CN103750843B - Human body motion capture device in joint space - Google Patents

Abstract

The invention relates to a human body motion capture device in a joint space, which belongs to the field of mechanical design and automatic control; by wearing the motion capture device on the human body, during the normal walking process of the human body, each of the waist joints, hip joints, knee joints and ankle joints When the joint posture angle changes, the device can achieve real-time capture of the angle change data, and realize the device's uninterrupted collection of data during the walking process of the human body. The angle encoder of the present invention adopts an encoder based on the Hall detection principle, so that the accuracy of the angle data of each joint is improved, the collection of waist joint data is increased, and the sampling data is not affected by the surrounding environment and the experimental site. The data collected by the invention can fully represent the motion states of the joints of the waist and legs during human motion, and has good practical performance.

Description

Human motion capture device in joint space

technical field

The invention relates to a human body motion capture device in a joint space, which belongs to the field of mechanical design and automatic control.

Background technique

Since the 1990s, some research institutions at home and abroad have successively carried out the design of mechanical system motion capture systems, such as exoskeleton systems for rehabilitation training. For example, the HRP4C robot developed by the Japan Advanced Industrial Technology Research Institute, this robot has added a waist joint degree of freedom compared to previous robots. Therefore, in the design of the motion capture device, it is particularly necessary to add the waist DOF joint.

Motion capture can also be achieved through the combination of motion image acquisition, marker point extraction and motion analysis. The camera collects the motion images of the waist joint, hip joint, knee joint and ankle joint in the process of human self-supporting walking. The extraction of calibration points, as well as the analysis of the relative posture relationship between the coordinate systems of different limb segments to obtain the motion information of each joint; due to the influence of image distortion, camera accuracy, parameter extraction and surrounding environment, the obtained joint motion detection information There is a certain deviation from the normal movement of the human body.

Contents of the invention

The object of the present invention is to provide a human body motion capture device in the joint space, which is equipped with absolute encoders (49) respectively at the waist joint, hip joint, knee joint and ankle joint, and pressure sensors are installed at the soles of the feet, using FPGA The module transmits data in parallel, so as to obtain a movement law that is more in line with the law of human movement.

In order to achieve the above purpose, the technical solution adopted by the present invention is a human body motion capture device in the joint space, the device includes a back subsystem, a left lower limb subsystem, and a right lower limb subsystem, wherein the left and right lower limb subsystems have a symmetrical structure;

As shown in Figure 1-15, specifically, the back subsystem includes a shoulder crossbar (1), a shoulder axis joint A (2.1), a shoulder bending bar (3), a shoulder axis joint B (2.2 ), back link (4), back adjustment lever (5), waist pitch rotation axis joint A (6.1), connecting rod (7), waist roll rotation axis joint B (6.2), waist yaw rotation axis joint C (6.3), waist axis joint (8), waist fixing plate A (9.1), waist belt (10), waist belt fixing plate B (9.2), waist fixing block (11); shoulder curved bar (3) is a curved bar One end is a straight rod, and the other end is a curved rod; the straight rod end of the shoulder curved rod (3) is connected with the shoulder cross rod (1) through the shoulder shaft joint A (2.1), and the shoulder curved rod (3) is curved The rod end is connected to the back link (4) through the shoulder axis joint B (2.2); the shoulder axis joint A (2.1) and the shoulder axis joint B (2.2) rotate around the pitch direction; the back link (4) is connected to the back The adjusting rod (5) is connected and fixed by bolts, and the back connecting rod (4) is provided with an elongated hole, and the bolt installed on the back adjusting rod (5) can be freely adjusted with the elongated hole on the back connecting rod (4), thereby Realize the adjustment of the matching length between the back connecting rod (4) and the back adjusting rod (5); the connecting rod (7) is a combined mechanism, which is divided into three parts: an upper connecting plate, a side connecting plate and a lower connecting plate; The upper connecting plate and the side connecting plate form an "L"-shaped structure, and the joints are connected by screws; the upper connecting plate and the side connecting plate are respectively connected with the waist pitch rotation axis joint A (6.1) and the waist roll rotation axis joint B (6.2 ) connection, one end of the lower connecting plate is connected with the waist roll rotation axis joint B (6.2), and the other end is connected with the waist yaw rotation axis joint C (6.3); wherein the waist pitch rotation axis joint A (6.1), waist transverse The joint B (6.2) of the rolling shaft and the joint C (6.3) of the yaw rotating shaft of the waist form a "product" character structure; each of the rotating shaft joints of the waist is equipped with an absolute encoder (49) to realize the measurement of the waist. Angle change values in the three directions of joint pitch, roll, and yaw; the back adjustment rod (5) and the upper connecting plate of the connecting rod (7) are connected through the waist pitch rotation axis joint A (6.1); the waist yaw rotation axis joint C (6.3) is connected with the waist axis joint (8); the waist axis joint (8) is fixedly connected with the waist fixing plate A (9.1); the middle of the waist fixing plate A (9.1) and the waist fixing plate B (9.2) is fixed with a belt ( 10), the belt (10) is bound to the waist of the human body, and the shoulder bar (1) is bound to the shoulders of the human body, both of which realize the purpose of fixing the back subsystem; the waist fixing plate B (9.2) and the waist fixing block ( 11) Fixed connection; the left lumbar connecting rod (12) of the left lower limb subsystem and the right lumbar connecting rod (29) of the right lower limb subsystem are connected and fixed by the waist fixing block (11) of the back subsystem; the left lumbar A bolt hole is provided at the joint between the connecting rod (12) and the right waist side connecting rod (29), which is used for adjustment to adapt to the waist length of different experimenters;

