CN106805980A - A kind of gait analysis system and analysis method - Google Patents
A kind of gait analysis system and analysis method Download PDFInfo
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- CN106805980A CN106805980A CN201710060095.XA CN201710060095A CN106805980A CN 106805980 A CN106805980 A CN 106805980A CN 201710060095 A CN201710060095 A CN 201710060095A CN 106805980 A CN106805980 A CN 106805980A
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- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
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Abstract
The invention discloses a kind of gait analysis system and analysis method, wherein, the gait analysis system, including intelligent terminal and two signal acquiring systems, the signal acquiring system include carrier, pressure sensor, acceleration transducer, angular-rate sensor, MCU and battery；The MCU passes through bluetooth communication wireless connection with intelligent terminal；The analysis process of the analysis method is as follows：1）Pressure signal to collecting is filtered twice；2）Enter the start of line to contact to earth signal detection, obtain initial pressure threshold value Th, then carry out intermediate threshold detection, finally judge to stand and terminate threshold value；3）Set up Descartes's rectangular coordinate system；4）Solve current pressure central point point position（X, y）；5）Calculate the coefficient that turned up in half sole, heel；6）Symmetry SI judges；7）Degree of variation CVt judges；8）Inside and outside eight word judges；9）Foot arch index AI judges.The present invention can more comprehensively, analyze gait information exactly.
Description
Technical field
The present invention relates to gait analysis technical field, more particularly to a kind of gait analysis system and analysis method.
Background technology
Gait is organization of human body and function, motor adjustment system, behavior and psychological activity external manifestation when walking, but
It is, wherein certain system or the dysfunction in terms of some, can all causes abnormal gait.Show according to investigations, 50%-60%'s is light
Sport people due in motion process gait it is incorrect and suffer from different degrees of knee wound (being referred to as wound of running)；Puberty walks
Attitude directly affects child growth stage bone leg even vertebral column development extremely；Abnormal gait has and has prompting to some diseases
Meaning, such as diabetes, joint of lower extremity inflammation, lower limb myasthenia.By gait analysis can realize to the prevention of some diseases with
And auxiliary therapy.
Gait analysis is prominent example of the Solid Mechanics in biosystem (i.e. biomethanics).Gait judgement and analysis, be
One professional medical subject at tip high, at present still in scientific research level, monitoring device threshold is high, and professional degree is also high, and people enjoy
Cost with equipment is also at a relatively high, such as the gait test equipment such as German Proxomed, the Biodex in the U.S..Do not have still at present
Consumer level gait monitors product, and the product of fitness campaign and clinical assisting in diagnosis and treatment can be instructed by individual data items.Therefore it provides one
It is kind convenient, fast, accurately gait analysis method, for doctor, coach, user oneself provide objective gait analysis foundation
And the recruitment evaluation after rehabilitation, correction or motion improvement, it is very urgent.
The content of the invention
For deficiencies of the prior art, it is an object of the invention to provide a kind of gait analysis system and analysis
Method, can more comprehensively, analyze gait information exactly.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is such：A kind of gait analysis system, its
It is characterised by：Including the intelligent terminal with blue tooth communication function and two signal acquiring systems, the signal acquiring system includes
Carrier, pressure sensor, acceleration transducer, angular-rate sensor, MCU and battery；The shape of the carrier and shoe-pad
Shape is consistent；The pressure sensor uses thin-film electro resistive pressure plate, and is several, wherein, carrier correspondence heel, plantar toe
The pressure sensor spacing being distributed at joint and thumb is between 4mmX4mm, the pressure sensor being distributed at carrier correspondence arch of foot
Away from being 20mmX20mm, the pressure sensor spacing in remaining region of carrier is 10mmX10mm；The acceleration transducer, angular speed
On a circuit board, the circuit board is located at carrier correspondence arch of foot position for sensor, MCU and battery, and located at pressure sensing
Between device and carrier；The pressure sensor, acceleration transducer, angular-rate sensor are connected with MCU, and the battery is each
Individual electronic component is powered；
The MCU has A/D translation functions, serial communication function and function of Bluetooth communication, and passes through with intelligent terminal
Bluetooth communication wireless connection；After the data that the intelligent terminal for reception sends to MCU, treatment obtains gait information.
