WO2019085139A1 - Système et procédé de mesure des paramètres d'un exercice de rééducation - Google Patents

Système et procédé de mesure des paramètres d'un exercice de rééducation Download PDF

Info

Publication number
WO2019085139A1
WO2019085139A1 PCT/CN2017/114546 CN2017114546W WO2019085139A1 WO 2019085139 A1 WO2019085139 A1 WO 2019085139A1 CN 2017114546 W CN2017114546 W CN 2017114546W WO 2019085139 A1 WO2019085139 A1 WO 2019085139A1
Authority
WO
WIPO (PCT)
Prior art keywords
angle
euler
current
rotation
nutation
Prior art date
Application number
PCT/CN2017/114546
Other languages
English (en)
Chinese (zh)
Inventor
李传华
史宏超
殳峰
Original Assignee
苏州脉吉医疗技术有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from CN201711080208.9A external-priority patent/CN108225317A/zh
Priority claimed from CN201711079127.7A external-priority patent/CN108209931B/zh
Application filed by 苏州脉吉医疗技术有限公司 filed Critical 苏州脉吉医疗技术有限公司
Publication of WO2019085139A1 publication Critical patent/WO2019085139A1/fr

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb

Definitions

  • the invention relates to the field of motion angle measurement, in particular to a measurement system and method for rehabilitation motion parameters.
  • the movement of the patient is also analyzed by detecting the angle of movement of the healing action made by the patient.
  • the angle difference calculated from the attitude angle is The value is significantly different from the actual motion angle; (2) directly using the quaternion (ie, the four-dimensional space vector) or the rotation matrix to calculate the spatial angle; however, directly calculating the spatial angle easily introduces the motion angle error in the non-main motion direction; For example, when performing hip frontal motion, if there is a rotation or an internal or external deviation, the spatial angle will include the movement angles of these non-main motion directions, resulting in a large calculated angular error; (3) directly using the elevation angle The roll angle and the heading angle are used for the difference calculation; however, the calculation method also has a singular point and is not suitable for the calculation of the motion angle of an arbitrary posture.
  • the technical problem to be solved by the present invention is to overcome the defect that the calculation method of the joint angle of the joint is large in the prior art, and to provide a defect. Measuring system and method for joint angle.
  • the invention provides a measurement system for rehabilitation exercise parameters, the measurement system comprising: an attitude sensor and a controller;
  • the posture sensor is fixed to a training part of a human rehabilitation exercise; the posture sensor is configured to acquire a quaternion of the posture of the training part and send the quaternion to the controller;
  • the controller is configured to convert the quaternion into Euler angle information of different rotation orders in an inertial coordinate system, and calculate the rehabilitation motion parameter according to the Euler angle information.
  • the rehabilitation motion parameters include: a primary angle and/or an offset angle and/or a rotation angle;
  • the first attitude sensor is configured to acquire a starting quaternion and a current quaternion of the posture of the training part and send the same to the controller;
  • the controller is configured to convert the starting quaternion into at least two initial Euler angle information of different rotation orders in an inertial coordinate system, and convert the current quaternion into an inertial coordinate system Calculating the primary angle and/or offset based on the at least two initial Euler angle information and the at least two current Euler angle information Angle and/or angle of rotation;
  • the main angle is an angle between a projection of the training site on a first plane and a second plane;
  • the first plane is a plane in which a motion path of a standard motion of rehabilitation motion is located, and the second plane is The first plane is vertical;
  • the offset angle is an angle between a projection of the training portion on the second plane and the first plane
  • the rotation angle is an angle change value of the training portion on the Z axis of the inertial coordinate system.
  • the controller includes an Euler angle conversion unit, a first calculation unit, and a first determination unit;
  • the Euler angle conversion unit converts the starting quaternion and the current quaternion into a first starting Euler angle information and a first current Euler angle of a first rotation sequence in an inertial coordinate system, respectively Information, and second start Euler angle information and second current Euler angle information of the second rotation sequence;
  • the first calculating unit calculates an estimated main angle and an estimated offset angle according to the first starting Euler angle information and the first current Euler angle information;
  • the first determining unit is configured to determine the estimated main angle as a main angle when determining that the estimated main angle is smaller than an angle threshold and the estimated main angle is smaller than the estimated offset angle; otherwise, Calling the first computing unit;
  • the first calculating unit is further configured to calculate a main angle change value in the second rotation sequence by using the following formula:
  • Main angle change value second current nutation angle - second initial nutation angle
  • the first calculation unit is further configured to calculate a main angle by the following formula:
  • Main angle sign (estimated main angle) ⁇ max (
  • the first calculating unit is further configured to calculate the main angle by using the following formula when the main angle change value is greater than 90°:
  • Main angle sign (estimated main angle) ⁇ (2 ⁇ standard angle - first starting nutation angle - first current nutation angle);
  • the estimated main angle the first current nutation angle - the first initial nutation angle
  • the first calculating unit specifically calculates the estimated offset angle by the following formula:
  • Estimated offset angle first current rotation angle - first starting rotation angle
  • the first calculation unit Calculate the estimated offset angle by the following formula:
  • Estimated offset angle second current rotation angle -sign (first current nutation angle) ⁇ 90 °;
  • the first initial Euler angle information includes a first initial nutation angle
  • the first current Euler angle information includes a first current nutation angle
  • the second current Euler angle information includes a second current nutation angle
  • the second starting Euler angle information includes a second initial nutation angle
  • the controller when calculating the main angle, includes an Euler angle conversion unit, a first calculation unit, and a first determination unit;
  • the Euler angle conversion unit converts the starting quaternion and the current quaternion into a first starting Euler angle information and a first current Euler angle of a first rotation sequence in an inertial coordinate system, respectively Information, and second start Euler angle information and second current Euler angle information of the second rotation sequence;
  • the first calculating unit calculates an estimated main angle and an estimated offset angle according to the first starting Euler angle information and the first current Euler angle information;
  • the first determining unit is configured to determine the estimated main angle as a main angle when determining that the estimated main angle is smaller than an angle threshold and the estimated main angle is smaller than the estimated offset angle; otherwise, Calling the first computing unit;
  • the first calculating unit is further configured to calculate a main angle change value in the second rotation sequence by using the following formula:
  • the main angle change value the second current nutation angle ⁇ 90 °;
  • the first calculation unit is further configured to calculate a main angle by the following formula:
  • Main angle sign (estimated main angle) ⁇ max (
  • the first calculating unit is further configured to calculate the main angle by using the following formula when the main angle change value is greater than 90°:
  • Main angle sign (estimated main angle) ⁇ (2 ⁇ standard angle - first starting nutation angle - first current nutation angle);
  • the estimated main angle the first current nutation angle
  • the first calculating unit specifically calculates the estimated offset angle by the following formula:
  • Estimated offset angle first current rotation angle -sign (first starting rotation angle) ⁇ 90 °;
  • the first calculation unit Calculate the estimated offset angle by the following formula:
  • Estimated offset angle second current rotation angle -sign (first current nutation angle) ⁇ 90 °;
  • the first current Euler angle information includes a first current rotation angle and a first current nutation angle
  • the first starting Euler angle information includes a first initial rotation angle and a first initial nutation angle
  • the second The current Euler angle information includes a second current rotation angle and a second current nutation angle.
  • the first determining unit is further configured to determine whether the first current nutation angle is smaller than the second current nutation angle
  • the first calculating unit calculates the offset angle by the following formula:
  • Offset angle first current rotation angle - first starting rotation angle
  • the first calculating unit calculates the offset angle by the following formula:
  • Offset angle first current rotation angle -sign (first starting rotation angle) ⁇ 90 °;
  • the first calculating unit calculates the offset angle by the following formula:
