CN105997097B - Human body lower limbs movement posture playback system and reproducting method - Google Patents
Human body lower limbs movement posture playback system and reproducting method Download PDFInfo
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 60
- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000004458 analytical method Methods 0.000 claims abstract description 34
- 230000009471 action Effects 0.000 claims abstract description 29
- 238000004891 communication Methods 0.000 claims abstract description 12
- 230000003750 conditioning effect Effects 0.000 claims abstract description 9
- 230000001133 acceleration Effects 0.000 claims description 62
- 210000000689 upper leg Anatomy 0.000 claims description 52
- 230000005484 gravity Effects 0.000 claims description 30
- 210000002414 leg Anatomy 0.000 claims description 19
- 210000000629 knee joint Anatomy 0.000 claims description 12
- 238000005452 bending Methods 0.000 claims description 11
- 210000003127 knee Anatomy 0.000 claims description 7
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- 230000000386 athletic effect Effects 0.000 claims description 3
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- 238000011897 real-time detection Methods 0.000 description 1
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- 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
- A61B5/1116—Determining posture transitions
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/72—Signal processing specially adapted for physiological signals or for diagnostic purposes
- A61B5/7271—Specific aspects of physiological measurement analysis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2505/00—Evaluating, monitoring or diagnosing in the context of a particular type of medical care
- A61B2505/09—Rehabilitation or training
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
- A61B2562/02—Details of sensors specially adapted for in-vivo measurements
- A61B2562/0219—Inertial sensors, e.g. accelerometers, gyroscopes, tilt switches
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Abstract
The present invention provides a kind of human body lower limbs movement posture playback system and reproducting method, the playback system includes: the power module for making system worked well；For acquiring the data acquisition module of human action signal；For handling the signal conditioning module of the data-signal obtained from data acquisition module；For controlling and coordinating the micro controller module of whole system；For receiving the data in micro controller module and transferring data to the wireless communication module of movement posture analysis machine；For reappearing the movement posture analysis machine of human body lower limbs motion profile.Human body lower limbs movement posture playback system of the invention and reproducting method obtain related data by inertial sensor and flexible sensor and carry out vector analysis to data, the reproduction human body lower limbs that can obtain complete set act required data, and the live effect of human body lower limbs movement can be completely reproduced according to these data, measuring accuracy is high.
Description
Technical field
The present invention relates to human body lower limbs to act monitoring technical field, more particularly to a kind of inertial sensor that is based on is passed with flexible
The human body lower limbs movement posture playback system and reproducting method of sensor.
Background technique
Traditional human action posture reproducting method usually there are several types of: 1, to obtain human body in real time by video camera dynamic
Make data；2, human action data is obtained by wearable sensors.
The identifying system for obtaining human action data in real time by video camera is by one or several video cameras
Human action picture is captured, specially designed image processing algorithm determines human action and human action state.But
Identifying system based on video camera is usually required that be used in specified environment, and requires environmental lighting conditions good.
It is worn on reproducing based on the human action posture of three dimension acceleration sensor or Multi-sensor fusion for human body
Method, which refers to, is embedded in wearable equipment, including clothes, cap, shoes, waistband, knee-pad of microsensor etc., and system can be with
The action situation of real-time detection human body, and combined with existing wireless communication technique, identifying system not will receive detection ground
The limitation of point, to realize that unconfined indoor and outdoor freely detects.But existing such application, or can not achieve real-time nothing
Constraint based on sites human body lower limbs movement posture reproduces, or cannot provide complete human body's lower limb movement attitude parameter (thus cannot be complete
Whole reproduction human body lower limbs movement posture can only provide the reproduction of part human body lower limb movement posture), thus cannot be in no constraint environment
Lower complete reproduction human body lower limbs movement posture.
Summary of the invention
The purpose of the present invention is to provide a kind of human body lower limbs movement posture playback system and reproducting methods, it is intended to for solving
Certainly existing human action posture reproducting method, i.e., cannot completely reproduce human body lower limbs movement live effect, measuring accuracy compared with
Low problem.
