CN107806837B - Non-invasive wrist joint axis motion model measuring method - Google Patents
Non-invasive wrist joint axis motion model measuring method Download PDFInfo
- Publication number
- CN107806837B CN107806837B CN201711032354.4A CN201711032354A CN107806837B CN 107806837 B CN107806837 B CN 107806837B CN 201711032354 A CN201711032354 A CN 201711032354A CN 107806837 B CN107806837 B CN 107806837B
- Authority
- CN
- China
- Prior art keywords
- wrist joint
- hand
- forearm
- axis
- coordinate system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 210000003857 wrist joint Anatomy 0.000 title claims abstract description 74
- 238000000034 method Methods 0.000 title claims abstract description 34
- 210000000245 forearm Anatomy 0.000 claims abstract description 53
- 239000013598 vector Substances 0.000 claims abstract description 12
- 238000005457 optimization Methods 0.000 claims abstract description 5
- QBWCMBCROVPCKQ-UHFFFAOYSA-N chlorous acid Chemical compound OCl=O QBWCMBCROVPCKQ-UHFFFAOYSA-N 0.000 claims description 14
- 230000008602 contraction Effects 0.000 claims description 7
- 230000003287 optical effect Effects 0.000 claims description 7
- 210000000707 wrist Anatomy 0.000 claims description 7
- 238000005452 bending Methods 0.000 claims description 6
- 239000011159 matrix material Substances 0.000 claims description 6
- 230000002068 genetic effect Effects 0.000 claims description 5
- 238000000691 measurement method Methods 0.000 claims description 5
- 239000003550 marker Substances 0.000 claims description 4
- 210000000236 metacarpal bone Anatomy 0.000 claims description 4
- 210000003625 skull Anatomy 0.000 claims 1
- 238000005259 measurement Methods 0.000 abstract description 16
- 210000003414 extremity Anatomy 0.000 abstract description 2
- 210000004247 hand Anatomy 0.000 abstract 2
- 230000002452 interceptive effect Effects 0.000 abstract 1
- 210000000988 bone and bone Anatomy 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
Abstract
The invention discloses a non-invasive wrist joint axis motion model measuring method, and belongs to the technical field of human-machine engineering and measurement. The invention comprises the following three steps: (1) collecting motion data of a wrist joint: the forearms and the arms are respectively bound with a flange, each flange is attached with four marking points, in order to prevent the marking points from interfering with each other, the flanges of the forearms and the hands are far away from the wrist joints as far as possible, and the flanges of the forearms are fixed on the lifting platform. (2) Establishing a wrist joint axis motion model: regarding forearms and hands as rigid bodies, and establishing a 2-degree-of-freedom spatial link mechanism; (3) solving the pose of the wrist joint motion axis: and constructing a space vector closed-loop equation through the collected wrist joint motion data, and then optimizing parameters of an axis motion model of the wrist joint by using a matlab optimization tool box. The method can accurately obtain the axis pose of the wrist joint movement at a certain moment, and provides a theoretical basis for artificial limb design and the design of a wrist joint rehabilitation device.
Description
Technical Field
The invention relates to the field of human engineering and measurement, in particular to a non-invasive wrist joint axis motion model measurement method.
Background
In the fields of human engineering and measurement, a model of wrist joint axis motion is of great importance, and the wrist joint model is found to be two inclined and non-intersecting axes through the examination of documents, namely a certain included angle and a certain distance exist between the wrist joint flexion and extension axes and the wrist joint retraction and extension axes. The establishment of the wrist joint model can provide a theoretical basis for design for the artificial limb and the wrist joint rehabilitation device on one hand, and can also be used as an input number to evaluate the functionality of the human wrist joint. Current wrist joint measurement methods are classified into invasive and non-invasive. Invasive measurement is usually performed by directly applying a mark point to a bone, and is generally less acceptable due to the greater harm to the human body. The non-invasive measurement adopts the way that the mark point is attached to the surface of the skin of the human body for measurement, so the non-invasive measurement reduces the harm to the human body in a certain degree, but the non-invasive measurement is greatly influenced by the skin movement.
