CN103519822B - Three-dimensional gait analysis meter - Google Patents
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- CN103519822B CN103519822B CN201310482431.1A CN201310482431A CN103519822B CN 103519822 B CN103519822 B CN 103519822B CN 201310482431 A CN201310482431 A CN 201310482431A CN 103519822 B CN103519822 B CN 103519822B
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Abstract
The invention discloses a three-dimensional gait analysis meter which comprises a first posture sensor, a second posture sensor, a third posture sensor, a fourth posture sensor, a fifth posture sensor, a sixth posture sensor, a seventh posture sensor and a controller. Compared with the prior art, the three-dimensional gait analysis meter can provide a more intelligent and more integrated analysis scheme, personal errors do not exist, time is shortened, accuracy is high, and a richer training mode is provided.
Description
Technical field
The present invention relates to gait analysises field, exactly refer to a kind of three-dimensional gait analysis instrument.
Background technology
Human motion is that nervous system controls 1000 polylith muscle to have the rhythm and pace of moving things to shrink, and drives 200 polylith skeletons around more than 100
The result of joint synergy movement.Although life science has made great progress in recent years, range simulation brain controls
The process of limb motion is also very remote, the therefore researcher such as rehabilitation medicine, Science of Physical Culture and Sports commonly used observer limbs macroscopic motion
To diagnose human motion function disease, to assess human body recovery process, instruct athletic training and selection.
The method of existing measurement in analysing gait has following several：
1st, footprinting：It is to use perusal, do some simple time and space records.Sprinkle pulverized limestone on the ground, allow
Person under test walk on the ground sprinkled with pulverized limestone simultaneously record person under test walking away from discrete time.After the completion of walking observe and
Measure sprinkled with the footprint on pulverized limestone ground, thus drawing the result of gait analysises.There is much significantly defect in this method,
Such as：Time is long；Need to expend a large amount of manpowers；Based on subjectivity, accuracy is relatively low for analysis；The data obtaining is less；Face
Bed report hand filling, wastes time and energy and easily malfunctions.
2nd, video method：By video equipment（CCD camera）Human walking procedure is absorbed, then pointwise frame by frame
Carry out dot-matrix analysis, its advantage is that equipment is simple, and experimenter's gait is more natural, but because its analyzing and positioning relies primarily on people
Work, requires higher, error ratio is larger, and can only carry out two dimensional surface analysis, the degree of accuracy of three-dimensional spatial analysis to operation
Cannot be guaranteed.
3rd, form：Accept the Infrared of skin-marker transmitting or reflection by infrared camera, and according to
Corresponding model analysiss are sent out, and carry out three-dimensional reconstruction, thus drawing the 3 D motion trace that partes corporis humani divides.Its advantage is that technology becomes
Ripe, data result is accurately, simple and quick；Shortcoming is that the position to patch reflective spot requires, and pastes will definitely not directly affect
Measurement result；Foreign body can not be had in measurement process to keep off between reflective spot and photographic head, including tested personnel itself, so quilt
Survey personnel can not accompany or assist personnel in side.Otherwise affect data acquisition；Higher to environmental requirement, need to be equipped with
The larger room of one area, it is impossible to random change after photographic head installs angle；Expensive, operating process is responsible for, most
Use in laboratory, seldom see in Clinical practice, the phase that limits to a certain extent promotes.
4th, ultrasonic type：The principle of ultrasonic type is similar to form, is visited by the ultrasonic emitting that body surface carries
Hair goes out ultrasound wave, and the ultrasound wave receiving transducer through surrounding accepts, and according to certain model setting, carries out three-dimensional reconstruction, draws
The 3 D motion trace of human body.Its advantage is equipment price relative moderate, and operation is also relatively easy, and data is also more accurate；But
It is that easily reflection, it is necessary to eliminate the interference of surrounding objects, requires higher ultrasound wave to surrounding, simultaneously because labelling point volume
Larger, the mark tally amount that body once carries has certain restriction, only suitably carries out human body Segmental analysis.
