KR102200580B1 - Harmonic motion output device of a body joints and method thereof - Google Patents

Abstract

The present invention relates to a motion analysis system, and more particularly, to an apparatus and method for outputting a harmonic motion of a body joint. To this end, in the apparatus for analyzing a harmonic motion of a body joint applied to a first part and a second part of the body and a joint 20 connecting the first part and the second part, the first part attached to the first part Wearing part 100; A first sensor 110 provided in the first wearing part 100 to detect the stretching of the first part; A second wearing part 200 attached to the second part; A second sensor 210 provided on the second wearing part 200 to detect the stretching of the second part; And a harmonic motion of the first part, the second part, and the joint 20 based on the signals 321 and 331 of the first sensor 110 and the second sensor 210. ) To output to the operation unit 300; is provided.

Description

Harmonic motion output device of a body joints and method thereof

The present invention relates to a motion analysis system, and more particularly, to an apparatus and method for outputting a harmonic motion of a body joint.

In general, in order to analyze the motion of each joint in golf swing and tennis exercise, a trajectory was tracked using a camera and a motion sensor. Since this method captures the movement of the arm or leg, it was not known how much force was exerted on the arm and leg muscles. In other words, it was difficult to grasp the degree of muscle tension and strength as only macroscopic motion coordinates were known. For this reason, the exercisers practiced to faithfully follow only the movements, and they had no choice but to learn the necessary force control by themselves.

In addition, in terms of ergonomics, there is insufficient research to quantitatively grasp the relationship between the motion and force of the arm and elbow joint and the motion and force of the leg and knee joint, and related applications (e.g.: There was a problem that the technology development of wearable robots, etc.) was delayed.

Korean Patent Publication No. 10-2016-0103852 (Publication date: September 2, 2016)

Therefore, the present invention has been devised to solve the above problems, and the object to be solved of the present invention is to measure and output the elongation according to the harmonic motion in the muscles of the body, so that the motion can be analyzed. It is to provide an exercise output device and a method thereof.

However, the technical problems to be achieved in the present invention are not limited to the technical problems mentioned above, and other technical problems that are not mentioned are clearly to those of ordinary skill in the technical field to which the present invention belongs from the following description. It will be understandable.

In order to achieve the above technical problem, in the first part and the second part of the body and the harmonic motion analysis apparatus of a body joint applied to the joint 20 connecting the first part and the second part, the first A first wearing part 100 attached to the part; A first sensor 110 provided in the first wearing part 100 to detect the stretching of the first part; A second wearing part 200 attached to the second part; A second sensor 210 provided on the second wearing part 200 to detect the stretching of the second part; And a harmonic motion of the first part, the second part, and the joint 20 based on the signals 321 and 331 of the first sensor 110 and the second sensor 210. An arithmetic motion output device for body joints, characterized in that it includes;

In addition, the first sensor 110 is a strain sensor uniformly provided in a plurality of the first wearing portion 100, the second sensor 210 is a strain sensor uniformly provided in a plurality of the second wearing portion 200 to be.

In addition, the first sensor 110 and the second sensor 210 may be formed of conductive fillers printed on the first and second wearing parts 100 and 200, respectively.

Meanwhile, the conductive filler may include at least one of gold and silver, and the conductive filler may be mixed with a stretchable polymer solution to be printed together.

Further, a third wearing part 310 attached to the body is further included, and the operation part 300 is provided on the third wearing part 310.

Further, the first part and the second part are the forearms 10 and the arms 30 or the thighs and the calves.

In addition, at least one of the first wearing portion 100 and the second wearing portion 200 includes a fabric or a polymer sheet.

In order to achieve the object of the present invention as described above, as another category, as an output method using the above-described output device, an operation unit (a) by relatively moving a second part through the joint 20 based on the first part of the body ( Checking whether the output signal 370 appears in 300 (S100); Obtaining an available range by moving the second part to a relatively maximum range through the joint 20 based on the first part (S200); Calibrating the first sensor 110 of the first wearing unit 100 and the second sensor 210 of the second wearing unit 200 through repeated movement within the usable range (S300); And when the first part, the second part, and the joint 20 are repeatedly moved, the calculation unit 300 is harmonized based on the output signals of the first sensor 110 and the second sensor 210. There is provided a method for outputting a harmonic motion of a body joint, comprising: outputting the motion output signal 370 (S400).