Further, in processing procedure, the data to the transmission of two signal acquiring systems are carried out the intelligent terminal respectively
Treatment, its concrete processing procedure is as follows：
1) pressure signal for collecting is filtered twice：The low pass filter for first passing through a 10Hz filters high frequency and makes an uproar
Sound, then filters baseline drift by the high-pass filter of a 1Hz；
2) enter the start of line to contact to earth signal detection, obtain initial pressure threshold value Th, then carry out intermediate threshold detection, finally sentence
Disconnected standing terminates threshold value, wherein, intermediate threshold includes two peak values and a valley；Initiation threshold and terminate threshold value between when
Between difference be standing phase St, the time difference between initiation threshold and previous initiation threshold is designated as a gait cycle Gt；
3) Descartes's rectangular coordinate system is set up, by Descartes's rectangular coordinate system, can reflects that carrier connects with ground
The position of each pressure sensor when touching；Wherein, X-axis represents the horizontal range of each pressure sensor and origin, and Y-axis represents each pressure
The vertical range of force snesor and origin；
4) according to step 3) set up Descartes's rectangular coordinate system, according to current state：(X1, Y1), (X2, Y2) ... ...,
(Xn, Yn) is coordinate points of each pressure sensor of a certain moment in cartesian coordinate system, and P1, P2 ... ..., Pn are corresponding pressure
The pressure value of sensor, solves current pressure central point point position (x, y)：
Wherein, x=(x1*p1+x2*p2+ ...+xn*pn)/(p1+p2+ ...+pn),
Y=(y1*p1+y2*p2+ ...+yn*pn)/(p1+p2+ ...+pn)；
5) coefficient that turned up in half sole, heel is calculated：
According to the pressure data for collecting, the pressure ratio in outside in forefoot is calculated：
In formula：Pf represents the coefficient that turned up in half sole, and Fm is half sole inside pressure value, and Fl is half sole outside pressure value；If
Pf represents that half sole turns up less than 50%, and Pf is represented normally between 50~70%, and Pf is more than 70% expression half sole varus；
The pressure ratio in outside in heel：
In formula：Ph represents the coefficient that turned up in heel, and Hm is medial heel pressure value, and Hl is lateral heel pressure value；Ph is small
Turned up in 40% expression heel, Ph is normal range (NR) 40~60%, Ph is represented followed by varus more than 60%；
6) symmetry SI judges：
In formula：XLRepresent left foot swing phase duration, XRRight crus of diaphragm swing phase duration is represented, SI constant intervals are 0~100, its
In, SI<15% is considered as normal value, if SI>25% is considered as exception；
7) degree of variation CVt judges：
In formula：SDt represents the standard deviation of left foot or right crus of diaphragm standing phase in a period of time, and MNt represents left in a period of time
The average value of pin or right crus of diaphragm standing phase, wherein, CVt represents good stability, the CVt stability of the expression more than 12% 3~5%
Difference；
8) inside and outside eight word judges：The number of degrees according to the advancing angle in the walking process that angular-rate sensor is gathered are sentenced
It is fixed, wherein, advancing angle is then judged to interior eight word less than 5 °, and 5~15 ° is normal value, and toed-out is then judged to more than 15 °；
9) foot arch index AI judges：
In formula, Sn is non-arch area pressure summation, and Sa is arch area pressure summation；Wherein, AI<21%, represent foot
Bow is too high, if AI>28% represents that arch of foot is too low, is normal range (NR) between 21~28%.
Further, the signal acquiring system also includes a flash storage, and the flash storage is also located at electricity
On the plate of road, and it is connected with MCU.
Further, the MCU uses DA14580 chips, the acceleration transducer to use LIS3DH chips.