The present invention is implemented as follows:
The present invention provides a kind of human body lower limbs movement posture playback system characterized by comprising for keeping system normal
The power module of work；For acquiring the data acquisition module of human action signal, including being placed in human thigh position first
Inertial sensor, the second inertial sensor for being placed in human body waist and the flexible sensor for being placed in human body knee joint position, institute
State the first inertial sensor for obtain its vertical thigh axis direction acceleration information and its along thigh axis direction
Acceleration information, second inertial sensor are used for obtaining human body horizontal direction acceleration information, the flexible sensor
Knee joint bending data when obtaining human body lower limbs movement；For handling the letter of the data-signal obtained from data acquisition module
Number conditioning module；For controlling and coordinating the micro controller module of whole system；For receiving the data in micro controller module
And transfer data to the wireless communication module of movement posture analysis machine；For reappearing the movement posture of human body lower limbs motion profile
Analysis machine for carrying out vector analysis to human action according to the test data received, and is calculated thigh and adds with gravity
Angle between speed, so that each action parameter of human body lower limbs according to acquisition reappears human body lower limbs motion profile.
Further, first inertial sensor is using in two axis accelerometers, three axis accelerometer, three-axis gyroscope
It is one or more.
Further, first inertial sensor is placed in position of the human thigh close to knee.
Further, the variation range of the resistance value of the flexible sensor is 10K~30K or 1~20K.
Further, the change in resistance of the flexible sensor and the angle of knee bends are directly proportional.
Further, second inertial sensor is three axis accelerometer and is fixed among human body waist.
The present invention also provides a kind of human body lower limbs movement posture reproducting methods, which is characterized in that uses any of the above-described institute
The human body lower limbs movement posture playback system stated, comprising the following steps:
First inertial sensor obtains acceleration of the acceleration information of its vertical big leg axis with it along big leg axis
Data, the second inertial sensor obtain human body horizontal direction acceleration information, flexible sensor obtains when human body lower limbs act
Knee joint bending data；
The data that signal conditioning module processing is obtained from data acquisition module；
Micro controller module is transferred to wireless communication module after handling data-signal filtering, the scale conversion after conditioning；
Wireless communication module receives data and data is transmitted wirelessly to movement posture analysis machine；
Movement posture analysis machine obtains thigh and gravity according to the test data received, with human action vector analysis
Angle between acceleration, so that each action parameter of human body lower limbs according to acquisition reappears human body lower limbs motion profile.
Further, the movement posture analysis machine is according to human body horizontal direction acceleration information, the first inertial sensor
Acceleration information, thigh of the acceleration information and the first inertial sensor of vertical thigh axis direction along thigh axis direction
Angle between acceleration of gravity reproduces human thigh's athletic posture, and draws out motion profile.
Further, the movement posture analysis machine reproduces human thigh and shank according to the knee joint bending angle of acquisition
Movement relation, and the athletic posture of combination thigh draws out the motion profile of shank.
Further, the calculation method of angle is as follows between thigh and acceleration of gravity: setting human body horizontal direction accelerates
Degree is a, and acceleration of gravity g, thigh is θ relative to the angle of gravity direction, sets the first inertial sensor assuming that waist
In the case where static perpendicular to the acceleration of big leg axis be d, setting the first inertial sensor perpendicular to big leg axis reality
Acceleration is b, sets the angular speed in thigh relative gravity direction as ω, setting is tied up from waist rotation axis to the first inertial sensor
Positioning the distance set is r, obtains formula b=d+acos θ-gsin θ with human action vector analysis, and combine formula ω
=dr,Calculate angle theta of the thigh relative to gravity direction.
The invention has the following advantages:
Human body lower limbs movement posture playback system of the invention and reproducting method pass through inertial sensor and flexible sensor
It obtains related data and vector analysis is carried out to data, number required for the reproduction human body lower limbs movement of complete set can be obtained
According to, and the live effect of human body lower limbs movement can be completely reproduced according to these data, measuring accuracy is high.
Detailed description of the invention
Fig. 1 is human body lower limbs sensor wearing schematic provided in an embodiment of the present invention；
Fig. 2 is the structural schematic diagram of system provided in an embodiment of the present invention；
Fig. 3 is that thigh provided in an embodiment of the present invention moves relative angle calculating schematic diagram；
Fig. 4 is the flow chart provided in an embodiment of the present invention for carrying out the reproduction of human body lower limbs movement posture.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts all other
Embodiment shall fall within the protection scope of the present invention.
