CN108577854A - Gait recognition method and gait ancillary equipment - Google Patents
Gait recognition method and gait ancillary equipment Download PDFInfo
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- CN108577854A CN108577854A CN201810404416.8A CN201810404416A CN108577854A CN 108577854 A CN108577854 A CN 108577854A CN 201810404416 A CN201810404416 A CN 201810404416A CN 108577854 A CN108577854 A CN 108577854A
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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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/48—Other medical applications
- A61B5/4836—Diagnosis combined with treatment in closed-loop systems or methods
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/62—Posture
- A61H2230/625—Posture used as a control parameter for the apparatus
Abstract
The invention discloses a kind of gait recognition method and gait ancillary equipment, gait recognition method is applied to gait ancillary equipment, which includes ectoskeleton component, sensor module and data processor；Wherein, sensor module is set on ectoskeleton component, the exercise data for measuring ectoskeleton component, and sensor module is communicated to connect with data processor；The above method includes：Data processor receiving sensor component measures the exercise data of the ectoskeleton component obtained, and determines gait parameter using preset Algorithm for gait recognition, which is used to characterize the action posture and behavioural characteristic of the user of gait ancillary equipment.Compared to existing technologies, gait parameter when gait recognition method and gait ancillary equipment in the present invention can utilize sensor module to determine that the user of gait ancillary equipment walks with data processor, to contribute to gait ancillary equipment to carry out automatic adjusument according to the gait parameter of user.
Description
Technical field
The present invention relates to Gait Recognition technical field more particularly to a kind of gait recognition method and gait ancillary equipments.
Background technology
With the progress of science and technology, more and more equipment are used to the tedious work of substitution people, such as：In medical health
Multiple field, various types of rehabilitation equipments are used, and mitigate or even take over physiatrician's hard work with this；Gait is auxiliary
The training for helping equipment that patient can be assisted to carry out ability to act recovery, it is no longer necessary to which physiatrician helps.
Currently, existing gait ancillary equipment controls the speed of service by way of remote control mostly, or according to setting in advance
Fixed speed of service operation, often can not be according to the speed of travel of patient due to the walking step state parameter of None- identified patient
Automatic adjusument is carried out, therefore, during actual use due to the speed of service of gait ancillary equipment and the speed of travel of patient
It mismatches and causes the risk of secondary injury high patient.
Invention content
The main purpose of the embodiment of the present invention is to provide a kind of gait recognition method and gait ancillary equipment, can solve
The technical issues of gait parameter when gait ancillary equipment None- identified patient in the prior art walking.
To achieve the above object, first aspect of the embodiment of the present invention provides a kind of gait recognition method, and it is auxiliary to be applied to gait
Equipment is helped, which includes ectoskeleton component, sensor module and data processor；The sensor module setting
In on the ectoskeleton component, for measuring the exercise data for obtaining the ectoskeleton component, and the sensor module and institute
State data processor communication connection；The above method includes：
The data processor receives the exercise data that the sensor module measures the ectoskeleton component obtained；
The data processor determines gait parameter according to the exercise data, and using preset Algorithm for gait recognition,
The gait parameter is used to characterize the action posture and behavioural characteristic of the user of the gait ancillary equipment.
To achieve the above object, second aspect of the embodiment of the present invention provides a kind of gait ancillary equipment, including ectoskeleton group
Part, sensor module and data processor；The sensor module is set on the ectoskeleton component, and institute is obtained for measuring
The exercise data of ectoskeleton component is stated, and the sensor module is communicated to connect with the data processor；
The data processor is used to receive the movement number that the sensor module measures the ectoskeleton component obtained
According to determining gait parameter according to the exercise data, and using preset Algorithm for gait recognition, the gait parameter is for characterizing
The action posture and behavioural characteristic of the user of the gait ancillary equipment.
