WO2018196227A1

WO2018196227A1 - Evaluation method, device, and system for human motor capacity

Info

Publication number: WO2018196227A1
Application number: PCT/CN2017/096676
Authority: WO
Inventors: 王春宝; 段丽红; 刘铨权; 石青; 申亚京; 尚万峰; 林焯华; 孙同阳; 王玉龙; 韦建军; 吴正治; 李伟光; 李萌; 陈朋方; 龙建军; 李华; 夏金凤; 郭珊珊; 王林; 张晓丽
Original assignee: 王春宝
Priority date: 2017-04-28
Filing date: 2017-08-09
Publication date: 2018-11-01
Also published as: CN107115114A

Abstract

An evaluation method, device, and system for a human motor capacity. The method comprises: acquiring, by means of multiple inertial sensors (74), motion posture data of a human body part under test, wherein the part under test comprises at least one joint, and the multiple inertial sensors (74) are fastened, according to a predetermined human motion model, to body members in connection with the joint (110); calculating, according to the motion posture data, a rotation angle of the at least one joint (120); and determining, according to the rotation angle of the at least one joint, a motor capacity of the part under test (130).

Description

Method, device and system for evaluating human exercise ability

Technical field

The present disclosure relates to the field of human motion detection technology, for example, to a method, device and system for evaluating human exercise ability.

Background technique

At present, the problem of population aging in China is becoming more and more serious. Stroke hemiplegia is a high incidence in the elderly population. Therefore, rehabilitation therapy for the elderly after hemiplegia is particularly important. Due to the damage of the nervous system, hemiplegia patients lack muscle motor control ability, especially motor coordination ability. Therefore, the rehabilitation of hemiplegia patients requires a long-term and comprehensive training.

Most of the traditional rehabilitation training relies on the manual operation of the therapist, and the adjustment of the human rehabilitation state and training parameters depends on the subjective judgment of the rehabilitation therapist, and lacks uniform quantitative standards, thus affecting the accuracy of rehabilitation training.

In response to this problem, researchers at home and abroad have proposed to establish a quantitative evaluation system for rehabilitation training. The motion detection system is a key component of the establishment of an athletic ability evaluation system. Commonly used human motion detection technologies mainly include: mechanical tracking, optical sensing, acoustic tracking, electromagnetic tracking and inertial sensing.

The mechanical tracking system is the most primitive motion tracking technology for human motion tracking, remote operation, rehabilitation medicine and virtual reality simulation. However, due to human differences, the mechanical tracking system must be recalibrated for each patient, and the calibration is complex and time consuming. It is difficult for patients to interact well with physical objects in a natural way, and due to the bulkiness of the mechanical system, it is difficult to accurately collect the motion information of the human body.

Optical sensing is currently the most popular motion detection method, especially camera-based motion tracking. system. The system tracks the human body or the marker points fixed on the human body through the camera, and then calculates the movement track of the human body. In general, most motion tracking based on optical sensing technology has the following drawbacks: image blocking is caused when the required optical path is blocked, and it is susceptible to interference from other light sources. Therefore, the motion tracking system can only be used in the calibration room and is not suitable for outdoor use. Since the tracking of the motion tracking should always be observed by multiple cameras, the optical sensing system used in the rehabilitation of the human body by the rehabilitation robot will be interfered by the rehabilitation robot or the rehabilitation therapist, and the object to be tracked is always in the camera line of sight. . These shortcomings limit the application of optical sensing systems in rehabilitation training.

Inertial sensing is a relatively new motion tracking system. For example, Xsens' MVN BIOMECH motion capture system connects the inertial sensor to the body through a Lycra suit, providing six degrees of freedom tracking, but the sensor is bulky and the sensor is prone to wear during wear. The connection is loose, affecting information collection.

At present, many motion detection and evaluation systems for rehabilitation training cannot meet the requirements of motion detection under complex rehabilitation environment conditions. For example, optical detection is easily interfered by rehabilitation robots or therapists, and the motion information detected is not comprehensive enough or accurate enough to lead to exercise. The results of testing and evaluation cannot meet the needs of clinical rehabilitation. In response to the above problems, no effective solution has been proposed yet.

Summary of the invention

The embodiment provides a method, a device and a system for evaluating human exercise ability, which can comprehensively detect clinical exercise information, can meet clinical diagnosis requirements, and is not restricted by the walking direction of the human body.

The present embodiment provides a method for evaluating a human body athletic ability, which may include: acquiring motion posture data of a body to be tested by using a plurality of inertial sensors, wherein the portion to be tested includes at least one joint, and the plurality of inertial sensors are disposed. On a limb connected to the at least one joint;

Calculating a rotation angle of the at least one joint based on the motion posture data;

Determining the exercise ability of the portion to be tested according to the rotation angle of the at least one joint.

Optionally, calculating a rotation angle of the at least one joint according to the motion posture data, including:

For each joint, the angle of rotation of the joint is calculated from the relative change in the motion pose data of the two parts of the limb connected to the joint.

Optionally, calculate the angle of rotation of the joint using the following formula:

Where TM represents the x, y or z axis;

Indicates the angle of rotation of joint J around the TM axis; atan2 _x (A, B) represents the three-dimensional coordinates A(x _A , y _A , z _A ), B(x _B , y _B , z _B ) with respect to (yx+z _A i The azimuth of the axis; atan2 _y (A, B) represents the three-dimensional coordinates A (x _A , y _A , z _A ), B (x _B , y _B , z _B ) with respect to the (z _B + x _A i) ; atan2 _z (A, B) represents the three-dimensional coordinates A (x _A , y _A , z _A ), B (x _B , y _B , z _B ) with respect to (x _B + y _A i);

Express

Projection coordinates on the plane YOZ,

Express

Projection coordinates on the plane XOZ,

Express

Projection coordinates on the plane XOY;

Representing a unit vector coordinate after the motion posture data is converted;

Used to perform column transformation on V _JCU '.

