基于加速度传感器的运动信息采集和应用研究
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摘要
人类运动与人体健康息息相关,一直以来受到人们的广泛关注,随着运动生物力学、人体测量学的发展,人们对人体运动的研究日益深入。本文以运动生物力学理论为基础,对人体运动参数的测量和分析方法进行了研究,主要目的在于探索运动生物力学参数之间的关系,通过运动生物力学参数的测量、分析揭示人体运动的规律,在人体姿态识别、体育训练等方面提供理论指导。
在对人体结构及人体运动的特点进行了介绍和总结的基础上,为了便于人体运动研究,建立了人体运动的棒状模型及便于分析计算的人体坐标系。通过对常用人体运动参数测量方法的分析,提出了利用加速度参数进行运动测量和分析的方法。应用加速度传感器实现了对肢体运动的测量,并利用加速度参数与速度、位移等参数之间的数学关系实现了对其它运动参数的求解,从而对人体运动的姿态、动作轨迹等进行分析。
自行研制了运动采集系统,系统分为信号采集单元与数据处理单元两个部分,以ARM7、三轴加速度计ADXL330为核心,可实现最多5个传感器网络节点的信息采集及数据分析。在对系统完成性能测试的基础上进行了运动测量的实验,并将其应用到电脑游戏的控制中进行可靠性的测试,实验结果验证了利用运动信息采集系统对人体运动信息进行采集和分析的方法是可行的。
利用加速度参数对人体简单运动进行分析的方法方便可行,但在复杂运动的分析中,则需要更多的信息进行综合分析。因此,对于人体运动的研究,应综合多种方法,尽可能获取更多的信息,以使得人体运动分析更加科学、合理。
Human has always paid broad attention to body motion relating close to human health. With the development of motion biomechanics and anthropometry, people have increasingly deeply studied human body motion. The paper focuses on the measurement of body motion parameters and analysis method of body motion based on the theory of motion biomechanics. The contents involve the study on the relationship between parameters of motion biomechanics, the analysis of the law of body motion by measuring motion biomechanics parameters to provide theoretical guidance for recognition of human gesture, physical training, and so on.
Human structure and characteristics of body motion are analyzed and summarized, on the basis of which rod model and coordinate system of human body are built to provide convenience for the study of body motion. The method of measuring body motion with acceleration sensor is presented with the analysis of common measurement method of body motion parameters. The measurement of extremity is performed by acceleration sensor; other motion parameters are solved by the mathematical relationship between acceleration parameter and velocity, displacement, etc.. Thereby, motion gesture and action trace of human body can be analyzed.
A system which consists of signal collection unit and data processing unit is developed to complete collection and data analysis from the motion information at most 5 sensor network nodes using ARM7 and ADXL330. The experiments of motion measurement are done on the basis of performing the testing of system performance, and the system is applied in computer game for the reliability testing. The results show that collecting and analyzing motion information of human body by the system is a feasible method.
The analysis of simple body motion using acceleration parameter is a convenient and feasible method. But more information is required to be analyzed synthetically in the complex motion. Therefore, it is necessary for the study of body motion to synthesize a variety of methods and obtain as much information as possible, which makes the analysis of body motion more scientific and rational.
在对人体结构及人体运动的特点进行了介绍和总结的基础上,为了便于人体运动研究,建立了人体运动的棒状模型及便于分析计算的人体坐标系。通过对常用人体运动参数测量方法的分析,提出了利用加速度参数进行运动测量和分析的方法。应用加速度传感器实现了对肢体运动的测量,并利用加速度参数与速度、位移等参数之间的数学关系实现了对其它运动参数的求解,从而对人体运动的姿态、动作轨迹等进行分析。
自行研制了运动采集系统,系统分为信号采集单元与数据处理单元两个部分,以ARM7、三轴加速度计ADXL330为核心,可实现最多5个传感器网络节点的信息采集及数据分析。在对系统完成性能测试的基础上进行了运动测量的实验,并将其应用到电脑游戏的控制中进行可靠性的测试,实验结果验证了利用运动信息采集系统对人体运动信息进行采集和分析的方法是可行的。
利用加速度参数对人体简单运动进行分析的方法方便可行,但在复杂运动的分析中,则需要更多的信息进行综合分析。因此,对于人体运动的研究,应综合多种方法,尽可能获取更多的信息,以使得人体运动分析更加科学、合理。
Human has always paid broad attention to body motion relating close to human health. With the development of motion biomechanics and anthropometry, people have increasingly deeply studied human body motion. The paper focuses on the measurement of body motion parameters and analysis method of body motion based on the theory of motion biomechanics. The contents involve the study on the relationship between parameters of motion biomechanics, the analysis of the law of body motion by measuring motion biomechanics parameters to provide theoretical guidance for recognition of human gesture, physical training, and so on.
