CN102670217A - Wearable sensor measuring device and method for lower limb joint acting force and moment - Google Patents

Abstract

The invention relates to the technical field of medical dynamic measurement analysis, in particular to a wearable sensor measuring device and method for lower limb joint acting force and moment. The device consists of a computer memory, a data collector and wireless Bluetooth communication module of software and the like. The device is characterized in that a pelvis is provided with a first sensor, and a left huckle and a right huckle are provided with a second sensor and a third sensor; a lower left leg and a lower right leg are provided with a fourth sensor and a fifth sensor, and the side parts of a left heel and a right heel are provided with a sixth sensor and a seventh sensor; the side part of a right forefoot is provided with a eighth sensor and a ninth sensor, and a tenth sensor, an eleventh sensor, a twelfth sensor and a thirteenth sensor are arranged at the upper position and the lower position of a left planta and a right planta; and sensor data test signals are input into the signal input end of a computer to be collected and operated. The device can furthest reduce the influence of estimation errors of the quality, the center of mass and the moment of inertia of each part of lower limbs on the joint force and moment calculation accuracy. According to the method, the calculated amount can be reduced, and the application to real-time measurement and control is favorably realized.

Description

The Wearable sensor surveying unit and the method for joint of the lower extremity active force and moment

[technical field]

The present invention relates to medical kinetic measurement analysis technical field, the joint of the lower extremity active force of specifically a kind of human body or emulated robot and the measuring device and the method for moment.

[background technology]

Human, the walking movement of animal and even the motor control of anthropomorphic robot all must be through the links in joint, and the human body lower limbs joint mainly comprises joints of foot, ankle joint, knee joint and hip joint, bearing body kinematics than heavy load.

The joint active force information of quantification has extremely important reference significance to the diagnosis of joint disease; Front and back in apoplexy or sports wound rehabilitation; Also need carry out quantitative measurement to the motion and the power in joint; To estimate the effect of treatment, to developing the anthropomorphic robot of efficient walking, the feedback of joint active force information is also helpful to the intelligence control system exploitation.

At present, traditional joint dynamic analysis system constitutes with the polylith force plate that is fixed in ground based on the image motion analytical system of a plurality of high-speed cameras.Before each the measurement, at first demarcate the measurement of photographing unit to static and dynamic standard Three-dimension Target position coordinates, set up calibrating template; Then on the basis of template data, through three coordinates in position of fixed a plurality of identification points on the different parts of high speed camera seizure measuring object, the 3 d pose angle of calculating tested part.

This system can realize the higher detection precision in the coverage of high speed camera, but owing to adopt the photographing unit and the image analysis system of high-speed, high precision, this system price is higher, is confined to experimentation and limited clinical experimentation.And this traditional method measured motion zone is limited, and a large amount of identification points also can have influence on the proper motion of measuring object, and for example under special environments such as narrow and small stair, many obstacles working area, this MAS can't be measured.A force plate that is used to measure ground reaction force then can only be measured the active force in about 0.5 square metre planar range; If measure human motion on a large scale; Just need to lay the polylith force plate; The complexity of the image data of system and cost will significantly increase, and therefore this traditional analytical method is difficult to realize clinical practice widely and research.

In the active force and moment of resolving the joint; The joint dynamic analysis method of publishing all is the measurement result to traditional measuring system; Along with the development of pick off and mechanics of communication, small-sized or miniature motion sensor and force transducer are just beginning in human motion analysis and robot field, to use in a large number.Light small-sized Wearable pick off miscellaneous just is being applied in the analysis of human body attitude, but up to now, and Shang Weiyou discloses based on the computational methods of each the joint active force of lower limb of Wearable pick off and moment.

[summary of the invention]

The objective of the invention is to improve existing measuring device and computational methods, provide a kind of degree of accuracy high, use do not receive spatial constraints, with low cost, can realize the joint kinetics of human body or animal or robot is carried out the joint of the lower extremity active force of real time data graphical analysis and the measuring device and the computational methods of moment.

For realizing above-mentioned purpose; Design a kind of Wearable sensor surveying unit about human body lower limbs joint active force and moment; Comprise the data acquisition unit, blue tooth wireless communication module and the bandage device that utilize computer storage and software; It is characterized in that the basin bone is provided with first sensor; Left and right sides huckle is provided with second pick off and the 3rd pick off; Left and right sides calf is provided with four-sensor and the 5th pick off, and left and right sides heel sidepiece is provided with the 6th pick off and the 7th pick off, and right front sole sidepiece is provided with the 8th pick off and the 9th pick off; The upper-lower position in vola, the left and right sides is provided with the tenth to the 13 pick off; Be used for measuring the counteracting force and the moment of bottom surface in 3 d pose and the walking process of walking process lower limb, the data test signal of described pick off is input to Computer signal input with blue tooth wireless communication module and collecting device or the signal input part of the data gather computer that mobile device is connected is gathered and real-time operation, and described first sensor to the nine pick offs are the 3 d pose pick off; The sensing unit of this 3 d pose pick off constitutes nine motion-sensing modules by three-axis gyroscope, three axis accelerometer and three axis magnetometer; Described the tenth to the 13 pick off is a six-axis force sensor, and the sensing unit of this six-axis force sensor is made up of three-axis force pick off and three-axis force square pick off, in order to measure three counteracting forces and three moments of reaction on ground.

The signal and the acquisition module of described computer program control comprise analog-to-digital conversion module, microprocessor, DC power supplier and blue tooth wireless communication module.

A kind of Wearable sensor measurement about human body lower limbs joint active force and moment; Comprise nine 3 d pose pick offs that are fixed on each motion parts of lower limb; Be used for measuring the 3 d pose of walking process lower limb; Four six-axis force sensors that were distributed in for the two whole ends are used for measuring the counteracting force and the moment on walking process ground and a computer that is connected with the blue tooth wireless communication module; Computer program through the blue tooth wireless communication module is found the solution the power and the moment of joints of foot, ankle joint, knee joint and hip joint separately in order to every lower limb, it is characterized in that this method may further comprise the steps:

A. move when initial; Right crus of diaphragm heel (a 7) coincidence place definition overall rectangular coordinate system (21) at measuring object; The X axle positive direction of this coordinate system is pointed to the just right-hand of measuring object, and Y axle positive direction is pointed to the dead ahead of measuring object, confirms the Z axle positive direction of this coordinate system through right hand method.

B. through elastic bandage or the pressure sensitive adhesive double coated surface that nine 3 d pose pick offs is separately fixed at nine positions (4,5,6,7,8,9,10,11 and 12) that are defined as rigid body.

C. nine motion-sensing module output signals that constitute by three-axis gyroscope (22), three axis accelerometer (23) and three axis magnetometer (24); Through the microprocessor computing; Obtain being used for the 3 d pose angle of Calculation of Three Dimensional attitude matrix or the four-dimensional number of 3 d pose; Through blue tooth wireless communication module (26) the four-dimensional number of 3 d pose is sent to the computer (3) that is connected with the blue tooth wireless communication module by the sampling period of setting; Computer (3) sends instruction through the blue tooth wireless communication module, sets measuring range, low pass filter parameter and the sample frequency of 3 d pose pick off.

D. on nine 3 d pose pick offs, set local rectangular coordinate system; Each local rectangular coordinate system satisfies right-hand rule; Be fixed on the local rectangular coordinate system (31) of the 3 d pose pick off of pelvis (4); The X axle is parallel with the line of left hip joint (17) with right hip joint (13), and points to right hip joint (13), and its Y axle is consistent with the Y axle of overall rectangular coordinate system (21); Local rectangular coordinate system (32) the X axle of 3 d pose pick off that is fixed on right thigh (5) is consistent with the X axle of overall rectangular coordinate system 21; The line parallel aligned of Z axle and right hip joint (13) and right knee joint (14), Z axle positive direction is pointed to right hip joint (13); Be fixed on Z axle and the line parallel aligned of right knee joint (14) and right ankle joint (15) of local rectangular coordinate system (33) of the 3 d pose pick off of right leg (6); Its Z axle positive direction is pointed to right knee joint (14), and the X axle of 3 d pose pick off is consistent with the X axle of overall rectangular coordinate system (21); The Y axle of local rectangular coordinate system (34) that is fixed on the 3 d pose pick off of right crus of diaphragm heel (7) aligns with horizontal plane, and Y axle positive direction points to right joints of foot (16), and the X axle is consistent with the X axle of overall rectangular coordinate system (21); The Y axle of local rectangular coordinate system (35) that is fixed on the 3 d pose pick off of right front sole (8) aligns with horizontal plane, and Y axle negative direction points to right joints of foot (16), and the X axle is consistent with the X axle of overall rectangular coordinate system 21; Alignment schemes and said right lower limb method that left side lower limb (9,10,11 and 12) is gone up fixed 3 d pose pick off are similar.

