TWI502389B - Biomechanical analysis system and method - Google Patents

Description

Biomechanical analysis system and method

The invention relates to a biomechanical analysis system and method, in particular to an exercise fitness device and method for automating biomechanical analysis and feedback function, using a built-in or external device sensor to sense the movement of the test object in the operating device The action data of the time and the boundary force data are used to calculate and analyze the force information in the joint of the object to be tested by calculation, and the force information can be used as a motion prescription for monitoring the user or as a user and a trainer. It further provides a healthy, safe and effective exercise method for the user.

The training methods and user interface of the conventional fitness equipment mostly use the few sports modes built into the fitness equipment to carry out the user's exercise training method; while the interface with the user mostly focuses on improving the fitness equipment itself. Mechanical structure and electronic audio and video equipment, as an upgrade indicator of equipment. In recent years, due to the advancement of sensor technology and the trend of personal management, the integration of sensing technology applied to fitness equipment and personalized motion management recommendations and methods, most of the current focus on physiological signal measurement and cardiopulmonary products.

For the prior art, for example, the "Apparatus for characterizing gait" patent and the "Method for characterizing gait" of the US Patent No. 5,623,944 are two patents for the device and method applied for the same structure, mainly The user is surveyed using a force measuring element mounted under the treadmill drive belt The action characteristics of the treadmill can define the user's movement state (walking or running) and measure the strength of the foot; however, the patent can only know the ground force and the gait movement period, and cannot push The size and torque of the multi-joint in the human body have not revealed the biomechanical analysis method of using the calculation method to push the force and the magnitude of the multi-joint in the human body, and it is also unable to achieve the effects of motion monitoring and motion recommendation.

For example, US Patent Publication No. 2004/0152957 A1 "Apparatus for detecting, receiving, deriving and displaying human physiological and contextual information", the patent mainly uses human sensing signal parameters measured by sensing devices, including heat generation, consumption, various Personal parameters such as the level of daily living, stress, basal metabolic rate, and blood oxygen concentration, and convert this signal into a personal calorie (calorie) consumption parameter to monitor the individual's calorie status as a personal activity and dietary advice; The patent does not measure human biomechanical parameters for conversion into biological boundary force data. The calorie (calorie) consumption parameters generated by the patent cannot be used as information for suggesting individual movement movement guidance and stress status of various joints of the human body.

For example, U.S. Patent Publication No. 2006/0136173A1 "Multi-sensor monitoring of athletic performance", which integrates various sensing devices to measure human physiological information (heartbeat, blood pressure, pulse, body temperature), speed/position sensor (acceleration gauge) , altimeter, compass, code table) and global satellite positioning (GPS), as the athlete's sports performance monitoring, and use the sports effectiveness monitoring method, can provide the user and the trainer's pre-sport training path planning and sports training Data collection and statistics to improve the effectiveness of athletes' sports. In other words, the patent is a simple analysis of human physiological resources. It is impossible to measure human body boundary force data or motion posture information and biomechanical signals.

In view of the lack of the prior art, the present invention provides a biomechanical analysis system and method, which utilizes a sensor of a built-in or external device to sense the action data and boundary force data of the test object during the movement of the operating device. Calculate and analyze the force information in the joint of the object to be tested by calculation method. The force information can be used as a motion prescription for monitoring users or as users and trainers, and further provide users with health, safety and effectiveness. Exercise method.

In order to achieve the above object, the present invention provides a biomechanical analysis system and method for estimating the joint force condition of a test object during exercise, the system is composed of an inertial data module, a sensing module and a calculation. The module is configured to provide inertial data of at least one limb of the object to be tested by the inertial data module; when the sensing module senses the activity of the object to be tested, or the object to be tested is operated during the movement The motion data generated by the sports equipment and the boundary force data; and the inertia data provided by the calculation module according to the inertial data module, and the motion data sensed by the sensing module and the boundary force data, Calculating the movement information of the limb during the movement of the object to be tested, and calculating the internal force information of the joint of each limb of the object to be tested.

In order to enable your review committee to have a better understanding and recognition of the structural purpose and efficacy of the present invention, the detailed description is as follows.

