CN107137089A - A kind of Wearable sensing shoe system and gait evaluation method - Google Patents
A kind of Wearable sensing shoe system and gait evaluation method Download PDFInfo
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- CN107137089A CN107137089A CN201710223505.8A CN201710223505A CN107137089A CN 107137089 A CN107137089 A CN 107137089A CN 201710223505 A CN201710223505 A CN 201710223505A CN 107137089 A CN107137089 A CN 107137089A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- 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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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
- A61B5/6802—Sensor mounted on worn items
- A61B5/6804—Garments; Clothes
- A61B5/6807—Footwear
Abstract
The invention discloses a kind of Wearable sensing shoe system and gait evaluation method, it includes computer, wireless router, left foot sensing footwear, right crus of diaphragm sensing footwear, left leg motion-sensing unit, right leg motion-sensing unit, left thigh motion-sensing unit, right thigh motion-sensing unit, waist movement sensing unit.Motion-sensing unit is used for the shank, thigh and waist for being attached to human body lower limbs, can measure the posture of each limbs of lower limb.Sensing footwear are used for the three-dimensional ground reaction force and torque for measuring sole.Motion-sensing unit and power sensing unit transfer data to the LAN of wireless router by WIFI module, and computer connects the LAN and receives posture, power and torque data, then carries out gait evaluation.The system can carry out continuously measuring and analyzing, assess to body gait effectively in real time, it is easy to dress and use, cheap, and can continuously be worked under various non-lab environments.
Description
Technical field
The present invention relates to a kind of measurement of gait, analysis and assessment technology, more particularly to a kind of Wearable sensing shoe system
And its analysis for gait and appraisal procedure.
Background technology
The measurement of gait, analysis and to assess be essential in clinical analysis and rehabilitation and biomechanics Research one
Work, has a set of traditional metering system to be considered reliable standard by the field at present：By multiple infrared high-speed camera groups
Into motion capture system add polylith static force measurement plate, motion capture system is stained with infrared anti-in each limbs of body of experimenter
The mark point that luminescent material makes, catches the motion of these mark points to reduce the motion of human body limb by infrared camera, static
Force plate then provides ground reaction force, and system substitutes into data at two gait that correlation is solved in predetermined modelling of human body motion
Parameter.But this set system price is expensive, and need to be fixedly mounted, the requirement to light environment is high, can only survey in laboratory
Amount, and effective measurement space is extremely limited.
The drawbacks of in order to solve this set system, related researchers develop many Wearables for gait analysis and passed
Sensor system.Most start, single MEMS sensor such as electronic accelerometer, electronic gyroscope are used for the posture for analyzing human body,
But these methods because the much noise that carries of electronic sensor in itself and measuring method it is simple and crude, it is impossible to meet system comprehensively
System and accurate motion analysis.Therefore, multisensor composition Wearable system generate, and sensor blending algorithm such as
Kalman filtering is used for reduction data noise, improves precision.Too many sensor is worn on the body of testee may
Comfortableness is influenceed, and high is required to the synchronism of data transfer, unnecessary sensor can be reduced during gait analysis in right amount,
Enough data are obtained with the sensor for trying one's best few.Researcher proposes the single pendulum and double pendulum model for lower limb, to scheme into one
Step reduces the quantity of sensor, estimates the posture of other limbs to calculate gait parameter according to the measurement result of part of limb, side
Just it is succinct, but precision is reduced to a certain extent.
The content of the invention
The purpose of the present invention is to overcome the deficiencies in the prior art to sense shoe system and gait evaluation side there is provided a kind of Wearable
Method.
The purpose of the present invention is achieved through the following technical solutions：A kind of Wearable senses shoe system, including left small
Leg motion-sensing unit, right leg motion-sensing unit, left thigh motion-sensing unit, right thigh motion-sensing unit, waist
Motion-sensing unit, computer, wireless router, left foot sensing footwear, right crus of diaphragm sensing footwear；Wherein, the left leg motion-sensing
Unit, right leg motion-sensing unit, left thigh motion-sensing unit, right thigh motion-sensing unit, waist movement sensing are single
Member, left foot sensing footwear, right crus of diaphragm sense footwear and computer, pass through wireless router wireless connection, the left leg motion-sensing list
Member, right leg motion-sensing unit, left thigh motion-sensing unit, right thigh motion-sensing unit, waist movement sensing unit
It is respectively used to be attached to left leg, right leg, left thigh, right thigh and the waist of human body, measures the posture number of these body parts
According to；Left foot sensing footwear and right crus of diaphragm the sensing footwear are worn on left foot and right crus of diaphragm respectively, and the ground for measuring left foot and right crus of diaphragm sole is anti-
Active force and torque；The computer receives the attitude data of each body part, the ground of left and right pin sole by wireless router
Face reaction force and torque data, and carry out gait evaluation according to these data.
