CN107115114A - Human Stamina evaluation method, apparatus and system - Google Patents

Abstract

The embodiment of the invention discloses a kind of Human Stamina evaluation method, apparatus and system, wherein this method includes：The athletic posture data of patient's detected part are obtained by multiple inertial sensors, wherein detected part includes at least one joint, and multiple inertial sensors are fixed on the limbs being connected with the joint according to default modelling of human body motion；The movement angle at least one joint according to athletic posture data are calculated respectively；The locomitivity of the detected part is determined according to the movement angle at least one joint.The embodiment of the present invention is based on clinical demand and the modelling of human body motion simplified, human motion attitude data is obtained by inertial sensor, each free degree for different joints is decomposed to human motion, calculate movement angle, locomitivity is evaluated, infomation detection is comprehensive and can meet clinical diagnosis demand.Other algorithm is not limited by human body walking direction, and it must be straight line that human body walking direction is not limited yet, and detection is flexible.

Description

Method, device and system for evaluating human athletic ability

technical field

The embodiments of the present invention relate to the technical field of human motion detection, and in particular to a method, device and system for evaluating human motion ability.

Background technique

At present, the problem of aging in my country is becoming more and more serious, and stroke hemiplegia is a high incidence among the elderly population, so the rehabilitation treatment for the elderly after hemiplegia is particularly important. Due to the damage of the nervous system, hemiplegic patients lack muscle motor control ability, especially motor coordination ability. Therefore, the rehabilitation of hemiplegic patients requires a long-term and comprehensive training.

Traditional rehabilitation training mostly relies on the therapist's manual operation, and the patient's rehabilitation status and training parameter adjustment need to rely on the subjective judgment of the rehabilitation therapist, lacking a unified quantitative standard, which affects the accuracy of diagnosis. In response to this problem, domestic and foreign researchers proposed to establish a quantitative evaluation system for rehabilitation training. The motion detection system is a key component in establishing a motion performance evaluation system. Currently commonly used human motion detection technologies mainly include: mechanical tracking, optical sensing, acoustic tracking, electromagnetic tracking and inertial sensing.

The mechanical tracking system is the most original motion tracking technology, which can be used for human motion tracking, teleoperation, rehabilitation medicine and virtual reality simulation. However, due to human-to-human variability, mechanical tracking systems must be recalibrated for each patient, which is complex and time-consuming. It is difficult for users to interact well with physical objects in a natural way, and it is difficult to accurately collect patient motion information due to the bulkiness of the mechanical system.

Optical sensing is currently the main popular motion detection method, especially for camera-based motion tracking systems. The system uses a camera to track the human body or mark points fixed on the human body, and then calculates and obtains the human body movement trajectory. In general, most motion tracking based on optical sensing technology has the following defects: image blockage occurs when the required optical path is blocked, and interference from other light sources. Therefore these systems can only be used in the calibration room and are not suitable for outdoor use. Since motion-tracked markers should always be observed by multiple cameras, using an optical sensing system when rehabilitating a patient with a rehabilitation robot is subject to interference from the robot or rehabilitation therapist, and requires the object to be always in the camera's line of sight. These shortcomings limit the application of optical sensing systems in rehabilitation training.

Inertial sensing is a relatively new motion tracking system, such as the MVN BIOMECH motion capture system from Xsens, which connects the inertial sensor to the body through a Lycra suit to provide six-degree-of-freedom tracking, but the sensor is too large and prone to damage during wearing The connection is loose, affecting information collection.

At present, many motion detection and evaluation systems for rehabilitation training cannot meet the motion detection needs in complex rehabilitation environments. For example, optical detection is easily interfered by rehabilitation robots or therapists, and the detected motion information is not comprehensive enough. The detection and evaluation results cannot meet the needs of clinical rehabilitation. For the above problems, no effective solution has been proposed yet.

Contents of the invention

Embodiments of the present invention provide a method, device, and system for evaluating human exercise ability, which can detect comprehensive clinical exercise information, meet clinical diagnosis requirements, and are not limited by the walking direction of the human body.

In the first aspect, an embodiment of the present invention provides a method for evaluating human exercise capacity, including: acquiring motion posture data of a part of a patient to be measured through a plurality of inertial sensors, wherein the part to be measured includes at least one joint, and the multiple An inertial sensor is fixed on the limb connected to the joint according to a preset human motion model; the motion angle of the at least one joint is respectively calculated according to the motion posture data; the motion angle of the at least one joint is determined according to the motion angle of the at least one joint. The exercise capacity of the part to be measured.

Further, calculating the motion angle of the at least one joint according to the motion posture data includes: for each joint, calculating the motion of the joint in the corresponding degree of freedom according to the relative changes in the motion posture data of the two limbs connected to the joint angle.

Further, the following formula is used to calculate the motion angle of the joint:

Among them, TM represents the x, y, z axes; Indicates the rotation angle of joint J around the TM axis; atan2 _x (A, B) returns the three-dimensional coordinates A(x _A , y _A , z _A ), B(x _B , y _B , z _B ) about (y _B +z _A Argument of i); atan2 _y (A, B) returns the three-dimensional coordinates A (x _A , y _A , z _A ), B (x _B , y _B , z _B ) with respect to (z _B +x _A i) angle; atan2 _z (A, B) returns the argument of the three-dimensional coordinates A (x _A , y _A , z _A ), B (x _B , y _B , z _B ) about (x _B +y _A i); express Projected coordinates on the plane YOZ, express Projected coordinates on the plane XOZ, express Projected coordinates on the plane XOY; Indicates the unit vector coordinates converted from the motion posture data; Used to perform column transformation on V _JCU '.

