Human knee joint angle wireless detection system and method based on MEMS inertial sensors

Abstract

The invention provides a human knee joint angle wireless detection system and method based on MEMS inertial sensors, and belongs to the technical field of medical instruments. The human knee joint angle wireless detection system comprises a main processing system and a node processing subsystem which are respectively arranged in positions of the thigh and shank of a human lower limb. The method includes allowing the main processing system to combine thigh acceleration and angular velocity information and shank acceleration and angular velocity information which are respectively sent by a main MEMS inertial sensor module and an auxiliary MEMS inertial sensor module so as to calculate the tilts of the thigh and shank of the human lower limb, acquiring knee joint angle information during walking, and outputting knee joint angle information to an exoskeleton robot control system through a Bluetooth manner. According to the system and method, data from a gyroscope and an accelerometer are combined, angle information of the human knee joint can be respectively detected in real time, and discomfort of a wearer can be reduced.

Description

technical field [0001] The present invention relates to a device and method in the technical field of medical devices, in particular to a MEMS inertial sensor-based wireless detection system and method for human knee joint angle. Background technique [0002] With the improvement of people's health level and the arrival of social aging, people urgently need smart devices that can be used to autonomously assist the walking of the physically disabled or provide assistance to the elderly. The exoskeleton robot that came into being is a power-assisted device that expands the movement capabilities of the limbs. It controls the angle and speed of each joint of the robot through the awareness of human motion behavior, so as to achieve the coordinated movement of the robot and the human body and provide assistance. Ability to exercise while walking. [0003] The exoskeleton robot can realize an automated human-machine system that coordinates with the operator's limbs as a whole by ...

AI Technical Summary

Problems solved by technology

However, this technology needs to install the mechanical components of the upper and lower links at the knee joints of the lower limbs of the human body. It has only one degree of freedom of bending, so it will bring certain restrictions to the movement of the wearer's lower limbs. Wearing for a long time will bring the wearer uncomfortable and relatively unsafe

[0007] Traditional attitude measurement is bulky and expensive due to the use of attitude sensors such as high-precision gyroscopes and accelerometers

Images