The left lower limb subsystem includes the left lumbar connecting rod (12), the left hip connecting rod A (13.1), the left hip pitch rotation axis joint A (14.1), the left hip connecting rod B (13.2), the left hip connecting transverse Rod (15), left hip roll rotation axis joint B (14.2), left thigh adjustment link (16), left thigh link A (17.1), left hip yaw rotation axis joint C (14.3), left hip adjustment Mechanism (18), left thigh link B (17.2), left knee pitch rotation axis joint (19), left calf link (20), left calf adjustment link (21), left ankle pitch rotation axis joint A (22.1 ), the left ankle roll rotation axis joint B (22.2), the left ankle adjustment lever (23), the left sole fixation lever (24); the waist fixation block (11) is fixedly connected with the left waist connecting rod (12);

The left lumbar connecting rod (12) and the left hip connecting rod A (13.1) are fixedly connected by bolts; the connection of the left hip connecting rod A (13.1) connected with the left lumbar connecting rod (12) is provided with bolts Hole for adjustment to adapt to the waist width of different experimenters; the left hip connecting rod A (13.1) is connected with the left hip connecting rod B (13.2) through the left hip pitch rotation axis joint A (14.1); the left hip pitch rotation axis Joint A (14.1) is equipped with an absolute encoder (49), through the rotation of the left hip pitch rotation axis joint A (14.1), the change value of the pitch angle of the left hip is measured; the left hip connecting rod B (13.2) and The left hip connecting crossbar (15) is fixedly connected by bolts; the connection between the left hip connecting rod B (13.2) and the left hip connecting crossbar (15) is provided with bolt holes for adjustment to suit different experiments Width of the hip; the left hip connecting bar (15) and the left thigh adjustment link (16) are connected through the left hip roll rotation axis joint B (14.2); the left hip roll rotation axis joint B (14.2) is installed with Absolute encoder (49), due to the rotation of the left hip roll rotation axis joint B (14.2), measures the variation value of the left hip joint roll angle; left thigh adjustment link (16) and left thigh link A ( 17.1) It is fixedly connected by bolts; the left thigh adjustment connecting rod (16) is provided with a bolt hole group, and the left thigh connecting rod A (17.1) is fixed with bolts, and the position of the adjustment bolt and the bolt hole group is adjusted to realize adjustment. The left thigh adjustment link (16) and the left thigh link A (17.1) match the length to adapt to different experimenters' thigh lengths; the left hip adjustment mechanism (18) includes the left hip shaft joint (25), the left hip connecting rod (26), left hip adjusting rod (27), left hip fixed block (28); left hip axis joint (25) is connected with left hip adjusting rod (27) by left hip connecting rod (26);

The left hip adjustment rod (27) is connected with the left hip fixation block (28) through the left hip yaw rotation axis joint C (14.3); the left hip adjustment rod (27) is provided with a screw hole group, which can be adjusted by adjusting the left hip The distance between the upper connecting rod (26), the left hip yaw rotation axis joint C (14.3) and the screw hole group on the left hip adjustment rod (27) is to meet the requirements of the thigh thickness of different experimenters; the left hip yaw rotation The shaft joint C (14.3) is equipped with an absolute encoder (49), and when the left hip yaw rotates the rotation of the shaft joint C (14.3), the change value of the left hip joint yaw angle is measured; the left thigh connecting rod A ( 17.1) is fixedly connected with the left hip shaft joint (25); the left hip fixed block (28) is fixedly connected with the left thigh connecting rod B (17.2);

The left knee pitch rotation axis joint (19) is connected with the left calf link (20) by the left thigh link B (17.2); an absolute encoder (49) is installed on the left knee pitch rotation axis joint (19), when the left When the knee pitch rotation axis joint (19) rotates, the change value of the pitch angle of the left knee joint is measured; the left calf link (20) is connected with the left calf adjustment link (21), and the left calf adjustment link (21) A bolt hole group is arranged on the top, and bolts are fixed on the left calf connecting rod (20). By adjusting the position of the bolt and the bolt hole group, the matching length of the left calf connecting rod (20) and the left calf connecting rod (21) can be realized. To adapt to the length of the calf of different experimenters; the left calf adjustment link (21) is connected with the left ankle pitch rotation axis joint A (22.1); an absolute encoder (49 ), when the left ankle pitch rotation axis joint A (22.1) rotates, the change value of the pitch angle of the left ankle joint is measured; the left ankle pitch rotation axis joint A (22.1) and the left ankle adjustment rod (23) roll The rotation axis joint B (22.2) is connected; the left ankle roll rotation axis joint B (22.2) is equipped with an absolute encoder (49). When the left ankle roll rotation axis joint B (22.2) rotates, the measured The change value of the left ankle joint roll angle; the joint B (22.2) of the left ankle roll rotation shaft joint B (22.2) that is connected with the left ankle adjustment lever (23) is provided with a bolt hole group, in order to adjust to adapt to different experimenters' feet The width of the portion; the left ankle adjustment rod (23) is connected with the left sole fixation rod (24), and the connection of the left sole fixation rod (24) connected with the left ankle adjustment rod (23) is provided with a bolt hole group for Adjustable to suit the height of the feet of different experimenters;

