Human body upper limb inertial parameter measurement equipment, method, medium and equipment

Abstract

The invention provides a human body upper limb inertial parameter measurement device and method, a medium and equipment. A support, an upper arm connecting rod, a front arm connecting rod, a driving device and a data acquisition device are arranged; wherein the upper arm connecting rod is used for fixing the upper arm of a measured human body, the front arm connecting rod is rotatably connected with the upper arm connecting rod, the front arm connecting rod is used for fixing the front arm of the measured human body, and the driving device is used for driving the front arm connecting rod to rotate relative to the upper arm connecting rod. The data acquisition device is used for acquiring motion information of rotation motion of the front arm connecting rod relative to the upper arm connecting rod; an upper arm connecting rod and a front arm connecting rod are fixedly connected with the upper arm and the front arm of a measured human body respectively, a driving device is used for driving the front arm connecting rod to rotate relative to the upper arm connecting rod, and a data acquisition device is used for acquiring motion information. The upper limb inertial parameters of the measured human body are accurately measured only by adopting the lower-cost upper limb inertial parameter measuring equipment to be matched with the measured human body.

Description

Technical Field

[0001] The present application relates to the technical field of measuring inertial parameters of human upper limbs, and in particular to a device, method, medium and device for measuring inertial parameters of human upper limbs. Background Art

[0002] Human inertial parameters include key indicators such as the weight, center of mass position, moment of inertia, and radius of gyration of the human body and its various parts. These parameters are at the core of the study of human motion and play a vital role in the fields of ergonomics, anthropology, and human motion science. They not only have far-reaching academic significance, but also have broad practical application value. For example, in the advancement of ergonomics, this discipline focuses on exploring the interaction between humans, machines, and the environment. In areas such as product development, human-computer interaction, and biomechanical movement, the ability to accurately grasp human inertial parameters is extremely critical for product optimization, improving the efficiency of human-computer interaction, and ensuring human safety. For another example, in the application of intelligent equipment, with the rapid development of artificial intelligence and robotics, the use of intelligent equipment in fields such as medicine, rehabilitation, and sports is becoming increasingly popular.

[0003] Currently, common techniques for measuring human inertial parameters include water immersion, medical imaging scanning, and photogrammetry. The water immersion method assumes that the volume of water displaced by an object in water is equal to the object's volume, and the mass of a body segment is calculated by multiplying it by the average density of the human body. However, since the immersion of a large segment may affect the measurement of subsequent segments, the water immersion method may introduce large errors when measuring segment inertial parameters, affecting the accuracy of the results. Medical imaging scanning uses X-rays and magnetic resonance imaging to perform a full-body scan of the subject. Finally, the volume and mass of the segments are integrated through slicing, and the moment of inertia of each segment is determined using the parallel axis theorem. This method requires extremely high economic and time costs. Photogrammetry mainly uses photogrammetry technology to construct a 3D model of the subject's surface morphology and uses the volume integration method to calculate the inertial parameters of the body segments. Its error is also poor. Therefore, a solution that can quickly and accurately measure human inertial parameters is urgently needed. Summary of the Invention

[0004] In order to solve the above technical problems, the present application is proposed. The embodiments of the present application provide a device, method, medium and device for measuring inertial parameters of human upper limbs.

[0005] According to one aspect of the present application, a device for measuring inertial parameters of a human upper limb is provided, comprising: a bracket; an upper arm connecting rod, the upper arm connecting rod being fixedly connected to the bracket and extending in a vertical direction, the upper arm connecting rod being used to fix the upper arm of a person being measured; a forearm connecting rod, the forearm connecting rod being rotationally connected to the upper arm connecting rod, the forearm connecting rod being used to fix the forearm of the person being measured; a driving device, the rotating surface of the driving device being connected to the forearm connecting rod and the fixed surface of the driving device being connected to the upper arm connecting rod, the driving device being used to drive the forearm connecting rod to perform rotational motion relative to the upper arm connecting rod; and a data acquisition device, the data acquisition device being arranged on the forearm connecting rod and being used to acquire motion information of the forearm connecting rod performing rotational motion relative to the upper arm connecting rod.

[0006] In one embodiment, the human upper limb inertial parameter measurement device also includes: a plurality of upper arm fixing plates, the plurality of upper arm fixing plates extending in the horizontal direction and arranged in the vertical direction, the plurality of upper arm fixing plates fixedly connecting the upper arm connecting rod and the bracket.

