JPH11325881A - Method and apparatus for measuring angle of joint - Google Patents
Method and apparatus for measuring angle of jointInfo
- Publication number
- JPH11325881A JPH11325881A JP12872198A JP12872198A JPH11325881A JP H11325881 A JPH11325881 A JP H11325881A JP 12872198 A JP12872198 A JP 12872198A JP 12872198 A JP12872198 A JP 12872198A JP H11325881 A JPH11325881 A JP H11325881A
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- Prior art keywords
- joint
- angle
- acceleration
- axis
- measuring
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- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、人もしくはロボッ
ト等の関節の両側に位置する２つの枝部間の角度または
関節により接合される枝部と基部との間の角度を求める
関節角の計測方法及びその装置に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to measurement of a joint angle for determining an angle between two branches located on both sides of a joint of a human or a robot or an angle between a branch joined by a joint and a base. A method and an apparatus therefor.
【０００２】[0002]
【従来の技術】従来から、人の運動を様々な方法で計測
し、解析することが行われている。計測により得られた
データは、スポーツ技能の向上やジェスチャー認識によ
るヒューマンインターフェースの開発に用いられたり、
産業面では、製品の使用時における人の動きや作業によ
る負担の分析、労働環境評価等の分野で応用されてき
た。医療の分野では、リハビリテーションによる成果の
指標化や義肢の制作、調整といったことにも利用されて
いる。また、様々な疾患の原因究明等に際して、その疾
患等を生じた際にどのような運動を行っていたか、その
運動が生理的にどのような影響を及ぼしたかを知ること
は極めて重要である。2. Description of the Related Art Hitherto, measurement and analysis of human motion have been performed by various methods. The data obtained by the measurement is used for improving sports skills and developing a human interface by gesture recognition,
On the industrial side, it has been applied in fields such as analysis of the movement of people and the burden of work when using products, and evaluation of the working environment. In the medical field, it is also used for indexing the results of rehabilitation, creating and adjusting prostheses. Also, when investigating the cause of various diseases, it is extremely important to know what kind of exercise was performed when the disease or the like occurred, and what kind of physiological influence the exercise exerted.
【０００３】人の運動の計測方法としては、何を計測す
るかに応じて、様々な方法が考えられてきた。人が広い
空間内においてどの位置にいるかを測定するのであれ
ば、人を一つの点とみなしてその点をマッピングすると
いう方法が用いられるが、指の関節角等のより細かな計
測においては分度計等が用いられる。また、人の動作や
行動を計測して解析するには、関節の回りでの上腕部や
前腕部等の運動を計測する必要がある。このときの計測
方法としては、非接触式のものとしてビデオカメラ等を
用いた光学的方法や磁気センサによるもの等が挙げられ
る。一方、接触式の計測方法として、回転式電気角度計
や伸縮性のある電気抵抗を使用した角度計等がある。[0003] Various methods have been considered for measuring human motion, depending on what is to be measured. To measure the position of a person in a large space, a method is used in which the person is regarded as one point and that point is mapped. A degree meter or the like is used. In addition, in order to measure and analyze the motion and behavior of a person, it is necessary to measure the motion of the upper arm, the forearm, and the like around the joint. As the measuring method at this time, an optical method using a video camera or the like, a method using a magnetic sensor, and the like can be cited as non-contact methods. On the other hand, as a contact-type measuring method, there are a rotary electric goniometer and a goniometer using an elastic electric resistance.
【０００４】[0004]
【発明が解決しようとする課題】上記光学的方法は、近
年におけるビデオカメラの性能向上や画像の解析方法の
進歩に伴い、人の運動をかなり正確に計測できるように
なっている。しかし、マーカ等を付けて計測を行う場合
は、マーカのずれや隠れ等の問題がある。また、磁気セ
ンサを用いた計測においては、計測範囲内に金属等の磁
気に影響を与えるものがあると、正確に計測ができない
等の問題がある。さらに、これらの手法は、非接触とい
う利点はあるが、被験者の行動範囲が制限されるといっ
た問題がある。また、上記電気角度計や電気抵抗による
計測は、関節に沿って装着するため、被験者の関節運動
が拘束されたり、急激な関節運動に対して計器が破損し
やすい問題がある。The above-mentioned optical method has become capable of measuring human motion fairly accurately with the recent improvements in video camera performance and advances in image analysis methods. However, when measurement is performed with a marker or the like, there are problems such as displacement or hiding of the marker. In addition, in the measurement using a magnetic sensor, if there is an object such as a metal that affects the magnetism in the measurement range, there is a problem that accurate measurement cannot be performed. Furthermore, these methods have the advantage of non-contact, but have the problem that the range of action of the subject is limited. Moreover, since the measurement using the electric goniometer or the electric resistance is carried out along the joint, there is a problem that the joint movement of the subject is restricted or the instrument is easily damaged due to rapid joint movement.
【０００５】[0005]
【課題を解決するための手段】本発明は、上記課題を解
決し、行動範囲や関節運動等を拘束することなく、移動
を伴う関節運動を正確に計測することのできる関節運動
の計測方法及びその装置を提供することを目的とする。
そのため、本発明の請求項１の関節角の計測方法は、１
軸関節により接合された２つの枝部における上記１軸関
節の近傍で各々力学的なベクトル（例えば、加速度）を
計測し、上記２つの枝部の各計測位置におけるベクトル
が互いに略等しいものとして上記２つの枝部間の角度を
算出することを特徴とするものである。SUMMARY OF THE INVENTION The present invention solves the above-mentioned problems, and provides a joint movement measuring method and a joint movement measuring method capable of accurately measuring a joint movement accompanied by a movement without restricting an action range or a joint movement. It is intended to provide the device.
Therefore, the method for measuring a joint angle according to claim 1 of the present invention
A dynamic vector (for example, acceleration) is measured in the vicinity of the one-axis joint in the two branches joined by the shaft joint, and the vectors at the measurement positions of the two branches are substantially equal to each other. It is characterized in that an angle between two branch portions is calculated.
【０００６】１軸関節の回りで屈曲運動をする時、１つ
の枝部が上記１軸関節の回りで回転する。この場合、上
記１つの枝部におけるベクトルの計測は１軸関節の近傍
で行われるので、上記回転運動によるベクトルはほとん
ど生じないものとすることができる。また、今１つの枝
部が上記１軸関節と反対側の端部を中心に回転運動を行
った時、上記２つの枝部でのベクトルの計測は１軸関節
の近傍で行われるので、上記２つの枝部でのベクトルは
略等しいものとすることができ、このことを利用して上
記２つの枝部の間の角度、つまり、関節角を求めること
ができる。When performing a bending motion around a uniaxial joint, one branch rotates around the uniaxial joint. In this case, since the measurement of the vector in the one branch portion is performed in the vicinity of the one-axis joint, the vector due to the rotational motion can hardly occur. In addition, when one branch portion rotates around the end opposite to the one-axis joint, the vector measurement at the two branches is performed in the vicinity of the one-axis joint. The vectors at the two branches can be substantially equal, and this can be used to determine the angle between the two branches, that is, the joint angle.