Further, the following formula is used to calculate V _JCU ′:

V _JCU ′=q _JC ×V _JCU ×q _JC ^-1 ,

in, represent the unit vector coordinates along the x, y, and z axes of the coordinate system; q _JC represents the quaternion of the relative posture difference between the two limbs connected to the joint J, Indicates the calibrated attitude quaternion of the limb SK _n connected to the joint J, Indicates the posture quaternion of limb SK _n connected to joint J at time t, Represents the inverse of the posture quaternion of the limb SK _n at the initial moment; Indicates the calibrated attitude quaternion of the limb SK _n+1 connected to the joint J, Indicates the posture quaternion of limb SK _n+1 connected to joint J at time t, Represents the inverse of the quaternion of the posture of the limb SK _n+1 at the initial moment.

Further, determining the motion capability of the part to be tested according to the motion angle of the at least one joint includes: for each degree of freedom involved in the part to be measured, according to the motion angle of the corresponding joint in the degree of freedom and the same synchronous speed The degree of rehabilitation of the degree of freedom is calculated according to the motion angle of the joint in a healthy state at the degree of freedom; the degree of rehabilitation of the part to be tested is calculated according to the degree of rehabilitation of each degree of freedom.

Further, the following formula is used to calculate the rehabilitation degree of the degree of freedom:

Among them, R _i represents the degree of rehabilitation of the i-th degree of freedom; D _i represents the motion angle of the corresponding joint in the i-th degree of freedom; H _i represents the corresponding joint in a healthy state at the same speed in the i-th degree of freedom angle of motion; Indicates the correlation coefficient between D _i and H _i .

Further, the following formula is used to calculate the recovery degree of the part to be tested:

Among them, R _G represents the degree of rehabilitation of the part to be tested; N represents the number of degrees of freedom involved in the part to be measured; R _i represents the degree of rehabilitation of the i-th degree of freedom; ω _i represents the weighting coefficient of R _i .

Further, determining the motion capability of the part to be tested according to the motion angle of the at least one joint includes: for each joint, calculating the angular velocity of the joint according to the motion angle of the joint; calculating the angular velocity of the joint and the relative The ratio of the angular velocity of the joint in a healthy state at synchronous speed; according to the ratio, the rehabilitation state of the joint is determined.

In the second aspect, the embodiment of the present invention also provides a human body exercise ability evaluation device, including: a data acquisition module, which is used to acquire the movement posture data of the patient's part to be measured through a plurality of inertial sensors, wherein the part to be tested includes At least one joint, the multiple inertial sensors are fixed on the limbs connected to the joint according to the preset human motion model; the motion angle calculation module is used to calculate the motion of the at least one joint according to the motion posture data Angle; a movement ability determination module, configured to determine the movement ability of the part to be measured according to the movement angle of the at least one joint.

In the third aspect, the embodiment of the present invention also provides a human body exercise ability evaluation system, including: one or more processors; a memory for storing one or more programs; a communication interface for communicating with an inertial sensor; The inertial sensor is used to collect the motion posture data of the patient's part to be measured; when the one or more programs are executed by the one or more processors, the one or more processors are implemented to implement any embodiment of the present invention. Provides a method for evaluating human exercise capacity.

In the embodiment of the present invention, the human body motion ability evaluation method, device and system are based on clinical needs and a simplified human body motion model, and the data of human body motion posture is obtained through inertial sensors, and the human body motion is decomposed and analyzed according to the degrees of freedom of different joints, and the joint motion is calculated. The angle can be used to evaluate the exercise ability or exercise state, and the clinical exercise information detection is comprehensive, which can meet the needs of clinical diagnosis. In addition, the algorithm of the present invention is not limited by the walking direction of the human body, that is, the human body can walk in any direction, and does not limit the walking direction of the human body to be a straight line, so the detection is more flexible.

Description of drawings

Fig. 1 is a flow chart of the human body exercise ability evaluation method provided by Embodiment 1 of the present invention;

FIG. 2 is a schematic diagram of a preset human motion model provided by Embodiment 1 of the present invention;

Fig. 3 is a schematic diagram of the coordinate axes of the inertial sensor provided by Embodiment 1 of the present invention;

4 is a diagram of the relationship between the fixed sensor coordinate system and the global reference coordinate system in Embodiment 1 of the present invention;

Fig. 5 is a schematic diagram of the installation position of the sensor in Embodiment 1 of the present invention;

Fig. 6 is a structural block diagram of a human body exercise ability evaluation device provided by Embodiment 4 of the present invention;

Fig. 7 is a structural block diagram of the human body exercise ability evaluation system provided by Embodiment 5 of the present invention;

Figures 8a to 8g are schematic diagrams of the motion angle-step phase cycle curves of different degrees of freedom of different joints of the subject in Example 6 of the present invention;

Fig. 9a to Fig. 9g are schematic diagrams of motion angular velocity-angle curves of different degrees of freedom of different joints of the subject in Example 6 of the present invention;

10a to 10g are schematic diagrams of angular acceleration-step phase cycle curves of different degrees of freedom of different joints of the subject in Example 6 of the present invention.

detailed description

The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention. In addition, it should be noted that, for the convenience of description, only some structures related to the present invention are shown in the drawings but not all structures.

Embodiment one

Fig. 1 is a flow chart of the method for evaluating human exercise ability provided by Embodiment 1 of the present invention. This embodiment is applicable to the detection and evaluation of human exercise ability, and the method can be executed by a device for evaluating human exercise ability. Specifically, the device It may be a computer or other device with communication and computing functions. As shown in Figure 1, the method specifically includes the following steps:

Step 110, acquire motion posture data of the patient's part to be measured through multiple inertial sensors, wherein the part to be measured includes at least one joint, and the multiple inertial sensors are fixed on limbs connected to the joint according to a preset human motion model.