[0007] In one embodiment, the human upper limb inertial parameter measurement device also includes: a limit protection device, which is arranged on the bracket and located on the rotational motion trajectory of the forearm connecting rod, and the limit protection device is used to limit the rotational motion range of the forearm connecting rod.

[0008] In one embodiment, the fixed surface and the rotating surface of the driving device are located at the same end.

[0009] In one embodiment, the data acquisition device includes an inertial sensor and a torque sensor, and the motion information includes the rotation angle, rotation angular velocity, rotation angular acceleration of the forearm connecting rod and the driving torque applied by the driving device to the forearm connecting rod.

[0010] According to another aspect of the present application, a method for measuring the inertial parameters of the human upper limbs is provided, which is applied to the human upper limb inertial parameter measurement device described in any of the above items. The method for measuring the inertial parameters of the human upper limbs includes: constructing an upper limb dynamics model based on the human upper limb inertia parameter measurement device; and identifying the upper limb inertia parameters of the measured human body based on the upper limb dynamics model.

[0011] In one embodiment, the construction of the upper limb dynamics model based on the human upper limb inertial parameter measurement device includes: maintaining the upper arm of the measured person upright and motionless, and controlling the forearm connecting rod to drive the forearm of the measured person to perform rotational movement; measuring the rotation angle between the forearm of the measured person and the vertical direction during the rotational movement, and the driving torque applied by the driving device to the forearm connecting rod; and constructing the upper limb dynamics model based on the rotation angle and the driving torque.

[0012] In one embodiment, identifying the upper limb inertia parameters of the measured human body based on the upper limb dynamics model includes: identifying the inertia parameters of the upper arm connecting rod; identifying the combined inertia parameters of the measured human body and the upper arm connecting rod using a recursive least squares method based on the upper limb dynamics model; and calculating the upper limb inertia parameters of the measured human body based on the inertia parameters of the upper arm connecting rod and the combined inertia parameters.

[0013] According to another aspect of the present application, a computer-readable storage medium is provided, wherein the storage medium stores a computer program, and the computer program is used to execute any of the above methods.

[0014] According to another aspect of the present application, an electronic device is provided, comprising: a processor; a memory for storing instructions executable by the processor; and the processor for executing any of the above methods.

[0015] The present application provides a human upper limb inertial parameter measurement device, method, medium and device, which are provided by setting a bracket, an upper arm connecting rod, a forearm connecting rod, a driving device and a data acquisition device; wherein the upper arm connecting rod is fixedly connected to the bracket and extends in a vertical direction, the upper arm connecting rod is used to fix the upper arm of the measured person, the forearm connecting rod is rotatably connected to the upper arm connecting rod, the forearm connecting rod is used to fix the forearm of the measured person, the rotating surface of the driving device is connected to the forearm connecting rod, and the fixed surface of the driving device is connected to the upper arm connecting rod, the driving device is used to drive the forearm connecting rod to rotate relative to the upper arm connecting rod, and the data acquisition device is provided on the forearm connecting rod to collect motion information of the forearm connecting rod rotating relative to the upper arm connecting rod; that is, the upper arm connecting rod and the forearm connecting rod are respectively fixedly connected to the upper arm and forearm of the measured person, and the driving device is used to drive the forearm connecting rod to rotate relative to the upper arm connecting rod, and the data acquisition device collects motion information, and only the low-cost upper limb inertial parameter measurement device is used in conjunction with the measured person to accurately measure the upper limb inertial parameters of the measured person. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The above and other purposes, features, and advantages of the present application will become more apparent through a more detailed description of the embodiments of the present application in conjunction with the accompanying drawings. The accompanying drawings are intended to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the drawings, the same reference numerals generally represent the same components or steps.

[0017] Figure 1 This is a front view of a human upper limb inertial parameter measurement device provided by an exemplary embodiment of the present application.

[0018] Figure 2 It is a stereoscopic diagram of a human upper limb inertial parameter measurement device provided by an exemplary embodiment of the present application.

[0019] Figure 3 It is a flowchart of a method for measuring inertial parameters of human upper limbs provided by an exemplary embodiment of the present application.

[0020] Figure 4 It is a schematic diagram of the principle structure of a human upper limb inertial parameter measurement device provided by an exemplary embodiment of the present application.

[0021] Figure 5 It is a structural diagram of an electronic device provided by an exemplary embodiment of the present application.

