CN105938032A - Indirect testing system for ground reaction force of human body and method for carrying out indirect testing on ground reaction force of human body - Google Patents

Abstract

A system for indirect testing of human ground reaction force and a method for indirect testing of human body ground reaction force. The invention discloses an indirect test system for human ground reaction force, which includes a 3D inertial motion capture sensor and a 3D motion capture system. The 3D inertial motion capture sensor is fixed to the head m ₁ , torso m ₂ , and left forearm of the human body through an auxiliary wearable device. m ₃ , right forearm m ₄ , left rear arm m ₅ , right rear arm m ₆ , left thigh m ₇ , right thigh m ₈ , left calf m ₉ , right calf m ₁₀ , left foot m ₁₁ and right foot m ₁₂ . The invention also provides a method for indirect testing of the ground reaction force of the human body using the indirect test system for the ground reaction force of the human body. The invention has the characteristics of simple, flexible and accurate testing. In this test method, the tester only needs to wear the capture suit, and does not need to place his steps in a fixed area, so the impact on walking or running gait is small, and it can truly reflect the gait mechanics of the tester walking or running. It has broad engineering application prospects in clinical medicine, ergonomics, civil engineering and other fields.

Description

Indirect test system of human ground reaction force and indirect test of human ground reaction force Methods

technical field

The invention relates to an indirect test system for human body ground reaction force. The present invention also relates to a method for indirect testing of human body ground reaction force by using the above-mentioned indirect test system of human body ground reaction force.

Background technique

In recent years, the research on the step reaction force of the human body on the ground during walking or running has received extensive attention in many fields such as clinical medicine, ergonomics, and civil engineering. Ground reaction force is an important part of human gait analysis, and plays an important role in the study of human dynamics. In clinical medicine, ground reaction force analysis is an important means of motor function diagnosis and rehabilitation assessment. The detection and analysis of the reaction force between the sole of the foot and the ground when the human body walks or runs can reflect the structure, function and even Information about the coordination of the whole body; in the field of man-machines, the grasp of the mechanism of human body movement step reaction force is the basis for developing robot walking modes; in civil engineering, because the step force is the cause of structures (such as One of the important factors for excessive vibration of pedestrian bridges, stands, stairs, etc., so accurate prediction of the step force during human movement is an important means to ensure the safe use of structures and comfortable design.

However, current testing for human ground reaction forces mainly focuses on force plate-based direct testing methods. During the testing process of this method, force measuring plates need to be embedded in the ground or treadmills and other testing devices in advance to collect ground reaction force information, which makes this method have great space limitations when used, and requires people to be full enough during the test. The center of the force plate must be accurately acted on the center of the force plate, which restricts the free walking or running posture of the human body to a certain extent, so that there is a certain difference between the obtained gait force and the actual situation. This patent proposes an indirect test method of ground reaction force based on a 3D motion capture system. This method is obtained by fixing the motion capture device on multiple parts of the human body, such as feet, hands, and torso, based on the capture of human motion displacement and analysis of kinematics. The ground reaction force in any environment, and because the motion capture system does not affect the walking state of people, it can obtain the real ground reaction force in the free movement state, and realize the accurate, fast and simple test of the ground reaction force in the real environment.

Contents of the invention

In view of the deficiencies in the background technology, the technical problem to be solved by the present invention is to provide a simple, flexible and accurate indirect test system for human ground reaction force. The present invention also provides a method for indirect testing of human body ground reaction force by using the above-mentioned indirect test system of human body ground reaction force.

The present invention is accomplished by adopting the following technical solutions: the indirect test system for human ground reaction force, including a 3D inertial motion capture sensor and a 3D motion capture system, and the 3D inertial motion capture sensor is fixed on the head m ₁ and torso of the human body through an auxiliary wearable device m ₂ , left forearm m ₃ , right forearm m ₄ , left hind arm m ₅ , right hind arm m ₆ , left thigh m ₇ , right thigh m ₈ , left calf m ₉ , right calf m ₁₀ , left foot m ₁₁ and right foot m ₁₂ on.

