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CN105877760A - Gravity influence eliminating method and realization device for wearable joint angular acceleration measurement - Google Patents

Gravity influence eliminating method and realization device for wearable joint angular acceleration measurement Download PDF

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Publication number
CN105877760A
CN105877760A CN201610205942.2A CN201610205942A CN105877760A CN 105877760 A CN105877760 A CN 105877760A CN 201610205942 A CN201610205942 A CN 201610205942A CN 105877760 A CN105877760 A CN 105877760A
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acceleration
module
joint
gravity
inertial sensors
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CN105877760B (en
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王勇
胡保华
查海星
赵鹏鹏
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Hefei University of Technology
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Hefei University of Technology
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
    • A61B5/1126—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb using a particular sensing technique

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Abstract

The invention discloses a gravity influence eliminating method and realization device for wearable joint angular acceleration measurement. Through a combined method of a plurality of inertial sensors, on the basis of linear acceleration data measured by the inertial sensors, the gravity influence on the inertial sensors during measurement can be eliminated through processing and the actual angular acceleration of a joint is obtained.

Description

The gravity influence eliminating method of a kind of Wearable joint angle acceleration analysis and realize device
Technical field:
The present invention relates to a kind of detection method, the gravity impact particularly relating to a kind of Wearable joint angle acceleration analysis eliminates Method and realize device.
Background technology:
Joint angle acceleration plays increasingly key player in rehabilitation evaluation and rehabilitation control strategy are formulated.By directly Although connect detection joint angles then secondary derivation to obtain the method for angular acceleration simply, but due to process angle sensor The problems such as the signal noise amplification exported, hardly result in preferable angular acceleration values.Therefore, inertia sensing is generally used The mode of device, utilizes the relation between angular acceleration and linear acceleration to obtain required angular acceleration.During detection Inertial sensor can be affected by gravity, and in order to eliminate the gravity factor impact in gatherer process, the present invention utilizes many biographies Sensor and have employed simple data processing algorithm eliminate gravity impact.
Summary of the invention:
For overcoming the defect of prior art, it is an object of the invention to provide the gravity that a kind of Wearable joint angle accelerates to measure Removing method and device thereof realize, and the method, by the way of many inertial sensors combine, utilizes inertial sensor to measure Based on acceleration information, process and can eliminate during actual measurement the gravity suffered by inertial sensor and affect and closed The actual angular acceleration of joint.
The present invention solves technical problem and adopts the following technical scheme that
A kind of Wearable joint angle accelerates the gravity removing method measured, and by the way of many inertial sensors combine, utilizes Based on the acceleration information that linear acceleration transducer is measured, during utilizing many inertial sensors to eliminate acceleration detection Gravity affects, it is thus achieved that the actual angular acceleration of limbs joint motion.
Arranging two inertial sensors is, if lAFor inertial sensor A distance joint distance, lBFor inertial sensor B away from Abscission joint distance, ε represents joint angle acceleration, and g represents that acceleration of gravity, α represent two inertia sensings during detection Device output lead acceleration direction and vertical direction angle, during detection, two inertial sensor acceleration outbound courses are along pass Joint motion tangential direction.
During detection, inertial sensor A is output as:
aoutA=lAε+gcosα； (1)
Inertial sensor B is output as:
aoutB=lBε+gcosα； (2)
Associating (1) (2), can obtain:
(lA-lB) ε=aoutA-aoutB, (3)
Process can obtain: ε=(aoutA-aoutB)/((lA-lB)； (4)
Can be obtained by (4), be exported by the data processing two inertial sensors, just can eliminate inertia in actual test and pass Gravity suffered by sensor affects and obtains the joint angle acceleration of reality.
A kind of Wearable joint angle accelerates the gravity cancellation element measured, comprising: anterior travel(l)ing rest and back support are propped up Frame, the staggered folded merga pass connecting shaft of end in opposite directions of described anterior travel(l)ing rest and back support support is hinged, described connection One end of axle connects firmly with anterior travel(l)ing rest, is fixedly installed acceleration in the front end of described anterior travel(l)ing rest and gathers mould Block, acceleration acquisition module output lead acceleration direction is along the tangential direction of joint motions.
Described acceleration acquisition module include inertial sensor and Signal-regulated kinase, described Signal-regulated kinase include with The modulate circuit that inertial sensor is electrically connected with is connected signal acquisition module and connects with signal acquisition module with modulate circuit Connect wireless transmitter module；