[0022] Explanation of the accompanying drawings: 1. Support connecting rod; 2. Bracket; 3. Upper arm connecting rod; 4. Upper arm fixing plate; 5. Forearm connecting rod; 6. Data acquisition device; 7. Strap; 8. Limit protection device; 9. Drive device; 10. Fixing bolt; 100. Electronic device; 101. Processor; 102. Memory; 103. Input device; 104. Output device. DETAILED DESCRIPTION

[0023] Below, the exemplary embodiments according to the present application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application, and it should be understood that the present application is not limited to the exemplary embodiments described herein.

[0024] Figure 1 This is a front view of a human upper limb inertial parameter measurement device provided by an exemplary embodiment of the present application. Figure 2 : is a stereoscopic diagram of a human upper limb inertial parameter measurement device provided by an exemplary embodiment of the present application. Figure 1 and Figure 2As shown, the human upper limb inertial parameter measurement equipment includes: a bracket 2, an upper arm connecting rod 3, a forearm connecting rod 5, a driving device 9, and a data acquisition device 6; wherein, the upper arm connecting rod 3 is fixedly connected to the bracket 2, and the upper arm connecting rod 3 extends in the vertical direction, the upper arm connecting rod 3 is used to fix the upper arm of the measured human body, the forearm connecting rod 5 is rotationally connected to the upper arm connecting rod 3, the forearm connecting rod 5 is used to fix the forearm of the measured human body, the rotating surface of the driving device 9 is connected to the forearm connecting rod 5, and the fixed surface of the driving device 9 is connected to the upper arm connecting rod 3, the driving device 9 is used to drive the forearm connecting rod 5 to rotate relative to the upper arm connecting rod 3, and the data acquisition device 6 is arranged on the forearm connecting rod 5, for collecting motion information of the forearm connecting rod 5 rotating relative to the upper arm connecting rod 3. This application utilizes an upper arm connecting rod 3 and a forearm connecting rod 5 to connect the upper arm and forearm of the person being measured, respectively. When the upper limb of the person being measured is relaxed, a driving device 9 is used to drive the forearm connecting rod 5 to rotate relative to the upper arm connecting rod 3, thereby simultaneously driving the forearm of the person being measured to rotate relative to the upper arm (simulating the rotational movement of the human forearm relative to the upper arm), thereby measuring the motion information of the forearm of the person being measured, and then calculating the inertia parameters of the upper limb of the person being measured. Specifically, this application is based on a height of 175 cm and a weight of 65 kg, and sets the lengths of the upper arm connecting rod 3 and the forearm connecting rod 5 to 242 mm and 318 mm, respectively.

[0025] The present application provides a human upper limb inertial parameter measurement device, which is provided with a bracket, an upper arm connecting rod, a forearm connecting rod, a driving device, and a data acquisition device; wherein the upper arm connecting rod is fixedly connected to the bracket and extends in a vertical direction, the upper arm connecting rod is used to fix the upper arm of the measured person, the forearm connecting rod is rotatably connected to the upper arm connecting rod, the forearm connecting rod is used to fix the forearm of the measured person, the rotating surface of the driving device is connected to the forearm connecting rod, and the fixed surface of the driving device is connected to the upper arm connecting rod, the driving device is used to drive the forearm connecting rod to perform rotational motion relative to the upper arm connecting rod, and the data acquisition device is provided on the forearm connecting rod to collect motion information of the forearm connecting rod performing rotational motion relative to the upper arm connecting rod; that is, the upper arm connecting rod and the forearm connecting rod are respectively fixedly connected to the upper arm and forearm of the measured person, and the driving device is used to drive the forearm connecting rod to perform rotational motion relative to the upper arm connecting rod, and the data acquisition device collects motion information, and only the low-cost upper limb inertial parameter measurement device is used in conjunction with the measured person to accurately measure the upper limb inertial parameters of the measured person.

[0026] In one embodiment, if Figure 1 As shown, the above-mentioned human upper limb inertial parameter measurement equipment can also include: multiple upper arm fixing plates 4, multiple upper arm fixing plates 4 extend in the horizontal direction and are arranged in the vertical direction, and multiple upper arm fixing plates 4 are fixedly connected to the upper arm connecting rod 3 and the bracket 2.

