Hip joint angle measurement sensing device

Abstract

The invention provides a hip joint angle measuring and sensing device which comprises a back plate, a connecting arm, a rocker arm, an adduction / abduction measuring unit, a buckling / stretching measuring unit and an inward rotation / outward rotation measuring unit, one end of the connecting arm is connected with the back plate through the adduction / abduction measuring unit, and the other end of the connecting arm is connected with the rocker arm through the buckling / stretching measuring unit. The other end of the rocker arm is connected with the internal rotation / external rotation measuring unit, and the internal contraction / external expansion measuring unit and the buckling / stretching measuring unit are each internally provided with a measuring mechanism. Based on the two-stage differential lever principle, a rigid body replacement method is adopted, hip joint three-degree-of-freedom measurement units are configured through flexible hinges, and a hip joint angle measurement sensor is formed. The arrangement of the optical fiber is benefited from the two-stage displacement scaling capability of the two-stage lever mechanism, and the flexible structure can realize a large displacement scaling ratio adjusting range. And the optical fiber of each sensing unit is always stretched in the measurement process by adjusting the structural parameters of the two-stage lever flexible structure.

Description

Technical Field

[0001] The present invention relates to the technical field of hip joint motion angle detection, and in particular to a hip joint angle measurement sensor device. Background Art

[0002] As a large weight-bearing joint in the human body, the movement angle and functional status of the hip joint are of great significance in orthopedic clinical diagnosis and rehabilitation. An objective and quantitative motor function assessment system has important clinical significance and research value for the research on lower limb motor function rehabilitation. Scientific assessment methods not only help medical staff accurately judge the degree of motor function damage and rehabilitation progress of patients, but also provide important data support for the formulation of personalized rehabilitation training programs. Among them, joint angle measurement has significant advantages such as non-invasive measurement and intuitive data, and has become an indispensable assessment method in rehabilitation medicine practice. By systematically collecting and analyzing lower limb joint angle data, the spatiotemporal parameters such as cadence and stride length of the patient's bilateral lower limb movements and the time distribution characteristics of the swing phase and stance phase can be deeply evaluated. These quantitative analysis data can provide a reliable scientific basis for clinicians to formulate precise rehabilitation plans and evaluate treatment effects.

[0003] Traditional methods for measuring hip joint angles rely primarily on two-dimensional imaging techniques (such as X-rays), requiring manual annotation of anatomical landmarks such as the femoral head center and acetabular rim to obtain parameters. However, these methods pose radiation exposure issues and are difficult to reflect dynamic motion in real time.

[0004] In recent years, optical motion capture systems have shown promising application prospects in rehabilitation medicine due to their high precision and real-time performance. However, this method has significant limitations. First, its use is limited to specific indoor environments, making it difficult to meet the needs of long-term monitoring of patients' daily activities. Second, the measurement process is susceptible to environmental interference, particularly the presence of obstructions, which can affect data acquisition. These limitations have, to a certain extent, restricted the application of this technology in joint motion measurement. Inertial sensing units, typically consisting of gyroscopes, accelerometers, and magnetometers, are also widely used due to their simplicity and low cost. Seel et al. measured knee flexion / extension angles using only gyroscopes and accelerometers, achieving a root mean square error of approximately 3° on the human leg. However, in practical applications, IMU systems are limited by device fixation errors and electromagnetic noise, requiring frequent calibration. To reduce noise interference and optimize sensor design, Qin Shihao designed a wearable measurement system for lower limb sagittal plane motion monitoring based on silicone rubber. He conducted a comprehensive analysis of noise, including local electric field variations in the human body and signal interference in the working environment, and designed sensor shielding. He also optimized the sensor packaging and demolding processes, improving sensor fabrication speed and monitoring quality. In experiments with a lower-limb motion measurement system, the standard deviation of the hip joint in the sagittal plane was 2.9°. To achieve long-term, accurate, and noninvasive monitoring of lower-limb joint angles, Gibbs et al. proposed a method of embedding silver-coated nylon conductive fiber arrays into elastic spandex fabric to measure knee and hip joint angles. Because the relationship between joint rotation and the change in conductive fiber resistance is nonlinear, a calibration curve was constructed using a least-squares method to fit a second-order polynomial. To ensure measurement accuracy, they designed a self-registration algorithm to mitigate errors caused by wearer drift. A maximum flexion-extension test was performed while the sensor was worn, and correlation analysis of multi-sensor signals automatically identified the effective sensing area. In walking and stair climbing tests, the sensor achieved a tracking error of less than 3°. However, deformation of the embedded conductive fibers is easily affected by fabric friction, reducing sensor measurement accuracy.