【０００７】ここで、「１軸関節」とは、例えば、人の
肘または膝のように１方向のみの屈曲（回転）のみが可
能な関節をいい、「１軸関節」が人の肘である場合、上
腕部が１つの「枝部」に、前腕部が今１つの「枝部」に
該当する。また、「１軸関節」が膝である場合、腿の部
分が１つの「枝部」に、脛の部分が今１つの「枝部」に
該当する。なお、１軸関節は１方向のみに屈曲可能なも
のであれば、人以外の動物の関節やロボットアームの関
節等であってもよく、ロボットアームの場合、その１軸
関節の両側に位置する２つのアーム部が２つの「枝部」
に該当する。Here, the term "uniaxial joint" refers to a joint which can be bent (rotated) in only one direction, such as a human elbow or a knee, and the term "uniaxial joint" refers to a human elbow. In some cases, the upper arm corresponds to one “branch”, and the forearm corresponds to one “branch”. When the “one-axis joint” is a knee, the thigh corresponds to one “branch”, and the shin corresponds to one “branch”. The uniaxial joint may be a joint of an animal other than a human or a joint of a robot arm as long as it can bend in only one direction. In the case of a robot arm, the uniaxial joint is located on both sides of the uniaxial joint. Two arms are two "branches"
Corresponds to.
【０００８】請求項２の関節角の計測方法は、３軸関節
により接合された基部と枝部または３軸関節により接合
された２つの枝部における上記３軸関節の近傍で各々２
組の力学的なベクトルを計測し、上記基部と枝部の各計
測位置または上記２つの枝部の各計測位置における上記
２組のベクトルが各々互いに略等しいものとして上記基
部と肢部間または上記２つの枝部間のＸ、Ｙ及びＺ方向
の角度を算出することを特徴とするものである。According to a second aspect of the present invention, there is provided a method for measuring a joint angle, wherein two joints are provided in the vicinity of the triaxial joint at the base and the branch joined by the triaxial joint or at the two branches joined by the triaxial joint.
The mechanical vector of a set is measured, and the two sets of vectors at each measurement position of the base and the branch or each measurement position of the two branches are assumed to be substantially equal to each other. It is characterized in that the angles in the X, Y and Z directions between two branch portions are calculated.
【０００９】ここで、「３軸関節」とは、人の肩または
股関節のように、２方向の屈曲（回転）及び捩じりが可
能な関節をいい、例えば、３軸関節が人の肩である場
合、人の胴体が「基部」に該当し、前腕部が「枝部」に
該当し、３軸関節が「股関節」である場合、胴体が「基
部」に該当し、腿の部分が「枝部」に該当する。また、
３軸関節は人以外の動物やロボットアーム等の３軸関節
であってもよく、且つ３軸関節は、必ずしも基部と枝部
間に位置していなくても、２つの枝部間に位置していて
もよい。Here, the "three-axis joint" refers to a joint capable of bending (rotating) and twisting in two directions, such as a human shoulder or a hip joint. , The torso of the person corresponds to the “base”, the forearm corresponds to the “branch”, and the triaxial joint corresponds to the “hip”, the torso corresponds to the “base”, and the thigh corresponds to It corresponds to "branch". Also,
The triaxial joint may be a triaxial joint of an animal other than a human or a robot arm, and the triaxial joint is not necessarily located between the base and the branch, but is located between the two branches. May be.
【００１０】請求項３の関節角の計測方法は、請求項１
または２の方法において、上記力学的なベクトルが速
度、加速度、角速度、角加速度または位置ベクトルを含
むことを特徴とするものである。ここで、位置ベクトル
とは、センサの取付方向によって値の異なる位置情報で
ある。A third aspect of the present invention provides a method for measuring a joint angle.
Alternatively, in the method of the second aspect, the dynamic vector includes a velocity, an acceleration, an angular velocity, an angular acceleration, or a position vector. Here, the position vector is position information having different values depending on the mounting direction of the sensor.
【００１１】請求項４の関節角の計測装置は、１軸関節
により接合された２つの枝部における上記１軸関節の近
傍に各々着脱自在に取り付けられ力学的なベクトルを計
測する第１及び第２計測手段と、これらの第１及び第２
計測手段で計測されるベクトルが互いに略等しいものと
して上記２つの枝部間の角度を算出する算出手段とを備
えたことを特徴とするものである。According to a fourth aspect of the present invention, there is provided a first and second joint angle measuring devices which are detachably mounted near the one-axis joint in two branches joined by the one-axis joint and measure a mechanical vector. 2 measuring means and the first and second
And a calculating means for calculating an angle between the two branches assuming that the vectors measured by the measuring means are substantially equal to each other.
【００１２】請求項５の関節角の計測装置は、３軸関節
により接合された基部と枝部または３軸関節により接合
された２つの枝部における上記３軸関節の近傍に各々取
り付けられ各々２組の力学的なベクトルを計測する第１
及び第２計測手段と、これら第１及び第２計測手段で計
測される上記２組のベクトルが各々互いに略等しいもの
として上記基部と枝部間または上記２つの枝部間のＸ、
Ｙ及びＺ方向の角度を算出する算出手段とを備えたこと
を特徴とするものである。According to a fifth aspect of the present invention, there is provided a joint angle measuring device which is attached to the base and the branch joined by a three-axis joint or two branches joined by a three-axis joint in the vicinity of the three-axis joint, respectively. First to measure the dynamic vector of a set
And the second measuring means, and X between the base and the branch or between the two branches assuming that the two sets of vectors measured by the first and second measuring means are substantially equal to each other.
Calculating means for calculating angles in the Y and Z directions.
【００１３】請求項６の関節角の計測装置は、請求項４
または５の構成において、上記力学的なベクトルが速
度、加速度、角速度、角加速度または位置ベクトルを含
むことを特徴とするものである。According to a sixth aspect of the present invention, there is provided a joint angle measuring apparatus.
Alternatively, in the configuration of 5, the dynamic vector includes a velocity, an acceleration, an angular velocity, an angular acceleration, or a position vector.
【００１４】[0014]
【発明の実施の形態】以下、本発明の第１の実施の形態
を図面に基づいて説明する。図１に示すように、１軸関
節である人の肘２の関節運動を計測する計測装置１は、
肘２の両側の上腕部３（１つの枝部）及び前腕部４（今
１つの枝部）に各々巻付状態で取り付けられる可撓性支
持具としてのサポータ５、６と、各サポータ５、６上に
設けられた第１及び第２加速度センサ７、８（第１及び
第２計測手段）と、これら第１及び第２加速度センサ
７、８に接続される、図示しないコンピュータ等からな
る算出手段とを備えてなるものである。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a first embodiment of the present invention will be described with reference to the drawings. As shown in FIG. 1, a measuring device 1 that measures the joint motion of a person's elbow 2 that is a uniaxial joint includes:
Supporters 5 and 6 as flexible supports which are attached to the upper arm 3 (one branch) and the forearm 4 (now one branch) on both sides of the elbow 2 in a wound state, respectively, The first and second acceleration sensors 7 and 8 (first and second measurement means) provided on the computer 6 and a computer or the like (not shown) connected to the first and second acceleration sensors 7 and 8 Means.
【００１５】第１及び第２加速度センサ７、８は、各々
その主平面に平行なＸ方向の加速度（力学的なベクト
ル）と主平面と直交するＹ方向の加速度（力学的なベク
トル）とを検出できるものであり、肘２の回りの関節角
の測定に際して、前述のように、肘２の近傍における上
腕部３及び前腕部４に取り付けられ、且つＸ、Ｙ平面同
士が平行となるように取り付けられる。Each of the first and second acceleration sensors 7 and 8 detects acceleration in the X direction (mechanical vector) parallel to the main plane and acceleration in the Y direction (mechanical vector) orthogonal to the main plane. When the joint angle around the elbow 2 is measured, as described above, it is attached to the upper arm 3 and the forearm 4 in the vicinity of the elbow 2 so that the X and Y planes are parallel to each other. It is attached.
