Smart clothing and compensatory motion detection system based on it

Abstract

The present invention discloses a smart garment and a compensatory motion detection system based thereon, the compensatory motion detection system comprising a controller and a first inertial sensor; the controller is electrically connected to the first inertial sensor, the first inertial sensor is arranged at a position point on the smart garment corresponding to the compensatory part of the patient to be detected; the first inertial sensor is used to obtain first posture data of the position point corresponding to the compensatory part of the patient to be detected; the controller is used to obtain a first motion amplitude of the compensatory part according to the first posture data, the first motion amplitude is used to characterize the motion amplitude of the compensatory action of the compensatory part. The present invention obtains the motion information of the corresponding compensatory part by obtaining the posture data of the position point to be detected, and can help the patient gain an understanding of the posture according to the information and effectively assist the patient to correct his posture in time. The smart garment of the present invention is easy to operate and highly flexible.

Description

Technical Field

[0001] The present invention belongs to the field of intelligent rehabilitation clothing, and in particular relates to an intelligent clothing and a compensatory motion detection system based thereon. Background Art

[0002] With the continuous updating of sensing technology and wireless physiological sensor networks, wearable rehabilitation technology is developing rapidly, forming a broad and complex interdisciplinary research field. For example, patients with shoulder pain and stroke will develop compensatory mechanisms during hand function rehabilitation training. The muscle groups that should play a role cannot work normally and other parts of the muscles are introduced as the dominant ones. Therefore, patients need professional physical therapists to participate and supervise in training to remind and correct the patients' compensatory movements. However, such supervision methods cannot prompt patients to spontaneously adjust their rehabilitation movements, which affects the rehabilitation effect to a certain extent. At the same time, the direct participation of physical therapists also requires more human resources. Summary of the invention

[0003] The technical problem to be solved by the present invention is to overcome the defects in the prior art that patients need to rely on physical therapists for correction and adjustment during upper limb rehabilitation training, resulting in poor rehabilitation effect and high manpower consumption, and to provide a smart clothing and a compensatory motion detection system based thereon.

[0004] The present invention solves the above technical problems through the following technical solutions:

[0005] A compensatory motion detection system based on smart clothing, the compensatory motion detection system comprising a controller and a first inertial sensor;

[0006] The controller is electrically connected to the first inertial sensor, and the first inertial sensor is arranged at a position on the smart clothing corresponding to the compensation part of the patient to be detected;

[0007] The first inertial sensor is used to obtain first posture data of the position point corresponding to the compensation part of the patient to be detected;

[0008] The controller is used to obtain a first movement amplitude of the compensatory part according to the first posture data, and the first movement amplitude is used to characterize the movement amplitude of the compensatory action of the compensatory part.

[0009] Preferably, the controller comprises a first computing unit;

[0010] The first inertial sensor is used to respectively obtain the initial first posture data of the compensation part in the initial static state and the real-time first posture data during the rehabilitation exercise;

[0011] The first calculation unit is used to calculate the transformation matrix of the position point corresponding to the compensation part to be detected of the patient according to the initial first posture data and the real-time first posture data;

[0012] The controller is used to obtain the first motion amplitude according to the transformation matrix.

[0013] Preferably, the compensatory motion detection system further comprises a second inertial sensor;

[0014] The controller is electrically connected to the second inertial sensor, and the second inertial sensor is arranged at a preset reference position point of the smart clothing;

[0015] The second inertial sensor is used to obtain second posture data of the preset reference position point;

[0016] The controller is also used to obtain a second movement amplitude of the compensation part relative to the preset reference position point according to the first posture data and the second posture data.

[0017] Preferably, the controller further comprises a second computing unit;

[0018] The second inertial sensor is used to respectively obtain the initial second posture data of the preset reference position point in the initial static state and the real-time second posture data during the rehabilitation exercise process;

[0019] The second calculation unit is used to obtain an initial rotation matrix of the position point corresponding to the compensation part to be detected of the patient relative to the preset reference position point according to the initial first posture data and the initial second posture data;

[0020] The second calculation unit is further used to obtain a real-time rotation matrix of the position point corresponding to the patient's to-be-detected compensation part relative to the preset reference position point according to the real-time first posture data and the real-time second posture data;

[0021] The controller is used to obtain the second motion amplitude according to the initial rotation matrix and the real-time rotation matrix.