[0005] Fiber optic sensing technology, especially fiber Bragg Grating (FBG) sensors, has become a research hotspot in angle monitoring technology due to its small size, anti-electromagnetic interference, good biocompatibility and high sensitivity. Summary of the Invention

[0006] (1) Technical problems solved

[0007] In view of the deficiencies of the prior art, the present application provides a large-range, high-sensitivity wearable hip joint angle measurement sensing device, which transmits the angles of the three degrees of freedom of hip joint adduction / abduction, flexion / extension and internal rotation / external rotation to three secondary differential levers through three tension springs respectively, and converts the transmission to the stretching of the Fiber Bragg Grating (FBG) pasted thereon through the secondary differential levers. The wavelength shift signal generated by the stretching of the FBG can be used to measure the hip joint angle with high sensitivity.

[0008] (II) Technical solutions

[0009] To achieve the above object, the present application is implemented by the following technical solutions: a hip joint angle measurement sensing device, comprising a back plate, a connecting arm, a rocker arm, an adduction / abduction measurement unit, a flexion / extension measurement unit and an internal rotation / external rotation measurement unit, one end of the connecting arm is connected to the back plate through the adduction / abduction measurement unit, the other end of the connecting arm is connected to the rocker arm through the flexion / extension measurement unit, the other end of the rocker arm is connected to the internal rotation / external rotation measurement unit, and each of the adduction / abduction measurement unit and the flexion / extension measurement unit is internally provided with a measurement mechanism.

[0010] Preferably, the adduction / abduction measurement unit comprises a cover plate one, a bottom plate one and a measurement mechanism, the measurement mechanism is arranged between the cover plate one and the bottom plate one, the bottom plate one is fixed on the back plate, the cover plate one is pivotally connected with a cover plate connecting block through a bearing one, and the two ends of the cover plate connecting block are connected with the measurement mechanism and the connecting arm respectively.

[0011] Preferably, the flexion / extension measurement unit comprises a cover plate two, a bottom plate two and a measurement mechanism, the measurement mechanism is arranged between the cover plate two and the bottom plate two, the bottom plate two is fixed on the connecting arm, the top end of the rocker arm is rotatably arranged on the cover plate two through a bearing two and connected with the measurement mechanism.

[0012] Preferably, the measurement mechanism comprises an M3 pin shaft, a flexible mechanism, a tension spring and a rotating unit, the flexible mechanism is fixed on the bottom plate, the flexible mechanism comprises a primary scaling structure and a secondary scaling structure, the bottom of the primary scaling structure and the top of the secondary scaling structure are provided with a fiber boss, a fiber is fixed on the fiber pasting position of the fiber boss, the cover plate connecting block of the adduction / abduction measurement unit is connected with the rotating unit through the M3 pin shaft, the rocker arm is connected with the rotating unit through the M3 pin shaft, a spring pull wire is wound on the rotating unit, and the other end of the spring pull wire is connected with the primary scaling structure through the tension spring.

[0013] Preferably, the internal rotation / external rotation measuring unit includes an internal and external rotation tension spring, an internal and external rotation connecting plate, an internal and external rotation pull wire, an internal and external rotation fixed end, an internal and external rotation rotating end, a bottom plate three, a flexible unit and a cover plate three, the bottom plate three is connected to the rocker arm, the flexible unit is fixed on the bottom plate three, the flexible unit includes a first-level scaling mechanism and a second-level scaling mechanism, the bottom of the first-level scaling mechanism and the top of the second-level scaling mechanism are both provided with a fiber optic pasting boss, the optical fiber is fixed at the fiber optic pasting place on the fiber optic pasting boss, one end of the internal and external rotation tension spring is connected to the first-level scaling mechanism, and the other end is connected to the internal and external rotation pull wire, the other end of the internal and external rotation pull wire passes through the internal and external rotation connecting plate and the internal and external rotation rotating end, the upper and lower ends of the internal and external rotation connecting plate are connected to the cover plate three and the internal and external rotation fixed end, the internal and external rotation fixed end is provided with a track for the internal and external rotation rotating end to slide, and the internal and external rotation rotating end is used to connect to the thigh.

