CN110974241A - Vision-based movement track measuring device for flexible exoskeleton finger joints - Google Patents
Vision-based movement track measuring device for flexible exoskeleton finger joints Download PDFInfo
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- CN110974241A CN110974241A CN201911310396.9A CN201911310396A CN110974241A CN 110974241 A CN110974241 A CN 110974241A CN 201911310396 A CN201911310396 A CN 201911310396A CN 110974241 A CN110974241 A CN 110974241A
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- 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
- A61B5/1126—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb using a particular sensing technique
- A61B5/1128—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb using a particular sensing technique using image analysis
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Abstract
The invention discloses a device for measuring the motion trail of a flexible exoskeleton finger joint based on vision, which relates to the technical field of measurement and comprises a fixing device, a measuring device bottom plate, a camera fixing support, a camera and a computer, wherein the camera fixing support is arranged on the fixing device; the fixing device is used for fixing the tested flexible exoskeleton finger joint on the measuring device bottom plate; artificial marks for cooperative positioning are pasted on the exoskeleton finger joints to be detected. According to the invention, the artificial mark is pasted on the flexible exoskeleton finger joint, the whole finger joint motion process is obtained through the test platform, the pixel point of the artificial mark is obtained through the positioning algorithm, and the coordinate of each artificial mark point is recorded in the local file in real time and displayed at the same time, so that the whole measurement process is simple, the measurement precision is high, the scientific evaluation on the flexible exoskeleton mobile mechanical structure is realized, the research and development period of the flexible exoskeleton mobile mechanical designer is greatly shortened, and the efficiency is improved.
Description
Technical Field
The invention belongs to the technical field of measurement, relates to a track measurement technology based on vision, and particularly relates to a movement track measurement device of a flexible exoskeleton finger joint based on vision.
Background
Stroke is one of the most common disabling diseases. According to statistics, the existing stroke patients over 40 years old in China reach 1036 ten thousand people. For the patients suffering from stroke and causing hand dysfunction, the rehabilitation period is longer and the requirements on the rehabilitation method are higher because the hand structure is more complex and the finger freedom degree is more. The flexible exoskeleton rehabilitation hand has the advantages of being light in structure, strong in wearing adaptability, strong in flexibility, simple in structure, low in cost, safe in human-computer interaction and the like, and is particularly suitable for executing activity operation in daily life. Therefore, the flexible exoskeleton manipulator has good development prospect in the research of the hand function rehabilitation instrument.
In the optimization design of the flexible exoskeleton rehabilitation manipulator, the movement track and the predicted joint movement angle of the finger joints are the vital performance indexes for measuring the flexible exoskeleton hand, and how to effectively solve the evaluation problem of the flexible exoskeleton hand is always a difficult point in the research process.
Disclosure of Invention
In view of the above defects in the prior art, the technical problem to be solved by the present invention is to provide a trajectory measurement method based on vision, which has a simple process and high measurement accuracy, thereby overcoming the problem of evaluation of a flexible exoskeleton hand.
In order to achieve the aim, the invention provides a device for measuring the motion trail of a flexible exoskeleton finger joint based on vision, which is characterized by comprising a fixing device, a measuring device bottom plate, a camera fixing support, a camera and a computer, wherein the measuring device bottom plate is provided with a plurality of positioning holes;
the fixing device is used for fixing the tested flexible exoskeleton finger joint on the measuring device bottom plate;
artificial marks for cooperative positioning are pasted on the exoskeleton finger joints to be detected.
Furthermore, the bottom plate of the measuring device is a fixing plate with a white background, so that system errors caused by movement of the flexible exoskeleton finger joints in the process of movement under external force are avoided.
Furthermore, the camera fixing support is designed to be capable of being upgraded, LED lamps are uniformly distributed on the camera fixing support, and the LED lamps can be manually switched on and off.
Furthermore, the camera fixing support has the capability of fixing the camera, so that the camera can be ensured to be parallel to the bottom plate of the measuring device, and the problem of distortion generated in the image acquisition process is avoided.
Further, the artificial marks for cooperative positioning are concentric circles of the black frame, and the radius ratio of the inner circle to the outer circle is 1: 4.
Further, the computer is used for running a positioning program of the flexible exoskeleton finger joints and automatically generating the motion trail of the flexible exoskeleton finger joints to be measured.
Further, the positioning program obtains coordinates of the co-located artificial markers by using an automatic positioning algorithm, and the automatic positioning algorithm includes the following steps:
s101, obtaining edge information in an image by adopting an edge extraction algorithm;
s102, acquiring the edge information of a target area by using morphological processing to obtain an acquired image;
s103, calculating the acquired image by using a centroid method to acquire the coordinate point of the artificial mark.
