CN106176149A - A kind of ectoskeleton gait analysis system based on multi-sensor fusion and method - Google Patents
A kind of ectoskeleton gait analysis system based on multi-sensor fusion and method Download PDFInfo
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- CN106176149A CN106176149A CN201610809232.0A CN201610809232A CN106176149A CN 106176149 A CN106176149 A CN 106176149A CN 201610809232 A CN201610809232 A CN 201610809232A CN 106176149 A CN106176149 A CN 106176149A
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- A61H3/00—Appliances for aiding patients or disabled persons to walk about
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- A—HUMAN NECESSITIES
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/112—Gait analysis
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- A61B5/1126—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb using a particular sensing technique
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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Abstract
The invention discloses a kind of ectoskeleton gait analysis system based on multi-sensor fusion and method, a kind of ectoskeleton gait analysis system based on multi-sensor fusion includes ectoskeleton, appearance boat instrument, intelligent shoe, encoder and microprocessor, described ectoskeleton includes hip joint components, thigh mechanical bone, knee components, shank mechanical bone and ankle joint parts, and microprocessor is for analyzing and process the kinestate data that ectoskeleton produces in the process of walking；A kind of ectoskeleton gait analysis method based on multi-sensor fusion, appearance is navigated after the ectoskeleton kinestate data of instrument, intelligent shoe and encoder collection carry out denoising and analyzing and processing and is passed to host computer by it, host computer adjusts walking step state and speed according to whole ectoskeleton data message, it is ensured that stability during ectoskeleton walking and safety.The present invention is the lightest, data acquisition efficient, it is sensitive to control response, drastically increases ectoskeletal wearing comfort sense and to wearer safety assurance ability in the process of walking.
Description
Technical field
The present invention relates to wearable rehabilitation medical field, a kind of exoskeleton robot based on multi-sensor fusion walks
State analyzes system and method.
Background technology
Along with developing rapidly and society's care increasing to people with disability and help, ectoskeleton machine of robotics
People arises at the historic moment, and exoskeleton robot has merged the multi-subject design such as machinery, electronics, computer, biology, be a kind of novel can
Dress robot.In rehabilitation medical field, exoskeleton robot can help Patients of Spinal again to stand, as normal person
Walking, not only reduces patient's dependence to nursing staff in daily life, moreover it is possible to auxiliary patient carries out rehabilitation；Meanwhile,
Exoskeleton robot also can assist old people to move, and strengthens the motion exercise time of old people, helps their health invigorating.No matter
Helping the disabled or helping the elderly aspect, when wearer is put on ectoskeleton walking, the Data acquisition and issuance of gait has highly important
Meaning.
Existing gait analysis system the most all can pass through with using high speed video camera, pressure plare, MEMS accelerometer etc.
Gait information in these devices collection analysis human walking procedure.It the most all can have the disadvantage that:
(1) high speed video camera is common is all housed in indoor, and range is limited, and in process of the test, right
Human synovial position carries out substantial amounts of punctuate, and operating process is complicated, is unfavorable for that frequently carrying out the most substantial amounts of analysis tests；
(2) during using pressure plare to carry out gait analysis, the pressure condition of pressure plare energy precise acquisition human body sole,
But pressure plare is relatively cumbersome, it is impossible to carry use with experimenter, and limited area, the domain of walk is by great limitation
Property, it is unfavorable for analyzing ectoskeleton gait information in use.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, it is provided that a kind of ectoskeleton gait based on multi-sensor fusion
Analyze system and method, reach to measure, analyze the step-length of ectoskeleton lower limb in the process of walking, step height, cadence and motion in real time
The information such as track.Meanwhile, it is capable to the stress size of detection ectoskeleton sole each several part, analyze the stability of ectoskeleton walking, from
And be that microprocessor provides control feedback information.By merging multi-sensor information, host computer can differentiate whether ectoskeleton is in
Normal operating condition, and the motion intention according to the current moving state identification wearer of ectoskeleton, with further up to carrying
High ectoskeleton and the safety of wearer and comfort.