[0027] The present application fixes the upper arm connecting rod 3 and the bracket 2 by setting an upper arm fixing plate 4, and multiple upper arm fixing plates 4 extend in the horizontal direction and are arranged in the vertical direction to achieve multi-point connection with the upper arm connecting rod 3 and the bracket 2 in the vertical direction, so as to improve the stability between the upper arm connecting rod 3 and the bracket 2.

[0028] In one embodiment, if Figure 1 As shown, the above-mentioned human upper limb inertial parameter measurement equipment can also include: a limit protection device 8, which is arranged on the bracket 2 and located on the rotational motion trajectory of the forearm connecting rod 5, and the limit protection device 8 is used to limit the rotational motion range of the forearm connecting rod 5.

[0029] The present application sets a limit protection device 8 on the bracket 2 to limit the rotational movement range of the forearm connecting rod 5, thereby preventing the rotational movement of the forearm connecting rod 5 from exceeding the set range and causing injury to the upper limbs of the measured person.

[0030] In one embodiment, if Figure 2 As shown, the fixed surface and the rotating surface of the drive device 9 are located at the same end.

[0031] In this application, a DC servo motor can be selected as the driving device 9 to provide driving force (up to 17 Nm), and the fixed surface and rotating surface of the DC servo motor are located at the same end, and the fixed surface is connected to the upper arm connecting rod 3, and the rotating surface is connected to the forearm connecting rod 5. During installation, it is only necessary to tighten the upper arm connecting rod 3 and the forearm connecting rod 5 to the fixed surface and the rotating surface with bolts respectively.

[0032] In one embodiment, the data acquisition device 6 may include an inertial sensor and a torque sensor, and the motion information includes the rotation angle, rotation angular velocity, rotation angular acceleration of the forearm connecting rod and the driving torque applied by the driving device to the forearm connecting rod.

[0033] The present application can use data acquisition devices such as inertial sensors and torque sensors to collect in real time the motion parameters of the forearm connecting rod 5 and the forearm during the rotational movement, including the rotation angle, angular velocity, angular acceleration of the elbow joint and the driving torque applied by the driving device to the forearm connecting rod.

[0034] In one embodiment, if Figure 1 As shown, the above-mentioned human upper limb inertial parameter measurement device can also include: a support connecting rod 1, which is arranged at the upper end of the bracket 2 and fixedly connected to the bracket 2, and is used to fix the bracket 2 to the fixing device above it.

[0035] The present application sets a supporting connecting rod 1 to achieve the connection between the bracket 2 and the fixed device above it, that is, the bracket 2 is suspended below the fixed device, thereby achieving the suspension of the human upper limb inertial parameter measurement device, and then the measured human body can be measured in a standing posture.

[0036] In one embodiment, if Figure 1 As shown, the above-mentioned human upper limb inertial parameter measurement equipment can also include: a strap 7, which can include multiple straps 7, which are respectively arranged on the upper arm connecting rod 3 and the forearm connecting rod 5, for fixedly connecting the upper arm connecting rod 3 and the upper arm of the measured human body, and the forearm connecting rod 5 and the forearm of the measured human body.

[0037] The present application arranges a plurality of straps 7 on the upper arm connecting rod 3 and the forearm connecting rod 5 to fix the upper arm and forearm of the person being measured on the upper arm connecting rod 3 and the forearm connecting rod 5, respectively. When the person being measured completely relaxes the upper limbs, the driving device drives the forearm connecting rod 5 and the forearm of the person being measured to rotate relative to the upper arm connecting rod 3 and the upper arm of the person being measured, thereby measuring and calculating the inertia parameters of the upper limbs of the human body.

[0038] In one embodiment, if Figure 2 As shown, the above-mentioned human upper limb inertial parameter measurement device can also include: a fixing bolt 10, which is arranged at the bottom of the bracket 2 and fixedly connected to the bracket 2, and is used to fix the bracket 2 to the fixing device below it.

[0039] The present application sets a fixing bolt 10 at the bottom of the bracket 2 to fix the bracket 2 to a fixed device (such as a desktop) below it, that is, the bracket 2 is placed above the fixed device, thereby fixing the human upper limb inertial parameter measurement device, and then the measured human body can be measured in a standing posture or a sitting posture.

[0040] Figure 3 : is a flow chart of a method for measuring inertia parameters of human upper limbs provided by an exemplary embodiment of the present application. The method for measuring inertia parameters of human upper limbs is applied to any of the above-mentioned devices for measuring inertia parameters of human upper limbs, such as Figure 3 As shown, the method for measuring inertial parameters of human upper limbs includes the following steps: Step 310: Construct an upper limb dynamics model based on the human upper limb inertial parameter measurement device.