The technical means and efficacy of the present invention for achieving the object will be described below with reference to the accompanying drawings, and the embodiments listed in the following drawings are only for the purpose of explanation, and are to be understood by the reviewing committee, but the technical means of the present invention are not Limited to the listed figures.

Referring to the first figure, the first embodiment of the biomechanical analysis system 100 provided by the present invention is used to analyze the joint stress state of a test object during exercise. The biomechanical analysis system 100 includes An inertial data module 10, a sensing module 20, and a computing module 30.

The inertial data module 10 is configured to provide inertial data of at least one limb of the object to be tested, and includes an input unit 11, a measurement database 12, and an inertial data estimating unit 13, which is used for inputting The geometric information of the object to be tested, that is, the parameters of the limbs of the object to be tested, when the object to be tested is a human body, the geometric information of the object to be tested is "human limb parameters", including: different races, genders, Shapes of various limbs, length of body limbs, volume of body limbs, mass of body limbs, density of body limbs, circumference of body limbs (circumference), geometrical physical data such as the centretion of the body limb, the moment of inertia of the body limb, in other words, when the object to be tested is a human body, the input unit 11 is used to input the The basic physiological data of the human body, the basic physiological data including height, weight, sex, age, and the same reason, when the object to be tested is a non-human animal, the geometric information of the object to be tested is "animal limb parameters", including : different animal species Animals of different genders and different ages, body shape, body length, body limb volume, body Geometry and physical data such as limb mass, body limb density, body limb circumference, body limb centroid position, body limb rotation inertia, etc. The measurement database 12 is used to store different types of measurement data, including different heights. Measurement data of the weight, sex, age, type of the object to be tested, and the state of health, for example, when the object to be tested is a human, the type of the object to be tested is a different species; the inertial data estimating unit 13 is used to The basic physiological data of the input unit 11 is compared with the measured data of the measurement database 12 to estimate the inertial data of at least one limb of the test object, and the measurement database 12 can capture and store the inertial data estimation unit. Estimated inertial data.

The sensing module 20 is configured to sense motion information and boundary force data generated when the object to be tested is active or when the object to be tested is operated during the movement; the sensing module 20 includes at least a kinematic sensing element 21 and at least one kinematic sensing element 22, the kinematic sensing element 21 is disposed on the object to be tested, and the kinematic sensing element 21 can be an accelerometer, a gyroscope, an electronic protractor, One or more sensing elements of the electronic range finder, the kinematic sensing element 21 can detect motion data of the limb of the object to be tested, the motion data including position change, angle change, speed change or acceleration; The sensing component 22 is disposed at a portion of the limb of the object to be tested that is in contact with the operated sports equipment. The motion sensing component 22 is a sensing component of one or more of a piezoelectric material, a load cell, and a strain gauge. The mechanical sensing component 22 is configured to detect the boundary force data of the contact end of the limb of the object to be tested, and the force information of the boundary includes strength or pressure; for example, when the object to be tested is running, Studies movable sensing element 21 disposed in the sensing leg of the joint was measured, the mechanical motion sensing element 22 disposed on the analyte foot with the ground contact portion, Similarly, when operating the bicycle analyte, The kinematic sensing element 21 can also be disposed on the leg joint of the object to be tested, and the motion mechanical sensing element 22 can be disposed on the contact portion between the sole of the object to be tested and the foot pedal. .

The calculation module 30 is configured to calculate the limb of the object to be tested during the motion according to the inertial data provided by the inertial data module 10, the motion data sensed by the sensing module 20, and the boundary force data. The motion information of the joints of the limbs of the test object is calculated, and the motion data and the boundary force data can be transmitted to the calculation module 30 by wire or wirelessly. The calculation module 30 calculates the internal force information of the joints of the limbs by using the inverse kinematics equation by an analysis software 31. The internal force information of the joint includes the joint activity during the movement of the object to be tested. Understand the range of joint activities of the exercise equipment or the space movement during the movement of the object to be tested, and the force in the joint of the object to be tested, to understand the condition of the joint operation of the exercise equipment or the joint force during the space movement, and to be tested The moment of action in the joint of the object is used to understand the change of the intra-articular moment of the exercise equipment or the joint movement during the space movement.