[0022] Preferably, the compensatory motion detection system further comprises a judgment module, and the judgment module is electrically connected to the controller;

[0023] The judgment module is used to judge whether the first movement amplitude and / or the second movement amplitude exceeds a preset threshold range. If so, an alarm message is generated, and the alarm message is used to indicate that the compensation amplitude of the compensatory action of the compensatory part exceeds the range.

[0024] Preferably, the compensatory motion detection system further comprises an alarm, the determination module is further used to send the alarm information to the controller, and the controller is used to control the alarm to emit an alarm sound according to the alarm information;

[0025] And / or, the first inertial sensor and the second inertial sensor are both connected to a vibrator, the determination module is further used to send the alarm information to the controller, and the controller is used to control the vibrator to vibrate according to the alarm information;

[0026] And / or, the compensatory motion detection system further includes a communication module and an external display, the judgment module is further used to send the alarm information to the communication module, and the communication module is used to send the alarm information to the external display for display.

[0027] Preferably, there are a plurality of the first inertial sensors, and the compensation site includes at least one of a left acromion, a right acromion, a back thoracic vertebra, and a top of the manubrium sternum.

[0028] Preferably, the movement amplitude includes at least one of a yaw angle, a roll angle and a pitch angle.

[0029] Preferably, the controller is sewn on the smart clothing through conductive thread or is arranged on the smart clothing through a detachable connecting device;

[0030] The first inertial sensor is sewn on the smart clothing through a conductive thread or is arranged on the smart clothing through a detachable connecting device.

[0031] A smart clothing comprises a smart clothing body and the smart clothing-based compensatory motion detection system as described above.

[0032] The positive progressive effect of the present invention is that the present invention obtains the motion information of the corresponding compensatory part by acquiring the posture data of the position point to be detected. According to the information, it can help the patient to gain understanding of the posture and effectively assist the patient to correct his or her posture in time. The smart clothing of the present invention is easy to operate and has high flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a module schematic diagram of a compensatory motion detection system based on smart clothing according to Example 1 of the present invention.

[0034] Figure 2 It is a partial structural diagram of the compensatory motion detection system based on smart clothing in Example 1 of the present invention.

[0035] Figure 3 This is a module schematic diagram of a compensatory motion detection system based on smart clothing according to Embodiment 2 of the present invention. DETAILED DESCRIPTION

[0036] The present invention is further described below by way of examples, but the present invention is not limited to the scope of the examples.

[0037] Example 1

[0038] A compensatory motion detection system based on smart clothing, such as Figure 1 As shown, the compensatory motion detection system includes a controller 1 and a first inertial sensor 2; there are multiple first inertial sensors 2, and the inertial sensor integrates an acceleration sensor, a gyroscope and a geomagnetic sensor.

[0039] The controller 1 is electrically connected to the first inertial sensor 2, and the first inertial sensor 2 is arranged at a position point on the smart clothing corresponding to the compensatory part of the patient to be detected, and the compensatory part includes at least one of the left acromion, the right acromion, the back thoracic vertebrae and the top of the sternum;

[0040] The first inertial sensor 2 is used to obtain first posture data of the position point corresponding to the compensation part of the patient to be detected;

[0041] The controller 1 is used to obtain a first movement amplitude of the compensatory part according to the first posture data, and the first movement amplitude is used to represent the movement amplitude of the compensatory action of the compensatory part.