A kind of gait recognition method provided in an embodiment of the present invention and gait ancillary equipment, compared to existing technologies,
Gait ancillary equipment includes ectoskeleton component, sensor module and data processor；Wherein, sensor module is set to ectoskeleton
On component, for measuring the exercise data for obtaining ectoskeleton component, and sensor module is communicated to connect with above-mentioned data processor,
Data processor can determine gait parameter according to exercise data, and using preset Algorithm for gait recognition, since the gait is joined
Number can match with the action posture and behavioural characteristic of the user of gait ancillary equipment, therefore contribute to gait ancillary equipment
Automatic adjusument is carried out according to the gait parameter of user so that the speed of service of gait ancillary equipment can be with the row of user
Speed is walked to match.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those skilled in the art without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 is the step flow diagram of gait recognition method in first embodiment of the invention；
Fig. 2 is the step flow diagram of gait recognition method in second embodiment of the invention；
Fig. 3 is the structural schematic diagram of gait ancillary equipment in fourth embodiment of the invention.
Specific implementation mode
In order to make the invention's purpose, features and advantages of the invention more obvious and easy to understand, below in conjunction with the present invention
Attached drawing in embodiment, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described reality
It is only a part of the embodiment of the present invention to apply example, and not all embodiments.Based on the embodiments of the present invention, people in the art
The every other embodiment that member is obtained without making creative work, shall fall within the protection scope of the present invention.
In the embodiment of the present invention, propose that a kind of gait recognition method, this method are applied to gait ancillary equipment, the gait is auxiliary
It includes ectoskeleton component, sensor module and data processor to help equipment；Wherein, sensor module is set to ectoskeleton component
On, for measuring the exercise data for obtaining ectoskeleton component, and sensor module is communicated to connect with data processor.
Specifically, referring to Fig.1, Fig. 1 is the step flow diagram of gait recognition method in first embodiment of the invention, on
The method of stating includes the following steps：
Step 101, data processor receiving sensor component measure the exercise data of the ectoskeleton component obtained；
Step 102, data processor determine gait parameter according to exercise data, and using preset Algorithm for gait recognition,
The gait parameter is used to characterize the action posture and behavioural characteristic of the user of gait ancillary equipment.
Wherein, ectoskeleton component uses wearable design, can be fixed on the limbs of user, and can also be real
The combination of existing different joint of lower extremity, is such as configured simply to both legs/mono- leg or single joint of lower extremity, to adapt to difference
State of an illness disease Man's Demands.Above-mentioned gait ancillary equipment can be used for daily rehabilitation training and the row of subacute and chronic paralytic
Auxiliary is walked, power-assisted or resistance are provided in patient's Walking, improves patient's gait track.In addition, ectoskeleton component can be adjusted
Collapsing length is saved, the human body of different heights is adapted to this.
Wherein, sensor module can measure the exercise data of ectoskeleton component in three dimensions, such as angular speed,
Acceleration etc..The exercise data that data processor receiving sensor component is measured, then by preset Algorithm for gait recognition,
The gait parameter for determining ectoskeleton component, for characterizing action posture and the behavior spy when gait ancillary equipment user walking
Sign.
Specifically, it is understood that human body when walking, mainly by hip, knee, ankle, toes it is a series of continuous
Activity makes body be moved along certain orientation, and the action posture and behavioural characteristic of body moving process can then be joined with gait
It counts to characterize.For example, it includes gait cycle, time parameter, distance parameter, time-space ginseng that the common gait parameter of human body is logical
Number etc..Wherein, gait cycle indicate human body when walking side heel contact to the parapodum with the process that lands again, usually
It is indicated with the time second (s), each gait cycle includes a series of transfer of typical positions in walking, and people are usually this
Typical position variation marks off a series of periods, referred to as gait phase.One gait cycle can be divided into support phase and swing phase,
Subdivision is segmented into 8 phases again, and the phase of such as contacting to earth for the first time, support phase mid-term, support phase latter stage, swings early period at the load-bearing reaction phase
Deng.Time parameter refers to the relevant time-event of walking, including single step time, the time of striding, cadence, leg speed etc..Distance parameter
Including step-length, the length that strides, step width, sufficient angle etc..Time-space parameter is the characteristics of motion (angle of hip in walking, SCID Mice
Degree variation or displacement, speed, acceleration etc.).