【００１６】ここで、第１加速度センサ７により検出さ
れる加速度をａ、そのＸ方向の加速度成分をａx1、Ｙ方
向の加速度成分をａy1とし、第２加速度センサ８により
検出される加速度をａ’、そのＸ方向の加速度成分をａ
x2、Ｙ方向の加速度成分をａ y2とすると、前述のよう
に、第１及び第２加速度センサ７、８がともに肘２の近
傍に取り付けられていることから、ａとａ’はほぼ等し
くなる。Here, the signal detected by the first acceleration sensor 7 is
A is the acceleration to be applied, and a is the acceleration component in the X direction.x1, Y direction
Direction acceleration component is ay1And by the second acceleration sensor 8
The detected acceleration is a ', and the acceleration component in the X direction is a
x2, The acceleration component in the Y direction is a y2Then, as described above
First and second acceleration sensors 7 and 8 are both close to elbow 2.
A and a 'are almost equal because they are attached
It becomes.
【００１７】ａ＝ａ’とすると、第１及び第２加速度セ
ンサ７、８の加速度成分（ａx1、ａ y1）と（ａx2、
ａy2）の関係は図２のように表すことができる。但し、
θは上腕部２と前腕部３との間の関節角であり、第１及
び第２加速度センサ７、８のＸ成分同士ａx1、ａx2のな
す角度、Ｙ成分同士ａy1、ａy2同士のなす角度も各々θ
となる。これにより、（ａx1、ａy1）と（ａx2、ａy2）
との関係は、以下の数１中の行列式（１）で表される。If a = a ', the first and second acceleration cells
Acceleration components (ax1, A y1) And (a)x2,
ay22) can be represented as shown in FIG. However,
θ is the joint angle between the upper arm 2 and the forearm 3,
X components of the second acceleration sensors 7 and 8 and ax1, Ax2Nona
Angle, Y component ay1, Ay2The angle between them is also θ
Becomes As a result, (ax1, Ay1) And (a)x2, Ay2)
Is expressed by the following determinant (1) in Equation 1.
【００１８】[0018]
【数１】 (Equation 1)
【００１９】上記行列式（１）を解くことにより、以下
の数２中（２）及び（３）に示す連立方程式が得られ、
これを解くことにより、（４）式に示すように、関節角
θを求めることができる。従って、肘２の回りの関節角
θの計測に際しては、第１及び第２加速度センサ７、８
で各々加速度のＸ、Ｙ成分（ａx1、ａy1）及び（ａx2、
ａy2）を計測し、これらの計測値を上記算出装置に送信
して（４）式による演算を行うのみでよい。By solving the above determinant (1), simultaneous equations shown in the following equations (2) and (3) are obtained.
By solving this, the joint angle θ can be obtained as shown in equation (4). Therefore, when measuring the joint angle θ around the elbow 2, the first and second acceleration sensors 7, 8
X and Y components of acceleration (a x1 , a y1 ) and (a x2 ,
a y2 ) only needs to be measured, and these measured values need to be transmitted to the above-described calculating device to perform the calculation according to equation (4).
【００２０】[0020]
【数２】 (Equation 2)
【００２１】上記第１及び第２加速度センサ７、８とし
ては、具体的には容量型の３軸加速度センサ（例えば、
住友精密工業株式会社製のＣ３Ａ−０２−３０）等を用
いることができる。この容量型の３軸加速度センサは静
電容量の変化を電圧に変換するもので、加速度をＸ、
Ｙ、Ｚの３軸成分に分解して検出することが可能であ
る。なお、本実施の形態は、１軸関節の回りの関節角を
求めるものであるから、第１及び第２加速度センサ７、
８は、Ｘ、Ｙの２軸成分に分解して検出できるものであ
ってもよい。また、上記図示しない算出装置として、コ
ンピュータを用いた場合、第１及び第２加速度センサ
７、８と上記コンピュータとの間に適宜のＡ／Ｄ変換器
を配置すればよい。このコンピュータとしては、被験者
の身体に装着可能な程度の小型のものを用いることも可
能である。As the first and second acceleration sensors 7 and 8, specifically, a capacitive three-axis acceleration sensor (for example,
C3A-02-30) manufactured by Sumitomo Precision Industries, Ltd. or the like can be used. This capacitance-type three-axis acceleration sensor converts a change in capacitance into a voltage.
It is possible to decompose into three-axis components of Y and Z for detection. In this embodiment, since the joint angle around the uniaxial joint is obtained, the first and second acceleration sensors 7 and
8 may be one that can be decomposed into two-axis components of X and Y and detected. When a computer is used as the calculation device (not shown), an appropriate A / D converter may be arranged between the first and second acceleration sensors 7 and 8 and the computer. As this computer, it is also possible to use a computer small enough to be worn on the body of the subject.
【００２２】次に、テストアーム（ロボットアーム）を
用いて、本実施の形態の計測装置１で算出した関節角
と、通常の角度センサで検出した関節角とがどの程度一
致しているかを試験した結果を示す。図３に示すよう
に、テストアーム１０は、基部１１と２つの枝部１２、
１３からなり、２つの枝部１２、１３間の第１関節１４
及び基部１１と枝部１２間の第２関節１５はともに１軸
関節として構成されるとともに、第１及び第２関節１
４、１５には各々図示しない通常の角度センサ（ポテン
ショメータ）が設けられている。枝部１２、１３は長さ
が約３０ｃｍ、厚さが３ｍｍのアクリル板で形成され、
第１関節１４の高さは約３０ｃｍである。また、第１関
節１４の近傍の２つの枝部１２、１３には各々第１及び
第２加速度センサ７、８が取り付けられる。Next, a test arm (robot arm) is used to test how much the joint angle calculated by the measuring device 1 of the present embodiment matches the joint angle detected by a normal angle sensor. The results are shown. As shown in FIG. 3, the test arm 10 has a base 11 and two branches 12,
13, the first joint 14 between the two branches 12, 13
The second joint 15 between the base 11 and the branch 12 is configured as a uniaxial joint, and the first and second joints 1
Each of 4 and 15 is provided with a normal angle sensor (potentiometer) not shown. The branches 12, 13 are formed of an acrylic plate having a length of about 30 cm and a thickness of 3 mm,
The height of the first joint 14 is about 30 cm. Further, first and second acceleration sensors 7 and 8 are attached to the two branches 12 and 13 near the first joint 14, respectively.
【００２３】図４に測定結果を示す。この測定において
は、第２関節１５の回りで枝部１２を２回屈曲、伸展さ
せる間に第１関節１４の回りで枝部１３を数回屈曲、伸
展させ。図４中の曲線Ｉは第１関節１４に設けた角度セ
ンサにより求めた２つの枝部１２、１３間の関節角、曲
線IIは本実施の形態の計測装置１により求めた枝部１
２、１３間の関節角、曲線III は第２関節１５に設けた
角度センサにより求めた基部１１と枝部１２との間の関
節角（枝部１２が水平方向に対してなす角度）である。
この結果から、本実施の形態の計測装置１による計測結
果は従来の角度センサによる計測結果とほぼ合致してお
り、計測装置１による計測精度は充分に高いものである
ことを証明している。FIG. 4 shows the measurement results. In this measurement, the branch 13 is bent and extended several times around the first joint 14 while the branch 12 is flexed and extended twice around the second joint 15. A curve I in FIG. 4 is a joint angle between the two branches 12 and 13 obtained by the angle sensor provided at the first joint 14, and a curve II is a branch 1 obtained by the measuring device 1 of the present embodiment.
The joint angle between 2 and 13 and the curve III are the joint angles between the base 11 and the branch 12 (the angle formed by the branch 12 with respect to the horizontal direction) determined by the angle sensor provided at the second joint 15. .
From this result, the measurement result by the measuring device 1 of the present embodiment almost matches the measurement result by the conventional angle sensor, and it proves that the measurement accuracy by the measuring device 1 is sufficiently high.