The present invention also provides a method for indirect testing of the human body ground reaction force using the above-mentioned indirect test system for the human body ground reaction force, comprising the following steps:

a. Preparation: Weigh the tester and record it as m; divide the measurer into 12 parts, namely: head m ₁ , torso m ₂ , left forearm m ₃ , right forearm m ₄ , and left hind arm m ₅ , right back arm m ₆ , left thigh m ₇ , right thigh m ₈ , left calf m ₉ , right calf m ₁₀ , left foot m ₁₁ and right foot m ₁₂ ; calculate the weight of each part of the measurer according to the ratio of each part of the human body to the body weight Mass m _i , the position of the center of mass of each part is determined according to the ratio of the distance between the center of mass of each part of the human body below the top of the corresponding part of the human body to the total length of the part;

b. Testing and data recording: The 3D inertial motion capture sensor is firmly fixed at the center of mass of each part of the measurer's body through the auxiliary wearable device, so as to ensure that the 3D inertial motion capture sensor is used during the exercise of the tester There is no relative displacement between the tester and the body; let the tester walk or run in the desired environment, and at the same time turn on the 3D motion capture system to record the displacement movement time course data of each part of the tester's exercise process;

c. Data processing and analysis: low-pass filter processing is used for the displacement and movement data obtained by each part, and the high-frequency components in the movement are properly filtered out; according to the relationship between displacement and acceleration, the displacement data is subjected to secondary time differentiation to obtain the acceleration of each part Time history response a _i ; according to the formula Calculate the ground reaction force of the tester during the exercise.

Compared with the general force plate test method, the present invention has the characteristics of simple, flexible and more accurate test. Among them, the 3D motion capture system adopts an inertial 3D motion acquisition and analysis system. This system is a portable 3D body motion measurement system without a camera, which can be used in any place and under light. Wireless PC connection and measurement, no occlusion or line of sight restrictions during the test, and the inertial sensor used is highly sensitive and can capture subtle movements. The sensor is firmly fixed on the tester through the capture suit fixing belt, which is easy to wear, so it can realize Ground reaction force test on site and under complex conditions. In addition, in this test method, the tester only needs to wear the capture suit, and does not need to fall in a fixed area, so the impact on walking or running gait is small, and it can truly reflect the gait mechanics of the tester walking or running It has broad engineering application prospects in clinical medicine, ergonomics, civil engineering and other fields.

The accompanying drawings are as follows:

Fig. 1 is a schematic diagram of the center of mass of a human head provided by the present invention.

Fig. 2 is a schematic diagram of the center of mass of the human trunk provided by the present invention.

Fig. 3 is a schematic diagram of the center of mass of the human rear arm provided by the present invention.

Fig. 4 is a schematic diagram of the center of mass of the human forearm provided by the present invention.

Fig. 5 is a schematic diagram of the centroid of human thigh provided by the present invention.

Fig. 6 is a schematic diagram of the center of mass of a human calf provided by the present invention.

detailed description

Further describe each relevant detail and working principle of its embodiment below:

The indirect test system for human body ground reaction force provided by the present invention includes a 3D inertial motion capture sensor and a 3D motion capture system. The 3D inertial motion capture sensor is fixed on the head m ₁ , torso m ₂ , and left forearm m ₃ of the human body through an auxiliary wearable device , right forearm m ₄ , left hind arm m ₅ , right hind arm m ₆ , left thigh m ₇ , right thigh m ₈ , left calf m ₉ , right calf m ₁₀ , left foot m ₁₁ and right foot m ₁₂ . The auxiliary wearable device includes a strap configured with an adhesive buckle for connection and fixation, and the 3D inertial motion capture sensor is arranged on the strap.