Due to the particularity of the rehabilitation training environment, the patient's gait detection requires the sensor to have the characteristics of high precision, easy to wear, light weight, anti-interference, and good stability. Therefore, the inertial sensor in this embodiment is small in size, easy to wear, The anti-interference sensor collects the patient's gait information. Specifically, the WB sensor developed by the Atsuo Konishi Laboratory of Waseda University can be used. The sensor can use 12 inertial measurement units (IMU) for the upper body and 8 inertial measurement units for the lower body. The unit (IMU) measures the entire body movement. It is very convenient to install, and the measurement environment can be quickly established. The measurement range is large, and the IMU and other devices can communicate wirelessly through Bluetooth. For example, the Bluetooth version of the LP-Researsh Motion Sensor (LPMS-B), a miniature wireless inertial measurement unit (IMU)/attitude heading reference system (AHRS) that is versatile and performs accurate, high-speed orientation and displacement, can be used measurement, using three different MEMS (Microelectro Mechanical Systems) sensors (3-axis gyroscope, 3-axis accelerometer, and 3-axis magnetometer), enabling drift-free, high-speed orientation data around all three axes collection.

The motion attitude data is the data output by the inertial sensor, that is, the attitude quaternion. A quaternion is a simple hypercomplex number. A quaternion is composed of a real number plus three imaginary units i, j, and k. Each quaternion is a linear combination of 1, i, j, and k. A quaternion can represent It is a+bk+cj+di, where a, b, c, and d are real numbers. The quaternion is a mathematical concept, which can be expressed in the form of a matrix. This embodiment does not describe the quaternion in detail.

The part to be tested can be a specific joint (such as wrist, knee, etc.), or it can be a part involving multiple joints such as upper limbs, lower limbs, and the whole body. The part to be tested can be determined according to the detection and evaluation requirements. After the part to be tested is determined, the specific installation position of the inertial sensor can be determined in combination with the preset human motion model. If the inertial sensor is fixed on the limb, the posture quaternion of the limb can be obtained . Specifically, the inertial sensor can be fixed to the corresponding limb by means of binding, sticking (such as Velcro), snapping, or the like. Different parts to be tested include different joints, and generally each joint is connected to two limbs. The motion posture data of the part to be measured is the motion posture data of the relevant limbs continuously collected by multiple inertial sensors within a period of time.

The preset human motion model is a simplification of the human body model in the motion process. The structure of human skeleton is very complex. In order to realize real-time analysis of human motion, the structure of human skeleton must be simplified. According to the analysis of the degrees of freedom of the human body model and human body movement, the human body model is simplified as shown in Figure 2 in this embodiment. The simplified human body movement model includes: head, upper torso, two big arms, two forearms, two A palm, a waist, two thighs, two calves and two feet. In Figure 2, each part of the human body is represented by a straight line, the head is represented by a circle, and the joints are represented by symbols representing degrees of freedom. The joints of the human body include: neck joints, shoulder joints, elbow joints, wrist joints, finger joints, lumbar spine, hip joints, knee joints, ankle joints, toe joints, etc. Joints can generally be divided into flexion/extension, internal rotation/external rotation , adduction/abduction and other degrees of freedom, in which internal rotation/external rotation are different directions of a degree of freedom, adduction/abduction, flexion/extension are the same. In different joints, the degrees of freedom have different names. For example, the corresponding degrees of freedom of the ankle joints are internal rotation/external rotation, varus/valgus, toe flexion/dorsiflexion, and the corresponding degrees of freedom of the hip joints are flexion/extension. , adduction/abduction, internal rotation/external rotation, and the corresponding degrees of freedom of the knee joint are flexion/extension.

For example, the parts to be tested are upper limbs, including shoulder joints, elbow joints and wrist joints, where the exercise capacity of the shoulder joint is evaluated by the movement posture of the big arm relative to the shoulder, and the exercise capacity of the elbow joint is evaluated by the forearm joint. Assessed relative to the posture of the upper arm, wrist motion is assessed relative to the posture of the palm relative to the forearm. Therefore, inertial sensors can be fixed to the shoulder, upper arm, forearm and palm to obtain the pose quaternion of these limbs. The motion capacity of the lumbar spine is evaluated by the motion posture of the waist relative to the upper body, the motion capacity of the hip joint is evaluated by the motion posture of the thigh relative to the waist, and the motion capacity of the knee joint is evaluated by the motion posture of the calf relative to the thigh Assessed, ankle mobility is assessed by the movement of the foot relative to the lower leg.

Step 120, respectively calculating the motion angle of the at least one joint according to the motion posture data.

In this step, for each joint, the motion angle of the joint in the corresponding degree of freedom is calculated according to the relative change of the motion posture data of the two limbs connected to the joint. That is, the relative changes in limbs are converted into spatial angles. For example, the motion angle of the lumbar spine can be obtained according to the motion posture change of the waist relative to the upper body.

There is a corresponding relationship between the degree of freedom and the coordinate axis. According to the installation position of the sensor, the relative position relationship between the sensor coordinate axis and the human body can be known, and thus the corresponding relationship between the degree of freedom of the joint and the coordinate axis can be known. For example, for the sensors fixed on the thigh and calf, the x-axis faces the right side of the human body, the y-axis faces downward, and z faces the front of the human body. It can be seen that the degree of freedom of the knee (flexion/extension) is to rotate around the x-axis, that is, the knee joint is in the The angle of motion for a flexion/extension degree of freedom is the angle of rotation of that joint about the x-axis.

Step 130, determining the motion capability of the part to be measured according to the motion angle of the at least one joint.

In this step, according to the motion angles of the joints included in the parts to be measured in their corresponding degrees of freedom, and the motion angles of the joints in a healthy state under the same conditions, the motion capacity of the parts to be measured can be obtained, wherein the motion capacity can be degree of recovery, recovery status, etc.