It has been found by comparison with the prior art documents that the following problems exist in the current measurement for non-invasive wrist joints: (1) regarding the wrist joint as hooke's pair with perpendicular intersecting axes, as the measuring method in patent CN 1748642a for non-invasive measurement of human arm joint; (2) influence of skin movement on measurement is ignored in the measurement process; the invention not only can accurately measure the model of the wrist joint movement axis, but also greatly reduces the interference caused by skin movement in the measurement process.
Disclosure of Invention
The invention aims to provide a non-invasive wrist joint axis motion model measuring method aiming at integrating the defects of the existing wrist joint measurement.
In order to achieve the purpose, the invention adopts the technical scheme that:
a non-invasive wrist joint axis motion model measurement method, comprising: the method comprises the steps of collecting wrist joint motion data, establishing a wrist joint axis model and solving the wrist joint axis motion model.
Firstly, acquiring wrist joint movement data: the hand flange (2) pasted with 4 marking points is bound with the hand, an elastic pad is added between the hand and the hand flange (2), the forearm flange (1) pasted with 4 marking points fixes the forearm on the lifting platform, and the elastic pad is added between the forearm and the forearm flange (1). Establishing a forearm local coordinate system O through 4 marking points on a forearm flange (1)1(9) Establishing a hand local coordinate system O by 4 marking points on the hand flange (2)2(10) In the method, the position coordinates of 8 mark points are obtained through a vicon system capture system. The data of each marker point is the coordinates under a fixed coordinate system O (11).
Secondly, establishing a wrist joint motion model: the wrist joint is a generalized two-degree-of-freedom joint, namely a flexion/extension axis (FE) and a retraction/extension axis (RUD) of the motion of the wrist joint are continuously changed in space, the flexion/extension axis (FE) and the retraction/extension axis (RUD) are approximately positioned near a head-shaped bone, in order to solve the motion axis pose of the wrist joint, a wrist joint model is established into two axes with inclined axes which are not intersected, the forearm and the hand are regarded as rigid bodies, and finally a two-degree-of-freedom parameterized space link mechanism is established;
thirdly, solving the pose of the axis of the wrist joint: according to the motion invariance of the mark points on the rigid body relative to the rigid body during the rigid body motion, coordinate data of the mark points of the front arm and the hand during the motion are collected through a vicon optical motion capture system, a constraint equation is established through establishing a space vector closed loop, and a genetic algorithm optimization tool box in matlab is used for identifying relevant parameters of the wrist joint model.
Each of the above steps is described in detail below.
1) Data measurement
The forearm of a tester is fixed on the lifting platform (13) through a forearm flange (1), an elastic pad is arranged between the forearm and the forearm flange (1), the hand of the tester is fixed through a hand flange (2), and the elastic pad is also added between the hand and the hand flange (2). In order to enable the vicon optical motion capture system to accurately acquire the mark points and avoid the occurrence of point loss, the forearm flange (1) and the hand flange (2) are far away from the wrist joint as far as possible.
In the experimental process, when flexion and extension are used for collecting motion data, the plane of the restraint guide rail (3) and the guide rod (4) are overlapped with a third metacarpal bone of the hand of a human body, and after the fastening screw (5) is screwed down, the wrist moves from flexion to extension and reciprocates for three periods. When data are collected in the folding and unfolding process, the restraint guide rail (3) is overturned for 90 degrees and is inserted into the support frame (12) through the sliding block, the plane of the restraint guide rail (3) is flush with the third metacarpal bone, after the fastening screw (5) is screwed down, the wrist moves outwards in the folding and unfolding process in three reciprocating periods.
The positions of the four marking points (6) of the forearm and the four marking points (7) of the hand can be accurately acquired by using the vicon optical motion capture system. These position data are described under a fixed coordinate system O (11), and the fixed coordinate system O (11) is determined by the vicon system. As shown in FIG. 3, the four marking points (6) of the forearm determine the forearm local coordinate system O1(9) Determining the hand part by four mark points (7) of the hand partLocal coordinate system O2(10)。
Marking 8 marking points as PiThe position of each mark point is (x)iyizi) I denotes the number of the mark point, i is 1,2, 8, and the x, y, z axes of the fixed coordinate system O (11) are Ox、 Oy、OzDenotes the local coordinate system O of the forearm1(9) Has an origin of O1And the x, y and z axes are each O1x、O1y、O1zIs shown, in which:
in the formula P1Representing the position coordinates of the first marking point of the forearm, P2Representing the position coordinates of a second marking point of the forearm, P3Indicating the position coordinate of the third point of the forearm, P4The position coordinates of the fourth marker point of the forearm are indicated.
