminal.
4. lower limb exoskeleton formula gait analysis system according to claim 1, which is characterized in that the system also includes:
It is designed using isolated power supply, has the function of voltage detecting, current detecting, large capacity filtering, insulation blocking, for being each
The power module of module offer power.
5. lower limb exoskeleton formula gait analysis system according to claim 1, which is characterized in that the data acquisition module
Using embedded microcontroller as main operation chip, it is connect using LAN chip with data analysis module.
6. lower limb exoskeleton formula gait analysis system according to claim 5, which is characterized in that the embedded microcontroller
Implement body is 32 8-digit microcontrollers of ARM Cortex-M kernel.
7. lower limb exoskeleton formula gait analysis system according to claim 1, which is characterized in that the data acquisition module
It is connect using SPI and iic bus agreement with the sensor module.
8. lower limb exoskeleton formula gait analysis system according to claim 1, which is characterized in that the data analysis module
Using X86-based microprocessor as main analysis chip.
9. lower limb exoskeleton formula gait analysis system according to claim 1, which is characterized in that the communication bus is specific
For iic bus or spi bus.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108992071A (en) * | 2018-08-06 | 2018-12-14 | 上海博灵机器人科技有限责任公司 | A kind of lower limb exoskeleton formula gait analysis system |
| WO2022233138A1 (en) * | 2021-05-07 | 2022-11-10 | 深圳先进技术研究院 | Gait analysis system |
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2018
- 2018-08-06 CN CN201821253907.9U patent/CN209574702U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108992071A (en) * | 2018-08-06 | 2018-12-14 | 上海博灵机器人科技有限责任公司 | A kind of lower limb exoskeleton formula gait analysis system |
| WO2022233138A1 (en) * | 2021-05-07 | 2022-11-10 | 深圳先进技术研究院 | Gait analysis system |
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Effective date of registration: 20191218 Address after: Room 710-2, building 16, Tian'an Digital City, No. 588, Changwu South Road, Wujin national high tech Industrial Development Zone, Changzhou City, Jiangsu Province Patentee after: Boring (Changzhou) robot technology Co., Ltd Address before: 201306 Pudong New Area, Lingang New Town, Shanghai, 1150, No. 4, new port, Lingang New Port. Patentee before: Shanghai bowling Robot Technology Co., Ltd. |
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