The human body motion ability evaluation method of this embodiment is based on clinical needs and a simplified human body motion model. The data of the human body motion posture is obtained through the inertial sensor, and the human body motion is decomposed and analyzed for each degree of freedom of different joints, and the motion angle is calculated to evaluate the motion ability. or motion status evaluation, and clinical motion information detection is comprehensive, which can meet the needs of clinical diagnosis. In addition, the algorithm of the present invention is not limited by the walking direction of the human body, that is, the human body can walk in any direction, and does not limit the walking direction of the human body to be a straight line, so the detection is more flexible.

After the inertial sensor collects the motion posture data of the limbs, it needs to calculate and output the posture quaternion for subsequent use according to the orientation difference between the fixed sensor coordinate system and the global reference coordinate system. Specifically, formula (1) can be used for calculation.

Q _sensor = q _Difference Q _Global q _Difference ^-1 (1)

Among them, Q _sensor represents the data in the sensor coordinate system (that is, the attitude quaternion output by the inertial sensor), Q _Global represents the data in the global reference coordinate system, and q _Difference represents the orientation between the fixed sensor coordinate system and the global reference coordinate system difference, q _Difference ^-1 means the inverse of the azimuth difference.

Taking the LPMS-B sensor as an example, the schematic diagram of its coordinate axes is shown in Figure 3, and the relationship between the fixed sensor coordinate system and the global reference coordinate system is shown in Figure 4, where roll means rotation around the Z axis, and pitch means rotation around the X axis , yaw means to rotate around the Y axis. Based on the simplified human motion model, the installation position of the sensor is shown in Figure 5. The 15 inertial sensors can be installed on different parts of the human body, so as to obtain the quaternion of each limb posture. It should be noted that sensors can also be installed on the shoulder. The shoulder joint is a floating structure with a degree of freedom of floating up and down (such as shrugging). degrees of freedom, the installation position of the sensor also reduces the two parts of the left and right shoulders.

Preferably, the communication mode between the sensor and the human body exercise ability evaluation device (such as a computer) can be wireless, for example, infrared, bluetooth, NFC and so on. Taking Bluetooth as an example, the computer's communication interface or transceiver (for example, Universal Asynchronous Receiver Transmitter UART) communicates with the sensor via Bluetooth and obtains the sensor code key and MAC address, and then converts the sensor's MAC address to an IP address and port . Then the human body exercise ability evaluation device (such as a computer) can communicate with the sensor to obtain the posture quaternion sent by the sensor fixed on the human body.

Embodiment two

On the basis of the first embodiment, this embodiment provides an implementation manner of calculating the joint motion angle and determining the motion capability of the part to be measured according to the motion posture data.

Specifically, formula (2) can be used to calculate the joint motion angle:

Among them, TM represents the x, y, z axes; Indicates the rotation angle of joint J around the TM axis; atan2 _x (A, B) returns the three-dimensional coordinates A(x _A , y _A , z _A ), B(x _B , y _B , z _B ) about (y _B +z _A Argument of i); atan2 _y (A, B) returns the three-dimensional coordinates A (x _A , y _A , z _A ), B (x _B , y _B , z _B ) with respect to (z _B +x _A i) angle; atan2 _z (A, B) returns the argument of the three-dimensional coordinates A (x _A , y _A , z _A ), B (x _B , y _B , z _B ) about (x _B +y _A i); express Projected coordinates on the plane YOZ, express Projected coordinates on the plane XOZ, express Projected coordinates on the plane XOY; Indicates the unit vector coordinates converted from motion posture data; Used to perform column transformation on V _JCU '.

Generally, joints for motion detection and evaluation include: neck joints, left and right shoulder joints, left and right elbow joints, left and right wrist joints, lumbar spine, left and right hip joints, left and right knee joints, and left and right ankle joints. The motion angle of the joint degree of freedom is represented by the rotation angle of the joint around the x, y, and z axes. After obtaining the attitude quaternions of the limbs SK _n and SK _n+1 connected to the joint J, the relative changes of the above two limbs are calculated according to the attitude quaternions, and the motion angle of the joint J corresponding to its degree of freedom can be obtained. The calculation process of the rotation angle of the joint J around the x, y, and z axes will be described below.

in, Indicates the posture quaternion of limb SK _n connected to joint J at time t; Represents the inverse of the posture quaternion of the limb SK _n at the initial moment; Indicates the calibrated attitude quaternion of the limb SK _n connected to the joint J; Indicates the posture quaternion of limb SK _n+1 connected to joint J at time t; Represents the inverse of the quaternion of the posture of the limb SK _n+1 at the initial moment; Indicates the calibrated attitude quaternion of limb SK _n+1 connected to joint J.

The attitude quaternion at the initial moment is the data corresponding to the initial attitude of the limbs detected by the inertial sensor. The initial attitude is a specific attitude. When the initial detection is performed, the human body is in a standing posture and the feet are close together.

Among them, q _JC represents the quaternion of the relative posture difference between the two limbs connected to the joint J.

V _JCU ′＝q _JC ×V _JCU ×q _JC ^-1 (6)

in, Represent the unit vector coordinates along the x, y, and z axes of the coordinate system, respectively; Represents the unit vector coordinates transformed by the attitude quaternion.

Among them, TM represents the x, y, z axes, express Projected coordinates on the plane YOZ, express Projected coordinates on the plane XOZ, express Projected coordinates on the plane XOY;

For performing row transformation on V _JCU '; Used to perform column transformation on V _JCU '.

calculated Finally, the rotation angles of the joint J around the x, y, and z axes can be calculated according to the above formula (2).