Further, the centroid method is to calculate the positions of the center points of the concentric circles in the co-located artificial mark, display the positions of the center points in real time, and simultaneously store the positions in a local file for further data processing during subsequent other performance evaluation.
Further, step S102 includes the steps of:
s201, performing convolution operation on the image by using a gradient operator;
s202, calculating a gradient image gray level histogram, and acquiring the Nth maximum value in the gradient image as a threshold value T, wherein N is a set value;
s203, carrying out binarization processing on the gradient image by taking T as a threshold value to obtain edge information in the image.
The method has the advantages that compared with the prior art, the method solves the problem that the mechanical structure of the flexible exoskeleton hand is difficult to evaluate, the artificial mark is pasted on the flexible exoskeleton finger joint, the whole finger joint movement process is obtained through the test platform, the pixel point of the artificial mark is obtained through the positioning algorithm, and the coordinate of each artificial mark point is recorded in a local file in real time and displayed at the same time. The whole measuring process is simple, the measuring precision is high, scientific evaluation on the structure of the flexible exoskeleton mobile mechanical is realized, the research and development period of designers of the flexible exoskeleton mobile mechanical is greatly shortened, and the efficiency is improved.
The conception, the specific structure and the technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, the features and the effects of the present invention. These descriptions are provided only to help explain the present invention and should not be used to limit the scope of the claims of the present invention.
Drawings
FIG. 1 is a block diagram of a device for measuring the movement trajectory of a flexible exoskeleton finger joint based on vision;
FIG. 2 is a sample of a flexible finger joint being tested;
FIG. 3 is a co-located artificial marker designed;
fig. 4 is a flow chart of a vision-based positioning algorithm.
The system comprises a fixing device 1, a measuring device 2, a measuring device bottom plate 3, a camera fixing support 3, an LED lamp 4, a camera 5 and a computer 6.
Detailed Description
The invention is described in further detail below with reference to the figures and specific embodiments. It should be understood that the embodiments are illustrative of the invention and are not to be construed as limiting the scope of the invention in any way. The present invention may be embodied in many different forms of embodiments and the scope of the invention is not limited to the embodiments set forth herein.
In the drawings, structurally identical elements are represented by like reference numerals, and structurally or functionally similar elements are represented by like reference numerals throughout the several views. The size and thickness of each component shown in the drawings are arbitrarily illustrated, and the present invention is not limited to the size and thickness of each component. The thickness of the components may be exaggerated where appropriate in the figures to improve clarity.
Examples
As shown in fig. 1, the device for measuring the movement locus of the flexible exoskeleton finger joint based on vision comprises a flexible exoskeleton finger joint fixing device (1) for fixing the flexible exoskeleton finger joint to be measured on a measuring device bottom plate (2), wherein the measuring device (2) is preferably a white background fixing plate, so that the situation that the flexible exoskeleton finger joint moves due to external force in the movement process to cause system errors is avoided; the camera fixing support (3) is used for adjusting the height of the camera (5) and ensuring that the to-be-measured flexible exoskeleton finger joint is positioned in the visual field of the camera (5) in the whole movement process, in addition, the fixing support (3) ensures that the camera (5) is parallel to the measuring device bottom plate (2), the distortion in the imaging process of the camera is avoided, an LED lamp (4) for light supplement is installed in the positioning support (3), and the whole measuring process is prevented from being influenced by light; the camera (5) is connected with the computer (6), and the image sequence acquired by the camera is sent to the computer for processing.
As shown in figure 2, firstly, a tested flexible exoskeleton finger joint is fixed on a measuring device bottom plate (2) through a fixing device (1), and an artificial mark with concentric circles as shown in figure 3 is pasted on the flexible exoskeleton finger joint to be measured, wherein the size relation of the designed concentric circles of the artificial mark in the cooperative positioning satisfies 1:1: 1. The camera positioning support (3) is adjusted to enable the whole motion area of the flexible exoskeleton finger joint to be within the camera visual field range, an LED lamp (4) for light supplement is adjusted, and light is guaranteed to be sufficient and uniform to the maximum extent. When a flexible exoskeleton finger joint positioning program runs in the computer (6), the movement track of the exoskeleton finger joint to be measured is automatically generated. The whole operation process is simple, and the process of evaluating the performance of the flexible finger joint by a designer is greatly saved.
The device for measuring the motion trail of the flexible exoskeleton finger joint based on vision acquires the position coordinates of the co-location mark through an automatic location program of the flexible exoskeleton finger joint. Specifically, the method comprises the following steps:
s101, acquiring edge information in an image by adopting an edge extraction algorithm;
step S102, obtaining the edge of the target area by using morphological processing to obtain an obtained image;
and step S103, calculating the acquired image by using a centroid method, and sequentially storing the obtained centroid coordinates in a local file according to the pixel position sequence for subsequent processing.