For the calculation module 30 to calculate the motion data sensed by the sensing module 20 and the method of the boundary force data, please refer to the second figure, which is an example of a human leg pedaling, as shown in the figure. The leg portion 40 includes a large leg 41. The top end of the thigh 41 is connected to a hip joint 411 of a human body (not shown), and a small leg 42 is connected to the bottom end of the thigh 41. The thigh 41 and the lower leg 42 The joint is a knee joint 421 having a leg portion 43 at the bottom end of the lower leg 42. The joint between the lower leg 42 and the leg portion 43 is an ankle joint 431. The leg portion 43 is stepped on a pedal 44. The pedal 44 is stepped on a pedal 44. One end of the shaft body 45 is pivotally connected to the main body of the sports equipment such as a bicycle or a treadmill (not shown). The length of the thigh 41, the lower leg 42 limb, and the length of the shaft 45 and the rotation angle of the pedal 44 are known, the connection relationship of the leg pedals can be simplified to the linkage mechanism as shown in the third figure. Wherein, the first link L1 represents the thigh 41 of the second figure, the second link L2 represents the lower leg 42 of the second figure, and the third link L3 represents the second figure of the shaft 45, the upper fixed point H represents the first 2, the hip joint 411, the upper pivot point K represents the second figure of the knee joint 421, the lower pivot point A represents the second figure of the ankle joint 431, and the lower fixed point C represents the second figure of the shaft body 45 The pivoting is at one end of the main body of the sports equipment, wherein the position of the lower pivot point A can be derived from the length and the rotation angle of the third link L3, and at the same time, in terms of the range of the general human knee joint, the upper pivotal connection The range of the movement angle of the point K is about 140 degrees, so the motion state of the upper pivot point K (that is, the knee joint 421) can be calculated by the two-link calculation.

Can be derived from the cushion and the pedal axis data, and Known (derived from the pedal crank length and rotation angle), it is available . among them Known, and A known. Therefore, point A and point H are known, and point A is taken as the center. The circle of the radius and the point of the point H It is the intersection of two circles of the radius.

Write the circle O _A with the point _A as the parametric formula:

Where Ax and Ay are the X and Y axis coordinates of point A, and r _s is Substituting it into the circle with the H point as the center of the circle O _H equation: [( r _T cos θ + H _x )- A _x ] ² + [( r _T sin θ + H _y )- A _x ] ² = r _T ²

Where: Hx, Hy are the X and Y axis coordinates of point H, r _T is , 2 r _s ( A _x - H _x )cos θ +2 r _s ( A _y - H _y )sin θ =- r _s ² + r _T ² -( A _x - H _x ) ² -( A _y - H _y ) ²

Let it be: acos θ +bsin θ =c

Acos θ +b=c

^{(a 2 + b 2) cos2} θ + (- 2ac) cos θ + (c 2 -b 2) = 0

Solve this equation with the formula, cos θ is unknown:

among them,

So that two cos θ are solved, and the cos θ is returned to the original equation to solve the upper pivot joint K (ie, the knee joint 421), and then the ROM of the pivot joint K (the range of the movable angle is about 140 degrees). Limit the removal of invalid solutions.

In order to verify the above calculation method, the knee joint motion state estimated by the estimated model and the knee joint position measured by the professional motion analysis kit system are compared, as shown in the fourth figure, wherein the dotted curve La is a professional motion analysis set system. (VICON) One of the subjects measuring 177 cm in height and 64 kg in weight stepped on the knee motion of the indoor bicycle, and the solid curve Lb was calculated by using the above-described estimated model of the present invention, and the vertical line S1 represents the received The tester begins to step on the pedal, and the subject enters the vehicle in the front of the vertical line S1. Since the pedal does not move, the model does not derive the action. After the vertical line S1, the knee joint motion state calculated by the present invention is basically consistent with the actual knee joint motion state, please refer to the error value curve shown in the fifth figure, and the percentage of the error value is as follows. As shown in the sixth figure, it can be seen from the sixth figure that the present invention is indeed feasible using the equation estimation model and has an accuracy of more than 80%.

