Measuring method of coupling relation of human body upper limb shoulder glenohumeral joint rotation center and upper arm lifting angle

Abstract

The invention discloses a measuring method of the coupling relation of the human body upper limb shoulder glenohumeral joint rotation center and the upper arm lifting angle. The measuring method comprises the steps of acquiring human body shoulder joint motion data, wherein mark point motion blocks are fixed to the scapula and the humerus, and six mark points are fixed to the 7 th cervical vertebra, the 8 th thoracic vertebra, the jugular notch, the xiphoid, the lateral epicondyle and the medial epicondyle of the human body to obtain motion information of corresponding bones; building a shoulder motion model, wherein the scapula and the humerus are used as a rigid body respectively, and based on rotation geometric knowledge, a kinematic model of which the rotation center is unchanged relative to the adjacent rigid body pose is built; solving the coupling relation of the glenohumeral joint rotation center and the lifting angle, wherein since the joint center is unchanged relative to themark point pose of the adjacent rigid body, regression parameters are obtained, then the instantaneous position of the rotation center is obtained, and thus the coupling relation of the lifting angleand the rotation center is obtained. The measuring points are bond or fixed to the human body through a flange, deformation is reduced, calculation is simple, and measurement is accurate.

Description

technical field [0001] The invention belongs to the field of measurement technology, in particular to a method for measuring the coupling relationship between the glenohumeral joint rotation center of the human upper limb shoulder and the lifting angle of the upper arm. Background technique [0002] The motion information coupled with the glenohumeral joint rotation center of the human upper limb shoulder and the lifting angle of the upper arm is the basic data for planning and training the guided movement of the exoskeleton system, designing the bionic shoulder joint mechanism, and recovering from shoulder motor function damage. , it is necessary to refer to relevant information to design the guiding motion law of the exoskeleton system. Therefore, obtaining relatively accurate kinematic information of the coupling relationship between the glenohumeral joint rotation center of the upper limb shoulder and the lifting angle of the upper arm has very strong theoretical signifi...

AI Technical Summary

Problems solved by technology

In essence, it can be divided into two measurement methods: invasive and non-invasive. Intrusive measurement methods: directly through the skin and tissue to measure the corresponding movement of human shoulder bones, such as ultraviolet light photography, human shoulder autopsy experiments, This measurement method is harmful to the human body, and the experiment is complicated, so it is generally not advisable; the other is a non-invasive measurement method: by sticking marker points on the surface of the human bone skin, the motion information of the shoulder bones can be obtained through the movement of the marker points, and compared A typical example is the invention patent of Shanghai Jiaotong University: non-invasive measurement method of human arm joints (Patent No. 2005100304385), but he treats the rotation center of the glenohumeral joint of the human shoulder as the centering, which does not conform to the specific movement rules of the human shoulder bones ; There is also the invention patent of Professor Yang Canjun of Zhejiang University: wearable high-precision data acquisition upper limb exoskeleton (patent number: 2011102767071), this patent also uses the human shoulder glenohumeral joint rotation center as a centering movement

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