[0041] The present application sets up a human upper limb measurement device, and the upper limb of the person being measured is fixed on the human upper limb measurement device (such as Figure 4 As shown in the figure, the upper limb measurement device is used to drive the forearm of the measured person to rotate and measure the torque, so as to construct a dynamic model of the measured person and the upper limb measurement device as a whole, so as to understand the movement law of the upper limb of the measured person.

[0042] Step 320: Identify the upper limb inertia parameters of the measured human body based on the upper limb dynamics model.

[0043] Based on the upper limb dynamics model, this application uses the recursive least squares method to identify the upper limb inertia parameters of the measured human body. The recursive least squares method is an optimization of the traditional least squares method. Specifically, historical data is used to predict future values, and the recursive formula is used to calculate the predicted value at a specific time point, while continuously adjusting the parameter estimation to reduce the sum of squares of the current error.

[0044] The present application provides a method for measuring inertial parameters of the upper limbs of the human body, which comprises setting a bracket, an upper arm connecting rod, a forearm connecting rod, a driving device, and a data acquisition device; wherein the upper arm connecting rod is fixedly connected to the bracket and extends in a vertical direction, the upper arm connecting rod is used to fix the upper arm of the measured human body, the forearm connecting rod is rotatably connected to the upper arm connecting rod, the forearm connecting rod is used to fix the forearm of the measured human body, the rotating surface of the driving device is connected to the forearm connecting rod, and the fixed surface of the driving device is connected to the upper arm connecting rod, the driving device is used to drive the forearm connecting rod to rotate relative to the upper arm connecting rod, and the data acquisition device is set The invention relates to a method for detecting the inertia parameters of the upper limb of a human body by using a data acquisition device on a forearm connecting rod to collect motion information of the forearm connecting rod performing rotational motion relative to the upper arm connecting rod, and to constructing an upper limb dynamics model based on the human upper limb inertia parameter measurement device, and identifying the upper limb inertia parameters of the measured human body based on the upper limb dynamics model; that is, the upper arm and forearm of the measured human body are fixedly connected by the upper arm connecting rod and the forearm connecting rod respectively, and the forearm connecting rod is driven by the driving device to perform rotational motion relative to the upper arm connecting rod, and the data acquisition device collects the motion information, and only the low-cost upper limb inertia parameter measurement device is used in conjunction with the measured human body to accurately measure the upper limb inertia parameters of the measured human body.

[0045] In one embodiment, the specific implementation method of the above-mentioned step 310 can be: maintaining the upper arm of the measured person upright and motionless, and controlling the forearm connecting rod to drive the forearm of the measured person to perform rotational movement; measuring the rotation angle between the forearm of the measured person and the vertical direction during the rotational movement, and the driving torque applied by the driving device to the forearm connecting rod; constructing an upper limb dynamic model based on the rotation angle and the driving torque.

[0046] In order to construct an accurate human upper limb dynamic model, the rotational movement of the upper limb must be analyzed in detail. However, in view of actual application requirements and computational complexity, this application simplifies the movement of the human upper limb into a single degree of freedom model. In this model, the upper arm remains stationary in the vertical direction, while the forearm rotates around the elbow joint in the sagittal plane due to the contraction and relaxation of the upper limb muscles. In order to construct a dynamic model of the upper limb, it is necessary to determine the torque generated by the upper limb muscles. However, directly measuring the torque of these muscles is not feasible. Therefore, this application uses a human upper limb measurement device to actively guide the rotation of the forearm. Specifically, when the upper limb of the measured person is completely relaxed, the upper arm is fixed under the action of the upper arm connecting rod, and the forearm rotates with the forearm connecting rod. At this time, the torque generated by the muscles of the measured person can be ignored, and it can be basically considered that the rotation of the forearm is completely driven by the drive device. During the forearm rotation process, the swing angle between the forearm of the measured person and the vertical direction and the output torque generated by the human upper limb measurement device are measured, and the upper limb dynamic model is constructed based on the swing angle and output torque.