The right lower limb subsystem includes the right lumbar connecting rod (29), the right hip connecting rod A (30.1), the right hip pitch rotation axis joint A (31.1), the right hip connecting rod B (30.2), the right hip Connect cross bar (32), right hip roll rotation axis joint B (31.2), right thigh adjustment link (33), right thigh link A (34.1), right hip yaw rotation axis joint C (31.3), right Hip adjustment mechanism (35), right thigh link B (34.2), right knee pitch rotation axis joint (36), right calf link (37), right calf adjustment link (38), right ankle pitch rotation axis joint A (39.1), right ankle roll rotation axis joint B (39.2), right ankle adjustment lever (40), right sole fixed lever (41); waist fixed block (11) is fixedly connected with right waist connecting rod (29); The right lumbar connecting rod (29) and the right hip connecting rod A (30.1) are fixedly connected by bolts; the connection of the right hip connecting rod A (30.1) connected with the right lumbar connecting rod (29) is provided with a bolt Holes for adjustment to adapt to the waist width of different experimenters; the right hip connecting rod A (30.1) is connected with the right hip connecting rod B (30.2) through the right hip pitching rotation axis joint A (31.1); the right hip pitching and rotating shaft Joint A (31.1) is equipped with an absolute encoder (49), through the rotation of the right hip pitch rotation axis joint A (31.1), the change value of the pitch angle of the right hip is measured; the right hip connecting rod B (30.2) and The right hip side connecting bar (32) is fixedly connected by bolts; the connection of the right hip side connecting bar B (30.2) connected with the right hip side connecting bar (32) is provided with bolt holes for adjustment to adapt to different Width of the hip of the experimenter; the right hip side connecting bar (32) and the right thigh adjustment link (33) are connected through the right hip roll rotation axis joint B (31.2); the right hip roll rotation axis joint B (31.2) is installed Absolute encoder (49) is arranged, due to the rotation of right hip roll rotation shaft joint B (31.2), the change value of right hip joint roll angle is measured; right thigh adjustment link (33) and right thigh link A (34.1) are fixedly connected by bolts; the right thigh adjustment connecting rod (33) is provided with a bolt hole group, and the right thigh connecting rod A (34.1) is fixed with bolts, and by adjusting the position of the bolt and the bolt hole group, to realize Adjust the matching length of the right thigh adjustment link (33) and the right thigh link A (34.1) to adapt to the thigh length of different experimenters;

Right hip adjustment mechanism (35) comprises right hip shaft joint (42), right hip connecting rod (43), right hip adjustment rod (44), right hip fixed block (45); right hip shaft joint ( 42) is connected with the right hip adjustment rod (44) through the right hip connecting rod (43); ) connection; the right hip adjustment rod (44) is provided with a screw hole group, by adjusting the right hip connection rod (43), the right hip yaw rotation axis joint C (31.3) and the right hip adjustment rod (44) The spacing of the screw hole groups is to meet the requirements of different experimenters' thigh thickness; the right hip yaw rotation axis joint C (31.3) is equipped with an absolute encoder (49), when the right hip yaw rotation axis joint C (31.3) When the rotation of the right hip joint is measured, the change value of the yaw angle of the right hip joint is measured; the right thigh connecting rod A (34.1) is fixedly connected with the right hip shaft joint (42); the right hip fixed block (45) is connected with the right thigh connecting rod B (34.2) is fixedly connected; the right knee pitching rotation axis joint (36) is connected with the right shank connecting rod (37) by the right thigh connecting rod B (34.2); an absolute encoder is installed on the right knee pitching rotation axis joint (36) (49), when the right knee pitch rotation shaft joint (36) rotates, the change value of the pitch angle of the right knee joint is measured; the right calf link (37) is connected with the right calf adjustment link (38), and the right calf The adjustment connecting rod (38) is provided with a bolt hole group, and the right calf connecting rod (37) is fixed with bolts. By adjusting the position of the bolt and the bolt hole group, the right calf connecting rod (37) and the right calf adjusting connecting rod can be realized. (38) match the length, to adapt to the length of different experimenters' shanks; the right shank adjustment connecting rod (38) is connected with the right ankle pitching and rotating shaft joint A (39.1); Absolute encoder (49), when the right ankle pitch rotation axis joint A (39.1) rotates, the change value of the pitch angle of the right ankle joint is measured; the right ankle pitch rotation axis joint A (39.1), the right ankle adjustment rod (40 ) is connected through the right ankle roll rotation axis joint B (39.2); an absolute encoder (49) is installed on the right ankle roll rotation axis joint B (39.2), when the right ankle roll rotation axis joint B (39.2 ) rotates, the change value of the right ankle joint roll angle is measured; the joint B (39.2) of the right ankle roll rotation axis joint B (39.2) connected with the right ankle adjustment lever (40) is provided with a bolt hole group for adjusting To adapt to the width of different experimenters' feet; A set of bolt holes for adjustment to suit the height of the feet of different experimenters;

The rotating shaft joints in the back subsystem, left lower limb subsystem, and right lower limb subsystem include an absolute encoder (49), a through end cover (50), a shaft assembly (51), a shaft joint (52), a blind End cover (53), connecting fork (54); described axle joint (52) comprises rolling bearing (46), axle (47), key (48), and axle (47) two ends are equipped with rolling bearing (46), axle ( 47) be fixed on the connecting fork (54) by the key (48); one end of the connecting fork (54) is semicircular, and the other end is rectangular, and the semicircular end has a through hole to assemble the shaft (47), and the rectangular end has a The through holes are used to connect the components; the shaft assembly (51) has a groove in the middle and the connecting fork (54) is connected together by the shaft (47); after the shaft joint (52) is connected with the shaft assembly (51) and Its two ends are fixed on the shaft assembly (51) through a through end cover (50) and a blind end cover (53), and the said through end cover (50) is connected with an absolute encoder (49);

The pressure sensors are left foot rear end pressure sensor (57), left foot front end pressure sensor A (55), left foot front end pressure sensor B (56), right foot rear end pressure sensor (60), right foot front end pressure sensor Sensor A (58), right pin front end pressure sensor B (59); 56) Arranged at the rear end of the left foot;

Right foot front end pressure sensor A (58), right foot front end pressure sensor B (59) are arranged in parallel at the right foot front end, and right foot rear end pressure sensor (60) is arranged at the rear end of right foot.

