CN104636599B - A kind of sole pressure center track automatic comparison method - Google Patents
A kind of sole pressure center track automatic comparison method Download PDFInfo
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- CN104636599B CN104636599B CN201410852727.2A CN201410852727A CN104636599B CN 104636599 B CN104636599 B CN 104636599B CN 201410852727 A CN201410852727 A CN 201410852727A CN 104636599 B CN104636599 B CN 104636599B
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Abstract
The invention discloses a kind of sole pressure center track automatic comparison method.This method is：1) to two sole pressure center track S to be contrasted1、S2Align；2) the sole pressure center track S after two alignment is calculated1、S2Similitude, obtain the similarity between two tracks.The present invention carries out two two dimensional surface COP tracks overall comparison, the problem of avoiding two similarity values of more caused generation of component traces in previous work, entirety COP tracks, which imply feature, the comparisons to overall COP tracks such as the interim angle of travel of gait support, COP displacements, at the same time has high efficiency.And slippage factor is introduced during similarity measure is implemented, using best fit strategy, the influence of error band is reduced as far as possible.
Description
Technical field：
The invention belongs to medicine and information science crossing domain, and in particular to a kind of sole pressure center COP tracks are automatic
Comparison method.
Background technology：
Walking, to jog be that the mankind are the most universal and important daily routines and body-building means, extraneous by foot and ground etc.
Contact and the interaction of power, adjust body balance.Plantar pressure is measured by the plantar pressure under different motion pattern
Parameter carries out comparative study, discloses foot pressure and pattern, understands the basic law of movement, analyzes the pathology of inherence
Mechanism, is of great significance the etiological analysis of motor system disease, pathological diagnosis, therapeutic scheme selection and efficacy evaluation etc..
It has the characteristics that objective and accurate, quick, noninvasive, has established solid foundation for clinical practice.
Sole pressure center (Center of Press, COP) track is human walking procedure's mesopodium-ground contact action power
Position, size, the synthesis result of distribution and dynamics order, can reflect that foot contacts the mode of action of overall process with ground, and right
The indirect reflection of human body walking athletic posture, is a kind of important gait support phase plantar pressure feature.This characteristic test mistake
It is Cheng Kuaijie, noninvasive, objective, it can be obtained by plantar pressure plate.Supported in whole gait it is interim, the movements of COP points and joint of lower extremity,
The effect of muscle, ligament is closely related.COP path lines show serpentine (such as Fig. 1 institutes from heel to toe point general morphology
Show), its space-time characteristic can preferably reflect human body foot and the change of walking movement function, can be used as and establish Human Stamina evaluation
One of index of system, discloses the balance and stability of gait.Lateral stability in existing research and inquirement COP and foot,
The characteristic such as footwear or insole curative effect, some diseases changes.
COP tracks are used to distinguish normal person and the feasibility of preceding right-angled intersection rupture of ligament reconstruction patients to probe into, we
A kind of new COP tracks comparative approach is proposed on the basis of previous work, any two COP rails can obtain by this method
The similarity (Similarity) of mark, and as the numerical value of two COP tracks similarity degrees of measurement.Similarity is bigger, two COP
Track is closer.
COP tracks on two dimensional surface, are split as in previous work horizontal and vertical by the problem of comparing for COP tracks
Upper two tracks (as shown in Figure 2), are respectively compared the cross stream component and longitudinal component of two COP tracks.It is wide in the world at present
The general gait analysis system (such as RsScan, Kistler) used the translation comprising COP tracks, rotation, scaling processing step
Suddenly, but it is not directed to the comparison to COP tracks.Based on this, it is proposed that a kind of new COP tracks automatic comparison method.
The content of the invention：
The object of the present invention is to provide a kind of sole pressure center COP tracks automatic comparison method, and this method is to collection foot
The COP tracks being calculated after base pressure force data carry out automatic similarity degree measurement, available for research normal person and preceding cross
Due to cruciate ligament reconstruction patients are clinical diagnosis, rehabilitation evaluation, orthopedic in walking and COP tracks similarity degree when jogging
Prescription and training etc. provide reference frame.
In the technical solution adopted in the present invention, first with rotation, scaling, translation transformation to gathering plantar pressure number
Pre-processed according to the COP tracks being calculated so that having between the COP tracks of Different Individual or same individual different tests can
Than property, then to the COP trajectory calculation similarities by pretreatment.
The technical scheme is that：
A kind of sole pressure center track automatic comparison method, its step are：
1) to two sole pressure center track S to be contrasted1、S2Align；
2) the sole pressure center track S after two alignment is calculated1、S2Similitude, obtain the similarity between two tracks.