The present invention also provides a method for indirect testing of the human body ground reaction force by using the indirect test system for the human body ground reaction force. The method combines human body link measurement and human body link kinematics to indirectly obtain the ground step reaction force. Include the following steps:

a. Preparation: Weigh the tester and record it as m; divide the measurer into 12 parts, namely: head m ₁ , torso m ₂ , left forearm m ₃ , right forearm m ₄ , and left hind arm m ₅ , right back arm m ₆ , left thigh m ₇ , right thigh m ₈ , left calf m ₉ , right calf m ₁₀ , left foot m ₁₁ and right foot m ₁₂ ; calculate the weight of each part of the measurer according to the ratio of each part of the human body to the body weight Mass m _i , the position of the center of mass of each part is determined according to the ratio of the distance between the center of mass of each part of the human body below the top of the corresponding part of the human body to the total length of the part;

b. Testing and data recording: The 3D inertial motion capture sensor is firmly fixed at the center of mass of each part of the measurer's body through the auxiliary wearable device, so as to ensure that the 3D inertial motion capture sensor is used during the exercise of the tester There is no relative displacement between the tester and the body; let the tester walk or run in the desired environment, and at the same time turn on the 3D motion capture system to record the displacement movement time course data of each part of the tester's exercise process;

c. Data processing and analysis: low-pass filter processing is used for the displacement and movement data obtained by each part, and the high-frequency components in the movement are properly filtered out; according to the relationship between displacement and acceleration, the displacement data is subjected to secondary time differentiation to obtain the acceleration of each part Time history response a _i ; according to the formula Calculate the ground reaction force of the tester during the exercise. According to Newton's second law, the ground reaction force formula is obtained based on the acceleration and mass of the center of mass of each part: .

Above: the female head accounts for 6.68% of the body weight, the center of mass is 58.94% of the total length of the head below the top of the head, the female torso accounts for 42.57% of the body weight, and the center of mass is 41.51% of the total length of the torso below the top of the torso % of the distance, the proportion of the body weight of the female rear arm is 2.55%, the position of the center of mass is 57.54% of the total length of the rear arm below the top of the hind arm, the proportion of the female forearm to the body weight is 1.94%, and the position of the center of mass is the forearm below the top of the forearm The distance of 45.59% of the total length, the female thigh accounts for 14.78% of the body weight, the position of the center of mass is 36.12% of the total length of the thigh below the top of the thigh, the female calf accounts for 4.81% of the body weight, and the position of the center of mass is the calf below the top of the calf At the distance of 44.16% of the total length, the proportion of the body weight of the female foot is 1.29%, and the position of the center of mass is 40.14% of the total length of the foot below the top of the foot; among them, the proportion of the male head is 6.94% of the body weight, and the position of the center of mass is below the top of the head The distance of 59.76% of the total length of the head, the male trunk accounts for 43.46% of the body weight, the position of the center of mass is 44.86% of the total length of the trunk below the top of the trunk, the male hind arm accounts for 2.71% of the body weight, and the position of the center of mass is the rear The distance below the top of the arm is 57.72% of the total length of the back arm, the male forearm accounts for 2.23% of the body weight, the center of mass is 45.74% of the total length of the forearm below the top of the forearm, the male thigh accounts for 14.16% of the body weight, and the center of mass is located It is the distance of 40.95% of the total length of the thigh below the top of the thigh, the male calf accounts for 4.33% of the body weight, and the position of the center of mass is 44.59% of the total length of the calf below the top of the calf. The male foot accounts for 1.37% of the body weight, and the position of the center of mass It is the distance of 44.15% of the total length of the foot below the top of the foot.