Content of the invention
For drawbacks described above, present invention solves the technical problem that being to provide a kind of three-dimensional gait analysis instrument, using the teaching of the invention it is possible to provide
More intelligence and integrated analytical plan, do not deposit personal error, and the time shortens, and accuracy is high, and provide more abundant instruction
Practice pattern.
In order to solve above technical problem, the three-dimensional gait analysis instrument that the present invention provides, including the first attitude transducer,
Second attitude transducer, the 3rd attitude transducer, the 4th attitude transducer, the 5th attitude transducer, the 6th attitude transducer,
Seven attitude transducers and controller, wherein：
Described first attitude transducer is arranged on human body left foot ankle, and described first attitude transducer includes gyro
Instrument, acceleration transducer, magnetoresistive transducer, data acquisition module and MCU, described gyroscope is with described data acquisition module even
Connect；Described acceleration transducer is connected with described data acquisition module；Described magnetoresistive transducer is with described data acquisition module even
Connect；Described data acquisition unit is connected with described MCU；
Described second attitude transducer is arranged at human body left foot knee joint, and described second attitude transducer includes gyro
Instrument, acceleration transducer, magnetoresistive transducer, data acquisition module and MCU, described gyroscope is with described data acquisition module even
Connect；Described acceleration transducer is connected with described data acquisition module；Described magnetoresistive transducer is with described data acquisition module even
Connect；Described data acquisition unit is connected with described MCU；
Described 3rd attitude transducer is arranged at human body left foot hip joint, and described 3rd attitude transducer includes gyro
Instrument, acceleration transducer, magnetoresistive transducer, data acquisition module and MCU, described gyroscope is with described data acquisition module even
Connect；Described acceleration transducer is connected with described data acquisition module；Described magnetoresistive transducer is with described data acquisition module even
Connect；Described data acquisition unit is connected with described MCU；
Described 4th attitude transducer is arranged on human body right crus of diaphragm ankle, and described 4th attitude transducer includes gyro
Instrument, acceleration transducer, magnetoresistive transducer, data acquisition module and MCU, described gyroscope is with described data acquisition module even
Connect；Described acceleration transducer is connected with described data acquisition module；Described magnetoresistive transducer is with described data acquisition module even
Connect；Described data acquisition unit is connected with described MCU；
Described 5th attitude transducer is arranged at human body right crus of diaphragm knee joint, and described 5th attitude transducer includes gyro
Instrument, acceleration transducer, magnetoresistive transducer, data acquisition module and MCU, described gyroscope is with described data acquisition module even
Connect；Described acceleration transducer is connected with described data acquisition module；Described magnetoresistive transducer is with described data acquisition module even
Connect；Described data acquisition unit is connected with described MCU；
Described 6th attitude transducer is arranged at human body right crus of diaphragm hip joint, and described 6th attitude transducer includes gyro
Instrument, acceleration transducer, magnetoresistive transducer, data acquisition module and MCU, described gyroscope is with described data acquisition module even
Connect；Described acceleration transducer is connected with described data acquisition module；Described magnetoresistive transducer is with described data acquisition module even
Connect；Described data acquisition unit is connected with described MCU；
Described 7th attitude transducer is arranged on human body waist, and described 7th attitude transducer includes gyroscope, acceleration
Sensor, magnetoresistive transducer, data acquisition module and MCU, described gyroscope is connected with described data acquisition module；Described acceleration
Degree sensor is connected with described data acquisition module；Described magnetoresistive transducer is connected with described data acquisition module；Described data
Harvester is connected with described MCU；
Described controller includes total MCU, communication module and power management module, wherein, described total MCU and described communication mould
Block connects；The MCU of described first attitude transducer, the MCU of described second attitude transducer, described 3rd attitude transducer
MCU, the MCU of described 4th attitude transducer, the MCU of described 5th attitude transducer, the MCU of described 6th attitude transducer and
The described MCU of the 7th attitude transducer is connected with total MCU of described controller；Described power management module is to described first attitude
Sensor, the second attitude transducer, the 3rd attitude transducer, the 4th attitude transducer, the 5th attitude transducer, the 6th attitude pass
Sensor and the 7th attitude transducer are powered；Power management module is also to controller power itself
The communication module of described controller and host computer are communicated.