Wherein, when establishing Algorithm for gait recognition, normal person is first acquired in level walking, slope walking, stair activity
Exercise data, such as the movement locus of bilateral lower limb, inertia, angular speed and the torque of output etc. and sole pressure point
Cloth situation, gravity center of human body's distribution situation etc..Then model training operation is carried out to the exercise data of acquisition, obtains normal person and corresponds to
Gait parameter model, and preserve to data processor.Data processor measures the ectoskeleton obtained in receiving sensor component
After the exercise data of component, the gait parameter model after input training, you can determine the step of gait ancillary equipment user
State parameter.
The gait recognition method that the embodiment of the present invention is provided, compared to existing technologies, gait ancillary equipment includes
Ectoskeleton component, sensor module and data processor；Wherein, sensor module is set on ectoskeleton component, for measuring
The exercise data of ectoskeleton component is obtained, and sensor module and above-mentioned data processor communicate to connect, data processor can be with
Gait parameter is determined according to exercise data, and using preset Algorithm for gait recognition, since the gait parameter can be auxiliary with gait
The action posture and behavioural characteristic for helping the user of equipment match, therefore contribute to gait ancillary equipment according to the step of user
State parameter carries out automatic adjusument so that the speed of service of gait ancillary equipment can match with the speed of travel of user.
Further, it is based on first embodiment of the invention, is Gait Recognition in second embodiment of the invention with reference to Fig. 2, Fig. 2
The step flow diagram of method, in the embodiment of the present invention, gait ancillary equipment further includes for driving ectoskeleton component movement
Drive component, which connect with data processor, and gait recognition method includes the following steps：
Step 201, data processor receiving sensor component measure the exercise data of the ectoskeleton component obtained；
Step 202, data processor determine gait according to the exercise data of reception using preset Algorithm for gait recognition
Parameter, the gait parameter are used to characterize the action posture and behavioural characteristic of the user of gait ancillary equipment；
Step 203, data processor generate control instruction and are sent to drive component according to the gait parameter of acquisition, should
Control instruction exports the corresponding ectoskeleton component movement of corresponding torque driving for controlling drive component.
Wherein, drive component uses flexible drive component, is set on ectoskeleton component, can specifically be set to ectoskeleton
One or more joint parts of component.For example, drive component can be set to the knee joint of ectoskeleton component, thus drive
The shank of user moves.
Above-mentioned drive component provides power-assisted by the way of impedance control to human body, which is different from traditional
Position controls, and human body lower limbs is forced to track certain specific track, but power-assisted is only just provided when human body is deviated from reference to track,
And the size of power-assisted is directly proportional to the degree of deviation.Impedance control can excite the active wish of patient to the full extent, with this
The rehabilitation efficacy being optimal.
The gait recognition method that the embodiment of the present invention is provided, compared to existing technologies, gait ancillary equipment includes
Ectoskeleton component, sensor module, data processor and the drive component for driving ectoskeleton component movement；Wherein, it senses
Device assembly is set on ectoskeleton component, for measures acquisition ectoskeleton component exercise data, and sensor module with it is above-mentioned
Data processor communicates to connect, and data processor can determine step according to exercise data, and using preset Algorithm for gait recognition
State parameter, and according to the gait parameter of acquisition, generate control instruction and be sent to drive component, the control instruction is for controlling
Drive component exports corresponding torque and drives corresponding ectoskeleton component movement, since above-mentioned gait parameter can be with user's
Action posture and behavioural characteristic match, and therefore, drive component drives the action posture and behavioural characteristic of ectoskeleton component movement
Also can match with the action posture and behavioural characteristic of user, so that the speed of service of gait ancillary equipment can be with
The speed of travel of user matches.