E. the real-time measurement of the counteracting force on ground and moment; The measurement result of the 3 d pose pick off of two six-axis force sensors in vola and heel and forefoot sidepiece is transformed into reference analysis under the global coordinate system; Conversion regime is following, for example the six-axis force sensor of forefoot bottom with respect to the measurement output result of its local coordinate system (37) (three-axis force: $\left[\begin{array}{c}{F}^X\left(k\right)\\ F^Y\left(k\right)\\ F^Z\left(k\right)\end{array}\right]$ With the three-axis force square: $\left[\begin{array}{c}{M}^X\left(k\right)\\ M^Y\left(k\right)\\ M^Z\left(k\right)\end{array}\right]$ ), through formula (a) convert into global coordinate system exert oneself with the measured value of moment (three-axis force: ${\left[\begin{array}{c}{F}^X\left(k\right)\\ F^Y\left(k\right)\\ F^Z\left(k\right)\end{array}\right]}^g$ With the three-axis force square: ${\left[\begin{array}{c}{M}^X\left(k\right)\\ M^Y\left(k\right)\\ M^Z\left(k\right)\end{array}\right]}^g$ ), coordinate system (38) is the global coordinate system that zero overlaps with the local coordinate system of six-axis force sensor, conversion formula is:

${\left[\begin{array}{c}{F}^X\left(k\right)\\ F^Y\left(k\right)\\ F^Z\left(k\right)\end{array}\right]}^g=R\·\left[\begin{array}{c}{F}^X\left(k\right)\\ F^Y\left(k\right)\\ F^Z\left(k\right)\end{array}\right];$ ${\left[\begin{array}{c}{M}^X\left(k\right)\\ M^Y\left(k\right)\\ M^Z\left(k\right)\end{array}\right]}^g=R\·\left[\begin{array}{c}{M}^X\left(k\right)\\ M^Y\left(k\right)\\ M^Z\left(k\right)\end{array}\right]---\left(a\right)$

$R=\left[\begin{array}{ccc}\cos \left(\mathrm{Cz}\left(k\right)\right)& -\sin \left(\mathrm{Cz}\left(k\right)\right)& 0\\ \sin \left(\mathrm{Cz}\left(k\right)\right)& \cos \left(\mathrm{Cz}\left(k\right)\right)& 0\\ 0& 0& 1\end{array}\right]\·\left[\begin{array}{ccc}1& 0& 0\\ 0& \cos \left(\mathrm{Cx}\left(k\right)\right)& -\sin \left(\mathrm{Cx}\left(k\right)\right)\\ 0& \sin \left(\mathrm{Cx}\left(k\right)\right)& \cos \left(\mathrm{Cx}\left(k\right)\right)\end{array}\right]\·\left[\begin{array}{ccc}\cos \left(\mathrm{Cy}\left(k\right)\right)& 0& \sin \left(\mathrm{Cy}\left(k\right)\right)\\ 0& 1& 0\\ -\sin \left(\mathrm{Cy}\left(k\right)\right)& 0& \cos \left(\mathrm{Cy}\left(k\right)\right)\end{array}\right]$

F. sensing data is sent to computer through the blue tooth wireless communication mould; The computer software calculation process comprises following four steps; The first step, the length at each position of lower limb of input measured target is set up the simplification skeleton model of lower limb, comprises and simplifies straight line connecting rod and ball-joint; Second step; Local coordinate system according to each 3 d pose pick off that defines; Import the three-axis attitude angle of each 3 d pose pick off, obtain simplifying the 3 d pose of each connecting rod of representing the lower extremity movement position in the skeleton model and the three-dimensional coordinate in three-dimensional global coordinate system (21) in each joint; The 3rd step; The six-axis force sensor that the vola is fixed in input is in the counteracting force on global coordinate system (21) ground, lining and the real-time measurement values of moment; Parameters such as quality, barycenter and rotary inertia in conjunction with the measuring object lower limb; Carry out reverse dynamic analysis from bottom to top, calculate three active forces and the moment in each joint of lower limb; In the 4th step, in real time quantitative analysis and drawing are carried out in the load in joint, and carry out statistical analysis by gait cycle.

Said computer software calculation process concrete steps are following:

A. the first step, the length parameter at each position of input measured target lower limb is set up lower limb and is simplified skeleton model, and the skeleton model after the simplification constitutes by simplifying straight line and sphere.

B. second go on foot; Local coordinate system and each span access location length parameter according to each 3 d pose pick off; Right crus of diaphragm heel (7) begin to land left back heel (11) or left front sole (12) begin to land before in this spacer segment; With right crus of diaphragm heel (7) as rotating initial point; Calculate each joint coordinates of lower limb (

is with

) with formula (b-k); Computation sequence is set at first right side from top to bottom, and the left side from top to bottom then.

$O_{\mathrm{Foot}}^{\mathrm{Right}}=O_{\mathrm{Toe}}^{\mathrm{Right}}+R_{\mathrm{Foot}}^{\mathrm{Right}}\·{[0,-L_{\mathrm{Toe}}^{\mathrm{Right}},0]}^T---\left(b\right)$

$O_{\mathrm{Ankle}}^{\mathrm{Right}}=O_{\mathrm{Foot}}^{\mathrm{Right}}+R_{\mathrm{Ankle}}^{\mathrm{Right}}\·{[0,-L_{\mathrm{Heel}}^{\mathrm{Right}},0]}^T---\left(c\right)$

$O_{\mathrm{Knee}}^{\mathrm{Right}}=O_{\mathrm{Ankle}}^{\mathrm{Right}}+R_{\mathrm{Knee}}^{\mathrm{Right}}\·{[\mathrm{0,0},L_{\mathrm{Shank}}^{\mathrm{Right}}]}^T---\left(d\right)$

$O_{\mathrm{Hip}}^{\mathrm{Right}}=O_{\mathrm{Knee}}^{\mathrm{Right}}+R_{\mathrm{Hip}}^{\mathrm{Right}}\·{[\mathrm{0,0},L_{\mathrm{Thigh}}^{\mathrm{Right}}]}^T---\left(e\right)$

$O_{\mathrm{Hip}}^{\mathrm{Left}}=O_{\mathrm{Hip}}^{\mathrm{Right}}+R_{\mathrm{Hip}}^{\mathrm{Left}}\·{[-L_{\mathrm{HipBone}},\mathrm{0,0}]}^T---\left(f\right)$

$O_{\mathrm{Knee}}^{\mathrm{Left}}=O_{\mathrm{Hip}}^{\mathrm{Left}}+R_{\mathrm{Hip}}^{\mathrm{Left}}\·{[\mathrm{0,0},-L_{\mathrm{Thigh}}^{\mathrm{Left}}]}^T---\left(g\right)$

$O_{\mathrm{Ankle}}^{\mathrm{Left}}=O_{\mathrm{Knee}}^{\mathrm{Left}}+R_{\mathrm{Knee}}^{\mathrm{Left}}\·{[\mathrm{0,0},-L_{\mathrm{Shank}}^{\mathrm{Left}}]}^T---\left(h\right)$

$O_{\mathrm{Foot}}^{\mathrm{Left}}=O_{\mathrm{Ankle}}^{\mathrm{Left}}+R_{\mathrm{Ankle}}^{\mathrm{Left}}\·{[0,L_{\mathrm{Heel}}^{\mathrm{Left}},0]}^T---\left(i\right)$

$O_{\mathrm{Toe}}^{\mathrm{Left}}=O_{\mathrm{Foot}}^{\mathrm{Left}}+R_{\mathrm{Foot}}^{\mathrm{Left}}\·{[0,L_{\mathrm{Toe}}^{\mathrm{Left}},0]}^T---\left(j\right)$

$O_{\mathrm{Foot}}^{\mathrm{Left}}=O_{\mathrm{Toe}}^{\mathrm{Left}}+R_{\mathrm{Foot}}^{\mathrm{Left}}\·{[0,-L_{\mathrm{Toe}}^{\mathrm{Left}},0]}^T---\left(k\right)$

$O_{\mathrm{Ankle}}^{\mathrm{Left}}=O_{\mathrm{Foot}}^{\mathrm{Left}}+R_{\mathrm{Ankle}}^{\mathrm{Left}}\·{[0,-L_{\mathrm{Thigh}}^{\mathrm{Left}},0]}^T---\left(l\right)$

$O_{\mathrm{Knee}}^{\mathrm{Left}}=O_{\mathrm{Ankle}}^{\mathrm{Left}}+R_{\mathrm{Knee}}^{\mathrm{Left}}\·{[\mathrm{0,0},L_{\mathrm{Shank}}^{\mathrm{Left}}]}^T---\left(m\right)$

$O_{\mathrm{Hip}}^{\mathrm{Left}}=O_{\mathrm{Knee}}^{\mathrm{Left}}+R_{\mathrm{Hip}}^{\mathrm{Left}}\·{[\mathrm{0,0},L_{\mathrm{Thigh}}^{\mathrm{Left}}]}^T---\left(n\right)$

