基于Azure Kinect骨骼追踪的腕关节活动度测量方法

doi:10.3969/j.issn.1006-9771.2022.08.014

Abstract

Abstract:

Objective To automatically measure the wrist range of motion using the somatosensory capture device Azure Kinect.

Methods Azure Kinect was used to recognize the spatial coordinates of human elbow, wrist, palm, fingertip and other joint points, and the best measurement posture was determined by orthogonal experiment. Holt's double-parameter exponential smoothing method and bone length constraint method were used to smooth the joint point data to eliminate the jitter. The average angle of multiple frames was calculated through the spatial vector relationship to realize the automatic measurement of wrist joint range of motion. From May to October, 2021, 5 times × 10 groups of measurement were performed on each subject of wrist joint of five healthy subjects using the above method.

Results The R1 of each subject of wrist joint was between 83 and 127, and the value was in the middle. This method contrasted well with measurements made on augmented reality ruler, 2D images (r > 0.990), and the maximum error was within 1.61°.

Conclusion The wrist joint angle measurement modality using Azure Kinect is consistent to conventional measurement modality, and can meet the requirements of real-time measurement.

Key words: wrist, range of motion, Holt's double-parameter exponential smoothing method, bone length constraint, bone tracking, Azure Kinect

CLC Number:

R496

ZHANG Wenbo,QU Chang,ZHOU Jianping,ZHANG Xiaoping,ZHANG Xiaotian. Wrist joint range of motion measurement based on Azure Kinect bone tracking[J]. 《Chinese Journal of Rehabilitation Theory and Practice》, 2022, 28(8): 981-988.

Figures/Tables 12

水平	距离(A)/mm	角度(B)/°	姿势(C)
1	1000	$-$ 45°	a
2	2500	0°	b
3	4000	45°	c

项目	A		B	C
$K 1$	65.37	122.51	50.48	71.40
$K 2$	91.44	143.18	138.45	136.87
$K 3$	179.78	70.90	147.66	128.32
R	114.41	72.28	97.18	65.47