Based on second embodiment of the invention, third embodiment of the invention, in third embodiment of the invention, ectoskeleton are proposed
Component includes leg ectoskeleton component, which includes left side leg member, the small leg member in left side, right lateral thigh
At least one of component, the small leg member in right side；Sensor module includes the first sensor component for measuring leg inertia,
The first sensor component is correspondingly arranged on each component of leg ectoskeleton component, and sensor module measures the ectoskeleton obtained
The exercise data of component includes that first sensor component measures the leg inertia measurement parameter obtained.
Wherein, when establishing Algorithm for gait recognition, normal person is acquired in advance in level walking, slope walking, stair activity
When exercise data, including the movement locus of bilateral lower limb thigh, shank and inertia, angular speed etc..Then to the fortune of acquisition
Dynamic data carry out model training operation, obtain the corresponding gait parameter model of normal person, and preserve to data processor.At data
Reason device is after receiving first sensor component and measuring the leg inertia measurement parameter obtained, the gait parameter after input training
Model, you can determine the gait parameter of gait ancillary equipment user.
Drive component includes leg bone drive component, and each structure of leg bone drive component and leg ectoskeleton component
Part is correspondingly arranged, for respectively driving corresponding component movement.
For data processor according to the gait parameter of acquisition, generation includes for controlling leg bone drive component torque output
The first control instruction, and be sent to drive component, exporting corresponding torque for controlling drive component drives corresponding leg
Ectoskeleton component movement.
Wherein, IMU (Inertial Measurement Unit, inertia measurement list may be used in first sensor component
Member), for measuring the exercise data, such as angular speed, acceleration etc. of leg ectoskeleton component in three dimensions.
Specifically, after the gait parameter for determining gait ancillary equipment user, continue to detect leg ectoskeleton component
Exercise data, then using fixed gait parameter as reference, analyze ectoskeleton component exercise data, determine that gait is auxiliary
Help the action posture of equipment user leg and behavioural characteristic whether occur deviateing it is either abnormal if there is deviateing or abnormal,
Then data processor generates control instruction and is sent to drive component, and the control instruction is corresponding for controlling drive component output
Torque drives leg ectoskeleton component movement, so that the running orbit of leg ectoskeleton component and the gait parameter phase determined
Match.
For example, according to fixed gait parameter, the left leg of gait ancillary equipment user should currently be moved to front
It is 50 centimetres dynamic, and practical of the left leg of gait ancillary equipment user moves 30 centimetres to front, at this point, data processor
The first control instruction will be generated and be sent to drive component, which exports corresponding torque for controlling drive component
Driving left side leg member and/or the small leg member in left side make the left leg of gait ancillary equipment user again to front movement 20
Centimetre.In addition, drive component other than it can provide power-assisted, can also provide resistance, for example, gait ancillary equipment user
Left leg when moving, moved if not along front, but the sign of oriented other directions movement, then drive component meeting
Corresponding resistance is exported to prevent the left leg of gait ancillary equipment user from being moved to other directions.
The gait recognition method that the embodiment of the present invention is provided, compared to existing technologies, ectoskeleton component include leg
Portion's ectoskeleton component, sensor module include the first sensor component for measuring leg inertia, and the first sensor group
Part is correspondingly arranged on each component of leg ectoskeleton component, and leg inertia measurement parameter is obtained as ectoskeleton group for measuring
The exercise data of part；Drive component includes leg bone drive component, and the leg bone drive component and leg ectoskeleton group
Each component of part is correspondingly arranged, for respectively driving the movement of corresponding component, so that gait ancillary equipment can be according to making
The gait parameter when walking of user provides suitable auxiliary force for user leg.