It is an object of the invention to be achieved through the following technical solutions: a kind of ectoskeleton gait based on multi-sensor fusion
Analysis system, it includes ectoskeleton, appearance boat instrument, intelligent shoe, encoder and microprocessor, and intelligent shoe is through on ectoskeleton；Described
Ectoskeleton include hip joint components, thigh mechanical bone, knee components, shank mechanical bone and ankle joint parts, at hip
It is separately installed with appearance boat instrument at joint component, thigh mechanical bone and shank mechanical bone, is used for measuring ectoskeleton and is expert at and passes by
Three axial angle in journey；Encoder is set respectively at hip joint components, knee components and ankle joint parts, is used for surveying
Amount ectoskeleton hip joint in the process of walking, knee joint and the rotational angle of ankle joint；Microprocessor analysis also processes ectoskeleton
The kinestate data produced in the process of walking；
The described appearance boat integrated multiple three axis accelerometers of instrument, three-axis gyroscope and three axle magnetometer sensor, survey respectively
The magnetic field intensity of amount ectoskeleton acceleration, angular velocity and the earth in the process of walking, then utilizes the spin moment tactical deployment of troops to obtain
Ectoskeleton is in three axial angles；
Described intelligent shoe includes metal level, pressure transducer, plastic layer sensor stand and rubber layer, described metal
Layer is connected by bolt with ankle joint parts；Plastic layer sensor stand is arranged between metal level and rubber layer, and is provided with peace
Dress hole；Described pressure transducer includes outer rim and inside casing, and the installation that pressure transducer is by plastic layer sensor stand
Hole embeds between metal level and rubber layer.
Described hip joint components, thigh mechanical bone, shank mechanical bone are respectively arranged with bondage, it is possible to make wearer
Preferably dress ectoskeleton.
Described appearance boat instrument uses MEMS sensor MPU9250, and described MPU9250 is set to 4x4 MPU9250 battle array
Row, utilize multisensor array can generate sensor array redundancy.
Described pressure transducer is weighing scale pressure transducer, and every intelligent shoe is provided with four weighing scale pressure
Sensor is symmetrical before and after forming full-bridge, and four weighing scale pressure transducers.
Described encoder is coin absolute value encoder, and be separately positioned on hip joint components, knee components and
The center of ankle joint parts.
Described thigh mechanical bone and shank mechanical bone are provided with containment vessel.
Described knee components includes knee joint baffle plate.
The installing hole of described plastic layer sensor stand is step installing hole, it is possible to support the outside of pressure transducer
Frame, the inside casing simultaneously the most not affecting pressure transducer moves down because of pressurized.
A kind of ectoskeleton gait analysis method based on multi-sensor fusion, it comprises the following steps:
S1: system electrification initializes；
The pressure transducer sampling of S2: left foot intelligent shoe and right crus of diaphragm intelligent shoe；
S3: resolve pressure transducer sampled data, try to achieve the force value of each pressure transducer, then try to achieve left foot pressure
Summation and right crus of diaphragm pressure summation；
S4: force value and pressure transducer position in intelligent shoe according to each pressure transducer utilize point of zero moment
Method tries to achieve Center of Pressure；Walking is tried to achieve in the cyclically-varying utilizing ectoskeleton left foot in the process of walking and right crus of diaphragm pressure summation
Cadence；
S5: encoder is sampled；
S6: process encoder sampled value, calculates hip joint components, knee components and ankle joint parts in fortune
The angle rotated during Dong；
The boat instrument sampling of S7: appearance；
S8: utilize the spin moment tactical deployment of troops to calculate the angle of pitch, roll angle and yaw angle, based on Kalman filtering and complementary filter
Method filter noise, use zero graduation location updating algorithm to eliminate integral error, thus obtain smooth accurate data；