Further, the left leg motion-sensing unit, right leg motion-sensing unit, left thigh motion-sensing list
Member, the structure of right thigh motion-sensing unit, waist movement sensing unit are identical, including the first attitude transducer, first
WIFI module, the first CPU, the first power module；Wherein, first attitude transducer and the first WIFI module are with first
CPU is connected, and the first CPU is powered by the first power module；First attitude transducer includes gyroscope, accelerometer and magnetic
Power meter, measures the magnetic field intensity in angular speed, acceleration and environment, and send data to the first CPU respectively；First CPU will
Computer is sent to by the first WIFI module after data packing.
Further, right crus of diaphragm sensing footwear are identical with left foot sensor construction, including the axle power sensing unit of sole 6,
The axle power sensing unit of arch of foot 6, the axle power sensing unit of heel 6.
Further, the axle power sensing unit of sole 6, the axle power sensing unit of arch of foot 6 and the axle power sensing unit knot of heel 6
Structure is identical, including the second attitude transducer, the second WIFI module, the 2nd CPU, second source module, 6 axial force sensors；Its
In, the 2nd CPU connects the second attitude transducer, the second WIFI module, 6 axial force sensors respectively by second source module for power supply；
6 axial force sensor is used to measure 3 axle powers and 3 axle power squares, and sends data to the 2nd CPU；The second posture sensing
Device includes gyroscope, accelerometer and magnetometer, for measuring angular speed, acceleration and magnetic field intensity, and sends data to
2nd CPU；2nd CPU will pass through the second WIFI module after the data packing of the second attitude transducer and 6 axial force sensors
It is sent to computer.
A kind of gait evaluation method for applying above-mentioned Wearable to sense shoe system, comprises the following steps：
(1) by left leg motion-sensing unit, right leg motion-sensing unit, left thigh motion-sensing unit, right thigh
Motion-sensing unit, waist movement sensing unit be attached to respectively the left leg of the measured, right leg, left thigh, right thigh and
Waist, and left foot sensing footwear and right crus of diaphragm sensing footwear are put on, testee erects upright motionless, gathered data, single according to each sensing
The attitude transducer data of member calculate its initial attitude and demarcated；
(2) testee starts walking, and testee's lower limb are calculated according to the attitude data of known each sensing unit
Ankle-joint angle, knee angle, hip joint angle；
(3) according to the axle power sensing unit of sole 6, the axle power sensing unit of arch of foot 6, the axle power sensing unit of heel 63 axle pressures
Power, 3 axle power squares and attitude data, calculate the ground reaction force and torque F, M of left foot sensing footwear and right crus of diaphragm sensing footwear respectively：
F=Rfore-foot×Ffore-foot+Rarch×Farch+Rheel×Fheel,
M=Rfore-foot×Mfore-foot+Rarch×March+Rheel×Mheel,
Wherein, Rfore-foot、Rarch、RheelRespectively the axle power sensing unit of sole 6, the axle power sensing unit of arch of foot 6, heel 6
The attitude matrix of axle power sensing unit, Ffore-foot、Farch、FheelAnd Mfore-foot、March、MheelRespectively the axle power of sole 6 is sensed
3 axle powers and 3 axle power squares that unit, the axle power sensing unit of arch of foot 6, the axle power sensing unit measurement of heel 6 are obtained；
(4) find out ground reaction force F maximum, divided by testee body weight, obtain standardizing pressure peak
Fpeak；
(5) according to ground reaction force F, threshold value is set, F is then considered as the side lower limb more than threshold value and is in stance
tstance, F is then considered as t recovery phase less than threshold valueswing, calculate the time t that stridesstep=tstance+tswing, then calculate outbound