Human structure and characteristics of body motion are analyzed and summarized, on the basis of which rod model and coordinate system of human body are built to provide convenience for the study of body motion. The method of measuring body motion with acceleration sensor is presented with the analysis of common measurement method of body motion parameters. The measurement of extremity is performed by acceleration sensor; other motion parameters are solved by the mathematical relationship between acceleration parameter and velocity, displacement, etc.. Thereby, motion gesture and action trace of human body can be analyzed.
A system which consists of signal collection unit and data processing unit is developed to complete collection and data analysis from the motion information at most 5 sensor network nodes using ARM7 and ADXL330. The experiments of motion measurement are done on the basis of performing the testing of system performance, and the system is applied in computer game for the reliability testing. The results show that collecting and analyzing motion information of human body by the system is a feasible method.
The analysis of simple body motion using acceleration parameter is a convenient and feasible method. But more information is required to be analyzed synthetically in the complex motion. Therefore, it is necessary for the study of body motion to synthesize a variety of methods and obtain as much information as possible, which makes the analysis of body motion more scientific and rational.
引文
[1]王新.基于摄像系统的上肢日常活动中的运动分析[M].天津:天津科技大学,2004
[2]肖鹏.基于关节变量的人体手臂运动检测及建模[M].硕士学位论文,湖南长沙:中南大学,2006
[3]张振龙,陈慧宝,何毅.人体运动的三维分析[J].中国康复,1999,14(3):184~185
[4]高帆.人体运动信息检测技术[J].科学时报,2001(6):1~2
[5]李建设,王良民.运动生物力学研究技术的发展与存在问题[J].中国运动医学杂志,2002,21(4):389~391
[6]钱朋安,葛运建,唐毅等.加速度计在人体运动检测中的应用[J].计算机技术与应用进展,2004: 632~636
[7]李建设,王良民.运动生物力学研究技术的发展与存在问题[J].中国运动医学杂志,2002,21(4):389~391
[8]崔巍.计算机辅助运动训练系统研究与相关子系统的实现[M].硕士学位论文,北京:清华大学,2003
[9]中国运动生物力学网\http://www.cssb2001.net/
[10]侯文生,戴加满,郑小林,等.基于加速度传感器的前臂运动姿态检测[J].传感器与微系统,2009,28(1):106~108
[11] Carlijn V.C.Bouten,Klaas R.Westerterp,etc. A triaxial accelerometer for the assessment of daily physical activity in relation to energy expenditure[C]. Proceedings of the 15th Annual International Conference of the IEEE,985~986,Oct.28-31,1993.
[12] Characterization and implications of the sensors incorporated into the Sensewear Armband for energy expenditure and activity detection. http://www.bodymedia.com/pdf/sensors.pdf/.
[13] A tri-axial accelerometer interface for the transmission of impact easurements. http://www.ee.upenn.edu/sunfest/pastProjects/presentations00/MarandolaHeather.pdf/
[14]焦纯,杨国胜,董秀珍,等.基于三维运动传感器的训练强度监测仪的设计[J].医疗卫生装备,2003(3):9~12
[15] Richard W, Brian J A. Gait event detection for FES using accelerometers and supervised machine learning[J]. IEEE Transactions on Rehabilitation Engineering, 2000, 8(3):312~319
[16] Antoon Th.M. Willemsen, Fedde Bloemhof, Herman B.K.Boom. Automatic stance-swing phase detection from accelerometer data for personal nerve stimulation[J].IEEE Transactions on Biomedical Engineering, 1990,37(12):1201~1208
[17] Bob K, Ad J.M.W.Janssen,Bob van. Body position can be monitored in 3D using miniature accelerometers and earth-magnetic field sensors[J]. Electroencephalography and Clinical Neurophysiology, 1998(109):484~488