Secondly, by substituting the boundary force data obtained by the above method into the inverse kinematics equation, the motion data of each limb of the object to be tested and the internal force information of the joint can be derived, as shown in the following equation: Where: F _i is the joint force of the i-th limb; M _i is the moment of the joint of the i-th limb; E _3×3 is the unit matrix of three by three; c _i is the proximal end of the limb i to the straight heart Vector; d _i is the near-heart-to-distal end vector of the limb; versus Is the skew-symmetric matrix of c _i , d _i (oblique symmetric matrix); I _i is the inertia matrix of the i-th limb; a _i is the centroid acceleration of the i-th limb; α _i is the centroid of the i-limb Angular acceleration; ω _i is the centroid angular velocity of the i-th limb; 0 _{n × n} is a zero matrix of n times n.

In summary, the calculation flow 50 for deriving the joint force of the limb joint by the inverse dynamic equation can be summarized as shown in the seventh figure. Referring to the second figure, the method includes: Step 51: sensing the boundary by the sensor Force data, F ₀ , M ₀ ; Step 52: Let n=1; Step 53: Know F _n-1 , M _n-1 ; F _{n-1 is} the joint force of the ankle joint 431, M _{n- 1 is} the moment received by the ankle joint 431; step 54: calculating the velocity V _n , the centroid acceleration a _n , the centroid angular velocity ω _n , the centroid angular acceleration α _n from the boundary force data; step 55: substituting the inverse kinematics equation ; step 56: push F _n, M _n; F _n for the joint force of the knee joint 421, M _n 421 suffered knee torque; step 57: Let n = n + 1, and returns to step 53, Repeat steps 53 through 57.

Referring to FIG. 8 , an architectural diagram of a second embodiment of the biomechanical analysis system provided by the present invention is derived from the first embodiment of the first figure, and the biomechanical analysis system 100A includes The functions of the inertial data module 10, the sensing module 20, and the computing module 30A are the same as those of the embodiment shown in the first figure, and will not be described again. The computing module 30A further includes a biomechanical management software 32 for analyzing inertial data, boundary force data, and estimated internal force information of the joint to provide management information for the motion of the object to be tested. The data includes the motion posture suggestion, the size of the muscle output, the size of the joint and ligament, and the soft tissue state of the test object. The calculation module 30A is connected to a storage device 60 and a display device 70, and the storage device 60 can be used to store the internal joint of the joint calculated by the calculation module 30A. The display device 70 is configured to display the data and information calculated by the biomechanical analysis system 100A, including the inertial data estimated by the inertial data module 10, and the motion sensed by the sensing module 20 The data, the boundary force data, and the information on the internal force of the joint estimated by the analysis software 31 can be set to display the display device 70 in the form of a graph, a curve, a character, or the like.

Please refer to the ninth figure, which is a structural diagram of a third embodiment of the biomechanical analysis system provided by the present invention. The present embodiment is derived from the second embodiment of the eighth embodiment. The inertial data module 100B includes The inertial data module 10B, the sensing module 20, and the computing module 30B are characterized in that the inertial data module 10B includes a setting unit 14 for using the inertial data according to the inertial data. The inertial data of the object to be tested estimated by the estimating unit 13 sets the optimal motion condition of the object to be tested, that is, the safe force range of the object to be tested. In addition, the computing module 30B includes a matching unit 33, the ratio The unit 33 is configured to compare the internal force information of the joint estimated by the analysis software 31 with the optimal motion condition set by the setting unit 14, and if the calculated internal force information of the joint is greater than the optimal The motion condition represents a damaging effect on the joint of the object to be tested. At this time, the object to be tested may be warned, for example, the warning device or sound may be generated by the display device 70 in an acousto-optic manner, or the motion device may be forced. The material stops working.