Described intelligence instrument includes wireless receiving module, data processing module and display module；Described wireless receiving module With wireless transmitter module communication, wireless receiving module is connected with the input of data processing module, at display module and data The outfan of reason module connects.
Accompanying drawing illustrates:
Accompanying drawing 1: embodiments of the invention structural representation；Accompanying drawing 2: embodiments of the invention CONSTRUCTED SPECIFICATION figure；Accompanying drawing 3: embodiments of the invention gather block diagram；
Label in figure: 1 and 6 is acceleration acquisition module, 2 anterior travel(l)ing rests, 3 back support supports, 4 shells, 5 protector, 7 protective sponges, 10 connecting shafts, 11 scales, 12 front sleeves, 22 locking bolts, 32 bolts.
Below by way of detailed description of the invention, and the invention will be further described to combine accompanying drawing.
Detailed description of the invention:
Below according to accompanying drawing in conjunction with the embodiments, as a example by the measurement of upper limb Elbow Joint Angle Neural acceleration, the present invention is done in more detail Describe:
Embodiment:
The population structure of the present embodiment is as shown in Figure 1: can eliminate the angular acceleration detection device of gravity impact mainly by supporting Part and signal acquisition process part two large divisions composition.Anterior travel(l)ing rest 2 and rear portion in flat bar structure are propped up Support support 3, the staggered folded merga pass connecting shaft 10 of the end in opposite directions of this front portion travel(l)ing rest 2 and back support support 3 is cut with scissors Connecing, one end of connecting shaft 10 connects firmly with anterior travel(l)ing rest 2, and middle part passes from the through hole of back support support 3, It is fixedly installed acceleration acquisition module 1 and 6 in the front end of anterior travel(l)ing rest 2；Wherein, acceleration acquisition module 1 With 6 acceleration outbound course along elbow joint motion tangential direction, and with Host Process Module and intelligence instrument channel radio News.
In specifically arranging, anterior travel(l)ing rest 2 is provided with the slide block that can slide along its length, fixing on slide block Being provided with front sleeve 12, slide block can be locked on anterior travel(l)ing rest 2 by locking bolt 22, and sleeve 12 inwall sets Having cushion pad, shield when forearm stretches into sleeve 12 inside, anterior travel(l)ing rest 2 is provided with scale 11, carves The starting point of degree, towards at connecting shaft 10 place, adapts to the testee of different brachium.
Equally, back support support 3 is provided with the slide block that can slide along its length, slide block is fixedly installed Columnar protector 5, slide block can be locked on back support support 3 by bolt 32, and protector inwall also is provided with buffering Pad, shields when upper arm stretches into protector 5 inside.
In actual application, acceleration acquisition module 1,6 each includes inertial sensor and Signal-regulated kinase, described Signal-regulated kinase include the modulate circuit being electrically connected with inertial sensor be connected with modulate circuit signal acquisition module with And be connected with signal acquisition module wireless transmitter module；
Intelligence instrument includes wireless receiving module, data processing module and display module；Described wireless receiving module and nothing Line transmitter module communication, wireless receiving module is connected with the input of data processing module, and display module processes mould with data The outfan of block connects.
The present invention eliminates gravity impact and measures the work process of joint angle acceleration, initializes acceleration acquisition module before detection 1、6.First being worn on by device on measured's arm during detection, protective sponge 7 and buffering sponge 5 can prevent limbs from wiping Wound, keeps measurement process comfort；Again whole device is connected firmly the relevant position at protector after test, it is ensured that acceleration is adopted Move tangential direction along joint shaft in collection module 1 and 6 measuring acceleration directions.
Acceleration acquisition module 1 comprises in inertial sensor A, acceleration acquisition module 6 and comprise inertial sensor B；
If lAFor inertial sensor A distance joint distance, lBFor inertial sensor B distance joint distance, ε represents pass Joint angular acceleration, g represents that acceleration of gravity, α represent inertial sensor sensitive direction and vertical direction folder during detection Angle.
2., during detection, inertial sensor A is output as:
aoutA=lAε+gcosα； (1)
Inertial sensor B is output as:
aoutB=lBε+gcosα； (2)
Associating (1) (2), can obtain:
(lA-lB) ε=aoutA-aoutB, (3)
Process can obtain: ε=(aoutA-aoutB)/((lA-lB)； (4)
Can be obtained by (4), be exported by the data processing two inertial sensors, just can eliminate inertia in actual test and pass Gravity impact suffered by sensor, obtains the ancon joint angle acceleration of reality.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for the technology of this area For personnel, the present invention can have various modifications and variations.All within the spirit and principles in the present invention, that is made is any Amendment, equivalent, improvement etc., should be included within the scope of the present invention.