[0042] It should be noted that, since the relationship between the local coordinate systems of the first inertial sensor 2 is uncertain, it is necessary to calibrate the relative relationship between the coordinate systems before the start of rehabilitation exercise. In the initial state, the user can remain still in a neutral position (natural sitting state) for a period of time (10s), and read the average value of the quaternion output of the first inertial sensor 2 to represent their rotation about their respective world coordinate systems. In the specific calculation, the present invention adopts the method of expressing the rotation relationship by quaternions, which can avoid the universal lock problem of directly using Euler angle calculation.

[0043] Further, the controller 1 includes a first computing unit 11;

[0044] The first inertial sensor 2 is used to respectively obtain the initial first posture data of the compensation part in the initial static state and the real-time first posture data during the rehabilitation exercise;

[0045] The first calculation unit 11 is used to calculate the transformation matrix of the position point corresponding to the compensation part to be detected of the patient according to the initial first posture data and the real-time first posture data;

[0046] The controller 1 is used to obtain the first motion amplitude according to the transformation matrix; the motion amplitude includes at least one of a yaw angle, a roll angle and a pitch angle.

[0047] In addition, a reference position point needs to be set during the actual detection process, so that the compensation amplitude of the compensatory movement with the user's own body as a reference can be accurately detected, and further:

[0048] The compensatory motion detection system further comprises a second inertial sensor 3;

[0049] The controller 1 is electrically connected to the second inertial sensor 3, and the second inertial sensor 3 is set at a preset reference position point of the smart clothing; it should be noted that the second inertial sensor 3 is used to obtain data of the reference position point, and the reference position point here can select a relatively stable position point. For example, for upper limb rehabilitation, if the compensatory movement of the shoulder is to be detected, the reference position point can be set to the top of the sternum manubrium, and if the compensatory movement of the chest is to be detected, the reference position point can be set to the position of the back thoracic vertebrae, etc. The setting of the reference position point can be adjusted according to actual conditions.

[0050] The second inertial sensor 3 is used to obtain second posture data of the preset reference position point;

[0051] The controller 1 is further used to obtain a second movement amplitude of the compensation part relative to the preset reference position point according to the first posture data and the second posture data.

[0052] Wherein, the controller 1 further includes a second computing unit 12;

[0053] The second inertial sensor 3 is used to respectively obtain the initial second posture data of the preset reference position point in the initial static state and the real-time second posture data during the rehabilitation exercise;

[0054] The second calculation unit 12 is used to obtain an initial rotation matrix of the position point corresponding to the compensation part to be detected of the patient relative to the preset reference position point according to the initial first posture data and the initial second posture data;

[0055] The second calculation unit 12 is further used to obtain a real-time rotation matrix of the position point corresponding to the patient's to-be-detected compensation part relative to the preset reference position point according to the real-time first posture data and the real-time second posture data;

[0056] The controller 1 is used for obtaining the second motion amplitude according to the initial rotation matrix and the real-time rotation matrix.

[0057] Take a specific example to illustrate, refer to Figure 2 , Figure 2 The figure shows a partial structural schematic diagram of the compensation motion detection system based on smart clothing. Taking shoulder compensation motion detection as an example, the first inertial sensor 2 is arranged on the smart clothing corresponding to the left scapular joint of the patient, and the second inertial sensor 3 is arranged on the smart clothing corresponding to the top of the sternum manubrium (close to the sternoclavicular joint) of the patient;

[0058] In the initial static state, the rotation matrix at the top of the sternum manubrium (near the sternoclavicular joint) is obtained and expressed by the quaternion Q1. The rotation matrix of the left scapular joint is obtained and expressed by the quaternion Q2. Q1 and Q2 correspond to two rotation matrices R1 and R2. g0 is used to represent the gravity measurement value in the world coordinate system, g1 represents the gravity measurement value in the local coordinate system corresponding to the sternoclavicular joint, and g2 is used as the gravity measurement value in the local coordinate system corresponding to the acromion angle. Since g1 = g0*R1 and g2 = g0*R2, The rotation matrix is converted into quaternion Q, which represents the information of the rotation relationship between Q2 and Q1 under the initial conditions. Then the rotation relationship of the first inertial sensor 2 relative to the second inertial sensor 3 can be expressed as Expression, the corresponding rotation matrix is ​​R;

[0059] During the rehabilitation exercise, the above method is used to obtain the real-time rotation relationship R' between the left scapula joint and the sternoclavicular joint. The deviation value of the left scapula joint relative to the sternoclavicular joint is calculated based on R and R', and then converted into Euler angle information. The corresponding yaw angle and roll angle can express the internal rotation / external rotation and up and down activities of the left scapula joint relative to the sternoclavicular joint.