Optionally, calculate V _JCU ' using the following formula:

V _JCU ′=q _UC ×V _JCU ×q _UC ^-1

among them,

Represents unit vector coordinates along the x, y, and z axes of the coordinate system; q _JC represents the quaternion of the relative pose difference between the two parts of the joint connected to the joint J,

Indicates the attitude quaternion after calibration of the limb SK _n connected to the joint J,

Representing the posture quaternion of the limb SK _n at time t,

Representing the inverse of the posture quaternion of the limb SK _n at the initial moment;

Indicates the attitude quaternion after calibration of the limb SK _n+1 connected to the joint J,

Representing the attitude quaternion of the limb SK _n+1 at time t,

Indicates the inverse of the posture quaternion of the limb SK _n+1 at the initial moment.

Optionally, determining the motion capability of the part to be tested according to the rotation angle of the at least one joint includes:

For each degree of freedom involved in the portion to be tested, the degree of freedom of the degree of freedom is calculated according to the angle of rotation of the corresponding joint at a rotational angle of the degree of freedom and the corresponding joint at a synchronous speed at the degree of freedom of the degree of freedom. Degree;

The exercise ability of the part to be tested is calculated according to the degree of rehabilitation of each degree of freedom.

Optionally, the degree of recovery of the degrees of freedom is calculated using the following formula:

Where R _i represents the degree of rehabilitation of the i-th degree of freedom; D _i represents the angle of rotation of the corresponding joint at the ith degree of freedom; H _i represents the corresponding joint of the i-degree of freedom at the phase-synchronous speed at the ith degree of freedom Rotation angle

Represents the correlation coefficient between D _i and H _i .

Optionally, the exercise ability of the part to be tested is calculated by the following formula:

Wherein R _G represents the exercise ability of the part to be tested; N represents the number of degrees of freedom involved in the part to be tested; R _i represents the degree of rehabilitation of the i-th degree of freedom; ω _i represents the weighting coefficient of R _i .

For each joint, the angular velocity of the joint is calculated according to the angle of rotation of the joint;

Calculating a ratio of an angular velocity of the joint to an angular velocity of the joint in a healthy state at a synchronous velocity;

The ability of the joint to move is determined based on the ratio.

The embodiment further provides a device for evaluating a human body athletic ability, which may include:

The data acquisition module is configured to acquire motion posture data of the body to be tested through a plurality of inertial sensors, wherein the to-be-measured portion includes at least one joint, and the plurality of inertial sensors are fixed in the same according to a preset human motion model. a joint-connected limb; a rotation angle calculation module configured to calculate a rotation angle of the at least one joint according to the motion posture data; an exercise capability determination module configured to determine the to-be-waited according to a rotation angle of the at least one joint Test the movement ability of the part.

The embodiment further provides a human body exercise ability evaluation system, which may include: one or more processors; a memory configured to store one or more programs; a communication interface configured to communicate with an inertial sensor; an inertial sensor, setting Collecting motion pose data of a body to be tested; when the one or more programs are executed by the one or more processors, such that the one or more processors implement the human body motion capability provided by any of the above embodiments Evaluation method.

The embodiment further provides a computer readable storage medium storing computer executable instructions for performing any of the above methods.

The embodiment further provides an information processing apparatus including one or more processors, a memory, and one or more programs, the one or more programs being stored in the memory when processed by one or more When the device is executed, perform any of the above methods.

The embodiment further provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions, when the program instructions are executed by a computer Having the computer perform any of the methods described above.

The human body exercise ability evaluation method, device and system provided by the embodiment are based on clinical requirements and a simplified human motion model, and the human body motion posture data is acquired by an inertial sensor, and the human body motion is decomposed and analyzed according to the degrees of freedom of different joints, and the joint rotation is calculated. Angle, evaluation of exercise ability or exercise state, comprehensive clinical motion information detection, can meet the needs of clinical diagnosis, and the algorithm of the present invention is not limited by the walking direction of the human body, that is, the human body can walk in any direction, and does not limit the walking of the human body. The direction must be a straight line and it is more flexible to detect.

DRAWINGS

1 is a flowchart of a method for evaluating a human body exercising capability according to the first embodiment;

2 is a schematic diagram of a preset human motion model provided by the first embodiment;

3 is a schematic diagram of a coordinate axis of the inertial sensor according to the first embodiment;

4 is a diagram showing a relationship between a fixed sensor coordinate system and a global reference coordinate system according to the first embodiment;

Figure 5 is a schematic view showing the mounting position of the sensor of the first embodiment;

Figure 6 is a block diagram showing the structure of a human body exercising ability evaluation apparatus according to the fourth embodiment;

7 is a structural block diagram of a human body exercise ability evaluation system provided in the fifth embodiment;

8a to 8g are schematic diagrams showing the rotation angle-step phase period curves of the different degrees of different joints of the subject in the sixth embodiment;

9a to 9g are schematic diagrams showing the angular velocity-angle curves of the different degrees of joints of the subject in the sixth embodiment;

10a to 10g are schematic diagrams showing the motion angular acceleration-step phase cycle curves of the different degrees of different joints of the subject in the sixth embodiment;

FIG. 11 is a schematic structural diagram of hardware of a data processing device according to an embodiment of the present disclosure.

detailed description

Embodiment 1

1 is a flowchart of a human body exercise ability evaluation method according to the first embodiment. The present embodiment is applicable to a human body motion detection and evaluation. The method may be performed by a human exercise ability evaluation device, and the device may be a computer or Other devices with communication and computing capabilities. As shown in Figure 1, the party The method can include the following steps:

In step 110, motion posture data of a body to be tested is acquired by a plurality of inertial sensors, wherein the site to be tested includes at least one joint, and the plurality of inertial sensors are disposed on a limb connected to the at least one joint .