[0014] Preferably, a connecting belt hole is provided on the internal and external rotating end for a connecting belt to pass through, and the connecting belt is used to bind and fix the thigh.

[0015] (3) Beneficial effects

[0016] The present invention provides a hip joint angle measurement sensor device, which has the following beneficial effects:

[0017] This hip joint angle measurement sensor is based on a two-stage lever flexible structure, consisting of three measuring units arranged in series. The optical fiber is positioned at the input and output ends of the two-stage lever flexible structure. Benefiting from the two-stage displacement scaling capability of the two-stage lever mechanism, the flexible structure achieves a wide range of displacement scaling ratio adjustment. By adjusting the structural parameters of the two-stage lever flexible structure, the optical fiber of each sensing unit can be consistently stretched during measurement.

[0018] 2. The hip angle measurement sensor, with its high-precision measurement capabilities, provides a reliable tool for hip joint health assessment and function monitoring. In clinical medicine, the device can accurately capture hip range of motion and movement data, assisting doctors in more accurately assessing the severity of hip joint pathology and providing an objective basis for diagnosing and formulating treatment plans for conditions such as osteoarthritis and hip dysplasia. For patients undergoing hip replacement or orthopedic surgery, its continuous dynamic monitoring function helps rehabilitation teams understand the recovery of joint function after surgery and enable personalized adjustments to rehabilitation training.

[0019] 3. The hip joint angle measurement sensor device. In the field of sports science, this device can be used to analyze an athlete's hip joint movement patterns and identify potential movement compensations or biomechanical anomalies, thereby optimizing technical movements, preventing sports injuries, and improving competitive performance. With the development of an aging society, this device has shown significant value in the management of elderly hip joint health, enabling early detection of signs of hip joint functional degeneration, providing a basis for intervention to prevent falls and maintain mobility. Furthermore, in the fields of biomechanics research and rehabilitation engineering, the device's high-precision measurement data provides important technical support for the study of hip joint movement mechanisms, the development of assistive devices, and the optimization of rehabilitation treatment plans. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is the overall axonometric drawing of the present invention;

[0021] Figure 2 This is a disassembled diagram of the adduction / abduction measurement unit of the present invention;

[0022] Figure 3 This is a disassembled diagram of the flexion / extension measurement unit of the present invention;

[0023] Figure 4 This is a disassembled diagram of the internal rotation / external rotation measurement unit of the present invention;

[0024] Figure 5 This is a schematic diagram of the measurement unit of the hip joint angle sensor of the present invention;

[0025] Figure 6 is a graph showing the relationship between the hip joint flexion / extension degree of freedom angle and the optical fiber wavelength offset of the present invention;

[0026] Figure 7 Graph showing the relationship between the hip joint adduction / abduction degree of freedom angle and the optical fiber wavelength offset according to the present invention;

[0027] Figure 8 Graph showing the relationship between the internal rotation / external rotation degree of freedom angle of the hip joint and the optical fiber wavelength offset of the present invention;

[0028] Figure 9 、 Figure 10 、 Figure 11 A diagram showing the relationship between the hip joint flexion / extension, adduction / abduction, and internal rotation / external rotation degrees of freedom angle measurement system and the encoder of the present invention;

[0029] Figure 12 Schematic diagram of the wearing and optical fiber position of the present invention.

[0030] In the figure: 1 back plate, 2 adduction / abduction measurement unit, 3 connecting arm, 4 flexion / extension measurement unit, 5 rocker arm, 6 internal rotation / external rotation measurement unit, 11 back plate belt hole, 12 back plate slide, 31 connecting arm fixing hole, 32 connecting arm slide, 21 cover plate 1, 22 bearing 1, 23 cover plate connecting block, 24 bottom plate 1, 41 bearing 2, 42 cover plate 2, 43 bottom plate 2, 7 measuring mechanism, 71 first-level zoom structure, 72 second-level zoom structure, 73 Fiber optic boss, 74 rotating unit, 75 M3 pin, 76 spring pull wire, 77 tension spring, 78 fiber optic pasting place, 61 internal and external rotating tension spring, 62 internal and external rotating connecting plate, 63 internal and external rotating pull wire, 64 internal and external rotating fixed end, 65 internal and external rotating rotating end, 66 pin, 67 cover plate three, 68 flexible unit, 69 bottom plate three, 681 first-level scaling mechanism, 682 second-level scaling mechanism, 683 fiber optic pasting boss, 641 track, 651 connecting belt hole. DETAILED DESCRIPTION

[0031] The embodiment of the present invention provides a hip joint angle measurement sensor device, such as Figure 1 As shown, it includes a back plate 1, a connecting arm 3, a rocker arm 5, an adduction / abduction measurement unit 2, a flexion / extension measurement unit 4, and an internal rotation / external rotation measurement unit 6.