Further, the calibration step (S300) may include calibrating the second sensor 210 while repeatedly moving the second part while the first part is fixed (S320); And calibrating the first sensor 110 while repeatedly moving the first part while the second part is fixed (S340). It may be performed sequentially or in reverse order.

In addition, the first sensor 110 is a strain sensor whose resistance is changed while stretching according to the stretching of the first wearing part 100, and the second sensor 210 is stretching according to the stretching of the second wearing part 200 It is a strain sensor with a variable resistance.

In addition, in the output step (S400) of the output signal 370, the repetitive movement may be one of golf, tennis, table tennis, yoga, Pilates, and fitness exercises.

According to an embodiment of the present invention, it is possible to analyze the movement by measuring and outputting the elongation according to the harmonic movement in the muscles of the body. That is, it is possible to obtain scientific and quantitative data, and thus has a feature that can be used for basic design in sports science fields such as exercise physiology and application fields such as wearable robots.

In addition, there is an advantage that can be used as analysis data for muscle force control for practicing posture in sports such as golf, table tennis, and tennis.

In addition, since quantitative data can be obtained from events in which muscles are statically exerting strength, such as yoga, Pilates, fitness, and weightlifting, they can be used as educational or analysis data.

However, the effects obtainable in the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those of ordinary skill in the art from the following description. I will be able to.

The following drawings appended in the present specification illustrate preferred embodiments of the present invention, and serve to further understand the technical idea of the present invention together with the detailed description of the present invention to be described later, so the present invention is described in such drawings. It is limited to and should not be interpreted.
1 is a schematic configuration diagram of an apparatus for outputting a harmonic motion of a body joint according to an embodiment of the present invention.
FIG. 2 is a view schematically showing a state in which the output device shown in FIG. 1 is worn on an arm.
3 is a block diagram showing the configuration of the operation unit 300 in FIG. 1.
4 is a graph showing a change in resistance when the strain sensor used in the present invention is stretched over time.
5 is a graph showing a change in resistance when the harmonic motion output device according to the present invention is repeatedly stretched by 20%.
6 is a flowchart illustrating a method of outputting a harmonic motion of a body joint according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those of ordinary skill in the art may easily implement the present invention. However, since the description of the present invention is merely an embodiment for structural or functional description, the scope of the present invention should not be construed as being limited by the embodiments described in the text. That is, since the embodiments can be variously changed and have various forms, the scope of the present invention should be understood to include equivalents capable of realizing the technical idea. In addition, since the object or effect presented in the present invention does not mean that a specific embodiment should include all of them or only those effects, the scope of the present invention should not be understood as being limited thereto.

The meaning of the terms described in the present invention should be understood as follows.

Terms such as "first" and "second" are used to distinguish one component from other components, and the scope of rights is not limited by these terms. For example, a first component may be referred to as a second component, and similarly, a second component may be referred to as a first component. When a component is referred to as being "connected" to another component, it should be understood that although it may be directly connected to the other component, another component may exist in the middle. On the other hand, when it is mentioned that a component is "directly connected" to another component, it should be understood that there is no other component in the middle. On the other hand, other expressions describing the relationship between the constituent elements, that is, "between" and "just between" or "neighboring to" and "directly neighboring to" should be interpreted as well.

Singular expressions are to be understood as including plural expressions unless the context clearly indicates otherwise, and terms such as "comprises" or "have" refer to specified features, numbers, steps, actions, components, parts, or It is to be understood that it is intended to designate that a combination exists and does not preclude the presence or addition of one or more other features or numbers, steps, actions, components, parts, or combinations thereof.

All terms used herein have the same meaning as commonly understood by one of ordinary skill in the field to which the present invention belongs, unless otherwise defined. Terms defined in a commonly used dictionary should be interpreted as having the meaning of the related technology in context, and cannot be interpreted as having an ideal or excessively formal meaning unless explicitly defined in the present invention.