【００２４】図５及び図６に上記計測装置１の第１及び
第２加速度センサ７、８を実際に肘２の近傍の上腕部３
と前腕部４に取り付けて、上腕部３と前腕部４との間の
関節角を測定した結果を示す。図５は肘２を地面に対し
て垂直な平面内でほぼ一定の周期で屈曲、伸展を繰り返
した場合の時間経過と関節角との関係を示し、図６は肘
２を地面と平行な平面内でほぼ一定の周期で屈曲、伸展
を繰り返した場合の時間経過と関節角との関係を示す。FIGS. 5 and 6 show that the first and second acceleration sensors 7 and 8 of the measuring device 1 are actually connected to the upper arm 3 near the elbow 2.
4 shows a result of measuring a joint angle between the upper arm 3 and the forearm 4 by attaching the arm to the forearm 4. FIG. 5 shows the relationship between the lapse of time and the joint angle when the elbow 2 is repeatedly bent and extended at a substantially constant cycle in a plane perpendicular to the ground, and FIG. 6 shows the elbow 2 in a plane parallel to the ground. 2 shows the relationship between the passage of time and the joint angle when bending and extension are repeated at a substantially constant cycle in FIG.
【００２５】なお、上記実施の形態では、肘２の近傍の
上腕部３側及び前腕部４側で各々加速度を計測して両者
が互いに略等しいものとすることにより、肘２の回りの
関節角を算出するようにしたが、肘２の近傍の上腕部３
側及び前腕部４側で、各々加速度以外の他の力学的なベ
クトル、例えば、速度、角速度、角加速度または位置ベ
クトルを計測し、上腕部３側及び前腕部４側における上
記ベクトルが互いに略等しいものとすることによって
も、肘２の回りの関節角の算出が可能である。In the above embodiment, the joint angle around the elbow 2 is measured by measuring the acceleration on the upper arm 3 side and the forearm 4 side near the elbow 2 and making them substantially equal to each other. Was calculated, but the upper arm 3 near the elbow 2
On the side and the forearm 4 side, a mechanical vector other than acceleration, for example, a speed, an angular velocity, an angular acceleration, or a position vector is measured, and the vectors on the upper arm 3 and the forearm 4 are substantially equal to each other. By doing so, it is also possible to calculate the joint angle around the elbow 2.
【００２６】さらに、肘２の近傍の上腕部３及び前腕部
４で各々２種類以上のベクトルを計測し、予め定めた条
件に基づいて、いずれかのベクトルを選択的に使用する
ことにより、関節角を算出することも可能である。例え
ば、上述のように、関節角を求めるためのベクトルとし
て加速度を用いた場合、肘関節が屈曲、伸展を行う平面
内に加速度が生じない場合は、関節角の算出が不可能で
あり、加速度が小さい範囲では正確な関節角の算出が困
難となる。Further, two or more types of vectors are measured by the upper arm 3 and the forearm 4 in the vicinity of the elbow 2, and one of the vectors is selectively used based on a predetermined condition, whereby the joint can be obtained. It is also possible to calculate the angles. For example, as described above, when acceleration is used as a vector for obtaining a joint angle, if no acceleration occurs in a plane where the elbow joint bends and extends, it is impossible to calculate the joint angle, and It is difficult to calculate an accurate joint angle in a range where is small.
【００２７】すなわち、実際の計測においては、第１及
び第２加速度センサ７、８を取り付けているサポータ
５、６の伸縮作用によって、個々の加速度センサ７、８
に固有の加速度が生じるため、２つの加速度センサ７、
８に同時に生じる共有の加速度が小さくなると、固有の
加速度の影響が大きくなり、正確な関節角の計測が難し
い。That is, in the actual measurement, each of the acceleration sensors 7 and 8 is expanded and contracted by the supporters 5 and 6 to which the first and second acceleration sensors 7 and 8 are attached.
, A unique acceleration is generated in the two acceleration sensors 7,
When the shared acceleration that occurs simultaneously in the step 8 is reduced, the influence of the inherent acceleration increases, and it is difficult to accurately measure the joint angle.
【００２８】そのため、第１及び第２加速度センサ７、
８で検出される加速度が一定値（例えば、０．４Ｇ）以
上の場合は加速度に基づいて関節角を算出し、第１及び
第２加速度センサ７、８で検出される加速度が一定値未
満の場合、加速度以外の他のベクトル、例えば、角速度
に基づいて関節角を算出するようにすることもできる。
この場合、上腕部３側及び前腕部４側に、各々加速度セ
ンサ７、８以外に角速度検出用のジャイロセンサを取り
付けておけばよい。なお、上記計測装置１を用いた関節
角の計測は、肘２以外の人の膝等の他の１軸関節や、動
物、ロボット等の１軸関節における関節角の計測にも利
用できることはいうまでもない。Therefore, the first and second acceleration sensors 7,
If the acceleration detected at 8 is equal to or greater than a certain value (for example, 0.4 G), the joint angle is calculated based on the acceleration, and the acceleration detected by the first and second acceleration sensors 7 and 8 is less than the certain value. In this case, the joint angle may be calculated based on a vector other than the acceleration, for example, the angular velocity.
In this case, gyro sensors for detecting angular velocity may be attached to the upper arm 3 and the forearm 4 in addition to the acceleration sensors 7 and 8, respectively. It is to be noted that the measurement of the joint angle using the measurement device 1 can also be used to measure the joint angle of another uniaxial joint such as a knee of a person other than the elbow 2 or a uniaxial joint of an animal, a robot, or the like. Not even.
【００２９】次に、本発明の第２の実施の形態を説明す
る。図７に示すように、３軸関節である人の肩関節の回
りの関節角を計測する計測装置１６は、胴体１７（基
部）における肩の近傍に取り付けられる可撓性支持具と
してのサポータ１８と、上記肩の近傍の上腕部３に取り
付けられるサポータ１９とを備え、サポータ１８、１９
上には各々第１及び第２加速度センサ２０、２１（第１
及び第２計測手段）が設けられるとともに、これらの加
速度センサ２０、２１の計測データに基づいて、上記胴
体に対する上腕部３のＸ、Ｙ、Ｚ方向の角度を求めるコ
ンピュータ等の算出手段（図示せず）が設けられてい
る。Next, a second embodiment of the present invention will be described. As shown in FIG. 7, a measuring device 16 for measuring a joint angle around a human shoulder joint, which is a three-axis joint, includes a supporter 18 as a flexible support attached to the trunk 17 (base) near the shoulder. And a supporter 19 attached to the upper arm 3 near the shoulder.
The first and second acceleration sensors 20, 21 (first
And second measuring means), and calculating means (such as a computer) for obtaining the angles of the upper arm 3 in the X, Y, and Z directions with respect to the body based on the measurement data of the acceleration sensors 20 and 21. Z) is provided.
【００３０】第１加速度センサ２０は、そのＺ軸が胴体
１７の上下方向に、Ｙ軸が胴体１７の前後方向に、Ｘ軸
が胴体１７の左右方向を向くように胴体１７に装着され
る。また、第２加速度センサ２１は、上腕部３を自然に
胴体１７の側方に沿って降ろした状態で、そのＸ、Ｙ、
Ｚ軸が第１加速度センサ２０のＸ、Ｙ、Ｚ軸と一致する
ように上腕部３に装着される。The first acceleration sensor 20 is mounted on the body 17 such that the Z axis is in the vertical direction of the body 17, the Y axis is in the front-rear direction of the body 17, and the X axis is in the left-right direction of the body 17. Further, the second acceleration sensor 21 is configured such that the upper arm 3 is naturally lowered along the side of the body 17, and its X, Y,
It is mounted on the upper arm 3 so that the Z axis matches the X, Y, and Z axes of the first acceleration sensor 20.
