System and method for measuring joint angle
A measurement system and measurement method technology, which can be used in diagnostic recording/measurement, medical science, diagnosis, etc., and can solve problems such as errors in the calculation method of joint angle
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Embodiment 1
[0128] Such as figure 1 As shown, the joint angle measurement system of this embodiment includes: a controller 1 and at least two attitude sensors 2 . Specifically, the controller 1 includes an Euler angle conversion unit 11 , a first calculation unit 12 , a second calculation unit 13 and a first judgment unit 14 .
[0129] Among them, the attitude sensor can choose 6-axis or 9-axis sensor. It should be noted that the number of attitude sensors can be set according to the data requirements. Of course, the more the number, the more accurate the measurement result will be. When there are more than three attitude sensors, the joint angles can be calculated by any two attitude sensors first, and then the calculated joint angles can be averaged. The following describes the working principle of the measurement system through two attitude sensors. For ease of description, the two attitude sensors are referred to as a first attitude sensor A and a second attitude sensor B respectiv...
Embodiment 2
[0159] In this embodiment, taking the measurement of the included angle of the knee joint as an example, the first posture sensor and the second posture sensor are all fixed on the front or back of the thigh and calf of the training in the training process. When in the standard standing position, the posture sensor The Y-axis of the body coordinate system coincides with the Z-axis of the inertial navigation coordinate system (that is, the northeast sky coordinate system). , supine position and other training actions, the knee joint angle is displayed on the X-axis or Y-axis.
[0160] The structure of the measurement system of this embodiment is basically the same as that of Embodiment 1, as figure 2 As shown, the difference is that the controller in this embodiment specifically includes an Euler angle conversion unit 11 , a third calculation unit 15 and a second judgment unit 16 .
[0161] In this embodiment, theoretically, only the first quaternion and the second quaternion...
Embodiment 3
[0172] The measurement system of the present embodiment is suitable for measuring the joint angle that the patient makes lateral position action, and attitude sensor can all be located at the front or the back of training position (the Z-axis of the body coordinate system of attitude sensor is perpendicular to thigh and thigh, and direction perpendicular to the left-right direction of the human body), also can be located on the side of the training site (the Z-axis of the body coordinate system of the attitude sensor is perpendicular to the thighs, and the direction is parallel to the left-right direction of the human body). The structure of the measuring system is basically the same as that of Embodiment 1 and Embodiment 2, such as image 3 As shown, the difference is that the controller 1 of this embodiment includes an Euler angle conversion unit 11 , a fourth calculation unit 17 and a third judging unit 18 .
[0173] In this embodiment, theoretically, only the first quatern...
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