Wearable sensor measuring device and method for lower limb joint acting force and moment

Abstract

The invention relates to the technical field of medical dynamic measurement analysis, in particular to a wearable sensor measuring device and method for lower limb joint acting force and moment. The device consists of a computer memory, a data collector and wireless Bluetooth communication module of software and the like. The device is characterized in that a pelvis is provided with a first sensor, and a left huckle and a right huckle are provided with a second sensor and a third sensor; a lower left leg and a lower right leg are provided with a fourth sensor and a fifth sensor, and the side parts of a left heel and a right heel are provided with a sixth sensor and a seventh sensor; the side part of a right forefoot is provided with a eighth sensor and a ninth sensor, and a tenth sensor, an eleventh sensor, a twelfth sensor and a thirteenth sensor are arranged at the upper position and the lower position of a left planta and a right planta; and sensor data test signals are input into the signal input end of a computer to be collected and operated. The device can furthest reduce the influence of estimation errors of the quality, the center of mass and the moment of inertia of each part of lower limbs on the joint force and moment calculation accuracy. According to the method, the calculated amount can be reduced, and the application to real-time measurement and control is favorably realized.

Description

[technical field] [0001] The invention relates to the technical field of medical dynamics measurement and analysis, in particular to a device and method for measuring force and torque of lower limb joints of a human body or a simulated robot. [Background technique] [0002] The walking motion of humans, animals, and even the motion control of humanoid robots must be linked by joints. The joints of the lower limbs of the human body mainly include foot joints, ankle joints, knee joints, and hip joints, which bear a large load of body motion. [0003] Quantitative joint force information has extremely important reference significance for the diagnosis of joint diseases. Before and after stroke or sports injury rehabilitation treatment, it is also necessary to quantitatively measure joint motion and force to evaluate the effect of treatment. A humanoid robot with efficient walking has been developed, and the feedback of joint force information is also very helpful for the develo...

AI Technical Summary

Problems solved by technology

A variety of light and small wearable sensors are being used in the analysis of human body posture, but so far, there is no public disclosure of the calculation method of the force and moment of each joint of the lower limbs based on wearable sensors

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