The data of the absolute encoder (49) and the data of the pressure sensor are input into the FPGA module in parallel, and the FPGA module transmits the data to the PC through the USB bus for storage.

Compared with the prior art, the present invention has the following beneficial effects.

1. The device realizes the measurement of waist angle change in the joint space of the human body through three absolute encoders (49) installed in the back subsystem.

2. Install pressure sensors on the front and rear ends of the feet to measure the pressure on the feet, and evaluate the ZMP point through the pressure data.

3. Through the design of the mechanical motion capture device of the present invention, the gestures of the human body's waist joints, hip joints, knee joints, and ankle joints can be measured, and information more in line with human body motion can be obtained.

Description of drawings

Figure 1 is the general block diagram of the system.

Figure 2 shows the back subsystem.

Figure 3 is a schematic diagram of the lumbar joint.

Fig. 4 is a schematic diagram of the belt structure.

Fig. 5 is a schematic structural diagram of the left lower limb subsystem.

Figure 6 is a schematic diagram of the upper part of the left hip.

Fig. 7 is a structural schematic diagram of the left hip adjustment mechanism.

Fig. 8 is a schematic structural diagram of the right lower limb subsystem.

Figure 9 is a schematic diagram of the upper part of the right hip.

Fig. 10 is a structural schematic diagram of the adjustment structure of the right hip.

Figure 11 is a schematic diagram of the shaft joint.

Fig. 12 is a schematic diagram of the structure of the rotating shaft joint.

Fig. 13 is a schematic diagram of the distribution of pressure sensors on the sole of the left foot.

Fig. 14 is a schematic diagram of the distribution of pressure sensors on the sole of the right foot.

Figure 15 is a schematic diagram of the electrical system.

In the figure: 1, shoulder cross bar, 2.1, shoulder axis joint, 3, shoulder curved bar, 2.2, shoulder joint, 4, back link, 5, back adjustment bar, 6.1, waist pitching rotation axis joint A , 7, connecting rod, 6.2, waist roll rotation axis joint B, 6.3, waist yaw rotation axis joint C, 8, waist axis joint, 9.1, waist fixed plate A, 10, belt, 9.2, belt fixed plate B, 11. Waist fixed block, 12. Left waist connecting rod, 13.1. Left hip connecting rod A, 14.1. Left hip pitch rotation axis joint A, 13.2. Left hip connecting rod B. 15. Left hip connecting cross bar , 14.2, left hip roll rotation axis joint B, 16, left thigh adjustment link, 17.1, left thigh link A, 14.3, left hip yaw rotation axis joint C, 18, left hip adjustment mechanism, 17.2, left thigh Link B, 19, left knee pitch rotation axis joint, 20, left calf link, 21, left calf adjustment link, 22.1, left ankle pitch rotation axis joint A, 22.2, left ankle roll rotation axis joint B, 23 , left ankle adjustment rod, 24, left sole fixing rod, 25, hip axis joint, 26, hip connecting rod, 27, hip adjusting rod, 28, hip fixing block, 29, right waist connecting rod, 30.1 , right hip connecting rod A, 31.1, right hip pitch rotation axis joint A, 30.2, right hip connecting rod B, 32, right hip connecting cross bar, 31.2, right hip roll rotation axis joint B, 33, right Thigh adjustment link, 34.1, right thigh link A, 31.3, right hip yaw rotation axis joint C, 35, right hip adjustment mechanism, 34.2, right thigh link B, 36, right knee pitch rotation axis joint, 37, Right calf link, 38, right calf adjustment link, 39.1, right ankle pitch rotation axis joint A, 39.2, right ankle roll rotation axis joint B, 40, right ankle adjustment rod, 41, right sole fixation rod, 42, Hip shaft joint, 43, hip connecting rod, 44, hip adjustment rod, 45, hip fixed block, 46, rolling bearing, 47, shaft, 48, key, 49, absolute encoder, 50, through end cover , 51, shaft assembly, 52, shaft joint, 53, blind end cover, 54, connection fork, 55, pressure sensor A at the front end of the left foot, 56, pressure sensor B at the front end of the left foot, 57, pressure sensor at the rear end of the sole of the left foot, 58 . Pressure sensor A at the front end of the right foot, 59. Pressure sensor B at the front end of the right foot. 60. A pressure sensor at the rear end of the right foot.

detailed description

The present invention is further analyzed below in conjunction with accompanying drawing.

