Joint angle measurement method based on double-attitude sensor

Abstract

The invention discloses a joint angle measurement method based on a double-attitude sensor. A first attitude sensor is fixedly mounted at a body section I, a second attitude sensor is fixedly mountedat a body section II, during measurement, the first attitude sensor returns a first Euler angle, the second attitude sensor returns a second Euler angle, and then, the joint angle is solved accordingto the first Euler angle and the second Euler angle. By means of the method, the joint absolute angle of a certain position can be directly output without calibration, the measurement accuracy is high, mounting of the attitude sensors is not limited, the attitude sensors can be fixed in any circumferential and axial positions of the body sections and are simple to mount and convenient to implement, and size and weight can be ignored. Besides, the method can also be applied to robot joint angle measurement and has very good application prospects.

Description

technical field [0001] The invention relates to the field of angle measurement, in particular to a joint angle measurement method based on dual attitude sensors. Background technique [0002] Human joint angle detection is very valuable in the field of medical rehabilitation. The detection of joint limit angles can provide important parameters for doctors’ clinical diagnosis and evaluation of patients’ rehabilitation effects; obtaining joint movement information can also provide important basis for fall risk assessment and gait correction of the elderly and rehabilitation patients. [0003] Human joint angles are usually directly measured by wearable angle sensor measuring devices, including Hall magnetic angle sensors, optical encoder discs, etc. In practical applications, patients are often difficult to wear due to physical obstacles or injured parts, and the price is usually relatively expensive. There are also some measurement methods in the prior art that can measure ...

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Problems solved by technology

[0003] Human joint angles are usually directly measured by wearable angle sensor measuring devices, including Hall magnetic angle sensors, optical encoder discs, etc. In practical applications, patients are often difficult to wear due to physical obstacles or injured parts, and the price is usually more expensive

There are also some measurement methods in the prior art that can measure the relative motion angle of joints, such as a method for measuring the joint angle of a robot based on an attitude sensor disclosed in Chinese patent application No. 201710170099.3. However, the output of this method is two The relative motion angle of the joints of the attitude, and because the initial state needs to be calibrated at a certain position, the accuracy is difficult to meet the requirements

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