  • Offset angle second current rotation angle -sign (second starting rotation angle) ⁇ 90 °;
  • the first starting Euler angle information further includes a first starting rotation angle
  • the second starting Euler angle information further includes a second starting rotation angle
  • the rehabilitation exercise parameter comprises: an angle of joint
  • the second attitude sensor is configured to acquire a first quaternion of the posture of the training part and send the same to the controller;
  • the controller is configured to convert the first quaternion to at least two Euler angle information of different rotation orders in an inertial coordinate system
  • the third attitude sensor is configured to acquire a second quaternion of the posture of the training part and send the same to the controller;
  • the controller is further configured to convert the second quaternion to at least two Euler angle information of the different rotation order in an inertial coordinate system;
  • the controller is further configured to calculate a joint angle of the training portion based on the at least four Euler angle information.
  • the controller comprises an Euler angle conversion unit, a second calculation unit, a third calculation unit and a second determination unit;
  • the Euler angle conversion unit converts the first quaternion and the second quaternion into the first Euler angle information of the first rotation order in the inertial coordinate system, respectively And second Euler angle information, and third Euler angle information and fourth Euler angle information of the second rotation sequence;
  • the second determining unit is configured to determine whether an absolute value of the first chapter moving angle is smaller than a first threshold; when the determination is no, the second calculating unit is called; when the determination is yes, the third calculating unit is called ;
  • the second calculating unit is specifically configured to calculate the joint angle by the following formula when the product of the first chapter moving angle and the second chapter moving angle is greater than 0:
  • the second calculating unit is further configured to calculate the joint angle by the following formula when the product of the first chapter moving angle and the second chapter moving angle is less than 0:
  • the third calculating unit is specifically configured to calculate the joint angle by the following formula when the product of the predicted angle and the fourth chapter moving angle is greater than zero:
  • Joint angle 180 ° -
  • the third calculating unit is further configured to calculate the joint clip by the following formula when the product of the predicted angle and the fourth chapter moving angle is less than 0. angle:
  • Joint angle
  • the predicted angle the first chapter moving angle + sign (third chapter moving angle) ⁇ 90 °;
  • the first Euler angle information includes a first nutation angle
  • the second Euler angle information includes a second nutation angle
  • the third Euler angle information includes a third nutation angle
  • the pull angle information includes the fourth chapter dynamic angle.
  • the controller comprises an Euler angle conversion unit and a fourth calculation unit;
  • the Euler angle conversion unit converts the first quaternion and the second quaternion into a third Euler angle information of the second rotation order in the inertial coordinate system, respectively And the fourth Euler angle information;
  • the fourth calculation unit is configured to calculate an angle of joint by the following formula:
  • the third Euler angle information includes a third rotation angle
  • the fourth Euler angle information includes a fourth rotation angle
  • the controller further includes a third determining unit
  • the fourth calculating unit is further configured to calculate the first temporary angle by the following formula:
  • the third determining unit is further configured to determine whether an absolute value of the first temporary angle is greater than a second threshold, and when the determination is yes, invoke the fourth calculating unit;
  • the fourth calculating unit is further configured to perform fault tolerance processing on the joint angle by using the following formula to obtain a target joint angle:
  • Target joint angle 180° -
  • the controller comprises an Euler angle conversion unit and a fifth calculation unit;
  • the Euler angle conversion unit converts the first quaternion and the second quaternion into a third Euler angle information of the second rotation order in the inertial coordinate system, respectively And the fourth Euler angle information;
  • the fifth calculation unit is for calculating an angle of joint by the following formula:
  • the third Euler angle information includes a third precession angle
  • the fourth Euler angle information includes a fourth precession angle
  • the controller further includes a fourth determining unit
  • the fifth calculating unit is further configured to calculate the second temporary angle by the following formula:
  • Second temporary angle
  • the fourth determining unit is further configured to determine whether an absolute value of the second temporary angle is greater than a second threshold
  • the fifth calculating unit is further configured to perform fault tolerance processing on the joint angle by using the following formula to obtain a target joint angle:
  • Target joint angle 180° -
  • the controller comprises an Euler angle conversion unit, a fifth determination unit and a sixth calculation unit;
  • the Euler angle conversion unit converts the first quaternion and the second quaternion into the first Euler angle information of the first rotation order in the inertial coordinate system, respectively And second Euler angle information, and third Euler angle information and fourth Euler angle information of the second rotation sequence;
  • the fifth determining unit is further configured to determine whether an absolute value of the second chapter moving angle is smaller than a first threshold
  • the sixth calculating unit calculates the joint angle by the following formula:
  • Joint angle 180° -
  • the sixth calculating unit is further configured to calculate the joint angle by the following formula:
  • the second Euler angle information includes a second chapter angle
  • the third Euler angle information includes a third rotation angle
  • the fourth Euler angle information includes a fourth chapter movement angle
  • the present invention also provides a method for measuring a rehabilitation exercise parameter, the measurement method being implemented using the above-described measurement system, the measurement method comprising the following steps:
  • Quaternion S 1 the sensor acquires the posture of the posture of the training site and sent to the controller;
  • the controller converts the quaternion into Euler angle information of different rotation orders in an inertial coordinate system
  • the controller calculates the rehabilitation motion parameter according to the Euler angle information.
  • the rehabilitation motion parameters include: an offset angle and/or an offset angle and/or a rotation angle
  • Step S 1 comprises:
  • the first attitude sensor acquires a starting quaternion and a current quaternion of the posture of the training part and sends the same to the controller;
  • Step S 2 comprises:
  • the controller converts the initial quaternion into at least two initial Euler angle information of different rotation orders in an inertial coordinate system, and converts the current quaternion into an inertial coordinate system At least two current Euler angle information of the different rotation order;
  • Step S 3 comprises:
  • the controller calculates the primary angle and/or the offset angle and/or the rotation angle according to the at least two initial Euler angle information and the at least two current Euler angle information;
  • the main angle is an angle between a projection of the training site on a first plane and a second plane;
  • the first plane is a plane in which a motion path of a standard motion of rehabilitation motion is located, and the second plane is The first plane is vertical;
  • the offset angle is an angle between a projection of the training portion on the second plane and the first plane
  • the rotation angle is an angle change value of the training portion on the Z axis of the inertial coordinate system.
  • the step S 2 the initial and the current quaternion quaternion rotation are converted into a first sequence in a first coordinate system INS start information and the first current Euler angles Euler angles Information, and second start Euler angle information and second current Euler angle information of the second rotation sequence;
  • Step S 3 in accordance with the Euler angles of the at least two initial information and the current step of the at least two primary Euler angles of the angle information calculating comprises:
  • step S32-1 determining whether the estimated main angle is smaller than an angle threshold and whether the estimated main angle is smaller than the estimated offset angle; when the determination is yes, performing step S33-1 ;
  • step S 33-1 ' When performing step S 33-1 ';
  • Main angle change value second current nutation angle - second initial nutation angle
  • Main angle sign (estimated main angle) ⁇ max (
  • the main angle change value is greater than 90°
  • the main angle is calculated by the following formula:
  • Main angle sign (estimated main angle) ⁇ (2 ⁇ standard angle - first starting nutation angle - first current nutation angle);
  • the estimated main angle is calculated in the step S 31-1 by the following formula:
  • Estimated main angle first current nutation angle - first initial nutation angle
  • the estimated offset angle is calculated by the following formula:
  • Estimated offset angle first current rotation angle - first starting rotation angle