As depicted in figs. 1 and 2, the embodiment of the present invention provides a kind of human body lower limbs movement posture playback system, comprising: is used for
Make the power module of system worked well；For acquiring the data acquisition module of human action signal, including it is placed in human thigh
Close to the first inertial sensor 1 of knee position, the second inertial sensor 2 for being placed among human body waist and it is placed in human body knee
The flexible sensor 3 of joint part；For handling the signal conditioning module of the data-signal obtained from data acquisition module, lead to
Conducting wire is crossed to be connected with first inertial sensor 1, second inertial sensor 2 and the flexible sensor 3 respectively；For
Control and the micro controller module for coordinating whole system；For receiving the data in micro controller module and transferring data to dynamic
The wireless communication module for the analysis machine that gestures, the wireless communication module include that wireless telecommunications sending module and wireless telecommunications receive
Module；For reappearing the movement posture analysis machine of human body lower limbs motion profile, for according to the test data that receives to human body
Movement carries out vector analysis, and the angle between thigh and shank and acceleration of gravity is calculated, thus according to the people of acquisition
The each action parameter of body lower limb reappears human body lower limbs motion profile.
First inertial sensor 1 and second inertial sensor 2 are all made of three axis accelerometer, in other implementations
One of two axis accelerometers, three axis accelerometer, three-axis gyroscope or a variety of can also be used in mode.3-axis acceleration
The range of meter can be ± 1.5g~6g, and supply voltage is 2.2V~3.6V, and sample frequency can be set as 50Hz~100Hz.
± 250 °~500 ° can be taken using its range when three-axis gyroscope.The flexible sensor 3 is one-way or bi-directional sensor, just
Beginning resistance value is 10K, and internal have a foil gauge, when kneed bending, the foil gauge bend deformation make it is described
The resistance value of flexible sensor 3 changes, and the variation range of resistance value is 10K~30K or 1~20K, and the sample frequency of data is set
50Hz~100Hz.The change in resistance of the flexible sensor 3 and the angle of knee bends are directly proportional in a certain range.
As shown in figure 4, for the flow chart provided in an embodiment of the present invention for carrying out the reproduction of human body lower limbs movement posture.Work as human body
When movement, the acceleration information of its vertical thigh axis direction of the acquisition of the first inertial sensor 1 is with it along big leg axis
The acceleration information in direction, second inertial sensor 2 obtain human body horizontal direction acceleration information, the flexible sensor
3 can obtain knee joint bending data when human body lower limbs movement.The mode that knee joint bending data specifically obtain are as follows: knee joint is curved
Qu Shi makes to test circuit generation electric signal accordingly, reacts the bending degree of corresponding joint.Human action data is by signal condition
Module is handled, and becoming the A/D that micro controller module includes can receive signal, and micro controller module believes the data after conditioning
Wireless communication module is transferred to after number filtering, scale conversion processing, and wireless communication module receives data and by data with wireless parties
Formula sends movement posture analysis machine to, and movement posture analysis machine carries out vector point to human action according to the test data received
Analysis, and the angle between thigh and shank and acceleration of gravity is calculated, thus according to each movement of human body lower limbs of acquisition
Parameter reappears human body lower limbs motion profile.
As shown in figure 3, the calculation method of angle is as follows between thigh and acceleration of gravity: setting human motion horizontal acceleration
It is provided for a, a by second inertial sensor 2.Human motion horizontal acceleration a can be analyzed to two components of acceleration: vertical
Component of acceleration in big leg axis and the component of acceleration along big leg axis are big perpendicular to the component of acceleration of big leg axis
Small is acos θ, and θ is angle of the thigh relative to gravity direction.If acceleration of gravity is g, which is decomposed into two
Component of acceleration: the component of acceleration perpendicular to big leg axis and the component of acceleration along big leg axis, wherein perpendicular to big
The component of acceleration size of leg axis is gsin θ.It is vertical assuming that waist is static to set the first inertial sensor
It is d in the acceleration of big leg axis, sets the first inertial sensor perpendicular to the actual acceleration of big leg axis as b, it can be by institute
It states the first inertial sensor 1 directly to read, according to the available formula b=d+acos θ-gsin of human action vector analysis
θ.Further, the angular speed in thigh relative gravity direction is set as ω, is set from waist rotation axis to the first inertial sensor
The distance for binding position is r, then has ω=dr, and thigh is that ω has relational expression relative to the angle theta and angular speed of gravity directionIn conjunction with b=d+acos θ-gsin θ, ω=dr,These three formula can calculate thigh phase
For the angle theta of gravity direction.
