柔性力敏传感及其应用技术研究
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摘要
综合运用多学科交叉和技术集成,充分认识技术动作的人体运动力学特征,开发先进的辅助训练装备,已成为竞技体育科学训练和研究的发展趋势。由于缺乏必要的运动力学信息在线获取方法和技术,以往主要采用影像系统获得训练过程的运动形体信息,通过事后解析进行技术诊断和训练指导。该方法在常规训练中取得了一定成效,但也存在明显局限性：第一,改进动作质量所需的动力学信息缺失,难以深入认识技术动作的动力学成因,无法指导运动员通过改进发力模式来优化动作结构,结果往往是对优秀选手动作外形的模仿；第二,缺少表征技术动作本质规律的现场训练指导系统,依靠事后分析的日常训练机制无法在训练过程中对运动员进行即时反馈和训练指导,训练效果主要取决于教练员的知识经验和运动员多次重复的训练体验。因此,人体运动力学信息在线获取和现场训练指导已成为体育训练和科研亟待突破的两个瓶颈问题。
本文以步法类运动项目为研究对象,针对上述瓶颈问题开展研究。首先系统研究了大区域空间中人体步态信息的连续在线获取方法与技术,设计研制了大面积、高密度、低成本的柔性阵列压力传感器,提出了相应的标定方法、信号检出与处理技术；在此基础上,构建了面向步法类运动项目步态信息获取需求的数字化场地(跑道)系统；最后,针对跳远项目科学训练需求开展应用技术研究,并取得了良好的应用效果。本文主要研究内容如下：
(1)在分析柔性压力传感器的敏感机理和步态触觉信息获取技术要求的基础上,提出了柔性阵列压力传感器的结构设计与性能检测方法,探索了大面积柔性阵列压力传感器制备技术及生产工艺；通过对常用测量方法和二次测量方法检测原理的分析比较,提出了大面积柔性阵列压力传感器的信号检出方法；设计研制了大面积、高密度、低成本柔性阵列压力传感器,解决了大区域人-地界面接触力信息获取的关键技术问题。
(2)在分析传统力敏传感器标定意义及标定方法的基础上,提出了大面积柔性阵列压力传感器的逐点标定和面积标定方法,并研制了面积标定系统,为传感器的静态性能标定提供了技术支撑。
(3)面向步法类运动项目科学训练需求,首次提出并构建了面积和形状自组态、大区域、无盲区的数字化场地概念,为步法类项目运动学参数和动力学参数同步实时获取提供了技术手段。采用单元模块化结构,提出了数字化场地结构设计方法；解决了高速信息采集、时钟同步、数据压缩等关键技术问题,构建了数字化场地(跑道)系统。
(4)基于实测数据,提出了一种动静态脚型自动识别算法,重点研究了步法类运动项目步态特征提取方法,在此基础上,完成了数字化场地(跑道)系统的计算机软件架构设计,实现了运动信息的实时采集、分析、显示和存储及拼装配置等功能。
(5)采用数字化场地(跑道)系统,针对跳远项目展开应用技术研究,从步态特征、速度结构和动力类型等方面,探索研究了跳远项目的运动力学规律。
本研究突破了大面积足底动力学信息获取的难题,研制的数字化场地(跑道)系统适用于各类步法类运动项目的技术诊断与现场训练需求,在运动生物力学研究与应用方面进行了有意义的探索。
The useful technical attempts, such as the compositive application of multidisciplinary science and technology, the complete understanding on the mechanical characteristics of human motion, and the development of advanced auxiliary training equipment, have become the trend of competitive sports scientific research and training. Due to lack of online acquisition methods and techniques of necessary Kinetic information on sports in the past, sports imaging system was frequently used to obtain the kinematic information of training process, and to diagnose and instruct the daily training by off-line image dissection. This method has achieved some success in conventional training, but there are obvious limitations:first, the lack of kinetic information required to improve the quality of movement, which lead the coach difficultly to understand the dynamic origin of the technical action, and impossibly to guide the athlete to optimize the movement structure through improving muscle function, then the so-called scientific training tend to mimic the action appearance of the outstanding players; Second, the lack of on-site training guidance system that can characterize the essential rules of technical movements, which lead the coach instructions only to rely on post hoc analysis, the athlete's daily training to have no immediate feedback and coaching in the training site, and the training effect to depends mainly on the knowledge and experience of the coach and repeated training experience of the athletes, further more, the training efficient, the athletes fatigue and sports injuries difficultly to control. Therefore, the online acquisition of human motion mechanics information and on-site training guidance have become the bottleneck problems of efficient sports training and research.