Due to the particularity of the rehabilitation training environment, the gait detection of the human body requires the sensor to have high precision, easy to wear, light weight, anti-interference and good stability. The inertial sensor in this embodiment can be small in size and easy to wear. The anti-jamming sensor collects the gait information of the human body.

For example, a WB sensor developed by the Wasei University of Waseda University can be used. The sensor can use the 12 inertial measurement units (IMU) in the upper body of the human body and the entire body using 8 inertial measurement units (IMUs) in the lower body of the human body. The measurement of motion is very convenient in installation, the measurement environment can be quickly established, the measurement range is large, and the IMU can communicate wirelessly with other devices via Bluetooth.

For example, you can also use the LP-Researsh motion sensor Bluetooth version (LPMS-B), which is a miniature wireless inertial measurement unit (IMU), or aeronautical attitude reference system (AHRS), with versatility, accurate execution, and high speed. Orientation and displacement measurement functions can be achieved by using three different Microelectro Mechanical Systems (MEMS) sensors (such as 3-axis gyroscopes, 3-axis accelerometers, and 3-axis magnetometers) around three axes. No drift, high speed directional data acquisition.

The motion pose data is the data output by the inertial sensor, that is, the attitude quaternion. The quaternion is a simple super complex number. The quaternion consists of a real number plus three imaginary units i, j, and k. Each quaternion is a linear combination of 1, i, j, and k. The quaternion can represent Is a+bk+cj+di, where a, b, c, and d are real numbers. Quaternions are mathematical concepts that can be represented in matrix form.

The part to be tested may be a joint part (such as a wrist or a knee), or may be a part of the upper limb, the lower limb, or the whole body involving multiple joints. The part to be tested can be determined according to the needs of testing and evaluation. After the measurement site, the installation position of the inertial sensor can be determined by combining the preset human motion model, and the inertia sensor is fixed on the limb, and the posture quaternion of the limb can be obtained. For example, the inertial sensor can be attached to the corresponding limb by binding, pasting (such as Velcro) or snapping. Different parts to be tested may include different joints, and generally each joint is connected to two parts of the limb. The motion posture data of the part to be tested is the motion posture data of the limb related to the part to be tested that is continuously collected by using a plurality of inertial sensors over a period of time.

The preset human motion model is a simplification of the human body model during exercise. The structure of the human bone is very complicated. In order to realize the real-time analysis of human motion, the human bone structure can be simplified and the human motion model can be constructed. According to the human body model and the degree of freedom analysis of the human body during exercise, the human body model is simplified in the embodiment as shown in FIG. 2, and the simplified human motion model may include: a head, an upper torso, two big arms, two small arms, Two palms, waist, two thighs, two calves and two feet. In Figure 2, multiple parts of the human body are represented by straight lines, the head is represented by a circle, and the joint part is represented by a symbol representing the degree of freedom, that is, small in the figure. The symbol shown in the circle.

The joints of the human body can include: neck joints, shoulder joints, elbow joints, wrist joints, knuckles joints, lumbar vertebrae, hip joints, knee joints, ankle joints and toe joints, etc. The joints can be generally divided into flexion and extension, internal rotation and external Freedom of rotation, adduction, and abduction, in which the inner and outer rotations are in different directions of one degree of freedom, and the adduction and abduction, buckling and stretching are the same. A joint can have multiple degrees of freedom. On different joints, degrees of freedom can be called differently. For example, the degrees of freedom of the ankle joint are internal and external rotation, varus and valgus, and toe and dorsiflexion. The degrees of freedom of the hip joint are flexion and extension, adduction and abduction, and internal and external rotation. The corresponding degrees of freedom of the knee joint are flexion and extension.

For example, the site to be tested is the upper limb, and the joint of the upper limb may include a shoulder joint, an elbow joint, and a wrist joint, wherein the athletic ability of the shoulder joint is evaluated by the posture of the arm with respect to the shoulder, the arm and the shoulder. It is the two parts of the limb that are connected to the shoulder joint; the movement ability of the elbow joint is relative to the large arm. The arm's motion posture is used for evaluation. The upper arm and the lower arm are two parts of the limb connected to the elbow joint; the movement ability of the wrist joint is evaluated by the movement posture of the palm relative to the arm. The palm and the arm are two parts of the limb that are connected to the wrist. Therefore, the inertial sensor can be fixed to the shoulder, the arm, the arm and the palm to obtain the attitude quaternion of these limbs. The motor ability of the lumbar vertebra is assessed by the movement posture of the lumbar relative to the upper body. The exercise capacity of the hip joint is evaluated by the movement posture of the thigh phase at the waist. The kinematic ability of the knee joint is the movement posture of the lower leg relative to the thigh. For evaluation, the ankle joint's ability to exercise is assessed by the posture of the foot relative to the lower leg, and so on.

In step 120, a rotation angle of the at least one joint is calculated based on the motion posture data.

For each joint, the rotation angle of the joint is calculated from the relative change information of the motion posture data of the two parts of the limb connected to the joint. The relative change information of the limb is converted into a spatial angle. For example, the angle of rotation of the lumbar spine can be obtained from the change in the posture of the waist relative to the upper body.

The degree of freedom has a corresponding relationship with the coordinate axis. According to the sensor installation position, the relative positional relationship between the sensor coordinate axis and the human body can be obtained, thereby obtaining the correspondence between the degree of freedom of the joint and the coordinate axis. For example, a sensor fixed on the thigh and calf, with the x-axis facing the right side of the human body, the y-axis facing down, and the z toward the front of the human body, the degrees of freedom (buckling and stretching) of the knee are rotated about the x-axis, that is, the knee joint is flexed and stretched. The angle of rotation of the degree of freedom is the angle of rotation of the joint about the x-axis.