  • the specific formula is calculated by the following formula Estimate the offset angle:
  • Estimated offset angle second current rotation angle -sign (first current nutation angle) ⁇ 90 °;
  • the first initial Euler angle information includes a first initial nutation angle
  • the first current Euler angle information includes a first current nutation angle
  • the second current Euler angle information includes a second current nutation angle
  • the second starting Euler angle information includes a second initial nutation angle
  • the step S 2 the initial and the current quaternion quaternion rotation are converted into a first sequence in a first coordinate system INS start information and the first current Euler angles Euler angles Information, and second start Euler angle information and second current Euler angle information of the second rotation sequence;
  • Step S 3 in accordance with the Euler angles of the at least two initial information and the current step of the at least two primary Euler angles of the angle information calculating comprises:
  • step S32-2 determining whether the estimated main angle is smaller than an angle threshold and whether the estimated main angle is smaller than the estimated offset angle; when the determination is yes, performing step S23-3 ; When performing step S33-2 ';
  • the main angle change value the second current nutation angle ⁇ 90 °;
  • Main angle sign (estimated main angle) ⁇ max (
  • the main angle change value is greater than 90°
  • the main angle is calculated by the following formula:
  • Main angle sign (estimated main angle) ⁇ (2 ⁇ standard angle - first starting nutation angle - first current nutation angle);
  • the estimated main angle is calculated in step S 31-2 by the following formula:
  • the estimated offset angle is calculated by the following formula:
  • Estimated offset angle first current rotation angle -sign (first starting rotation angle) ⁇ 90 °;
  • the specific formula is calculated by the following formula Estimate the offset angle:
  • Estimated offset angle second current rotation angle -sign (first current nutation angle) ⁇ 90 °;
  • the first current Euler angle information includes a first current rotation angle and a first current nutation angle
  • the first starting Euler angle information includes a first initial rotation angle and a first initial nutation angle
  • the second The current Euler angle information includes a second current rotation angle and a second current nutation angle.
  • the step S 3 in accordance with the Euler angles of the at least two initial information and the current step of the at least two information calculating Euler angles of the offset angle comprises:
  • Offset angle first current rotation angle - first starting rotation angle
  • the offset angle the first current rotation angle -sign (first starting rotation angle) ⁇ 90 °;
  • Offset angle second current rotation angle -sign (second starting rotation angle) ⁇ 90 °;
  • the first starting Euler angle information further includes a first starting rotation angle
  • the second starting Euler angle information further includes a second starting rotation angle
  • the rehabilitation exercise parameter comprises: an angle of joint
  • Step S 1 comprises:
  • the first attitude sensor acquires a first quaternion of the posture of the training part
  • the second attitude sensor acquires a second quaternion of the posture of the training part
  • Step S 2 comprises:
  • the controller converts the first quaternion into at least two Euler angle information of different rotation orders in an inertial coordinate system, and converts the second quaternion into the inertial coordinate system At least two Euler angle information for different rotation orders;
  • Step S 3 comprises:
  • the controller calculates an angle of joint of the training site based on at least four Euler angle information.
  • the controller sets the first and the second quaternion quaternion rotation are converted into a first sequence in a first INS coordinates information and the Euler angles Two Euler angle information, and third Euler angle information and fourth Euler angle information of the second rotation sequence;
  • the step of calculating the joint angle of the training portion according to the at least four Euler angle information specifically includes:
  • step S 3-1a determining whether the absolute value of the first chapter moving angle is smaller than the first threshold; when the determination is no, step S 3-2a is performed ; when the determination is YES, executing step S 3-3a ;
  • step S 3-2a specifically includes:
  • the joint angle is calculated by the following formula:
  • the joint angle is calculated by the following formula:
  • step S 3-3a specifically includes:
  • Joint angle 180 ° -
  • the joint angle is calculated by the following formula:
  • Joint angle
  • the predicted angle the first chapter moving angle + sign (third chapter moving angle) ⁇ 90 °;
  • the first Euler angle information includes a first nutation angle
  • the second Euler angle information includes a second nutation angle
  • the third Euler angle information includes a third nutation angle
  • the pull angle information includes the fourth chapter dynamic angle.
  • the step S 2 the first and the second quaternion quaternion Euler angles are converted into the third information and the fourth information of the second Euler angle rotation sequence of the INS coordinates ;
  • the step of calculating the joint angle of the training portion according to the at least four Euler angle information specifically includes:
  • the third Euler angle information includes a third rotation angle
  • the fourth Euler angle information includes a fourth rotation angle
  • the method further includes:
  • step S 3-3b determining whether the absolute value of the first temporary angle is greater than a second threshold, and when the determination is yes, performing step S 3-4b ;
  • the fault angle of the joint angle is calculated by the following formula to obtain the target joint angle:
  • Target joint angle 180° -
  • the step S 2 the first and the second quaternion quaternion Euler angles are converted into the third information and the fourth information of the second Euler angle rotation sequence of the INS coordinates ;
  • Step S 3 comprises:
  • the third Euler angle information includes a third precession angle
  • the fourth Euler angle information includes a fourth precession angle
  • the method further includes:
  • Second temporary angle
  • step S 3-3c determining whether the absolute value of the second temporary angle is greater than a second threshold; when the determination is yes, performing step S 3-4c ;
  • the joint angle is fault-tolerant by the following formula to obtain the target joint angle:
  • Target joint angle 180° -
  • the step S 2 the first and the second quaternion quaternion Euler angles are converted into the first information and the second information of the first Euler angle rotation sequence of the INS coordinates And third Euler angle information and fourth Euler angle information of the second rotation sequence;
  • Step S 3 comprises:
  • step S 3-1d determining whether the absolute value of the second chapter moving angle is smaller than the first threshold; when the determination is no, step S 3-2d is performed ; when the determination is YES, executing step S 3-3d ;
  • Joint angle 180° -
  • the second Euler angle information includes a second chapter angle
  • the third Euler angle information includes a third rotation angle
  • the fourth Euler angle information includes a fourth chapter movement angle
  • the positive progress of the present invention is that the present invention combines the Euler angles in the multi-rotation order to calculate the main angle on the basis of the attitude quaternion, avoids the singular points, and can accurately represent the movement angle of the training part of the patient. It has special significance for judging the quality of the action made by the patient, the error of the movement, and understanding the initial position of the patient.
  • FIG. 1 is a schematic structural view of a measurement system for a rehabilitation exercise parameter according to Embodiment 1 of the present invention.
  • FIG. 2 is a first schematic structural view of a controller in a measurement system for a rehabilitation exercise parameter according to Embodiment 1 of the present invention.
  • FIG. 3 is a second schematic structural view of a controller in a measurement system for a rehabilitation exercise parameter according to Embodiment 1 of the present invention.
  • FIG. 4 is a schematic structural view of a controller in a measurement system for a rehabilitation exercise parameter according to Embodiment 3 of the present invention.
  • FIG. 5 is a schematic structural diagram of a controller in a measurement system for a rehabilitation exercise parameter according to Embodiment 4 of the present invention.
  • FIG. 6 is a schematic structural view of a controller in a measurement system for rehabilitation exercise parameters according to Embodiment 5 of the present invention.
  • Fig. 7 is a flow chart showing a method of measuring a rehabilitation exercise parameter according to a sixth embodiment of the present invention.
  • FIG. 8a is a first flowchart of calculating a main angle in step 130 of the method for measuring rehabilitation exercise parameters according to Embodiment 6 of the present invention.
  • Figure 8b is a second flow chart for calculating the main angle in the step 130 of the method for measuring the rehabilitation exercise parameters according to the sixth embodiment of the present invention.
  • Fig. 9 is a flow chart showing the calculation of the offset angle in the step 130 of the method for measuring the rehabilitation motion parameters according to the sixth embodiment of the present invention.