Further, formula is utilizedCalculate the similarity Sim (S1, S2)；
Wherein, S1(t) it is track S1T-th point, S2(t) it is track S2T-th point.
Further, formula is utilizedCalculate the similarity Sim
(S1, S2)；Wherein, S1T-th of point coordinates of track is (x1t, y1t), S2T-th of point coordinates of track is (x2t, y2t)。
Further, when calculating the similarity, from two centrode S1、S2Starting point start, participate in calculate point it is each
One is moved afterwards, until the terminal of wherein one centrode.
Further, when calculating the similarity, a parameter τ is firstly introduced into, its value range is [0,1 ..., τmax],
Wherein τmaxIt is one and presets empirical value；Then by two centrodes after starting point alignment, by wherein since starting point
One centrode S1Move τ point afterwards successively, the point after every moving once afterwards to centrode S1Make the centrode part of terminal
For a new centrode S1', another centrode S2 moves [0,1 ..., τ afterwards successively from starting pointmax] a point and respectively with
Current central track S1' calculate similarity；Finally using the maximum in all similarities calculated as this two central tracks
The final similarity of mark.
Further, τmaxValue centered on track count 1/4.
Further, if the points of two centrodes are different, the 1/4 of the centrode points for counting less are taken.
Compared with prior art, the positive effect of the present invention is：
First, two two dimensional surface COP tracks are carried out with overall comparison, component traces in previous work is avoided and compares institute
The problem of two similarity values of generation brought, while entirety COP tracks imply gait and support interim angle of travel, COP displacements
Etc. feature, the comparison to overall COP tracks has high efficiency.
Second, traditional related coefficient computational methods are extended, the calculating formula of similarity after extension can be used for counting
The similarity degree between two two dimension COP tracks is calculated, avoids in previous work and only the one-dimensional component in COP tracks is compared not
Foot.
3rd, it is proposed that similarity measure between two COP tracks point point it is corresponding on the basis of complete, not only
Two COP trajectory shape similarity degrees can be measured, can also probe into COP points velocity of displacement in two COP tracks close to journey
Degree, so as to more accurately provide the similarity degree of two COP tracks.
4th, in order to which the COP tracks for preferably solving human error and machine error is brought are not easy alignment problem, implementing
Slippage factor is introduced during similarity measure, using best fit strategy, reduces the influence of error band as far as possible.
Brief description of the drawings
Fig. 1 is COP tracks schematic diagram；
Fig. 2 is component of the two dimensional surface COP tracks in direction of advance (longitudinal direction) and lateral (transverse direction)；
Fig. 3 is COP tracks automatic comparison flow chart.
Embodiment：
The embodiment of the present invention, COP tracks similarity calculation system of the invention, place are provided below in conjunction with the accompanying drawings
It is as shown in Figure 3 to manage flow：
1) system input is two sole pressure center COP tracks, which passes through the step analyzing human body walking or jog
State supports interim plantar pressure situation to obtain, and the pretreatment such as rotation, scaling, translation is have passed through before input system so that track
Between it is comparable；
2) when in the present invention, considering two COP tracks similarities, using formula in 3) only by once calculating, you can
A value for being used to measure similarity degree is obtained, without COP tracks are split as horizontal and vertical two component traces and difference
Compare；
3) COP tracks are the two COP tracks extracted, and have the point on the two dimensional surface of temporal characteristics by one group
Coordinate pair forms, for two COP tracks S1, S2, similarity is obtained using formula is calculated as below：
Wherein, S1With S2For two COP tracks to be analyzed, t is the numbering of coordinate points in two tracks, S1The t of track
A point is (x1t, y1t), S2T-th point of track is (x2t, y2t).Further, have：
The formula is improved on the basis of one-dimensional ordered series of numbers related coefficient and obtained, for similar between two two-dimensional sequences of calculating
Degree, value range be [- 1,1], and the similarity degree that similarity value is higher to be illustrated between two tracks is higher；
4) premise that formula is calculated in using 3) is that the point between two COP tracks corresponds, using this correspondence
Mode, not only can measure two trajectory shape similarity degrees, also the COP points position of two tracks of mensurable composition with formula in 3)
Move the difference size of speed；Such as track S1It is made of 85 points, track S2It is made of 80 points, two tracks participate in during calculating
The point of calculating moves one afterwards every time, so that the point when calculating between track corresponds.
