Based on the continuous development of motion capture technology for ordinary video images, unmarked optical motion capture has become the fastest human posture recognition technology. Compared with other technical pr...Based on the continuous development of motion capture technology for ordinary video images, unmarked optical motion capture has become the fastest human posture recognition technology. Compared with other technical products, Google’s 3D human body recognition framework—Mediapipe is the most mature representative in this field. However, Mediapipe also has many defects in the detection of 3D human posture. In this paper, firstly, to solve the problem of inaccurate detection of human posture by Mediapipe, the accuracy of 2D human posture detection is improved through the speed threshold correction method for each joint;According to the problem that the monocular camera can not detect the depth Z value in the human posture data accurately, the Z value of the joint point is corrected for the human tilt angle through statistics;Then, according to the inaccurate recognition of Z value caused by large body posture, the accurate correction of Z value of human posture under different body posture is realized by normalizing the simulation proportion of each body limb;Finally, in order to solve the problem of jitter, lag problem and periodic noise in multiple frames caused by the speed change of human joints, one euro filtering and mean filtering of joint data are carried out. This paper verifies that the accuracy of 3D human posture detection based on the improved Mediapipe is more than 90% through the multi-pose recognition test for people of different heights, weights, ages and gender.展开更多
This article introduces a cable-driven lower limb rehabilitation robot with movable distal anchor points(M-CDLR).The traditional cable-driven parallel robots(CDPRs)control the moving platform by changing the length of...This article introduces a cable-driven lower limb rehabilitation robot with movable distal anchor points(M-CDLR).The traditional cable-driven parallel robots(CDPRs)control the moving platform by changing the length of cables,M-CDLR can also adjust the position of the distal anchor point when the moving platform moves.The M-CDLR this article proposed has gait and single-leg training modes,which correspond to the plane and space motion of the moving platform,respectively.After introducing the system structure configuration,the generalized kinematics and dynamics of M-CDLR are established.The fully constrained CDPRs can provide more stable rehabilitation training than the under-constrained one but requires more cables.Therefore,a motion planning method for the movable distal anchor point of M-CDLR is proposed to realize the theoretically fully constrained with fewer cables.Then the expected trajectory of the moving platform is obtained from the motion capture experiment,and the motion planning of M-CDLR under two training modes is simulated.The simulation results verify the effectiveness of the proposed motion planning method.This study serves as a basic theoretical study of the structure optimization and control strategy of M-CDLR.展开更多
A biomechanical musculo-skeletal model of upper limb is presented in this paper,which can provide accurate representations of muscles and joints,and capture important interactions between joints.The upper limb model i...A biomechanical musculo-skeletal model of upper limb is presented in this paper,which can provide accurate representations of muscles and joints,and capture important interactions between joints.The upper limb model is made up of seven segments:ribs,sternum,clavicle,scapular,humerus,radius and ulna,considered as a single rigid body respectively and includes 22 muscles.The individual muscle forces can be calculated by using an electromyography (EMG) assisted method,which is verified by comparing the simulation results with other researches of an elbow flexion motion.These comparisons show that the muscle forces and the estimated joint moment match well with previous literatures.展开更多
目的分析冲击载荷作用下羽毛球运动员下肢关节肌肉的动态响应变化。方法基于Any Body Modeling System软件建立人体肌骨模型,采用实测表面肌电信号进行验证,以运动捕捉系统和测力台测量数据进行模型驱动,对羽毛球右前场蹬跨步上网过程...目的分析冲击载荷作用下羽毛球运动员下肢关节肌肉的动态响应变化。方法基于Any Body Modeling System软件建立人体肌骨模型,采用实测表面肌电信号进行验证,以运动捕捉系统和测力台测量数据进行模型驱动,对羽毛球右前场蹬跨步上网过程中下肢肌肉肌力、关节力和关节力矩进行逆向动力学仿真与分析。结果所建人体下肢肌骨模型经肌电信号验证有效。羽毛球蹬跨步上网过程中,髋、踝关节Z方向内力峰值显著高于X和Y方向内力峰值,而膝关节X方向内力峰值显著高于Y和Z方向内力峰值;缓冲期,髋关节X、Y、Z方向依次表现为内收力矩、伸髋力矩和内旋力矩,膝关节X、Y、Z方向依次表现为外展力矩、屈膝力矩、外旋力矩,踝关节X、Y方向依次表现为内翻力矩、跖屈力矩,且髋、膝、踝关节X方向力矩峰值显著高于Y和Z方向;股外侧肌、股二头肌、胫骨前肌、腓肠肌内侧在对抗地面冲击载荷时的肌力发挥较大,股直肌、半膜肌、比目鱼肌发挥的作用相对较小。结论建立的下肢肌骨模型可为冲击载荷作用下运动员下肢生物力学特性分析提供技术平台。为避免运动损伤,类似羽毛球前场蹬跨步上网冲击动作中尤其要重视触地瞬间地面反作用力载荷对髋、膝、踝关节前后及内外侧方向生物力学性质的影响,同时在对羽毛球运动员进行专项训练时切勿忽视对股外侧肌、股二头肌、胫骨前肌的专项力量发展。展开更多
