摘要
基于人体站起运动三肢段动力学模型,采用自制力传感平台与定制的加速度和角速度传感器,开发了一套非侵入式人体运动传感检测系统,并与实验室光学运动采集系统进行了比对验证;基于所检测的信号计算了下肢各关节力矩,分析了人体站起动力学参数特征。本传感分析系统通过穿戴式体外检测,无需解剖学植入传感器,相较于实验室人体动力学检测和分析方法,传感器数量和种类都有所减少,降低了成本。通过比较分析所开发系统与作为参照的实验室光学检测系统的实验数据,验证了本文检测系统的精度和有效性,可用于人体站起康复运动训练检测和评估系统,进而可用于外骨骼康复训练机器人的控制。
A non-invasive estimation and analysis system for lower limb joint moments was developed based on a piecewise three segment Sit-to-Stand（STS）biomechanical model and a double-sensor difference based algorithm.The wearable sensor system,composed of force sensors,customized accelerometer and gyroscope,worked with vitro implanted sensors.Compared with conventional approach,the number and variety of sensors were reduced in this sensor system.Compared with the results from reference camera system,the developed wearable inertial sensor system is available to analyze the lower limb biomechanics of patient during the rehabilitation training with high degree of accuracy.In the future,the system could be applied for the detection and estimation system of human STS rehabilitation training and to the control of exoskeleton rehabilitation robot.
作者
刘坤
刘勇
闫建超
吉硕
孙震源
徐洪伟
LIU Kun;LIU Yong;YAN Jian-chao;JI Shuo;SUN Zhen-yuan;XU Hong-wei(School of Mechanical Science and Engineering,Jilin University,Changchun 130022,China)
出处
《吉林大学学报（工学版）》
EI
CAS
CSCD
北大核心
2018年第4期1140-1146,共7页
Journal of Jilin University:Engineering and Technology Edition
基金
国家自然科学基金项目(81101138)
吉林省科技发展计划项目(20160520066JH)
吉林大学研究生创新研究计划项目
关键词
机械设计
生物医学工程
非侵入式体外检测
站起康复运动
可穿戴式传感系统
mechanical design
biomedical engineering
non-invasive vitro detection
sit-to-stand（STS）rehabilitation training
wearable sensor system