Compare R=t between immediatelystance/tstep；
(6) step pitch L is calculated according to areal model：
L=d1+d2+d1 '+d2 ',
D1=d11+d12,
D2=d21+d22,
D11=lshank× sin (d)=lshank× sin (c)=lshank×sin(a+b),
D12=lthigh×sin(a),
D21=lthigh×sin(e),
D22=lshank× cos (h)=lshank× cos (g+f)=lshank×cos(90-e+f),
Wherein, angle a and angle b are hip joint angle and the knee angle of back leg, and angle e and angle f are hip joint angle and the knee of foreleg
Joint angle, it was found from areal model figure, angle c is angle a and angle b sums, and angle d is the angle of back leg shank and vertical direction, with angle c
Equal, angle g is foreleg thigh and the angle of horizontal direction, and angle h is foreleg shank and the angle of horizontal direction, lshankAnd lthigh
The shank leg length and thigh leg of respectively lower limb are long, and d1 is horizontal range of the back leg ankle-joint to hip joint, and d2 arrives for hip joint
The horizontal range of foreleg ankle-joint, d11 is back leg ankle-joint to the kneed horizontal range of back leg, and d12 is that back leg knee joint is arrived
The horizontal range of hip joint, d21 is hip joint to the kneed horizontal range of foreleg, and d22 is that foreleg knee joint is closed to foreleg ankle
The horizontal range of section, d1 ' is horizontal range of the next step back leg ankle-joint to hip joint, and d2 ' is next step hip joint to foreleg
The horizontal range of ankle-joint, d1 ' and d2 ' calculation are identical with d1 and d2, are the data of the step stepped afterwards；
(7) leg speed v=L/t is further calculatedstep；
(8) to the standardization pressure peak F obtained by calculatingpeak, stride time tstep, stand up time is than R, step pitch L, leg speed v
Carry out statistics and calculate average value and standard deviation, realize gait evaluation.
The beneficial effects of the invention are as follows, transducing part of the invention is made up of a double-sensing footwear and 5 motion-sensing units,
Various pieces individual packages and work, it is easy to wear, by connect a common WLAN realize data synchronization and
Collection, using simple.The Wearable system is cheap compared to the similar product for gait analysis, realizes the daily of gait
Analysis and assessment, and can work for a long time a few hours.The gait analysis method energy of shoe system is sensed using the Wearable
Comprehensive gait parameter is obtained, including：Three-dimensional joint angle, three-dimensional ground reaction force and torque.And the gait evaluation of the system
Method then simplifies the complexity of calculating, is only analyzed using only the data of one dimension of sagittal plane, and before have modified
Lower limb single pendulum and double pendulum model, reduce the error brought in model simplification.
Brief description of the drawings
Fig. 1 is the schematic diagram that Wearable of the present invention senses shoe system；
Fig. 2 is the gait evaluation method schematic diagram that Wearable of the present invention senses shoe system；
Fig. 3 is human body walking areal model figure simplified in gait evaluation of the present invention；
Fig. 4 is the human body lower limbs areal model figure that uses in gait evaluation of the present invention；
In figure, left leg motion-sensing unit 1, the first attitude transducer 2, gyroscope 3, accelerometer 4, magnetometer 5,
One WIFI module 6, the first CPU7, the first power module 8, right leg motion-sensing unit 9, left thigh motion-sensing unit 10,
Right thigh motion-sensing unit 11, waist movement sensing unit 12, computer 13, wireless router 14, the axle power of sole 6 sensing are single
Member 15, left foot sensor 16, the axle power sensing unit 17 of heel 6, the second attitude transducer 18,6 axial force sensors 19, the 2nd WIFI
Module 20, the 2nd CPU21, second source module 22, the axle power sensing unit 23 of arch of foot 6, right crus of diaphragm sensing footwear 24.