[0047] This application constructs the upper limb dynamics model based on the motion model of the upper limb of the human body being measured and the upper limb measurement device under single degree of freedom. Specifically, the upper limb dynamics model is:

[0048] in, and Respectively represent the moment of inertia of the forearm and upper limb measurement equipment of the measured human body, and Respectively represent the viscous friction coefficient of the forearm and upper limb measuring equipment of the measured human body, and They represent the gravitational moments of the forearm and upper limb measuring equipment of the measured human body, M s and M h Respectively represent the mass of the measured human body and upper limb measurement equipment, l and l h They represent the forearm of the measured human body and the force arm of the upper limb measurement equipment, g represents the acceleration due to gravity, and Respectively represent the Coulomb friction coefficients of the forearm and upper limb measuring equipment of the measured human body, θ represents the swing angle, represents the output torque generated by the upper limb measurement device of the human body, t Indicates the swing time.

[0049] In one embodiment, the specific implementation method of the above-mentioned step 320 can be: identifying the inertia parameters of the upper arm connecting rod; based on the upper limb dynamics model, using the recursive least squares method to identify the combined inertia parameters of the measured human body and the upper arm connecting rod; based on the inertia parameters of the upper arm connecting rod and the combined inertia parameters, calculating the inertia parameters of the upper limb of the measured human body.

[0050] In order to identify the inertia parameters of the upper limbs of the measured person, this application first identifies the inertia parameters of the human upper limb measurement device (which can be determined by the mechanical structure of the human upper limb measurement device), and then uses the recursive least squares method to identify the combined inertia parameters of the measured person and the human upper limb measurement device. After determining the combined inertia parameters of the measured person and the human upper limb measurement device and the inertia parameters of the human upper limb measurement device, the inertia parameters of the upper limb of the measured person can be obtained by subtracting the two.

[0051] Specifically, the calculation formula of the combined inertia parameter is: ; ; , ; , ; in, and Denote the combined inertia parameters X No. N and N +1 recursion value, and Respectively represent the intermediate amount No. N and N +1 value, express The transpose of express No. N +1 value, I express I s +I h , D express D s +D h , Mgl express M s gl+M h gl h , C express Cs +C h , P N Indicates intermediate quantities (for ease of writing).

[0052] This application rewrites the above upper limb dynamics model into a matrix form: ; in, , ; Substituting it into the recursive formula, we can obtain the calculation formula for the above-mentioned combined inertia parameters.

[0053] Below, reference Figure 5 The electronic device according to the embodiment of the present application is described. The electronic device may be either or both of the first device and the second device, or a standalone device independent of them, and the standalone device may communicate with the first device and the second device to receive collected input signals from them.

[0054] Figure 5 The figure shows a block diagram of an electronic device according to an embodiment of the present application.

[0055] like Figure 5 As shown, the electronic device 100 includes one or more processors 101 and a memory 102 .

[0056] The processor 101 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 100 to perform desired functions.

[0057] The memory 102 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory. The non-volatile memory may include, for example, read-only memory (ROM), a hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 101 may execute the program instructions to implement the methods of the various embodiments of the present application described above and / or other desired functions. The computer-readable storage medium may also store various contents such as input signals, signal components, and noise components.

[0058] In one example, the electronic device 100 may further include an input device 103 and an output device 104 , and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0059] When the electronic device is a stand-alone device, the input device 103 may be a communication network connector, configured to receive collected input signals from the first device and the second device.

[0060] In addition, the input device 103 may also include, for example, a keyboard, a mouse, and the like.

[0061] The output device 104 can output various information to the outside, including determined distance information, direction information, etc. The output device 104 can include, for example, a display, a speaker, a printer, a communication network and its connected remote output device, etc.

[0062] Of course, to simplify, Figure 5 Only some of the components related to the present application in the electronic device 100 are shown, and components such as buses, input / output interfaces, etc. are omitted. In addition, the electronic device 100 may further include any other appropriate components according to specific application scenarios.

[0063] In addition to the above-mentioned methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps of the method according to various embodiments of the present application described in the above-mentioned "Exemplary Method" section of this specification.

[0064] The computer program product may be written in any combination of one or more programming languages ​​to implement the program code for performing the operations of the embodiments of the present application, including object-oriented programming languages ​​such as Java, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0065] In addition, an embodiment of the present application may also be a computer-readable storage medium having computer program instructions stored thereon, which, when executed by a processor, enable the processor to execute the steps of the method according to various embodiments of the present application described in the above "Exemplary Method" section of this specification.