In step 130, the athletic ability of the part to be tested is determined according to the rotation angle of the at least one joint.

According to the rotation angle of the corresponding degree of freedom of at least one joint included in the part to be tested, and the rotation angle of the joint in a healthy state under the same condition, the movement ability of the part to be tested can be obtained, wherein the exercise ability can be It is the degree of rehabilitation and rehabilitation.

The human body exercise ability evaluation method in the embodiment is based on the clinical demand and the simplified human motion model, and the human body motion posture data is acquired by the inertial sensor, and the plurality of degrees of freedom for different joints are applied to the human body. Decomposition analysis of body motion, calculation of exercise angle, evaluation of exercise ability or exercise state, comprehensive detection of clinical exercise information, meeting clinical diagnosis needs, and the algorithm of the present disclosure is not limited by the direction of human walking, that is, the human body can Walking in any direction does not limit the direction in which the human body travels. It must be a straight line and is more flexible to detect.

After the inertial sensor collects the motion and posture data of the limb, according to the azimuth difference between the fixed sensor coordinate system of the inertial sensor and the global reference coordinate system, the posture quaternion for subsequent use is calculated and output, wherein different inertial sensors may have Different fixed sensor coordinate systems. The calculation can be performed using the following formula (1).

Q _sensor =q _Difference Q _Global q _Difference ^-1 (1)

Where Q _sensor represents the data in the sensor coordinate system (ie, the attitude quaternion of the inertial sensor output), Q _Global represents the data in the global reference coordinate system, and q _Difference represents the orientation between the fixed sensor coordinate system and the global reference coordinate system. Poor, q _Difference ^-1 indicates the inverse of the azimuth difference.

Taking the LPMS-B sensor as an example, the coordinate axis of the sensor, that is, the fixed sensor coordinate system is shown in Fig. 3. The relationship between the fixed sensor coordinate system and the global reference coordinate system is shown in Fig. 4.

Based on the simplified human motion model, the sensor installation position is shown in Fig. 5. 15 inertial sensors can be installed in different parts of the human body to obtain the quaternion of each limb posture. It should be noted that the shoulder can also be equipped with a sensor, the shoulder joint is a floating structure, and there is a floating and floating freedom (such as shrugging), but during the walking process, the floating freedom of the shoulder joint is basically no movement, thus reducing this. With two degrees of freedom, the sensor's mounting position also reduces the two parts of the left and right shoulders.

Optionally, the communication between the sensor and the human exercise ability evaluation device (such as a computer) may be wireless, for example, infrared, Bluetooth, and Near Field Communication (NFC). Take Bluetooth as an example, the computer's communication interface or transceiver (for example, Universal Asynchronous Receiver/Transmitter (UART) via Bluetooth and sensing Communicate and obtain the sensor code key and Media Access Control (MAC) address, and then translate the sensor's MAC address into an Internet Protocol (IP) address and port. Then, the human exercise ability evaluation device (such as a computer) can communicate with the sensor to acquire the posture quaternion transmitted by the sensor fixed on the human body.

Embodiment 2

Based on the first embodiment, the present embodiment provides an implementation manner of calculating a joint rotation angle based on the motion posture data and determining the motion capability of the portion to be tested.

The rotation angle of the joint can be calculated using equation (2):

Where TM represents a coordinate system composed of x, y, and z axes;

Indicates the rotation angle of joint J around the coordinate axis in the TM coordinate system; atan2 _x (A, B) represents the three-dimensional coordinates A(x _A , y _A , z _A ), B(x _B , y _B , z _B ) _The angle of _B + z _A i); atan2 _y (A, B) represents the three-dimensional coordinates A(x _A , y _A , z _A ), B(x _B , y _B , z _B ) with respect to (z _B +x _A i) the angle; atan2 _z (A, B) represents the three-dimensional coordinates A (x _A , y _A , z _A ), B (x _B , y _B , z _B ) with respect to (x _B + y _A i) angle;

Express

Projection coordinates on the plane YOZ,

Express

Projection coordinates on the plane XOZ,

Express

Projection coordinates on the plane XOY;

Means the unit vector coordinate after the motion pose data conversion;

Used to perform column transformation on V _JCU '.

Common joints for motion detection and evaluation include: neck joints, left and right shoulder joints, left and right elbow joints, left and right wrist joints, lumbar vertebrae, left and right hip joints, left and right knee joints, and left and right ankle joints. The angle of rotation of the joint degrees of freedom is represented by the angle of rotation of the joint about the x, y, and z axes. After obtaining the attitude quaternion of the limbs SK _n and SK _n+1 connected to the joint J, the relative change of the two limbs is calculated according to the posture quaternion, and the rotation angle of the joint J corresponding to the degree of freedom thereof can be obtained. The calculation process of the rotation angle of the joint J around the x, y, and z axes will be described below.

among them,

a posture quaternion indicating the limb SK _n connected to the joint J at time t;

Representing the inverse of the attitude quaternion of the limb SK _n at the initial moment;

Indicates the attitude quaternion after calibration of the limb SK _n connected to the joint J;

a posture quaternion indicating the limb SK _n+1 connected to the joint J at time t;

Representing the inverse of the attitude quaternion of the limb SK _n+1 at the initial moment;

Indicates the attitude quaternion after calibration of the limb SK _n+1 connected to the joint J.

The initial quaternion is the data corresponding to the initial posture of the limb detected by the inertial sensor, and the initial posture may be a specific posture. For example, when the detection is initial, the human body is in a standing posture and the feet are close together.

Where q _JC represents the quaternion of the difference in relative posture between the two parts of the limb connected to the joint J.

V _JCU ′=q _JC ×V _JCU ×q _JC ^-1 (6)

among them,

Representing unit vector coordinates along the x, y, and z axes in the coordinate system;

Indicates the unit vector coordinate after the ternary transformation.