Local coordinate system O of hand2(10) Has an origin of O2And the x, y and z axes are each O2x、O2y、 O2zIs shown, in which:
in the formula P5Indicating the position coordinates of the first marking point of the hand, P6Indicating the position coordinates of the second marking point of the hand, P7Position coordinates, P, representing the third marking point of the hand8Indicating the position coordinates of the fourth hand marker point.
Local reference system of forearm O1(9) Rotation matrix relative to a fixed coordinate system O (11)
Expressed as:
local reference system of hand O2(10) Rotation matrix relative to a fixed coordinate system O (11)
Expressed as:
2) establishing a wrist joint model:
establishing a two-degree-of-freedom parameterized spatial link mechanism by establishing a human body wrist joint model as two axes with inclined and disjoint axes, wherein the included angle between the two axes is α and the distance is d, and taking the forearm and the hand as rigid bodies, and defining (m)1,l1) Is a flexion/extension axis (FE) relative to a forearm reference frame O1(9) Position and pose of (m)2l2) Relative hand reference coordinate system O for a retraction/extension axis (RUD)2(10) The pose of (1). Direction of axis of flexion/extension (FE) < i >1(1a1b1) Indicating the direction of the retraction/extension axis (RUD) < i >2(a2b21) The point of intersection between the two axes and the common vertical line is denoted as m1(m1xm1ym1z) And m2(m2xm2ym2z). The pose of the flexion/extension axis relative to the fixed coordinate system O (11) is obtained as follows:
the pose of the roll/unwind axis (RUD) with respect to the fixed coordinate system O (11) is:
3) wrist joint motion axis pose solving method
The data collected by the vicon motion capture system are only the coordinate values of the landmark points and therefore require further data processing. In the process of wrist joint movement, the position and posture of the flexion-extension axis and the extension axis are changed instantaneously, and in order to obtain the position and posture relation between the flexion-extension axis and the extension axis at the time t, the position and posture of the axis is solved by using a constructed space closed vector ring as a constraint equation.
As shown in fig. 4, the following relationships exist for the respective vectors:
all vectors have to be computed under a fixed coordinate system O (11), which is obtained according to equation (7) due to the error e:
and (4) data of flexion and extension in one period T are brought in, and the genetic algorithm in the matlab optimization tool box is used for identifying relevant parameters of the wrist joint model, so that the value of delta is minimum.
Finally, the parameter to be identified is l1(1 a1b1)、l2(a2b21)、m1(m1xm1ym1z)、 m2(m2xm2ym2z) And d, taking the finally obtained results into the formulas (5) and (6) to obtain the numerical values of the pose of the wrist joint flexion/extension and contraction/expansion axes under a fixed coordinate system O (11) at a certain time t, and calculating the distance and the included angle between the flexion/extension (FE) and the contraction/expansion axes (RUD).
Compared with the prior art, the invention has the following beneficial effects.
1. According to the method, a wrist joint model is established as two oblique and disjoint axes, and a more accurate wrist joint motion model is obtained through data processing;
2. the existing wrist joint method does not fully consider the error caused by skin movement in the measuring process, the method fully considers the influence caused by skin movement, utilizes the mark points to be attached to the flange, and then fixes the flange to the hand and the forearm of a human body through the elastic cushion, thereby effectively solving the problem of the error caused by the skin in the measuring process of the wrist joint;
3. practice shows that the method can effectively identify the parameters of the wrist joint motion model, is simple and is an effective non-invasive wrist joint axis motion model measurement method.
Drawings
FIG. 1 is a schematic view of wrist joint motion detection.
FIG. 2 is a schematic view of a wrist axis motion model.
Fig. 3 is a schematic diagram of coordinate system establishment.
Fig. 4 is a schematic diagram of wrist joint axis pose calculation.
In fig. 1-4: 1-forearm flange, 2-hand flange, 3-constrained guide rail, 4-guide rod, 5-fastening screw, 6-forearm mark point, 7-hand mark point, 8-slide block, 9-forearm reference system, 10-hand reference system, 11-fixed coordinate system, 12-support frame, 13-lifting platform, FE-bending/stretching axis and RUD-folding/stretching axis.