【００３１】以下、肩関節２２の回りの関節角の計測方
法につき説明する。胴体１７側の第１加速度センサ２０
のＸ、Ｙ、Ｚ軸を基準座標系｛Ａ｝とし、上腕部３側の
第２加速度センサ２１のＸ、Ｙ、Ｚ軸を運動座標系
｛Ｂ｝とすると、胴体１７に対する上腕部３の運動は、
上記基準座標系｛Ａ｝と運動座標系｛Ｂ｝の位置関係に
よって表され、図７の状態では基準座標系｛Ａ｝と運動
座標系｛Ｂ｝は一致している。Hereinafter, a method of measuring a joint angle around the shoulder joint 22 will be described. First acceleration sensor 20 on body 17 side
Let the X, Y, and Z axes of the upper arm 3 with respect to the body 17 be the reference coordinate system {A} and the X, Y, and Z axes of the second acceleration sensor 21 on the upper arm 3 side be the motion coordinate system {B}. Exercise is
This is represented by the positional relationship between the reference coordinate system {A} and the motion coordinate system {B}. In the state of FIG. 7, the reference coordinate system {A} and the motion coordinate system {B} match.
【００３２】図８に示すように、上腕部３を回転させる
と、それに伴って、運動座標系｛Ｂ｝が基準座標系
｛Ａ｝に対してＸ、Ｙ、Ｚ方向へ回転することになる
が、この時、運動座標系｛Ｂ｝は基準座標系｛Ａ｝のＺ
軸についてφ、Ｙ軸についてθ、Ｘ軸についてψだけ回
転させたものであるとして、２つの座標系の回転移動を
表現する。また、上腕部３の動きをより理解しやすいも
のとして表現するために、図９に示すように、上述の
ψ、φ、θを用いて、胴体１７に対する挙上角α、前後
方向移動角βを求めることにする。As shown in FIG. 8, when the upper arm 3 is rotated, the motion coordinate system {B} rotates in the X, Y, and Z directions with respect to the reference coordinate system {A}. However, at this time, the motion coordinate system {B} is the Z of the reference coordinate system {A}.
The rotational movement of the two coordinate systems is expressed assuming that the axis is rotated by φ, the Y axis is rotated by θ, and the X axis is rotated by ψ. In addition, in order to express the movement of the upper arm 3 as something that is easier to understand, as shown in FIG. 9, the elevation angle α with respect to the body 17 and the front-rear movement angle β I will ask for.
【００３３】次に、運動座標系｛Ｂ｝を基準座標系
｛Ａ｝と一致した状態からＺ軸、Ｙ軸、Ｘ軸について順
次回転移動させる場合の、回転変換行列を求める。ま
ず、Ｚ軸についてφ回転させる時の回転変換行列は、以
下の数３中の（５）式で表される。Next, a rotation transformation matrix for sequentially rotating and moving the motion coordinate system {B} with respect to the Z-axis, Y-axis, and X-axis from a state where the coordinate system coincides with the reference coordinate system {A} is obtained. First, the rotation conversion matrix when rotating the Z axis by φ is represented by the following equation (5) in Expression 3.
【数３】 (Equation 3)
【００３４】次に、運動座標系｛Ｂ｝をＹ軸についてθ
回転させる場合の回転変換行列は、次の数４中の（６）
式で表される。Next, the motion coordinate system {B} is set to θ with respect to the Y axis.
The rotation transformation matrix for rotating is (6) in the following equation (4).
It is expressed by an equation.
【数４】 (Equation 4)
【００３５】続いて、運動座標系｛Ｂ｝をＸ軸について
φ回転させる場合の回転変換行列は、次の数５中の
（７）式で表される。Subsequently, a rotation transformation matrix for rotating the motion coordinate system {B} by φ about the X axis is expressed by the following equation (7) in the following equation (5).
【数５】 (Equation 5)
【００３６】従って、Ｚ軸、Ｙ軸、Ｘ軸についての回転
移動を順次行った時の回転変換行列Ｒzyx は以下の数６
中の（８）式のように表される。Accordingly, the rotational transformation matrix R zyx when the rotational movement about the Z axis, the Y axis, and the X axis is sequentially performed is given by the following equation ( 6).
It is expressed as in equation (8).
【数６】 (Equation 6)
【００３７】次に、胴体１７側の第１加速度センサ２０
で計測される加速度のＸ、Ｙ、Ｚ成分を（ａx1、ａy1、
ａz1）、上腕部３側の第２加速度センサ２１で計測され
る加速度のＸ、Ｙ、Ｚ成分を（ａx2、ａy2、ａz2）とす
る。１軸関節の場合と同様、第１及び第２加速度センサ
２０、２１は肩関節の近傍に取り付けられており、第１
及び第２加速度センサ２０、２１に生じる加速度は略等
しいものとできるので、加速度成分（ａx1、ａy1、
ａz1）と（ａx2、ａy2、ａz2）の関係は、上記回転変換
行列Ｒzyx を用いて、次の数７中の（９）式のように表
される。この（９）式は不定であり、（９）式のみから
φ、ψ、θを決定することはできない。Next, the first acceleration sensor 20 on the body 17 side
X, Y, and Z components of acceleration measured by (a x1 , a y1 ,
a z1 ), and the X, Y, and Z components of the acceleration measured by the second acceleration sensor 21 on the upper arm 3 side are defined as (a x2 , a y2 , a z2 ). As in the case of the uniaxial joint, the first and second acceleration sensors 20 and 21 are mounted near the shoulder joint, and
And the accelerations generated in the second acceleration sensors 20 and 21 can be made substantially equal, so that the acceleration components (a x1 , a y1 ,
The relationship between (a z1 ) and (a x2 , a y2 , a z2 ) is represented by the following equation (9) using the rotation transformation matrix R zyx . Equation (9) is indeterminate, and φ, ψ, and θ cannot be determined only from equation (9).
【００３８】[0038]
【数７】 (Equation 7)
【００３９】このため、本発明では、第１及び第２加速
度センサ２０、２１で計測されるＸ、Ｙ、Ｚの３方向の
加速度成分を、図１０に示すようなＣＲフィルタ２３で
フィルタリングすることにより、重力加速度成分を取り
出した。このときの、胴体１７に装着した第１加速度セ
ンサ２０から得られる重力加速度成分を（ｇx1、ｇy1、
ｇz1）、上腕部３に装着した第２加速度センサ２１から
得られる重力加速度成分を（ｇx2、ｇy2、ｇz2）とする
と、２つの重力加速度成分の関係は、元の加速度成分と
同様に上記回転変換行列Ｒzyx を用いて、次の数８中の
（１０）式のように表される。上記（９）式とこの（１
０）式とに基づいて、φ、ψ、θを決定した。Therefore, according to the present invention, the acceleration components in the three directions of X, Y and Z measured by the first and second acceleration sensors 20 and 21 are filtered by the CR filter 23 as shown in FIG. , The gravitational acceleration component was extracted. At this time, the gravitational acceleration components obtained from the first acceleration sensor 20 attached to the body 17 are represented by (g x1 , g y1 ,
g z1 ) and the gravitational acceleration component obtained from the second acceleration sensor 21 attached to the upper arm 3 is (g x2 , g y2 , g z2 ), the relationship between the two gravitational acceleration components is the same as the original acceleration component. Using the above rotation transformation matrix R zyx , the following expression (10) in Expression 8 is used. The above equation (9) and this (1)
0, ψ, and θ were determined based on the equation (0).