文摘Based on the continuous development of motion capture technology for ordinary video images, unmarked optical motion capture has become the fastest human posture recognition technology. Compared with other technical products, Google’s 3D human body recognition framework—Mediapipe is the most mature representative in this field. However, Mediapipe also has many defects in the detection of 3D human posture. In this paper, firstly, to solve the problem of inaccurate detection of human posture by Mediapipe, the accuracy of 2D human posture detection is improved through the speed threshold correction method for each joint;According to the problem that the monocular camera can not detect the depth Z value in the human posture data accurately, the Z value of the joint point is corrected for the human tilt angle through statistics;Then, according to the inaccurate recognition of Z value caused by large body posture, the accurate correction of Z value of human posture under different body posture is realized by normalizing the simulation proportion of each body limb;Finally, in order to solve the problem of jitter, lag problem and periodic noise in multiple frames caused by the speed change of human joints, one euro filtering and mean filtering of joint data are carried out. This paper verifies that the accuracy of 3D human posture detection based on the improved Mediapipe is more than 90% through the multi-pose recognition test for people of different heights, weights, ages and gender.
基金funded by the National Natural Science Foundation of China,Grant Number:52175006.
文摘This article introduces a cable-driven lower limb rehabilitation robot with movable distal anchor points(M-CDLR).The traditional cable-driven parallel robots(CDPRs)control the moving platform by changing the length of cables,M-CDLR can also adjust the position of the distal anchor point when the moving platform moves.The M-CDLR this article proposed has gait and single-leg training modes,which correspond to the plane and space motion of the moving platform,respectively.After introducing the system structure configuration,the generalized kinematics and dynamics of M-CDLR are established.The fully constrained CDPRs can provide more stable rehabilitation training than the under-constrained one but requires more cables.Therefore,a motion planning method for the movable distal anchor point of M-CDLR is proposed to realize the theoretically fully constrained with fewer cables.Then the expected trajectory of the moving platform is obtained from the motion capture experiment,and the motion planning of M-CDLR under two training modes is simulated.The simulation results verify the effectiveness of the proposed motion planning method.This study serves as a basic theoretical study of the structure optimization and control strategy of M-CDLR.
基金the National Natural Science Foundation of China(No. 30530230)
文摘A biomechanical musculo-skeletal model of upper limb is presented in this paper,which can provide accurate representations of muscles and joints,and capture important interactions between joints.The upper limb model is made up of seven segments:ribs,sternum,clavicle,scapular,humerus,radius and ulna,considered as a single rigid body respectively and includes 22 muscles.The individual muscle forces can be calculated by using an electromyography (EMG) assisted method,which is verified by comparing the simulation results with other researches of an elbow flexion motion.These comparisons show that the muscle forces and the estimated joint moment match well with previous literatures.
文摘目的分析冲击载荷作用下羽毛球运动员下肢关节肌肉的动态响应变化。方法基于Any Body Modeling System软件建立人体肌骨模型,采用实测表面肌电信号进行验证,以运动捕捉系统和测力台测量数据进行模型驱动,对羽毛球右前场蹬跨步上网过程中下肢肌肉肌力、关节力和关节力矩进行逆向动力学仿真与分析。结果所建人体下肢肌骨模型经肌电信号验证有效。羽毛球蹬跨步上网过程中,髋、踝关节Z方向内力峰值显著高于X和Y方向内力峰值,而膝关节X方向内力峰值显著高于Y和Z方向内力峰值;缓冲期,髋关节X、Y、Z方向依次表现为内收力矩、伸髋力矩和内旋力矩,膝关节X、Y、Z方向依次表现为外展力矩、屈膝力矩、外旋力矩,踝关节X、Y方向依次表现为内翻力矩、跖屈力矩,且髋、膝、踝关节X方向力矩峰值显著高于Y和Z方向;股外侧肌、股二头肌、胫骨前肌、腓肠肌内侧在对抗地面冲击载荷时的肌力发挥较大,股直肌、半膜肌、比目鱼肌发挥的作用相对较小。结论建立的下肢肌骨模型可为冲击载荷作用下运动员下肢生物力学特性分析提供技术平台。为避免运动损伤,类似羽毛球前场蹬跨步上网冲击动作中尤其要重视触地瞬间地面反作用力载荷对髋、膝、踝关节前后及内外侧方向生物力学性质的影响,同时在对羽毛球运动员进行专项训练时切勿忽视对股外侧肌、股二头肌、胫骨前肌的专项力量发展。