Detailed Description
Examples
The method comprises the following specific steps:
1. data measurement
As shown in fig. 1, 8 markers are attached to the hand and forearm of the tester, and the positions of the 8 markers are captured by a vicon optical motion capture system. Taking flexion and extension as an example, in the experimental process, when the flexion/extension data is collected, the wrist moves from flexion to extension and reciprocates for three periods.
At time t, the positions of the 8 marking points are:
P1(235.6984 219.5886 960.4167),P2(236.211 295.7337 957.716)，
P3(194.9982 258.908 957.5391),P4(273.4254 256.3104 959.5434),
P5(180.4009 409.6366 942.4073),P6(233.7286 467.6213 947.0558)，
P7(235.792 412.195 946.8046),P8(178.0265 466.1292 942.5173)。
obtaining a local coordinate system O of the forearm by the formula (1)1(9) Origin of (2):
O1(235.0832257.6352958.8038) the x, y, z axes are: o is1x(0.9991,-0.0331,0.0255) O1y(0.0340 0.9988 -0.0348)、O1z(-0.0244 0.0356 0.9991)。
Local coordinate system O of hand2(10) Has an origin of O2(206.9870438.8955944.6963) the x, y and z axes are O2x(-0.7299 0.6815 -0.0542)、O2y(0.6789 0.7318 0.0591)、 O2z(0.0799 0.0064 -0.9968)。
Local reference system of forearm O1(9) Rotation matrix relative to a fixed coordinate system O (11)
Expressed as:
local reference system of hand O2(10) Rotation matrix relative to a fixed coordinate system O (11)
Expressed as:
2. establishing a wrist joint model:
as shown in fig. 2, the wrist joint model of human body is established as two axes with inclined axes not intersecting each other, the included angle between the two axes is α, the distance is d, the forearm and the hand are regarded as rigid bodies, a two-degree-of-freedom parameterized spatial link mechanism is established, and definition is given (l)1m1) Is a flexion/extension axis (FE) relative to a forearm reference frame O1(9) Position and posture of (l)2m2) For the retraction/extension axis (RUD) relative to the hand reference frame O2(10) The pose of (1). Direction of flexion/extension axis (9) is indicated by1(1 a1b1) Indicating the direction of the contraction/expansion axis (RUD) by2(a2b21) The point of intersection between the two axes and the common vertical line is denoted as m1(m1xm1ym1z) And m2(m2xm2ym2z). The pose of the bending/stretching axis (FE) relative to the fixed coordinate system O can be obtained by the formulas (5) and (6)
Pose of the roll/unwind axis (RUD) with respect to a fixed coordinate system O (11)
The data collected by the vicon motion capture system are only the coordinate values of the landmark points and therefore require further data processing. In the process of wrist joint movement, the position and posture of the flexion-extension axis and the extension axis are changed instantaneously, and in order to obtain the position and posture relation between the flexion-extension axis and the extension axis at the time t, the position and posture of the axis is solved by using a constructed space closed vector ring as a constraint equation.
As shown in fig. 4, the following relationships exist for the respective vectors in the figure:
all vectors have to be computed under a fixed coordinate system O (11), which is obtained according to the above equation due to the error e:
and (4) bringing the data of flexion and extension in one period T into the data, and identifying relevant parameters of the wrist joint model by using a genetic algorithm in the matlab toolbox so as to minimize the value of delta.
Finally, the parameter result m of identification1(-14.78115029 116.0295361 -56.52210627)、 m2(-54.16107293 -35.84456843 58.06368374)
l1(1 -53.30903462 14.976680811)l2The results of the identification are expressed in equations (5) and (6) (-68.578380540.92556321) and d (7.436956691), and the values of the poses of the wrist flexion/extension axis (FE) and the flexion/extension axis (RUD) in the fixed coordinate system O (11) are obtained, and the distances between the flexion/extension axis (FE) and the flexion/extension axis (RUD) are 7.436956691mm and the included angle is 83.2312 °.