S9: the three shaft angle degree utilizing appearance boat instrument to be surveyed calculate hip joint components, thigh mechanical bone, shank mechanical bone
Spatial attitude and hip joint components and the rotational angle of knee components；
S10: utilize the initial position of encoder data zero graduation location updating appearance boat instrument, fusion encoder and appearance boat instrument
Data calculate ectoskeleton step-length in the process of walking and step height；
Both ectoskeleton step-length in the process of walking can have been measured by formula (1):
Utilize formula (2) both can calculate h by real-time update, in walking in the hope of the high h of the step in ectoskeleton walking process
In a one-step process, it is high that h maximum is in walking process step:
In formula (1), (2), L is ectoskeleton walking step-length, lltFor left thigh mechanical bone length, llsFor left leg
Mechanical bone length, lrtFor right thigh mechanical bone length, lrsFor right leg mechanical bone length, θlFor left thigh mechanical bone
With vertical direction angle, θrFor right thigh mechanical bone and vertical direction angle,For left leg mechanical bone and left thigh machine
Tool skeleton angle,For right leg mechanical bone and right thigh mechanical bone angle；
S11: merge gait information and calculate ectoskeletal run trace, according to Center of Pressure coordinate and barycentric coodinates threshold value
Judge ectoskeleton stability in the process of walking, provide feedback information for microprocessor；
S12: data are uploaded to host computer, and host computer adjusts walking step state and speed according to whole ectoskeleton data message,
Thus ensure stability and the safety that ectoskeleton walks.
In described step S8, described zero graduation location updating algorithm is when ectoskeleton standing, by encoder
Real number demarcate zero graduation, meanwhile, the instrument that appearance navigated is set as initialized location, in ectoskeleton motor process afterwards, when
When the angle of encoder is zero graduation, appearance boat instrument is carried out again initialized location and demarcates, thus eliminate the integration of appearance boat instrument
Error.
The invention has the beneficial effects as follows: outside the present invention is by sensor acquisition such as appearance boat instrument, pressure transducer and encoders
The main information of skeleton motion, is then analyzed ectoskeletal gait by microprocessor fusing multi-sensor information, this
System is simple and practical, and without geographical restrictions, real-time is good for range.Specifically, the present invention merges multi-sensor information energy
Measure, analyze the information such as the step-length of ectoskeleton lower limb in the process of walking, step height, cadence and movement locus the most in real time；
First, the system of the present invention can real-time precision measurment wearer and ectoskeletal vola single sensing station weight
Amount and gross weight, by gathering the data of pressure transducer, it is possible to calculate ectoskeletal position of centre of gravity seat in horizontal plane
By coordinate, mark, can be determined that ectoskeletal walking is the most stable, and then provide feedback letter for adjusting ectoskeletal walking step state
Breath.Meanwhile, the frequency of ectoskeleton walking can be measured by the periodically change of making a concerted effort of intelligent shoe pressure, and then outside analysis
The stability of skeleton walking, provides for microprocessor and controls feedback information.The system of the present invention uses coin absolute encoder
Device, volume is little, certainty of measurement is high, and is separately positioned on hip joint components, knee components and the center of ankle joint parts, number
According to gathering efficiently, to control response sensitive, it is possible to accurately measure the hip joint components in ectoskeleton walking process, knee components and
The rotational angle of ankle joint parts.It addition, be provided with bondage, knee joint baffle plate, containment vessel and the rubber of intelligent shoe on ectoskeleton
Structural adhesive layer, the lightest, drastically increase ectoskeletal wearing comfort sense and to wearer safety in the process of walking
Supportability.