  • Fig. 10 is a flow chart showing the calculation of the joint angle in the step 130 of the method for measuring the rehabilitation exercise parameters according to the sixth embodiment of the present invention.
  • Figure 11 is a flow chart for calculating the joint angle in the step 130 of the method for measuring the rehabilitation exercise parameters according to the eighth embodiment of the present invention.
  • Figure 12 is a flow chart for calculating the joint angle in the step 130 of the method for measuring the rehabilitation exercise parameters according to the ninth embodiment of the present invention.
  • Fig. 13 is a flow chart showing the calculation of the joint angle in the step 130 of the method for measuring the rehabilitation exercise parameters according to the tenth embodiment of the present invention.
  • the measurement system of the present embodiment is for measuring a human rehabilitation exercise parameter
  • the rehabilitation exercise parameter includes at least one of the following parameters: a main angle, an offset angle, a rotation angle, and a joint angle.
  • the main angle is the angle between the projection of the training part (four limbs or the trunk) on the first plane and the second plane;
  • the first plane is the plane of the motion path of the standard motion of the rehabilitation motion, the second plane and the first plane vertical.
  • the offset angle is the angle between the projection of the training part on the second plane and the first plane. Taking the hip joint front movement as an example, the offset angle is the angle of the abduction direction inside the thigh.
  • the rotation angle is the angle change value of the training part on the Z axis of the inertial coordinate system. Taking the hip joint front motion as an example, the rotation angle is the difference angle between the training position and the initial position due to the rotation of the training part.
  • the main angle or the angle of the joint is the main parameter for measuring the quality of the movement. Only when the main angle reaches the standard angle of the standard movement as much as possible, the quality of the rehabilitation training will be higher and the training effect is better. Of course, two or three or four motion parameters can also be used to evaluate whether the action made by the patient is up to standard.
  • the measurement system of the present embodiment includes an attitude sensor 1, a controller 2, and an alarm 3. It should be noted that when calculating the main angle, the offset angle and the rotation angle, an attitude sensor is theoretically required to implement the calculation. If a plurality of attitude sensors are provided, the results obtained by the plurality of attitude sensors can be averaged or fitted. . At least two attitude sensors are required to calculate the angle of the joint.
  • the attitude sensor that calculates the main angle, the offset angle, and the rotation angle is referred to as a first attitude sensor
  • the attitude sensor that calculates the angle of the joint is referred to as a second attitude sensor and a third attitude sensor.
  • the attitude sensor may specifically be a 6-axis or a 9-axis sensor.
  • the posture sensor is fixed to the training part of the human body rehabilitation exercise, and the posture sensor is fixed on the training thigh by taking the standing hip joint forward motion as an example.
  • the posture sensor is worn on the outer side of the thigh, and when in the standard standing position, the Y-axis of the body coordinate system of the attitude sensor coincides with the Z-axis of the inertial coordinate system (that is, the northeast sky coordinate system).
  • the posture sensor obtains the starting quaternion of the posture of the training part (the quaternion of the posture of the patient before the rehabilitation action), and the initial quaternion coordinate is Pos1 (Q0, Q1, Q2, Q3). ).
  • the attitude sensor When the patient makes hip joint motion, the attitude sensor obtains the current quaternion of the posture of the training part in real time (the quaternion of the posture of the patient after hip joint motion), and the current quaternion coordinate is Pos2 (Q0', Q1' , Q2', Q3'). The attitude sensor is also used to send the starting quaternion and the current quaternion to the controller.
  • the controller specifically includes an Euler angle conversion unit 21, a first calculation unit 221, and a first determination unit 231.
  • the controller converts the starting quaternion obtained by the attitude sensor into at least two initial Euler angle information of different rotation orders in the INS coordinate system, and converts the current quaternion into the difference in the INS coordinate system Rotating at least two current Euler angle information in sequence, and calculating a primary angle and/or an offset angle and/or a rotation angle based on the at least two starting Euler angle information and the two current Euler angle information.
  • the two rotation sequences of ZYX and ZXY are used for the algorithm description.
  • AngleX zyx Atan2 (2 ⁇ (Q0 ⁇ Q1 + Q2 ⁇ Q3), 1-2 ⁇ (Q1 ⁇ Q1 + Q2 ⁇ Q2));
  • AngleY zyx Asin(2 ⁇ (Q0 ⁇ Q2-Q3 ⁇ Q1));
  • AngleZ zyx Atan2 (2 ⁇ (Q0 ⁇ Q3 + Q1 ⁇ Q2), 1-2 ⁇ (Q2 ⁇ Q2 + Q3 ⁇ Q3));
  • AngleX zxy Asin (2 ⁇ (Q0 ⁇ Q1 + Q3 ⁇ Q2));
  • AngleY zxy Atan2 (2 ⁇ (Q0 ⁇ Q2 - Q1 ⁇ Q3), 1-2 ⁇ (Q1 ⁇ Q1 + Q2 ⁇ Q2));
  • AngleZ zxy Atan2 (2 ⁇ (Q0 ⁇ Q3 - Q1 ⁇ Q2), 1-2 ⁇ (Q1 ⁇ Q1 + Q3 ⁇ Q3));
  • AngleX zyx (first initial rotation angle), AngleY zyx (first initial nutation angle) and AngleZ zyx (first initial precession angle) are the first of the first rotation order (ZYX) in the inertial coordinate system.
  • Information contained in the initial Euler angle information; AngleX zxy (second initial nutation angle), AngleY zxy (second initial rotation angle), and AngleZ zxy (second initial precession angle) are the second in the inertial coordinate system
  • the Euler angle conversion unit calculates the first current Euler angle information of the first rotation order (ZYX) in the inertial coordinate system according to Pos2 (Q0', Q1', Q2', Q3'), the first current Euler angle
  • the angular information includes AngleX' zyx (first current rotation angle), AngleY' zyx (first current nutation angle), and AngleZ' zyx (first current precession angle), and the second rotation order in the inertial coordinate system (ZXY)
  • Second current Euler angle information the second current Euler angle information includes AngleX' zxy (second current nutation angle), AngleY' zxy (second current rotation angle), and AngleZ' zxy (second current precession) angle).
  • the main angle is mainly calculated by AngleY zyx , AngleY' zyx , AngleX zxy , AngleY' zxy, and AngleX' zxy .
  • the first calculating unit first calculates the estimated main angle PrMainAngle and the estimated offset angle PrSideAngle according to the first starting Euler angle information and the first current Euler angle information, and the calculation formula is as follows:
  • PrMainAngle AngleY' zyx -AngleY zyx ;
  • the first determining unit determines whether the estimated main angle is smaller than the angle threshold.
  • the angle threshold is typically 90°.
  • the first calculating unit is called to calculate the main angle, specifically:
  • the first calculating unit calculates a main angle change value AngleZXY in the second rotation order according to the second start Euler angle information and the second current Euler angle information;
  • AngleZXY AngleX' zxy -AngleX zxy ;
  • the first calculating unit specifically calculates the main angle MainAngle by the following formula:
  • MainAngle sign(PrMainAngle) ⁇ max(
  • the first calculation unit can also calculate the main angle MainAngle by the following formula:
  • MainAngle sign(PrMainAngle) ⁇ (2 ⁇ standard angle-AngleY zyx -AngleY′ zyx );
  • the standard angle is selected according to actual needs, for example, it can be 90° or -90°.
  • the main angle of the rehabilitation exercise made by the patient can be accurately obtained, so that whether the rehabilitation movement made by the patient is up to standard can be determined by judging whether the main angle reaches the standard angle.
  • the offset angle is mainly calculated by AngleX zyx , AngleX' zyx , AngleY zxy, and AngleY' zxy .
  • AngleX′ zyx and AngleY′ zxy will have a 180° compensation change.
  • the main angle is less than 90°, the difference is directly made.
  • the main angle is greater than 90°, the angle compensation is needed after the difference;
  • AngleX' zyx can reflect the change of the offset angle very well.
  • AngleX' zyx is affected by the main angle. Large, while AngleY' zxy can reflect the current deflection angle very well.
  • the first determining unit When calculating the offset angle, the first determining unit first determines whether the first current nutation angle is smaller than the second current nutation angle.
  • the first calculation unit calculates the offset angle SideAngle by the following formula:
  • the first calculation unit calculates the offset angle SideAngle by the following formula:
  • the offset angle is mainly used to measure the degree of left and right deviation of the rehabilitation motion and the standard motion made by the patient.
  • the rehabilitation motion of the patient can also be evaluated by means of the offset angle, and the absolute value of the deflection angle is larger. The greater the difference between the action and the standard action, the lower the action quality.
  • the first calculating unit may also validate the offset angle and limit it to (-180, 180) to implement the judgment and filtering of the wrong action.
  • SideAngle' is the final offset angle after being effectively processed.
  • RotationAngle AngleZ' zyx -AngleZ zyx ;
  • AngleZ' zyx characterizes the current angle of the training part on the Z axis of the inertial coordinate system