[0032] like Figure 1 As shown, one end of the connecting arm 3 is connected to the back panel 1 via the adduction / abduction measurement unit 2. The back panel 1 also has a back panel belt hole 11 for passing a belt through, and the back panel 1 is tied around the waist with the belt. The other end of the connecting arm 3 is connected to the rocker arm 5 via the flexion / extension measurement unit 4. The other end of the rocker arm 5 is connected to the internal rotation / external rotation measurement unit 6. Both the adduction / abduction measurement unit 2 and the flexion / extension measurement unit 4 have a built-in measurement mechanism.

[0033] The adduction / abduction measurement unit 2 and the flexion / extension measurement unit 4 use the same measurement mechanism 7. The specific structure of the measurement mechanism 7 includes an M3 pin 75, a flexible mechanism, an optical fiber boss 73, a rotating unit 74, a spring cable 76, a tension spring 77, and an optical fiber attachment point 78.

[0034] like Figure 2As shown, the adduction / extension measurement unit 2 includes a cover plate 21, a base plate 24, and a measuring mechanism 7. The flexible mechanism of the measuring mechanism 7 includes a primary zoom structure 71 and a secondary zoom structure 72. The primary zoom structure 71 and the secondary zoom structure 72 are provided with threaded holes, which are connected to the base plate 24 by screws through the threaded holes. The bottom of the primary zoom structure 71 and the top of the secondary zoom structure 72 are provided with optical fiber bosses 73. The optical fiber is fixed to the optical fiber bonding area 78 on the optical fiber boss 73 and ensures that the FBG grating area of ​​the optical fiber is between the two optical fiber bonding areas 78. Bottom plate 1 (24) is fixed to back plate 1. Cover plate 1 (21) is pivotally connected to cover plate connecting block 23 via bearing 1 (22). Specifically, the outer side of cover plate connecting block 23 fits into bearing 1 (22) and engages the cover plate bearing hole of cover plate 1 (21). An M3 pin 75 is fixed to rotation unit 74. Cover plate connecting block 23 is connected to rotation unit 74 via M3 pin 75. Spring cable 76 is wound around rotation unit 74. The other end of spring cable 76 is connected to primary pantograph structure 71 via tension spring 77. Cover plate 1 (21) is connected to corresponding threaded holes in bottom plate 1 (24) via cover plate fixing holes.

[0035] like Figure 1 As shown, a backplate slot 12 is transversely defined on the backplate 1. An adjustment hole is provided on the bottom plate 1 (24) of the adduction / abduction measurement unit 2. The adjustment hole on the bottom plate 1 (24) is bolted to the backplate slot 12 on the backplate 1. A connecting arm fixing hole 31 is defined on the connecting arm 3, and a corresponding connecting hole is defined on the cover plate connecting block 23. The connecting arm fixing holes 31 and connecting holes of the two are connected by screws.

[0036] like Figure 1 and Figure 3 As shown, the flexion / extension measurement unit 4 comprises a second cover plate 42, a second base plate 43, and a measurement mechanism 7. The flexible mechanism of this measurement mechanism 7 includes a primary zoom structure 71 and a secondary zoom structure 72. Both the primary zoom structure 71 and the secondary zoom structure 72 are provided with threaded holes, through which they are connected to the second base plate 43 using screws. Fiber bosses 73 are provided at the bottom of the primary zoom structure 71 and the top of the secondary zoom structure 72. The optical fiber is secured to the fiber attachment points 78 on the fiber bosses 73, ensuring that the fiber FBG grating region is positioned between the two attachment points 78. A connecting arm 3 has a connecting arm slot 32 defined on the back, and an adjustment hole is provided on the second base plate 43. The adjustment hole on the second base plate 43 is bolted to the connecting arm slot 32. The cover plate 42 has a rocker arm connection hole 51, within which a second bearing 41 is mounted. The top end of the rocker arm 5 is rotatably mounted on the cover plate 42 via the second bearing 41 and connected to the rotation unit 74 via an M3 pin 75. A spring cable 76 is wound around the rotating unit 74 , and the other end of the spring cable 76 is connected to the first-stage zoom structure 71 via a tension spring 77 .