Secondly, the redundancy that the method for the present invention produces based on described MEMS sensor array, it is possible to accurately measure
Ectoskeleton hip joint components in the process of walking, machinery thigh skeleton and machinery Leg bones are in three axial angles, simultaneously
Utilize the data that appearance boat instrument and encoder are gathered, it is possible to the kinestate data such as material calculation, step height, cadence, thus differentiate
Whether ectoskeleton is in normal operating condition, according to the motion intention of ectoskeletal moving state identification wearer, and will gather
Being uploaded to host computer with calculating data, host computer utilizes the ectoskeletal kinestate of synthetic data Information Regulating, it is ensured that ectoskeleton
Efficiently, safe and stable running status.Appearance boat instrument and the data of encoder collection are being processed by the method for the present invention
During, use zero graduation location updating algorithm to eliminate the integral error of appearance boat instrument.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of a kind of ectoskeleton gait analysis system based on multi-sensor fusion of the present invention；
Fig. 2 is the walking model schematic diagram of the present invention；
Fig. 3 is the intelligent shoe structural representation of the present invention；
Fig. 4 is a kind of based on multi-sensor fusion the ectoskeleton gait analysis method step schematic diagram of the present invention；
Fig. 5 is the workflow schematic diagram of the present invention；
In figure, 1-intelligent shoe, 2-appearance boat instrument, 3-encoder, 4-hip joint components, 5-containment vessel, 6-thigh mechanical bone,
7-knee joint baffle plate, 8-shank mechanical bone, 9-ankle joint parts, 1.1-rubber, 1.2-plastic layer sensor stand, 1.3-presses
Force transducer, 1.4-metal level.
Detailed description of the invention
Technical scheme is described in further detail below in conjunction with the accompanying drawings, but protection scope of the present invention is not limited to
The following stated.
A kind of ectoskeleton gait analysis system based on multi-sensor fusion, it includes ectoskeleton, appearance boat instrument, intelligent shoe, volume
Code device and microprocessor, intelligent shoe is through on ectoskeleton；Described ectoskeleton includes hip joint components, thigh mechanical bone, knee joint
Joint component, shank mechanical bone and ankle joint parts, punish at hip joint components, thigh mechanical bone and shank mechanical bone
Appearance boat instrument is not installed, is used for measuring ectoskeleton three axial angle in the process of walking；At hip joint components, knee joint part
At part and ankle joint parts, encoder is set respectively, is used for measuring ectoskeleton hip joint in the process of walking, knee joint and ankle and closes
The rotational angle of joint；Microprocessor analysis also processes the kinestate data that ectoskeleton produces in the process of walking；
The described appearance boat integrated multiple three axis accelerometers of instrument, three-axis gyroscope and three axle magnetometer sensor, survey respectively
The magnetic field intensity of amount ectoskeleton acceleration, angular velocity and the earth in the process of walking, then utilizes the spin moment tactical deployment of troops to obtain
Ectoskeleton is in three axial angles；
Described intelligent shoe includes metal level, pressure transducer, plastic layer sensor stand and rubber layer, described metal
Layer is connected by bolt with ankle joint parts；Plastic layer sensor stand is arranged between metal level and rubber layer, and is provided with peace
Dress hole；Described pressure transducer includes outer rim and inside casing, and the installation that pressure transducer is by plastic layer sensor stand
Hole embeds between metal level and rubber layer.
Described hip joint components, thigh mechanical bone, shank mechanical bone are respectively arranged with bondage, it is possible to make wearer
Preferably dress ectoskeleton.
Described appearance boat instrument uses MEMS sensor MPU9250, and described MPU9250 is set to 4x4 MPU9250 battle array
Row, utilize multisensor array can generate sensor array redundancy.
Described pressure transducer is weighing scale pressure transducer, and every intelligent shoe is provided with four weighing scale pressure
Sensor is symmetrical before and after forming full-bridge, and four weighing scale pressure transducers.
Described encoder is coin absolute value encoder, and be separately positioned on hip joint components, knee components and
The center of ankle joint parts.
Described thigh mechanical bone and shank mechanical bone are provided with containment vessel.
Described knee components includes knee joint baffle plate.
The installing hole of described plastic layer sensor stand is step installing hole, it is possible to support the outside of pressure transducer
Frame, the inside casing simultaneously the most not affecting pressure transducer moves down because of pressurized.