  • AngleZ zyx characterizes the starting angle of the training part on the Z axis of the inertial coordinate system.
  • the rotation angle is used to measure the rotational deviation of the position of the individual's habits and the standard position during the movement.
  • the angle is only used as a reference.
  • At the time of rehabilitation training at least two posture sensors are fixed to the training site of the human rehabilitation exercise. Taking the angle of the knee joint as an example, the attitude sensor is fixed to the side of the training thigh and calf. When in the standard standing position, the posture sensor body sits. The Y-axis of the singularity coincides with the Z-axis of the INS coordinate system (ie, the Northeast celestial coordinate system).
  • the two attitude sensors are referred to as a second attitude sensor A and a third attitude sensor B, respectively.
  • the second attitude sensor A acquires the first quaternion of the posture of the training part in real time and sends it to the controller, and the first quaternion coordinate is Pos1 (Q0, Q1, Q2, Q3).
  • the third attitude sensor B acquires the second quaternion of the posture of the training part in real time and sends it to the controller, and the second quaternion coordinate is Pos2 (Q0', Q1', Q2', Q3').
  • attitude sensors can be set according to the data requirements. Of course, the more the number, the more accurate the measurement results will be.
  • the joint angle can be calculated by any two attitude sensors, and then the calculated multiple joint angles are averaged.
  • the controller includes a Euler angle conversion unit 21, a second calculation unit 222, a third calculation unit 223, and a second determination unit 232.
  • the controller converts the first quaternion into at least two Euler angle information of different rotation orders in the inertial coordinate system, and converts the second quaternion into at least two of the different rotation orders in the inertial coordinate system
  • the Euler angle information and the joint angle of the training site is calculated based on at least four Euler angle information.
  • AngleXA zxy (first chapter moving angle), AngleYA zxy (first rotation angle) and AngleZA zxy (first precession angle) are the first European order of the first rotation order (ZXY) in the inertial coordinate system.
  • the information contained in the pull angle information; AngleXA zyx (third rotation angle), AngleYA zyx (third chapter dynamic angle) and AngleZA zyx (third precession angle) are the second rotation order (ZYX) in the inertial coordinate system
  • the information contained in the third Euler angle information The information contained in the third Euler angle information.
  • AngleXB zxy (Chapter 2 dynamic angle), AngleYB zxy (second rotation angle) and AngleZB zxy (second precession angle) are the second Euler angle information of the first rotation order (ZXY) in the inertial coordinate system. Contained information; AngleXB zyx (fourth rotation angle), AngleYB zyx (fourth movement angle) and AngleZB zyx (fourth precession angle) are the fourth rotation of the second rotation order (ZYX) in the inertial coordinate system The information contained in the pull angle information.
  • the Z-axis of the body coordinate system of the attitude sensor is The size of the legs is vertical, and the direction is parallel to the left and right direction of the human body, so that when the patient performs training exercises such as standing position, sitting position, and supine position, the angle change of the knee joint angle is expressed on the Y axis.
  • the controller calculates the angle of the joint by:
  • the second determining unit determines whether there is a sensor in the vicinity of the singularity position, taking the attitude sensor A in the vicinity of the singularity point of (ZYX) as an example, and the second determining unit determines whether the absolute value of the AngleXA zxy is smaller than the first threshold, wherein the first threshold Usually 5°.
  • the second calculating unit is called to calculate the joint angle based on the third Euler angle information and the fourth Euler angle information.
  • the third calculation unit is called to calculate the joint angle based on the first Euler angle information, the third Euler angle information, and the fourth Euler angle information. .
  • the second calculating unit calculates the angle of the joint, first determine the sign of AngleXA zxy and AngleXB zxy .
  • the second calculation unit calculates the joint angle TwoSensorAngle by the following formula:
  • TwoSensorAngle 180°-
  • the second calculation unit calculates the joint angle by the following formula:
  • TwoSensorAngle
  • the third calculation unit calculates the joint angle by the following formula:
  • TwoSensorAngle 180°-
  • the third calculation unit calculates the joint angle by the following formula:
  • TwoSensorAngle
  • the alarm module 3 is configured to determine whether the main angle and/or the offset angle and/or the rotation angle and/or the joint angle are within respective threshold ranges, and issue a prompt message when the judgment is no, to remind The patient's movements are not up to standard and the direction or magnitude of the movement needs to be changed.
  • the prompt information may be outputted in the form of voice, or may be outputted in the form of text, and the prompt information may include information such as direction information and magnitude of the patient's deviation.
  • the calculation process of the three angles of the present invention is only described by the two rotation sequences of ZYX and ZXY.
  • the user can, but is not limited to, ZYX and ZXY as the selection rotation order, and the number is not limited to two. It can be three or more, and generally has the following rotation order: ZYX', 'ZYZ', 'ZXY', 'ZXZ', 'YXZ', 'YXY', 'YZX', 'YZY', 'XYZ', 'XYZ', 'XYZ' and 'XZX'.
  • the rotation order is selected, the two rotation orders with the same singular point cannot be selected.
  • the Euler angles in the multi-rotation sequence are fused to calculate the main angle, the offset angle, and the rotation angle of the joint angle, thereby avoiding the singular points and accurately characterizing the patient.
  • the joint angle of the training site has special significance for judging the quality of the action made by the patient, the motion error, and understanding the patient's initial standing habit.
  • Embodiment 2 is basically the same as Embodiment 1, except that in this embodiment, a standard position is defined for each rehabilitation exercise (when the main angle, the offset angle, and the rotation angle are both 0°), that is, the standard is Bit as the start bit.
  • the first calculation unit calculates the estimated main angle and the estimated offset angle according to the following formula:
  • PrMainAngle AngleY' zyx ;
  • PrSideAngle AngleX' zyx ⁇ 90°
  • the first calculating unit calculates the main angle change value AngleZXY in the second rotation sequence according to the following formula:
  • AngleZXY AngleX' zxy ⁇ 90°
  • the sign is selected according to the angle corresponding to the initial position.
  • the first calculating unit specifically calculates the main angle MainAngle by the following formula:
  • the first calculation unit can also calculate the main angle MainAngle by the following formula:
  • MainAngle sign(PrMainAngle) ⁇ (2 ⁇ standard angle-AngleY zyx -AngleY′ zyx ).
  • the standard angle is selected according to actual needs, for example, it can be 90° or -90°.
  • the two angle calculation methods (the angle calculation method in Embodiment 1 and the angle calculation method in Embodiment 2) can be stored in the controller at the same time, so that the rehabilitation engineer or the user can select and use according to actual needs.
  • the angle calculation method of the initial position is still the angle calculation method using the standard position.
  • This embodiment provides another possible implementation manner for calculating the angle of the joint.
  • the structure of the measurement system is basically the same as that of the embodiment 1, as shown in FIG. 4, except that the controller in this embodiment specifically includes Euler.
  • the knee joint angle is taken as an example.
  • the attitude sensor A and the attitude sensor B are both fixed on the front or the back of the trained thigh and calf.
  • the posture sensor body When in the standard standing position, the posture sensor body The Y-axis of the coordinate system coincides with the Z-axis of the INS coordinate system (that is, the northeast celestial coordinate system), and the Z-axis is perpendicular to the large and small legs, and the direction is perpendicular to the left-right direction of the human body, so that when the patient makes a standing position, a sitting position, and a supine position
  • the angle of the knee joint is expressed on the X-axis or the Y-axis.
  • the Euler angle conversion unit converts the first quaternion number and the second quaternion number into the third Euler angle information and the fourth Euler angle information of ZYX, respectively.
  • the formula conversion process of the Euler angle conversion unit is basically the same as that in Embodiment 1, and details are not described herein again.
  • the fourth calculating unit calculates TwoSensorAngle by the following formula:
  • TwoSensorAngle 180°-
  • the first temporary angle TempAngle1 is obviously not in the effective range, and the value needs to be effectively processed. Specifically:
  • the fourth calculation unit calculates the first temporary angle TempAngle1 by the following formula:
  • TempAngle1 AngleXA zyx -AngleXB zyx .
  • the third determining unit determines whether
  • the alarm module is further configured to determine whether the target joint angle is within the target angle threshold, and issue a prompt message when the determination is negative.