When the experimenter walks upright, the human body motion capture device in the space joint performs follow-up motion; since the shoulder bar (1) of the device is bound to the experimenter's shoulder, the belt (10) is bound to the experimenter's waist, and the left The sole fixed rod (24) is bound to the experimenter's left foot, and the right sole fixed rod (41) is bound to the experimenter's right foot, so when the experimenter walks upright, the waist of the experimenter's waist drive device waist pitch rotation axis joint A (6.1) rotates, the waist roll rotation axis joint B (6.2) rotates, the waist yaw rotation axis joint C (6.3) rotates, and the rotation axis joints of each part of the waist are equipped with absolute encoders (49) to realize Measure the angle data in the three directions of pitch, roll and yaw of the waist joint; the left hip pitch rotation axis joint A (14.1) of the experimenter's left hip joint drive device rotates, and the left hip roll rotation axis joint B (14.2) Rotation occurs, and the left hip yaw rotation axis joint C (14.3) rotates. Absolute encoders (49) are installed on each rotation axis joint of the left hip to realize the measurement of the three directions of pitch, roll and yaw of the left hip joint The angle data of the experimenter's right hip joint drive device, the right hip pitch rotation axis joint A (31.1) rotates, the right hip roll rotation axis joint B (31.2) rotates, the right hip yaw rotation axis joint C (31.3 ) is rotated, and absolute encoders (49) are installed on the joints of the rotation axes of the right hip to measure the angle data of the three directions of pitch, roll and yaw of the right hip joint; The left knee pitch rotation shaft joint (19) rotates, and an absolute encoder (49) is installed on the left knee pitch rotation shaft joint to realize measuring the angle data of the left knee joint pitch direction; the experimenter's right knee joint drive device The right knee pitch rotation axis joint (36) rotates, and an absolute encoder (49) is installed on the right knee pitch rotation axis joint to realize measuring the angle data of the right knee joint pitch direction; the left ankle joint of the experimenter drives the device The left ankle pitch rotation axis joint A (22.1) rotates, the left ankle roll rotation axis joint B (22.2) rotates, and each rotation axis joint of the left ankle is equipped with an absolute encoder (49) to realize the measurement of the left hip joint Angle data in two directions of pitch and roll; the right ankle pitch rotation axis joint A (39.1) of the experimenter's right ankle drive device rotates, and the right ankle roll rotation axis joint B (39.2) rotates, and the right ankle rotation axis joint B (39.2) rotates. Absolute encoders (49) are installed on each rotation shaft joint of the ankle to measure the angle data of the right hip joint pitch and roll; there are fifteen absolute encoders (49) in total, and fifteen The angle data of channel; the sole of the experimenter directly contacts with the pressure sensor directly, realizes the evaluation of the ZMP point by the data measured by the pressure sensor, and the pressure sensor data is the left foot rear end pressure sensor (57), the left foot front end pressure sensor A (55), left foot front end pressure sensor B (56), right foot rear end pressure sensor (60), right foot front end pressure sensor A (58), right foot front end pressure Data from sensor B (59).

There are six pressure sensors in total, and six channels of pressure data are obtained; the angle data of fifteen channels and the pressure data of six channels are transmitted in parallel to the FPGA module, and the FPGA module finally transmits the data to the PC through the USB bus for further processing. Store and complete the capture of human motion data.

Claims (3)

1. a human body motion capture device in joint space, is characterized in that: this device comprises back subsystem, left lower extremity subsystem, right lower extremity subsystem, and wherein lower limb subsystem in left and right is symmetrical structure;

Specifically, described back subsystem comprises shoulder cross bar (1), shoulder axle joint A (2.1), shoulder curved bar (3), shoulder axle joint B (2.2), back linkage (4), back adjusting rod (5), waist pitching rotating shaft joint A (6.1), connecting rod (7), waist roll turning cylinder joint B (6.2), waist yaw rotation axle joint C (6.3), waist axle joint (8), waist fixed plate A (9.1), belt (10), belt fixing head B (9.2), waist fixed block (11); Shoulder curved bar (3) is a bending staff design, and one end is straight-bar, and the other end is curved bar; Shoulder curved bar (3) straight-bar end is connected with shoulder cross bar (1) by shoulder axle joint A (2.1), and shoulder curved bar (3) curved bar end is connected with back linkage (4) by shoulder axle joint B (2.2); Shoulder axle joint A (2.1) and shoulder axle joint B (2.2) rotate around pitch orientation; Back linkage (4) and back adjusting rod (5) are bolted fixing, described back linkage (4) is provided with elongated hole, the upper bolt installed of back adjusting rod (5) and the elongated hole free adjustment in back linkage (4), thus realize the length of fit between adjustment back linkage (4) and back adjusting rod (5); Connecting rod (7) is a combined mechanism, and this mechanism is divided into top connecting plate, sidepiece connecting plate, lower connecting plate three part; Top connecting plate and sidepiece connecting plate form " L " shape structure, and junction is connected by screw; Top connecting plate and sidepiece connecting plate are connected with waist roll turning cylinder joint B (6.2) with waist pitching rotating shaft joint A (6.1) respectively, lower connecting plate one end is connected with waist roll turning cylinder joint B (6.2), and the other end is connected with waist yaw rotation axle joint C (6.3); Wherein said waist pitching rotating shaft joint A (6.1), between waist roll turning cylinder joint B (6.2) and waist yaw rotation axle joint C (6.3) in " product " word structure; The each turning cylinder joint of waist is all provided with absolute type encoder (49), to realize the angle changing value measuring waist joint pitching, roll, driftage three directions; Back adjusting rod (5) is connected by waist pitching rotating shaft joint A (6.1) with the top connecting plate of connecting rod (7); Waist yaw rotation axle joint C (6.3) is connected with waist axle joint (8); Waist axle joint (8) is fixedly connected with waist fixed plate A (9.1); Belt (10) is fixed with in the middle of waist fixed plate A (9.1) and waist fixing head B (9.2), belt (10) realizes binding with human body waist, shoulder cross bar (1) and shoulders of human body are bound, and the two realizes the object of fixing back subsystem; Waist fixing head B (9.2) is fixedly connected with waist fixed block (11); The left waist lateral connector bar (12) of left lower extremity subsystem, the right waist lateral connector bar (29) of right lower extremity subsystem are connected and fixed by waist fixed block (11) bolt of back subsystem; Left waist lateral connector bar (12) and right waist lateral connector bar (29) junction are provided with bolt hole, in order to regulate to adapt to different experiments person's waist;