In summary, the biomechanical analysis system and method provided by the present invention utilizes a sensor of a built-in or external device to sense motion data and boundary force data of a test object during operation of the operating device. Calculation method Calculate and analyze the force information in the joint of the object to be tested, and the force information can be used as a motion prescription for monitoring the user or as a user and a trainer, and further provide a healthy, safe and effective exercise method for the user. It can be applied to the upgrade of traditional fitness equipment, and the user's biological action data and boundary force data are obtained through the sensor of the device, so that there is no related biomechanical analysis equipment product on the market, and the mechanical analysis of the joints of the human body is added. The scope of the industry to which the present invention is applicable may include, for example:

(1) Fitness equipment industry: The most directly applicable product of the present invention is to provide a fitness equipment currently available on the market, which can analyze the biomechanical function of the human body. From the past, it can only be exercised by the fixed sports mode built in the fitness equipment. It is suggested that a sports mode that can be adjusted according to the individual's physical condition can be developed, which can increase the exercise performance of the fitness equipment itself and provide an easy-to-understand physical indicator for the user and the fitness instructor.

(2) Health management industry: Using the personal mechanics analysis information detected and calculated, you can compare the established database to know the personal level, and you can also store or upload personal data as an individual's physical condition. Record, monitor the physical condition of the individual in the medium and long term.

(3) Medical equipment industry: The invention can be used to establish an analysis module, which can be applied to existing medical instruments, such as clinical rehabilitation sports equipment and rehabilitation aids, and provides users to operate rehabilitation equipment. And the action data of the auxiliary equipment and the boundary force data are fed back to improve the use efficiency of the product.

(4) Entertainment and leisure industry: The human motion data and the boundary force data obtained by the detection can be supplemented by electronic devices such as video and network cameras. Providing a video game with a human body boundary force data as an output/input signal source can increase the user's more sports training and entertainment nature.

However, the above description is only for the embodiments of the present invention, and the scope of the invention is not limited thereto. That is to say, the equivalent changes and modifications made by the applicant in accordance with the scope of the patent application of the present invention should still fall within the scope of the patent of the present invention. I would like to ask your review committee to give a clear explanation and pray for it.

100, 100A, 100B‧‧‧Biomechanical Analysis System

10, 10B‧‧‧ inertial data module

11‧‧‧ Input unit

12‧‧‧Measurement database

13‧‧‧Inertial Data Estimation Unit

14‧‧‧Setting unit

20‧‧‧Sensor module

21‧‧‧Kinematic sensing components

22‧‧‧Sports mechanical sensing components

30, 30A, 30B‧‧‧ Calculation Module

31‧‧‧ Analysis software

32‧‧‧Biomechanical management software

33‧‧‧ comparison unit

40‧‧‧ legs

41‧‧‧Thighs

411‧‧‧Hip joint

42‧‧‧ calf

421‧‧‧ knee joint

43‧‧‧foot

431‧‧‧ Ankle

44‧‧‧ pedal

45‧‧‧Axis body

451‧‧‧The other end of the shaft

A‧‧‧ lower pivot joint

C‧‧‧ fixed point

F _n ‧‧‧ joints of the knee joint

F _n-1 ‧‧‧ joints of the ankle joint

H‧‧‧fixed point

K‧‧‧Side joint

La, Lb‧‧‧ Curve

L1‧‧‧first link

L2‧‧‧second link

L3‧‧‧ third link

M _n ‧‧‧ Torque received by the knee joint

M _n-1 ‧‧‧ The moment of the ankle joint

S1‧‧‧ vertical line

50‧‧‧The calculation process of the invention for inducing the joint force of the limb joint by the inverse dynamic equation

51~57‧‧‧Steps

60‧‧‧ storage device

70‧‧‧ display device

The first figure is an architectural diagram of a first embodiment of the system of the present invention.

The second picture is a schematic view of the structure of the stepping pedal of the leg.

The third figure is a diagram of the linkage mechanism of the simplified structure. .

The fourth figure is a comparison chart of the knee joint motion state and the actual knee joint motion state curve calculated by the equation of the present invention.

The fifth figure is a graph of the error value of the knee joint motion state and the actual knee joint motion state calculated by the equation of the present invention.

The sixth figure is a graph showing the percentage error value of the knee joint motion state and the actual knee joint motion state calculated by the equation.