A kind of ectoskeleton gait analysis method based on multi-sensor fusion, it comprises the following steps:
S1: system electrification initializes；
The pressure transducer sampling of S2: left foot intelligent shoe and right crus of diaphragm intelligent shoe；
S3: resolve pressure transducer sampled data, try to achieve the force value of each pressure transducer, then try to achieve left foot pressure
Summation and right crus of diaphragm pressure summation；
S4: force value and pressure transducer position in intelligent shoe according to each pressure transducer utilize point of zero moment
Method tries to achieve Center of Pressure；Walking is tried to achieve in the cyclically-varying utilizing ectoskeleton left foot in the process of walking and right crus of diaphragm pressure summation
Cadence；
S5: encoder is sampled；
S6: process encoder sampled value, calculates hip joint components, knee components and ankle joint parts in fortune
The angle rotated during Dong；
The boat instrument sampling of S7: appearance；
S8: utilize the spin moment tactical deployment of troops to calculate the angle of pitch, roll angle and yaw angle, based on Kalman filtering and complementary filter
Method filter noise, use zero graduation location updating algorithm to eliminate integral error, thus obtain smooth accurate data；
S9: the three shaft angle degree utilizing appearance boat instrument to be surveyed calculate hip joint components, thigh mechanical bone, shank mechanical bone
Spatial attitude and hip joint components and the rotational angle of knee components；
S10: utilize the initial position of encoder data zero graduation location updating appearance boat instrument, fusion encoder and appearance boat instrument
Data calculate ectoskeleton step-length in the process of walking and step height；
Both ectoskeleton step-length in the process of walking can have been measured by formula (1):
Utilize formula (2) both can calculate h by real-time update, in walking in the hope of the high h of the step in ectoskeleton walking process
In a one-step process, it is high that h maximum is in walking process step:
In formula (1), (2), L is ectoskeleton walking step-length, lltFor left thigh mechanical bone length, llsFor left leg
Mechanical bone length, lrtFor right thigh mechanical bone length, lrsFor right leg mechanical bone length, θlFor left thigh mechanical bone
With vertical direction angle, θrFor right thigh mechanical bone and vertical direction angle,For left leg mechanical bone and left thigh machinery
Skeleton angle,For right leg mechanical bone and right thigh mechanical bone angle；
S11: merge gait information and calculate ectoskeletal run trace, according to Center of Pressure coordinate and barycentric coodinates threshold value
Judge ectoskeleton stability in the process of walking, provide feedback information for microprocessor；
S12: data are uploaded to host computer, and host computer adjusts walking step state and speed according to whole ectoskeleton data message,
Thus ensure stability and the safety that ectoskeleton walks.
In described step S8, described zero graduation location updating algorithm is when ectoskeleton standing, by encoder
Real number demarcate zero graduation, meanwhile, the instrument that appearance navigated is set as initialized location, in ectoskeleton motor process afterwards, when
When the angle of encoder is zero graduation, appearance boat instrument is carried out again initialized location and demarcates, thus eliminate the integration of appearance boat instrument
Error.
Such as Fig. 1, shown in Fig. 3, a kind of ectoskeleton gait analysis system based on multi-sensor fusion, as the present invention preferably
One of embodiment, it includes intelligent shoe 1, appearance boat instrument 2, encoder 3, hip joint components 4, containment vessel 5, thigh mechanical bone 6, knee joint
Joint baffle plate 7, shank mechanical bone 8 and ankle joint parts 9, wherein intelligent shoe includes rubber 1.1, plastic layer sensor stand
1.2, pressure transducer 1.3 and metal level 1.4.
At hip joint components 4, thigh mechanical bone 6, shank mechanical bone 8, bondage is installed, is used for making wearer more
Good wearing ectoskeleton；And at hip joint components 4, thigh mechanical bone 6, shank mechanical bone 8, it is respectively mounted appearance boat instrument
2, appearance boat instrument 2 is used for measuring ectoskeleton three axial angle in the process of walking；At hip joint components 4, knee components, ankle
It is designed with encoder at joint component 9, is used for measuring ectoskeleton hip joint in the process of walking, knee joint and ankle joint and rotates
Angle.