Where TM represents the coordinate system formed by the x, y, and z axes,

Express

Projection coordinates on the plane YOZ,

Express

Projection coordinates on the plane XOZ,

Express

Projected coordinates on the plane XOY;

Used to perform row transformation on V _JCU ';

Used to perform column transformation on V _JCU '.

Calculated

Thereafter, the rotation angle of the joint J around the x, y, and z axes can be calculated according to the above formula (2).

The joint rotation angle is a basic parameter reflecting the joint movement ability, and the step 130 may include: for each degree of freedom involved in the part to be tested, according to the corresponding joint at the rotation angle of the degree of freedom and the corresponding joint in a healthy state at the synchronous speed The degree of rehabilitation of the degree of freedom is calculated at the rotation angle of the degree of freedom; the exercise ability of the part to be tested is calculated according to the degree of rehabilitation of each degree of freedom. Among them, exercise capacity can be the degree of rehabilitation.

The degree of rehabilitation of the ith degree of freedom can be calculated using equation (8):

Represents the correlation coefficient between D _i and H _i .

Equation (9) can be used to calculate the exercise capacity of the part to be tested:

Where R _G represents the exercise capacity of the part to be tested; N represents the number of degrees of freedom involved in the part to be tested; R _i represents the degree of rehabilitation of the i-th degree of freedom; ω _i represents the weighting factor of R _i .

The above multiple formulas decompose and analyze the human body motion according to the degrees of freedom of different joints, calculate the rotation angle of each joint, and evaluate the human body's exercise ability or motion state, which can comprehensively detect Clinical exercise information meets the needs of clinical diagnosis, and the calculation method is simple and reliable.

Embodiment 3

The joint movement speed of the human body is very different from the joint movement speed of the healthy person. Therefore, the joint movement speed is also a key parameter reflecting the joint movement ability, and the joint movement ability can be judged by the angle-angular speed change. Based on the first embodiment and the second embodiment, the present embodiment provides a method for evaluating the state of rehabilitation of a human joint based on the speed of motion.

In this embodiment, step 130 may include: calculating, for each joint, an angular velocity of the joint according to a rotation angle of the joint; calculating a ratio of an angular velocity of the joint to an angular velocity of the joint in a healthy state at a synchronous speed; determining the joint according to the ratio Ability to exercise. Among them, exercise ability can be a state of recovery.

According to the ratio of the angular velocity of the human joint to the angular velocity of the healthy joint under the same conditions, the healing state of the human joint can be determined.

The angular velocity of the joint can be calculated using equation (10):

Where TM represents a coordinate system composed of x, y, and z axes;

Indicates the angular velocity of rotation of joint J around the coordinate axis in the TM coordinate system;

Indicates the rotation angle of joint J around the coordinate axis in the TM coordinate system;

Express

Deriving.

It is also possible to plot the angular velocity-angle curve of the joint based on the joint rotation angle and angular velocity data, and calculate the curve envelope area. The rehabilitation state of the human joint can be evaluated by the formula (11):

Among them, E _α represents the judgment parameter of the rehabilitation state of human joint α. The closer E _{α is} to 1, the better the joint state of the human body; α, d and h represent the joint name, for example, a represents ankle joint, d represents knee joint, h represents hip. Joints, etc.; A _dα represents the angular velocity-angle curve envelope area of the human joint; A _hα is the angular velocity-angle curve envelope area of the healthy joint at the phase synchronous speed.

In this embodiment, the joint healing state is obtained according to the angular velocity-angle curve envelope area of the human joint and the healthy joint, and the method is simple and easy to implement.

It is also possible to calculate the angular acceleration of the joint. The angular acceleration can be used to calculate the evaluation factors such as the instantaneous exertion of the muscle, and to calculate the health and rehabilitation of the human muscle function. The angular acceleration of the joint can be calculated by equation (12).

Where TM represents a coordinate system composed of x, y, and z axes;

Indicates the angular acceleration of rotation of the joint J around the coordinate axis in the TM coordinate system;

Indicates the angular velocity of rotation of the joint J around the coordinate axis in the TM coordinate system;

Express

Deriving.

Embodiment 4

The embodiment provides a human exercise ability evaluation device, which can perform the above-described human exercise ability evaluation method. As shown in FIG. 6, the apparatus may include: a data acquisition module 61, a rotation angle calculation module 62, and an exercise capability determination module 63.

The data acquisition module 61 is configured to acquire motion posture data of a part to be tested of the human body through a plurality of inertial sensors, wherein the part to be tested includes at least one joint, and the plurality of inertial sensors are disposed at the at least one joint a connected limb; a rotation angle calculation module 62 configured to calculate a rotation angle of the at least one joint according to the motion posture data; an exercise capability determination module 63 configured to determine the to-be-waited according to a rotation angle of the at least one joint Test the movement ability of the part.

The human motion ability evaluation device of the present embodiment acquires human body motion posture data through an inertial sensor based on clinical requirements and a simplified human motion model, and the body motion of each joint for different joints Performing decomposition analysis, calculating the rotation angle, evaluating the exercise ability or exercise state, can comprehensively detect the clinical motion information, can meet the clinical diagnosis requirements, and the algorithm of the present disclosure is not limited by the walking direction of the human body, that is, the human body can be along any Walking in the direction does not limit the direction in which the human body travels. It must be a straight line and is more flexible to detect.

The rotation angle calculation module 62 is configured to calculate, for each joint, a rotation angle of the joint based on a relative change in motion posture data of the two-part limb connected to the joint.