Embodiment
As shown in Figure 1,2,3, 4, a kind of Wearable sensing shoe system includes left leg motion-sensing unit 1, right leg fortune
Dynamic sensing unit 9, left thigh motion-sensing unit 10, right thigh motion-sensing unit 11, waist movement sensing unit 12, calculating
Machine 13, wireless router 14, left foot sensing footwear 16, right crus of diaphragm sensing footwear 24；Wherein, the left leg motion-sensing unit 1, the right side are small
Leg motion-sensing unit 9, left thigh motion-sensing unit 10, right thigh motion-sensing unit 11, waist movement sensing unit 12,
Left foot sensing footwear 16, right crus of diaphragm sensing footwear 24 are with computer 13, by the wireless connection of wireless router 14, and the left leg motion is passed
Feel unit 1, right leg motion-sensing unit 9, left thigh motion-sensing unit 10, right thigh motion-sensing unit 11, waist fortune
Dynamic sensing unit 12 is respectively used to be attached to the left leg of human body, right leg, left thigh, right thigh and waist, measures these limbs
The attitude data at position, including acceleration, angular speed and geomagnetic field intensity, and by these data dispatch computers 13, computer
13 obtain quaternary element by expanded Kalman filtration algorithm calculating, and attitude matrix and attitude angle are calculated by four elements；Institute
State left foot sensing footwear 16 and right crus of diaphragm sensing footwear 24 are worn on left foot and right crus of diaphragm respectively, the ground of measurement left foot and right crus of diaphragm sole is counter to be made
Firmly and torque；The computer 13 receives the attitude data of each body part, left and right pin sole by wireless router 14
Ground reaction force and torque data, and carry out gait evaluation according to these data.
The left leg motion-sensing unit 1, right leg motion-sensing unit 9, left thigh motion-sensing unit 10, the right side are big
Leg motion-sensing unit 11, waist movement sensing unit 12 structure it is identical, including the first attitude transducer 2, the first WIFI
Module 6, the first CPU7, the first power module 8；Wherein, the WIFI module 6 of the first attitude transducer 2 and first is with first
CPU7 is connected, and the first CPU7 is powered by the first power module 8；First attitude transducer 2 includes gyroscope 3, acceleration
Meter 4 and magnetometer 5, measure the magnetic field intensity in angular speed, acceleration and environment, and send data to the first CPU7 respectively；
First CPU7 is sent to computer 13 after data are packed by the first WIFI module 6.
The right crus of diaphragm sensing footwear 24 are identical with the structure of left foot sensor 16, including the axle power sensing unit 15 of sole 6, arch of foot
6 axle power sensing units 23, the axle power sensing unit 17 of heel 6.
The axle power sensing unit 15 of sole 6, the axle power sensing unit 23 of arch of foot 6 and the structure of 6 axle power sensing unit of heel 17
It is identical, including the second attitude transducer 18, the second WIFI module 20, the 2nd CPU21, second source module 22,6 axle powers sensing
Device 19；Wherein, the 2nd CPU21 is powered by second source module 22, and the second attitude transducer 18, the second WIFI module are connected respectively
20th, 6 axial force sensor 19；6 axial force sensor 19 is used to measure 3 axle powers and 3 axle power squares, and sends data to second
CPU21；Second attitude transducer 18 includes gyroscope 3, accelerometer 4 and magnetometer 5, for measuring angular speed, acceleration
Degree and magnetic field intensity, and send data to the 2nd CPU21；2nd CPU21 passes the second attitude transducer 18 and 6 axle powers
Computer 13 is sent to by the second WIFI module 20 after the data packing of sensor 19.
Described Wearable senses the gait evaluation method of shoe system, comprises the following steps：
1) it is left leg motion-sensing unit 1, right leg motion-sensing unit 9, left thigh motion-sensing unit 10, the right side is big
Leg motion-sensing unit 11, waist movement sensing unit 12 are attached to the left leg of the measured, right leg, left thigh, the right side respectively
Thigh and waist, and left foot sensing footwear 16 and right crus of diaphragm sensing footwear 24 are put on, testee erects upright motionless, gathered data, root
Its initial attitude is calculated according to the attitude transducer data of each sensing unit and is demarcated；
2) testee starts walking, and testee's lower limb are calculated according to the attitude data of known each sensing unit
Ankle-joint angle, knee angle, hip joint angle；
3) according to the axle power sensing unit 15 of sole 6, the axle power sensing unit 23 of arch of foot 6, the axle power sensing unit 17 of heel 63
Axle pressure, 3 axle power squares and attitude data, respectively calculate left foot sensing footwear 16 and right crus of diaphragm sensing footwear 24 ground reaction force and