5) it is more preferably to avoid since track caused by human error and machine error is not easy alignment problem, using above-mentioned public affairs
When formula calculates two COP tracks similarities, a kind of best fit strategy for point alignment is proposed, with reduction factor evidence as far as possible
The similarity measure error that grass comes.Specific method is as follows：Parameter τ is introduced, its value range is [0,1 ..., τmax], its
Middle τmaxBe one and preset empirical value, may be set to COP tracks points 1/4 (take count in two tracks to be compared it is less
That be advisable, τmaxMay be set to the track points 1/4)；Before similarity is calculated using formula in 3), rail need to be first carried out
Mark aligns, and to the possibility value of any τ, τ position, Zhi Houzai are moved after making any bar alignment starting point in two tracks successively
Similarity is calculated using formula；Such as the similarity of the first and second two COP tracks is calculated, when first takes each τ value, second should all take time
All τ values simultaneously calculate similarity with first successively, calculate τ × τ times altogether, in all result of calculations, it is this two COP to make maximum
The final similarity of track, so that data noise be influenced to minimize.
Claims (5)
1. a kind of sole pressure center track automatic comparison method, its step are：
1) the sole pressure center track that collection plantar pressure data are calculated with rotation, scaling, translation transformation is done pre-
Processing, obtains two sole pressure center track S to be contrasted1、S2；
2) to two sole pressure center track S to be contrasted1、S2Align；
3) the sole pressure center track S after two alignment is calculated1、S2Similitude, obtain between two sole pressure center tracks
Similarity；Utilize formulaCalculate the similarity Sim (S1,S2)；Its
In, sole pressure center track S1T-th of point coordinates be (x1t,y1t), sole pressure center track S2T-th of point coordinates be
(x2t,y2t)；
4) when wherein, calculating the similarity, a parameter τ is firstly introduced into, its value range is [0,1 ..., τmax], wherein τmax
It is one and presets empirical value；Then by two sole pressure center tracks after starting point alignment, by it since starting point
In a sole pressure center track S1Move τ point afterwards successively, the point after every moving once afterwards to sole pressure center track S1Eventually
The centrode part sole pressure center track S new as one of point1', another sole pressure center track S2From starting point
Move 0,1 afterwards successively ..., τmaxA point and respectively with current sole pressure center track S1' calculate similarity；It will finally be calculated
All similarities in final similarity of the maximum as this two sole pressure center tracks.
2. the method as described in claim 1, it is characterised in that utilize formulaCalculate
Similarity Sim (the S1,S2)；Wherein, S1(t) it is sole pressure center track S1T-th point, S2(t) it is in plantar pressure
Heart track S2T-th point.
3. method as claimed in claim 1 or 2, it is characterised in that when calculating the similarity, from two sole pressure center rails
Mark S1、S2Starting point start, participate in calculate point every time afterwards move one, until the terminal of wherein one sole pressure center track.
4. the method as described in claim 1, it is characterised in that τmaxValue be sole pressure center track points 1/4.
5. method as claimed in claim 4, it is characterised in that if the points of two sole pressure center tracks are different, τmax
Value take and count the 1/4 of less sole pressure center track points.
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| CN108209924B (en) * | 2018-01-16 | 2019-02-19 | 北京大学第三医院 | The analysis method of gait feature after a kind of Anterior Cruciate Ligament Ruptures |
| CN109330604B (en) * | 2018-08-28 | 2020-06-09 | 浙江大学 | Human body standing shaking signal decomposition method and device |
| CN109979595A (en) * | 2019-02-22 | 2019-07-05 | 福州大学 | A kind of classification method of the support vector machines ankle wound rehabilitation assessment result based on plantar pressure detection |
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| CN1561908A (en) * | 2004-03-16 | 2005-01-12 | 中国科学院合肥智能机械研究所 | Multiple axial force platform array and human walking gait information gaining method |
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| CN1561908A (en) * | 2004-03-16 | 2005-01-12 | 中国科学院合肥智能机械研究所 | Multiple axial force platform array and human walking gait information gaining method |
Non-Patent Citations (3)
| Title |
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| A New Method on Foot Rolling Trajectory Generation for Human-Like Bipedal Walking;Dingsheng Luo et al.;《International Conference on Mechatronics and Automation》;20130804;第839页 * |
| 健康女大学生步行时左右足支撑期时相特征比较;黄红拾等;《中国运动医学杂志》;20110228;第30卷(第2期);第136-139页 * |
| 前交叉韧带重建术影响步行时足底压力时相特征初步研究;黄红拾等;《中国运动医学杂志》;20140331;第33卷(第3期);第189-192页 * |
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