CN104771175A - Wearable smart ring capable of capturing three-dimensional postures of four limbs of human body - Google Patents

Abstract

The invention provides a wearable smart ring capable of capturing three-dimensional postures of the four limbs of a human body. The wearable smart ring comprises a joint wearable fixing device worn at a joint position of a human body, wherein an upper connecting rod fixing block and a lower connecting rod fixing block are respectively fixed on an upper connecting rod and a lower connecting rod at the joint position of the human body; an upper connecting rod shaft is connected with the upper connecting rod fixing block; the lower connecting rod shaft is connected with the lower connecting rod fixing block; a joint encoder is used for detecting the joint rotating angle of the human body, a flange is connected with the upper connecting rod shaft, and a rotating shaft is connected with the lower connecting rod shaft; an upper connecting rod gyroscope is used for detecting the spacial rotating direction at the upper connecting rod of the human body; and a joint fixing device end wireless CAN bus is connected with the joint encoder and the upper connecting rod gyroscope respectively and used for transmitting signals of the upper connecting rod gyroscope and signals of the joint encoder. The wearable smart ring has the characteristics of accurate joint angle measurement, precise and timely angle reading, high adaptability, long transmission distance, real-time transmission and the like and effectively solves the problem of data reading delay.

Description

Catch the wearable intelligent ring of human limb three-dimensional attitude

Technical field

The present invention relates to the wearable intelligent ring of one in medical rehabilitation instrument field, particularly a kind of accurate reading build the wearable intelligent ring of the seizure human limb three-dimensional attitude that human limb three-dimensional attitude and real-time radio transmit.

Background technology

Along with the progress of science and technology, the research field of robot is just in flourish, and wherein the research and apply of anthropomorphic robot is especially because its apery characteristic receives common concern, and becomes the study hotspot in field in intelligent robotics.In man-machine interaction, how human body extremity three-dimensional attitude also shows in real time is a technical barrier.Prior art such as six axle sensors, electromyographic signal etc. all have inaccuracy, the problem such as delayed.The present invention proposes the protector meeting human engineering, conveniently can be used for being worn on the motion of extremity, cervical region and trunk and catch in real time.

Through finding for existing technical literature retrieval:

Chinese invention patent publication number: CN103027826A, title: elbow joint movement actuation rehabilitation device, cannot realize human limb space three-dimensional attitude information;

Chinese invention patent publication number: CN202537862U, title: elbow joint instrument for training, only can detect the angle of elbow joint;

Chinese invention patent publication number: CN104224495A, title: portable elbow joint healing robot control method, use bluetooth to carry out real-time data transmission, but reading angular cannot ensure accurately.

Summary of the invention

For above shortcomings in prior art, the object of the invention is the acquisition realizing human limb three-dimensional attitude information, and then a kind of wearable intelligent ring for catching human limb three-dimensional attitude is provided.The present invention adopts and meets the structure of human engineering, detects, conveniently can realize limb motion feedback to the upper limb of wearer and/or lower extremity movement attitude and/or multi-joint attitude information; Intelligence ring customizes according to the size of wearer, can be worn on the positions such as arm, lower limb and trunk.The present invention realizes carrying out Biomechanical evaluation on primary in allowed band, comprises speed, initiatively and passive activity scope and upper extremity exercise analysis; Realize feeding back customization level in real time accurately and perform the motion of control naturopathy; Realize instant limbs motion capture, the form of challenge game can be applied to.

For achieving the above object, the present invention is achieved through the following technical solutions:

Catch a wearable intelligent ring for human limb three-dimensional attitude, comprise joint Wearable fixture 3, described joint Wearable fixture 3 is worn on the joint position of human body; Wherein:

Described joint Wearable fixture 3 has joint and bends and stretches degree of freedom, comprising: upper connecting rod fixed block 31, upper pitman shaft 32, lower link fixed block 33, lower link axle 34, joint encoders 35, upper connecting rod gyroscope 37, arthrodesis device end is wireless CAN 38; Wherein:

On the upper connecting rod that described upper connecting rod fixed block 31 and lower link fixed block 33 are individually fixed in human synovial position and lower link;

Described upper pitman shaft 32 is connected with upper connecting rod fixed block 31;

Described lower link axle 34 is connected with lower link fixed block 33;

Described joint encoders 35 is for the articulation angle of human body, and the flange of joint encoders 35 is connected with upper pitman shaft 32, and the rotating shaft of joint encoders 35 is connected with lower link axle 34;

Described upper connecting rod gyroscope 37 is installed on the inside of pitman shaft 32, for the Space Rotating direction, upper connecting rod place of human body;

It is inner that CAN 38 that described arthrodesis device end is wireless is installed on pitman shaft 32, and be connected with joint encoders 35 and upper connecting rod gyroscope 37 respectively, for transmitting upper connecting rod gyroscope signal and joint encoders signal, the Space Rotating direction, upper connecting rod place of the corresponding human body of described upper connecting rod gyroscope signal, the corresponding joint rotation angle of described joint encoders signal.