The data that two signal acquiring systems are transmitted are carried out by a kind of analysis method based on above-mentioned gait analysis system respectively
Treatment, its concrete processing procedure is as follows：
1) pressure signal for collecting is filtered twice：The low pass filter for first passing through a 10Hz filters high frequency and makes an uproar
Sound, then filters baseline drift by the high-pass filter of a 1Hz；
2) enter the start of line to contact to earth signal detection, obtain initial pressure threshold value Th, then carry out intermediate threshold detection, finally sentence
Disconnected standing terminates threshold value, wherein, intermediate threshold includes two peak values and a valley；Initiation threshold and terminate threshold value between when
Between difference be standing phase St, the time difference between initiation threshold and previous initiation threshold is designated as a gait cycle Gt；
3) Descartes's rectangular coordinate system is set up, by Descartes's rectangular coordinate system, can reflects that carrier connects with ground
The position of each pressure sensor when touching；Wherein, X-axis represents the horizontal range of each pressure sensor and origin, and Y-axis represents each pressure
The vertical range of force snesor and origin；
4) according to step 3) set up Descartes's rectangular coordinate system, according to current state：(X1, Y1), (X2, Y2) ... ...,
(Xn, Yn) is coordinate points of each pressure sensor of a certain moment in cartesian coordinate system, and P1, P2 ... ..., Pn are corresponding pressure
The pressure value of sensor, solves current pressure central point point position (x, y)：
Wherein, x=(x1*p1+x2*p2+ ...+xn*pn)/(p1+p2+ ...+pn),
Y=(y1*p1+y2*p2+ ...+yn*pn)/(p1+p2+ ...+pn)；
5) coefficient that turned up in half sole, heel is calculated：
According to the pressure data for collecting, the pressure ratio in outside in forefoot is calculated：
In formula：Pf represents the coefficient that turned up in half sole, and Fm is half sole inside pressure value, and Fl is half sole outside pressure value；If
Pf represents that half sole turns up less than 50%, and Pf is represented normally between 50~70%, and Pf is more than 70% expression half sole varus；
The pressure ratio in outside in heel：
In formula：Ph represents the coefficient that turned up in heel, and Hm is medial heel pressure value, and Hl is lateral heel pressure value；Ph is small
Turned up in 40% expression heel, Ph is normal range (NR) 40~60%, Ph is represented followed by varus more than 60%；
6) symmetry SI judges：
In formula：XLRepresent left foot swing phase duration, XRRight crus of diaphragm swing phase duration is represented, SI constant intervals are 0~100, its
In, SI<15% is considered as normal value, if SI>25% is considered as exception；
7) degree of variation CVt judges：
In formula：SDt represents the standard deviation of left foot or right crus of diaphragm standing phase in a period of time, and MNt represents left in a period of time
The average value of pin or right crus of diaphragm standing phase, wherein, CVt represents good stability, the CVt stability of the expression more than 12% 3~5%
Difference；
8) inside and outside eight word judges：The number of degrees according to the advancing angle in the walking process that angular-rate sensor is gathered are sentenced
It is fixed, wherein, advancing angle is then judged to interior eight word less than 5 °, and 5~15 ° is normal value, and toed-out is then judged to more than 15 °；
9) foot arch index AI judges：
In formula, Sn is non-arch area pressure summation, and Sa is arch area pressure summation；Wherein, AI<21%, represent foot
Bow is too high, if AI>28% represents that arch of foot is too low, is normal range (NR) between 21~28%.
Compared with prior art, the invention has the advantages that：
1st, whole gait analysis system simple structure, measurement is more comprehensively, accurately；It is with low cost, can be used for extensive sieve
Look into.
2nd, this method by user in walking or motion process based on foot various parameters carry out Real-time Collection and
Algorithm process, can realize real-time detection and analysis user's gait, and analyze that process is convenient and swift, and the degree of accuracy is high；Meanwhile, energy
It is enough to visualize gait data, image is formed, realize the quantitative analysis of human motion function.
Brief description of the drawings
Fig. 1 is the structural representation of signal acquiring system.
Fig. 2 is the schematic block circuit diagram of signal transducer.
Fig. 3 is the process chart of intelligent terminal.