Left lower extremity subsystem comprises left waist lateral connector bar (12), left hip lateral connector bar A (13.1), left hip pitching rotating shaft joint A (14.1), left hip lateral connector bar B (13.2), left hip side connects cross bar (15), left hip roll turning cylinder joint B (14.2), left thigh regulating connecting rod (16), left thigh connecting rod A (17.1), left hip yaw rotation axle joint C (14.3), left hip governor motion (18), left thigh connecting rod B (17.2), left knee joint pitching rotating shaft joint (19), left leg connecting rod (20), left leg regulating connecting rod (21), left ankle pitching rotating shaft joint A (22.1), left ankle roll turning cylinder joint B (22.2), left ankle adjusting rod (23), fixed bar at the bottom of left foot (24), waist fixed block (11) is fixedly connected with left waist lateral connector bar (12),

Left waist lateral connector bar (12) and left hip lateral connector bar A (13.1) are bolted to connection; Left hip lateral connector bar A (13.1) junction that described and left waist lateral connector bar (12) is connected is provided with bolt hole, in order to regulate to adapt to different experiments person's waist width; Left hip lateral connector bar A (13.1) is connected by left hip pitching rotating shaft joint A (14.1) with left hip lateral connector bar B (13.2); Left hip pitching rotating shaft joint A (14.1) is provided with absolute type encoder (49), by the rotation of left hip pitching rotating shaft joint A (14.1), records the changing value of the left hip joint angle of pitch; Left hip lateral connector bar B (13.2) is connected cross bar (15) with left hip side and is bolted to connection; Described left hip lateral connector bar B (13.2) is provided with bolt hole with the junction that left hip side is connected cross bar (15), in order to regulate to adapt to different experiments person's hip width; Left hip side is connected cross bar (15) and is connected by left hip roll turning cylinder joint B (14.2) with left thigh regulating connecting rod (16); Left hip roll turning cylinder joint B (14.2) is provided with absolute type encoder (49), due to the rotation of left hip roll turning cylinder joint B (14.2), records the changing value of left hip joint roll angle; Left thigh regulating connecting rod (16) and left thigh connecting rod A (17.1) are bolted to connection; Described left thigh regulating connecting rod (16) is provided with bolt hole group, left thigh connecting rod A (17.1) is fixed with bolt, by the position of adjusting bolt and bolt hole group, to realize regulating left thigh regulating connecting rod (16) and left thigh connecting rod A (17.1) length of fit, to adapt to different experiments person's thigh length; Left hip governor motion (18) comprises left hip axle joint (25), left hip connecting rod (26), left hip adjusting rod (27), left hip fixed block (28); Left hip axle joint (25) is connected by left hip connecting rod (26) with left hip adjusting rod (27);

Left hip adjusting rod (27) is connected by left hip yaw rotation axle joint C (14.3) with left hip fixed block (28); Left hip adjusting rod (27) is provided with screw hole group, by regulating the spacing of the screw hole group on left hip connecting rod (26), left hip yaw rotation axle joint C (14.3) and left hip adjusting rod (27), to meet the requirement of different experiments person's thigh thickness; Left hip yaw rotation axle joint C (14.3) is equipped with absolute type encoder (49), when the rotation of left hip yaw rotation axle joint C (14.3), records the changing value of left hip joint yaw angle; Left thigh connecting rod A (17.1) is fixedly connected with left hip axle joint (25); Left hip fixed block (28) is fixedly connected with left thigh connecting rod B (17.2);

Left knee joint pitching rotating shaft joint (19) is connected with left leg connecting rod (20) by left thigh connecting rod B (17.2); Left knee joint pitching rotating shaft joint (19) is provided with absolute type encoder (49), when left knee joint pitching rotating shaft joint (19) is rotated, records the changing value of the left knee joint angle of pitch; Left leg connecting rod (20) is connected with left leg regulating connecting rod (21), described left leg regulating connecting rod (21) is provided with bolt hole group, (20) are fixed with bolt with left leg connecting rod, by the position of adjusting bolt and bolt hole group, to realize left leg connecting rod (20) and left leg regulating connecting rod (21) length of fit, to adapt to different experiments person's lower-leg length; Left leg regulating connecting rod (21) is connected with left ankle pitching rotating shaft joint A (22.1); Described left ankle pitching rotating shaft joint A (22.1) is provided with absolute type encoder (49), when left ankle pitching rotating shaft joint A (22.1) is rotated, records the changing value of the left ankle joint angle of pitch; Left ankle pitching rotating shaft joint A (22.1), left ankle adjusting rod (23) are connected by left ankle roll turning cylinder joint B (22.2); Described left ankle roll turning cylinder joint B (22.2) is provided with absolute type encoder (49), when left ankle roll turning cylinder joint B (22.2) is rotated, records the changing value of left ankle joint roll angle; Left ankle roll turning cylinder joint B (22.2) junction that described and left ankle adjusting rod (23) is connected is provided with bolt hole group, in order to regulate with the width adapting to different experiments person foot; Left ankle adjusting rod (23) is connected with fixed bar at the bottom of left foot (24), at the bottom of the left foot that described and left ankle adjusting rod (23) is connected, fixed bar (24) junction is provided with bolt hole group, in order to regulate with the height adapting to different experiments person foot;