Preferably, described joint Wearable fixture 3 also comprises joint housing 36, and described joint housing 36 is connected with upper pitman shaft 32, for hiding joint encoders 35.

Preferably, the wearable intelligent ring of described seizure human limb three-dimensional attitude also comprises host computer 1 and the wireless CAN controller 2 of upper computer end, and described joint Wearable fixture 3 is communicated to connect with host computer 1 by the wireless CAN controller 2 of upper computer end.

Preferably, the wireless CAN of described arthrodesis device end is connected with upper computer end wireless CAN controller 2 radio communication.

Preferably, the wireless CAN controller 2 of upper computer end is installed on host computer 1.

Preferably, described upper connecting rod gyroscope 3 gathers the upper connecting rod Z-Y-X Eulerian angles of human body, note α, β, γ, then the upper connecting rod place Space Rotating direction matrix of human body is:

$\begin{array}{c}\left[\begin{array}{ccc}\mathrm{c\α}& -\mathrm{s\α}& 0\\ \mathrm{s\α}& \mathrm{c\α}& 0\\ 0& 0& 1\end{array}\right]\left[\begin{array}{ccc}\mathrm{c\β}& 0& \mathrm{s\β}\\ 0& 1& 0\\ -\mathrm{s\β}& 0& \mathrm{c\β}\end{array}\right]\left[\begin{array}{ccc}1& 0& 0\\ 0& \mathrm{c\λ}& -\mathrm{s\γ}\\ 0& \mathrm{s\γ}& \mathrm{c\γ}\end{array}\right]\left[\begin{array}{ccc}\mathrm{c\αc\β}& \mathrm{c\αs\βs\γ}-\mathrm{s\αc\γ}& \mathrm{c\αs\βc\γ}+\mathrm{s\αs\γ}\\ \mathrm{s\αc\β}& \mathrm{s\αs\βs\γ}+\mathrm{c\αc\γ}& \mathrm{s\αs\βc\γ}-\mathrm{c\αs\γ}\\ -\mathrm{s\β}& \mathrm{c\βs\γ}& \mathrm{c\βc\γ}\end{array}\right]\end{array};$

Wherein, α is nutational angle, and β is angle of precession, and γ is angle of rotation, and c is cosine Cos, s is sinusoidal Sin.

Preferably, the joint motions angle θ of described joint encoders 35 human body, then the lower link place Space Rotating direction matrix of human body is:

$\begin{array}{c}\left[\begin{array}{ccc}\mathrm{c\θ}& -\mathrm{s\θ}& 0\\ \mathrm{s\θ}& \mathrm{c\θ}& 0\\ 0& 0& 1\end{array}\right]\left[\begin{array}{ccc}\mathrm{c\α}& -\mathrm{s\α}& 0\\ \mathrm{s\α}& \mathrm{c\α}& 0\\ 0& 0& 1\end{array}\right]\left[\begin{array}{ccc}\mathrm{c\β}& 0& \mathrm{s\β}\\ 0& 1& 0\\ -\mathrm{s\β}& 0& \mathrm{c\β}\end{array}\right]\left[\begin{array}{ccc}1& 0& 0\\ 0& \mathrm{c\λ}& -\mathrm{s\γ}\\ 0& \mathrm{s\γ}& \mathrm{c\γ}\end{array}\right]\\ =\left[\begin{array}{ccc}\mathrm{c\θ}& -\mathrm{s\θ}& 0\\ \mathrm{s\θ}& \mathrm{c\θ}& 0\\ 0& 0& 1\end{array}\right]\left[\begin{array}{ccc}\mathrm{c\αc\β}& \mathrm{c\αs\βs\γ}-\mathrm{s\αc\γ}& \mathrm{c\αs\βc\γ}+\mathrm{s\αs\γ}\\ \mathrm{s\αc\β}& \mathrm{s\αs\βs\γ}+\mathrm{c\αc\γ}& \mathrm{s\αs\βc\γ}-\mathrm{s\γ}\\ -\mathrm{s\β}& \mathrm{c\βs\γ}& \mathrm{c\βc\γ}\end{array}\right]\\ =\left[\begin{array}{ccc}\mathrm{c\αc\βc\θ}-\mathrm{s\αc\βs\θ}& \mathrm{c\αs\βs\γc\θ}-\mathrm{s\αc\γc\θ}-\mathrm{s\αs\βs\γs\θ}-\mathrm{c\αc\γs\θ}& \mathrm{c\αs\βc\γc\θ}+\mathrm{s\αs\γc\θ}-\mathrm{s\αs\βc\γs\θ}+\mathrm{c\αs\γs\θ}\\ \mathrm{c\αc\βs\θ}+\mathrm{s\αc\βc\θ}& \mathrm{c\αs\βs\γs\θ}-\mathrm{s\αc\γs\θ}+\mathrm{s\αs\βs\γc\θ}+\mathrm{c\αc\γc\θ}& \mathrm{c\αs\βc\γs\θ}+\mathrm{s\αs\γs\θ}+\mathrm{s\αs\βc\γc\θ}-\mathrm{c\αs\γc\θ}\\ -\mathrm{s\β}& \mathrm{c\βs\γ}& \mathrm{c\βc\γ}\end{array}\right]\\ \end{array}.$

Compared with prior art, the present invention has following beneficial effect:

1, the wearable intelligent ring of seizure human limb three-dimensional attitude provided by the invention, because upper connecting rod fixed block and lower link fixed block are connected with the upper connecting rod of human body (limbs) joint part and lower link respectively, can be fixed on the limbs of wearer by intelligent ring well, accurately measure joint angles;

2, the present invention adopts the mode directly reading encoder angular, makes joint angles digital independent accurate, overcomes angle and reads inaccurate and time delay problem;

3, the present invention can use WiFi Radio Transmission Technology, has the features such as strong adaptability, long transmission distance, real-time Transmission, effectively overcomes and reads data lag issues.

Accompanying drawing explanation

By reading the detailed description done non-limiting example with reference to the following drawings, other features, objects and advantages of the present invention will become more obvious:

Fig. 1 is overall structure schematic diagram of the present invention;

Fig. 2 is the structural representation of elbow joint Wearable fixture 3 in Fig. 1;

Fig. 3 is concrete communication mode of the present invention.

In figure:

1 is host computer

2 is the wireless CAN controller of upper computer end

3 is joint Wearable fixture

31 is upper connecting rod fixed block

32 is upper pitman shaft

33 is lower link fixed block

34 is lower link axle

35 is joint encoders

36 is joint housing

37 is upper connecting rod gyroscope

38 is the wireless CAN of arthrodesis device end

I is the upper connecting rod of human body joint position

II is the lower link of human body joint position

Detailed description of the invention

Below embodiments of the invention are elaborated: the present embodiment is implemented under premised on technical solution of the present invention, give detailed embodiment and concrete operating process.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.

Embodiment

Catch a wearable intelligent ring for human limb three-dimensional attitude, comprise joint Wearable fixture 3, described joint Wearable fixture 3 is worn on the joint position of human body; Wherein:

Described joint Wearable fixture 3 has joint and bends and stretches degree of freedom, comprising: upper connecting rod fixed block 31, upper pitman shaft 32, lower link fixed block 33, lower link axle 34, joint encoders 35, joint housing 36, upper connecting rod gyroscope 37, arthrodesis device end is wireless CAN 38; Wherein:

On the upper connecting rod that described upper connecting rod fixed block 31 and lower link fixed block 33 are individually fixed in human synovial position and lower link;

Described upper pitman shaft 32 is connected with upper connecting rod fixed block 31;

Described lower link axle 34 is connected with lower link fixed block 33;

Described joint encoders 35 is for the articulation angle of human body, and the flange of joint encoders 35 is connected with upper pitman shaft 32, and the rotating shaft of joint encoders 35 is connected with lower link axle 34;

Described upper connecting rod gyroscope 37 is installed on the inside of pitman shaft 32, for the Space Rotating direction, upper connecting rod place of human body;

It is inner that CAN 38 that described arthrodesis device end is wireless is installed on pitman shaft 32, and be connected with joint encoders 35 and upper connecting rod gyroscope 37 respectively, for transmitting upper connecting rod gyroscope signal and joint encoders signal, the Space Rotating direction, upper connecting rod place of the corresponding human body of described upper connecting rod gyroscope signal, the corresponding joint rotation angle of described joint encoders signal.