【００４０】[0040]
【数８】 (Equation 8)
【００４１】上腕部３の運動をより理解しやすくするた
めに用いた上記挙上角α、前後方向移動角βの算出方法
を以下に示す。上腕部３に装着した第２加速度センサ２
１は、Ｚ軸が肩から上腕部３方向を向くように装着され
ているので、上腕部３に装着した第２加速度センサ２１
のＺ軸が胴体１７に対していかなる方向であるかを表せ
ばよい。運動座標系｛Ｂ｝のＺ軸は基準座標系｛Ａ｝に
対する方向は、回転角θ、φを用いて図９のように表さ
れる。この図９から、挙上角α、前後方向移動角βは、
次の数１０中の（１１）、（１２）式のように表され
る。A method for calculating the elevation angle α and the forward / backward movement angle β used to make the movement of the upper arm 3 easier to understand will be described below. Second acceleration sensor 2 mounted on upper arm 3
1 is the second acceleration sensor 21 mounted on the upper arm 3 because the Z-axis is mounted so that the Z axis is directed from the shoulder to the upper arm 3.
The direction of the Z axis of the body 17 with respect to the body 17 may be expressed. The direction of the Z axis of the motion coordinate system {B} with respect to the reference coordinate system {A} is expressed as shown in FIG. 9 using the rotation angles θ and φ. From FIG. 9, the elevation angle α and the forward / backward movement angle β are:
It is expressed as in the following equations (11) and (12).
【００４２】[0042]
【数９】 (Equation 9)
【００４３】次に、上記の計測装置１６により、実際に
肩の回りの関節角を計測した結果を図１１に示す。ここ
では、被験者が自然な立位の状態から上腕部３を体の前
方に肩の高さまで上げた後、元の立位の状態に戻す動作
を行い、その間に上記第１及び第２加速度センサ２０、
２１の計測値に基づいて上記３方向の回転角φ、θ、ψ
を不図示のコンピュータにより算出した。図１１中曲線
ＩはＺ軸についての回転角φ、曲線IIはＹ軸についての
回転角θ、曲線III はＸ軸についての回転角ψの時間的
変化を算出した結果を各々示している。また、上記挙上
角α、前後方向移動角βの時間的変化を上記計測装置１
６で算出したものを図１２中曲線Ｉ及びIIに示す。Next, the result of actually measuring the joint angle around the shoulder by the measuring device 16 is shown in FIG. Here, the subject raises the upper arm 3 from the natural standing state to the shoulder level in front of the body, and then performs the operation of returning to the original standing state, during which the first and second acceleration sensors are used. 20,
21, the rotation angles φ, θ, ψ in the three directions based on the measurement values.
Was calculated by a computer (not shown). In FIG. 11, a curve I shows a result of calculating a rotation angle φ about the Z axis, a curve II shows a result of calculating a temporal change of a rotation angle θ about the Y axis, and a curve III shows a result of calculating a temporal change of the rotation angle ψ about the X axis. In addition, the change in the elevation angle α and the longitudinal movement angle β with time is measured by the measuring device 1.
The values calculated in 6 are shown in curves I and II in FIG.
【００４４】なお、上記の計測方法において、被験者が
静止している時は、上記（９）式で表される加速度成分
と、（１０）式で表される重力加速度成分とが等しくな
り、関節角を決定することができなくなる。そのため、
上記加速度成分と重力加速度成分との差がある一定値よ
り小さくなって両者が略等しくなった場合、関節角の変
化が生じていないものとみなして、加速度成分と重力加
速度成分との差が上記一定値より小さくなる直前の関節
角をそのまま維持しているものとすればよい。In the above measuring method, when the subject is stationary, the acceleration component expressed by the above equation (9) and the gravitational acceleration component expressed by the above equation (10) become equal, and The angle cannot be determined. for that reason,
If the difference between the acceleration component and the gravitational acceleration component is smaller than a certain value and the two are substantially equal, it is considered that no change in the joint angle has occurred, and the difference between the acceleration component and the gravitational acceleration component is What is necessary is just to maintain the joint angle immediately before it becomes smaller than the fixed value.
【００４５】また、この第２の実施の形態においても、
第１の実施の形態と同様に、加速度以外の速度、角速
度、角加速度、位置ベクトル等の他の力学的なベクトル
を利用して３軸関節の関節角の算出を行うこともでき、
必要により、２種類以上ベクトルを、所定の条件の下で
使い分けて関節角の算出を行うことも可能である。ま
た、上記計測装置１６を用いた関節角の計測は、人の股
関節等の他の基部（胴体１７）と枝部（腿の部分）間の
３軸関節や、足首の関節等の２つの枝部間の３軸関節、
さらに、動物やロボット等の３軸関節における関節角の
計測にも利用できることはいうまでもない。Also, in the second embodiment,
Similarly to the first embodiment, it is also possible to calculate the joint angle of the three-axis joint using other mechanical vectors such as velocity, angular velocity, angular acceleration, and position vector other than acceleration.
If necessary, it is also possible to calculate the joint angle by selectively using two or more types of vectors under predetermined conditions. The measurement of the joint angle using the measuring device 16 is performed by using a triaxial joint between another base (the torso 17) such as a human hip joint and a branch (a thigh) or two branches such as an ankle joint. 3-axis joint between the parts,
Further, it is needless to say that the present invention can be used for measuring the joint angle of a three-axis joint of an animal or a robot.
【００４６】[0046]
【発明の効果】以上説明したように、本発明の請求項１
の関節角の計測方法は、１軸関節により接合された２つ
の枝部における上記１軸関節の近傍で各々力学的なベク
トルを計測し、上記２つの枝部の各計測位置におけるベ
クトル（例えば、加速度等）が互いに略等しいものとし
て上記２つの枝部間の角度を求めるものであるから、従
来の各種計測方法と異なり、計測中における被験者等の
行動範囲が制限されたり、関節の運動が拘束されること
がなく、且つ被験者等が移動中であっても１軸関節の関
節角を正確に測定することが可能になる。As described above, according to the first aspect of the present invention,
Is a method of measuring a joint vector at each measurement position of each of the two branches at each measurement position in the vicinity of the one-axis joint in two branches joined by the one-axis joint. Since the angle between the above two branches is determined assuming that the acceleration and the like are substantially equal to each other, unlike the conventional various measurement methods, the range of action of the subject or the like during the measurement is restricted, and the movement of the joint is restricted. And the joint angle of the one-axis joint can be accurately measured even when the subject or the like is moving.
【００４７】請求項２の関節角の計測方法は、３軸関節
により接合された基部と枝部または３軸関節により接合
された２つの枝部における上記３軸関節の近傍で各々２
組の力学的なベクトルを計測し、上記基部及び枝部の各
計測位置または上記２つの枝部の各計測位置における上
記２組のベクトルが各々互いに略等しいものとして上記
基部と肢部間または上記２つの枝部間のＸ、Ｙ及びＺ方
向の角度を求めるものであるから、従来の各種計測方法
と異なり、計測中の行動範囲が制限されたり、関節の運
動が拘束されることがなく、且つ移動中であっても３軸
関節の関節角を正確に測定することが可能となる。According to a second aspect of the present invention, there is provided a method for measuring a joint angle in the vicinity of a triaxial joint at a base and a branch joined by a triaxial joint or at two branches joined by a triaxial joint.
The mechanical vector of the set is measured, and assuming that the two sets of vectors at each measurement position of the base and the branch or each measurement position of the two branches are substantially equal to each other, between the base and the limb or Since the angle in the X, Y and Z directions between the two branches is determined, unlike the conventional various measurement methods, the range of action during measurement is not limited, and the movement of the joint is not restricted. In addition, it is possible to accurately measure the joint angle of the three-axis joint even during movement.