Claims (4)
1. A non-invasive wrist joint axis motion model measurement method is characterized in that: the method comprises the steps of collecting wrist joint motion data, establishing a wrist joint axis model and solving the wrist joint axis motion model;
firstly, acquiring wrist joint movement data: binding a hand flange (2) pasted with 4 marking points with a hand, adding an elastic pad between the hand and the hand flange (2), fixing a forearm on a lifting table by a forearm flange (1) pasted with 4 marking points, and adding an elastic pad between the forearm and the forearm flange (1); establishing a forearm local coordinate system O through 4 marking points on a forearm flange (1)1(9) Establishing a hand local coordinate system O by 4 marking points on the hand flange (2)2(10) The method comprises the steps of obtaining position coordinates of 8 mark points through a vicon system capture system; the data of each marker point is the coordinates under a fixed coordinate system O (11);
secondly, establishing a wrist joint motion model: the wrist joint is a generalized two-degree-of-freedom joint, namely a bending/extending axis and a folding/extending axis of the motion of the wrist joint are constantly changed in space, the bending/extending axis and the folding/extending axis are approximately positioned near a skull, in order to solve the motion axis pose of the wrist joint, a wrist joint model is established as two axes with inclined axes which are not intersected, a forearm and a hand are regarded as rigid bodies, and finally a two-degree-of-freedom parameterized space connecting rod mechanism is established;
thirdly, solving the pose of the axis of the wrist joint: according to the motion invariance of the mark points on the rigid body relative to the rigid body during the rigid body motion, coordinate data of the mark points of the front arm and the hand during the motion are collected through a vicon optical motion capture system, a constraint equation is established through constructing a space vector closed loop, and a genetic algorithm optimization tool box in matlab is used for identifying relevant parameters of a wrist joint model.
2. The method of claim 1, wherein the method comprises the steps of: the forearm of a tester is fixed on the lifting platform (13) through a forearm flange (1), an elastic pad is arranged between the forearm and the forearm flange (1), the hand of the tester is fixed through a hand flange (2), and the elastic pad is also added between the hand and the hand flange (2); in order to enable the vicon optical motion capture system to accurately acquire the mark points and avoid the occurrence of point loss, the forearm flange (1) and the hand flange (2) are far away from the wrist joint;
in the experimental process, when flexion and extension are used for collecting motion data, the plane of the restraint guide rail (3) and the guide rod (4) are overlapped with a third metacarpal bone of the hand of a human body, and after the fastening screw (5) is screwed down, the wrist moves from flexion to extension and reciprocates for three periods; when data are collected in a folding and unfolding mode, the restraint guide rail (3) is turned by 90 degrees and is inserted into the support frame (12) through the sliding block, the plane of the restraint guide rail (3) is flush with the third metacarpal bone, and after the fastening screw (5) is screwed down, the wrist moves from inside to outside in an unfolding mode and reciprocates for three periods;
the positions of four marking points (6) of the forearm and four marking points (7) of the hand can be accurately acquired by using a vicon optical motion capture system; these position data are described under a fixed coordinate system O (11), the fixed coordinate system O (11) being determined by the vicon system; four marking points (6) of the forearm determine the local coordinate system O of the forearm1(9) Determining a hand local coordinate system O by four mark points (7) of the hand2(10)；
Marking 8 marking points as PiThe position of each mark point is (x)iyizi) I denotes the number of the mark point, i is 1,2, 8, and O is used for each of the x, y, and z axes of the fixed coordinate system O (11)x、Oy、OzDenotes the local coordinate system O of the forearm1(9) Has an origin of O1And the x, y and z axes are each O1x、O1y、O1zIs shown in which：
In the formula P1Representing the position coordinates of the first marking point of the forearm, P2Representing the position coordinates of a second marking point of the forearm, P3Indicating the position coordinate of the third point of the forearm, P4Representing the position coordinates of a fourth mark point of the forearm;