Preferably, the MCU of described first attitude transducer, the MCU of described second attitude transducer, described 3rd attitude pass
The MCU of sensor, the MCU of described 4th attitude transducer, the MCU of described 5th attitude transducer, described 6th attitude transducer
MCU and the MCU of described 7th attitude transducer be connected with total MCU of described controller respectively.
Preferably, the MCU of described first attitude transducer, the MCU of described second attitude transducer and described 3rd attitude
The MCU of sensor is sequentially connected in series, and the described MCU of the 3rd attitude transducer is connected with total MCU of described controller；Described 4th appearance
The MCU of the MCU of state sensor, the MCU of described 5th attitude transducer and described 6th attitude transducer is sequentially connected in series, and described
The MCU of six attitude transducers is connected with total MCU of described controller；The MCU of described 7th attitude transducer and described controller
Total MCU connect.
Preferably, described gyroscope is three-axis gyroscope.
Preferably, described acceleration transducer is 3-axis acceleration sensor.
Preferably, described magnetoresistive transducer is three axle magnetoresistive transducers.
Preferably, described communication module is wirelessly or non-wirelessly communication module, and described communication module is connected with host computer.
Preferably, described communication module is bluetooth communication module.
Preferably, described communication module is wifi communication module.
Compared with prior art, the three-dimensional gait analysis instrument that the present invention provides, using gyroscope, acceleration transducer and magnetic
Resistance three sensors of sensor, measure the attitude that testee is relative to the earth（Eulerian angles, four elements, the number such as spin matrix
According to）, by comparing measured object starting point and exercise end data, draw the space angle-data that testee swings,
The error comprising in measured value is relatively fixed, and there is not anthropic factor, as long as and sensor is optionally mounted at when measuring
It is ensured that sensor will not produce relative displacement and measured object between on testee surface, greatly reduce installation difficulty
With the measurement error being caused due to installation；Again by after all of for analyser data acquisition, carry out human 3d model reconstruction, then from
On model, analysis draws various gait datas.
Brief description
Fig. 1 is the structured flowchart of three-dimensional gait analysis instrument in the embodiment of the present invention；
Fig. 2 is the first attitude transducer, the second attitude transducer, the 3rd appearance in embodiment of the present invention three-dimensional gait analysis instrument
State sensor, the 4th attitude transducer, the structural frames of the 5th attitude transducer, the 6th attitude transducer or the 7th attitude transducer
Figure.
Specific embodiment
In order to those skilled in the art better understood when technical scheme provided by the present invention, with reference to concrete
Embodiment is illustrated.
Refer to Fig. 1 and Fig. 2, Fig. 1 is the structured flowchart of three-dimensional gait analysis instrument in the embodiment of the present invention；Fig. 2 is this
First attitude transducer, the second attitude transducer, the 3rd attitude transducer, the 4th attitude in bright embodiment three-dimensional gait analysis instrument
Sensor, the structured flowchart of the 5th attitude transducer, the 6th attitude transducer or the 7th attitude transducer.