[18] Baselli G, Legnani G, Franco P. Technical note: assessment of inertial and gravitational inputs to the vestibular system[J]. Journal of Biomechanics, 2001(34): 821~826
[19] Stanley C F, Michael A N, Timothy S M. A simple and inexpensive system for monitoring jaw movements in ambulatory humans[J]. Journal of Biomechanics,2002,35:573~577
[20] http://tech.qq.com/a/20090716/000082.htm
[21] http://www.humanitarian-demining.org
[22] http://web.nps.navy.mil/~me/files/projects/shindoc.pdf
[23]崔牧凡.电磁式人体运动检测装置及数据调理模型的研究与实现[D].北京:北京航空航天大学,2001
[24] Boufic R,Thalmarm D,Magnenat·Thalmann N.A global humanwalking model with real-time kinematics personification[J].VisualComputer(S0178-2789),1990,6(6):344·358
[25]陈祥运.测力台数据的采集分析与系统实现[D].南京:南京理工大学,2003,1~2
[26]王向东,刘学贞,苑廷刚,等.运动生物力学方法学研究现状及发展趋势[J].中国体育科技,2003,39(2):15~16
[27]苏品.运动生物力学[M].北京:人民体育出版社, 1980
[28]忻鼎亮.运动生物力学[M].上海:东华大学出版社, 2002
[29]卢德明.运动生物力学测量方法[M].北京:北京体育大学出版社,2002
[30]任惠民,林奇,等.人体形态学[M].北京:北京医科大学出版社,2000
[31]基于视频的人体运动分析[D].浙江:浙江大学
[32]雷建和.基于多源信息融合的人人体运动分析与建模研究[D].安徽:中国科学技术大学,2006
[33]王天树.三维人体运动分析和合成的统计方法[D].西安:西安交通大学,2002
[34] Nadia Magnenat-Thalmann,MyungJin Kang,Taro Goto.Problems andsolutionsforthe accurate 3D functionalmodellingofthehip and shoulder[C].Proc.of IEEE Computer Graphics ImernationM 2002,3-23
[35]李振波,李华.基于运动生物力学的三维人体运动模型[J].系统仿真学报,2006,10,18,10,P2992-2994
[36]袁庆成.人体运动分析[M],人民体育出版社,1981
[37]郑秀瑗.现代运动生物力学[M].国防工业出版社,2002
[38]乔建军.基于运动捕获的运动编辑技术研究[D].山东:山东大学,2007,10~12
[39]周华,沈连官,尤辉,等。电容式微型加速度传感器的建模仿真及优化设计研究[J].光电精密工程,1999(4):35~37
[40]杨慧馨,杨雷.运动生物力学在武术动作技术分析中的应用现状研究[J].哈尔滨体育学院学报,2006,5,(24):144~147
[41]谷荻隆嗣.数字滤波器与信号处理[M].科学出版社,2003
[42]刘燕,李月香.基于加速度计的步态数据无线采集系统设计[J].单片机与嵌入式系统应用,2009,5:43~45
[43]向坚.基于三维捕获数据的人体运动分析关键技术研究[D].博士学位论文,浙江大学,2007
[44]陈义华.基于加速度传感器的定位系统研究[D].福建:厦门大学,2006
[45] CarloAlberto Avizzano,Patrizio Sorace,Damaso Checcacci,etc.Head Tracking based on accelerometer sensors [J].Proceedings of Helmet and Head-Mounted Displays V, SPIE Vol. 4021, AeroSense Symposium, Orlando, FL, April 24-25, 2000
[46] R. W. Hogg, A. L. Rankin, S. I. Roumeliotis,”Algorithms and Sensors for Small Robot Path Following,”IEEE International Conference on Roboticsand Automation, pp. 3850–3857, May 2002.
[47] Jihong Lee,Insoo Ha.Real-Time Motion Capture for a Human Body using Accelerometers[J].Robotica,2001,19:501-610
[48]吴建义,吴鸿适,张福学.气流式加速度传感器的研究及其应用[D].北京真空电子技术研究所,1999
[2]肖鹏.基于关节变量的人体手臂运动检测及建模[M].硕士学位论文,湖南长沙:中南大学,2006
[3]张振龙,陈慧宝,何毅.人体运动的三维分析[J].中国康复,1999,14(3):184~185
[4]高帆.人体运动信息检测技术[J].科学时报,2001(6):1~2
[5]李建设,王良民.运动生物力学研究技术的发展与存在问题[J].中国运动医学杂志,2002,21(4):389~391
[6]钱朋安,葛运建,唐毅等.加速度计在人体运动检测中的应用[J].计算机技术与应用进展,2004: 632~636
[7]李建设,王良民.运动生物力学研究技术的发展与存在问题[J].中国运动医学杂志,2002,21(4):389~391
[8]崔巍.计算机辅助运动训练系统研究与相关子系统的实现[M].硕士学位论文,北京:清华大学,2003
[9]中国运动生物力学网\http://www.cssb2001.net/
[10]侯文生,戴加满,郑小林,等.基于加速度传感器的前臂运动姿态检测[J].传感器与微系统,2009,28(1):106~108
[11] Carlijn V.C.Bouten,Klaas R.Westerterp,etc. A triaxial accelerometer for the assessment of daily physical activity in relation to energy expenditure[C]. Proceedings of the 15th Annual International Conference of the IEEE,985~986,Oct.28-31,1993.
[12] Characterization and implications of the sensors incorporated into the Sensewear Armband for energy expenditure and activity detection. http://www.bodymedia.com/pdf/sensors.pdf/.