Based on third embodiment of the invention, fourth embodiment of the invention, in fourth embodiment of the invention, sensor are proposed
Component further includes the second sensor component for measuring foot motion data；Data processor is receiving first sensor group
After part measures the leg inertia measurement parameter obtained, second sensor component measures the foot motion data obtained, using pre-
If Algorithm for gait recognition determine gait parameter.
Wherein, when establishing Algorithm for gait recognition, normal person is acquired in advance in level walking, slope walking, stair activity
When exercise data, include the pressure point of the movement locus of bilateral lower limb thigh, shank and inertia, angular speed, double-legged sole
Cloth and situation of change etc..Then model training operation is carried out to the exercise data of acquisition, obtains the corresponding gait parameter of normal person
Model, and preserve to data processor.Data processor measures the leg inertia survey of acquisition receiving first sensor component
After measuring parameter, the foot motion data that the measurement of second sensor component obtains, the gait parameter model after input training, you can
Determine the gait parameter of gait ancillary equipment user.
Specifically, ectoskeleton component further includes foot's ectoskeleton component, which includes left foot component, the right side
At least one of foot component, second sensor component are correspondingly arranged on each component of foot's ectoskeleton component.
Drive component further includes foot bones drive component, and foot bones drive component and foot ectoskeleton component is each
Component is correspondingly arranged, for respectively driving corresponding component movement.
Data processor is also generated according to the gait parameter of acquisition for controlling the output of foot bones drive component torque
Second control instruction, and it is sent to drive component, it is exported outside the corresponding foot of corresponding torque driving for controlling drive component
Bone component movement.
Specifically, after the gait parameter for determining gait ancillary equipment user, continue the fortune for detecting ectoskeleton component
Dynamic data analyze the movement of leg ectoskeleton component and foot's ectoskeleton component then using determining gait parameter as reference
Data, determine whether the gait of gait ancillary equipment user occurs deviateing either exception and then counted if there is deviation or exception
The first control instruction and/or the second control instruction are generated according to processor and are sent to drive component, it is defeated for controlling drive component
Go out corresponding torque driving leg ectoskeleton component and/or foot's ectoskeleton component movement so that leg ectoskeleton component and/or
The running orbit of foot's ectoskeleton component matches with the gait parameter determined.
For example, according to fixed gait parameter, the left foot heel of gait ancillary equipment user currently should be liftoff, and
The practical still stress of left foot heel of gait ancillary equipment user, at this point, data processor will generate the second control instruction
And it is sent to drive component, which exports corresponding torque driving left foot component for controlling drive component, makes gait
The left foot of ancillary equipment user is heeloff.
Wherein, pressure sensor may be used in second sensor component, is mainly distributed on sole and the impetus on ground, such as
Heel and ball of foot, by analyze the pressure value that detects of pressure sensor can determine user's foot-up, stop over, stand etc. it is capable
Dynamic posture and behavioural characteristic.Certainly, second sensor component can also use IMU or other kinds of sensors, in short, can be real
Now the sensor of detection foot motion data should also be suitable for the embodiment of the present invention.
Embodiment in order to better understand the present invention, with reference to Fig. 3, Fig. 3 is that gait auxiliary is set in fourth embodiment of the invention
Standby structural schematic diagram, in figure 3, leg ectoskeleton component include that left side leg member 10, the small leg member 20 in left side, right side are big
Leg member 30, the small leg member 40 in right side, first sensor component 50, left foot component 60, right crus of diaphragm component 70, are set to left foot component
60, the second sensor component (being not shown in Fig. 3) on right crus of diaphragm component 70.
In addition, gait ancillary equipment further includes control cabinet 80, it is provided with data processor in the control cabinet 80, battery, dissipates
Hot-air fan and peripheral hardware connection jaws etc..