local coordinate system O of hand2(10) Has an origin of O2And the x, y and z axes are each O2x、O2y、O2zIs shown, in which:
in the formula P5Indicating the position coordinates of the first marking point of the hand, P6Indicating the position coordinates of the second marking point of the hand, P7Position coordinates, P, representing the third marking point of the hand8The position coordinates of a fourth mark point of the hand are represented;
local reference system of forearm O1(9) Rotation matrix relative to a fixed coordinate system O (11)
Expressed as:
local reference system of hand O2(10) Rotation matrix relative to a fixed coordinate system O (11)
Expressed as:
3. the method as claimed in claim 1, wherein the wrist joint model of human body is constructed by two non-intersecting oblique axes with an included angle of α and a distance d, and the forearm and hand are used as rigid bodies to construct a two-degree-of-freedom parameterized spatial linkage mechanism, and the definition (m) is defined by1,l1) Is a flexion/extension axis (FE) relative to a forearm reference frame O1(9) Position and pose of (m)2l2) Is a retraction/extension axis (RUD) relative to a hand reference coordinate system O2(10) The pose of (a); direction of axis of flexion/extension (FE) < i >1(1 a1b1) Indicating the direction of the contraction/expansion axis (RUD) by2(a2b21) The point of intersection between the two axes and the common vertical line is denoted as m1(m1xm1ym1z) And m2(m2xm2ym2z) (ii) a The pose of the flexion/extension axis relative to the fixed coordinate system O (11) is obtained as follows:
the pose of the roll/unwind axis (RUD) with respect to the fixed coordinate system O (11) is:
4. the method of claim 1, wherein the method comprises the steps of: wrist joint motion axis pose solving method
The data acquired by the vicon motion capture system is only the coordinate values of the mark points, so that data processing is needed; in the process of wrist joint movement, the position and pose of the bending and stretching axis and the retracting axis are changed instantly, and in order to obtain the position and pose relation between the bending and stretching axis and the retracting axis at the moment t, a constructed space closed vector ring is used as a constraint equation to solve the position and pose of the axis;
the following relationships exist for each vector:
all vectors have to be computed under a fixed coordinate system O (11), which is obtained according to equation (7) due to the error e:
data of flexion and extension and contraction in a period T are brought in, and the genetic algorithm in the matlab optimization tool box is used for identifying relevant parameters of the wrist joint model, so that the value of delta is minimum;
finally, the parameter to be identified is l1(1 a1b1)、l2(a2b21)、m1(m1xm1ym1z)、m2(m2xm2ym2z) And d, taking the finally obtained results into the formula (5) and the formula (6) to obtain the numerical values of the pose of the wrist joint flexion/extension and contraction/expansion axes under a fixed coordinate system O (11) at a certain moment t, and obtaining the distance and the included angle between the flexion/extension (FE) and the contraction/expansion axes (RUD).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711032354.4A CN107806837B (en) | 2017-10-29 | 2017-10-29 | Non-invasive wrist joint axis motion model measuring method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711032354.4A CN107806837B (en) | 2017-10-29 | 2017-10-29 | Non-invasive wrist joint axis motion model measuring method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107806837A CN107806837A (en) | 2018-03-16 |
| CN107806837B true CN107806837B (en) | 2020-03-13 |
Family
ID=61582530
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711032354.4A Expired - Fee Related CN107806837B (en) | 2017-10-29 | 2017-10-29 | Non-invasive wrist joint axis motion model measuring method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107806837B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110544278B (en) * | 2018-05-29 | 2022-09-16 | 杭州海康机器人技术有限公司 | Rigid body motion capture method and device and AGV pose capture system |
| CN110132156B (en) * | 2019-05-16 | 2021-02-19 | 大连理工大学 | Submarine cable radial deformation non-contact measuring equipment |
| CN112545498B (en) * | 2020-12-02 | 2021-11-19 | 中国标准化研究院 | Human body functional joint rotation center detection and positioning analysis method |
| CN112883650B (en) * | 2021-02-26 | 2023-06-09 | 深圳市瑞立视多媒体科技有限公司 | Rigid body mark point optimization method and equipment based on genetic algorithm and readable storage medium |