Appearance boat instrument is made up of multiple triaxial accelerometers, three-axis gyroscope, three axle magnetometers, uses collection three axles to add in the present invention
Speed meter, three-axis gyroscope, three axle magnetometers are made up of 4x4 MPU9250 in the MEMS components and parts MPU9250 of one, appearance boat instrument,
Sensor array redundancy is utilized accurately to measure ectoskeleton fast joint, thigh, three shaft angle degree of shank in the process of walking.
Intelligent shoe includes metal level 1.4, plastic layer sensor stand 1.2 and rubber layer 1.1, and the superiors are metal level 1.4,
Being connected by bolt with ankle joint parts 9, be used for supporting whole ectoskeleton, intermediate layer is plastic layer sensor stand 1.2, design
Having sensor fixed position, fixing hole is designed as step, can support the outer rim of sensor, does not the most affect in sensor simultaneously
Frame moves down because of pressurized.Orlop is rubber layer 1.1, and rubber layer 1.1 can effectively buffer ectoskeleton foot in the process of walking
The impact on portion and ground, it is to avoid ectoskeleton contacts to earth firmly, can strengthen ectoskeleton comfortableness in the process of walking and the security.Intelligence
Shoe pressure sensor 1.3 embeds between metal level 1.4 and rubber layer 1.1.Pressure transducer uses weighing scale pressure transducer, often
Intelligent shoe is provided with four pressure transducers composition full-bridges, symmetrical before and after four pressure transducers, can the most accurately survey
Amount wearer and ectoskeletal gross weight, by gathering the data of pressure transducer, can calculate ectoskeletal position of centre of gravity and exist
By coordinate, coordinate in horizontal plane, can be determined that ectoskeletal walking is the most stable, and then for adjusting ectoskeletal walking step
State provides feedback information.Meanwhile, periodically changed by intelligent shoe pressure resultant force can measure ectoskeleton walking frequency.
Encoder uses absolute encoder, and its profile is similar to one piece of coin, and volume is little and certainty of measurement is high, and encoder is arranged on hip and closes
Joint, knee joint, ankle joint link center, can accurately measure the angle of rotation of hip joint in motor process, knee joint and ankle joint
Degree.
As in figure 2 it is shown, be walking model schematic diagram of the present invention, ectoskeleton in the process of walking, utilizes hip and thigh machine
Appearance boat instrument at tool skeleton can be combined and measured kneed motion conditions and rotational angle, in like manner, utilize thigh mechanical bone and
Appearance boat instrument at shank mechanical bone can be combined and measured kneed motion conditions and rotational angle, both can be surveyed by formula (1)
Go out ectoskeleton step-length in the process of walking.The present invention can also utilize appearance boat instrument seek step-length, appearance boat instrument acceleration is carried out
One time integration tries to achieve speed, then rate integrating is tried to achieve displacement, utilizes displacement both can calculate step-length.
Utilize formula (2) both can calculate h by real-time update, in walking in the hope of the high h of the step in ectoskeleton walking process
In a one-step process, h maximum is in walking process step height.Appearance boat instrument can also be utilized in the present invention to seek step-length, and navigate instrument to appearance
Acceleration carries out an integration and tries to achieve speed, then rate integrating is tried to achieve displacement, utilizes displacement both can calculate step height.
In formula (1), (2), L is ectoskeleton walking step-length, lltFor left thigh mechanical bone length, llsFor left leg
Mechanical bone length, lrtFor right thigh mechanical bone length, lrsFor right leg mechanical bone length, θlFor left thigh mechanical bone
With vertical direction angle, θrFor right thigh mechanical bone and vertical direction angle,For left leg mechanical bone and left thigh machinery
Skeleton angle,For right leg mechanical bone and right thigh mechanical bone angle.