The centroid method in step S103 is to calculate the positions of the central points of the concentric circles in the cooperative localization artificial marker, display the positions of the central points in real time, and simultaneously store the positions in a local file for further data processing during subsequent other performance evaluations.
Specifically, step S102 includes the steps of:
step S201, performing convolution operation on the image by using a gradient operator;
step S202, calculating a gradient image gray level histogram, and acquiring the Nth maximum value in the gradient image as a threshold value T, wherein N is a set value;
and step S203, carrying out binarization processing on the gradient image by taking T as a threshold value to obtain edge information in the image.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (9)
1. A device for measuring the motion trail of a flexible exoskeleton finger joint based on vision is characterized by comprising a fixing device, a measuring device bottom plate, a camera fixing support, a camera and a computer;
the fixing device is used for fixing the tested flexible exoskeleton finger joint on the measuring device bottom plate;
artificial marks for cooperative positioning are pasted on the exoskeleton finger joints to be detected.
2. The vision-based movement path measuring device for the flexible exoskeleton finger joints as claimed in claim 1, wherein the bottom plate of the measuring device is a white background fixing plate, so as to avoid system errors caused by movement of the flexible exoskeleton finger joints during movement of the flexible exoskeleton finger joints under external force.
3. The vision-based movement path measuring device for the flexible exoskeleton finger joints as claimed in claim 1, wherein the camera fixing bracket is of a scalable design, and LED lamps are uniformly distributed on the camera fixing bracket and can be manually switched on and off.
4. The vision-based measuring device for the movement tracks of the flexible exoskeleton finger joints as claimed in claim 3, wherein the camera fixing bracket has the capability of fixing the camera, so that the camera can be ensured to be parallel to the bottom plate of the measuring device, and the problem of distortion in the image acquisition process is avoided.
5. The vision-based flexible exoskeleton finger joint movement trajectory measurement device of claim 1 wherein the artificial landmarks used for co-location are concentric circles of black borders and the inner and outer circle radii size ratio is 1: 4.
6. The vision-based movement trace measuring device for the flexible exoskeleton finger joints of claim 1 wherein the computer is configured to run a positioning program for the flexible exoskeleton finger joints to automatically generate a movement trace of the flexible exoskeleton finger joints to be measured.
7. The vision-based movement trajectory measurement device for flexible exoskeleton finger joints as claimed in claim 6 wherein said positioning program obtains coordinates of co-located said artificial markers using an automatic positioning algorithm comprising the steps of:
s101, obtaining edge information in an image by adopting an edge extraction algorithm;
s102, acquiring the edge information of a target area by using morphological processing to obtain an acquired image;
s103, calculating the acquired image by using a centroid method to acquire the coordinate point of the artificial mark.
8. The vision-based device for measuring the motion trajectory of flexible exoskeleton finger joints as claimed in claim 7, wherein the centroid method is to calculate the positions of the center points of the concentric circles in the co-located artificial markers and display the positions of the center points in real time and simultaneously save them in a local file for further data processing during the subsequent performance evaluation.
9. The vision-based flexible exoskeleton finger joint movement trajectory measurement device of claim 7 wherein step S102 comprises the steps of:
s201, performing convolution operation on the image by using a gradient operator;
s202, calculating a gradient image gray level histogram, and acquiring the Nth maximum value in the gradient image as a threshold value T, wherein N is a set value;
s203, carrying out binarization processing on the gradient image by taking T as a threshold value to obtain edge information in the image.
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| CN201911310396.9A CN110974241A (en) | 2019-12-18 | 2019-12-18 | Vision-based movement track measuring device for flexible exoskeleton finger joints |
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| CN201911310396.9A CN110974241A (en) | 2019-12-18 | 2019-12-18 | Vision-based movement track measuring device for flexible exoskeleton finger joints |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114403855A (en) * | 2021-12-31 | 2022-04-29 | 中山大学附属第一医院 | Paralyzed person upper limb motion function assessment method, system and computer readable storage medium |
| WO2022116411A1 (en) * | 2020-12-02 | 2022-06-09 | 中国标准化研究院 | Detecting and positioning analysis methods for human body functional joint rotation center |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2022116411A1 (en) * | 2020-12-02 | 2022-06-09 | 中国标准化研究院 | Detecting and positioning analysis methods for human body functional joint rotation center |
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| CN114403855A (en) * | 2021-12-31 | 2022-04-29 | 中山大学附属第一医院 | Paralyzed person upper limb motion function assessment method, system and computer readable storage medium |
| CN114403855B (en) * | 2021-12-31 | 2024-05-24 | 中山大学附属第一医院 | Paralyzed upper limb movement function evaluation method, system and computer readable storage medium |
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