The joint movement angle is a basic parameter reflecting the joint movement ability, and step 130 may include: for each degree of freedom involved in the part to be measured, according to the movement angle of the corresponding joint in the degree of freedom and the joint in a healthy state at the same speed The degree of rehabilitation of the degree of freedom is calculated by the motion angle of the degree of freedom; the degree of rehabilitation of the part to be measured is calculated according to the degree of rehabilitation of each degree of freedom.

Preferably, formula (8) can be used to calculate the rehabilitation degree of the i-th degree of freedom:

Among them, R _i represents the degree of rehabilitation of the i-th degree of freedom; D _i represents the motion angle of the corresponding joint in the i-th degree of freedom; H _i represents the corresponding joint in a healthy state at the same speed in the i-th degree of freedom angle of motion; Indicates the correlation coefficient between D _i and H _i .

Preferably, formula (9) can be used to calculate the degree of rehabilitation of the site to be measured:

Among them, R _G represents the degree of rehabilitation of the part to be tested; N represents the number of degrees of freedom involved in the part to be measured; R _i represents the degree of rehabilitation of the i-th degree of freedom; ω _i represents the weighting coefficient of R _i .

The above formulas decompose and analyze human motion for each degree of freedom of different joints, calculate the motion angle of each joint, and then evaluate the motion ability or motion state. The clinical motion information detection is comprehensive, which can meet the needs of clinical diagnosis, and the calculation method is simple. reliable.

Embodiment Three

The joint movement speed of patients is very different from that of healthy people. Therefore, joint movement speed is also a key parameter reflecting joint movement ability, and joint movement ability can be judged by angle-angular velocity changes. On the basis of the first and second embodiments above, this embodiment provides a method for evaluating the joint rehabilitation status of a patient based on the movement speed.

In this embodiment, step 130 may include: for each joint, calculate the angular velocity of the joint according to the angle of motion of the joint; calculate the ratio of the angular velocity of the joint to the angular velocity of the joint in a healthy state at the same speed; determine the angular velocity of the joint according to the ratio Rehabilitation status. According to the ratio of the angular velocity of the patient's joint to the angular velocity of the healthy joint under the same conditions, the rehabilitation state of the patient's joint can be determined.

Specifically, formula (10) can be used to calculate the angular velocity of the joint:

Among them, TM represents the x, y, z axes; Indicates the rotational angular velocity of the joint J around the TM axis; Indicates the rotation angle of the joint J around the TM axis; express yes Seek guidance.

Preferably, the angular velocity-angle curve of the joint can also be drawn according to the joint motion angle and angular velocity data, and the envelope area of the curve can be calculated. Preferably, formula (11) can be used to evaluate the patient's joint rehabilitation status:

Among them, E _α represents the judgment parameter of the patient's joint α rehabilitation status, and the closer E _α is to 1, the better the patient's joint state; α represents the name of the joint, for example, a represents the ankle joint, k represents the knee joint, h represents the hip joint, etc.; A _dα is the envelope area of the angular velocity-angle curve of the patient's joint; A _hα is the envelope area of the angular velocity-angle curve of the healthy joint at the same speed.

In this embodiment, the rehabilitation state of the joint is obtained according to the envelope area of the angular velocity-angle curve between the patient's joint and the healthy joint, and the method is simple and easy to implement.

In addition, it can also calculate the angular acceleration of the joint, which can be used to calculate the evaluation factors such as the instantaneous exertion force of the muscle, and calculate the health and rehabilitation degree of the patient's muscle function. Specifically, the angular acceleration of the joint can be calculated by formula (12).

Among them, TM represents the x, y, z axes; Indicates the rotational angular acceleration of the joint J around the TM axis; Indicates the rotational angular velocity of the joint J around the TM axis; express yes Seek guidance.

Embodiment four

This embodiment provides a device for evaluating human exercise ability, which can be used to implement the above method for evaluating human exercise ability. As shown in FIG. 6 , the device includes: a data acquisition module 61 , a movement angle calculation module 62 and a movement ability determination module 63 .

Wherein, the data acquisition module 61 is used to obtain the motion posture data of the patient's part to be measured through a plurality of inertial sensors, wherein the part to be measured includes at least one joint, and the plurality of inertial sensors are fixed on the joints according to the preset human body motion model. Movement angle calculation module 62 is used to calculate the movement angle of the at least one joint according to the movement posture data respectively; the movement ability determination module 63 is used to determine the movement of the part to be measured according to the movement angle of the at least one joint ability.

The human body exercise capacity evaluation device of this embodiment is based on clinical needs and a simplified human body motion model, acquires the data of human body motion posture through inertial sensors, decomposes and analyzes the human body motion for each degree of freedom of different joints, calculates the motion angle, and evaluates the motion ability. or motion status evaluation, and clinical motion information detection is comprehensive, which can meet the needs of clinical diagnosis. In addition, the algorithm of the present invention is not limited by the walking direction of the human body, that is, the human body can walk in any direction, and does not limit the walking direction of the human body to be a straight line, so the detection is more flexible.

The motion angle calculation module 62 is specifically configured to: for each joint, calculate the motion angle of the joint in the corresponding degree of freedom according to the relative changes in the motion posture data of the two limbs connected to the joint.

The motion angle calculation module 62 is specifically used to calculate the motion angle of the joint using the following formula:

Among them, TM represents the x, y, z axes; Indicates the rotation angle of joint J around the TM axis; atan2 _x (A, B) returns the three-dimensional coordinates A(x _A , y _A , z _A ), B(x _B , y _B , z _B ) about (y _B +z _A Argument of i); atan2 _y (A, B) returns the three-dimensional coordinates A (x _A , y _A , z _A ), B (x _B , y _B , z _B ) with respect to (z _B +x _A i) angle; atan2 _z (A, B) returns the argument of the three-dimensional coordinates A (x _A , y _A , z _A ), B (x _B , y _B , z _B ) about (x _B +y _A i); express Projected coordinates on the plane YOZ, express Projected coordinates on the plane XOZ, express Projected coordinates on the plane XOY; Indicates the unit vector coordinates converted from motion posture data; Used to perform column transformation on V _JCU '.