[0060] In addition, the integration mode of the controller 1, the first inertial sensor 2 and the second inertial sensor 3 with the smart clothing can select the corresponding combination mode according to the situation, such as accessory type, embedded type and integrated type. Specifically, the sensors can be sewn on the smart clothing with conductive thread, or the sensors can be sewn on the patch with fabric as the base with conductive sewing thread, and the conductive thread connects the conductive cloth nodes on the bottom surface of the fabric base. A micro magnet is embedded in each conductive cloth node, and the patch is then adsorbed on the smart clothing with a magnet, or is set on the smart clothing through other detachable connection devices, such as buttons, detachable cloth bags, etc. In addition, it should be noted that no matter which combination mode is adopted, the first inertial sensor 2 and the second inertial sensor 3 must ensure that they are closely fitted with the patient's position to be detected to ensure the accuracy of the data.

[0061] In this embodiment, the posture data of the position to be detected is obtained by the first inertial sensor 2 to obtain the movement information of the corresponding compensatory part. According to this information, the patient can gain an understanding of the posture and effectively assist the patient to correct his or her posture in time. The smart clothing of the present invention is easy to operate and has high flexibility.

[0062] Example 2

[0063] The compensation motion detection system based on smart clothing in this embodiment is further improved on the basis of the embodiment 1. Figure 3 As shown, the compensatory motion detection system further includes a judgment module 4, and the judgment module 4 is electrically connected to the controller 1;

[0064] The judgment module 4 is used to judge whether the first movement amplitude and / or the second movement amplitude exceeds a preset threshold range. If so, an alarm message is generated, and the alarm message is used to indicate that the compensation amplitude of the compensatory action of the compensatory part exceeds the range.

[0065] In addition, the compensatory motion detection system further includes an alarm 6, and the judgment module 4 is further used to send the alarm information to the controller 1, and the controller 1 is used to control the alarm 6 to emit an alarm sound according to the alarm information;

[0066] The first inertial sensor 2 and the second inertial sensor 3 are both connected to a vibrator 5, and the judging module 4 is further used to send the alarm information to the controller 1, and the controller 1 is used to control the vibrator 5 to vibrate according to the alarm information;

[0067] The compensatory motion detection system further includes a communication module 7 and an external display 8. The judgment module 4 is further configured to send the alarm information to the communication module 7. The communication module 7 is configured to send the alarm information to the external display 8 for display.

[0068] In this embodiment, visual and auditory feedback can be provided through the supporting software APP, and tactile feedback can be provided through the vibrator set on the smart clothing. In actual settings, the visual feedback can be displayed in real time through the rotation of a pointer. When the compensation amplitude exceeds the set threshold, the pointer will turn to the red dial area of ​​the warning reminder. If auditory feedback is used, the frequency of the sound can be continuously increased as the user's compensation angle increases. When the threshold is exceeded, there will be a separate warning sound reminder. If vibration feedback is enabled, when the compensation amplitude exceeds the range, the user is reminded by the intensity of the vibration. The above auxiliary equipment is designed to further encourage users to actively and spontaneously adjust their exercise postures.

[0069] Example 3

[0070] A smart clothing comprises a smart clothing body and a compensatory motion detection system based on the smart clothing as described in Embodiment 1 or 2.

[0071] Although the specific embodiments of the present invention are described above, it should be understood by those skilled in the art that this is only for illustration and the protection scope of the present invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but these changes and modifications all fall within the protection scope of the present invention.