By gathering the data of pressure transducer, ectoskeletal position of centre of gravity coordinate in horizontal plane can be calculated, logical
Cross coordinate and can be determined that ectoskeletal walking is the most stable, and then provide feedback information for adjusting ectoskeletal walking step state.With
Time, the frequency that can measure ectoskeleton walking is periodically changed by intelligent shoe pressure resultant force.
Such as Fig. 4, shown in Fig. 5, appearance boat instrument is to utilize the spin moment tactical deployment of troops by sensor measurement acceleration, angular velocity and earth magnetism
Obtain three shaft angle degree, in order to obtain smooth accurate data, present invention employs the method such as Kalman filtering and complementary filter,
During use, owing to integration can produce cumulative errors, in order to eliminate the impact of score accumulation error, present invention uses zero graduation
Location updating algorithm eliminates integral error, when ectoskeleton standing, the real number of encoder is demarcated zero graduation, with
Time, the instrument that appearance navigated is set as initialized location, in ectoskeleton motor process afterwards, when the angle of encoder is zero graduation
Time, appearance boat instrument is carried out an initialized location and demarcates, use zero graduation location updating algorithm can effectively eliminate appearance boat instrument
Integral error.
Claims (10)
1. an ectoskeleton gait analysis system based on multi-sensor fusion, it is characterised in that: it include ectoskeleton, appearance boat instrument,
Intelligent shoe, encoder and microprocessor, intelligent shoe is through on ectoskeleton；Described ectoskeleton includes hip joint components, thigh machine
Tool skeleton, knee components, shank mechanical bone and ankle joint parts, at hip joint components, thigh mechanical bone and shank machine
It is separately installed with appearance boat instrument at tool skeleton, is used for measuring ectoskeleton three axial angle in the process of walking；In hip joint portion
At part, knee components and ankle joint parts, encoder is set respectively, is used for measuring ectoskeleton hip joint in the process of walking, knee joint
Joint and the rotational angle of ankle joint；Microprocessor analysis also processes the kinestate number that ectoskeleton produces in the process of walking
According to；
The described appearance boat integrated multiple three axis accelerometers of instrument, three-axis gyroscope and three axle magnetometer sensor, outside measuring respectively
The magnetic field intensity of skeleton acceleration, angular velocity and the earth in the process of walking, then utilizes the spin moment tactical deployment of troops to obtain dermoskeleton
Bone is in three axial angles；
Described intelligent shoe includes metal level, pressure transducer, plastic layer sensor stand and rubber layer, described metal level with
Ankle joint parts are connected by bolt；Plastic layer sensor stand is arranged between metal level and rubber layer, and is provided with installing hole；
Described pressure transducer includes outer rim and inside casing, and pressure transducer is embedded by the installing hole of plastic layer sensor stand
Between metal level and rubber layer.
A kind of ectoskeleton gait analysis system based on multi-sensor fusion the most according to claim 1, it is characterised in that: described
Hip joint components, thigh mechanical bone, shank mechanical bone be respectively arranged with bondage, it is possible to outside making wearer preferably dress
Skeleton.
A kind of ectoskeleton gait analysis system based on multi-sensor fusion the most according to claim 1, it is characterised in that: institute
The appearance boat instrument stated uses MEMS sensor MPU9250, and described MPU9250 is set to 4x4 MPU9250 array, utilizes pass more
Sensor array can generate sensor array redundancy.
A kind of ectoskeleton gait analysis system based on multi-sensor fusion the most according to claim 1, it is characterised in that: institute
The pressure transducer stated is weighing scale pressure transducer, and every intelligent shoe is provided with four weighing scale pressure transducer compositions
Before and after full-bridge, and four weighing scale pressure transducers symmetrical.
A kind of ectoskeleton gait analysis system based on multi-sensor fusion the most according to claim 1, it is characterised in that: institute
The encoder stated is coin absolute value encoder, and is separately positioned on hip joint components, knee components and ankle joint parts
Center.