Example of Configuration

Hereinafter, a configuration of a preferred embodiment will be described in detail with reference to the accompanying drawings. 1 is a schematic configuration diagram of an apparatus for outputting a harmonic motion of a body joint according to an embodiment of the present invention. As shown in FIG. 1, the output device of the present invention is largely composed of a first wearing part 100, a second wearing part 200, and a third wearing part 310.

The first wearing part 100 is made of an elastic fabric or polymer sheet and has a shape that can be wrapped around an arm, leg, or joint (eg, in the form of a Velcro tape) or inserted (eg, a tosh).

The first sensor 110 is a strain sensor that is integrally printed or attached to the first wearing part 100 and stretched (stretched or decreased) together with the first wearing part 100. To this end, the first sensor 110 is prepared by mixing a conductive filler (eg, gold microparticles, silver microparticles, silver nanoparticles, etc.) into a stretchable rubber solution (eg PDMS, ECOFLEX, DAI-EL G801, etc.). 1 It is formed by printing on the surface of the wearing part 100 (eg, using an ink printer). For this reason, the resistance value of the first sensor 110 is changed while stretching together with the first wearing part 100. The change in the resistance value is sensed by the operation unit 300 as a change in voltage, so that filing is possible.

Specifically, the first sensor 110 has a "c" shape and has a configuration in which the first wires 130 are connected to both ends. Optionally, in order to increase the sensitivity of the first sensor 110, the length of the path may be lengthened by repeatedly forming a zigzag between both ends. A plurality of such first sensors 110 (eg, 2 to 10) are provided on the first wearing part 100 at uniform intervals. In addition, each of the first wirings 130 connected from the plurality of first sensors 110 are all connected to the calculation unit 300.

The second wearing unit 200 and the second sensor 210 have the same configuration as the first wearing unit 100 and the first sensor 110, respectively.

The third wearing part 310 is located between the first wearing part 100 and the second wearing part 200 and is made of the same material as the first and second wearing parts 100 and 200. Optionally, the third wearing part 310 may be integrally formed on the first wearing part 100 or the second wearing part 200.

The operation unit 300 is provided on the third wearing unit 310, and includes a flexible printed circuit (FPCB), a printed circuit board (PCB), electronic components (eg, microcomputer, memory, resistor, capacitor, etc.), input/output. It consists of a port, a power source (eg battery), and a communication unit (wired or wireless) A detailed internal configuration of the operation unit 300 will be described with reference to FIG. 3.

FIG. 2 is a view schematically showing a state in which the output device shown in FIG. 1 is worn on an arm. As shown in FIG. 2, the first wearing part 100 is tightly wound around the forearm 10 and worn, and the second wearing part 200 is tightly wound around the arm 30 and worn. Then, the third wearing part 310 is positioned at the joint 20 (elbow). On the other hand, as an optional use example, if necessary, the first wearing part 100 may be wound around the joint 20 (elbow).

3 is a block diagram showing the configuration of the operation unit 300 in FIG. 1. As shown in FIG. 3, a first input unit 320 and a second input unit 330 are provided on both sides of the operation unit 300. This is to connect the first wire 130 and the second wire 230 electrically connected from the first sensor 110 and the second sensor 210, respectively.

The first input unit 320 includes a flexible printed circuit to enable electrical connection with the moving first wiring 130, and may include a full bridge circuit and output as a voltage value. The first input unit 320 includes an analog-to-digital converter (ADC) circuit to convert the first signal 321 input through analog into a digital signal. The second input unit 330 has the same circuit configuration symmetrically as the first input unit 320.

The first amplifier 322 is provided between the first input unit 320 and the first filter 324 to amplify the input first signal 321 to a predetermined level. The first filter 324 is provided between the first amplification unit 322 and the control unit 350 to remove unnecessary noise (high frequency noise) among amplified signals. The order of the first amplifier 322 and the first filter 324 may be changed according to the circuit configuration. The second amplifying unit 332 has the same configuration as the first amplifying unit 322 and symmetrically has the same circuit connection. The second filter 334 has the same configuration as the first filter 324 and symmetrically has the same circuit connection.

The control unit 350 receives the first and second signals 321 and 331 and continuously outputs a change in a resistance value (or a change in a voltage value) according to a change in time. The control unit 350 includes a memory to store signals that are continuously output. The control unit 350 may be implemented by a CPU (central computing unit) or MICOM (microcomputer).