$O_{\mathrm{Hip}}^{\mathrm{Right}}=O_{\mathrm{Hip}}^{\mathrm{Left}}+R_{\mathrm{Hip}}^{\mathrm{Right}}\·{[L_{\mathrm{HipBone}},\mathrm{0,0}]}^T---\left(o\right)$

$O_{\mathrm{Knee}}^{\mathrm{Right}}=O_{\mathrm{Hip}}^{\mathrm{Right}}+R_{\mathrm{Hip}}^{\mathrm{Right}}\·{[\mathrm{0,0},-L_{\mathrm{Thigh}}^{\mathrm{Right}}]}^T---\left(p\right)$

$O_{\mathrm{Ankle}}^{\mathrm{Right}}=O_{\mathrm{Knee}}^{\mathrm{Right}}+R_{\mathrm{Knee}}^{\mathrm{Right}}\·{[\mathrm{0,0},-L_{\mathrm{Shank}}^{\mathrm{Right}}]}^T---\left(q\right)$

$O_{\mathrm{Foot}}^{\mathrm{Right}}=O_{\mathrm{Ankle}}^{\mathrm{Right}}+R_{\mathrm{Ankle}}^{\mathrm{Right}}\·{[0,L_{\mathrm{Heel}}^{\mathrm{Right}},0]}^T---\left(r\right)$

$O_{\mathrm{Toe}}^{\mathrm{Right}}=O_{\mathrm{Foot}}^{\mathrm{Right}}+R_{\mathrm{Foot}}^{\mathrm{Right}}\·{[0,L_{\mathrm{Toe}}^{\mathrm{Right}},0]}^T---\left(s\right)$

Where

and

are the right thigh (5), right leg (6), the right heel (7), right front feet (8) on the 3D pose of the 3D pose of the sensor output from the matrix;

are left thigh (9), the left leg (10), left heel (11) and the left foot (12) on the output of the three-dimensional three-dimensional attitude sensor attitude matrix.

C. in the 3rd step, define one and calculate the active force in each joint of lower limb and the kinetic model of moment.Landing with right crus of diaphragm is example, and the active force of right joints of foot (16) is the vector summation that right front sole (8) is located the inertia force (54) that the acceleration of motion of gravity (52) and the right front sole (8) of detected three counteracting forces of fixed six-axis force sensor

(45), right front sole (8) causes; The active force of right ankle joint (15) is the active force of right joints of foot (16); Right back heel (7) is located detected three counteracting forces of fixed six-axis force sensor (44); The gravity (46) of right back heel (7); The vector summation of the inertia force (55) that causes with right back heel (7) acceleration of motion; The active force of right knee joint (14) is the vector summation of the active force of right ankle joint (15), the gravity (47) of right leg (6) and the inertia force (56) that right leg (6) acceleration of motion causes; The active force of right hip joint (13) is the vector summation of the inertia force (57) that causes of the acceleration of motion of gravity (48) and right thigh (5) of active force, the right thigh (5) of right knee joint (14).

The calculating of the joint moment in each joint of right lower limb; Counteracting force and moment

and and each position gravity of lower limb on ground of only considering lower margin is to the effect of joint moment; Ignore inertia force influence; The following formula of practical implementation (t-v) of the Calculating Torque during Rotary of then right ankle joint 15, right knee joint 14 and right hip joint 13; Because the quality of right front sole (8) can be ignored, therefore the moment of right joints of foot (16) can directly be equal to right front sole (8) and locates detected three moment of reaction values of fixed six-axis force sensor

$M_{\mathrm{Ankle}}^{\mathrm{Right}}{}_g=(O_{\mathrm{Ankle}}^{\mathrm{Right}}-O_{\mathrm{Toe}}^{\mathrm{Right}})\×F_{\mathrm{Toe}}^{\mathrm{Right}}+(O_{\mathrm{Ankle}}^{\mathrm{Right}}-O_{\mathrm{Ankle}}^{\mathrm{Right}})\×F_{\mathrm{Heel}}^{\mathrm{Right}}+$

(t)

$(O_{\mathrm{Ankle}}^{\mathrm{Right}}-O_{\mathrm{Foot}}^{\mathrm{Right}})\×{[\mathrm{0,0},-m_{\mathrm{Foot}}\·g]}^T+M_{\mathrm{Toe}}^{\mathrm{Right}}+M_{\mathrm{Heel}}^{\mathrm{Right}}$

$M_{\mathrm{Knee}}^{\mathrm{Right}}{}_g=(O_{\mathrm{Knee}}^{\mathrm{Right}}-O_{\mathrm{Toe}}^{\mathrm{Right}})\×F_{\mathrm{Toe}}^{\mathrm{Right}}+(O_{\mathrm{Knee}}^{\mathrm{Right}}-O_{\mathrm{Ankle}}^{\mathrm{Right}})\×F_{\mathrm{Heel}}^{\mathrm{Right}}$

$+(O_{\mathrm{Knee}}^{\mathrm{Right}}-O_{\mathrm{Foot}}^{\mathrm{Right}})\×{[\mathrm{0,0},-m_{\mathrm{Foot}}\·g]}^T+(O_{\mathrm{Knee}}^{\mathrm{Right}}-O_{\mathrm{Shank}}^{\mathrm{Right}})---\left(u\right)$

$\×{[0,0,-m_{\mathrm{Shank}}\·g]}^T+M_{\mathrm{Toe}}^{\mathrm{Right}}+M_{\mathrm{Heel}}^{\mathrm{Right}}$

$M_{\mathrm{Hip}}^{\mathrm{Right}}{}_g=(O_{\mathrm{Hip}}^{\mathrm{Right}}-O_{\mathrm{Toe}}^{\mathrm{Right}})\×F_{\mathrm{Toe}}^{\mathrm{Right}}+(O_{\mathrm{Hip}}^{\mathrm{Right}}-O_{\mathrm{Ankle}}^{\mathrm{Right}})\×F_{\mathrm{Heel}}^{\mathrm{Right}}+(O_{\mathrm{Hip}}^{\mathrm{Right}}$

$-O_{\mathrm{Foot}}^{\mathrm{Right}})\×{[\mathrm{0,0},-m_{\mathrm{Foot}}\·g]}^T+(O_{\mathrm{Hip}}^{\mathrm{Right}}-O_{\mathrm{Shank}}^{\mathrm{Right}})\×{[\mathrm{0,0},-m_{\mathrm{Shank}}\·g]}^T+(O_{\mathrm{Hip}}^{\mathrm{Right}}---\left(v\right)$

$-O_{\mathrm{Thigh}}^{\mathrm{Right}})\×{[\mathrm{0,0},-m_{\mathrm{Thigh}}\·g]}^T+M_{\mathrm{Toe}}^{\mathrm{Right}}+M_{\mathrm{Heel}}^{\mathrm{Right}}$

M in the formula _Foot, m _ShankAnd m _ThighRepresent the quality of foot, shank and thigh respectively,

With

Represent the three-dimensional coordinate of the barycenter of foot, shank and thigh respectively.

D. above-mentioned second step and the 3rd joint coordinates found the solution of step and joint power are imported in the lower limb simplification skeleton model that the first step sets up; Realize the visualization result output of lower extremity movement and power; The human body lower limbs dynamic analysis of stair activity; Realization is carried out the statistical analysis to joint power and moment, and the hip joint moment of walking and stair activity can be compared quantitatively on normal walking, the treadmill.

Said apparatus and method are applied to human body, animal and the test of emulated robot lower extremity movement.

Compared to tradition based on high speed image analytical equipment and method; The present invention can reduce the influence to joint power and Calculating Torque during Rotary of each position quality of lower limb, barycenter and rotary inertia estimation error to greatest extent; Thereby reduce amount of calculation and improve degree of accuracy, help realizing that the present invention is in the application of measuring and controlling in real time; Utilize Wearable 3 d pose pick off and three-axis force pick off to carry out kinesiology DATA REASONING and calculating; Make the measuring object action not receive spatial constraints, can under difference is walked the simulation of conditions and environment (like roughness pavement or stair activity), carry out the lower limb dynamics calculation; Be applicable to the application of long measurement and evaluation; Method is simple to operate, and amount of calculation is little, and used measuring transducer is with low cost, is easy to clinical or the daily use popularization.