This Dissertation focus on the sports characterized by footwork to research on these bottlenecks. First we systematically studied the continuous on-line acquisition methods and techniques of human gait information in a large area space. Then a flexible array of pressure sensors with large size, low-cost and high-density was designed and developed. And then the specific sensor calibration, signal detection and processing technical methods were researched and resolved to build an innovative sports digital venues that can meet the demand of the sports characterized by footwork to get continues gait information online. And finally, an on-site training guidance system was constructed and applied in daily training testing and analysis, and a good application results was achieved. The main contents of this dissertation are as follows:
(1) Based on the analysis of the sensing mechanism of the flexible pressure sensor and the technical requirements of the tactile gait information acquisition, a structural design and performance testing method of the sensor was proposed, and the preparation technology and production processes of flexible array pressure sensor in large size was explored. Based on the Comparison and analysis of the detection principle between both of common measurement method and secondary measurement method, a signal detection method for large size flexible array of pressure sensors was proposed. Then we designed and developed a flexible array of pressure sensor, with large size, low-cost and high-density, to solve the key technical issues for the contact force information acquisition on human-environment interface in a rather large area.
(2) Base on the analysis of the calibration significance and calibration method of traditional force sensor, both calibration methods, point-to-point method and area method, for the flexible array of pressure sensor in large size, were proposed, and the calibration system for the area method was developed.
(3) An innovative digital sports venues that can meet the scientific training demand of the sports characterized by footwork was proposed and built to synchronously get the continuous kinematic parameters and kinetic parameters of gait online. The design method of the structure of digital venues was defined, the key technical issues, such as high speed data acquisition, clock synchronization and data compression were researched and resolved, and the constructed digital venues was functioned to be self-configurable in shape and area, large size and no measurement blind.
(4) Based on measured data, a static and dynamic foot-type automatic recognition algorithms was proposed, focusing on gait feature of the footwork sports extraction method, the applied software architecture was completed for the applications of the digital venues, by which, those functions, such as real-time collection of sports information, analysis of sport characteristics, display and storage of the training programs, and the automatic assembled configuration, were realized.
(5) The digital venues was adopted to research the application technology of long jump. Based on the characteristics of gait, speed structure and power type of the athletes, the technical features and technical capacity of the long jump athlete was researched.
本文以步法类运动项目为研究对象,针对上述瓶颈问题开展研究。首先系统研究了大区域空间中人体步态信息的连续在线获取方法与技术,设计研制了大面积、高密度、低成本的柔性阵列压力传感器,提出了相应的标定方法、信号检出与处理技术；在此基础上,构建了面向步法类运动项目步态信息获取需求的数字化场地(跑道)系统；最后,针对跳远项目科学训练需求开展应用技术研究,并取得了良好的应用效果。本文主要研究内容如下：
(1)在分析柔性压力传感器的敏感机理和步态触觉信息获取技术要求的基础上,提出了柔性阵列压力传感器的结构设计与性能检测方法,探索了大面积柔性阵列压力传感器制备技术及生产工艺；通过对常用测量方法和二次测量方法检测原理的分析比较,提出了大面积柔性阵列压力传感器的信号检出方法；设计研制了大面积、高密度、低成本柔性阵列压力传感器,解决了大区域人-地界面接触力信息获取的关键技术问题。
(2)在分析传统力敏传感器标定意义及标定方法的基础上,提出了大面积柔性阵列压力传感器的逐点标定和面积标定方法,并研制了面积标定系统,为传感器的静态性能标定提供了技术支撑。
(3)面向步法类运动项目科学训练需求,首次提出并构建了面积和形状自组态、大区域、无盲区的数字化场地概念,为步法类项目运动学参数和动力学参数同步实时获取提供了技术手段。采用单元模块化结构,提出了数字化场地结构设计方法；解决了高速信息采集、时钟同步、数据压缩等关键技术问题,构建了数字化场地(跑道)系统。
(4)基于实测数据,提出了一种动静态脚型自动识别算法,重点研究了步法类运动项目步态特征提取方法,在此基础上,完成了数字化场地(跑道)系统的计算机软件架构设计,实现了运动信息的实时采集、分析、显示和存储及拼装配置等功能。
(5)采用数字化场地(跑道)系统,针对跳远项目展开应用技术研究,从步态特征、速度结构和动力类型等方面,探索研究了跳远项目的运动力学规律。
本研究突破了大面积足底动力学信息获取的难题,研制的数字化场地(跑道)系统适用于各类步法类运动项目的技术诊断与现场训练需求,在运动生物力学研究与应用方面进行了有意义的探索。