[13] A tri-axial accelerometer interface for the transmission of impact easurements. http://www.ee.upenn.edu/sunfest/pastProjects/presentations00/MarandolaHeather.pdf/
[14]焦纯,杨国胜,董秀珍,等.基于三维运动传感器的训练强度监测仪的设计[J].医疗卫生装备,2003(3):9~12
[15] Richard W, Brian J A. Gait event detection for FES using accelerometers and supervised machine learning[J]. IEEE Transactions on Rehabilitation Engineering, 2000, 8(3):312~319
[16] Antoon Th.M. Willemsen, Fedde Bloemhof, Herman B.K.Boom. Automatic stance-swing phase detection from accelerometer data for personal nerve stimulation[J].IEEE Transactions on Biomedical Engineering, 1990,37(12):1201~1208
[17] Bob K, Ad J.M.W.Janssen,Bob van. Body position can be monitored in 3D using miniature accelerometers and earth-magnetic field sensors[J]. Electroencephalography and Clinical Neurophysiology, 1998(109):484~488
[18] Baselli G, Legnani G, Franco P. Technical note: assessment of inertial and gravitational inputs to the vestibular system[J]. Journal of Biomechanics, 2001(34): 821~826
[19] Stanley C F, Michael A N, Timothy S M. A simple and inexpensive system for monitoring jaw movements in ambulatory humans[J]. Journal of Biomechanics,2002,35:573~577
[20] http://tech.qq.com/a/20090716/000082.htm
[21] http://www.humanitarian-demining.org
[22] http://web.nps.navy.mil/~me/files/projects/shindoc.pdf
[23]崔牧凡.电磁式人体运动检测装置及数据调理模型的研究与实现[D].北京:北京航空航天大学,2001
[24] Boufic R,Thalmarm D,Magnenat·Thalmann N.A global humanwalking model with real-time kinematics personification[J].VisualComputer(S0178-2789),1990,6(6):344·358
[25]陈祥运.测力台数据的采集分析与系统实现[D].南京:南京理工大学,2003,1~2
[26]王向东,刘学贞,苑廷刚,等.运动生物力学方法学研究现状及发展趋势[J].中国体育科技,2003,39(2):15~16
[27]苏品.运动生物力学[M].北京:人民体育出版社, 1980
[28]忻鼎亮.运动生物力学[M].上海:东华大学出版社, 2002
[29]卢德明.运动生物力学测量方法[M].北京:北京体育大学出版社,2002
[30]任惠民,林奇,等.人体形态学[M].北京:北京医科大学出版社,2000
[31]基于视频的人体运动分析[D].浙江:浙江大学
[32]雷建和.基于多源信息融合的人人体运动分析与建模研究[D].安徽:中国科学技术大学,2006
[33]王天树.三维人体运动分析和合成的统计方法[D].西安:西安交通大学,2002
[34] Nadia Magnenat-Thalmann,MyungJin Kang,Taro Goto.Problems andsolutionsforthe accurate 3D functionalmodellingofthehip and shoulder[C].Proc.of IEEE Computer Graphics ImernationM 2002,3-23
[35]李振波,李华.基于运动生物力学的三维人体运动模型[J].系统仿真学报,2006,10,18,10,P2992-2994
[36]袁庆成.人体运动分析[M],人民体育出版社,1981
[37]郑秀瑗.现代运动生物力学[M].国防工业出版社,2002
[38]乔建军.基于运动捕获的运动编辑技术研究[D].山东:山东大学,2007,10~12
[39]周华,沈连官,尤辉,等。电容式微型加速度传感器的建模仿真及优化设计研究[J].光电精密工程,1999(4):35~37
[40]杨慧馨,杨雷.运动生物力学在武术动作技术分析中的应用现状研究[J].哈尔滨体育学院学报,2006,5,(24):144~147
[41]谷荻隆嗣.数字滤波器与信号处理[M].科学出版社,2003
[42]刘燕,李月香.基于加速度计的步态数据无线采集系统设计[J].单片机与嵌入式系统应用,2009,5:43~45
[43]向坚.基于三维捕获数据的人体运动分析关键技术研究[D].博士学位论文,浙江大学,2007
[44]陈义华.基于加速度传感器的定位系统研究[D].福建:厦门大学,2006
[45] CarloAlberto Avizzano,Patrizio Sorace,Damaso Checcacci,etc.Head Tracking based on accelerometer sensors [J].Proceedings of Helmet and Head-Mounted Displays V, SPIE Vol. 4021, AeroSense Symposium, Orlando, FL, April 24-25, 2000
[46] R. W. Hogg, A. L. Rankin, S. I. Roumeliotis,”Algorithms and Sensors for Small Robot Path Following,”IEEE International Conference on Roboticsand Automation, pp. 3850–3857, May 2002.
[47] Jihong Lee,Insoo Ha.Real-Time Motion Capture for a Human Body using Accelerometers[J].Robotica,2001,19:501-610
[48]吴建义,吴鸿适,张福学.气流式加速度传感器的研究及其应用[D].北京真空电子技术研究所,1999