References 19

[1]	KIM J B, KIM J C, HWANG D J. A study on the robot structure of hand for the rehabilitation training of stroke patients[J]. J Biomed Eng Res, 2019, 40(3): 116-124.
[2]	WAGNER E R, CONTI MICA M, SHIN A Y. Smartphone photography utilized to measure wrist range of motion[J]. J Hand Surg Eur Vol, 2018, 43(2): 187-192. doi: 10.1177/1753193417729140
[3]	WIRTH M A, FISCHER G, REISSNER L, et al. Comparison of a new inertial sensor based system with an optoelectronic motion capture system for motion analysis of healthy human wrist joints[J]. Sensors (Basel), 2019, 19(23): 5297. doi: 10.3390/s19235297
[4]	HUANG B, LI M Y, MEI T, et al. Wearable stretch sensors for motion measurement of the wrist joint based on dielectric elastomers[J]. Sensors (Basel), 2017, 17(12): 2708. doi: 10.3390/s17122708
[5]	YANG X C, YAN J P, FANG Y F, et al. Simultaneous prediction of wrist/hand motion via wearable ultrasound sensing[J]. IEEE Trans Neural Syst Rehabil Eng, 2020, 28(4): 970-977. doi: 10.1109/TNSRE.2020.2977908
[6]	李培丰, 林愉添, 朱君毅, 等. 一种新的智能手机应用程序AR尺子测量腕关节活动度的可靠性和同时效度评估[J]. 中华手外科杂志, 2020, 36(6): 425-429.
	LI P F, LIN Y T, ZHU J Y, et al. Reliability and concurrent validity of a new smartphone application AR ruler for measuring active wrist range of motion[J]. Chin J Hand Surg, 2020, 36(6): 425-429.
[7]	KIM T S, PARK D D, LEE Y B, et al. A study on the measurement of wrist motion range using the iPhone 4 gyroscope application[J]. Ann Plast Surg, 2014, 73(2): 215-218. doi: 10.1097/SAP.0b013e31826eabfe
[8]	POURAHMADI M R, EBRAHIMI TAKAMJANI I, SARRAFZADEH J, et al. Reliability and concurrent validity of a new iPhone goniometric application for measuring active wrist range of motion: a cross‐sectional study in asymptomatic subjects[J]. J Anat, 2017, 230(3): 484-495. doi: 10.1111/joa.12568
[9]	MCHUGH B P, MORTON A M, AKHBARI B, et al. Accuracy of an electrogoniometer relative to optical motion tracking for quantifying wrist range of motion[J]. J Med Eng Technol, 2020, 44(2): 49-54. doi: 10.1080/03091902.2020.1713240
[10]	KIM K G, PARK C S, JEON S H, et al. Feasibility of a new desktop motion analysis system with a video game console for assessing various three-dimensional wrist motions[J]. Clin Orthop Surg, 2018, 10(4): 468-478. doi: 10.4055/cios.2018.10.4.468
[11]	瞿畅, 丁晨, 王君泽, 等. 基于Kinect体感交互技术的上肢关节活动度测量方法[J]. 中国生物医学工程学报, 2014, 33(1): 16-21.
	QU C, DING C, WANG J Z, et al. A method to measure the range of motion of human upper limbs based on Kinect somatosensory interaction technology[J]. Chin J Biomed Eng, 2014, 33(1): 16-21.
[12]	王伟伟, 郭远其, 高卉, 等. 基于深度图像的关节活动度测量及其结果评价[J]. 中国医学物理学杂志, 2016, 33(3): 262-269.
	WANG W W, GUO Y Q, GAO H, et al. Measuring joint range of motion and evaluating measured results based on depth images[J]. Chin J Med Phys, 2016, 33(3): 262-269.
[13]	ALBERT J A, OWOLABI V, GEBEL A, et al. Evaluation of the pose tracking performance of the Azure Kinect and Kinect v2 for gait analysis in comparison with a gold standard: a pilot study[J]. Sensors (Basel), 2020, 20(18): 5104. doi: 10.3390/s20185104
[14]	LEE C, KIM J, CHO S, et al. Development of real-time hand gesture recognition for tabletop holographic display interaction using Azure Kinect[J]. Sensors (Basel), 2020, 20(16): 4566. doi: 10.3390/s20164566
[15]	张弛. Kinect关节数据处理算法及在机器人体感控制中的应用[D]. 武汉: 华中科技大学, 2017.
	ZHANG C. A Kinect joint data processing algorithm and its application in robot motion-sensing control[D]. Wuhan: Huazhong University of Science and Technology, 2017.
[16]	蒋成林. 霍尔特指数平滑法参数的优选[J]. 统计教育, 2004, 12(4): 13-15.
	JIANG C L. The optimization of parameters about holt exponential smoothing[J]. Stat Educ, 2004, 12(4): 13-15.
[17]	GOPURA R, BANDARA D, KIGUCHI K, et al. Developments in hardware systems of active upper-limb exoskeleton robots: a review[J]. Rob Auton Syst, 2016, 75 (Pt.B): 203-220.
[18]	ZHU Y, LU W, GAN W H, et al. A contactless method to measure real-time finger motion using depth-based pose estimation[J]. Comput Biol Med, 2021, 131(12): 104282. doi: 10.1016/j.compbiomed.2021.104282
[19]	瞿畅, 沈芳, 于陈陈, 等. 基于Kinect深度图像的腕部及手指活动度测量方法[J]. 中国生物医学工程学报, 2016, 35(5): 626-630.
	QU C, SHEN F, YU C C, et al. Measurement for detecting the range of motion of fingers and wrist based on depth image from Kinect[J]. Chin J Biomed Eng, 2016, 35(5): 626-630.

试验号	A		B	C	抖动程度
1	1	1	1	1	4.80
2	1	2	2	2	35.35
3	1	3	3	3	25.22
4	2	1	2	3	34.30
5	2	2	3	1	39.03
6	2	3	1	2	18.11
7	3	1	3	2	83.41
8	3	2	2	3	68.80
9	3	3	1	1	27.57

科目	掌屈		背伸		尺偏		桡偏
科目	A	B	A	B	A	B	A	B
男1左	101	105	103	105	104	110	102	104
男2左	109	106	107	108	108	103	106	107
男3右	102	103	101	101	109	109	102	104
女1左	101	104	105	106	103	107	106	103
女2右	104	103	105	103	103	105	95	102

项目	掌屈	背伸	尺偏	桡偏
r_a	0.998	0.996	0.996	0.990
r_b	0.998	0.997	0.997	0.992

Wrist joint range of motion measurement based on Azure Kinect bone tracking

RichHTML

PDF (PC)