Torque F, M：
F=Rfore-foot×Ffore-foot+Rarch×Farch+Rheel×Fheel,
M=Rfore-foot×Mfore-foot+Rarch×March+Rheel×Mheel,
Wherein, Rfore-foot、Rarch、RheelRespectively the axle power sensing unit 15 of sole 6, the axle power sensing unit 23 of arch of foot 6, foot
With the attitude matrix of 6 axle power sensing units 17, Ffore-foot、Farch、FheelAnd Mfore-foot、March、MheelThe respectively axle of sole 6
3 axle powers and 3 axle power squares that power sensing unit 15, the axle power sensing unit 23 of arch of foot 6, the measurement of the axle power sensing unit 17 of heel 6 are obtained；
4) find out ground reaction force F maximum, divided by testee body weight, obtain standardizing pressure peak
Fpeak；
5) according to ground reaction force F, threshold value is set, F is then considered as the side lower limb more than threshold value and is in stance
tstance, F is then considered as t recovery phase less than threshold valueswing, calculate the time t that stridesstep=tstance+tswing, then calculate outbound
Compare R=t between immediatelystance/tstep；
6) step pitch L is calculated according to areal model：
L=d1+d2+d1 '+d2 ',
D1=d11+d12,
D2=d21+d22,
D11=lshank× sin (d)=lshank× sin (c)=lshank×sin(a+b),
D12=lthigh×sin(a),
D21=lthigh×sin(e),
D22=lshank× cos (h)=lshank× cos (g+f)=lshank×cos(90-e+f),
Wherein, angle a and angle b are hip joint angle and the knee angle of back leg, and angle e and angle f are hip joint angle and the knee of foreleg
Joint angle, it was found from areal model figure, angle c is angle a and angle b sums, and angle d is the angle of back leg shank and vertical direction, with angle c
Equal, angle g is foreleg thigh and the angle of horizontal direction, and angle h is foreleg shank and the angle of horizontal direction, lshankAnd lthigh
The shank leg length and thigh leg of respectively lower limb are long, and d1 is horizontal range of the back leg ankle-joint to hip joint, and d2 arrives for hip joint
The horizontal range of foreleg ankle-joint, d11 is back leg ankle-joint to the kneed horizontal range of back leg, and d12 is that back leg knee joint is arrived
The horizontal range of hip joint, d21 is hip joint to the kneed horizontal range of foreleg, and d22 is that foreleg knee joint is closed to foreleg ankle
The horizontal range of section, d1 ' is horizontal range of the next step back leg ankle-joint to hip joint, and d2 ' is next step hip joint to foreleg
The horizontal range of ankle-joint, d1 ' and d2 ' calculation are identical with d1 and d2, are the data of the step stepped afterwards；
7) leg speed v=L/t is further calculatedstep；
8) to the standardization pressure peak F obtained by calculatingpeak, stride time tstep, stand up time is than R, step pitch L, leg speed v
Carry out statistics and calculate average value and standard deviation, realize gait evaluation.Gait evaluation can be by with counting obtained normal step
The mode of the data comparison of state is carried out, such as is generally had：
Standardize pressure peak FpeakNormal value should be in 10N/kg-11N/kg between,
Striding the rate of change of time should not be excessive, ordinary people in below 100ms,
Normal value of the stand up time than R near 60%,
Step pitch L and leg speed v size vary with each individual, but the value of its standard deviation should not be excessive, otherwise stride and walking speed
Spend irregular, instability of gait.
Claims (5)
1. a kind of Wearable senses shoe system, it is characterised in that passed including left leg motion-sensing unit (1), right leg motion
Feel unit (9), left thigh motion-sensing unit (10), right thigh motion-sensing unit (11), waist movement sensing unit (12),
Computer (13), wireless router (14), left foot sensing footwear (16), right crus of diaphragm sensing footwear (24) etc.；Wherein, the left leg motion
Sensing unit (1), right leg motion-sensing unit (9), left thigh motion-sensing unit (10), right thigh motion-sensing unit
(11), waist movement sensing unit (12), left foot sensing footwear (16), right crus of diaphragm sensing footwear (24) are with computer (13), by wireless
Router (14) wireless connection, the left leg motion-sensing unit (1), right leg motion-sensing unit (9), left thigh motion
Sensing unit (10), right thigh motion-sensing unit (11), waist movement sensing unit (12) are respectively used to be attached to a left side for human body
Shank, right leg, left thigh, right thigh and waist, measure the attitude data of these body parts；The left foot sensing footwear (16)
It is worn on the ground reaction force and torque of left foot and right crus of diaphragm, measurement left foot and right crus of diaphragm sole respectively with right crus of diaphragm sensing footwear (24)；
The computer (13) received by wireless router (14) attitude data of each body part, left and right pin sole ground it is anti-
Active force and torque data, and carry out gait evaluation according to these data.