The motion angle calculation module 62 is specifically used to calculate V _JCU ' using the following formula:

V _JCU ′=q _JC ×V _JCU ×q _JC ^-1 ,

in, represent the unit vector coordinates along the x, y, and z axes of the coordinate system; q _JC represents the quaternion of the relative posture difference between the two limbs connected to the joint J, Indicates the calibrated attitude quaternion of the limb SK _n connected to the joint J, Indicates the posture quaternion of limb SK _n connected to joint J at time t, Represents the inverse of the posture quaternion of the limb SK _n at the initial moment; Indicates the calibrated attitude quaternion of the limb SK _n+1 connected to the joint J, Indicates the posture quaternion of limb SK _n+1 connected to joint J at time t, Represents the inverse of the quaternion of the posture of the limb SK _n+1 at the initial moment.

The exercise capability determination module 63 includes: a first degree of rehabilitation calculation unit, which is used for each degree of freedom involved in the part to be measured, according to the movement angle of the corresponding joint in the degree of freedom and the joint in a healthy state at the same speed. The degree of rehabilitation of the degree of freedom is calculated by the motion angle of the degree of freedom; the second degree of rehabilitation calculation unit is used to calculate the degree of rehabilitation of the part to be measured according to the degree of rehabilitation of each degree of freedom.

The first degree of rehabilitation calculation unit is specifically used to calculate the degree of rehabilitation of degrees of freedom using the following formula:

Among them, R _i represents the degree of rehabilitation of the i-th degree of freedom; D _i represents the motion angle of the corresponding joint in the i-th degree of freedom; H _i represents the movement of the corresponding joint in a healthy state at the same speed in the i-th degree of freedom angle; Indicates the correlation coefficient between D _i and H _i .

The second degree of recovery calculation unit is specifically used to calculate the degree of recovery of the part to be measured by using the following formula:

Among them, R _G represents the degree of rehabilitation of the part to be tested; N represents the number of degrees of freedom involved in the part to be measured; R _i represents the degree of rehabilitation of the i-th degree of freedom; ω _i represents the weighting coefficient of R _i .

Preferably, the exercise capacity determination module 63 also includes: an angular velocity calculation unit, for each joint, calculating the angular velocity of the joint according to the angle of motion of the joint; The ratio of the angular velocity of the joint; the joint rehabilitation determination unit is used to determine the rehabilitation state of the joint according to the ratio.

The above-mentioned device for evaluating human exercise ability can execute the method for evaluating human exercise ability provided by any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the method.

Embodiment five

This embodiment provides a system for evaluating human exercise ability, which can be used to implement the above method for evaluating human exercise ability. As shown in Figure 7, the system includes: one or more processors 71; memory 72, used to store one or more programs; communication interface 73, used to communicate with inertial sensor 74; inertial sensor 74, used to collect The motion posture data of the patient's part to be measured; when the one or more programs are executed by the one or more processors, the one or more processors are made to implement the method described in any of the first to third embodiments above. Methods for evaluating human performance. The inertial sensor 74 is fixed on the limb connected to the joint of the part to be measured according to the preset human motion model. Wherein, the processor 71, memory 72 and communication interface 73 can be integrated on a computer to realize communication and computing functions.

The human body motion ability evaluation system of this embodiment is based on clinical needs and a simplified human body motion model, and acquires human body motion posture data through inertial sensors, decomposes and analyzes human body motions for each degree of freedom of different joints, calculates motion angles, and evaluates motion capabilities. or motion status evaluation, and clinical motion information detection is comprehensive, which can meet the needs of clinical diagnosis. In addition, the algorithm of the present invention is not limited by the walking direction of the human body, that is, the human body can walk in any direction, and does not limit the walking direction of the human body to be a straight line, so the detection is more flexible.

The above-mentioned human exercise ability evaluation system can execute the method provided by any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the method.

Embodiment six

This embodiment provides a preferred example based on the foregoing embodiments. In this preferred example, taking the subject's lower limbs as the part to be measured, the motion information of the hip joint, knee joint, and ankle joint is detected and their motion states are evaluated.

Subjects mounted inertial sensors on their bodies and performed locomotion on a walking machine. Among them, the sensor fixing method of the waist, thigh, and calf is as follows: the X-axis of the sensor faces the right side of the human body, the Y-axis faces the bottom of the subject, and the Z-axis faces the front of the human body. The side is close to the knee joint and the front side of the calf is close to the ankle joint; the sensor on the foot is fixed in the following way: the X axis of the sensor faces the right side of the human body itself, the Y axis faces the front of the human body, and the Z axis faces the top of the subject, and the sensor is fastened with a bandage on the human foot. Sensors should be placed where there are fewer muscles to reduce the influence of sensor posture changes caused by muscle movement. The speed of the walking machine is set by professionals, and the specific conditions of the subjects shall prevail. During the data collection process, for subjects with movement disorders or other effects on exercise capacity, auxiliary personnel are required to ensure the safety of the subjects.

Open the data receiving software of the computer, and receive the attitude quaternion of the sensor into the computer through Bluetooth communication. According to the formulas (3), (4), (5), (6), (7), (2), (10), (12), the acquired motion posture quaternion is processed, and the subject hip Motion angle, angular velocity, and angular acceleration information of joints, knee joints, and ankle joints in the corresponding degrees of freedom.