[description of drawings]

Fig. 1 forms sketch map for embodiment of the invention hardware;

Fig. 2 (a) is a 3 d pose sensor construction sketch;

Fig. 2 (b) is the sketch map of 3 d pose pick off local coordinate system;

Fig. 3 (a) is that the three-axis force sensor application is in the human foot structural representation;

Fig. 3 (b) is that the three-axis force sensor application is in the emulated robot structural representation;

Fig. 4 is a computational methods flow chart of the present invention;

Fig. 5 is for simplifying back lower limb skeletons model sketch map;

Fig. 6 is the Coordinate Calculation sequential schematic in four kinds of gait phase and each joint of lower limb in the two sufficient walking processes;

Fig. 7 is the sketch map of kinetic model;

Fig. 8 is the illustration of motion and the visualization result of power in the lower limb stair activity process;

The illustration of Fig. 9 for the power and the moment in joint being carried out the statistical quantitative analysis by gait cycle.

[specific embodiment]

Below in conjunction with accompanying drawing the present invention is done further elaboration, its device construction and method can realize for a person skilled in the art.

Design principle of the present invention is to utilize wearing to be fixed on the 3 d pose pick off at each position of lower limb and the detected data message of three-axis force pick off of biped bottom; Convert mechanized data to through analog-to-digital conversion module and microprocessor; Utilize the Bluetooth wireless transmission module to be transferred to computer; With computer to the sensor data with the pre-set programs analytical calculation, and with pictorial display result of calculation.

Can know that from above-mentioned design principle decisive parts of the present invention have 3 d pose pick off, three-axis force pick off, signals collecting and delivery module (comprising analog-to-digital conversion module, microprocessor, power module and blue tooth wireless communication module) and computer.

At first the lower limb with measuring object are defined as nine rigid bodies and eight ball-joints.As shown in Figure 1, nine rigid bodies comprise pelvis 4, right thigh 5, right leg 6, right crus of diaphragm heel 7, right front sole 8, left thigh 9, left leg 10, left foot heel 11 and left front sole 12; Eight ball-joints comprise right hip joint 13, right knee joint 14, right ankle joint 15, right joints of foot 16, left hip joint 17, left knee joint 18, left ankle joint 19 and left joints of foot 20.

3 d pose pick off 1, three-axis force pick off 2 are fixed on nine rigid bodies that the measuring object lower limb are defined through elastic bandage or pressure sensitive adhesive double coated, and concrete fixed position is as shown in Figure 1.First to the 9th pick off is a 3 d pose pick off 1; Be used for measuring the 3 d pose of walking process lower limb, the basin bone is provided with first sensor, and left and right sides huckle is provided with second pick off and the 3rd pick off; Left and right sides calf is provided with four-sensor and the 5th pick off; Left and right sides heel sidepiece is provided with the 6th pick off and the 7th pick off, and right front sole sidepiece is provided with the 8th pick off and the 9th pick off, and the upper-lower position in vola, the left and right sides is provided with the tenth to the 13 pick off; The the tenth to the 13 pick off is a three-axis force pick off 2, is used for measuring the counteracting force and the moment of walking process bottom surface.

The internal structure of 3 d pose pick off 1 sees that from Fig. 2 (a) sensing unit of 3 d pose pick off is made up of nine motion-sensing modules, microprocessor 25, blue tooth wireless communication module 26, DC voltage-stabilizing module 27, battery 28 and the battery charging module 29 that three-axis gyroscope 22, three axis accelerometer 23 and three axis magnetometer 24 constitute.Combine the signal of nine motion-sensing module outputs that constitute by three-axis gyroscope 22, three axis accelerometer 23 and three axis magnetometer 24; Computing through microprocessor obtains being used for the 3 d pose angle of Calculation of Three Dimensional attitude matrix or the four-dimensional number of 3 d pose.Blue tooth wireless communication module 26 sends to the computer 3 that is connected with the blue tooth wireless communication module to the four-dimensional number of 3 d pose by the sampling period of setting.

Pick off installs and fixes and finishes, and with signals collecting be connected with delivery module and computer accomplish after, just can carry out gait analysis, method is following:

A. move when initial; Right crus of diaphragm heel (a 7) coincidence place definition overall rectangular coordinate system (21) at measuring object; As shown in Figure 1; The X axle positive direction of this coordinate system is pointed to the just right-hand of measuring object, and Y axle positive direction is pointed to the dead ahead of measuring object, confirms the Z axle positive direction of this coordinate system through right hand method.

B. on nine 3 d pose pick offs, set local rectangular coordinate system; Each local rectangular coordinate system satisfies right-hand rule; As shown in Figure 2, be fixed on the local rectangular coordinate system (31) of the 3 d pose pick off of pelvis (4), the X axle is parallel with the line of left hip joint (17) with right hip joint (13); And pointing to right hip joint (13), its Y axle is consistent with the Y axle of overall rectangular coordinate system (21); Local rectangular coordinate system (32) the X axle of 3 d pose pick off that is fixed on right thigh (5) is consistent with the X axle of overall rectangular coordinate system 21; The line parallel aligned of Z axle and right hip joint (13) and right knee joint (14), Z axle positive direction is pointed to right hip joint (13); Be fixed on Z axle and the line parallel aligned of right knee joint (14) and right ankle joint (15) of local rectangular coordinate system (33) of the 3 d pose pick off of right leg (6); Its Z axle positive direction is pointed to right knee joint (14), and the X axle of 3 d pose pick off is consistent with the X axle of overall rectangular coordinate system (21); The Y axle of local rectangular coordinate system (34) that is fixed on the 3 d pose pick off of right crus of diaphragm heel (7) aligns with horizontal plane, and Y axle positive direction points to right joints of foot (16), and the X axle is consistent with the X axle of overall rectangular coordinate system (21); The Y axle of local rectangular coordinate system (35) that is fixed on the 3 d pose pick off of right front sole (8) aligns with horizontal plane, and Y axle negative direction points to right joints of foot (16), and the X axle is consistent with the X axle of overall rectangular coordinate system 21; Alignment schemes and said right lower limb method that left side lower limb (9,10,11 and 12) is gone up fixed 3 d pose pick off are similar.

C. as shown in Figure 3; The real-time measurement of the counteracting force on ground and moment; The measurement result of the 3 d pose pick off of two six-axis force sensors in vola and heel and forefoot sidepiece is transformed into reference analysis under the global coordinate system; Conversion regime is following, for example the six-axis force sensor of forefoot bottom with respect to the measurement output result of its local coordinate system (37) (three-axis force: $\left[\begin{array}{c}{F}^X\left(k\right)\\ F^Y\left(k\right)\\ F^Z\left(k\right)\end{array}\right]$ With the three-axis force square: $\left[\begin{array}{c}{M}^X\left(k\right)\\ M^Y\left(k\right)\\ M^Z\left(k\right)\end{array}\right]$ ), through formula (a) convert into global coordinate system exert oneself with the measured value of moment (three-axis force: ${\left[\begin{array}{c}{F}^X\left(k\right)\\ F^Y\left(k\right)\\ F^Z\left(k\right)\end{array}\right]}^g$ With the three-axis force square: ${\left[\begin{array}{c}{M}^X\left(k\right)\\ M^Y\left(k\right)\\ M^Z\left(k\right)\end{array}\right]}^g$ ), coordinate system (38) is the global coordinate system that zero overlaps with the local coordinate system of six-axis force sensor, conversion formula is:

${\left[\begin{array}{c}{F}^X\left(k\right)\\ F^Y\left(k\right)\\ F^Z\left(k\right)\end{array}\right]}^g=R\·\left[\begin{array}{c}{F}^X\left(k\right)\\ F^Y\left(k\right)\\ F^Z\left(k\right)\end{array}\right];$ ${\left[\begin{array}{c}{M}^X\left(k\right)\\ M^Y\left(k\right)\\ M^Z\left(k\right)\end{array}\right]}^g=R\·\left[\begin{array}{c}{M}^X\left(k\right)\\ M^Y\left(k\right)\\ M^Z\left(k\right)\end{array}\right]---\left(a\right)$

$R=\left[\begin{array}{ccc}\cos \left(\mathrm{Cz}\left(k\right)\right)& -\sin \left(\mathrm{Cz}\left(k\right)\right)& 0\\ \sin \left(\mathrm{Cz}\left(k\right)\right)& \cos \left(\mathrm{Cz}\left(k\right)\right)& 0\\ 0& 0& 1\end{array}\right]\·\left[\begin{array}{ccc}1& 0& 0\\ 0& \cos \left(\mathrm{Cx}\left(k\right)\right)& -\sin \left(\mathrm{Cx}\left(k\right)\right)\\ 0& \sin \left(\mathrm{Cx}\left(k\right)\right)& \cos \left(\mathrm{Cx}\left(k\right)\right)\end{array}\right]\·\left[\begin{array}{ccc}\cos \left(\mathrm{Cy}\left(k\right)\right)& 0& \sin \left(\mathrm{Cy}\left(k\right)\right)\\ 0& 1& 0\\ -\sin \left(\mathrm{Cy}\left(k\right)\right)& 0& \cos \left(\mathrm{Cy}\left(k\right)\right)\end{array}\right]$

D. sensing data is sent to computer through the blue tooth wireless communication mould, and the computer software calculation process comprises that following four steps are as shown in Figure 4,

(1) first step, the length at each position of lower limb of input measured target is set up the simplification skeleton model of lower limb, and is as shown in Figure 5, comprises and simplify straight line connecting rod and ball-joint.The acquisition of span access location length parameter tape capable of using carries out the human body lower limbs physiological structure to be measured, if emulated robot, then the length of its various piece can directly directly be extracted from the Three Dimensional Design Model of robot.