The movement posture analysis machine is according to human body horizontal direction acceleration information, the acceleration of vertical thigh axis direction
Data and along between the acceleration information, thigh and acceleration of gravity of thigh axis direction angle reproduce human thigh move appearance
State, and draw out motion profile.The movement posture analysis machine according to the knee joint bending angle of acquisition, reproduce human thigh with it is small
Leg movement relation, and draw out motion profile.In turn, if by second sensor be directed toward gravity direction acceleration be added into
Come, then can reproduce human body side two dimensional motion track and draw out action diagram.
The movement posture analysis machine can automatically record, describe human body lower limbs movement locus, and can realize two groups of human bodies
Lower limb movement track compares, and points out the difference or movement in two groups of human body lower limbs action process respectively with data and the mode of figure
Situation of change, so as to for instructing human body lower limb rehabilitation training.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of human body lower limbs movement posture playback system characterized by comprising
For making the power module of system worked well；
For acquiring the data acquisition module of human action signal, including be placed in human thigh position the first inertial sensor,
It is placed in the second inertial sensor of human body waist and is placed in the flexible sensor at human body knee joint position, first inertia passes
Sensor is used to obtain the acceleration information and its acceleration information along thigh axis direction of its vertical thigh axis direction, institute
The second inertial sensor is stated for obtaining human body horizontal direction acceleration information, the flexible sensor is for obtaining human body lower limbs
Knee joint bending data when movement；
For handling the signal conditioning module of the data-signal obtained from data acquisition module；
For controlling and coordinating the micro controller module of whole system；
For receiving the data in micro controller module and transferring data to the wireless communication module of movement posture analysis machine；
For reappearing the movement posture analysis machine of human body lower limbs motion profile, according to the test data received to human action into
Row vector analysis, and the angle between thigh and acceleration of gravity is calculated, so that the human body lower limbs according to acquisition are each dynamic
Make parameter reproduction human body lower limbs motion profile；
The method that the angle between thigh and acceleration of gravity is calculated in the movement posture analysis machine is as follows: setting human body water
Flat directional acceleration is a, and acceleration of gravity g, thigh is θ relative to the angle of gravity direction, sets the first inertial sensor
Assuming that waist is static perpendicular to the acceleration of big leg axis be d, set the first inertial sensor perpendicular to thigh
The actual acceleration of axis is b, sets the angular speed in thigh relative gravity direction as ω, setting is used from waist rotation axis to first
Property sensor binding position distance be r, obtain formula b=d+acos θ-gsin θ with human action vector analysis, and
In conjunction with formula ω=dr,Calculate angle theta of the thigh relative to gravity direction.
2. human body lower limbs movement posture playback system as described in claim 1, it is characterised in that: first inertial sensor
Using one of two axis accelerometers, three axis accelerometer, three-axis gyroscope or a variety of.
3. human body lower limbs movement posture playback system as described in claim 1, it is characterised in that: first inertial sensor
It is placed in position of the human thigh close to knee.
4. human body lower limbs movement posture playback system as described in claim 1, it is characterised in that: the resistance of the flexible sensor
The variation range of value is 10K~30K or 1~20K.
5. human body lower limbs movement posture playback system as described in claim 1, it is characterised in that: the resistance of the flexible sensor
Value variation is directly proportional with the angle of knee bends.
6. human body lower limbs movement posture playback system as described in claim 1, it is characterised in that: second inertial sensor
For three axis accelerometer and it is fixed among human body waist.