  • the measuring system of the embodiment is suitable for measuring the angle of the joint of the patient to perform the lateral position action
  • the posture sensor can be disposed at the front or the back of the training part (the Z axis of the body coordinate system of the posture sensor is perpendicular to the size leg, and the direction Vertically to the left and right direction of the human body, they may also be disposed on the side of the training site (the Z axis of the body coordinate system of the attitude sensor is perpendicular to the size leg and the direction is parallel to the left and right direction of the human body).
  • the structure of the measurement system is substantially the same as any of the above embodiments, as shown in FIG. 5, except that the controller of the present embodiment includes a Euler angle conversion unit 21, a fifth calculation unit 225, and a fourth determination unit 234.
  • the Euler angle conversion unit converts the first quaternion number and the second quaternion number into the third Euler angle information and the fourth Euler angle information of ZYX, respectively.
  • the formula conversion process of the Euler angle conversion unit is basically the same as any of the above embodiments, and details are not described herein again.
  • the fifth computing unit calculates TwoSensorAngle by:
  • TwoSensorAngle 180°-
  • the second temporary angle TempAngle2 is obviously not in the effective range, and the value needs to be effectively processed. Specifically:
  • the fifth calculating unit calculates the second temporary angle TempAngle2 by the following formula:
  • TempAngle2 AngleZA zyx -AngleZB zyx .
  • the fourth determining unit determines whether
  • the fifth calculation unit performs fault tolerance processing on the joint angle by the following formula to obtain the target joint angle TwoSensorAngle':
  • the measuring system of the embodiment is suitable for the case where the initial posture is different by 90° on the Z axis (the angular changes of the attitude sensor are not on the Z axis), and the structure of the measuring system is basically the same as any of the above embodiments, as shown in FIG. The difference is that, in this embodiment, the controller includes the Euler angle conversion unit 21, the sixth calculation unit 226, and the fifth determination unit 235.
  • the Euler angle conversion unit converts the first quaternion number and the second quaternion number into the third Euler angle information and the fourth Euler angle information of ZYX, respectively.
  • the formula conversion process of the Euler angle conversion unit is basically the same as any of the above embodiments, and details are not described herein again.
  • the posture sensor A is worn on the chest and the posture sensor B is worn on the lateral side of the thigh according to the actual movement and wearing condition, and the angle between the joints, that is, the angle between the two sensors is calculated.
  • angle AngleXA zyx desired performance on the attitude sensor A, in the performance of the posture sensor AngleYB zyx B.
  • the fifth determining unit determines whether there is a sensor in the vicinity of the singularity position, taking the attitude sensor B in the vicinity of the singular point of (ZYX) as an example, and the fifth determining unit determines whether
  • TwoSensorAngle 180°-
  • the compensation angle can be determined according to the actual situation, generally 90 °.
  • TwoSensorAngle 180°-
  • angle of AngleXB zxy ⁇ 90° is chosen according to the sign of AngleYB zyx of the singularity attachment.
  • TwoSensorAngle 180°-
  • FIG. 7 shows a measurement method of a rehabilitation exercise parameter, which is implemented by the measurement system of Embodiment 1, as shown in FIG. 7, the measurement method includes the following steps:
  • Step 110 The posture sensor acquires the quaternion of the posture of the training part and sends it to the controller.
  • Step 120 The controller converts the starting quaternion into Euler angle information of different rotation orders in the INS coordinate system.
  • Step 130 The controller calculates a primary angle and/or an offset angle and/or a rotation angle and/or a joint angle according to the Euler angle information.
  • the main angle is an angle between the projection of the training part on the first plane and the second plane;
  • the first plane is a plane in which the motion path of the standard motion of the rehabilitation motion is located, and the second plane is perpendicular to the first plane.
  • the offset angle is the angle between the projection of the training part on the second plane and the first plane. Taking the hip joint front movement as an example, the offset angle is the angle of the abduction direction inside the thigh.
  • the rotation angle is the angle change value of the training part on the Z axis of the inertial coordinate system. Taking the hip joint front motion as an example, the rotation angle is the difference angle between the training position and the initial position due to the rotation of the training part.
  • Step 140 Determine whether the main angle and/or the offset angle and/or the rotation angle and/or the joint angle are within respective preset ranges, and issue a prompt message when the judgment is no.
  • the prompt message can remind the patient to change the direction or magnitude of the motion when the patient's motion is not up to standard.
  • the prompt information may be outputted in the form of voice, or may be outputted in the form of text, and the prompt information may include information such as direction information and magnitude of the patient's deviation. Thereby, the patient is reminded when the patient's motion is not up to standard, and the direction or magnitude of the action needs to be changed.
  • the prompt information may be outputted in the form of voice, or may be outputted in the form of text, and the prompt information may include information such as direction information and magnitude of the patient's deviation.
  • the main angle is the main parameter for measuring the quality of the movement. Only when the main angle reaches the standard angle of the standard movement as much as possible, the quality of the rehabilitation training will be higher and the training effect will be better. Of course, you can also use two or three or four angle parameters to evaluate Whether the price of the patient's action is up to standard.
  • step 110 when calculating the offset angle and/or the offset angle and/or the rotation angle, step 110 specifically includes:
  • the attitude sensor acquires the starting quaternion of the posture of the training part and the current quaternion and sends it to the controller;
  • Step 120 specifically includes:
  • the controller converts the starting quaternion into at least two starting Euler angle information of different rotation orders in the INS coordinate system, and converting the current Quaternion into at least two different rotation orders in the INS coordinate system Two current Euler angle information.
  • Step 130 specifically includes:
  • the controller calculates a primary angle and/or an offset angle and/or a rotation angle based on the at least two initial Euler angle information and the at least two current Euler angle information.
  • the starting quaternion and the current quaternion are respectively converted into the first rotation order in the inertial coordinate system. a starting Euler angle information and first current Euler angle information, and a second starting Euler angle information and a second current Euler angle information of the second rotation sequence.
  • step 130 the step of calculating the main angle according to the at least two initial Euler angle information and the at least two current Euler angle information specifically includes:
  • Step 131-1 calculating an estimated main angle and an estimated offset angle according to the first starting Euler angle information and the first current Euler angle information;
  • Step 132-1 determining whether the estimated main angle is smaller than the angle threshold and estimating whether the main angle is smaller than the estimated offset angle. When the determination is yes, step 133-1 is performed; when the determination is no, step 133-1' is performed;
  • step 133-1 the estimated main angle is determined as the main angle.
  • Step 133-1' the main angle change value is calculated, and then step 135-1a' is performed.
  • the main angle change value in the second rotation order is calculated by the following formula:
  • Main angle change value second current nutation angle - second initial nutation angle
  • step 135-1a' the main angle is calculated by the following formula:
  • Main angle sign (estimated main angle) ⁇ max (
  • Figure 8b provides another possible implementation for calculating the main angle.
  • Figure 8b is substantially identical to the step flow of Figure 8a, except that step 134-1' is performed after step 133-1' in Figure 8b.
  • step 134-1' it is judged whether or not the main angle change value is equal to or smaller than 90°; when it is judged as YES, step 135-1a' is performed; when the determination is negative, step 135-1b' is executed.
  • step 135-1b' the main angle is calculated by the following formula:
  • Main angle sign (estimated main angle) ⁇ (2 ⁇ standard angle - first starting nutation angle - first current nutation angle).
  • the standard angle is selected according to actual needs, for example, it can be 90° or -90°.
  • the first starting Euler angle information includes a first starting nutation angle
  • the first current Euler angle information includes a first current nutation angle
  • the second current Euler angle information includes a second current rotation angle
  • the angular information includes a second starting angle of rotation.