The length of definition right thigh 5, right leg 6, right crus of diaphragm heel 7, right front sole 8 is respectively

With

And the length of left thigh 9, left leg 10, left foot heel 11 and left front sole 12 is respectively

With

The distance that is defined in right hip joint 13 and left hip joint 18 in the basin bone 4 is L _HipBone

(2) second steps; Local coordinate system and each span access location length parameter according to each 3 d pose pick off; Right crus of diaphragm heel (7) begin to land left back heel (11) or left front sole (12) begin to land before in this spacer segment; With right crus of diaphragm heel (7) as rotating initial point; Calculate each joint coordinates of lower limb (

is with ) with formula (b-k); Computation sequence is set at first right side from top to bottom, and the left side from top to bottom then.

$O_{\mathrm{Foot}}^{\mathrm{Right}}=O_{\mathrm{Toe}}^{\mathrm{Right}}+R_{\mathrm{Foot}}^{\mathrm{Right}}\·{[0,-L_{\mathrm{Toe}}^{\mathrm{Right}},0]}^T---\left(b\right)$

$O_{\mathrm{Ankle}}^{\mathrm{Right}}=O_{\mathrm{Foot}}^{\mathrm{Right}}+R_{\mathrm{Ankle}}^{\mathrm{Right}}\·{[0,-L_{\mathrm{Heel}}^{\mathrm{Right}},0]}^T---\left(c\right)$

$O_{\mathrm{Knee}}^{\mathrm{Right}}=O_{\mathrm{Ankle}}^{\mathrm{Right}}+R_{\mathrm{Knee}}^{\mathrm{Right}}\·{[\mathrm{0,0},L_{\mathrm{Shank}}^{\mathrm{Right}}]}^T---\left(d\right)$

$O_{\mathrm{Hip}}^{\mathrm{Right}}=O_{\mathrm{Knee}}^{\mathrm{Right}}+R_{\mathrm{Hip}}^{\mathrm{Right}}\·{[\mathrm{0,0},L_{\mathrm{Thigh}}^{\mathrm{Right}}]}^T---\left(e\right)$

$O_{\mathrm{Hip}}^{\mathrm{Left}}=O_{\mathrm{Hip}}^{\mathrm{Right}}+R_{\mathrm{Hip}}^{\mathrm{Left}}\·{[-L_{\mathrm{HipBone}},\mathrm{0,0}]}^T---\left(f\right)$

$O_{\mathrm{Knee}}^{\mathrm{Left}}=O_{\mathrm{Hip}}^{\mathrm{Left}}+R_{\mathrm{Hip}}^{\mathrm{Left}}\·{[\mathrm{0,0},-L_{\mathrm{Thigh}}^{\mathrm{Left}}]}^T---\left(g\right)$

$O_{\mathrm{Ankle}}^{\mathrm{Left}}=O_{\mathrm{Knee}}^{\mathrm{Left}}+R_{\mathrm{Knee}}^{\mathrm{Left}}\·{[\mathrm{0,0},-L_{\mathrm{Shank}}^{\mathrm{Left}}]}^T---\left(h\right)$

$O_{\mathrm{Foot}}^{\mathrm{Left}}=O_{\mathrm{Ankle}}^{\mathrm{Left}}+R_{\mathrm{Ankle}}^{\mathrm{Left}}\·{[0,L_{\mathrm{Heel}}^{\mathrm{Left}},0]}^T---\left(i\right)$

$O_{\mathrm{Toe}}^{\mathrm{Left}}=O_{\mathrm{Foot}}^{\mathrm{Left}}+R_{\mathrm{Foot}}^{\mathrm{Left}}\·{[0,L_{\mathrm{Toe}}^{\mathrm{Left}},0]}^T---\left(j\right)$

$O_{\mathrm{Foot}}^{\mathrm{Left}}=O_{\mathrm{Toe}}^{\mathrm{Left}}+R_{\mathrm{Foot}}^{\mathrm{Left}}\·{[0,-L_{\mathrm{Toe}}^{\mathrm{Left}},0]}^T---\left(k\right)$

$O_{\mathrm{Ankle}}^{\mathrm{Left}}=O_{\mathrm{Foot}}^{\mathrm{Left}}+R_{\mathrm{Ankle}}^{\mathrm{Left}}\·{[0,-L_{\mathrm{Thigh}}^{\mathrm{Left}},0]}^T---\left(l\right)$

$O_{\mathrm{Knee}}^{\mathrm{Left}}=O_{\mathrm{Ankle}}^{\mathrm{Left}}+R_{\mathrm{Knee}}^{\mathrm{Left}}\·{[\mathrm{0,0},L_{\mathrm{Shank}}^{\mathrm{Left}}]}^T---\left(m\right)$

$O_{\mathrm{Hip}}^{\mathrm{Left}}=O_{\mathrm{Knee}}^{\mathrm{Left}}+R_{\mathrm{Hip}}^{\mathrm{Left}}\·{[\mathrm{0,0},L_{\mathrm{Thigh}}^{\mathrm{Left}}]}^T---\left(n\right)$

$O_{\mathrm{Hip}}^{\mathrm{Right}}=O_{\mathrm{Hip}}^{\mathrm{Left}}+R_{\mathrm{Hip}}^{\mathrm{Right}}\·{[L_{\mathrm{HipBone}},\mathrm{0,0}]}^T---\left(o\right)$

$O_{\mathrm{Knee}}^{\mathrm{Right}}=O_{\mathrm{Hip}}^{\mathrm{Right}}+R_{\mathrm{Hip}}^{\mathrm{Right}}\·{[\mathrm{0,0},-L_{\mathrm{Thigh}}^{\mathrm{Right}}]}^T---\left(p\right)$

$O_{\mathrm{Ankle}}^{\mathrm{Right}}=O_{\mathrm{Knee}}^{\mathrm{Right}}+R_{\mathrm{Knee}}^{\mathrm{Right}}\·{[\mathrm{0,0},-L_{\mathrm{Shank}}^{\mathrm{Right}}]}^T---\left(q\right)$

$O_{\mathrm{Foot}}^{\mathrm{Right}}=O_{\mathrm{Ankle}}^{\mathrm{Right}}+R_{\mathrm{Ankle}}^{\mathrm{Right}}\·{[0,L_{\mathrm{Heel}}^{\mathrm{Right}},0]}^T---\left(r\right)$

$O_{\mathrm{Toe}}^{\mathrm{Right}}=O_{\mathrm{Foot}}^{\mathrm{Right}}+R_{\mathrm{Foot}}^{\mathrm{Right}}\·{[0,L_{\mathrm{Toe}}^{\mathrm{Right}},0]}^T---\left(s\right)$

Where

and

are the right thigh (5), right leg (6), the right heel (7), right front feet (8) on the 3D pose of the 3D pose of the sensor output from the matrix;

are left thigh (9), the left leg (10), left heel (11) and the left foot (12) on the output of the three-dimensional three-dimensional attitude sensor attitude matrix.

(3) the 3rd steps defined one and calculate the active force in each joint of lower limb and the kinetic model of moment, and are as shown in Figure 7.Landing with right crus of diaphragm is example, and the active force of right joints of foot (16) is the vector summation that right front sole (8) is located the inertia force (54) that the acceleration of motion of gravity (52) and the right front sole (8) of detected three counteracting forces of fixed six-axis force sensor

(45), right front sole (8) causes; The active force of right ankle joint (15) is the active force of right joints of foot (16); Right back heel (7) is located detected three counteracting forces of fixed six-axis force sensor

(44); The gravity (46) of right back heel (7); The vector summation of the inertia force (55) that causes with right back heel (7) acceleration of motion; The active force of right knee joint (14) is the vector summation of the active force of right ankle joint (15), the gravity (47) of right leg (6) and the inertia force (56) that right leg (6) acceleration of motion causes; The active force of right hip joint (13) is the vector summation of the inertia force (57) that causes of the acceleration of motion of gravity (48) and right thigh (5) of active force, the right thigh (5) of right knee joint (14).