[0037] like Figure 1 and Figure 4As shown, the internal / external rotation measurement unit 6 includes an internal / external rotation tension spring 61, an internal / external rotation connecting plate 62, an internal / external rotation pull wire 63, an internal / external rotation fixed end 64, an internal / external rotation rotating end 65, a third base plate 69, a flexible unit 68, and a third cover plate 67. The third base plate 69 is connected to the rocker arm 5. The flexible unit 68 is provided with a threaded hole, which is fixed to the third base plate 69 by screws. The flexible unit 68 includes a first-level scaling mechanism 681 and a second-level scaling mechanism 682. The bottom of the first-level scaling mechanism 681 and the top of the second-level scaling mechanism 682 are both provided with a fiber-bonding boss 683. The optical fiber is fixed to the fiber-bonding area on the fiber-bonding boss 683, ensuring that the fiber's FBG grating region is between the two bonding areas. One end of the internal-external rotation tension spring 61 is connected to the first-stage zoom mechanism 681 via a pin 66, and the other end is connected to the internal-external rotation pull wire 63. The other end of the internal-external rotation pull wire 63 passes through the wire hole in the internal-external rotation connecting plate 62 and the wire hole in the internal-external rotation fixed end 64, and then is inserted into the pin hole of the internal-external rotation rotating end 65 and secured via the pin 66. The internal-external rotation connecting plate 62 is connected to the cover plate 3 67 and the internal-external rotation fixed end 64 at its upper and lower ends. The internal-external rotation fixed end 64 is provided with a track 641 for the internal-external rotation rotating end 65 to slide. Furthermore, vertical stop holes are provided on both sides of the internal-external rotation fixed end 64, and stop pins are inserted into the stop holes to prevent the internal-external rotation rotating end 65 from dislodging. The internal-external rotation rotating end 65 is used for connecting to the thigh.

[0038] The internal and external rotating end 65 is provided with a connecting belt hole 651 for a connecting belt to pass through. The connecting belt is used to bind and fix the thigh and transmit the rotating motion.

[0039] The measurement system consists of connecting the fiber Bragg grating in the hip joint angle measurement device to a fiber optic demodulator to read the wavelength offset data, and connecting the fiber optic demodulator to a computer system to read the wavelength offset data, perform relevant data processing, and convert the fiber optic offset data into the hip joint angle.

[0040] The two-stage differential lever is designed using a rigid-body replacement method, replacing the rigid hinge in a traditional lever mechanism with a flexible hinge. When a displacement is applied to the input end, the primary scaling structure on the lower side of the mechanism initially scales the displacement and transmits the deformation to the secondary scaling structure on the upper side via two connecting rods. Further scaling by the secondary scaling structure ultimately produces a corresponding displacement output at the output end. This flexible structure design provides an ideal solution for two-point fiber attachment, effectively avoiding the adverse effects of chirp (signal distortion caused by uneven grating period) on measurement performance. With this arrangement, the stretched fiber length can be accurately calculated from the displacement difference between the flexible structure's input and output ends, improving the sensitivity of each measurement unit. Thanks to the two-stage scaling configuration, the flexible structure not only improves adjustment accuracy by enabling a wider range of displacement scaling ratio adjustment, but also maximizes the strain tolerance of the fiber while ensuring fiber reliability. Furthermore, the tension spring placement varies between measurement units. In the adduction / abduction and flexion / extension measurement units, the flexible structure's input end experiences inward tension, while in the internal rotation / external rotation measurement unit, it experiences outward tension. Through a specific optical fiber configuration and a flexible displacement scaling ratio adjustment mechanism, the sensor can always keep the optical fiber in a tensioned state.