7. a kind of human body lower limbs movement posture reproducting method, which is characterized in that use people of any of claims 1-6
Body lower limb movement posture playback system, comprising the following steps:
First inertial sensor obtain its vertical big leg axis acceleration information and its along big leg axis acceleration information,
Knee joint when second inertial sensor obtains human body horizontal direction acceleration information, flexible sensor obtains human body lower limbs movement
Bending data；
The data that signal conditioning module processing is obtained from data acquisition module；
Micro controller module is transferred to wireless communication module after handling data-signal filtering, the scale conversion after conditioning；
Wireless communication module receives data and data is transmitted wirelessly to movement posture analysis machine；
Movement posture analysis machine obtains thigh with human action vector analysis and gravity accelerates according to the test data received
Angle between degree, so that each action parameter of human body lower limbs according to acquisition reappears human body lower limbs motion profile.
8. human body lower limbs movement posture reproducting method as claimed in claim 7, it is characterised in that: the movement posture analysis machine
It is used according to human body horizontal direction acceleration information, the acceleration information of the vertical thigh axis direction of the first inertial sensor and first
Property sensor along between the acceleration information, thigh and acceleration of gravity of thigh axis direction angle reproduce human thigh fortune
Dynamic posture, and draw out motion profile.
9. human body lower limbs movement posture reproducting method as claimed in claim 8, it is characterised in that: the movement posture analysis machine
According to the knee joint bending angle of acquisition, human thigh and shank movement relation are reproduced, and the athletic posture of thigh is combined to draw out
The motion profile of shank.
10. human body lower limbs movement posture reproducting method as claimed in claim 7, it is characterised in that: thigh and acceleration of gravity
Between angle calculation method it is as follows: set human body horizontal direction acceleration as a, acceleration of gravity g, thigh is relative to gravity
The angle in direction is θ, sets the first inertial sensor assuming that waist is static perpendicular to the acceleration of big leg axis
For d, the first inertial sensor is set perpendicular to the actual acceleration of big leg axis as b, sets the angle in thigh relative gravity direction
Speed is ω, sets the distance that position is bound from waist rotation axis to the first inertial sensor as r, with human action vector point
It analyses and obtains formula b=d+acos θ-gsin θ, and combination formula ω=dr,Thigh is calculated relative to weight
The angle theta in power direction.
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| CN108606795B (en) * | 2018-02-06 | 2021-07-20 | 武汉纺织大学 | Human body action data management system |
| CN111870249A (en) * | 2020-06-11 | 2020-11-03 | 华东理工大学 | Human body posture tracking system based on micro inertial sensor and use method thereof |
| CN113268141B (en) * | 2021-05-17 | 2022-09-13 | 西南大学 | Motion capture method and device based on inertial sensor and fabric electronics |
| CN114797007B (en) * | 2022-04-02 | 2023-06-06 | 中国科学技术大学先进技术研究院 | Wearable underwater exoskeleton robot for rehabilitation and using method thereof |
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| CN101579238A (en) * | 2009-06-15 | 2009-11-18 | 吴健康 | Human motion capture three dimensional playback system and method thereof |
| CN103324288A (en) * | 2013-06-21 | 2013-09-25 | 武汉纺织大学 | System and method for human body movement identification of combined sensor |
| CN103750841A (en) * | 2014-01-20 | 2014-04-30 | 上海交通大学 | Human knee joint angle wireless detection system and method based on MEMS inertial sensors |
| CN104461013A (en) * | 2014-12-25 | 2015-03-25 | 中国科学院合肥物质科学研究院 | Human body movement reconstruction and analysis system and method based on inertial sensing units |
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| JP2002355236A (en) * | 2001-06-01 | 2002-12-10 | Kiyomi Iizuka | Method to measure joint angle using biaxial acceleration sensor and electric stimulator |
| US20110028865A1 (en) * | 2009-08-03 | 2011-02-03 | Xsens Technologies, B.V. | Inertial Sensor Kinematic Coupling |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101579238A (en) * | 2009-06-15 | 2009-11-18 | 吴健康 | Human motion capture three dimensional playback system and method thereof |
| CN103324288A (en) * | 2013-06-21 | 2013-09-25 | 武汉纺织大学 | System and method for human body movement identification of combined sensor |
| CN103750841A (en) * | 2014-01-20 | 2014-04-30 | 上海交通大学 | Human knee joint angle wireless detection system and method based on MEMS inertial sensors |
| CN104461013A (en) * | 2014-12-25 | 2015-03-25 | 中国科学院合肥物质科学研究院 | Human body movement reconstruction and analysis system and method based on inertial sensing units |
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