A kind of ectoskeleton gait analysis system based on multi-sensor fusion the most according to claim 1, it is characterised in that: institute
Thigh mechanical bone and the shank mechanical bone stated are provided with containment vessel.
A kind of ectoskeleton gait analysis system based on multi-sensor fusion the most according to claim 1, it is characterised in that: institute
The knee components stated includes knee joint baffle plate.
A kind of ectoskeleton gait analysis system based on multi-sensor fusion the most according to claim 1, it is characterised in that: institute
The installing hole of the plastic layer sensor stand stated is step installing hole, it is possible to support the outer rim of pressure transducer, the most again
The inside casing not affecting pressure transducer moves down because of pressurized.
9. an ectoskeleton gait analysis method based on multi-sensor fusion, it is characterised in that it comprises the following steps:
S1: system electrification initializes；
The pressure transducer sampling of S2: left foot intelligent shoe and right crus of diaphragm intelligent shoe；
S3: resolve pressure transducer sampled data, try to achieve the force value of each pressure transducer, then try to achieve left foot pressure summation
With right crus of diaphragm pressure summation；
S4: force value and pressure transducer position in intelligent shoe according to each pressure transducer utilize point of zero moment method
Try to achieve Center of Pressure；The step of walking is tried to achieve in the cyclically-varying utilizing ectoskeleton left foot in the process of walking and right crus of diaphragm pressure summation
Frequently；
S5: encoder is sampled；
S6: process encoder sampled value, calculates hip joint components, knee components and ankle joint parts and is being moved through
The angle rotated in journey；
The boat instrument sampling of S7: appearance；
S8: utilize the spin moment tactical deployment of troops to calculate the angle of pitch, roll angle and yaw angle, based on Kalman filtering and the side of complementary filter
Method filters noise, uses zero graduation location updating algorithm to eliminate integral error, thus obtains smooth accurate data；
S9: the three shaft angle degree utilizing appearance boat instrument to be surveyed calculate hip joint components, thigh mechanical bone, the sky of shank mechanical bone
Between attitude and hip joint components and the rotational angle of knee components；
S10: utilize the initial position of encoder data zero graduation location updating appearance boat instrument, merges encoder and the data of appearance boat instrument
Calculate ectoskeleton step-length in the process of walking and step height；
Both ectoskeleton step-length in the process of walking can have been measured by formula (1):
Utilize formula (2) both can to calculate h by real-time update in the hope of the high h of the step in ectoskeleton walking process, be expert at and make a move
During, it is high that h maximum is in walking process step:
In formula (1), (2), L is ectoskeleton walking step-length, lltFor left thigh mechanical bone length, llsFor left leg machinery bone
Bone length, lrtFor right thigh mechanical bone length, lrsFor right leg mechanical bone length, θlFor left thigh mechanical bone with vertical
Angular separation, θrFor right thigh mechanical bone and vertical direction angle,For left leg mechanical bone and left thigh mechanical bone
Angle,For right leg mechanical bone and right thigh mechanical bone angle；
S11: merge gait information and calculate ectoskeletal run trace, according to Center of Pressure coordinate and barycentric coodinates threshold decision
Ectoskeleton stability in the process of walking, provides feedback information for microprocessor；
S12: data are uploaded to host computer, and host computer adjusts walking step state and speed according to whole ectoskeleton data message, thus
Ensure stability and the safety of ectoskeleton walking.
A kind of ectoskeleton gait analysis method based on multi-sensor fusion, it is characterised in that: institute
In step S8 stated, described zero graduation location updating algorithm is when ectoskeleton standing, is demarcated by the real number of encoder
To zero graduation, meanwhile, the instrument that appearance navigated is set as initialized location, in ectoskeleton motor process afterwards, when the angle of encoder
When degree is for zero graduation, appearance boat instrument is carried out again initialized location and demarcates, thus eliminate the integral error of appearance boat instrument.
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