[0066] The computer-readable storage medium may be any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0067] The basic principles of the present application have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, and effects mentioned in this application are merely illustrative and not restrictive, and it should not be assumed that these advantages, strengths, and effects are required of each embodiment of this application. In addition, the specific details disclosed above are merely illustrative and facilitating understanding, and are not restrictive. The above details do not limit this application to necessarily being implemented using the above specific details.

[0068] The block diagrams of the devices, devices, equipment, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, devices, equipment, and systems can be connected, arranged, or configured in any manner. Words such as "include," "comprise," "have," and the like are open-ended words, meaning "including but not limited to," and can be used interchangeably therewith. The words "or" and "and" used herein refer to the words "and / or" and can be used interchangeably therewith, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to," and can be used interchangeably therewith.

[0069] It should also be noted that in the apparatus, device, and method of the present application, each component or each step can be decomposed and / or recombined, and such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0070] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0071] The above description has been provided for the purpose of illustration and description. Furthermore, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although a number of example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A device for measuring inertial parameters of human upper limbs, characterized in that: include: Bracket; an upper arm connecting rod, the upper arm connecting rod being fixedly connected to the bracket and extending in a vertical direction, and being used to fix the upper arm of the person being measured; a forearm connecting rod, the forearm connecting rod being rotatably connected to the upper arm connecting rod, the forearm connecting rod being used to fix the forearm of the measured person; a driving device, wherein a rotating surface of the driving device is connected to the forearm connecting rod, and a fixed surface of the driving device is connected to the upper arm connecting rod, and the driving device is used to drive the forearm connecting rod to rotate relative to the upper arm connecting rod; A data acquisition device is provided on the forearm connecting rod and is used to acquire motion information of the forearm connecting rod performing rotational motion relative to the upper arm connecting rod.

2. The human upper limb inertial parameter measurement device according to claim 1, characterized in that: The human upper limb inertial parameter measurement device also includes: a plurality of upper arm fixing plates, which extend in the horizontal direction and are arranged in the vertical direction, and the plurality of upper arm fixing plates are fixedly connected to the upper arm connecting rod and the bracket.

3. The human upper limb inertial parameter measurement device according to claim 1, characterized in that: The human upper limb inertial parameter measurement device also includes: a limit protection device, which is arranged on the bracket and located on the rotational motion trajectory of the forearm connecting rod, and the limit protection device is used to limit the rotational motion range of the forearm connecting rod.

4. The human upper limb inertial parameter measurement device according to claim 1, characterized in that: The fixed surface and the rotating surface of the driving device are located at the same end.

5. The human upper limb inertial parameter measurement device according to claim 1, characterized in that: The data acquisition device includes an inertial sensor and a torque sensor, and the motion information includes the rotation angle, rotation angular velocity, rotation angular acceleration of the forearm connecting rod and the driving torque applied by the driving device to the forearm connecting rod.

6. A method for measuring inertial parameters of human upper limbs, characterized in that: The human upper limb inertia parameter measuring device applied to any one of claims 1 to 5, wherein the human upper limb inertia parameter measuring method comprises: Based on the human upper limb inertial parameter measurement device, an upper limb dynamics model is constructed; Based on the upper limb dynamics model, the upper limb inertia parameters of the measured human body are identified.

7. The method for measuring inertial parameters of human upper limbs according to claim 6, wherein: The constructing of an upper limb dynamics model based on the human upper limb inertial parameter measurement device includes: Maintaining the upper arm of the person being measured upright and motionless, and controlling the forearm connecting rod to drive the forearm of the person being measured to perform rotational motion; measuring the rotation angle between the forearm of the measured person and the vertical direction during the rotational movement and the driving torque applied by the driving device to the forearm connecting rod; The upper limb dynamics model is constructed based on the rotation angle and the driving torque.

8. The method for measuring inertial parameters of human upper limbs according to claim 6, wherein: The identifying the upper limb inertia parameters of the measured human body based on the upper limb dynamics model includes: identifying inertia parameters of the upper arm connecting rod; Based on the upper limb dynamics model, a recursive least squares method is used to identify the combined inertia parameters of the measured human body and the upper arm connecting rod; Based on the inertia parameters of the upper arm connecting rod and the combined inertia parameters, the inertia parameters of the upper limb of the measured human body are calculated.

9. A computer-readable storage medium, characterized in that The storage medium stores a computer program, and the computer program is used to execute the method according to any one of claims 6 to 8.

10. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is configured to execute the method according to any one of claims 6 to 8.

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