The seventh figure is a calculation flow chart of the present invention.

The eighth figure is an architectural diagram of a second embodiment of the system of the present invention.

The ninth drawing is an architectural diagram of a third embodiment of the system of the present invention.

100‧‧‧Biomechanical Analysis System

10‧‧‧Inertial Data Module

11‧‧‧ Input unit

12‧‧‧Measurement database

13‧‧‧Inertial Data Estimation Unit

20‧‧‧Sensor module

21‧‧‧Kinematic sensing components

22‧‧‧Sports mechanical sensing components

30‧‧‧Computation Module

31‧‧‧ Analysis software

Claims (35)

A biomechanical analysis system for estimating a joint stress condition of a test object during exercise, the system comprising: an inertial data module for providing inertial data of at least one limb of the test object; a module for sensing motion information of the object to be tested, or motion data generated when the object to be tested is operated during the movement, and boundary force data; and a calculation module for using the inertia data The inertial data provided by the module, the motion data sensed by the sensing module, and the boundary force data, calculate the motion information of the limb during the movement, and calculate the limbs of the object to be tested. The internal force information of the joint, the internal force information of the joint includes: the joint activity degree of the object to be tested, to understand the range of joint movement of the exercise equipment or the space movement; the force in the joint of the object to be tested, To understand the operation of the exercise equipment or the intra-articular force during the movement of the object to be tested; and the moment of action in the joint of the object to be tested to understand the operation of the exercise equipment or the space movement Torque change the situation in the festival. The biomechanical analysis system of claim 1, wherein the inertial data module comprises: an input unit for inputting basic physiological data of the object to be tested; and a measurement data base for storing different types of measurement data. An inertial data estimating unit configured to estimate the measured object according to the basic physiological data of the input unit and the measured data of the measuring data base Inertial data. The biomechanical analysis system of claim 2, wherein the basic physiological data includes height, weight, sex, and age. The biomechanical analysis system of claim 2, wherein the measurement database can capture and store the inertial data of the test object estimated by the inertial data estimation unit. The biomechanical analysis system of claim 1, wherein the sensing module comprises: at least one kinematic sensing component disposed on the object to be tested for detecting the motion of the limb of the object to be tested And the at least one motion-sense sensing component is disposed at a portion of the body of the object to be tested that is in contact with the operated exercise equipment, and is configured to detect the boundary force data of the contact end of the limb of the object to be tested. The biomechanical analysis system of claim 5, wherein the kinematic sensing element is one or more of the accelerometer, the gyroscope, the electronic protractor, and the electronic range finder. The biomechanical analysis system of claim 5, wherein the motion mechanical sensing element is one or more of the piezoelectric material, the load cell, and the strain gauge. The biomechanical analysis system of claim 1, wherein the motion data is position change, angle change, speed change or acceleration. The biomechanical analysis system of claim 1, wherein the boundary force data is strength or pressure. The biomechanical analysis system of claim 1, wherein the calculation module comprises an analysis software, and the analysis software utilizes the reverse direction The kinematic equation derives the information about the internal force of the joint of each limb of the object to be tested. The biomechanical analysis system of claim 1, wherein the calculation module further comprises a biomechanical management software for analyzing inertial data, motion data, and boundary force data, and the calculated internal force of the joint. Information to provide management information for the movement of the object to be tested. The biomechanical analysis system according to claim 11, wherein the motion suggestion management information includes a motion posture suggestion, a muscle output size, a joint and a ligament force, a soft tissue state of the test object, and a quantitative test object. Muscle fitness performance. The biomechanical analysis system of claim 11, further comprising a display device for displaying the inertial data, the motion data, the boundary force data, the joint internal force information, and the motion suggestion management data. The biomechanical analysis system of claim 1, further comprising a storage device for storing the internal force information of the joint calculated by the calculation module. The biomechanical analysis system of claim 1, wherein the inertial data module comprises a setting unit configured to set an optimal motion condition of the object to be tested according to the inertial data of the object to be tested. The biomechanical analysis system of claim 1, wherein the calculation module comprises a comparison unit for comparing the calculated internal force information of the joint with the optimal motion condition of the object to be tested. The biomechanical analysis system of claim 1, wherein the sensing module uses motion data