[0041] like Figure 5 As shown, the principle of the hip joint angle sensor measurement unit is as follows:

[0042] With r representing the radius of the rotating element and Δθ representing the joint angle, the following relationship exists during the rotation process:

[0043] Δl=Δθr

[0044] Where Δl represents the linear displacement caused by the rotation of the hip joint. The flexible structure and the tension spring form a series spring, the tension spring stiffness is k1, and the flexible structure stiffness is k2. The relationship between the displacement of the two and the total linear displacement is as follows:

[0045]

[0046] The tension spring stiffness k1 is related to its structural parameters and material properties, and can generally be calculated using the following formula:

[0047]

[0048] Where G represents the shear modulus of the material, which is generally 190 GPa for 304 stainless steel; t and T represent the wire diameter and pitch diameter of the tension spring, respectively; and N represents the number of effective coils of the spring. Because the two-stage lever flexible structure can linearly scale the input displacement, when the linear displacement at the input is Δl2, the output section produces a displacement of length Δl2′. The relationship between the two is as follows:

[0049] Δl2′=nΔl2

[0050] Where n is the displacement scaling ratio of the flexible structure. The two ends of the optical fiber are respectively attached to the input and output ends of the flexible structure, so the optical fiber strain ε can be expressed as:

[0051]

[0052] Among them, L f represents the suspension distance of the optical fiber. To ensure that the optical fiber always bears tensile strain, when the input end of the flexible structure is displaced upward, the displacement scaling ratio n is greater than 1, so that the displacement of the output end is greater than the displacement of the input end, and the optical fiber is subjected to tensile strain. When the input end of the flexible structure is displaced downward, the displacement scaling ratio n is less than 1, so that the displacement of the output end is less than the displacement of the input end, and the optical fiber is also subjected to tensile strain. Combining the above formulas and substituting them into the formula, the relationship between the optical fiber wavelength offset and the joint angle can be obtained as follows:

[0053]

[0054] Among them, λ B represents the initial Bragg wavelength of FBG, and λ B =1550nm; Δλ represents the wavelength offset of FBG. As can be seen from the formula, the joint angle Δθ, the radius of the rotating element r and the length of the optical fiber L f Under the premise of maintaining a certain value, the sensitivity of the measuring unit is mainly affected by the stiffness k2 of the secondary lever flexible structure, the displacement scaling ratio n and the stiffness k1 of the tension spring.

[0055] like Figure 6 As shown in the figure, the relationship between the hip flexion / extension degree of freedom angle and the optical fiber wavelength offset is as follows: Figure 6 As shown, the measuring range is -70° to 120°, the measuring linearity is 0.9903, and the sensitivity is 17.41pm / °.

[0056] like Figure 7 As shown in the figure, the relationship between the hip joint adduction / abduction degree of freedom angle and the optical fiber wavelength offset is as follows: Figure 7 As shown, the measuring range is -30° to 50°, the measuring linearity is 0.9996, and the sensitivity is 50.44pm / °.

[0057] like Figure 8 As shown in the figure, the relationship between the internal rotation / external rotation angle of the hip joint and the optical fiber wavelength offset is as follows: Figure 8 As shown, the measuring range is -15° to 30°, the measuring linearity is 0.9984, and the sensitivity is 128.04pm / °.

[0058] like Figure 9 、 Figure 10 、 Figure 11As shown in the figure, at an angular velocity of 200° / s, the root mean square errors of the hip flexion / extension, adduction / abduction, and internal rotation / external rotation degrees of freedom angle measurement system and the encoder are 3.62°, 1.28°, and 1.74°, respectively.

[0059] With its high-precision measurement capabilities, this hip angle measurement device provides a reliable tool for hip health assessment and function monitoring. In clinical practice, the device accurately captures hip range of motion and movement data, helping doctors more accurately assess the severity of hip pathology and providing an objective basis for diagnosing and formulating treatment plans for conditions such as osteoarthritis and hip dysplasia. For patients undergoing hip replacement or orthopedic surgery, its continuous dynamic monitoring function helps rehabilitation teams assess postoperative joint function recovery and personalize rehabilitation training.

[0060] In the field of sports science, this device can be used to analyze athletes' hip joint movement patterns and identify potential movement compensations or biomechanical anomalies, thereby optimizing technical movements, preventing sports injuries, and improving competitive performance. With the development of an aging society, this device has shown important value in the management of elderly hip joint health. It can detect signs of hip joint functional degeneration at an early stage and provide a basis for intervention to prevent falls and maintain mobility. Furthermore, in the fields of biomechanical research and rehabilitation engineering, the device's high-precision measurement data provides important technical support for the study of hip joint movement mechanisms, the development of assistive devices, and the optimization of rehabilitation treatment plans.