Further, described joint Wearable fixture 3 also comprises joint housing 36, and described joint housing 36 is connected with upper pitman shaft 32, for hiding joint encoders 35.

Further, the wearable intelligent ring of described seizure human limb three-dimensional attitude also comprises host computer 1 and the wireless CAN controller 2 of upper computer end, and described joint Wearable fixture 3 is communicated to connect with host computer 1 by the wireless CAN controller 2 of upper computer end.

Further, the wireless CAN of described arthrodesis device end 38 is connected with upper computer end wireless CAN controller 2 radio communication.

Further, the wireless CAN controller 2 of upper computer end is installed on host computer 1.

Below in conjunction with accompanying drawing, the present embodiment is further described.

As shown in Figure 1, the present embodiment provides, and catches the wearable intelligent ring of human limb three-dimensional attitude, accurately can read and real-time Transmission Angle of Elbow Joint, comprise host computer 1, upper computer end is wireless CAN controller 2, joint Wearable fixture 3.Wherein, described joint Wearable fixture 3 has joint and bends and stretches degree of freedom, is worn on the upper connecting rod of wearer joint position, joint and lower link, comprises: joint encoders 35, for detecting the joint motions data of wearer; The data that joint encoders 35 and upper connecting rod gyroscope 37 detect can be sent to the wireless CAN controller 2 of upper computer end by CAN 38 that arthrodesis device end is wireless; Described upper computer end is wireless, and CAN controller 2 is installed on described host computer 1, and wearer joint motions signal is sent to described host computer 1; Described host computer 1 receives the joint motions signal of wearer, carries out processing after correlation.

As shown in Figure 2, described joint Wearable fixture 3 specifically comprises: upper connecting rod fixed block 31, upper pitman shaft 32, lower link fixed block 33, lower link axle 34, joint encoders 35, joint housing 36, upper connecting rod gyroscope 37, arthrodesis device end is wireless CAN 38.Wherein, described upper connecting rod fixed block 31 is fixed on connecting rod on wearer; Described upper pitman shaft 32 is connected with described upper connecting rod fixed block 31; Described lower link fixed block 33 is fixed on wearer lower link; Described lower link axle 34 is connected with described lower link fixed block 33; Described joint encoders 35 flange is connected with described upper pitman shaft 32, and the rotating shaft of described joint encoders 35 is connected with described lower link axle 34, detects the articulation angle of wearer; Described joint housing 36 is connected with upper pitman shaft 32, hides described joint encoders 35; It is inner that described upper connecting rod gyroscope 37 is installed on described upper arm axle 32, the direction in space of connecting rod in detection; It is inner that the wireless CAN of described arthrodesis device end 38 is installed on described upper pitman shaft 32, be connected with described joint encoders 35, upper connecting rod gyroscope 37, be responsible for transmission gyroscope signal and joint encoders signal, namely go up direction in space and the joint rotation angle extremely wireless CAN controller 2 of described upper computer end of connecting rod.

As shown in Figure 3, described joint encoders 35, upper connecting rod gyroscope 37 are connected with the wireless CAN 38 of described arthrodesis device end respectively, and the articulation angle of detected wearer, the direction in space of upper connecting rod are sent to the wireless CAN 38 of described arthrodesis device end; The wireless CAN of described arthrodesis device end 38 is connected and signal is sent to the wireless CAN controller 2 of described upper computer end; Described upper computer end is wireless CAN controller 2 and described host computer 1, described host computer 1 is by the direction in space of the upper connecting rod and lower link that calculate wearer.

In the present embodiment,

Joint wearable intelligent loop device 3 has joint and bends and stretches degree of freedom, is worn on the upper connecting rod of wearer, joint and lower link position, joint encoders 35, detects the joint motions data of wearer; Upper connecting rod gyroscope 37, the direction in space of connecting rod in detection.

CAN 38 that arthrodesis device end is wireless, can detect data by joint encoders 35 and upper connecting rod gyroscope 37 and be sent to the wireless CAN controller 2 of upper computer end.