The calculating of the joint moment in each joint of right lower limb; Counteracting force and moment

and

and each position gravity of lower limb on ground of only considering lower margin is to the effect of joint moment; Ignore inertia force influence; The following formula of practical implementation (t-v) of the Calculating Torque during Rotary of then right ankle joint 15, right knee joint 14 and right hip joint 13; Because the quality of right front sole (8) can be ignored, therefore the moment of right joints of foot (16) can directly be equal to right front sole (8) and locates detected three moment of reaction values of fixed six-axis force sensor

$M_{\mathrm{Ankle}}^{\mathrm{Right}}{}_g=(O_{\mathrm{Ankle}}^{\mathrm{Right}}-O_{\mathrm{Toe}}^{\mathrm{Right}})\×F_{\mathrm{Toe}}^{\mathrm{Right}}+(O_{\mathrm{Ankle}}^{\mathrm{Right}}-O_{\mathrm{Ankle}}^{\mathrm{Right}})\×F_{\mathrm{Heel}}^{\mathrm{Right}}+$

(t)

$(O_{\mathrm{Ankle}}^{\mathrm{Right}}-O_{\mathrm{Foot}}^{\mathrm{Right}})\×{[\mathrm{0,0},-m_{\mathrm{Foot}}\·g]}^T+M_{\mathrm{Toe}}^{\mathrm{Right}}+M_{\mathrm{Heel}}^{\mathrm{Right}}$

$M_{\mathrm{Knee}}^{\mathrm{Right}}{}_g=(O_{\mathrm{Knee}}^{\mathrm{Right}}-O_{\mathrm{Toe}}^{\mathrm{Right}})\×F_{\mathrm{Toe}}^{\mathrm{Right}}+(O_{\mathrm{Knee}}^{\mathrm{Right}}-O_{\mathrm{Ankle}}^{\mathrm{Right}})\×F_{\mathrm{Heel}}^{\mathrm{Right}}$

$+(O_{\mathrm{Knee}}^{\mathrm{Right}}-O_{\mathrm{Foot}}^{\mathrm{Right}})\×{[\mathrm{0,0},-m_{\mathrm{Foot}}\·g]}^T+(O_{\mathrm{Knee}}^{\mathrm{Right}}-O_{\mathrm{Shank}}^{\mathrm{Right}})---\left(u\right)$

$\×{[0,0,-m_{\mathrm{Shank}}\·g]}^T+M_{\mathrm{Toe}}^{\mathrm{Right}}+M_{\mathrm{Heel}}^{\mathrm{Right}}$

$M_{\mathrm{Hip}}^{\mathrm{Right}}{}_g=(O_{\mathrm{Hip}}^{\mathrm{Right}}-O_{\mathrm{Toe}}^{\mathrm{Right}})\×F_{\mathrm{Toe}}^{\mathrm{Right}}+(O_{\mathrm{Hip}}^{\mathrm{Right}}-O_{\mathrm{Ankle}}^{\mathrm{Right}})\×F_{\mathrm{Heel}}^{\mathrm{Right}}+(O_{\mathrm{Hip}}^{\mathrm{Right}}$

$-O_{\mathrm{Foot}}^{\mathrm{Right}})\×{[\mathrm{0,0},-m_{\mathrm{Foot}}\·g]}^T+(O_{\mathrm{Hip}}^{\mathrm{Right}}-O_{\mathrm{Shank}}^{\mathrm{Right}})\×{[\mathrm{0,0},-m_{\mathrm{Shank}}\·g]}^T+(O_{\mathrm{Hip}}^{\mathrm{Right}}---\left(v\right)$

$-O_{\mathrm{Thigh}}^{\mathrm{Right}})\×{[\mathrm{0,0},-m_{\mathrm{Thigh}}\·g]}^T+M_{\mathrm{Toe}}^{\mathrm{Right}}+M_{\mathrm{Heel}}^{\mathrm{Right}}$

M in the formula _Foot, m _ShankAnd m _ThighRepresent the quality of foot, shank and thigh respectively,

With Represent the three-dimensional coordinate of the barycenter of foot, shank and thigh respectively.

(4) the 4th steps; It is as shown in Figure 5 that above-mentioned second step and the 3rd joint coordinates found the solution of step and joint power are imported to the lower limb simplification skeleton model that the first step sets up; Realize the visualization result output of lower extremity movement and power; As shown in Figure 8, in this application examples, the human body lower limbs dynamic analysis result of stair activity can be by reproduction directly perceived and analysis.As shown in Figure 9, to export on the basis in the continuous measurement result who demarcates by gait cycle, this invention can realize joint power and moment are carried out the statistical analysis, and illustrated application examples is walking 63 and stair activity 64 simulations on normal walking 62, the treadmill.

Claims (5)

1. the Wearable sensor surveying unit of joint of the lower extremity active force and moment; Comprise the data acquisition unit, blue tooth wireless communication module and the bandage device that utilize computer storage and software; It is characterized in that the basin bone is provided with first sensor; Left and right sides huckle is provided with second pick off and the 3rd pick off; Left and right sides calf is provided with four-sensor and the 5th pick off; Left and right sides heel sidepiece is provided with the 6th pick off and the 7th pick off; Right front sole sidepiece is provided with the 8th pick off and the 9th pick off, and the upper-lower position in vola, the left and right sides is provided with the tenth to the 13 pick off, is used for measuring the counteracting force and the moment of bottom surface in 3 d pose and the walking process of walking process lower limb; The data test signal of described pick off is input to Computer signal input with blue tooth wireless communication module and collecting device or the signal input part of the data gather computer that mobile device is connected is gathered and real-time operation; Described first sensor to the nine pick offs are the 3 d pose pick off, and the sensing unit of this 3 d pose pick off constitutes nine motion-sensing modules by three-axis gyroscope, three axis accelerometer and three axis magnetometer, and described the tenth to the 13 pick off is a six-axis force sensor; The sensing unit of this six-axis force sensor is made up of three-axis force pick off and three-axis force square pick off, in order to measure three counteracting forces and three moments of reaction on ground.

2. the Wearable sensor surveying unit of joint of the lower extremity active force as claimed in claim 1 and moment is characterized in that the signal and the acquisition module of described computer program control comprises analog-to-digital conversion module, microprocessor, DC power supplier and blue tooth wireless communication module.

3. the Wearable sensor measurement of joint of the lower extremity active force and moment; Comprise nine 3 d pose pick offs that are fixed on each motion parts of lower limb; Be used for measuring the 3 d pose of walking process lower limb; Four six-axis force sensors that were distributed in for the two whole ends are used for measuring the counteracting force and the moment on walking process ground and a computer that is connected with the blue tooth wireless communication module; Computer program through the blue tooth wireless communication module is found the solution the power and the moment of joints of foot, ankle joint, knee joint and hip joint separately in order to every lower limb, it is characterized in that this method may further comprise the steps:

A. move when initial; Right crus of diaphragm heel (a 7) coincidence place definition overall rectangular coordinate system (21) at measuring object; The X axle positive direction of this coordinate system is pointed to the just right-hand of measuring object, and Y axle positive direction is pointed to the dead ahead of measuring object, confirms the Z axle positive direction of this coordinate system through right hand method.

B. through elastic bandage or the pressure sensitive adhesive double coated surface that nine 3 d pose pick offs is separately fixed at nine positions (4,5,6,7,8,9,10,11 and 12) that are defined as rigid body.

C. nine motion-sensing module output signals that constitute by three-axis gyroscope (22), three axis accelerometer (23) and three axis magnetometer (24); Through the microprocessor computing; Obtain being used for the 3 d pose angle of Calculation of Three Dimensional attitude matrix or the four-dimensional number of 3 d pose; Through blue tooth wireless communication module (26) the four-dimensional number of 3 d pose is sent to the computer (3) that is connected with the blue tooth wireless communication module by the sampling period of setting; Computer (3) sends instruction through the blue tooth wireless communication module, sets measuring range, low pass filter parameter and the sample frequency of 3 d pose pick off.

D. on nine 3 d pose pick offs, set local rectangular coordinate system; Each local rectangular coordinate system satisfies right-hand rule; Be fixed on the local rectangular coordinate system (31) of the 3 d pose pick off of pelvis (4); The X axle is parallel with the line of left hip joint (17) with right hip joint (13), and points to right hip joint (13), and its Y axle is consistent with the Y axle of overall rectangular coordinate system (21); Local rectangular coordinate system (32) the X axle of 3 d pose pick off that is fixed on right thigh (5) is consistent with the X axle of overall rectangular coordinate system 21; The line parallel aligned of Z axle and right hip joint (13) and right knee joint (14), Z axle positive direction is pointed to right hip joint (13); Be fixed on Z axle and the line parallel aligned of right knee joint (14) and right ankle joint (15) of local rectangular coordinate system (33) of the 3 d pose pick off of right leg (6); Its Z axle positive direction is pointed to right knee joint (14), and the X axle of 3 d pose pick off is consistent with the X axle of overall rectangular coordinate system (21); The Y axle of local rectangular coordinate system (34) that is fixed on the 3 d pose pick off of right crus of diaphragm heel (7) aligns with horizontal plane, and Y axle positive direction points to right joints of foot (16), and the X axle is consistent with the X axle of overall rectangular coordinate system (21); The Y axle of local rectangular coordinate system (35) that is fixed on the 3 d pose pick off of right front sole (8) aligns with horizontal plane, and Y axle negative direction points to right joints of foot (16), and the X axle is consistent with the X axle of overall rectangular coordinate system 21; Alignment schemes and said right lower limb method that left side lower limb (9,10,11 and 12) is gone up fixed 3 d pose pick off are similar.