The motion angle-step cycle curves of each degree of freedom of different joints of the subject are shown in Figures 8a to 8g. The abscissa in the figure represents the step cycle in percentage form, the ordinate represents the rotation angle, and the solid line represents the subject Joint curves, dashed lines represent healthy joint curves. The schematic diagram of the rotation angle-step cycle curve of the hip joint around the X-axis is shown in Figure 8a, which corresponds to the flexion/extension degree of freedom of the hip joint; the schematic diagram of the rotation angle-step phase cycle curve of the hip joint around the Y-axis is shown in Figure 8b , corresponding to the adduction/abduction degree of freedom of the hip joint; the schematic diagram of the rotation angle-step phase cycle curve of the hip joint around the Z axis is shown in Figure 8c, corresponding to the internal rotation/external rotation degree of freedom of the hip joint; the ankle joint around The schematic diagram of the rotation angle-step phase cycle curve of the X-axis is shown in Figure 8d, which corresponds to the degree of freedom of toe flexion/dorsiflexion of the ankle joint; the schematic diagram of the rotation angle-step phase cycle curve of the ankle joint around the Y-axis is shown in Figure 8e, Corresponding to the varus/valgus degree of freedom of the ankle joint; the schematic diagram of the rotation angle-step cycle curve of the ankle joint around the Z axis is shown in Figure 8f, corresponding to the internal rotation/external rotation degree of freedom of the ankle joint; the knee joint around the X axis The schematic diagram of the shaft rotation angle-step phase cycle curve is shown in Fig. 8g, which corresponds to the flexion/extension degrees of freedom of the knee joint. From Figures 8a to 8g, it can be seen that the difference between the movement angles of the patient's joints and the healthy joints can reflect the health and rehabilitation of the patient's joints.

The motion angular velocity-angle curves of different degrees of freedom of different joints of the subject are shown in Figures 9a to 9g. According to the formulas (8) and (9), the motion ability R _G of the part to be measured can be obtained, and the rehabilitation state E _α of each joint can be obtained according to the formula (11). In Figures 9a to 9g, the abscissa represents the rotation angle, the ordinate represents the angular velocity, the solid line represents the joint curve of the subject, and the dotted line represents the healthy joint curve. The schematic diagram of the angular velocity-angle curve of the hip joint around the X axis is shown in Figure 9a; the schematic diagram of the angular velocity-angle curve of the hip joint around the Y axis is shown in Figure 9b; the schematic diagram of the angular velocity-angle curve of the hip joint around the Z axis is shown in Figure 9a As shown in 9c; the schematic diagram of the angular velocity-angle curve of the ankle joint around the X axis is shown in Figure 9d; the schematic diagram of the angular velocity-angle curve of the ankle joint around the Y axis is shown in Figure 9e; the angular velocity-angle curve of the ankle joint around the Z axis The schematic diagram of the curve is shown in Figure 9f; the schematic diagram of the angular velocity-angle curve of the knee joint around the X axis is shown in Figure 9g. From Figures 9a to 9g, the angular velocity-angle curve envelope area of the patient's joint can be obtained. From the figure, it can be seen that the difference between the angular velocity of the patient's joint and that of the healthy joint can reflect the degree of health and rehabilitation of the patient's joint.

The motion angular acceleration-step phase cycle curves of each degree of freedom of different joints of the subject are shown in Figures 10a to 10g. In Figures 10a to 10g, the abscissa represents the step cycle in percentage form, the ordinate represents the rotational angular acceleration, the solid line represents the subject's joint curve, and the dotted line represents the healthy joint curve. The schematic diagram of the rotational angular acceleration of the hip joint around the X axis-step phase period is shown in Figure 10a; the schematic diagram of the rotational angular acceleration of the hip joint around the Y axis-step phase period is shown in Figure 10b; the hip joint around the Z axis The schematic diagram of the curve of rotational angular acceleration-step phase period is shown in Figure 10c; the curve diagram of rotational angular acceleration-step phase period of the ankle joint around the X axis is shown in Figure 10d; the rotational angular acceleration of the ankle joint around the Y-axis-step phase The schematic diagram of the curve of the period is shown in Figure 10e; the schematic diagram of the curve of the rotational angular acceleration of the ankle joint around the Z axis-step phase period is shown in Figure 10f; the schematic diagram of the curve of the rotational angular acceleration of the knee joint around the X axis-step phase period is shown in Figure 10 10g shown. From Figures 10a to 10g, the difference between the angular acceleration of the patient's joint and the healthy joint can be obtained, which can reflect the evaluation factors such as the instantaneous exertion of the patient's muscles, and calculate the degree of health and recovery of the patient's muscle function.

In summary, the above-mentioned human motion evaluation method, device and system can be widely used in the fields of anthropometry, workspace design, man-machine system design and evaluation, clinical rehabilitation evaluation, sports science and other fields.

Note that the above are only preferred embodiments of the present invention and applied technical principles. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and can also include more other equivalent embodiments without departing from the concept of the present invention, and the present invention The scope is determined by the scope of the appended claims.