Upper computer end is wireless, and CAN controller 2 is installed on host computer 1, and wearer joint motions signal is sent to host computer 1.

Host computer 1 receives the joint motions signal of wearer, carries out processing after correlation.。

Upper connecting rod fixed block 31 is fixed on connecting rod on wearer; Upper pitman shaft 32 is connected with upper connecting rod fixed block 31; Lower link fixed block 33 is fixed on wearer lower link.

Lower link axle 34 is connected with lower link fixed block 33; The flange of joint encoders 35 is connected with upper pitman shaft 32, and the rotating shaft of joint encoders 35 is connected with lower link axle 34, detects the articulation angle of wearer.

Joint housing is connected with upper pitman shaft 32, hides described joint encoders 35.

It is inner that upper connecting rod gyroscope 37 is installed on described upper pitman shaft 32, the direction in space of connecting rod in detection.

It is inner that CAN 38 that arthrodesis device end is wireless is installed on described upper pitman shaft 32, be connected with described joint encoders 35, upper connecting rod gyroscope 37, be responsible for transmission gyroscope signal and joint encoders signal, namely go up direction in space and the joint rotation angle extremely wireless CAN controller 2 of described upper computer end of connecting rod.

The computational methods of the body sense direction in space of wearer are:

Upper connecting rod gyroscope 37 can obtain the Z-Y-X Eulerian angles of connecting rod on wearer, is α, beta, gamma, then on wearer, the Space Rotating matrix of connecting rod is:

$\begin{array}{c}\left[\begin{array}{ccc}\mathrm{c\α}& -\mathrm{s\α}& 0\\ \mathrm{s\α}& \mathrm{c\α}& 0\\ 0& 0& 1\end{array}\right]\left[\begin{array}{ccc}\mathrm{c\β}& 0& \mathrm{s\β}\\ 0& 1& 0\\ -\mathrm{s\β}& 0& \mathrm{c\β}\end{array}\right]\left[\begin{array}{ccc}1& 0& 0\\ 0& \mathrm{c\λ}& -\mathrm{s\γ}\\ 0& \mathrm{s\γ}& \mathrm{c\γ}\end{array}\right]\left[\begin{array}{ccc}\mathrm{c\αc\β}& \mathrm{c\αs\βs\γ}-\mathrm{s\αc\γ}& \mathrm{c\αs\βc\γ}+\mathrm{s\αs\γ}\\ \mathrm{s\αc\β}& \mathrm{s\αs\βs\γ}+\mathrm{c\αc\γ}& \mathrm{s\αs\βc\γ}-\mathrm{c\αs\γ}\\ -\mathrm{s\β}& \mathrm{c\βs\γ}& \mathrm{c\βc\γ}\end{array}\right]\end{array}$

Joint encoders 35 detects the joint motions angle θ of wearer, then the Space Rotating matrix of wearer lower link is:

$\begin{array}{c}\left[\begin{array}{ccc}\mathrm{c\θ}& -\mathrm{s\θ}& 0\\ \mathrm{s\θ}& \mathrm{c\θ}& 0\\ 0& 0& 1\end{array}\right]\left[\begin{array}{ccc}\mathrm{c\α}& -\mathrm{s\α}& 0\\ \mathrm{s\α}& \mathrm{c\α}& 0\\ 0& 0& 1\end{array}\right]\left[\begin{array}{ccc}\mathrm{c\β}& 0& \mathrm{s\β}\\ 0& 1& 0\\ -\mathrm{s\β}& 0& \mathrm{c\β}\end{array}\right]\left[\begin{array}{ccc}1& 0& 0\\ 0& \mathrm{c\λ}& -\mathrm{s\γ}\\ 0& \mathrm{s\γ}& \mathrm{c\γ}\end{array}\right]\\ =\left[\begin{array}{ccc}\mathrm{c\θ}& -\mathrm{s\θ}& 0\\ \mathrm{s\θ}& \mathrm{c\θ}& 0\\ 0& 0& 1\end{array}\right]\left[\begin{array}{ccc}\mathrm{c\αc\β}& \mathrm{c\αs\βs\γ}-\mathrm{s\αc\γ}& \mathrm{c\αs\βc\γ}+\mathrm{s\αs\γ}\\ \mathrm{s\αc\β}& \mathrm{s\αs\βs\γ}+\mathrm{c\αc\γ}& \mathrm{s\αs\βc\γ}-\mathrm{s\γ}\\ -\mathrm{s\β}& \mathrm{c\βs\γ}& \mathrm{c\βc\γ}\end{array}\right]\\ =\left[\begin{array}{ccc}\mathrm{c\αc\βc\θ}-\mathrm{s\αc\βs\θ}& \mathrm{c\αs\βs\γc\θ}-\mathrm{s\αc\γc\θ}-\mathrm{s\αs\βs\γs\θ}-\mathrm{c\αc\γs\θ}& \mathrm{c\αs\βc\γc\θ}+\mathrm{s\αs\γc\θ}-\mathrm{s\αs\βc\γs\θ}+\mathrm{c\αs\γs\θ}\\ \mathrm{c\αc\βs\θ}+\mathrm{s\αc\βc\θ}& \mathrm{c\αs\βs\γs\θ}-\mathrm{s\αc\γs\θ}+\mathrm{s\αs\βs\γc\θ}+\mathrm{c\αc\γc\θ}& \mathrm{c\αs\βc\γs\θ}+\mathrm{s\αs\γs\θ}+\mathrm{s\αs\βc\γc\θ}-\mathrm{c\αs\γc\θ}\\ -\mathrm{s\β}& \mathrm{c\βs\γ}& \mathrm{c\βc\γ}\end{array}\right]\\ \end{array}.$

