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Human body joint center determining method based on wearable sensor

A technology of human joints and determination methods, applied in the field of robotics, can solve problems such as inability to determine joint centers, and achieve the effects of simplifying data and algorithms, avoiding magnetic field interference, and having high algorithm efficiency.

Pending Publication Date: 2022-01-25
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0008] Aiming at the problem that the joint center cannot be accurately determined in the prior art, the present invention provides a method for determining the position of the joint center of the lower limbs based on a wearable sensor. The position of the joint center is determined only by the installation position of the inertial measurement unit. No need for sophisticated measuring instruments, easy to operate, and more accurate positioning of the joint center

Method used

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  • Human body joint center determining method based on wearable sensor
  • Human body joint center determining method based on wearable sensor
  • Human body joint center determining method based on wearable sensor

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Embodiment

[0091] In this embodiment, one IMU is respectively bound to the hip joint and the lower leg, and two three-axis angular velocity images are drawn by sampling the two IMUs, and a new smooth data set is obtained by filtering the jagged ripples of the images.

[0092] Since two rigid rods are connected by a spherical joint, according to geometric knowledge, the acceleration projections of the centers of the two joints should be equal, and we can get:

[0093]

[0094] If the calf is stationary, (1) can also be written as

[0095]

[0096] where g is the acceleration due to gravity, is the sum of the radial acceleration and tangential acceleration generated by the rotation of the center of the hip joint, is the sum of the radial acceleration and tangential acceleration generated by the rotation of the center of the lower leg joint, which can be defined as

[0097]

[0098] According to the gradient formula

[0099]

[0100] After the calculation of the gradient is...

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Abstract

The invention discloses a human body joint center determining method based on a wearable sensor, and relates to the technical field of robots. The method specifically comprises the steps that a plurality of Inertial Measurement Units (IMU) are selected and bound to the joint positions of the waist, the thighs and the shanks of a human body according to needs, and meanwhile a controller is connected to read the three-axis angular velocity value and the three-axis acceleration value of each IMU; through equal-time-interval sampling, the three-axis acceleration values and the three-axis angular velocity values are each drawn into an image; sawtooth ripples in the images are filtered till smooth images are obtained, a data fusion algorithm is further utilized for calculating the joint gradient and the loss function of a data set in the smooth images, a Levenberg-Marquart optimal method is utilized for optimization, and when the error of the loss function is minimum, the optimal joint center position is obtained. The joint center position can be accurately measured, no accurate measuring instrument is needed, calibration of the IMU does not need a specific rotary table or specific calibration action, the algorithm efficiency is high, and the error is small.

Description

technical field [0001] The invention relates to the field of robots, in particular to a method for determining a human body joint center based on a wearable sensor. Background technique [0002] In recent years, with the aging of the Chinese society and the increasing incidence of various accidents, the population of limb movement disorders caused by stroke, spinal cord injury and traumatic brain injury has grown rapidly. Effective rehabilitation methods are an important way to restore walking function after surgery, and have important practical significance for improving the quality of life and reducing social burdens. [0003] The traditional rehabilitation method of rehabilitation training with the assistance of medical staff has high training intensity and is difficult to guarantee continuity. At the same time, due to the influence of the number and level of therapists, it is difficult to accurately observe the training effect, so it is impossible to accurately assist th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B5/107A61B5/11
CPCA61B5/107A61B5/11A61B5/1126
Inventor 张武翔鞠林航石狄丁希仑
Owner BEIHANG UNIV
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