Three-dimensional gait analysis instrument provided in an embodiment of the present invention, including the first attitude transducer 1, the second attitude transducer 2,
3rd attitude transducer 3, the 4th attitude transducer 4, the 5th attitude transducer 5, the 6th attitude transducer 6, the 7th attitude sensing
Device 7 and controller 8, wherein：
First attitude transducer 1 is arranged on human body left foot ankle, and the first attitude transducer 1 includes gyroscope 100, adds
Velocity sensor 200, magnetoresistive transducer 300, data acquisition module 400 and MCU500, gyroscope 100 and data acquisition module
400 connections；Acceleration transducer 100 is connected with data acquisition module 400；Magnetoresistive transducer 300 is with data acquisition module 400 even
Connect；Data acquisition unit 400 is connected with MCU500；
Second attitude transducer 2 is arranged at human body left foot knee joint, and the second attitude transducer 2 includes gyroscope 100, adds
Velocity sensor 200, magnetoresistive transducer 300, data acquisition module 400 and MCU500, gyroscope 100 and data acquisition module
400 connections；Acceleration transducer 100 is connected with data acquisition module 400；Magnetoresistive transducer 300 is with data acquisition module 400 even
Connect；Data acquisition unit 400 is connected with MCU500；
3rd attitude transducer 3 is arranged at human body left foot hip joint, and the 3rd attitude transducer 3 includes gyroscope 100, adds
Velocity sensor 200, magnetoresistive transducer 300, data acquisition module 400 and MCU500, gyroscope 100 and data acquisition module
400 connections；Acceleration transducer 100 is connected with data acquisition module 400；Magnetoresistive transducer 300 is with data acquisition module 400 even
Connect；Data acquisition unit 400 is connected with MCU500；
4th attitude transducer 4 is arranged on human body right crus of diaphragm ankle, and the 4th attitude transducer 4 includes gyroscope 100, adds
Velocity sensor 200, magnetoresistive transducer 300, data acquisition module 400 and MCU500, gyroscope 100 and data acquisition module
400 connections；Acceleration transducer 100 is connected with data acquisition module 400；Magnetoresistive transducer 300 is with data acquisition module 400 even
Connect；Data acquisition unit 400 is connected with MCU500；
5th attitude transducer 5 is arranged at human body right crus of diaphragm knee joint, and the 5th attitude transducer 5 includes gyroscope 100, adds
Velocity sensor 200, magnetoresistive transducer 300, data acquisition module 400 and MCU500, gyroscope 100 and data acquisition module
400 connections；Acceleration transducer 100 is connected with data acquisition module 400；Magnetoresistive transducer 300 is with data acquisition module 400 even
Connect；Data acquisition unit 400 is connected with MCU500；
6th attitude transducer 6 is arranged at human body right crus of diaphragm hip joint, and the 6th attitude transducer 6 includes gyroscope 100, adds
Velocity sensor 200, magnetoresistive transducer 300, data acquisition module 400 and MCU500, gyroscope 100 and data acquisition module
400 connections；Acceleration transducer 100 is connected with data acquisition module 400；Magnetoresistive transducer 300 is with data acquisition module 400 even
Connect；Data acquisition unit 400 is connected with MCU500；
7th attitude transducer 7 is arranged on human body waist, and the 7th attitude transducer 7 includes gyroscope 100, acceleration sensing
Device 200, magnetoresistive transducer 300, data acquisition module 400 and MCU500, gyroscope 100 is connected with data acquisition module 400；Plus
Velocity sensor 100 is connected with data acquisition module 400；Magnetoresistive transducer 300 is connected with data acquisition module 400；Data is adopted
Storage 400 is connected with MCU500；
Controller 8 includes total MCU, communication module and power management module, and wherein, total MCU is connected with communication module；First
The MCU500 of attitude transducer 1, the MCU500 of the second attitude transducer 2, the MCU500 of the 3rd attitude transducer 3, the 4th attitude
The MCU500 of sensor 4, the MCU500 of the 5th attitude transducer 5, the MCU500 of the 6th attitude transducer 6 and the 7th attitude sensing
The MCU500 of device 7 is connected with total MCU of controller；Power management module to the first attitude transducer 1, the second attitude transducer 2,
3rd attitude transducer 3, the 4th attitude transducer 4, the 5th attitude transducer 5, the 6th attitude transducer 6 and the 7th attitude sensing
Device 7 is powered；Power management module is also to controller power itself；
The communication module of controller 8 is communicated with host computer 9.
