Rehabilitation exercise parameter measurement system and method
A technology for measuring systems and motion parameters, which is applied in the field of measurement systems for rehabilitation motion parameters, and can solve problems such as singular points, poor stability of motion angle acquisition, and low accuracy
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Embodiment 1
[0140] The measurement system of this embodiment is used to measure parameters of human rehabilitation exercise, and the rehabilitation exercise parameters include: main angle. The main angle is the angle between the projection of the training part (limbs or torso) on the first plane and the second plane; the first plane is the plane where the movement track of the standard action of rehabilitation exercise is located, and the second plane and the first plane vertical.
[0141] like figure 1 As shown, the measurement system of this embodiment includes: an attitude sensor 1 and a controller 2 . Wherein, the controller includes an Euler angle conversion unit 21 , a calculation unit 22 and a judgment unit 23 .
[0142] During rehabilitation training, the attitude sensor is fixed on the training part of the human body rehabilitation exercise. Taking the forward tilting of the hip joint in the standing position as an example, the attitude sensor is fixed on the training thigh. F...
Embodiment 2
[0198] Embodiment 2 is basically the same as Embodiment 1, the difference is that in this embodiment, a standard position is defined for each rehabilitation exercise (at this time, the main angle, offset angle and rotation angle are all 0°), that is, the standard bit as the start bit. Therefore, in the calculation of the main angle, the calculation unit calculates the estimated main angle and the estimated offset angle according to the following formula:
[0199] PrMainAngle=AngleY' zyx ;
[0200] PrSideAngle=AngleX' zyx ±90;
[0201] Specifically, when AngleY’ zyx zxy And the training part is not near the singular point (ie |AngleX’ zxy |≥5), PrSideAngle=AngleX’ zyx -sign(AngleX zyx )×90; when AngleY’ zyx zxy And the training part is just at the singular point position of (ZYX) (i.e. |AngleX’ zxy |zyx ≥AngleX’ zxy , PrSideAngle=AngleY' zxy -sign(AngleY' zyx )×90.
[0202] In this embodiment, the calculation unit calculates the main angle change value AngleZXY in ...
Embodiment 3
[0212] The measurement method of the present embodiment utilizes the measurement system of embodiment 1 to realize, as figure 2 As shown, the measurement method includes the following steps:
[0213] Step 110, the attitude sensor obtains the initial quaternion and the current quaternion of the attitude of the training part and sends them to the controller.
[0214] Step 120, the controller converts the initial quaternion into at least two initial Euler angle information of different rotation sequences under the inertial navigation coordinate system, and converts the current quaternion into different rotation sequences under the inertial navigation coordinate system at least two current Euler angle information, and calculate the main angle according to at least two starting Euler angle information and at least two current Euler angle information.
[0215] Among them, the main angle is the angle between the projection of the training part on the first plane and the second plan...
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