Claims (3)

1.一种穿戴式关节角加速测量的重力消除方法，通过多惯性传感器结合的方式，利用线加速度传感器测量的加速度数据为基础，其特征在于：利用多惯性传感器消除加速度检测过程中的重力影响，获得肢体关节运动的实际角加速度。1. A gravity elimination method for wearable joint angular acceleration measurement, based on the acceleration data measured by a linear acceleration sensor through the combination of multiple inertial sensors, characterized in that: using multiple inertial sensors to eliminate the gravitational influence in the acceleration detection process , to obtain the actual angular acceleration of the limb joint motion. 设置两惯性传感器，设lA为惯性传感器A距离关节距离，lB为惯性传感器B距离关节距离，ε表示关节角加速度,g表示重力加速度，α表示检测过程中两惯性传感器输出线加速度方向与竖直方向夹角，检测过程中两惯性传感器加速度输出方向沿着关节运动切向方向。Set up two inertial sensors, let l A be the distance from the inertial sensor A to the joint, l B be the distance from the inertial sensor B to the joint, ε is the angular acceleration of the joint, g is the acceleration of gravity, and α is the direction of the output linear acceleration of the two inertial sensors during the detection process. The included angle in the vertical direction, during the detection process, the acceleration output direction of the two inertial sensors is along the tangential direction of the joint movement. 检测过程中，惯性传感器A的输出为：During the detection process, the output of inertial sensor A is: aoutA＝lAε+gcosα； (1)a outA =l A ε+gcosα; (1) 惯性传感器B的输出为：The output of inertial sensor B is: aoutB＝lBε+gcosα； (2)a outB = l B ε + gcosα; (2) 联合(1)(2)，可得：Combining (1)(2), we can get: (lA-lB)ε＝aoutA-aoutB， (3)(l A -l B )ε=a outA -a outB , (3) 处理可得：ε＝(aoutA-aoutB)/((lA-lB)； (4)Processing can be obtained: ε＝(a outA -a outB )/((l A -l B ); (4) 由(4)可得，通过处理两个惯性传感器的数据输出，便可消除实际测试中惯性传感器所受到的重力影响并得到实际的关节角加速度。It can be obtained from (4) that by processing the data output of the two inertial sensors, the influence of gravity on the inertial sensors in the actual test can be eliminated and the actual joint angular acceleration can be obtained. 2.一种穿戴式关节角加速测量的重力消除装置，其特征在于包括：前部活动支架(2)和后部支撑支架(3)，所述前部活动支架(2)和后部支撑支架(3)的相向端交错叠合并通过连接轴(10)铰接，所述连接轴(10)的一端与前部活动支架(2)固联，在所述前部活动支架(2)的前端固定设置有加速度采集模块(1)、(6)，加速度采集模块输出线加速度方向沿着关节运动的切线方向。2. A gravity elimination device for wearable joint angle acceleration measurement, characterized in that it comprises: front movable support (2) and rear support support (3), described front movable support (2) and rear support support The opposite ends of (3) are staggered and stacked and hinged by the connecting shaft (10), one end of the connecting shaft (10) is fixedly connected with the front movable bracket (2), and is fixed at the front end of the front movable bracket (2) Acceleration acquisition modules (1) and (6) are provided, and the acceleration acquisition module outputs a linear acceleration direction along the tangential direction of joint motion. 3.根据权利要求2所述的一种穿戴式关节角加速测量的重力消除装置，其特征在于，所述加速度采集模块包括惯性传感器以及信号调理模块，所述信号调理模块包括与惯性传感器电性连接的调理电路、与调理电路连接信号采集模块以及与信号采集模块连接的的无线发射模块，模块与智能仪表进行信号通讯。；3. The gravity elimination device for wearable joint angular acceleration measurement according to claim 2, characterized in that, the acceleration acquisition module includes an inertial sensor and a signal conditioning module, and the signal conditioning module includes an electrical sensor connected to the inertial sensor. The connected conditioning circuit, the signal acquisition module connected with the conditioning circuit, and the wireless transmission module connected with the signal acquisition module, and the module communicates with the smart instrument. ; 所述智能仪表包括无线接收模块、数据处理模块以及显示模块；所述无线接收模块与无线发射模块通讯，无线接收模块与数据处理模块的输入端连接，显示模块与数据处理模块的输出端连接。The smart meter includes a wireless receiving module, a data processing module and a display module; the wireless receiving module communicates with the wireless transmitting module, the wireless receiving module is connected to the input end of the data processing module, and the display module is connected to the output end of the data processing module.
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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080285805A1 (en) * 2007-03-15 2008-11-20 Xsens Technologies B.V. Motion Tracking System
CN102198003A (en) * 2011-06-07 2011-09-28 嘉兴恒怡科技有限公司 Limb movement detection and evaluation network system and method
CN102670217A (en) * 2012-05-04 2012-09-19 嘉兴市制衡精仪有限公司 Wearable sensor measuring device and method for lower limb joint acting force and moment
CN203873761U (en) * 2014-04-17 2014-10-15 上海迈动医疗器械有限公司 Portable device for testing function of upper limb
WO2015039206A1 (en) * 2013-09-20 2015-03-26 Mddt Inc. Diagnosing and treating movement disorders
CN205667549U (en) * 2016-03-31 2016-11-02 合肥工业大学 A kind of Wearable joint angle accelerates the gravity cancellation element measured

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080285805A1 (en) * 2007-03-15 2008-11-20 Xsens Technologies B.V. Motion Tracking System
CN102198003A (en) * 2011-06-07 2011-09-28 嘉兴恒怡科技有限公司 Limb movement detection and evaluation network system and method
CN102670217A (en) * 2012-05-04 2012-09-19 嘉兴市制衡精仪有限公司 Wearable sensor measuring device and method for lower limb joint acting force and moment
WO2015039206A1 (en) * 2013-09-20 2015-03-26 Mddt Inc. Diagnosing and treating movement disorders
CN203873761U (en) * 2014-04-17 2014-10-15 上海迈动医疗器械有限公司 Portable device for testing function of upper limb
CN205667549U (en) * 2016-03-31 2016-11-02 合肥工业大学 A kind of Wearable joint angle accelerates the gravity cancellation element measured

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