[0061] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A hip joint angle measurement sensor device, characterized in that: The invention comprises a back plate (1), a connecting arm (3), a rocker arm (5), an adduction / abduction measuring unit (2), a flexion / extension measuring unit (4), and an internal rotation / external rotation measuring unit (6); one end of the connecting arm (3) is connected to the back plate (1) via the adduction / abduction measuring unit (2); the other end of the connecting arm (3) is connected to the rocker arm (5) via the flexion / extension measuring unit (4); the other end of the rocker arm (5) is connected to the internal rotation / external rotation measuring unit (6); and the adduction / abduction measuring unit (2) and the flexion / extension measuring unit (4) are both equipped with a built-in measuring mechanism.

2. A hip joint angle measurement sensor device according to claim 1, characterized in that: The adduction / extension measuring unit (2) comprises a cover plate (21), a base plate (24), and a measuring mechanism (7); the measuring mechanism (7) is arranged between the cover plate (21) and the base plate (24); the base plate (24) is fixed to the back plate (1); a cover plate connecting block (23) is pivotally connected to the cover plate (21) via a bearing (22); and the two ends of the cover plate connecting block (23) are respectively connected to the measuring mechanism (7) and the connecting arm (3).

3. The hip joint angle measurement sensor device according to claim 1, characterized in that: The flexion / extension measuring unit (4) comprises a second cover plate (42), a second base plate (43), and a measuring mechanism (7). The measuring mechanism (7) is arranged between the cover plate (42) and the second base plate (43). The second base plate (43) is fixed on the connecting arm (3). The top end of the rocker arm (5) is rotatably arranged on the cover plate (42) through a second bearing (41) and is connected to the measuring mechanism (7).

4. A hip joint angle measurement sensor device according to any one of claims 2-3, characterized in that: The measuring mechanism (7) includes an M3 pin (75), a flexible mechanism, a tension spring (77), and a rotating unit (74). The flexible mechanism is fixed on a bottom plate. The flexible mechanism includes a primary zoom structure (71) and a secondary zoom structure (72). The bottom of the primary zoom structure (71) and the top of the secondary zoom structure (72) are provided with an optical fiber boss (73). The optical fiber is fixed to an optical fiber pasting portion (78) on the optical fiber boss (73). The cover plate connecting block (23) of the inward / outward measuring unit (2) is connected to the rotating unit (74) through the M3 pin (75). The rocker arm (5) is connected to the rotating unit (74) through the M3 pin (75). A spring pull wire (76) is wound on the rotating unit (74). The other end of the spring pull wire (76) is connected to the primary zoom structure (71) through a tension spring (77).

5. The hip joint angle measurement sensor device according to claim 1, characterized in that: The internal rotation / external rotation measuring unit (6) includes an internal and external rotation tension spring (61), an internal and external rotation connecting plate (62), an internal and external rotation pulling wire (63), an internal and external rotation fixed end (64), an internal and external rotation rotating end (65), a bottom plate three (69), a flexible unit (68) and a cover plate three (67), the bottom plate three (69) is connected to the rocker arm (5), the flexible unit (68) is fixed on the bottom plate three (69), the flexible unit (68) includes a primary scaling mechanism (681) and a secondary scaling mechanism (682), and the bottom of the primary scaling mechanism (681) and the top of the secondary scaling mechanism (682) are both provided with an optical fiber pasting boss ( 683), the optical fiber is fixed to the optical fiber pasting place on the optical fiber pasting boss (683), one end of the internal and external rotation tension spring (61) is connected to the first-level scaling mechanism (681), and the other end is connected to the internal and external rotation pull wire (63), the other end of the internal and external rotation pull wire (63) passes through the internal and external rotation connecting plate (62) and is connected to the internal and external rotation rotating end (65), the upper and lower ends of the internal and external rotation connecting plate (62) are connected to the cover plate three (67) and the internal and external rotation fixed end (64), the internal and external rotation fixed end (64) is provided with a track (641) for the internal and external rotation rotating end (65) to slide, and the internal and external rotation rotating end (65) is used to connect the thigh.

6. The hip joint angle measurement sensor device according to claim 5, characterized in that: The internal and external rotating end (65) is provided with a connecting belt hole (651) for a connecting belt to pass through, and the connecting belt is used to bind and fix the thigh.

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