【００４８】請求項３の関節角の計測方法は、請求項１
または２の方法において、上記力学的なベクトルが速
度、加速度、角速度、角加速度または位置ベクトルを含
むものであり、関節が１軸関節か３軸関節に応じて、こ
れらの中から任意の１または２のベクトルを使用するこ
とにより、関節角を容易に且つ正確に計測することがで
きるようになる。The method for measuring a joint angle according to the third aspect is the first aspect.
Or the method of 2, wherein the mechanical vector includes a velocity, an acceleration, an angular velocity, an angular acceleration, or a position vector. By using the two vectors, the joint angle can be easily and accurately measured.
【００４９】請求項４の関節角の計測装置は、１軸関節
により接合された２つの枝部における上記１軸関節の近
傍に各々着脱自在に取り付けられ力学的なベクトルを計
測する第１及び第２計測手段と、これらの第１及び第２
計測手段で計測されるベクトルが互いに略等しいものと
して上記２つの枝部間の角度を算出する算出手段とを備
えたものであるから、従来の各種計測装置と異なり、計
測中における被験者等の行動範囲が制限されたり、関節
の運動が拘束されることがなく、且つ被験者等が移動中
であっても１軸関節の関節角を正確に測定することがで
きるとともに、構造簡単で安価な計測装置を提供するこ
とが可能となる。According to a fourth aspect of the present invention, there is provided a joint angle measuring device which is detachably attached to a vicinity of the one-axis joint in two branches joined by the one-axis joint and measures a mechanical vector. 2 measuring means and the first and second
It is provided with a calculating means for calculating the angle between the two branches assuming that the vectors measured by the measuring means are substantially equal to each other. Therefore, unlike conventional various measuring devices, the behavior of the subject or the like during the measurement is different. An inexpensive measuring device that can accurately measure the joint angle of a one-axis joint even when a subject or the like is moving without limiting the range or restricting the movement of the joint. Can be provided.
【００５０】請求項５の関節角の計測装置は、３軸関節
により接合された基部と枝部または３軸関節により接合
された２つの枝部における上記３軸関節の近傍に各々取
り付けられ各々２組の力学的なベクトルを計測する第１
及び第２計測手段と、これら第１及び第２計測手段で計
測される上記２組のベクトルが各々互いに略等しいもの
として上記基部と枝部間または上記２つの枝部間のＸ、
Ｙ及びＺ方向の角度を算出する算出手段とを備えたもの
であるから、従来の各種計測装置と異なり、計測中にお
ける被験者等の行動範囲が制限されたり、関節の運動が
拘束されることがなく、且つ被験者等が移動中であって
も３軸関節の関節角を正確に測定することができるとと
もに、構造簡単で安価な計測装置を提供することが可能
となる。According to a fifth aspect of the present invention, there is provided a joint angle measuring device which is attached near the three-axis joint in each of a base and a branch joined by a three-axis joint or two branches joined by a three-axis joint. First to measure the dynamic vector of a set
And the second measuring means, and X between the base and the branch or between the two branches assuming that the two sets of vectors measured by the first and second measuring means are substantially equal to each other.
Since it is provided with calculating means for calculating angles in the Y and Z directions, unlike conventional various measuring devices, the range of action of a subject or the like during measurement may be restricted, or joint motion may be restricted. In addition, it is possible to accurately measure the joint angle of the three-axis joint even when the subject or the like is moving, and to provide an inexpensive measuring device with a simple structure.
【００５１】請求項６の関節角の計測装置は、請求項４
または５の構成において、上記力学的なベクトルが速
度、加速度、角速度、角加速度または位置ベクトルを含
むものであるから、関節が１軸関節か３軸関節かに応じ
て、これらの中から任意の１または２のベクトルを使用
することにより、関節角を容易に且つ正確に計測するこ
とができるとともに、構造簡単で安価な計測装置を提供
することが可能になる。According to a sixth aspect of the present invention, there is provided a joint angle measuring apparatus.
In the configuration of or 5, since the mechanical vector includes a velocity, an acceleration, an angular velocity, an angular acceleration, or a position vector, any one or any of these may be selected depending on whether the joint is a one-axis joint or a three-axis joint. By using the two vectors, it is possible to easily and accurately measure the joint angle, and to provide an inexpensive measuring device with a simple structure.
【図１】本発明の第１の実施の形態に係る計測装置を被
験者の上腕部と前腕部とに装着した状態を示す概略斜視
図。FIG. 1 is a schematic perspective view showing a state in which a measuring device according to a first embodiment of the present invention is mounted on an upper arm and a forearm of a subject.
【図２】上記計測装置を用いて関節角を求める原理を示
す説明図。FIG. 2 is an explanatory diagram showing the principle of obtaining a joint angle using the measurement device.
【図３】テストアームを用いて上記計測装置の計測精度
を試験する様子を示す概略正面図。FIG. 3 is a schematic front view showing a state of testing the measurement accuracy of the measurement device using a test arm.
【図４】上記テストアームを用いて上記計測装置及び通
常の角度センサで関節角を計測した結果を示すグラフ。FIG. 4 is a graph showing a result of measuring a joint angle with the measuring device and a normal angle sensor using the test arm.
【図５】地面に対して垂直な平面内での前腕部の回転運
動を上記計測装置で計測した結果を示すグラフ。FIG. 5 is a graph showing a result obtained by measuring the rotational movement of the forearm in a plane perpendicular to the ground by the measuring device.
【図６】地面に対して平行な平面内での前腕部の回転運
動を上記計測装置で計測した結果を示すグラフ。FIG. 6 is a graph showing the result of measuring the rotational movement of the forearm in a plane parallel to the ground by the measuring device.
【図７】本発明の第２の実施の形態に係る計測装置を被
験者の胴体と上腕部とに装着した状態をしそ巣概略斜視
図。FIG. 7 is a schematic perspective view showing a state in which a measuring device according to a second embodiment of the present invention is mounted on a torso and an upper arm of a subject.
【図８】図７の計測装置を装着した状態で上腕部を運動
させる様子を示す概略斜視図。8 is a schematic perspective view showing a state in which the upper arm is exercised in a state where the measuring device of FIG. 7 is mounted.
【図９】挙上角及び前後方向移動角を求める原理を示す
説明図。FIG. 9 is an explanatory diagram showing a principle of obtaining a lift angle and a forward-backward movement angle.
【図１０】加速度における重力加速度成分をフィルタリ
ングするためのＣＲフィルタを示す説明図。FIG. 10 is an explanatory diagram showing a CR filter for filtering a gravitational acceleration component in acceleration.
【図１１】被験者が自然な立位の状態から上腕部を胴体
の前方に肩の高さまで上げて元に戻す動作を行う際の
Ｘ、Ｙ、Ｚ方向の角度を図７の計測装置を用いて計測し
た結果を示すグラフ。11 shows the X, Y, and Z directions of the subject using the measuring device of FIG. 7 when the subject performs an operation of raising the upper arm from the natural standing state to the level of the shoulder in front of the torso and returning to the original position. The graph which shows the result of having measured.