The pressure signal curve map that Fig. 4 is collected for signal acquiring system.
In figure：1-carrier, 2-pressure sensor, 3-circuit board.
Specific embodiment
Below in conjunction with drawings and Examples, the invention will be further described.
Embodiment：Referring to Fig. 1, Fig. 2, a kind of gait analysis system, including the intelligent terminal with blue tooth communication function and
Two signal acquiring systems, the signal acquiring system includes carrier 1, pressure sensor 2, acceleration transducer, angular speed sensing
Device, MCU and battery；The shape of the carrier 1 is consistent with the shape of shoe-pad.
The pressure sensor 2 uses thin-film electro resistive pressure plate, and is several；In specific implementation process, take and receive
The big local pressure sensor 2 of power is densely distributed, and the small local pressure sensor 2 of stress is distributed sparse principle, wherein, carrier
The spacing of pressure sensor 2 being distributed at 1 corresponding heel, articulationes metatarsophalangeae and thumb is 4mmX4mm, the correspondence arch of foot punishment of carrier 1
The spacing of pressure sensor 2 of cloth is 20mmX20mm, and the spacing of pressure sensor 2 in remaining region of carrier 1 is 10mmX10mm；Due to
Each position discontinuity in vola, stress is big at heel, articulationes metatarsophalangeae, thumb, and arch area does not stress substantially, so stress
The densely distributed Du Genggao of big site sensor, with more accurate measurement stress point position；And the small site sensor of stress is close
Intensity is relatively low, and these positions need not accurately put position analysis, so as to substantially increase Center of Pressure certainty of measurement, while to the greatest extent may be used
Can reduces cost.
The acceleration transducer, angular-rate sensor, MCU and battery are located on a circuit board 3, the acceleration sensing
Device uses LIS3DH chips, gathers three acceleration signals in direction, to aid in whole gait to detect, when pressure sensor 2 has
Pressure change and during unchanged accelerometer, then illustrate that user does not move, simply static pressure change；Only work as pressure sensing
Device 2 is changed, while accelerator changes explanation user in motion.The circuit board 3 is located at the corresponding arch of foot position of carrier 1, and
Between pressure sensor 2 and carrier 1；Wherein, one layer of padded coaming is added with the middle of circuit board 3 and pressure sensor 2, with
Avoid influence of the circuit board 3 to pressure sensor 2.The pressure sensor 2, acceleration transducer, angular-rate sensor with
MCU is connected, and the battery is powered for each electronic component.
The MCU has A/D translation functions, serial communication function and function of Bluetooth communication, and passes through with intelligent terminal
Bluetooth communication wireless connection；During specific implementation, the MCU uses DA14580 chips, and the chip is a with Bluetooth Low Energy
(BLE) singlechip chip of function, supports the communication protocol of bluetooth 4.0, while having the basic MCU such as A/D samplings, serial communication
Function.After the data that the intelligent terminal for reception sends to MCU, treatment obtains gait information.It is preferably data storage, it is described
Signal acquiring system also includes a flash storage, and the flash storage is also located on circuit board 3, and is connected with MCU.
Referring to Fig. 3, the intelligent terminal in processing procedure, respectively to two signal acquiring systems transmission data at
Reason, its concrete processing procedure is as follows：
1) pressure signal for collecting is filtered twice：The low pass filter for first passing through a 10Hz filters high frequency and makes an uproar
Sound, then filters baseline drift by the high-pass filter of a 1Hz.
2) referring to Fig. 4, enter the start of line and contact to earth signal detection, wherein, contact to earth duration It, obtains initial pressure threshold value Th, so
After carry out intermediate threshold detection, finally judge stand terminate threshold value, wherein, intermediate threshold include two peak values (Pa1 and Pa1) and
One valley (Va)；Time difference between initiation threshold and end threshold value is standing phase St, initiation threshold and previous starting
Time difference between threshold value is designated as a gait cycle Gt.