Wherein, the rotation angle calculation module 62 is configured to calculate the rotation angle of the joint by the following formula:

Where TM represents a coordinate system composed of x, y, and z axes;

Indicates the rotation angle of joint J around the coordinate axis in the TM coordinate system; atan2 _c (A, B) represents the three-dimensional coordinates A(x _A , y _A , z _A ), B(x _B , y _B , z _B ) _The angle of _B + z _A i); atan2 _y (A, B) represents the three-dimensional coordinates A(x _A , y _A , z _A ), B(x _B , y _B , z _B ) with respect to (z _B +x _A i) the angle; atan2 _z (A, B) represents the three-dimensional coordinates A (x _A , y _A , z _A ), B (x _B , y _B , z _B ) with respect to (x _B + y _A i) angle;

Express

Projection coordinates on the plane YOZ,

Express

Projection coordinates on the plane XOZ,

Express

Projection coordinates on the plane XOY;

Means the unit vector coordinate after the motion pose data conversion;

Used to perform column transformation on V _JCU '.

The rotation angle calculation module 62 is configured to calculate V _JCU ' using the following formula:

V _JCU ′=q _JC ×V _JCU ×q _JC ^-1 ,

among them,

Represents the unit vector coordinates along the x, y, and z axes in the coordinate system; q _JC represents the quaternion of the relative posture differences between the two parts connected to the joint J,

Indicates the attitude quaternion of the limb SK _n connected to the joint J at time t,

Indicates the attitude quaternion of the limb SK _n+1 connected to the joint J at time t,

Represents the inverse of the pose quaternion of the limb SK _n+1 at the initial moment.

The athletic ability determining module 63 may include: a first rehabilitation degree calculating unit configured to set each degree of freedom involved in the part to be tested, according to the joint in which the corresponding joint is in a healthy state at a rotation angle of the degree of freedom and at a synchronous speed The degree of rotation of the degree of freedom calculates the degree of rehabilitation of the degree of freedom; the second degree of rehabilitation calculation unit is configured to calculate the exercise capacity of the part to be tested according to the degree of rehabilitation of each degree of freedom. Among them, exercise capacity can be the degree of rehabilitation.

The first degree of rehabilitation calculation unit is set to calculate the degree of freedom of the degree of freedom using the following formula:

Where R _i represents the degree of rehabilitation of the i-th degree of freedom; D _i represents the angle of rotation of the corresponding joint at the ith degree of freedom; and H _i represents the rotation of the corresponding joint in the healthy state at the i-th degree of freedom. angle;

Represents the correlation coefficient between D _i and H _i .

The second rehabilitation degree calculation unit is configured to calculate the exercise ability of the part to be tested by using the following formula:

Where R _G represents the degree of rehabilitation of the site to be tested; N represents the number of degrees of freedom involved in the site to be tested; R _i represents the degree of rehabilitation of the i-th degree of freedom; ω _i represents the weighting factor of R _i .

Optionally, the athletic ability determining module 63 may further include: an angular velocity calculating unit configured to calculate an angular velocity of the joint according to a rotation angle of the joint for each joint; and a ratio calculating unit configured to calculate the angular velocity of the joint and the phase synchronous speed Ratio of angular velocity of the joint in a healthy state; joint rehabilitation The determining unit is configured to determine the athletic ability of the joint based on the above ratio. Among them, exercise ability can be a state of recovery.

The human body exercise ability evaluation device described above can perform the human body exercise ability evaluation method provided by any of the above embodiments, and has a corresponding functional module and a beneficial effect of executing the method.

Embodiment 5

The embodiment provides a human body exercise ability evaluation system, which can perform the human body exercise ability evaluation method provided by any of the above embodiments, and has the corresponding functional modules and beneficial effects of executing the method. As shown in Figure 7, the system can include:

One or more processors 71; a memory 72 configured to store one or more programs; a communication interface 73 configured to communicate with the inertial sensor 74; and an inertial sensor 74 configured to acquire motion pose data of the body to be tested; The one or more programs are executed by the one or more processors such that the one or more processors implement the human motion capability evaluation method provided by any of the above embodiments. The inertial sensor 74 can be fixed to the limb connected to the joint to be tested according to a preset human motion model. The processor 71, the memory 72 and the communication interface 73 can be integrated on a computer to implement communication and computing functions.

The human body exercise ability evaluation system of the present embodiment acquires human body motion posture data through an inertial sensor based on clinical requirements and a simplified human motion model, and decomposes and analyzes human body motion for respective degrees of different joints, and calculates a rotation angle and an exercise capability. Or the exercise state is evaluated, the clinical motion information can be comprehensively detected, and the clinical diagnosis requirement is satisfied, and the algorithm of the present disclosure is not restricted by the walking direction of the human body, that is, the human body can walk in any direction, and the walking direction of the human body must not be a straight line. It is more flexible to detect.

Embodiment 6

This embodiment is based on the above embodiment. In the present embodiment, the lower limb of the subject is taken as an example, and the motion information of the hip joint, the knee joint and the ankle joint is detected, and the lower limb of the subject is detected. The state of exercise is evaluated.

The inertial sensor is mounted on the subject's body and the subject is exercising on a walking machine. Wherein, the sensor of the waist, thigh and calf of the subject is fixed in such a way that the X axis of the sensor faces the right side of the subject, the Y axis faces the lower side of the subject, and the Z axis faces the front of the subject, and the bandage is used to tighten the test. The middle part of the front part of the waist, the front side of the thigh is close to the knee joint and the front side of the lower leg is close to the joint of the ankle joint; the sensor of the foot is fixed in such a way that the X axis of the sensor faces the right side of the human body, the front side of the Y axis is the front of the human body, and the Z axis is oriented. Above the subject, use a bandage to tighten the sensor on the human foot. Among them, the sensor should be placed in less muscle to reduce the impact of sensor posture changes caused by muscle movement. The speed of the walking machine is set by the professional, whichever is the individual's condition. During the data collection process, the assisting staff can ensure the safety of the subject in the presence of a movement disorder or other subject that affects athletic performance.