【図１２】図１１の計測時に上記挙上角及び前後方向移
動角を上記計測装置で同時に求めた結果を示すグラフ。FIG. 12 is a graph showing a result obtained by simultaneously obtaining the elevation angle and the front-rear movement angle by the measurement device at the time of measurement in FIG. 11;
１、１６ 計測装置 ２ 肘（１軸関節） ３ 上腕部（１つの枝部） ４ 前腕部（今１つの枝部） ７、２０ 第１加速度センサ（第１計測手段） ８、２１ 第２加速度センサ（第２計測手段） １７ 胴体 ２２ 肩関節（３軸関節） 1, 16 Measuring device 2 Elbow (one axis joint) 3 Upper arm (one branch) 4 Forearm (one branch now) 7, 20 First acceleration sensor (first measuring means) 8, 21 Second acceleration Sensor (second measuring means) 17 Torso 22 Shoulder joint (3-axis joint)
───────────────────────────────────────────────────── フロントページの続き (72)発明者 倉田 聡 滋賀県草津市野路東１−１−１ 立命館大 学 びわこ・くさつキャンパス 理工学部 内 (72)発明者 小林 秀光 兵庫県尼崎市扶桑町１番10号 住友精密工 業株式会社内 (72)発明者 香川 哲也 兵庫県尼崎市扶桑町１番10号 住友精密工 業株式会社内 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Satoshi Kurata 1-1-1, Nojihigashi, Kusatsu-shi, Shiga Ritsumeikan University Inside the Faculty of Science and Technology (72) Inventor Hidemitsu Kobayashi 1 Fuso-cho, Amagasaki-shi, Hyogo No. 10 Sumitomo Precision Industries Co., Ltd. (72) Inventor Tetsuya Kagawa 1-10 Fuso-cho, Amagasaki City, Hyogo Prefecture
Claims (6)
おける上記１軸関節の近傍で各々力学的なベクトルを計
測し、上記２つの枝部の各計測位置におけるベクトルが
互いに略等しいものとして上記２つの枝部間の角度を算
出することを特徴とする関節角の計測方法。1. A mechanical vector is measured in the vicinity of the one-axis joint of two branches joined by a one-axis joint, and the vectors at the measurement positions of the two branches are substantially equal to each other. A method for measuring a joint angle, comprising calculating an angle between the two branch portions.
たは３軸関節により接合された２つの枝部における上記
３軸関節の近傍で各々２組の力学的なベクトルを計測
し、上記基部と枝部の各計測位置または上記２つの枝部
の各計測位置における上記２組のベクトルが各々互いに
略等しいものとして上記基部と肢部間または上記２つの
枝部間のＸ、Ｙ及びＺ方向の角度を算出することを特徴
とする関節角の計測方法。2. A base and a branch joined by a three-axis joint, or two sets of dynamic vectors are measured in the vicinity of the three-axis joint in a branch or two branches joined by a three-axis joint. And the X, Y, and Z directions between the base and the limb or between the two branches assuming that the two sets of vectors at each measurement position of the branch and the measurement positions of the two branches are substantially equal to each other. A method for measuring a joint angle, comprising calculating an angle of a joint.
角速度、角加速度または位置ベクトルを含むことを特徴
とする請求項１または２記載の関節角の計測方法。3. The dynamic vector includes a velocity, an acceleration,
3. The method for measuring a joint angle according to claim 1, wherein the method includes an angular velocity, an angular acceleration, or a position vector.
おける上記１軸関節の近傍に各々着脱自在に取り付けら
れ力学的なベクトルを計測する第１及び第２計測手段
と、これらの第１及び第２計測手段で計測されるベクト
ルが互いに略等しいものとして上記２つの枝部間の角度
を算出する算出手段とを備えたことを特徴とする関節角
の計測装置。4. A first and a second measuring means which are detachably attached to two branches connected by a one-axis joint near the one-axis joint and measure a mechanical vector, respectively, and And a calculating means for calculating an angle between the two branches assuming that the vectors measured by the second measuring means are substantially equal to each other.
たは３軸関節により接合された２つの枝部における上記
３軸関節の近傍に各々取り付けられ各々２組の力学的な
ベクトルを計測する第１及び第２計測手段と、これら第
１及び第２計測手段で計測される上記２組のベクトルが
各々互いに略等しいものとして上記基部と枝部間または
上記２つの枝部間のＸ、Ｙ及びＺ方向の角度を算出する
算出手段とを備えたことを特徴とする関節角の計測装
置。5. A base and a branch joined by a three-axis joint or two branches joined by a three-axis joint are respectively attached near the three-axis joint and each measure two sets of mechanical vectors. X, Y between the base and the branch or between the two branches assuming that the two sets of vectors measured by the first and second measuring means and the first and second measuring means are substantially equal to each other. And a calculating means for calculating an angle in the Z direction.
角速度、角加速度または位置ベクトルを含むことを特徴
とする請求項４または５記載の関節角の計測装置。6. The dynamic vector includes velocity, acceleration,
The joint angle measuring device according to claim 4, wherein the joint angle measuring device includes an angular velocity, an angular acceleration, or a position vector.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP12872198A JP3394979B2 (en) | 1998-05-12 | 1998-05-12 | Method and apparatus for measuring joint angle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP12872198A JP3394979B2 (en) | 1998-05-12 | 1998-05-12 | Method and apparatus for measuring joint angle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH11325881A true JPH11325881A (en) | 1999-11-26 |
| JP3394979B2 JP3394979B2 (en) | 2003-04-07 |
Family
ID=14991799
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP12872198A Expired - Fee Related JP3394979B2 (en) | 1998-05-12 | 1998-05-12 | Method and apparatus for measuring joint angle |
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| Country | Link |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2004072579A1 (en) * | 2003-02-14 | 2004-08-26 | Akebono Brake Industry Co., Ltd. | Difference correcting method for posture determining instrument and motion measuring instrument |
| WO2009090200A2 (en) | 2008-01-16 | 2009-07-23 | Syddansk Universitet | Integrated unit for monitoring motion in space |
| JP2011064483A (en) * | 2009-09-15 | 2011-03-31 | Tamagawa Seiki Co Ltd | Joint angle measuring device |
| ES2355787A1 (en) * | 2009-03-17 | 2011-03-31 | Fundacion Para Progreso Soft Computing | Instrument for the objective measurement of the shoulder range of motion |
| WO2011075983A1 (en) * | 2009-12-24 | 2011-06-30 | 湖南三一智能控制设备有限公司 | Angle measuring apparatus and method thereof and engineering machinery |
| JP2012168189A (en) * | 2012-04-16 | 2012-09-06 | Kochi Univ Of Technology | Tilt angle estimation system relative angle estimation system and angular velocity estimation system |
| JP2015175697A (en) * | 2014-03-14 | 2015-10-05 | 公立大学法人会津大学 | Electronic angle measuring tool and angle measuring program |
-
1998
- 1998-05-12 JP JP12872198A patent/JP3394979B2/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2004072579A1 (en) * | 2003-02-14 | 2004-08-26 | Akebono Brake Industry Co., Ltd. | Difference correcting method for posture determining instrument and motion measuring instrument |
| US7233872B2 (en) | 2003-02-14 | 2007-06-19 | Akebono Brake Industry Co., Ltd. | Difference correcting method for posture determining instrument and motion measuring instrument |
| WO2009090200A2 (en) | 2008-01-16 | 2009-07-23 | Syddansk Universitet | Integrated unit for monitoring motion in space |
| ES2355787A1 (en) * | 2009-03-17 | 2011-03-31 | Fundacion Para Progreso Soft Computing | Instrument for the objective measurement of the shoulder range of motion |
| JP2011064483A (en) * | 2009-09-15 | 2011-03-31 | Tamagawa Seiki Co Ltd | Joint angle measuring device |
| WO2011075983A1 (en) * | 2009-12-24 | 2011-06-30 | 湖南三一智能控制设备有限公司 | Angle measuring apparatus and method thereof and engineering machinery |
| JP2012168189A (en) * | 2012-04-16 | 2012-09-06 | Kochi Univ Of Technology | Tilt angle estimation system relative angle estimation system and angular velocity estimation system |
| JP2015175697A (en) * | 2014-03-14 | 2015-10-05 | 公立大学法人会津大学 | Electronic angle measuring tool and angle measuring program |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3394979B2 (en) | 2003-04-07 |
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