3) Descartes's rectangular coordinate system is set up, by Descartes's rectangular coordinate system, can reflects that carrier connects with ground
The position of each pressure sensor when touching；Wherein, X-axis represents the horizontal range of each pressure sensor and origin, and Y-axis represents each pressure
The vertical range of force snesor and origin.
4) according to step 3) set up Descartes's rectangular coordinate system, according to current state：(X1, Y1), (X2, Y2) ... ...,
(Xn, Yn) is coordinate points of each pressure sensor of a certain moment in cartesian coordinate system, and P1, P2 ... ..., Pn are corresponding pressure
The pressure value of sensor, solves current pressure central point point position (x, y)：
Wherein, x=(x1*p1+x2*p2+ ...+xn*pn)/(p1+p2+ ...+pn)；
Y=(y1*p1+y2*p2+ ...+yn*pn)/(p1+p2+ ...+pn).
5) coefficient that turned up in half sole, heel is calculated：
According to the pressure data for collecting, the pressure ratio in outside in forefoot is calculated：
In formula：Pf represents the coefficient that turned up in half sole, and Fm is half sole inside pressure value, and Fl is half sole outside pressure value, wherein,
Fl is the stagnation pressure force value for adding up the pressure value that corresponding pressure sensor on the outside of half sole is collected；If Pf is less than 50%
Then represent that half sole turns up, Pf is represented normally between 50~70%, Pf is more than 70% expression half sole varus；
The pressure ratio in outside in heel：
In formula：Ph represents the coefficient that turned up in heel, and Hm is medial heel pressure value, and Hl is lateral heel pressure value, and Hl is
The stagnation pressure force value that the pressure value that the corresponding pressure sensor in outside in heel is collected is added up；After Ph is represented less than 40%
With turning up, Ph is normal range (NR) 40~60%, and Ph is represented followed by varus more than 60%.
6) symmetry SI judges：
In formula：XLRepresent left foot (i.e. one of signal acquiring system) swing phase duration, XRRepresent right crus of diaphragm (another letter
Number acquisition system) swing phase duration, wherein, XLAnd XRMethod according to described in 2) is obtained, wherein, swing phase duration=gait
Cycle Gt- standing phase St；SI constant intervals are 0~100, wherein, SI<15% is considered as normal value, if SI>25% is considered as
It is abnormal.
7) degree of variation CVt judges：
In formula：SDt represents the standard deviation of left foot or right crus of diaphragm (signal acquiring system) standing phase in a period of time, MNt tables
Show the average value of left foot or right crus of diaphragm (signal acquiring system) standing phase in a period of time, wherein, CVt represents stability 3~5%
Good, CVt represents that stability is poor more than 12%.
8) inside and outside eight word judges：According to advancing angle (the i.e. length of carrier in the walking process that angular-rate sensor is gathered
In direction and walking process advance direction between angle) the number of degrees judged, wherein, advancing angle is then judged to less than 5 °
Interior eight word, 5~15 ° is normal value, and toed-out is then judged to more than 15 °.
9) foot arch index AI judges：
In formula, Sn is non-arch area pressure summation, and Sa is arch area pressure summation, calculates arch area and accounts for entirely
The ratio AI of sole；Wherein, AI<21%, represent that arch of foot is too high, if AI>28% represents that arch of foot is too low, between 21~28%
It is normal range (NR).
The data that two signal acquiring systems are transmitted are carried out by a kind of analysis method based on above-mentioned gait analysis system respectively
Analysis, its concrete analysis process is as follows：
1) pressure signal for collecting is filtered twice：The low pass filter for first passing through a 10Hz filters high frequency and makes an uproar
Sound, then filters baseline drift by the high-pass filter of a 1Hz.
2) referring to Fig. 4, enter the start of line and contact to earth signal detection, wherein, contact to earth duration It, obtains initial pressure threshold value Th, so
After carry out intermediate threshold detection, finally judge stand terminate threshold value, wherein, intermediate threshold include two peak values (Pa1 and Pa1) and
One valley (Va)；Time difference between initiation threshold and end threshold value is standing phase St, initiation threshold and previous starting
Time difference between threshold value is designated as a gait cycle Gt.