Claims (10)

1. A method for evaluating human exercise capacity, comprising: Obtain motion posture data of the patient's part to be measured through a plurality of inertial sensors, wherein the part to be measured includes at least one joint, and the plurality of inertial sensors are fixed on a limb connected to the joint according to a preset human motion model ; respectively calculating the motion angle of the at least one joint according to the motion posture data; The motion capability of the part to be measured is determined according to the motion angle of the at least one joint. 2. The method according to claim 1, wherein calculating the motion angle of the at least one joint according to the motion posture data includes: For each joint, the motion angle of the joint in the corresponding degree of freedom is calculated according to the relative change of the motion posture data of the two limbs connected to the joint. 3. method according to claim 2, is characterized in that, adopts following formula to calculate the motion angle of joint: <mrow> <msub> <mi>&amp;theta;</mi> <msub> <mi>J</mi> <mrow> <mi>T</mi> <mi>M</mi> </mrow> </msub> </msub> <mo>=</mo> <mi>a</mi> <mi>t</mi> <mi>a</mi> <mi>n</mi> <msub> <mn>2</mn> <mrow> <mi>T</mi> <mi>M</mi> </mrow> </msub> <mrow> <mo>(</mo> <msub> <mi>P</mi> <mrow> <msub> <mi>JC</mi> <mrow> <mi>T</mi> <mi>M</mi> </mrow> </msub> </mrow> </msub> <mo>,</mo> <msub> <mi>M</mi> <msub> <mi>C</mi> <mrow> <mi>T</mi> <mi>M</mi> </mrow> </msub> </msub> <mo>)</mo> </mrow> <mo>,</mo> </mrow> Among them, TM represents the x, y, z axes; Indicates the rotation angle of joint J around the TM axis; atan2 _x (A, B) returns the three-dimensional coordinates A(x _A , y _A , z _A ), B(x _B , y _B , z _B ) about (y _B +z _A Argument of i); atan2 _y (A, B) returns the three-dimensional coordinates A (x _A , y _A , z _A ), B (x _B , y _B , z _B ) with respect to (z _B +x _A i) angle; atan2 _z (A, B) returns the argument of the three-dimensional coordinates A (x _A , y _A , z _A ), B (x _B , y _B , z _B ) about (x _B +y _A i); express Projected coordinates on the plane YOZ, express Projected coordinates on the plane XOZ, express Projected coordinates on the plane XOY; Indicates the unit vector coordinates converted from the motion posture data; Used to perform column transformation on V _JCU '. 4. method according to claim 3 is characterized in that, adopts following formula to calculate V _JCU ': V _JCU ′=q _JC ×V _JCU ×q _JC ^-1 , in, represent the unit vector coordinates along the x, y, and z axes of the coordinate system; q _JC represents the quaternion of the relative posture difference between the two limbs connected to the joint J, Indicates the calibrated attitude quaternion of the limb SK _n connected to the joint J, Indicates the posture quaternion of limb SK _n connected to joint J at time t, Represents the inverse of the posture quaternion of the limb SK _n at the initial moment; Indicates the calibrated attitude quaternion of the limb SK _n+1 connected to the joint J, Indicates the posture quaternion of limb SK _n+1 connected to joint J at time t, Represents the inverse of the quaternion of the posture of the limb SK _n+1 at the initial moment. 5. The method according to claim 1, wherein determining the motion capability of the part to be measured according to the motion angle of the at least one joint comprises: For each degree of freedom involved in the part to be measured, calculate the degree of rehabilitation of the degree of freedom according to the movement angle of the corresponding joint in the degree of freedom and the movement angle of the joint in a healthy state at the same speed; The recovery degree of the part to be tested is calculated according to the recovery degree of each degree of freedom. 6. method according to claim 5, is characterized in that, adopts following formula to calculate the rehabilitation degree of described degree of freedom: <mrow> <msub> <mi>R</mi> <mi>i</mi> </msub> <mo>=</mo> <msub> <mi>&amp;rho;</mi> <mrow> <msub> <mi>D</mi> <mi>i</mi> </msub> <msub> <mi>H</mi> <mi>i</mi> </msub> </mrow> </msub> <mo>,</mo> </mrow> Among them, R _i represents the degree of rehabilitation of the i-th degree of freedom; D _i represents the motion angle of the corresponding joint in the i-th degree of freedom; H _i represents the corresponding joint in a healthy state at the same speed in the i-th degree of freedom angle of motion; Indicates the correlation coefficient between D _i and H _i . 7. method according to claim 5, is characterized in that, adopts following formula to calculate the degree of rehabilitation of described part to be measured: <mrow> <msub> <mi>R</mi> <mi>G</mi> </msub> <mo>=</mo> <msubsup> <mi>&amp;Sigma;</mi> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>N</mi> </msubsup> <msub> <mi>&amp;omega;</mi> <mi>i</mi> </msub> <msub> <mi>R</mi> <mi>i</mi> </msub> <mo>,</mo> </mrow> Among them, R _G represents the degree of rehabilitation of the part to be tested; N represents the number of degrees of freedom involved in the part to be measured; R _i represents the degree of rehabilitation of the i-th degree of freedom; ω _i represents the weighting coefficient of R _i . 8. The method according to claim 1, wherein determining the motion capability of the part to be measured according to the motion angle of the at least one joint comprises: For each joint, calculate the angular velocity of the joint according to the motion angle of the joint; calculating the ratio of the angular velocity of the joint to the angular velocity of the joint in a healthy state at the same speed; A rehabilitation state of the joint is determined based on the ratio. 9. A human body exercise ability evaluation device, characterized in that, comprising: The data acquisition module is used to acquire motion posture data of the patient's part to be measured through a plurality of inertial sensors, wherein the part to be measured includes at least one joint, and the plurality of inertial sensors are fixed to the body according to a preset human motion model on the limb connected by the above-mentioned joint; A motion angle calculation module, configured to respectively calculate the motion angle of the at least one joint according to the motion posture data; An exercise ability determining module, configured to determine the exercise ability of the part to be measured according to the movement angle of the at least one joint. 10. A human body exercise ability evaluation system, characterized in that it comprises: one or more processors; memory for storing one or more programs; A communication interface for communicating with the inertial sensor; The inertial sensor is used to collect the motion posture data of the patient's part to be measured; When the one or more programs are executed by the one or more processors, the one or more processors are made to implement the method for evaluating human exercise ability according to any one of claims 1-8.