Described right lower extremity subsystem comprises right waist lateral connector bar (29), right hip lateral connector bar A (30.1), right hip pitching rotating shaft joint A (31.1), right hip lateral connector bar B (30.2), right hip side connects cross bar (32), right hip roll turning cylinder joint B (31.2), right thigh regulating connecting rod (33), right thigh connecting rod A (34.1), right hip yaw rotation axle joint C (31.3), right hip governor motion (35), right thigh connecting rod B (34.2), right knee joint pitching rotating shaft joint (36), right leg connecting rod (37), right leg regulating connecting rod (38), right ankle pitching rotating shaft joint A (39.1), right ankle roll turning cylinder joint B (39.2), right ankle adjusting rod (40), fixed bar at the bottom of right crus of diaphragm (41), waist fixed block (11) is fixedly connected with right waist lateral connector bar (29), right waist lateral connector bar (29) and right hip lateral connector bar A (30.1) are bolted to connection, right hip lateral connector bar A (30.1) junction that described and right waist lateral connector bar (29) is connected is provided with bolt hole, in order to regulate to adapt to different experiments person's waist width, right hip lateral connector bar A (30.1) is connected by right hip pitching rotating shaft joint A (31.1) with right hip lateral connector bar B (30.2), right hip pitching rotating shaft joint A (31.1) is provided with absolute type encoder (49), by the rotation of right hip pitching rotating shaft joint A (31.1), records the changing value of the right hip joint angle of pitch, right hip lateral connector bar B (30.2) is connected cross bar (32) with right hip side and is bolted to connection, described and right hip side is connected right hip lateral connector bar B (30.2) junction that cross bar (32) connects and is provided with bolt hole, in order to regulate to adapt to different experiments person's hip width, right hip side is connected cross bar (32) and is connected by right hip roll turning cylinder joint B (31.2) with right thigh regulating connecting rod (33), right hip roll turning cylinder joint B (31.2) is provided with absolute type encoder (49), due to the rotation of right hip roll turning cylinder joint B (31.2), records the changing value of right hip joint roll angle, right thigh regulating connecting rod (33) and right thigh connecting rod A (34.1) are bolted to connection, described right thigh regulating connecting rod (33) is provided with bolt hole group, right thigh connecting rod A (34.1) is fixed with bolt, by the position of adjusting bolt and bolt hole group, to realize regulating right thigh regulating connecting rod (33) and right thigh connecting rod A (34.1) length of fit, to adapt to different experiments person's thigh length,

Right hip governor motion (35) comprises right hip axle joint (42), right hip connecting rod (43), right hip adjusting rod (44), right hip fixed block (45); Right hip axle joint (42) is connected by right hip connecting rod (43) with right hip adjusting rod (44); Right hip adjusting rod (44) is connected by right hip yaw rotation axle joint C (31.3) with right hip fixed block (45); Right hip adjusting rod (44) is provided with screw hole group, by regulating the spacing of the screw hole group on right hip connecting rod (43), right hip yaw rotation axle joint C (31.3) and right hip adjusting rod (44), to meet the requirement of different experiments person's thigh thickness; Right hip yaw rotation axle joint C (31.3) is equipped with absolute type encoder (49), when the rotation of right hip yaw rotation axle joint C (31.3), records the changing value of right hip joint yaw angle; Right thigh connecting rod A (34.1) is fixedly connected with right hip axle joint (42); Right hip fixed block (45) is fixedly connected with right thigh connecting rod B (34.2); Right knee joint pitching rotating shaft joint (36) is connected with right leg connecting rod (37) by right thigh connecting rod B (34.2); Right knee joint pitching rotating shaft joint (36) is provided with absolute type encoder (49), when right knee joint pitching rotating shaft joint (36) is rotated, records the changing value of the right knee joint angle of pitch; Right leg connecting rod (37) is connected with right leg regulating connecting rod (38), described right leg regulating connecting rod (38) is provided with bolt hole group, (37) are fixed with bolt with right leg connecting rod, by the position of adjusting bolt and bolt hole group, to realize right leg connecting rod (37) and right leg regulating connecting rod (38) length of fit, to adapt to different experiments person's lower-leg length; Right leg regulating connecting rod (38) is connected with right ankle pitching rotating shaft joint A (39.1); Described right ankle pitching rotating shaft joint A (39.1) is provided with absolute type encoder (49), when right ankle pitching rotating shaft joint A (39.1) is rotated, records the changing value of the right ankle joint angle of pitch; Right ankle pitching rotating shaft joint A (39.1), right ankle adjusting rod (40) are connected by right ankle roll turning cylinder joint B (39.2); Described right ankle roll turning cylinder joint B (39.2) is provided with absolute type encoder (49), when right ankle roll turning cylinder joint B (39.2) is rotated, records the changing value of right ankle joint roll angle; Right ankle roll turning cylinder joint B (39.2) junction that described and right ankle adjusting rod (40) is connected is provided with bolt hole group, in order to regulate with the width adapting to different experiments person foot; Right ankle adjusting rod (40) is connected with fixed bar at the bottom of right crus of diaphragm (41), at the bottom of the right crus of diaphragm that described and right ankle adjusting rod (40) is connected, fixed bar (41) junction is provided with bolt hole group, in order to regulate with the height adapting to different experiments person foot;