The MCU500 of the first attitude transducer 1, the MCU500 of the second attitude transducer 2, the 3rd attitude transducer 3
MCU500 is sequentially connected in series, and the MCU500 of the 3rd attitude transducer 3 is connected with total MCU of controller；4th attitude transducer 4
MCU500, the MCU500 of the 5th attitude transducer 5, the MCU500 of the 6th attitude transducer 6 are sequentially connected in series, the 6th attitude transducer
6 MCU500 is connected with total MCU of controller；The MCU500 of the 7th attitude transducer 7 is connected with total MCU of controller 8.
The first attitude transducer 1, the second attitude transducer 2, the 3rd attitude transducer 3, the 4th attitude transducer 4,
In five attitude transducers 5, the 6th attitude transducer 6 and the 7th attitude transducer 7, gyroscope 100 is three-axis gyroscope；Acceleration
Sensor 200 is 3-axis acceleration sensor；Magnetoresistive transducer 300 is three axle magnetoresistive transducers.
Gyroscope 100 is connected with data acquisition module 400, reflects current rotational angular velocity for real-time；Acceleration passes
Sensor 200 is connected with data acquisition module 400, reflects current acceleration condition for real-time；Magnetoresistive transducer 300 and data
Acquisition module 400 connects, for the component of reflection and 3 orthogonal directions of current spatial magnetic direction；Data acquisition unit 400 with
MCU5 connects, three sensors such as 4 gyroscopes 100 of data acquisition unit, acceleration transducer 200 and magnetoresistive transducer 300
Data collecting conversion becomes required physical quantity data and carries out data syn-chronization to three sensors, and by the data handled well
It is sent to MCU500.
The communication module of controller 8 is connected with host computer for wirelessly or non-wirelessly communication module, communication module.Communication module is
During wireless communication module, wireless communication module can select bluetooth communication module or wifi communication module.In the present embodiment, lead to
News module is bluetooth communication module, and during measurement, operation and installation are convenient.
Compared with prior art, the three-dimensional gait analysis instrument that the present invention provides, using gyroscope, acceleration transducer and magnetic
Resistance three sensors of sensor, measure the attitude that testee is relative to the earth（Eulerian angles, four elements, the number such as spin matrix
According to）, by comparing measured object starting point and exercise end data, draw the space angle-data that testee swings,
The error comprising in measured value is relatively fixed, and there is not anthropic factor, as long as and sensor is optionally mounted at when measuring
It is ensured that sensor will not produce relative displacement and measured object between on testee surface, greatly reduce installation difficulty
With the measurement error being caused due to installation；Again by after all of for analyser data acquisition, carry out human 3d model reconstruction, then from
On model, analysis draws various gait datas.
Described above to the disclosed embodiments, makes professional and technical personnel in the field be capable of or uses the present invention.
Multiple modifications to these embodiments will be apparent from for those skilled in the art, as defined herein
General Principle can be realized without departing from the spirit or scope of the present invention in other embodiments.Therefore, the present invention
It is not intended to be limited to the embodiments shown herein, and be to fit to and principles disclosed herein and features of novelty phase one
The scope the widest causing.