The weight of each part of the human body and the location of the center of mass are more vividly expressed in the form of Table 1 below:

Claims (4)

1. An indirect test system for human ground reaction force, characterized in that it includes a 3D inertial motion capture sensor and a 3D motion capture system, and the 3D inertial motion capture sensor is fixed on the head m ₁ , torso m ₂ , Left forearm m ₃ , right forearm m ₄ , left hind arm m ₅ , right hind arm m ₆ , left thigh m ₇ , right thigh m ₈ , left calf m ₉ , right calf m ₁₀ , left foot m ₁₁ and right foot m ₁₂ . 2. The human body ground reaction force indirect test system based on 3D motion capture system according to claim 1, characterized in that: the auxiliary wearable device includes a strap, and the strap is configured with a strap buckle for connection and fixation, and the 3D inertia The motion capture sensor is set on the strap. 3. A method for indirect testing of the human body ground reaction force using the human body ground reaction force indirect test system according to claim 1, characterized in that: comprising the following steps: a. Preparation: Weigh the tester, record it as m; divide the measurer into 12 parts, namely: head m ₁ , torso m ₂ , left forearm m ₃ , right forearm m ₄ , left hind arm m ₅ , right hind arm m ₆ , left thigh m ₇ , right thigh m ₈ , left calf m ₉ , right calf m ₁₀ , left foot m ₁₁ and right foot m ₁₂ ; calculate the weight of each part of the measurer according to the ratio of each part of the human body to the body weight Mass m _i , the position of the center of mass of each part is determined according to the ratio of the distance between the center of mass of each part of the human body below the top of the corresponding part of the human body to the total length of the part; b. Testing and data recording: The 3D inertial motion capture sensor is firmly fixed at the center of mass of each part of the measurer's body through the auxiliary wearable device, so as to ensure that the 3D inertial motion capture sensor is used during the exercise of the tester There is no relative displacement between the tester and the body; let the tester walk or run in the desired environment, and at the same time turn on the 3D motion capture system to record the displacement movement time course data of each part of the tester's exercise process; c. Data processing and analysis: low-pass filter processing is used for the displacement and movement data obtained by each part, and the high-frequency components in the movement are properly filtered out; according to the relationship between displacement and acceleration, the displacement data is subjected to secondary time differentiation to obtain the acceleration of each part Time history response a _i ; according to the formula Calculate the ground reaction force of the tester during the exercise. 4. The method for indirect testing of human body ground reaction force by adopting the human body ground reaction force indirect test system according to claim 3, wherein the female head accounts for 6.68% of the body weight, and the position of the center of mass is below the top of the head. The distance of 58.94% of the total length of the body, the female torso accounts for 42.57% of the body weight, the position of the center of mass is 41.51% of the total length of the torso below the top of the torso, the female rear arm accounts for 2.55% of the body weight, and the position of the center of mass is the rear arm The distance below the top is 57.54% of the total length of the back arm, the female forearm accounts for 1.94% of the body weight, and the position of the center of mass is 45.59% of the total length of the forearm below the top of the forearm. The female thigh accounts for 14.78% of the body weight, and the position of the center of mass is The distance below the top of the thigh is 36.12% of the total length of the thigh, the female calf accounts for 4.81% of the body weight, and the position of the center of mass is 44.16% of the total length of the calf below the top of the calf. The female foot accounts for 1.29% of the body weight, and the position of the center of mass is The distance below the top of the foot is 40.14% of the total length of the foot; the male head accounts for 6.94% of the body weight, the center of mass is 59.76% of the total length of the head below the top of the head, the male torso accounts for 43.46% of the body weight, and the center of mass The position is 44.86% of the total length of the torso below the top of the torso, the proportion of the body weight of the male hind arm is 2.71%, the position of the center of mass is 57.72% of the total length of the hind arm below the top of the back arm, and the proportion of the male forearm to the body weight is 2.23 %, the position of the center of mass is 45.74% of the total length of the forearm below the top of the forearm, the proportion of the body weight of the male thigh is 14.16%, the position of the center of mass is the distance of 40.95% of the total length of the thigh below the top of the thigh, and the proportion of the body weight of the male calf is 4.33 %, the position of the center of mass is 44.59% of the total length of the calf below the top of the calf, the male foot accounts for 1.37% of the body weight, and the position of the center of mass is 44.15% of the total length of the foot below the top of the foot.