The output unit 360 is connected to the control unit 350 and transmits the output signal 370 generated by the control unit 350 through a port or wired/wireless communication (eg, ZigBee, Wi-Fi, infrared communication, Bluetooth, 3G, wireless LAN, etc.). Transfer to the outside.

Example of action

Hereinafter, the operation of the preferred embodiment will be described in detail with reference to the accompanying drawings. 6 is a flowchart illustrating a method of outputting a harmonic motion of a body joint according to an embodiment of the present invention. First, as shown in FIG. 2, the first wearing part 100 is firmly worn on the forearm 10, and the second wearing part 200 is firmly worn on the arm 30, so that the third wearing part 310 is placed in the joint 20 area. ) Is located.

Then, it is checked whether the output signal 370 appears to the operation unit 300 by moving the arm 30 several times while the forearm 10 is fixed (S100). This verification step (S100) can be confirmed by connecting the output signal 370 to an unillustrated measuring instrument (eg, oscilloscope or FFT) and changing a displayed waveform.

Then, while the forearm 10 is fixed, the arm 30 is moved several times between the maximum bent state and the maximum extended state. This obtains an usable range (eg, 150°) in which the arm 30 can swing to the maximum (S200).

Then, the first sensor 110 of the first wearing unit 100 and the second sensor 210 of the second wearing unit 200 are calibrated through repeated movement within the usable range (eg, 150°) ( S300). Specifically, the first and second sensors 110 and 210 are corrected while repeatedly moving the arm 30 while the forearm 10 is fixed (S320). Then, the first and second sensors 110 and 210 are corrected while repeatedly exercising the forearm 10 while the arm 30 is fixed (S340). These specific calibration steps (S320, S340) may be executed sequentially or in reverse order, or only one of the two steps may be executed and corrected.

The correction step (S300) is to obtain data within a standardized range because body characteristics are different for each wearer. Specifically, the maximum and minimum values of the first and second signals 321 and 331 are adjusted, and the signal resolution is corrected by subdividing the input signal between the maximum and minimum values (eg, 100 steps or 200 steps).

Then, the forearm 10 and the arm 30 are repeatedly moved. The movement at this moment belongs to golf, tennis, table tennis, yoga, pilates, and fitness exercises. And, if necessary, a heavy weight (for example, 5Kg) can be lifted on the hand 40 to change the force acting on the muscles. The resistance values of the first and second sensors 110 and 210 change as they are elongated, and these resistance values are the first and second signals 321 and 331 as the first and second input units 320 and 330 and the first and second signals. It is transmitted to the control unit 350 through the amplification units 322 and 332 and the first and second filters 324 and 334.

The control unit 350 generates an output signal 370 of the harmonic motion based on the input output signals (S400), and the output signal 370 thus generated is transmitted to the outside through the output unit 360. .

For reference, FIG. 4 is a graph showing a change in resistance when the first and second sensors 110 and 210 used in the present invention are stretched over time. As shown in Fig. 4, the resistance value, which was almost 0 Ω in the initial state, changes to 100 Ω when 30% is stretched, increases to about 250 Ω when 50% is stretched, and returns to 0 Ω as the elongation decreases. Can be seen.

5 is a graph showing a change in resistance when the harmonic motion output device according to the present invention is repeatedly stretched by 20%. As shown in FIG. 5, it can be seen that an output signal (eg, a sine wave curve) of a uniform harmonic motion is output over time. Therefore, by using the harmonic motion output device of the present invention, it is possible to obtain quantitative data of harmonic motion for muscles and joints.

Variation

As a modified example of the present invention, the first and second wearing parts 100 and 200 may be measured by wearing them on the thighs and calves in addition to the forearms 10 and 30, or wearing them on the waist and pelvis. In addition, the first wearing unit 100 may be worn on a joint (elbow or knee) in addition to the muscle.