Claims (8)
1. a kind of three-dimensional gait analysis instrument is it is characterised in that include the first attitude transducer, the second attitude transducer, the 3rd appearance
State sensor, the 4th attitude transducer, the 5th attitude transducer, the 6th attitude transducer, the 7th attitude transducer and controller,
Wherein：
Each attitude transducer all includes：Gyroscope, acceleration transducer, magnetoresistive transducer, data acquisition module and MCU；
In each attitude transducer, described gyroscope is connected with described data acquisition module；Described acceleration transducer and institute
State data acquisition module to connect；Described magnetoresistive transducer is connected with described data acquisition module；Described data acquisition module and institute
State MCU to connect；Described data acquisition module is the data of described gyroscope, described acceleration transducer and described magnetoresistive transducer
Collection is converted into required physical quantity data and described gyroscope, described acceleration transducer and described magnetoresistive transducer is entered
Row data syn-chronization, and the data handled well will be sent to described MCU；
Described first attitude transducer is arranged on human body left foot ankle, and described second attitude transducer is arranged on human body left foot
At knee joint, described 3rd attitude transducer is arranged at human body left foot hip joint, and described 4th attitude transducer is arranged on people
Body right crus of diaphragm ankle, described 5th attitude transducer is arranged at human body right crus of diaphragm knee joint, and described 6th attitude transducer sets
Put at human body right crus of diaphragm hip joint, described 7th attitude transducer is arranged on human body waist；
Described controller includes total MCU, communication module and power management module, and wherein, described total MCU is with described communication module even
Connect；The MCU of described first attitude transducer, the MCU of described second attitude transducer, the MCU of described 3rd attitude transducer, institute
State MCU, the MCU of described 5th attitude transducer, the MCU of described 6th attitude transducer and described of the 4th attitude transducer
The MCU of seven attitude transducers is connected with total MCU of described controller；Described power management module is to described first attitude sensing
Device, the second attitude transducer, the 3rd attitude transducer, the 4th attitude transducer, the 5th attitude transducer, the 6th attitude transducer
It is powered with the 7th attitude transducer；Power management module is also to controller power itself；
The MCU of the MCU of described first attitude transducer, the MCU of described second attitude transducer and described 3rd attitude transducer
It is sequentially connected in series, the described MCU of the 3rd attitude transducer is connected with total MCU of described controller；Described 4th attitude transducer
The MCU of MCU, the MCU of described 5th attitude transducer and described 6th attitude transducer is sequentially connected in series, described 6th attitude sensing
The MCU of device is connected with total MCU of described controller；The MCU of described 7th attitude transducer is connected with total MCU of described controller
Connect；
The communication module of described controller and host computer are communicated.
2. three-dimensional gait analysis instrument according to claim 1 is it is characterised in that described gyroscope is three-axis gyroscope.
3. three-dimensional gait analysis instrument according to claim 2 is it is characterised in that described acceleration transducer is three axles acceleration
Degree sensor.
4. three-dimensional gait analysis instrument according to claim 3 is it is characterised in that described magnetoresistive transducer is three axle magnetic resistance biographies
Sensor.
5. three-dimensional gait analysis instrument according to claim 1 is it is characterised in that described communication module is wireless telecommunications mould
Block, described communication module is connected with host computer.
6. three-dimensional gait analysis instrument according to claim 1 is it is characterised in that described communication module is wire communication mould
Block, described communication module is connected with host computer.
7. three-dimensional gait analysis instrument according to claim 5 is it is characterised in that described wireless communication module is bluetooth communication
Module.
8. three-dimensional gait analysis instrument according to claim 5 is it is characterised in that described wireless communication module communicates for wifi
Module.
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| CN104394386A (en) * | 2014-12-11 | 2015-03-04 | 盐城工学院 | System and method for evaluating knee joint motion normativity through multi-view sequence images |
| CN104887237B (en) * | 2015-04-14 | 2017-11-14 | 南昌大学 | A kind of pedestrian navigation method based on human motion mode monitoring |
| JP6509406B1 (en) * | 2018-04-26 | 2019-05-08 | 株式会社日立ハイテクノロジーズ | Walking mode display method, walking mode display system and walking mode analyzer |
| CN109009142B (en) * | 2018-07-06 | 2021-04-20 | 歌尔科技有限公司 | Running posture judgment method and system, intelligent wearable device and storage medium |
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| US20080146968A1 (en) * | 2006-12-14 | 2008-06-19 | Masuo Hanawaka | Gait analysis system |
| CN102323854B (en) * | 2011-03-11 | 2013-10-16 | 中国科学院研究生院 | Human motion capture device |
| CN202553940U (en) * | 2012-03-02 | 2012-11-28 | 应放天 | Gait analytical apparatus |
| CN203483427U (en) * | 2013-10-15 | 2014-03-19 | 顾捷 | Three-dimensional tread analyzing instrument |
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