3) Descartes's rectangular coordinate system is set up, by Descartes's rectangular coordinate system, can reflects that carrier connects with ground
The position of each pressure sensor when touching；Wherein, X-axis represents the horizontal range of each pressure sensor and origin, and Y-axis represents each pressure
The vertical range of force snesor and origin.
4) according to step 3) set up Descartes's rectangular coordinate system, according to current state：(X1, Y1), (X2, Y2) ... ...,
(Xn, Yn) is coordinate points of each pressure sensor of a certain moment in cartesian coordinate system, and P1, P2 ... ..., Pn are corresponding pressure
The pressure value of sensor, solves current pressure central point point position (x, y)：
Wherein, x=(x1*p1+x2*p2+ ...+xn*pn)/(p1+p2+ ...+pn)；
Y=(y1*p1+y2*p2+ ...+yn*pn)/(p1+p2+ ...+pn).
5) coefficient that turned up in half sole, heel is calculated：
According to the pressure data for collecting, the pressure ratio in outside in forefoot is calculated：
In formula：Pf represents the coefficient that turned up in half sole, and Fm is half sole inside pressure value, and Fl is half sole outside pressure value, wherein,
Fl is the stagnation pressure force value for adding up the pressure value that corresponding pressure sensor on the outside of half sole is collected；If Pf is less than 50%
Then represent that half sole turns up, Pf is represented normally between 50~70%, Pf is more than 70% expression half sole varus；
The pressure ratio in outside in heel：
In formula：Ph represents the coefficient that turned up in heel, and Hm is medial heel pressure value, and Hl is lateral heel pressure value, and Hl is
The stagnation pressure force value that the pressure value that the corresponding pressure sensor in outside in heel is collected is added up；After Ph is represented less than 40%
With turning up, Ph is normal range (NR) 40~60%, and Ph is represented followed by varus more than 60%.
6) symmetry SI judges：
In formula：XLRepresent left foot (i.e. one of signal acquiring system) swing phase duration, XRRepresent right crus of diaphragm (another letter
Number acquisition system) swing phase duration, wherein, XLAnd XRMethod according to described in 2) is obtained, wherein, swing phase duration=gait
Cycle Gt- standing phase St；SI constant intervals are 0~100, wherein, SI<15% is considered as normal value, if SI>25% is considered as
It is abnormal.
7) degree of variation CVt judges：
In formula：SDt represents the standard deviation of left foot or right crus of diaphragm (signal acquiring system) standing phase in a period of time, MNt tables
Show the average value of left foot or right crus of diaphragm (signal acquiring system) standing phase in a period of time, wherein, CVt represents stability 3~5%
Good, CVt represents that stability is poor more than 12%.
8) inside and outside eight word judges：According to advancing angle (the i.e. length of carrier in the walking process that angular-rate sensor is gathered
In direction and walking process advance direction between angle) the number of degrees judged, wherein, advancing angle is then judged to less than 5 °
Interior eight word, 5~15 ° is normal value, and toed-out is then judged to more than 15 °.
9) foot arch index AI judges：
In formula, Sn is non-arch area pressure summation, and Sa is arch area pressure summation, calculates arch area and accounts for entirely
The ratio AI of sole；Wherein, AI<21%, represent that arch of foot is too high, if AI>28% represents that arch of foot is too low, between 21~28%
It is normal range (NR).
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention rather than restriction technologies side
Case, it will be understood by those within the art that, those modify or equivalent to technical scheme, and
The objective and scope of the technical program are not departed from, all should be covered in the middle of scope of the presently claimed invention.