Above specific embodiments of the invention are described.It is to be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect flesh and blood of the present invention.

Claims (6)

1. catch a wearable intelligent ring for human limb three-dimensional attitude, it is characterized in that, comprise joint Wearable fixture (3), described joint Wearable fixture (3) is worn on the joint position of human body; Wherein:

Described joint Wearable fixture (3) has joint and bends and stretches degree of freedom, comprising: upper connecting rod fixed block (31), upper pitman shaft (32), lower link fixed block (33), lower link axle (34), joint encoders (35), upper connecting rod gyroscope (37), arthrodesis device end is wireless CAN (38); Wherein:

On the upper connecting rod that described upper connecting rod fixed block (31) and lower link fixed block (33) are individually fixed in human synovial position and lower link;

Described upper pitman shaft (32) is connected with upper connecting rod fixed block (31);

Described lower link axle (34) is connected with lower link fixed block (33);

Described joint encoders (35) is for the articulation angle of human body, the flange of joint encoders (35) is connected with upper pitman shaft (32), and the rotating shaft of joint encoders (35) is connected with lower link axle (34);

Described upper connecting rod gyroscope (37) is installed on the inside of pitman shaft (32), for the Space Rotating direction, upper connecting rod place of human body;

It is inner that the wireless CAN of described arthrodesis device end (38) is installed on pitman shaft (32), and be connected with joint encoders (35) and upper connecting rod gyroscope (37) respectively, for transmitting upper connecting rod gyroscope signal and joint encoders signal, the Space Rotating direction, upper connecting rod place of the corresponding human body of described upper connecting rod gyroscope signal, the corresponding joint rotation angle of described joint encoders signal.

2. the wearable intelligent ring of seizure human limb three-dimensional attitude according to claim 1, it is characterized in that, described joint Wearable fixture (3) also comprises joint housing (36), described joint housing (36) is connected with upper pitman shaft (32), for hiding joint encoders (35).

3. the wearable intelligent ring of seizure human limb three-dimensional attitude according to claim 1, it is characterized in that, the wearable intelligent ring of described seizure human limb three-dimensional attitude also comprises host computer (1) and the wireless CAN controller (2) of upper computer end, and described joint Wearable fixture (3) is communicated to connect by the wireless CAN controller (2) of upper computer end and host computer (1); Wherein, the wireless CAN of described arthrodesis device end (38) is connected with upper computer end wireless CAN controller (2) radio communication.

4. the wearable intelligent ring of seizure human limb three-dimensional attitude according to claim 3, is characterized in that, upper computer end is wireless, and CAN controller (2) is installed on host computer (1).