Turn on the computer's data receiving software and receive the sensor's attitude quaternion into the computer through Bluetooth communication. According to the calculation formulas provided by formulas (3), (4), (5), (6), (7), (2), (10), and (12), the obtained kinema of the motion pose is processed to obtain The rotation angle, angular velocity and angular acceleration information of the hip, knee and ankle joints in the corresponding degrees of freedom.

The rotation angle-step phase curve of the multiple degrees of freedom corresponding to different joints of the subject is shown in Figs. 8a to 8g. In the figure, the abscissa indicates the step phase, expressed as a percentage, the ordinate indicates the rotation angle, and the solid line indicates The rotation angle of the joint of the subject - the step phase curve, the broken line indicates the rotation angle of the healthy joint - the step phase curve. The rotation angle of the hip joint around the X-axis is shown in Figure 8a, which corresponds to the flexion and extension degrees of freedom of the hip joint; the rotation angle of the hip joint around the Y-axis - the phase curve of the step phase is shown in Figure 8b. Corresponding to the adduction and abduction degrees of freedom of the hip joint; the rotation angle of the hip joint around the Z axis The schematic diagram of the degree-step phase curve is shown in Fig. 8c, corresponding to the internal rotation and external rotation degrees of the hip joint; the rotation angle of the ankle joint around the X axis - the phase curve of the step phase is shown in Fig. 8d, corresponding to the ankle joint The degree of toe flexion and dorsiflexion; the angle of rotation of the ankle joint around the Y-axis - the phase curve of the step phase is shown in Figure 8e, corresponding to the degree of inversion and valgus of the ankle joint; the angle of rotation of the ankle joint around the Z axis - The schematic diagram of the step phase curve is shown in Fig. 8f, corresponding to the internal rotation and external rotation degrees of the ankle joint; the rotation angle of the knee joint around the X axis - the phase curve of the step phase is shown in Fig. 8g, corresponding to the knee joint Flexion and extension freedom. It can be seen from Figures 8a to 8g that the rotation angle of the human joint and the healthy joint is different, which can reflect the health degree and rehabilitation degree of the human joint. For example, the less the difference between the rotation angle of the human joint and the healthy joint, the better the recovery state of the human body. .

The angular velocity-angle curves of the multiple degrees of freedom corresponding to different joints of the subject are shown in Figures 9a to 9g. According to the formulas (8) and (9), the exercise ability R _{G of} the part to be tested can be obtained, and the rehabilitation state E _{α of} each joint can be obtained according to the formula (11). In Figs. 9a to 9g, the abscissa indicates the angle of rotation, the ordinate indicates the angular velocity, the solid line indicates the angular velocity-angle curve of the joint of the subject, and the broken line indicates the angular velocity-angle curve of the joint of the healthy joint. The angular velocity-angle curve of the hip joint around the X-axis is shown in Figure 9a; the angular velocity-angle curve of the hip joint around the Y-axis is shown in Figure 9b; the angular velocity-angle curve of the hip joint around the Z-axis is shown in Figure 9c is shown; the angular velocity-angle curve of the ankle joint around the X-axis is shown in Figure 9d; the angular velocity-angle curve of the ankle joint around the Y-axis is shown in Figure 9e; the angular velocity-angle of the ankle joint around the Z-axis A schematic diagram of the curve is shown in Figure 9f; a schematic diagram of the angular velocity-angle of the knee joint about the X-axis is shown in Figure 9g. From Fig. 9a to Fig. 9g, the angular velocity-angle curve enveloping area of the human joint can be obtained. The difference between the angular velocity of the joint of the human joint and the angular velocity of the healthy joint can be seen from the figure, which can reflect the health degree and rehabilitation degree of the human joint, such as the human body. The less the difference in the angular velocity of motion between the joint and the healthy joint, the better the recovery state of the human body.

The motion angular acceleration-step phase curve of multiple degrees of freedom corresponding to different joints of the subject is shown in Figure 10a. As shown in 10g. In Figs. 10a to 10g, the abscissa indicates the step phase, expressed as a percentage, the ordinate indicates the angular acceleration of rotation, the solid line indicates the angular acceleration of the joint of the subject - the phase of the phase, and the broken line indicates the angular acceleration of the joint of the healthy joint - Step phase curve. The curve of the angular acceleration of the hip joint around the X-axis is shown in Figure 10a. The curve of the angular acceleration of the hip joint around the Y-axis is shown in Figure 10b. The hip joint is around the Z-axis. The curve of the rotational angular acceleration-step phase is shown in Fig. 10c; the curve of the angular acceleration of the ankle joint around the X-axis is shown in Fig. 10d; the angular acceleration of the ankle joint around the Y-axis-step phase The schematic diagram of the cycle is shown in Fig. 10e; the curve of the angular acceleration of the ankle joint around the Z-axis is shown in Fig. 10f; the curve of the angular acceleration of the knee joint around the X-axis is shown in the figure. 10g is shown. From Fig. 10a to 10g, the difference between the angular acceleration of the joint of the human joint and the healthy joint can be obtained, which can reflect the evaluation factors such as the instantaneous exertion of the human muscle, and calculate the health degree and rehabilitation degree of the human muscle function, such as the movement of the human joint and the healthy joint. The less the angular acceleration differs, the stronger the exertion of the human muscles and the better the recovery state of the human body.

The above human body motion evaluation methods, devices and systems can be widely applied in the fields of anthropometry, workspace design, human-machine system design and evaluation, clinical rehabilitation evaluation, and sports science.

The embodiment further provides a computer readable storage medium storing computer executable instructions for performing the above method.

As shown in FIG. 11 , it is a hardware structure diagram of a data processing device provided by this embodiment. As shown in FIG. 11 , the data processing device includes: a processor 810 and a memory 820; Communication Interface 830 and bus 840.