  • the estimated main angle is calculated by using the following formula in step 131-1:
  • Estimated main angle first current nutation angle - first initial nutation angle
  • the estimated offset angle is calculated by the following formula:
  • Estimated offset angle first current rotation angle - first starting rotation angle
  • Estimated offset angle second current rotation angle -sign (first current nutation angle) ⁇ 90 °;
  • the second current Euler angle information further includes a second current rotation angle.
  • step 130 the step of calculating an offset angle according to at least two initial Euler angle information and at least two current Euler angle information specifically includes:
  • Step 131-2 determining whether the first current nutation angle is smaller than the second current nutation angle; when the determination is yes, step 132-2 is performed; if the determination is no, step 132-2' is performed;
  • step 132-2 the offset angle is calculated by the following formula:
  • Offset angle first current rotation angle - first starting rotation angle
  • step 132-2' the offset angle is calculated by the following formula:
  • Offset angle second current rotation angle -sign (second starting rotation angle) ⁇ 90°.
  • the first current Euler angle information further includes a first current rotation angle
  • the first starting Euler angle information further includes a first starting rotation angle
  • the second starting Euler angle information further includes a second starting rotation angle
  • the measurement method further includes:
  • Step 133-2 The offset angle is validated.
  • the formula is as follows:
  • Target offset angle offset angle - sign (offset angle - 180 °) ⁇ 360 °.
  • Rotation angle current angle of the training part on the Z axis of the inertial coordinate system - the starting angle of the training part on the Z axis of the inertial coordinate system.
  • step 110 when calculating the angle of the joint, step 110 specifically includes:
  • the two attitude sensors respectively acquire the first quaternion and the second quaternion of the posture of the training part.
  • the measuring method of the embodiment is suitable for measuring the joint angle of the patient in a training position such as standing position, sitting position, supine position, etc., and measuring the angle of the knee joint as an example, fixing the first posture sensor and the second posture sensor to the training.
  • a training position such as standing position, sitting position, supine position, etc.
  • the side of the thigh and the calf when the patient is in the standard standing position, the Y-axis of the body coordinate system of the attitude sensor coincides with the Z-axis of the inertial coordinate system (ie, the northeast sky coordinate system), and the Z-axis is perpendicular to the size leg, and The direction is parallel to the left and right direction of the human body.
  • Step 120 specifically includes:
  • the controller converts the first quaternion to at least two Euler angle information of different rotation orders in the inertial coordinate system, and converts the second quaternion to at least two of different rotation orders in the inertial coordinate system Euler angle information.
  • Step 130 specifically includes:
  • the controller calculates the joint angle of the training site based on at least four Euler angle information.
  • step 120 when calculating the joint angle, in step 120, the first quaternion number and the second quaternion number are respectively converted into the first Euler angle information and the second ou in the first rotation order in the inertial coordinate system. Pull angle information, and third Euler angle information of the second rotation order and fourth Europe Pull angle information;
  • step 130 includes:
  • Step 131-3 Determine whether the absolute value of the first chapter moving angle is smaller than the first threshold.
  • step 132-3a is performed; when the determination is yes, step 132-3b is performed;
  • Step 132-3a calculates the joint angle based on the third Euler angle information and the fourth Euler angle information.
  • step 132-3a includes:
  • the joint angle is calculated by the following formula:
  • the joint angle is calculated by the following formula:
  • Step 132-3b calculates the joint angle based on the first Euler angle information, the third Euler angle information, and the fourth Euler angle information.
  • step 132-3b includes:
  • Joint angle 180 ° -
  • the joint angle is calculated by the following formula:
  • Joint angle
  • the predicted angle the first chapter of the dynamic angle + sign (third chapter dynamic angle) ⁇ 90 °.
  • Embodiment 7 is basically the same as Embodiment 6, except that in this embodiment, one standard bit is defined for each rehabilitation exercise, that is, the standard position is used as the start bit, so that the estimation is calculated by the following formula in this embodiment.
  • Main angle and estimated offset angle are defined for each rehabilitation exercise, that is, the standard position is used as the start bit, so that the estimation is calculated by the following formula in this embodiment.
  • the estimated offset angle is calculated by the following formula:
  • Estimated offset angle first current rotation angle -sign (first starting rotation angle) ⁇ 90 °;
  • the estimation is calculated by the following formula Offset angle:
  • Estimated offset angle second current rotation angle -sign (first current nutation angle) ⁇ 90 °;
  • the first current Euler angle information further includes a first current rotation angle
  • the first starting Euler angle information further includes a first starting rotation angle
  • the second current Euler angle information further includes a second current nutation angle
  • a second The current Euler angle information also includes a second current rotation angle.
  • the main angle change value in the second rotation sequence is calculated by the following formula:
  • the main angle change value the second current nutation angle ⁇ 90 °.
  • the offset angle when determining that the first current nutation angle is smaller than the second current nutation angle, the offset angle is calculated by the following formula:
  • Offset angle first current rotation angle -sign (first starting rotation angle) ⁇ 90 °;
  • the offset angle is calculated by the following formula:
  • Offset angle second current rotation angle -sign (second starting rotation angle) ⁇ 90 °;
  • the second starting Euler angle information includes a second starting rotation angle.
  • the embodiment 8 is basically the same as the embodiment 6.
  • An attitude sensor and a second attitude sensor are fixed on the front or the back of the thigh and the lower leg.
  • the Y coordinate of the body coordinate system of the attitude sensor and the Z coordinate system that is, the northeast sky coordinate system
  • Z that is, the northeast sky coordinate system
  • the axes coincide, the Z axis is perpendicular to the size of the legs, and the direction is perpendicular to the left and right direction of the human body.
  • step 120 the first quaternion number and the second quaternion number are respectively converted into the third Euler angle information and the fourth Euler angle information in the second rotation order in the inertial coordinate system.
  • step 130 specifically includes:
  • Step 131-4 calculate the joint angle by the following formula:
  • Step 132-4 calculating the first temporary angle by the following formula:
  • Step 133-4 Determine whether the absolute value of the first temporary angle is greater than a second threshold.
  • step 134-4 is performed.
  • step 140 is performed.
  • step 134-4 the joint angle is subjected to fault tolerance processing by the following formula to obtain the target joint angle:
  • Target joint angle 180° -
  • step 140 it is determined whether the joint angle or the target joint angle is within a respective preset range, and a prompt message is issued when the judgment is negative.
  • the measuring method of the present embodiment is applicable to the measurement of the angle of the joint when the patient is in the lateral position.
  • the measurement procedure is basically the same as that in the embodiment 8, as shown in FIG. 12, except that the step 130 specifically includes:
  • Step 131-5 calculate the joint angle by the following formula:
  • Joint angle 180° -
  • Step 132-5 calculating the second temporary angle by the following formula:
  • Second temporary angle
  • Step 133-5 Determine whether the absolute value of the second temporary angle is greater than a second threshold. When the determination is yes, step 134-5 is performed; if the determination is no, step 140 is performed.
  • step 134-5 the joint angle is subjected to fault tolerance processing by the following formula to obtain the target joint angle:
  • Target joint angle 180° -
  • the measurement system of the present embodiment is suitable for the case where the initial posture is different by 90° on the Z axis (the angle change of the attitude sensor is not on the Z axis), and the angle between the lumbar joint and the thigh is calculated as an example, and the attitude sensor A is required. Wearing on the chest, the posture sensor B is worn on the lateral side of the thigh.
  • the measurement method of the embodiment is substantially the same as that of the embodiment 6, as shown in FIG. 13 , except that the step of calculating the angle of the joint in step 130 specifically includes:
  • Step 131-6 Determine whether the absolute value of the second chapter moving angle is smaller than the first threshold.
  • step 132-6 is performed; if the determination is yes, step 133-6 is performed.
  • step 132-6 the joint angle is calculated by the following formula:
  • Joint angle 180° -
  • Step 133-6 calculating the joint angle by the following formula:
  • Joint angle 180 ° -