and boundaries in a wired or wireless manner. The force data is transmitted to the calculation module. A biomechanical analysis method for estimating a joint stress condition of a test object during exercise, comprising: providing an inertial data of at least one limb of the test object by an inertial data module; When the module senses the activity of the object to be tested, or the action data and the boundary force data generated when the object to be tested is operated during the movement, and the data provided by the calculation module according to the inertial data module The inertial data, the motion data sensed by the sensing module, and the boundary force data, calculate the motion information of the limb during the movement of the object to be tested, and calculate the internal joint of the limbs of the object to be tested. Force information, the internal force information of the joint includes: the joint activity when the object to be tested is exercised, to understand the range of joint movement of the exercise equipment or the space movement during the movement; the force in the joint of the object to be tested to understand the test The operation of the fitness equipment or the intra-articular force during the movement of the space; and the moment of action in the joint of the object to be tested to understand the intra-articular moment of the exercise equipment or the space movement Of the situation. The method of biomechanical analysis according to claim 18, wherein the inertial data module comprises: an input unit for inputting basic physiological data of the object to be tested; and a measurement database for storing different types of measurement An inertial data estimating unit configured to estimate the measured object according to the basic physiological data of the input unit and the measured data of the measuring data base Inertial data. The biomechanical analysis method according to claim 19, wherein the basic physiological data includes height, weight, sex, and age. The biomechanical analysis method according to claim 18, wherein the measurement database can extract and store the inertial data of the test object estimated by the inertial data estimation unit. The biomechanical analysis method of claim 18, wherein the sensing module comprises: at least one kinematic sensing component disposed on the object to be tested for detecting motion data of the limb of the object to be tested And at least one motion-mechanical sensing component is disposed at a portion of the body of the object to be tested that is in contact with the operated exercise equipment, and is configured to detect the boundary force data of the contact end of the limb of the object to be tested. The biomechanical analysis method of claim 22, wherein the kinematic sensing element is one or more of the accelerometer, the gyroscope, the electronic protractor, and the electronic range finder. The biomechanical analysis method according to claim 22, wherein the motion mechanical sensing element is one or more sensing elements of a piezoelectric material, a load cell, and a strain gauge. The biomechanical analysis method according to claim 18, wherein the action data is position change, angle change, speed change or acceleration. For example, the biomechanical analysis method described in claim 18, wherein the boundary force data is strength or pressure. A biomechanical analysis method as described in claim 18, The calculation module includes an analysis software, and the analysis software uses the inverse kinematics equation to calculate the internal force information of the joints of the limbs of the object to be tested. The biomechanical analysis method according to claim 18, wherein the calculation module further comprises a biomechanical management software for analyzing inertial data, motion data, and boundary force data, and the calculated internal force of the joint. Information to provide management information for the movement of the object to be tested. For example, the biomechanical analysis method described in claim 28, wherein the motion suggestion management information includes a motion posture suggestion, a muscle output size, a joint and a ligament force, a soft tissue state of the test object, and a quantitative test object. Muscle fitness performance. The biomechanical analysis method of claim 28, further comprising a display device for displaying the inertial data, the motion data, the boundary force data, the joint internal force information, and the motion suggestion management data. The biomechanical analysis method of claim 18, further comprising a storage device for storing the internal force information of the joint calculated by the calculation module. The biomechanical analysis method of claim 18, wherein the inertial data module comprises a setting unit configured to set an optimal motion condition of the object to be tested according to the inertial data of the object to be tested. The biomechanical analysis method of claim 18, wherein the calculation module comprises a comparison unit for comparing the calculated internal force information of the joint with the optimal motion condition of the object to be tested. A biomechanical analysis method as described in claim 33, The result of the comparison between the comparison units, if the calculated internal force information of the joint is greater than the optimal exercise condition, a warning or forced exercise equipment is stopped. The biomechanical analysis method of claim 18, wherein the sensing module transmits the motion data and the boundary force data to the computing module in a wired or wireless manner.