| CN114152218B (en) * | 2021-11-05 | 2022-09-27 | 北京科技大学 | Ice and snow protective equipment home range measuring device |
Family Cites Families (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100348154C (en) * | 2005-10-13 | 2007-11-14 | 上海交通大学 | Method for non-intrusion measuring human hand and arm joint |
| EP1932630A1 (en) * | 2006-12-11 | 2008-06-18 | Abb As | Wrist of an industrial robot |
| CN101582166A (en) * | 2008-05-12 | 2009-11-18 | 皇家飞利浦电子股份有限公司 | System and method for tracking target |
| US8498741B2 (en) * | 2009-09-22 | 2013-07-30 | Gm Global Technology Operations | Dexterous humanoid robotic wrist |
| CN102087096B (en) * | 2010-11-12 | 2012-07-25 | 浙江大学 | Automatic calibration apparatus for robot tool coordinate system based on laser tracking measurement and method thereof |
| CN102922521B (en) * | 2012-08-07 | 2015-09-09 | 中国科学技术大学 | A kind of mechanical arm system based on stereoscopic vision servo and real-time calibration method thereof |
| CN103150752B (en) * | 2013-02-02 | 2015-08-26 | 浙江大学 | A kind of human body attitude sparse reconstruction method based on key signature point |
| ITMI20130409A1 (en) * | 2013-03-18 | 2014-09-19 | Orthofix Srl | ARTICULATED DEVICE FOR WRIST |
| DE102013226289A1 (en) * | 2013-12-17 | 2015-06-18 | Kuka Laboratories Gmbh | X-ray device with an adjustment |
| CN204618765U (en) * | 2015-03-27 | 2015-09-09 | 厦门理工学院 | Exercising apparatus for recovery of upper limb |
| JP6745717B2 (en) * | 2016-12-28 | 2020-08-26 | 株式会社バンダイ | Wrist joint structure of doll toy and doll toy |
| CN106726353B (en) * | 2017-01-08 | 2019-04-12 | 北京工业大学 | It is a kind of based on adaptive wrist joint rehabilitation training device in parallel |
| CN107198639B (en) * | 2017-05-12 | 2019-05-03 | 北京工业大学 | A kind of master for upper limb healing exoskeleton mechanism is fused joint |
-
2017
- 2017-10-29 CN CN201711032354.4A patent/CN107806837B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN107806837A (en) | 2018-03-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107806837B (en) | Non-invasive wrist joint axis motion model measuring method | |
| CN108030496B (en) | Method for measuring coupling relation between rotating center of upper limb shoulder glenohumeral joint and lifting angle of upper arm of human body | |
| Webster et al. | Experimental evaluation of Microsoft Kinect's accuracy and capture rate for stroke rehabilitation applications | |
| Lin et al. | Human pose recovery using wireless inertial measurement units | |
| Šenk et al. | Rotation sequence as an important factor in shoulder kinematics | |
| Cerveri et al. | Robust recovery of human motion from video using Kalman filters and virtual humans | |
| US20080091373A1 (en) | Method for calibrating sensor positions in a human movement measurement and analysis system | |
| WO2019014238A1 (en) | Systems and methods for tracking body movement | |
| Miezal et al. | A generic approach to inertial tracking of arbitrary kinematic chains | |
| CN107802268B (en) | A kind of human elbow anterior flexion and rear stretching and the outer instantaneous spiral shell shaft measurement method of forearm medial rotation rotation | |
| Fang et al. | A real-time identification and tracking method for the musculoskeletal model of human arm | |
| CN108013880B (en) | Instantaneous dynamic heart measuring method for forward flexion and backward extension of human elbow joint to move around instantaneous dynamic heart | |
| CN108309301B (en) | Human body segment quality measuring method | |
| Chen et al. | An inertial-based human motion tracking system with twists and exponential maps | |
| Lin et al. | Using hybrid sensoring method for motion capture in volleyball techniques training | |
| CN113545956B (en) | Personalized and customized high-compliance knee exoskeleton design method | |
| JP2016206081A (en) | Operation inference device and operation inference method | |
| CN108805141A (en) | A kind of human skeleton artis location estimation method | |
| JP2014117409A (en) | Method and apparatus for measuring body joint position | |
| Yoon et al. | Feasibility of using depth cameras for evaluating human-exoskeleton interaction | |
| Adhikari et al. | Design of a novel task-based knee rehabilitation exoskeleton device | |
| Newkirk et al. | Measurement and quantification of gross human shoulder motion | |
| Ayusawa et al. | Interspecies retargeting of homologous body posture based on skeletal morphing | |
| Yang et al. | Research on human motion data filtering based on unscented Kalman filter algorithm | |
| Jin et al. | A novel dataglove calibration method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200313 |