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Biophysics (AREA)
  • Pathology (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Dentistry (AREA)
  • Physics & Mathematics (AREA)
  • Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Physiology (AREA)
  • Rehabilitation Tools (AREA)
  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)

Abstract

L'invention concerne un système de mesure des paramètres d'un exercice de rééducation. Le système de mesure comprend : un capteur de geste et un dispositif de commande, le capteur de geste étant fixé à une partie d'entraînement pour un exercice de rééducation du corps humain ; le capteur de geste est utilisé pour acquérir un quaternion d'un geste de la partie d'entraînement et l'envoyer au dispositif de commande ; et le dispositif de commande est utilisé pour convertir le quaternion en informations d'angle d'Euler de différents ordres de rotation en vertu d'un système de coordonnées de navigation inertielle et pour calculer les paramètres d'un exercice de rééducation selon les informations d'angle d'Euler. Dans la présente invention, sur la base d'un quaternion de geste, les angles d'Euler de multiples ordres de rotation sont fusionnés pour calculer les paramètres d'un exercice de rééducation, ce qui permet d'éviter un point singulier, de sorte que l'angle d'exercice d'une partie d'entraînement d'un patient peut être représenté avec précision, ce qui présente une signification particulière pour déterminer la qualité des mouvements et une erreur de mouvement du patient et pour en apprendre davantage à propos des habitudes initiales du patient en matière de posture.
PCT/CN2017/114546 2017-11-06 2017-12-05 Système et procédé de mesure des paramètres d'un exercice de rééducation WO2019085139A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN201711079127.7 2017-11-06
CN201711080208.9A CN108225317A (zh) 2017-11-06 2017-11-06 康复运动参数的测量系统及方法
CN201711080208.9 2017-11-06
CN201711079127.7A CN108209931B (zh) 2017-11-06 2017-11-06 关节夹角的测量系统及方法

Publications (1)

Publication Number Publication Date
WO2019085139A1 true WO2019085139A1 (fr) 2019-05-09

Family

ID=66331280

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2017/114546 WO2019085139A1 (fr) 2017-11-06 2017-12-05 Système et procédé de mesure des paramètres d'un exercice de rééducation

Country Status (1)

Country Link
WO (1) WO2019085139A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105232052A (zh) * 2015-10-21 2016-01-13 武汉纺织大学 组合传感器识别人体下肢运动姿态的装置
US20160324461A1 (en) * 2015-05-08 2016-11-10 Sharp Laboratories of America (SLA), Inc. System and Method for Measuring Body Joint Range of Motion
CN106725305A (zh) * 2016-11-23 2017-05-31 深圳先进技术研究院 基于人体姿态角的疼痛程度评估方法及系统
CN107616898A (zh) * 2017-08-31 2018-01-23 东南大学 基于日常动作的上肢穿戴式康复机器人及康复评价方法

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160324461A1 (en) * 2015-05-08 2016-11-10 Sharp Laboratories of America (SLA), Inc. System and Method for Measuring Body Joint Range of Motion
CN105232052A (zh) * 2015-10-21 2016-01-13 武汉纺织大学 组合传感器识别人体下肢运动姿态的装置
CN106725305A (zh) * 2016-11-23 2017-05-31 深圳先进技术研究院 基于人体姿态角的疼痛程度评估方法及系统
CN107616898A (zh) * 2017-08-31 2018-01-23 东南大学 基于日常动作的上肢穿戴式康复机器人及康复评价方法

Similar Documents

Publication Publication Date Title
CN107750148B (zh) 阻抗位移及漂移检测和校正
Zhang et al. Concurrent validation of Xsens MVN measurement of lower limb joint angular kinematics
Charlton et al. Repeatability of an optimised lower body model
EP2675347B1 (fr) Système d'enregistrement de multiples systèmes de navigation dans un système de coordonnées commun
Żuk et al. Kinematic analysis of a six‐degrees‐of‐freedom model based on ISB recommendation: a repeatability analysis and comparison with conventional gait model
WO2015162158A1 (fr) Suivi de mouvement d'être humain
US20160236009A1 (en) Estimating position of an organ with a biomechanical model
EP3064134A1 (fr) Étalonnage de capture de mouvement inertiel
JP2010520780A (ja) 不均一な場を補正するシステムと方法
Speers et al. Multivariate changes in coordination of postural control following spaceflight
CN108209931B (zh) 关节夹角的测量系统及方法
CN108309301B (zh) 人体体段质量测量方法
WO2019085139A1 (fr) Système et procédé de mesure des paramètres d'un exercice de rééducation
Miezal et al. Ambulatory inertial spinal tracking using constraints
KR20170099715A (ko) 관절 가동성 자동측정장치 및 이를 이용한 관절 가동성 자동측정방법
JP7332728B2 (ja) ３ｄジオロケーションシステム
KR101398193B1 (ko) 캘리브레이션 장치 및 방법
Yi et al. Sensor-movement-robust angle estimation for 3-DoF lower limb joints without calibration
CN109475318B (zh) 阻抗偏移检测的方法和系统
Schültje et al. Comparison of trajectory generation methods for a human-robot interface based on motion tracking in the Int 2 Bot
Norden et al. Real-time joint axes estimation of the hip and knee joint during gait using inertial sensors
CN105575239B (zh) 一种骨折复位训练模型角度检测装置及其方法
CN106456051A (zh) 一种呼吸监测设备、方法和装置
JP6451838B2 (ja) Ｘ線撮影装置
Cao et al. IMU-based real-time pose measurement system for anterior pelvic plane in total hip replacement surgeries

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17930386

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17930386

Country of ref document: EP

Kind code of ref document: A1