Detailed description of the preferred embodiments of the present invention disclosed as described above has been provided to enable those skilled in the art to implement and implement the present invention. Although the above has been described with reference to preferred embodiments of the present invention, those skilled in the art will appreciate that various modifications and changes can be made to the present invention without departing from the scope of the present invention. For example, those skilled in the art may use the configurations described in the above-described embodiments in a manner that combines with each other. Thus, the invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

The present invention may be embodied in other specific forms without departing from the spirit and essential features of the present invention. Therefore, the detailed description above should not be construed as restrictive in all respects and should be considered as illustrative. The scope of the present invention should be determined by reasonable interpretation of the appended claims, and all changes within the equivalent scope of the present invention are included in the scope of the present invention. The invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein. In addition, the embodiments may be configured by combining claims that do not have an explicit citation relationship in the claims, or may be included as new claims by amendment after filing.

10: forearm
20: joint (elbow),
30: arm,
40: hand,
100: first wearing part,
110: first sensor,
130: first wiring,
200: second wearing part,
210: second sensor,
230: second wiring,
300: operation unit,
310: third wearing part,
320: first input unit,
321: first signal,
322: first amplification unit,
324: first filter,
330: second input unit,
331: second signal,
332: second amplification unit,
334: second filter,
350: control unit,
360: output,
370: output signal,

Claims (12)

In the apparatus for analyzing a harmonic motion of a body joint applied to a joint 20 of an elbow or a knee connecting a first part and a second part of the body and the first part and the second part,
A first wearing part 100 attached to the first part;
A first sensor 110 provided on the first wearing part 100 to detect the stretching of the first part;
A second wearing part 200 attached to the second part;
A second sensor 210 provided on the second wearing part 200 to detect the stretching of the second part;
A third wearing part 310 attached to the body between the first wearing part 100 and the second wearing part 200;
The first part provided on the third wearing part 310 and based on the first signal 321 of the first sensor 110 and the second signal 331 of the second sensor 210, Including; an operation unit 300 for outputting the harmonic motion of the second part and the joint 20 as an electrical output signal 370;
The first sensor 110 has a "c" shape and has a first wire 130 connected to both ends thereof, and a plurality of strain sensors are provided on the first wearing part 100 at uniform intervals,
The second sensor 210 is a strain sensor having a "c" shape and having second wires 230 connected to both ends thereof, and a plurality of the second wearing parts 200 being provided at uniform intervals,
The first sensor 110 and the second sensor 210 include at least one of gold particles and silver particles, and each of the first and second wearing parts 100 and 200 is stretchable. Harmonic motion output device for body joints, characterized in that formed of a conductive filler that is mixed with a polymer rubber solution and printed together. delete delete delete delete delete The method of claim 1,
The first part and the second part are forearm (10) and arm (30) or thigh and calf. The method of claim 1,
At least one of the first wearing portion 100 and the second wearing portion 200 includes a fabric or a polymer sheet. An output method using the output device according to any one of claims 1, 7, 8,
Determining whether the output signal 370 is output to the calculating unit 300 by relatively moving the second part through the joint 20 based on the first part of the body (S100);
Obtaining an available range by moving the second part to a relatively maximum range through the joint 20 based on the first part (S200);
Calibrating the first sensor 110 of the first wearing unit 100 and the second sensor 210 of the second wearing unit 200 through repeated movement within the usable range (S300); And
When the first part, the second part, and the joint 20 are repeatedly moved, the operation unit 300 adjusts based on the output signals of the first sensor 110 and the second sensor 210. Including; outputting an output signal 370 of the exercise (S400);
The calibration step (S300),
While the first part is fixed and the second part is repeatedly moved, the maximum and minimum values of the second signal 331 are adjusted, and the signal resolution is corrected by subdividing the input signal between the maximum and minimum values. 2 calibrating the sensor 210 (S320); And
The second part is fixed by repeatedly exercising the first part, adjusting the maximum and minimum values of the first signal 321 and subdividing the input signal between the maximum and minimum values to correct the signal resolution. 1 Calibrating the sensor 110 (S340); a method for outputting a harmonic motion of a body joint, characterized in that performing sequentially or in reverse order. delete The method of claim 9,
The first sensor 110 is a strain sensor whose resistance changes while stretching according to the stretching of the first wearing part 100, and
The second sensor 210 is a strain sensor whose resistance is changed while stretching according to the stretching of the second wearing part 200. The method of claim 9,
In the output step (S400) of the output signal 370, the repetitive movement is one of golf, tennis, table tennis, yoga, Pilates, and fitness exercises.

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