E. the real-time measurement of the counteracting force on ground and moment; The measurement result of the 3 d pose pick off of two six-axis force sensors in vola and heel and forefoot sidepiece is transformed into reference analysis under the global coordinate system; Conversion regime is following, for example the six-axis force sensor of forefoot bottom with respect to the measurement output result of its local coordinate system (37) (three-axis force: $\left[\begin{array}{c}{F}^X\left(k\right)\\ F^Y\left(k\right)\\ F^Z\left(k\right)\end{array}\right]$ With the three-axis force square: $\left[\begin{array}{c}{M}^X\left(k\right)\\ M^Y\left(k\right)\\ M^Z\left(k\right)\end{array}\right]$ ), through formula (1) convert into global coordinate system exert oneself with the measured value of moment (three-axis force: ${\left[\begin{array}{c}{F}^X\left(k\right)\\ F^Y\left(k\right)\\ F^Z\left(k\right)\end{array}\right]}^g$ With the three-axis force square: ${\left[\begin{array}{c}{M}^X\left(k\right)\\ M^Y\left(k\right)\\ M^Z\left(k\right)\end{array}\right]}^g$ ), coordinate system (38) is the global coordinate system that zero overlaps with the local coordinate system of six-axis force sensor, conversion formula is:

${\left[\begin{array}{c}{F}^X\left(k\right)\\ F^Y\left(k\right)\\ F^Z\left(k\right)\end{array}\right]}^g=R\·\left[\begin{array}{c}{F}^X\left(k\right)\\ F^Y\left(k\right)\\ F^Z\left(k\right)\end{array}\right];$ ${\left[\begin{array}{c}{M}^X\left(k\right)\\ M^Y\left(k\right)\\ M^Z\left(k\right)\end{array}\right]}^g=R\·\left[\begin{array}{c}{M}^X\left(k\right)\\ M^Y\left(k\right)\\ M^Z\left(k\right)\end{array}\right]---\left(a\right)$

$R=\left[\begin{array}{ccc}\cos \left(\mathrm{Cz}\left(k\right)\right)& -\sin \left(\mathrm{Cz}\left(k\right)\right)& 0\\ \sin \left(\mathrm{Cz}\left(k\right)\right)& \cos \left(\mathrm{Cz}\left(k\right)\right)& 0\\ 0& 0& 0\end{array}\right]\·\left[\begin{array}{ccc}1& 0& 0\\ 0& \cos \left(\mathrm{Cx}\left(k\right)\right)& -\sin \left(\mathrm{Cx}\left(k\right)\right)\\ 0& \sin \left(\mathrm{Cx}\left(k\right)\right)& \cos \left(\mathrm{Cx}\left(k\right)\right)\end{array}\right]\·\left[\begin{array}{ccc}\cos \left(\mathrm{Cy}\left(k\right)\right)& 0& \sin \left(\mathrm{Cy}\left(k\right)\right)\\ 0& 1& 0\\ -\sin \left(\mathrm{Cy}\left(k\right)\right)& 0& \cos \left(\mathrm{Cy}\left(k\right)\right)\end{array}\right]$

F. sensing data is sent to computer through the blue tooth wireless communication mould; The computer software calculation process comprises following four steps; The first step, the length at each position of lower limb of input measured target is set up the simplification skeleton model of lower limb, comprises and simplifies straight line connecting rod and ball-joint; Second step; Local coordinate system according to each 3 d pose pick off that defines; Import the three-axis attitude angle of each 3 d pose pick off, obtain simplifying the 3 d pose of each connecting rod of representing the lower extremity movement position in the skeleton model and the three-dimensional coordinate in three-dimensional global coordinate system (21) in each joint; The 3rd step; The six-axis force sensor that the vola is fixed in input is in the counteracting force on global coordinate system (21) ground, lining and the real-time measurement values of moment; Parameters such as quality, barycenter and rotary inertia in conjunction with the measuring object lower limb; Carry out reverse dynamic analysis from bottom to top, calculate three active forces and the moment in each joint of lower limb; In the 4th step, in real time quantitative analysis and drawing are carried out in the load in joint, and carry out statistical analysis by gait cycle.

4. the Wearable sensor measurement of joint of the lower extremity active force as claimed in claim 3 and moment is characterized in that said computer software calculation process concrete steps are following:

A. the first step, the length parameter at each position of input measured target lower limb is set up lower limb and is simplified skeleton model, and the skeleton model after the simplification constitutes by simplifying straight line and sphere.

B. second go on foot; Local coordinate system and each span access location length parameter according to each 3 d pose pick off; Right crus of diaphragm heel (7) begin to land left back heel (11) or left front sole (12) begin to land before in this spacer segment; With right crus of diaphragm heel (7) as rotating initial point, with each joint coordinates of formula (b-k) calculating lower limb ( $O_{\mathrm{Toe}}^{\mathrm{Right}},O_{\mathrm{Foot}}^{\mathrm{Right}},O_{\mathrm{Ankle}}^{\mathrm{Right}},O_{\mathrm{Knee}}^{\mathrm{Right}},O_{\mathrm{Hip}}^{\mathrm{Right}},O_{\mathrm{Toe}}^{\mathrm{Left}},O_{\mathrm{Foot}}^{\mathrm{Left}},O_{\mathrm{Ankle}}^{\mathrm{Left}},O_{\mathrm{Knee}}^{\mathrm{Left}}$ With

), computation sequence is set at first right side from top to bottom, and the left side is from top to bottom then.

$O_{\mathrm{Foot}}^{\mathrm{Right}}=O_{\mathrm{Toe}}^{\mathrm{Right}}+R_{\mathrm{Foot}}^{\mathrm{Right}}\·{[0,L_{\mathrm{Toe}}^{\mathrm{Right}},0]}^T---\left(b\right)$

$O_{\mathrm{Ankle}}^{\mathrm{Right}}=O_{\mathrm{Foot}}^{\mathrm{Right}}+R_{\mathrm{Ankle}}^{\mathrm{Right}}\·{[0,L_{\mathrm{Heel}}^{\mathrm{Right}},0]}^T---\left(c\right)$

$O_{\mathrm{Knee}}^{\mathrm{Right}}=O_{\mathrm{Ankle}}^{\mathrm{Right}}+R_{\mathrm{Knee}}^{\mathrm{Right}}\·{[0,0,L_{\mathrm{Shank}}^{\mathrm{Right}}]}^T---\left(d\right)$

$O_{\mathrm{Hip}}^{\mathrm{Right}}=O_{\mathrm{Knee}}^{\mathrm{Right}}+R_{\mathrm{Hip}}^{\mathrm{Right}}\·{[0,0,L_{\mathrm{Thigh}}^{\mathrm{Right}}]}^T---\left(e\right)$

$O_{\mathrm{Hip}}^{\mathrm{Left}}=O_{\mathrm{Hip}}^{\mathrm{Right}}+R_{\mathrm{Hip}}^{\mathrm{Left}}\·{[-L_{\mathrm{HipBone}}\mathrm{0,0}]}^T---\left(f\right)$

$O_{\mathrm{Knee}}^{\mathrm{Left}}=O_{\mathrm{Hip}}^{\mathrm{Left}}+R_{\mathrm{Hip}}^{\mathrm{Left}}\·{[\mathrm{0,0}-L_{\mathrm{Thigh}}^{\mathrm{Left}}]}^T---\left(g\right)$

$O_{\mathrm{Ankl}e}^{\mathrm{Left}}=O_{\mathrm{Knee}}^{\mathrm{Left}}+R_{\mathrm{Knee}}^{\mathrm{Left}}\·{[\mathrm{0,0}-L_{\mathrm{Shank}}^{\mathrm{Left}}]}^T---\left(h\right)$

$O_{\mathrm{Foot}}^{\mathrm{Left}}=O_{\mathrm{Ankle}}^{\mathrm{Left}}+R_{\mathrm{Ankle}}^{\mathrm{Left}}\·{[0,L_{\mathrm{Heel}}^{\mathrm{Left}},0]}^T---\left(i\right)$

$O_{\mathrm{Toe}}^{\mathrm{Left}}=O_{\mathrm{Foot}}^{\mathrm{Left}}+R_{\mathrm{Foot}}^{\mathrm{Left}}\·{[0,L_{\mathrm{Toe}}^{\mathrm{Left}},0]}^T---\left(j\right)$