The useful technical attempts, such as the compositive application of multidisciplinary science and technology, the complete understanding on the mechanical characteristics of human motion, and the development of advanced auxiliary training equipment, have become the trend of competitive sports scientific research and training. Due to lack of online acquisition methods and techniques of necessary Kinetic information on sports in the past, sports imaging system was frequently used to obtain the kinematic information of training process, and to diagnose and instruct the daily training by off-line image dissection. This method has achieved some success in conventional training, but there are obvious limitations:first, the lack of kinetic information required to improve the quality of movement, which lead the coach difficultly to understand the dynamic origin of the technical action, and impossibly to guide the athlete to optimize the movement structure through improving muscle function, then the so-called scientific training tend to mimic the action appearance of the outstanding players; Second, the lack of on-site training guidance system that can characterize the essential rules of technical movements, which lead the coach instructions only to rely on post hoc analysis, the athlete's daily training to have no immediate feedback and coaching in the training site, and the training effect to depends mainly on the knowledge and experience of the coach and repeated training experience of the athletes, further more, the training efficient, the athletes fatigue and sports injuries difficultly to control. Therefore, the online acquisition of human motion mechanics information and on-site training guidance have become the bottleneck problems of efficient sports training and research.
This Dissertation focus on the sports characterized by footwork to research on these bottlenecks. First we systematically studied the continuous on-line acquisition methods and techniques of human gait information in a large area space. Then a flexible array of pressure sensors with large size, low-cost and high-density was designed and developed. And then the specific sensor calibration, signal detection and processing technical methods were researched and resolved to build an innovative sports digital venues that can meet the demand of the sports characterized by footwork to get continues gait information online. And finally, an on-site training guidance system was constructed and applied in daily training testing and analysis, and a good application results was achieved. The main contents of this dissertation are as follows:
(1) Based on the analysis of the sensing mechanism of the flexible pressure sensor and the technical requirements of the tactile gait information acquisition, a structural design and performance testing method of the sensor was proposed, and the preparation technology and production processes of flexible array pressure sensor in large size was explored. Based on the Comparison and analysis of the detection principle between both of common measurement method and secondary measurement method, a signal detection method for large size flexible array of pressure sensors was proposed. Then we designed and developed a flexible array of pressure sensor, with large size, low-cost and high-density, to solve the key technical issues for the contact force information acquisition on human-environment interface in a rather large area.
(2) Base on the analysis of the calibration significance and calibration method of traditional force sensor, both calibration methods, point-to-point method and area method, for the flexible array of pressure sensor in large size, were proposed, and the calibration system for the area method was developed.
(3) An innovative digital sports venues that can meet the scientific training demand of the sports characterized by footwork was proposed and built to synchronously get the continuous kinematic parameters and kinetic parameters of gait online. The design method of the structure of digital venues was defined, the key technical issues, such as high speed data acquisition, clock synchronization and data compression were researched and resolved, and the constructed digital venues was functioned to be self-configurable in shape and area, large size and no measurement blind.
(4) Based on measured data, a static and dynamic foot-type automatic recognition algorithms was proposed, focusing on gait feature of the footwork sports extraction method, the applied software architecture was completed for the applications of the digital venues, by which, those functions, such as real-time collection of sports information, analysis of sport characteristics, display and storage of the training programs, and the automatic assembled configuration, were realized.
(5) The digital venues was adopted to research the application technology of long jump. Based on the characteristics of gait, speed structure and power type of the athletes, the technical features and technical capacity of the long jump athlete was researched.
引文
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