Claims (5)
1. a kind of gait analysis system, it is characterised in that：Including the intelligent terminal with blue tooth communication function and two signal acquisitions
System, the signal acquiring system includes carrier, pressure sensor, acceleration transducer, angular-rate sensor, MCU and electricity
Pond；The shape of the carrier is consistent with the shape of shoe-pad；The pressure sensor uses thin-film electro resistive pressure plate, and for some
It is individual, wherein, the pressure sensor spacing being distributed at carrier correspondence heel, articulationes metatarsophalangeae and thumb is 4mmX4mm, carrier correspondence
The pressure sensor spacing being distributed at arch of foot is 20mmX20mm, and the pressure sensor spacing in remaining region of carrier is
10mmX10mm；On a circuit board, the circuit board is located at for the acceleration transducer, angular-rate sensor, MCU and battery
At carrier correspondence arch of foot position, and between pressure sensor and carrier；The pressure sensor, acceleration transducer, angle
Velocity sensor is connected with MCU, and the battery is powered for each electronic component；
The MCU has A/D translation functions, serial communication function and function of Bluetooth communication, and passes through bluetooth with intelligent terminal
Communication wireless connection；After the data that the intelligent terminal for reception sends to MCU, treatment obtains gait information.
2. a kind of gait analysis system according to claim 1, it is characterised in that：The intelligent terminal is in processing procedure
In, the data to the transmission of two signal acquiring systems are processed respectively, and its concrete processing procedure is as follows：
1) pressure signal for collecting is filtered twice：The low pass filter for first passing through a 10Hz filters high-frequency noise,
Then baseline drift is filtered by the high-pass filter of a 1Hz；
2) enter the start of line to contact to earth signal detection, obtain initial pressure threshold value Th, then carry out intermediate threshold detection, finally judge station
It is vertical to terminate threshold value, wherein, intermediate threshold includes two peak values and a valley；Time difference between initiation threshold and end threshold value
It is standing phase St to be worth, and the time difference between initiation threshold and previous initiation threshold is designated as a gait cycle Gt；
3) Descartes's rectangular coordinate system is set up, by Descartes's rectangular coordinate system, when can reflect that carrier is contacted with ground
The position of each pressure sensor；Wherein, X-axis represents the horizontal range of each pressure sensor and origin, and Y-axis represents each pressure and passes
The vertical range of sensor and origin；
4) according to step 3) set up Descartes's rectangular coordinate system, according to current state：(X1, Y1), (X2, Y2) ... ..., (Xn,
Yn) it is coordinate points of each pressure sensor of a certain moment in cartesian coordinate system, P1, P2 ... ..., Pn are corresponding pressure sensing
The pressure value of device, solves current pressure central point point position (x, y)：
Wherein, x=(x1*p1+x2*p2+ ...+xn*pn)/(p1+p2+ ...+pn),
Y=(y1*p1+y2*p2+ ...+yn*pn)/(p1+p2+ ...+pn)；
5) coefficient that turned up in half sole, heel is calculated：
According to the pressure data for collecting, the pressure ratio in outside in forefoot is calculated：
In formula：Pf represents the coefficient that turned up in half sole, and Fm is half sole inside pressure value, and Fl is half sole outside pressure value；If Pf is small
Represent that half sole turns up in 50%, Pf is represented normally between 50~70%, Pf is more than 70% expression half sole varus；
The pressure ratio in outside in heel：
In formula：Ph represents the coefficient that turned up in heel, and Hm is medial heel pressure value, and Hl is lateral heel pressure value；Ph is less than
40% expression heel is turned up, and Ph is normal range (NR) 40~60%, and Ph is represented followed by varus more than 60%；
6) symmetry SI judges：
In formula：XLRepresent left foot swing phase duration, XRRight crus of diaphragm swing phase duration is represented, SI constant intervals are 0~100, wherein, SI<
15% is considered as normal value, if SI>25% is considered as exception；
7) degree of variation CVt judges：
In formula：SDt represents the standard deviation of left foot or right crus of diaphragm standing phase in a period of time, MNt represent in a period of time left foot or
The average value of right crus of diaphragm standing phase, wherein, CVt represents good stability 3~5%, and CVt represents that stability is poor more than 12%；
8) inside and outside eight word judges：Judged according to the number of degrees of advancing angle in the walking process that angular-rate sensor is gathered, its
In, advancing angle is then judged to interior eight word less than 5 °, and 5~15 ° is normal value, and toed-out is then judged to more than 15 °；
9) foot arch index AI judges：
In formula, Sn is non-arch area pressure summation, and Sa is arch area pressure summation；Wherein, AI<21%, represent arch of foot mistake
Height, if AI>28% represents that arch of foot is too low, is normal range (NR) between 21~28%.