$O_{\mathrm{Foot}}^{\mathrm{Left}}=O_{\mathrm{Toe}}^{\mathrm{Left}}+R_{\mathrm{Foot}}^{\mathrm{Left}}\·{[0,L_{\mathrm{Toe}}^{\mathrm{Left}},0]}^T---\left(k\right)$

$O_{\mathrm{Ankle}}^{\mathrm{Left}}=O_{\mathrm{Foot}}^{\mathrm{Left}}+R_{\mathrm{Ankle}}^{\mathrm{Left}}\·{[0,L_{\mathrm{Thigh}}^{\mathrm{Left}},0]}^T---\left(l\right)$

$O_{\mathrm{Knee}}^{\mathrm{Left}}=O_{\mathrm{Ankle}}^{\mathrm{Left}}+R_{\mathrm{Knee}}^{\mathrm{Left}}\·{[\mathrm{0,0},L_{\mathrm{Shank}}^{\mathrm{Left}}]}^T---\left(m\right)$

$O_{\mathrm{Hip}}^{\mathrm{Left}}=O_{\mathrm{Knee}}^{\mathrm{Left}}+R_{\mathrm{Hip}}^{\mathrm{Left}}\·{[0,0,L_{\mathrm{Thigh}}^{\mathrm{Left}}]}^T---\left(n\right)$

$O_{\mathrm{Hip}}^{\mathrm{Right}}=O_{\mathrm{Hip}}^{\mathrm{Left}}+R_{\mathrm{Hip}}^{\mathrm{Right}}\·{\left[L_{\mathrm{HipBone}}\mathrm{0,0}\right]}^T---\left(o\right)$

$O_{\mathrm{Knee}}^{\mathrm{Right}}=O_{\mathrm{Hip}}^{\mathrm{Right}}+R_{\mathrm{Hip}}^{\mathrm{Right}}\·{[\mathrm{0,0},-L_{\mathrm{Thigh}}^{\mathrm{Right}}]}^T---\left(p\right)$

$O_{\mathrm{Ankle}}^{\mathrm{Right}}=O_{\mathrm{Knee}}^{\mathrm{Right}}+R_{\mathrm{Knee}}^{\mathrm{Right}}\·{[\mathrm{0,0},-L_{\mathrm{Shank}}^{\mathrm{Right}}]}^T---\left(q\right)$

$O_{\mathrm{Foot}}^{\mathrm{Right}}=O_{\mathrm{Ankle}}^{\mathrm{Right}}+R_{\mathrm{Ankle}}^{\mathrm{Right}}\·{[0,L_{\mathrm{Heel}}^{\mathrm{Right}},0]}^T---\left(r\right)$

$O_{\mathrm{Toe}}^{\mathrm{Right}}=O_{\mathrm{Foot}}^{\mathrm{Right}}+R_{\mathrm{Foot}}^{\mathrm{Right}}\·{[0,L_{\mathrm{Toe}}^{\mathrm{Right}},0]}^T---\left(s\right)$

Where

and are the right thigh (5), right leg (6), the right heel (7), right front feet (8) on the 3D pose of the 3D pose of the sensor matrix is output;

are the left thigh (9), the left leg (10), left heel (11) and the left foot (12) on the output of the three-dimensional three-dimensional attitude sensor attitude matrix.In the 3rd step, define one and calculate the active force in each joint of lower limb and the kinetic model of moment.Landing with right crus of diaphragm is example, and the active force of right joints of foot (16) is the vector summation that right front sole (8) is located the inertia force (54) that the acceleration of motion of gravity (52) and the right front sole (8) of detected three counteracting forces of fixed six-axis force sensor (45), right front sole (8) causes; The active force of right ankle joint (15) is the active force of right joints of foot (16); Right back heel (7) is located detected three counteracting forces of fixed six-axis force sensor

(44); The gravity (46) of right back heel (7); The vector summation of the inertia force (55) that causes with right back heel (7) acceleration of motion; The active force of right knee joint (14) is the vector summation of the active force of right ankle joint (15), the gravity (47) of right leg (6) and the inertia force (56) that right leg (6) acceleration of motion causes; The active force of right hip joint (13) is the vector summation of the inertia force (57) that causes of the acceleration of motion of gravity (48) and right thigh (5) of active force, the right thigh (5) of right knee joint (14).

The calculating of the joint moment in each joint of right lower limb; Only considering the counteracting force and the moment (

and

) on the ground of lower margin; And each position gravity of lower limb is to the effect of joint moment; Ignore inertia force influence; The following formula of practical implementation (t-v) of the Calculating Torque during Rotary of then right ankle joint 15, right knee joint 14 and right hip joint 13; Because the quality of right front sole (8) can be ignored, therefore the moment of right joints of foot (16) can directly be equal to right front sole (8) and locates detected three moment of reaction values of fixed six-axis force sensor

$M_{\mathrm{Ankle}}^{\mathrm{Right}}{}_g=(O_{\mathrm{Ankle}}^{\mathrm{Right}}-O_{\mathrm{Toe}}^{\mathrm{Right}})\×F_{\mathrm{Toe}}^{\mathrm{Right}}+(O_{\mathrm{Ankle}}^{\mathrm{Right}}-O_{\mathrm{Ankle}}^{\mathrm{Right}})\×F_{\mathrm{Heel}}^{\mathrm{Right}}+$ $\left(t\right)$

$(O_{\mathrm{Ankle}}^{\mathrm{Right}}-O_{\mathrm{Foot}}^{\mathrm{Right}})\×{[\mathrm{0,0},-m_{\mathrm{Foot}}\·g]}^T+M_{\mathrm{Toe}}^{\mathrm{Right}}+M_{\mathrm{Heel}}^{\mathrm{Right}}$

$M_{\mathrm{Knee}}^{\mathrm{Right}}{}_g=(O_{\mathrm{Knee}}^{\mathrm{Right}}-O_{\mathrm{Toe}}^{\mathrm{Right}})\×F_{\mathrm{Toe}}^{\mathrm{Right}}+(O_{\mathrm{Knee}}^{\mathrm{Right}}-O_{\mathrm{Ankle}}^{\mathrm{Right}})\×F_{\mathrm{Heel}}^{\mathrm{Right}}$

$+(O_{\mathrm{Knee}}^{\mathrm{Right}}-O_{\mathrm{Foot}}^{\mathrm{Right}})\×{[\mathrm{0,0},-m_{\mathrm{Foot}}\·g]}^T+(O_{\mathrm{Knee}}^{\mathrm{Right}}-O_{\mathrm{Shank}}^{\mathrm{Right}})---\left(u\right)$

$\×{[\mathrm{0,0},-m_{\mathrm{Shank}}\·g]}^T+M_{\mathrm{Toe}}^{\mathrm{Right}}+M_{\mathrm{Heel}}^{\mathrm{Right}}$

$M_{\mathrm{Hip}}^{\mathrm{Right}}{}_g=(O_{\mathrm{Hip}}^{\mathrm{Right}}-O_{\mathrm{Toe}}^{\mathrm{Right}})\×F_{\mathrm{Toe}}^{\mathrm{Right}}+(O_{\mathrm{Hip}}^{\mathrm{Right}}-O_{\mathrm{Ankle}}^{\mathrm{Right}})\×F_{\mathrm{Heel}}^{\mathrm{Right}}+(O_{\mathrm{Hip}}^{\mathrm{Right}}$

$-O_{\mathrm{Foot}}^{\mathrm{Right}})\×{[\mathrm{0,0},-m_{\mathrm{Foot}}\·g]}^T+(O_{\mathrm{Hip}}^{\mathrm{Right}}-O_{\mathrm{Shank}}^{\mathrm{Right}})\×{[\mathrm{0,0},-m_{\mathrm{Shank}}\·g]}^T+(O_{\mathrm{Hip}}^{\mathrm{Right}}---\left(v\right)$

$-O_{\mathrm{Thigh}}^{\mathrm{Right}})\×{[\mathrm{0,0},-m_{\mathrm{Thigh}}\·g]}^T+M_{\mathrm{Toe}}^{\mathrm{Right}}+M_{\mathrm{Heel}}^{\mathrm{Right}}$

M in the formula _Foot, m _ShankAnd m _ThighRepresent the quality of foot, shank and thigh respectively, With

Represent the three-dimensional coordinate of the barycenter of foot, shank and thigh respectively.

D. above-mentioned second step and the 3rd joint coordinates found the solution of step and joint power are imported in the lower limb simplification skeleton model that the first step sets up; Realize the visualization result output of lower extremity movement and power; The human body lower limbs dynamic analysis of stair activity; Realization is carried out the statistical analysis to joint power and moment, and the hip joint moment of walking and stair activity can be compared quantitatively on normal walking, the treadmill.

5. like Wearable sensor surveying unit and the method for claim 1, it is characterized in that said apparatus and method are applied to human body, animal and the test of emulated robot lower extremity movement with 3 described joint of the lower extremity active forces and moment.

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