Claims

1. A compensatory motion detection system based on smart clothing, characterized in that: The compensatory motion detection system includes a controller and a first inertial sensor; The controller is electrically connected to the first inertial sensor, and the first inertial sensor is arranged at a position on the smart clothing corresponding to the compensation part of the patient to be detected; The first inertial sensor is used to obtain first posture data of the position point corresponding to the compensation part of the patient to be detected; The controller is used to obtain a first movement amplitude of the compensatory part according to the first posture data, and the first movement amplitude is used to represent the movement amplitude of the compensatory action of the compensatory part; The controller includes a first computing unit; The first inertial sensor is used to respectively obtain the initial first posture data of the compensation part in the initial static state and the real-time first posture data during the rehabilitation exercise; The first calculation unit is used to calculate the transformation matrix of the position point corresponding to the compensation part to be detected of the patient according to the initial first posture data and the real-time first posture data; The controller is used to obtain the first motion amplitude according to the transformation matrix; The motion amplitude includes at least one of a yaw angle, a roll angle, and a pitch angle.

2. The compensatory motion detection system based on smart clothing as claimed in claim 1, characterized in that: The compensatory motion detection system also includes a second inertial sensor; The controller is electrically connected to the second inertial sensor, and the second inertial sensor is arranged at a preset reference position point of the smart clothing; The second inertial sensor is used to obtain second posture data of the preset reference position point; The controller is also used to obtain a second movement amplitude of the compensation part relative to the preset reference position point according to the first posture data and the second posture data.

3. The compensatory motion detection system based on smart clothing as claimed in claim 2, characterized in that: The controller further includes a second computing unit; The second inertial sensor is used to respectively obtain the initial second posture data of the preset reference position point in an initial static state and the real-time second posture data during the rehabilitation exercise process; The second calculation unit is used to obtain an initial rotation matrix of the position point corresponding to the compensation part to be detected of the patient relative to the preset reference position point according to the initial first posture data and the initial second posture data; The second calculation unit is further used to obtain a real-time rotation matrix of the position point corresponding to the patient's to-be-detected compensation part relative to the preset reference position point according to the real-time first posture data and the real-time second posture data; The controller is used to obtain the second motion amplitude according to the initial rotation matrix and the real-time rotation matrix.

4. The compensatory motion detection system based on smart clothing as claimed in claim 2, characterized in that: The compensatory motion detection system further includes a judgment module, and the judgment module is electrically connected to the controller; The judgment module is used to judge whether the first movement amplitude and / or the second movement amplitude exceeds a preset threshold range. If so, an alarm message is generated, and the alarm message is used to indicate that the compensation amplitude of the compensatory action of the compensatory part exceeds the range.

5. The compensatory motion detection system based on smart clothing as claimed in claim 4, characterized in that: The compensatory motion detection system further includes an alarm, and the judgment module is further used to send the alarm information to the controller, and the controller is used to control the alarm to emit an alarm sound according to the alarm information; And / or, the first inertial sensor and the second inertial sensor are both connected to a vibrator, the determination module is further used to send the alarm information to the controller, and the controller is used to control the vibrator to vibrate according to the alarm information; And / or, the compensatory motion detection system further includes a communication module and an external display, the judgment module is further used to send the alarm information to the communication module, and the communication module is used to send the alarm information to the external display for display.

6. The compensatory motion detection system based on smart clothing as claimed in claim 1, characterized in that: There are a plurality of first inertial sensors, and the compensation site includes at least one of a left acromion, a right acromion, a back thoracic vertebra, and a top of a sternal manubrium.

7. The compensatory motion detection system based on smart clothing as claimed in claim 1, characterized in that: The controller is sewn on the smart clothing through conductive thread or is set on the smart clothing through a detachable connecting device; The first inertial sensor is sewn on the smart clothing through a conductive thread or is arranged on the smart clothing through a detachable connecting device.

8. A smart garment, characterized in that: The smart clothing includes a smart clothing body and a smart clothing-based compensatory motion detection system as described in any one of claims 1-7.

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