Turning cylinder joint in described back subsystem, left lower extremity subsystem, right lower extremity subsystem, comprises absolute type encoder (49), go side lid (50), shaft assembly (51), axle joint (52), cecum lid (53), yoke (54); Described axle joint (52) comprises rolling bearing (46), axle (47), key (48), rolling bearing (46) is equipped with at axle (47) two ends, and axle (47) is fixed on yoke (54) by key (48); Yoke (54) one end is semicircle, and one end is rectangle, and semicircle end has through hole with assembled shaft (47), and rectangular end has a pair through hole in order to connecting elements; Have groove and by axle (47), yoke (54) linked together in the middle of described shaft assembly (51); Axle joint (52) is connected rear with shaft assembly (51) and its two ends cover (50) by go side and cecum lid (53) is fixed on shaft assembly (51), and described go side lid (50) is connected with absolute type encoder (49);

Pressure transducer is left foot rear end pressure transducer (57), left foot forefront pressure sensors A (55), left foot forefront pressure sensor B (56), right crus of diaphragm rear end pressure transducer (60), right crus of diaphragm forefront pressure sensors A (58), right crus of diaphragm forefront pressure sensor B (59); Left foot rear end pressure transducer (57), left foot forefront pressure sensors A (55) are arranged in parallel in the front end of left foot, and left foot forefront pressure sensor B (56) is arranged in the rear end of left foot;

Right crus of diaphragm forefront pressure sensors A (58), right crus of diaphragm forefront pressure sensor B (59) are arranged in parallel in right crus of diaphragm front end, and right crus of diaphragm rear end pressure transducer (60) is arranged in the rear end of right crus of diaphragm.

2. human body motion capture device in a kind of joint space according to claim 1, it is characterized in that: when experimenter walks upright, in joint, space, human body motion capture device does follow-up motion, because the shoulder cross bar (1) of device is bound with experimenter's shoulder, belt (10) and experimenter's waist are bound, fixed bar at the bottom of left foot (24) and experimenter's left foot are bound, fixed bar at the bottom of right crus of diaphragm (41) and experimenter's right crus of diaphragm are bound, so when experimenter walks upright, waist driving device waist pitching rotating shaft joint A (6.1) of experimenter rotates, waist roll turning cylinder joint B (6.2) rotates, waist yaw rotation axle joint C (6.3) rotates, turning cylinder joint, described waist each portion is provided with absolute type encoder (49), realize measuring waist joint pitching, roll, the angle-data in driftage three directions, the left hip pitching rotating shaft joint A (14.1) of the left hip joint driving device of experimenter rotates, left hip roll turning cylinder joint B (14.2) rotates, left hip yaw rotation axle joint C (14.3) rotates, the each turning cylinder joint of described left hip is provided with absolute type encoder (49), realizes the angle-data measuring left hip joint pitching, roll, driftage three directions, the right hip pitching rotating shaft joint A (31.1) of the right hip joint driving device of experimenter rotates, right hip roll turning cylinder joint B (31.2) rotates, right hip yaw rotation axle joint C (31.3) rotates, the each turning cylinder joint of described right hip is provided with absolute type encoder (49), realizes the angle-data measuring right hip joint pitching, roll, driftage three directions, the left knee joint pitching rotating shaft joint (19) of the left knee joint driving device of experimenter rotates, and described left knee joint pitching rotating shaft joint is provided with absolute type encoder (49), realizes the angle-data measuring left knee joint pitch orientation, the right knee joint pitching rotating shaft joint (36) of the right knee joint driving device of experimenter rotates, and described right knee joint pitching rotating shaft joint is provided with absolute type encoder (49), realizes the angle-data measuring right knee joint pitch orientation, the left ankle pitching rotating shaft joint A (22.1) of the left ankle joint driving device of experimenter rotates, left ankle roll turning cylinder joint B (22.2) rotates, the each turning cylinder joint of described left ankle is provided with absolute type encoder (49), realizes the angle-data measuring left hip joint pitching, roll 2 directions, the right ankle pitching rotating shaft joint A (39.1) of the right ankle joint driving device of experimenter rotates, right ankle roll turning cylinder joint B (39.2) rotates, the each turning cylinder joint of described right ankle is provided with absolute type encoder (49), realizes the angle-data measuring right hip joint pitching, roll both direction, described absolute type encoder (49) always has 15, obtains the angle-data of ten Five-channels, the sole of experimenter directly directly contacts with pressure transducer, the data recorded by pressure transducer realize the evaluation of ZMP point, and pressure sensor data is the data of left foot rear end pressure transducer (57), left foot forefront pressure sensors A (55), left foot forefront pressure sensor B (56), right crus of diaphragm rear end pressure transducer (60), right crus of diaphragm forefront pressure sensors A (58), right crus of diaphragm forefront pressure sensor B (59).

3. human body motion capture device in a kind of joint space according to claim 1, is characterized in that: described pressure transducer always has six, obtains the pressure data of Hexamermis spp; Import in FPGA module by parallel for the pressure data of the angle-data of ten Five-channels and Hexamermis spp, FPGA module is finally sent data in PC by usb bus and stores, and completes the seizure of human body movement data.