The processor 810, the memory 820, and the communication interface 830 can complete communication with each other through the bus 840. Communication interface 830 can be used for information transfer. The processor 810 can call the memory 820 Logic instructions in the process to perform any of the above embodiments.

The memory 820 may include a storage program area and a storage data area, and the storage program area may store an operating system and an application required for at least one function. The storage data area can store data and the like created according to the use of the data processing device. Further, the memory may include, for example, a volatile memory of a random access memory, and may also include a non-volatile memory. For example, at least one disk storage device, flash memory device, or other non-transitory solid state storage device.

Moreover, when the logic instructions in the memory 820 described above can be implemented in the form of software functional units and sold or used as separate products, the logic instructions can be stored in a computer readable storage medium. The technical solution of the present disclosure may be embodied in the form of a computer software product, which may be stored in a storage medium, and includes a plurality of instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) All or part of the steps of the method described in this embodiment are performed.

The storage medium may be a non-transitory storage medium or a transitory storage medium. The non-transitory storage medium may include: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes. medium.

A person skilled in the art can understand that all or part of the process of implementing the above embodiment method can be completed by a computer program indicating related hardware, and the program can be stored in a non-transitory computer readable storage medium. When executed, a flow of an embodiment of the method as described above may be included.

Industrial applicability

The present disclosure provides a method, device and system for evaluating human exercise ability, which can comprehensively detect clinical exercise information, meet clinical diagnosis requirements, and is not limited by the walking direction of the human body, and is relatively flexible to detect.

Claims

A method for evaluating human exercise capacity, comprising:

Obtaining motion posture data of a part to be tested of a human body by using a plurality of inertial sensors, wherein the part to be tested includes at least one joint, and the plurality of inertial sensors are disposed on a limb connected to the at least one joint;

Calculating a rotation angle of the at least one joint based on the motion posture data;

Determining the exercise ability of the portion to be tested according to the rotation angle of the at least one joint.
The method of claim 1, wherein calculating a rotation angle of the at least one joint based on the motion posture data comprises:

For each joint, the angle of rotation of the joint is calculated from the relative change in the motion pose data of the two parts of the limb connected to the joint.
The method of claim 2, wherein the rotation angle of the joint is calculated using the following formula:

Where TM represents the x, y or z axis;
Represents the joint J rotational angle about the TM axis; atan2 x (A, B) represents the three-dimensional coordinates A (x A, y A, z A), B (x B, y B, z B) on (y B + z A i) the angle; atan2 y (A, B) represents the three-dimensional coordinates A (x A , y A , z A ), B (x B , y B , z B ) with respect to (z B + x A i) Angle; atan2 z (A, B) represents the three-dimensional coordinates A (x A , y A , z A ), B (x B , y B , z B ) with respect to (x B + y A i);
Express
Projection coordinates on the plane YOZ,
Express
Projection coordinates on the plane XOZ,
Express
Projection coordinates on the plane XOY;
Representing a unit vector coordinate after the motion posture data is converted;
Used to perform column transformation on V JCU '.
The method of claim 3 wherein V JCU ' is calculated using the following formula:

V JCU ′=q JC ×V JCU ×q JC -1 ,

among them,
Represents unit vector coordinates along the x, y, and z axes of the coordinate system; q JC represents the quaternion of the relative pose difference between the two parts of the joint connected to the joint J,
Indicates the attitude quaternion after calibration of the limb SK n connected to the joint J,
Representing the posture quaternion of the limb SK n at time t,
Representing the inverse of the posture quaternion of the limb SK n at the initial moment;
Indicates the attitude quaternion after calibration of the limb SK n+1 connected to the joint J,
Representing the attitude quaternion of the limb SK n+1 at time t,
Indicates the inverse of the posture quaternion of the limb SK n+1 at the initial moment.
The method according to claim 1, wherein determining the athletic ability of the part to be tested according to the rotation angle of the at least one joint comprises:

For each degree of freedom involved in the portion to be tested, the degree of freedom of the degree of freedom is calculated according to the angle of rotation of the corresponding joint at a rotational angle of the degree of freedom and the corresponding joint at a synchronous speed at the degree of freedom of the degree of freedom. Degree;

The exercise ability of the part to be tested is calculated according to the degree of rehabilitation of each degree of freedom.
The method according to claim 5, wherein the degree of rehabilitation of said degree of freedom is calculated using the following formula:

Where R i represents the degree of rehabilitation of the i-th degree of freedom; D i represents the angle of rotation of the corresponding joint at the ith degree of freedom; H i represents the corresponding joint of the i-degree of freedom at the phase-synchronous speed at the ith degree of freedom Rotation angle
Represents the correlation coefficient between D i and H i .
The method according to claim 5, wherein the exercise ability of the portion to be tested is calculated using the following formula:

Wherein R G represents the exercise ability of the part to be tested; N represents the number of degrees of freedom involved in the part to be tested; R i represents the degree of rehabilitation of the i-th degree of freedom; ω i represents the weighting coefficient of R i .
The method according to claim 1, wherein determining the athletic ability of the part to be tested according to the rotation angle of the at least one joint comprises:

For each joint, the angular velocity of the joint is calculated according to the angle of rotation of the joint;

Calculating a ratio of an angular velocity of the joint to an angular velocity of the joint in a healthy state at a synchronous velocity;

The ability of the joint to move is determined based on the ratio.
A human exercise ability evaluation system includes:

One or more processors;

a memory set to store one or more programs;

a communication interface configured to communicate with an inertial sensor;

The inertial sensor is configured to collect motion posture data of the part to be tested of the human body;

When the one or more programs are executed by the one or more processors, the one or more processors implement the human exercise ability evaluation method according to any one of claims 1-8.
A computer readable storage medium storing computer executable instructions for performing the method of any of claims 1-8.