2. Wearable according to claim 1 senses shoe system, it is characterised in that the left leg motion-sensing unit
(1), right leg motion-sensing unit (9), left thigh motion-sensing unit (10), right thigh motion-sensing unit (11), waist
The structure of motion-sensing unit (12) is identical, including the first attitude transducer (2), the first WIFI module (6), the first CPU
(7), first power module (8) etc.；Wherein, first attitude transducer (2) and the first WIFI module (6) with the first CPU
(7) it is connected, the first CPU (7) is powered by the first power module (8)；First attitude transducer (2) include gyroscope (3),
Accelerometer (4) and magnetometer (5), measure the magnetic field intensity in angular speed, acceleration and environment, and send data to respectively
First CPU (7)；First CPU (7) is sent to computer (13) after data are packed by the first WIFI module (6).
3. a kind of Wearable sensing shoe system according to claim 1, it is characterised in that the right crus of diaphragm sensing footwear (24) with
Left foot sensor (16) structure is identical, including the axle power sensing unit (15) of sole 6, the axle power sensing unit (23) of arch of foot 6, heel
6 axle power sensing units (17) etc..
4. a kind of Wearable sensing shoe system according to claim 3, it is characterised in that the axle power of sole 6 sensing is single
First (15), the axle power sensing unit (23) of arch of foot 6 are identical with heel 6 axle power sensing unit (17) structure, are passed including the second posture
Sensor (18), the second WIFI module (20), the 2nd CPU (21), second source module (22), 6 axial force sensors (19) etc.；Its
In, the 2nd CPU (21) is powered by second source module (22), and the second attitude transducer (18), the second WIFI module are connected respectively
(20), 6 axial force sensors (19)；6 axial force sensor (19) is used to measure 3 axle powers and 3 axle power squares, and sends data to
2nd CPU (21)；Second attitude transducer (18) includes gyroscope (3), accelerometer (4) and magnetometer (5), for surveying
Angulation speed, acceleration and magnetic field intensity, and send data to the 2nd CPU (21)；2nd CPU (21) is by the second posture
Computer (13) is sent to by the second WIFI module (20) after the data packing of sensor (18) and 6 axial force sensors (19).
5. a kind of Wearable as claimed in claim 1 senses the gait evaluation method of shoe system, it is characterised in that including following
Step：
(1) by left leg motion-sensing unit (1), right leg motion-sensing unit (9), left thigh motion-sensing unit (10),
Right thigh motion-sensing unit (11), waist movement sensing unit (12) are attached to the left leg, right leg, a left side of the measured respectively
Thigh, right thigh and waist, and put on left foot sensing footwear (16) and right crus of diaphragm sense footwear (24), testee erect upright it is motionless,
Gathered data, calculates its initial attitude according to the attitude transducer data of each sensing unit and demarcates.
(2) testee starts walking, and the ankle of testee's lower limb is calculated according to the attitude data of known each sensing unit
Joint angle, knee angle, hip joint angle.
(3) according to the axle power sensing unit (15) of sole 6, the axle power sensing unit (23) of arch of foot 6, the axle power sensing unit (17) of heel 6
3 axle pressure, 3 axle power squares and attitude data, respectively calculate left foot sensing footwear (16) and right crus of diaphragm sense footwear (24) ground it is anti-
Active force and torque F, M：
F=Rfore-foot×Ffore-foot+Rarch×Farch+Rheel×Fheel,
M=Rfore-foot×Mfore-foot+Rarch×March+Rheel×Mheel,
Wherein, Rfore-foot、Rarch、RheelRespectively the axle power sensing unit (15) of sole 6, the axle power sensing unit (23) of arch of foot 6, foot
With the attitude matrix of 6 axle power sensing units (17), Ffore-foot、Farch、FheelAnd Mfore-foot、March、MheelRespectively sole 6
Axle power sensing unit (15), the axle power sensing unit (23) of arch of foot 6, the axle power sensing unit (17) of heel 6 obtained 3 axle powers of measurement and
3 axle power squares.