Knowledge

Abstract

Cite this article

share this article

Figures/Tables 12

References 19

Related Articles 15

Metrics

Comments

Recommended 0

[1]	XU Hanlin, HU Guojiong, ZHENG Shaocheng, ZENG Xiaowen, ZENG Xianhua, SHAO Wenqi. Correlation between knee hyperextension gait and lower limb muscle activation in stroke patients with hemiplegia [J]. 《Chinese Journal of Rehabilitation Theory and Practice》, 2023, 29(2): 151-155.
[2]	LI Sijia,ZHANG Qi,HE Yan,LIU Qianjin,ZHANG Yanqing,ZHOU Tiantian. Correlation between gross motor function and spinal range of motion for children with bilateral spastic cerebral palsy [J]. 《Chinese Journal of Rehabilitation Theory and Practice》, 2022, 28(10): 1211-1216.
[3]	WANG Feng-li,CHEN Zhi-xiang,RUAN Jing,HE Sheng-min. Space of Range of Motion of Index Finger and Application [J]. 《Chinese Journal of Rehabilitation Theory and Practice》, 2021, 27(11): 1253-1259.
[4]	MA Shan-xin,XU Jian-wen,MA Nan,SU Yi,LIN Wei-shan,TAO Guang-lin. Effects of Wrist Brace on Activities of Hemiplegic Hand after Stroke [J]. 《Chinese Journal of Rehabilitation Theory and Practice》, 2020, 26(3): 306-309.
[5]	HUANG Chu-hong,ZENG Qing,CHEN Huan,LI Yu-qi,HUANG Guo-zhi. Efficacy of Compound Wrist-hand Orthosis-assisted Therapy on Wrist-hand Dysfunction after Stroke [J]. 《Chinese Journal of Rehabilitation Theory and Practice》, 2020, 26(12): 1446-1452.
[6]	YANG Fei, PAN Yu, WU Qiong, XU Quan, LI Xin, ZHANG Li-chun. Biomechanics Characteristics and Its Correlation with Proprioception of Ankle Post Sprain [J]. 《Chinese Journal of Rehabilitation Theory and Practice》, 2019, 25(12): 1365-1369.
[7]	YANG Ming-zhen, HUANG Song-hua, BAI Yu-long. Application of A Dynamic Wrist-hand Orthosis for Upper Limb and Hand Function Rehabilitation in Chronic Stroke Patients [J]. 《Chinese Journal of Rehabilitation Theory and Practice》, 2019, 25(11): 1361-1364.
[8]	YANG Yan- yan1a, WU Tong- xuan1a, ZHANG Qiao- yun1a, ZHOU Mou- wang1a, LI Zi- jian1b, ZHANG Ke1b, CHEN Zhong-qiang1b. Effects of Individual Prehabilitation on Functional Outcome SixWeeks after Total Knee Arthroplasty [J]. 《Chinese Journal of Rehabilitation Theory and Practice》, 2016, 22(6): 701-708.
[9]	HUI Han-qing;ZHANG Ling-li;YU Da-li;WANG Rong;YU Zhu-sheng. Test-retest Reliability and Validity of 3-dimensional Digital Goniometer for Cervical Range of Motion [J]. 《Chinese Journal of Rehabilitation Theory and Practice》, 2015, 21(11): 1329-1332.
[10]	LIU Hong-ju;QIU Yun-feng;DONG Ling;CHEN Fei;QIN Ting;DING Yi-hang. Effect of Sling Exercise Therapy on Rehabilitation after Total Knee Arthroplasty [J]. 《Chinese Journal of Rehabilitation Theory and Practice》, 2015, 21(08): 947-952.
[11]	YE Da-yong;ZHANG Xi-bin;LI Bao. Effect of Modified Wrist-hand Orthosis on Spasm and Motor Function of Wrist and Hand in Hemiplegics post Stroke [J]. 《Chinese Journal of Rehabilitation Theory and Practice》, 2015, 21(07): 811-815.
[12]	ZHAO Ya-ning;MA Su-hui;LI Jian-min;et al.. Effects of Robotic Gait Training System on Walking for Hemiplegics Post Stroke [J]. 《Chinese Journal of Rehabilitation Theory and Practice》, 2013, 19(1): 57-59.
[13]	LIU Zhen-huan;ZHANG Li-hong;ZHAO Yong.. Effect of Vibroacoustic Therapy with Five Elements Music on Muscle Tone of Children with Cerebral Palsy [J]. 《Chinese Journal of Rehabilitation Theory and Practice》, 2013, 19(08): 771-774.
[14]	ZHENG Zhi-xin;GAO Qian;WANG Jun;et al.. Effect of Pneumatically Ballistic Extracorporeal Shockwave on Chronic Nonspecific Low Back Pain [J]. 《Chinese Journal of Rehabilitation Theory and Practice》, 2013, 19(07): 666-668.
[15]	TAN Tong-cai;YE Xiang-ming;CUI Can.. Long-term Effect of Wrist Extensor Energy on Humeral Epicondylitis [J]. 《Chinese Journal of Rehabilitation Theory and Practice》, 2013, 19(06): 520-522.