3. a kind of gait analysis system according to claim 1, it is characterised in that：The signal acquiring system also includes one
Flash storage, the flash storage is also located on circuit board, and is connected with MCU.
4. a kind of gait analysis system according to claim 1, it is characterised in that：The MCU uses DA14580 chips,
The acceleration transducer uses LIS3DH chips.
5. a kind of analysis method based on gait analysis system described in claim 1, it is characterised in that：Respectively to two signal acquisitions
The data of system transfers are analyzed, and its concrete analysis process is as follows：
1) pressure signal for collecting is filtered twice：The low pass filter for first passing through a 10Hz filters high-frequency noise,
Then baseline drift is filtered by the high-pass filter of a 1Hz；
2) enter the start of line to contact to earth signal detection, obtain initial pressure threshold value Th, then carry out intermediate threshold detection, finally judge station
It is vertical to terminate threshold value, wherein, intermediate threshold includes two peak values and a valley；Time difference between initiation threshold and end threshold value
It is standing phase St to be worth, and the time difference between initiation threshold and previous initiation threshold is designated as a gait cycle Gt；
3) Descartes's rectangular coordinate system is set up, by Descartes's rectangular coordinate system, when can reflect that carrier is contacted with ground
The position of each pressure sensor；Wherein, X-axis represents the horizontal range of each pressure sensor and origin, and Y-axis represents each pressure and passes
The vertical range of sensor and origin；
4) according to step 3) set up Descartes's rectangular coordinate system, according to current state：(X1, Y1), (X2, Y2) ... ..., (Xn,
Yn) it is coordinate points of each pressure sensor of a certain moment in cartesian coordinate system, P1, P2 ... ..., Pn are corresponding pressure sensing
The pressure value of device, solves current pressure central point point position (x, y)：
Wherein, x=(x1*p1+x2*p2+ ...+xn*pn)/(p1+p2+ ...+pn),
Y=(y1*p1+y2*p2+ ...+yn*pn)/(p1+p2+ ...+pn)；
5) coefficient that turned up in half sole, heel is calculated：
According to the pressure data for collecting, the pressure ratio in outside in forefoot is calculated：
In formula：Pf represents the coefficient that turned up in half sole, and Fm is half sole inside pressure value, and Fl is half sole outside pressure value；If Pf is small
Represent that half sole turns up in 50%, Pf is represented normally between 50~70%, Pf is more than 70% expression half sole varus；
The pressure ratio in outside in heel：
In formula：Ph represents the coefficient that turned up in heel, and Hm is medial heel pressure value, and Hl is lateral heel pressure value；Ph is less than
40% expression heel is turned up, and Ph is normal range (NR) 40~60%, and Ph is represented followed by varus more than 60%；
6) symmetry SI judges：
In formula：XLRepresent left foot swing phase duration, XRRight crus of diaphragm swing phase duration is represented, SI constant intervals are 0~100, wherein, SI<
15% is considered as normal value, if SI>25% is considered as exception；
7) degree of variation CVt judges：
In formula：SDt represents the standard deviation of left foot or right crus of diaphragm standing phase in a period of time, MNt represent in a period of time left foot or
The average value of right crus of diaphragm standing phase, wherein, CVt represents good stability 3~5%, and CVt represents that stability is poor more than 12%；
8) inside and outside eight word judges：Judged according to the number of degrees of advancing angle in the walking process that angular-rate sensor is gathered, its
In, advancing angle is then judged to interior eight word less than 5 °, and 5~15 ° is normal value, and toed-out is then judged to more than 15 °；
9) foot arch index AI judges：
In formula, Sn is non-arch area pressure summation, and Sa is arch area pressure summation；Wherein, AI<21%, represent arch of foot mistake
Height, if AI>28% represents that arch of foot is too low, is normal range (NR) between 21~28%.
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