(4) find out ground reaction force F maximum, divided by testee body weight, obtain standardization pressure peak Fpeak。
(5) according to ground reaction force F, threshold value is set, F is then considered as the side lower limb more than threshold value and is in stance tstance, F
Then it is considered as t recovery phase less than threshold valueswing, calculate the time t that stridesstep=tstance+tswing, then calculate stand up time
Compare R=tstance/tstep。
(6) step pitch L is calculated according to areal model：
L=d1+d2+d1 '+d2 ',
D1=d11+d12,
D2=d21+d22,
D11=lshank× sin (d)=lshank× sin (c)=lshank×sin(a+b),
D12=lthigh×sin(a),
D21=lthigh×sin(e),
D22=lshank× cos (h)=lshank× cos (g+f)=lshank×cos(90-e+f),
Wherein, angle a and angle b are hip joint angle and the knee angle of back leg, and angle e and angle f are hip joint angle and the knee joint of foreleg
Angle, it was found from areal model figure, angle c is angle a and angle b sums, and angle d is the angle of back leg shank and vertical direction, with angle c phases
It is foreleg thigh and the angle of horizontal direction Deng, angle g, angle h is foreleg shank and the angle of horizontal direction, lshankAnd lthighPoint
Not Wei lower limb shank leg length and thigh leg it is long, d1 is the horizontal range that back leg ankle-joint arrives hip joint, before d2 is arrived for hip joint
The horizontal range of leg ankle-joint, d11 is back leg ankle-joint to the kneed horizontal range of back leg, and d12 is back leg knee joint to hip
The horizontal range in joint, d21 is hip joint to the kneed horizontal range of foreleg, and d22 is foreleg knee joint to foreleg ankle-joint
Horizontal range, d1 ' is the horizontal range that next step back leg ankle-joint arrives hip joint, and d2 ' is next step hip joint to foreleg ankle
The horizontal range in joint, d1 ' and d2 ' calculation are identical with d1 and d2, are the data of the step stepped afterwards.
(7) leg speed v=L/t is further calculatedstep。
(8) to the standardization pressure peak F obtained by calculatingpeak, stride time tstep, stand up time than R, step pitch L, leg speed v carry out
Average value and standard deviation are calculated, gait evaluation is realized.
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| CN201710223505.8A CN107137089A (en) | 2017-04-07 | 2017-04-07 | A kind of Wearable sensing shoe system and gait evaluation method |
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| CN201710223505.8A CN107137089A (en) | 2017-04-07 | 2017-04-07 | A kind of Wearable sensing shoe system and gait evaluation method |
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| CN108095729A (en) * | 2018-01-24 | 2018-06-01 | 深圳市臻络科技有限公司 | A kind of freezing of gait recognition methods and device |
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| CN108095729A (en) * | 2018-01-24 | 2018-06-01 | 深圳市臻络科技有限公司 | A kind of freezing of gait recognition methods and device |
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| CN108392204B (en) * | 2018-02-08 | 2023-07-21 | 王宋然 | Human body segment quality measuring method and device |
| CN109646009B (en) * | 2018-11-15 | 2021-11-26 | 北京中科汇成科技有限公司 | Gait space-time parameter calculation method based on portable gait analysis system |
| CN109646009A (en) * | 2018-11-15 | 2019-04-19 | 北京中科汇成科技有限公司 | The calculation method of gait Time And Space Parameters based on portable gait analysis system |
| CN109528212A (en) * | 2018-12-29 | 2019-03-29 | 大连乾函科技有限公司 | A kind of abnormal gait identification device and method |
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| CN110680335A (en) * | 2019-10-08 | 2020-01-14 | 深圳市臻络科技有限公司 | Step length measuring method and device, system and non-volatile computer storage medium thereof |
| CN110786862A (en) * | 2019-11-05 | 2020-02-14 | 哈工大机器人湖州国际创新研究院 | Gait cycle identification method based on torque and angle feedback fusion |
| CN111604890A (en) * | 2019-12-30 | 2020-09-01 | 合肥工业大学 | Motion control method suitable for exoskeleton robot |
| CN113133761A (en) * | 2020-01-17 | 2021-07-20 | 宝成工业股份有限公司 | Method for judging left and right gait and analysis device thereof |
| CN113663308A (en) * | 2020-05-14 | 2021-11-19 | 爱德士控股有限公司 | Running posture correction method, device and system |
| CN113080946A (en) * | 2021-04-29 | 2021-07-09 | 合肥工业大学 | Human body sitting and standing transfer capacity measuring device and method and electronic equipment |
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