采用运动捕捉系统建立踝部运动模型  

Researchon Establishment of Ankle Motion Model Using Motion Capture System

作　　者：黄金安 刘承磊 贾维涵 张鹏程 张建军[1,2] HUANG Jin'an;LIU Chenglei;JIA Weihan;ZHANG Pengcheng;ZHANG Jianjun(School of Mechanical Engineering,Hebei University of Technology,Tianjin 300130,China;Hebei Provincial Key Laboratory of Robot Perception and Human-machine Fusion,Tianjin 300130,China)

机构地区：[1]河北工业大学学机械工程学院,天津300130 [2]河北省机器人感知与人机融合重点实验室,天津300130

出　　处：《机械设计与研究》2022年第5期60-67,共8页Machine Design And Research

基　　金：国家自然科学基金资助项目(52075145);河北省自然科学基金重点资助项目(E2020202010);河北省重大科技成果转化专项(20281805Z);河北省自然科学基金资助面上项目(E2020103001)。

摘　　要：针对目前踝关节康复机器人的设计缺少以人体真实踝部运动模型为客观的评价标准,未能对人体踝部运动位姿进行识别,导致人机匹配程度不高、运动协调性较差。基于此,在符合康复医师理疗手法的前提下提出一种足部相对于固定小腿在做背伸与跖屈运动时位姿矩阵的识别方法。首先,根据人体小腿穴位分布以及足部肌肉组织的特点,分别确定小腿和足部标识点粘贴的位置。其次,根据足部标识点采集得到的数据,利用空间曲线曲率中心的方法确定胫距关节轴线的位置和方向。依据曲率圆心图像分布特点,利用箱形图原理过滤掉波动较小区间内曲率圆心坐标数据中的异常值,通过与足部内外踝尖为特征连成的轴线作对比,表示出两种轴线的差异。最后,基于胫距关节轴线位姿,建立人体足部坐标系相对于小腿坐标系的数学模型,得出踝部运动位姿的识别方法。该方法可为设计踝关节康复机器人和分析人体踝部真实运动提供客观评价指标。The current design of ankle rehabilitation robot lacks an objective evaluation standard based on the real ankle motion model of the human body,and fails to identify the pose of human ankle motion,resulting in low humanmachine matching and poor motion coordination.Based on this,a method for identifying the posture matrix of the foot relative to the fixed leg during dorsiflexion and plantar flexion exercises is proposed on the premise of conforming to the physiotherapy techniques of the rehabilitation physician.Firstly,according to the distribution of acupuncture points on the lower leg of the human body and the characteristics of foot muscle tissue,the positions of the marking points on the lower leg and the foot are determined respectively.Secondly,according to the data collected from the foot marking points,the position and direction of the tibiotalar joint axis are determined by the method of the center of curvature of the space curve.Due to the distribution characteristics of curvature circle center image,the box plot principle is used to filter out the outliers in the curvature center coordinate data in the less fluctuating interval,and the two axes are expressed by comparing with the axis formed by the inner and outer ankle tips of the foot.Finally,based on the position and orientation of the tibiotalar joint axis,the mathematical model of the human foot coordinate system relative to the calf coordinate system is established,and the recognition method of the ankle movement pose is achieved.The method can provide objective evaluation index for designing ankle rehabilitation robots and analyzing the real motion of human ankles.

关 键 词：踝关节康复机器人 运动捕捉 踝部运动 运动姿态识别 位姿矩阵 

分 类 号：TH112[机械工程—机械设计及理论]