5. the wearable intelligent ring of seizure human limb three-dimensional attitude according to any one of claim 1 to 4, it is characterized in that, described upper connecting rod gyroscope (3) gathers the upper connecting rod Z-Y-X Eulerian angles of human body, note α, β, γ, then the upper connecting rod place Space Rotating direction matrix of human body is:

$\left[\begin{array}{ccc}\mathrm{c\α}& -\mathrm{s\α}& 0\\ \mathrm{s\α}& \mathrm{c\α}& 0\\ 0& 0& 1\end{array}\right]\left[\begin{array}{ccc}\mathrm{c\β}& 0& \mathrm{s\β}\\ 0& 1& 0\\ -\mathrm{s\β}& 0& \mathrm{c\β}\end{array}\right]\left[\begin{array}{ccc}1& 0& 0\\ 0& \mathrm{c\λ}& -\mathrm{s\γ}\\ 0& \mathrm{s\γ}& \mathrm{c\γ}\end{array}\right]=\left[\begin{array}{ccc}\mathrm{c\αc\β}& \mathrm{c\αs\βs\γ}-\mathrm{s\αc\γ}& \mathrm{c\αs\βc\γ}+\mathrm{s\αs\γ}\\ \mathrm{s\αc\β}& \mathrm{s\αs\βs\γ}+\mathrm{c\αc\γ}& \mathrm{s\αs\βc\γ}-\mathrm{c\αs\γ}\\ -\mathrm{s\β}& \mathrm{c\βs\γ}& \mathrm{c\βc\γ}\end{array}\right];$

Wherein, α is nutational angle, and β is angle of precession, and γ is angle of rotation, and c is cosine Cos, s is sinusoidal Sin.

6. the wearable intelligent ring of seizure human limb three-dimensional attitude according to claim 5, is characterized in that, the joint motions angle θ of described joint encoders (35) human body, then the lower link place Space Rotating direction matrix of human body is:

$\begin{array}{c}\left[\begin{array}{ccc}\mathrm{c\θ}& -\mathrm{s\θ}& 0\\ \mathrm{s\θ}& \mathrm{c\θ}& 0\\ 0& 0& 1\end{array}\right]\left[\begin{array}{ccc}\mathrm{c\α}& -\mathrm{s\α}& 0\\ \mathrm{s\α}& \mathrm{c\α}& 0\\ 0& 0& 1\end{array}\right]\left[\begin{array}{ccc}\mathrm{c\β}& 0& \mathrm{s\β}\\ 0& 1& 0\\ -\mathrm{s\β}& 0& \mathrm{c\β}\end{array}\right]\left[\begin{array}{ccc}1& 0& 0\\ 0& \mathrm{c\λ}& -\mathrm{s\γ}\\ 0& \mathrm{s\γ}& \mathrm{c\γ}\end{array}\right]\\ =\left[\begin{array}{ccc}\mathrm{c\θ}& -\mathrm{s\θ}& 0\\ \mathrm{s\θ}& \mathrm{c\θ}& 0\\ 0& 0& 1\end{array}\right]\left[\begin{array}{ccc}\mathrm{c\αc\β}& \mathrm{c\αs\βs\γ}-\mathrm{s\αc\γ}& \mathrm{c\αs\βc\γ}+\mathrm{s\αs\γ}\\ \mathrm{s\αc\β}& \mathrm{s\αs\βs\γ}+\mathrm{c\αc\γ}& \mathrm{s\αs\βcr}-\mathrm{c\αs\γ}\\ -\mathrm{s\β}& \mathrm{c\βs\γ}& \mathrm{c\βc\γ}\end{array}\right]\\ =\left[\begin{array}{ccc}\mathrm{c\αc\βc\θ}-\mathrm{s\αc\βs\θ}& \mathrm{c\αs\βs\γc\θ}-\mathrm{s\αc\γc\θ}-\mathrm{s\αs\βs\γs\θ}-\mathrm{c\αc\γs\θ}& \mathrm{c\αs\βc\γc\θ}+\mathrm{s\αs\γc\θ}-\mathrm{s\αs\βc\γs\θ}+\mathrm{c\αs\γs\θ}\\ \mathrm{c\αc\βs\θ}+\mathrm{s\αc\βc\θ}& \mathrm{c\αs\βs\γs\θ}-\mathrm{s\αc\γs\θ}+\mathrm{s\αs\βs\γc\θ}+\mathrm{c\αc\γc\θ}& \mathrm{c\αs\βc\γs\θ}+\mathrm{s\αs\γs\θ}+\mathrm{s\αs\βc\γc\θ}-\mathrm{c\αs\γc\θ}\\ -\mathrm{s\β}& \mathrm{c\βs\γ}& \mathrm{c\βc\γ}\end{array}\right]\end{array}.$