The gait recognition method that the embodiment of the present invention is provided, compared to existing technologies, ectoskeleton component include leg
Portion's ectoskeleton component and foot's ectoskeleton component, sensor module includes the first sensor component for measuring leg inertia,
With the second sensor component for measuring foot motion data, drive component includes leg bone drive component and foot bones
Drive component so that gait parameter when gait ancillary equipment can walk according to user, be user leg and
Foot provides suitable auxiliary force.
Based on fourth embodiment of the invention, fifth embodiment of the invention, in fifth embodiment of the invention, sensor are proposed
Component further includes the 3rd sensor component for measuring the above body inertia in leg；Data processor is receiving the first sensing
Device assembly measures the leg inertia measurement parameter obtained, second sensor component measures the foot motion data obtained, Yi Ji
After three sensor modules measure the above body inertia measurement parameter in leg obtained, determined using preset Algorithm for gait recognition
Gait parameter.
Wherein, when establishing Algorithm for gait recognition, normal person is acquired in advance in level walking, slope walking, stair activity
When exercise data, include the pressure point of the movement locus of bilateral lower limb thigh, shank and inertia, angular speed, double-legged sole
Cloth and situation of change, the distribution situation of gravity center of human body etc..Then model training operation is carried out to the exercise data of acquisition, obtained just
The corresponding gait parameter model of ordinary person, and preserve to data processor.Data processor is receiving the survey of first sensor component
Measure the leg inertia measurement parameter obtained, second sensor component measures the foot motion data obtained, 3rd sensor component
After measuring the above body inertia measurement parameter in leg obtained, the gait parameter model after input training, you can determine to walk
The gait parameter of state ancillary equipment user.
Wherein, 3rd sensor component can also use IMU, can measure the movement of patient above the waist in three dimensions
Data, such as angular speed, acceleration etc..
Specifically, after the gait parameter for determining gait ancillary equipment user, the movement number of ectoskeleton component is detected
According to then using determining gait parameter as reference, the exercise data of analysis ectoskeleton component determines that gait ancillary equipment uses
Whether the speed of travel of person there is exception, and if there is exception, then data processor generates control instruction and is sent to drive component,
Corresponding torque driving associated bone component movement is exported for controlling drive component, so that the row of gait ancillary equipment user
It walks speed and matches with the gait parameter determined.
The gait recognition method that the embodiment of the present invention is provided, compared to existing technologies, sensor module include using
In the first sensor component for measuring leg inertia, second sensor component for measuring foot motion data and it is used for
The 3rd sensor component of the above body inertia in leg is measured, data processor can be passed according to first sensor component, second
Sensor component and 3rd sensor component measure the leg inertia obtained, the above body inertia of foot motion data and leg, profit
Determine gait parameter with preset Algorithm for gait recognition, the gait parameter can characterize gait ancillary equipment user leg,
The action posture and behavioural characteristic of the above body of foot and leg, to more contribute to gait ancillary equipment according to user
Gait parameter carry out automatic adjusument so that the speed of service of gait ancillary equipment can be with the speed of travel phase of user
Match.
Based on any one embodiment in second embodiment of the invention to the 5th embodiment, propose that the present invention the 6th is implemented
Example, in sixth embodiment of the invention, ectoskeleton component further includes the knee joint group formed between leg member and small leg member
It is formed between the hip joint component, small leg member and the foot part component that are formed between component more than part, leg member and leg
At least one of ankle-joint component.
Sensor module includes the 4th sensor module being set at each joint assembly, for measuring each joint assembly
Rotation angle.
Wherein, rotary encoder disc may be used to measure the rotation angle of each joint assembly in the 4th sensor module.
Further, data processor measures the leg inertia measurement parameter obtained, second according to first sensor component
Sensor module measures the foot motion data obtained, 3rd sensor component measures the above body inertia measurement in leg obtained
Parameter and the 4th sensor module measure the rotation angle of each joint assembly obtained, and are calculated using preset Gait Recognition
Method determines gait parameter.
Wherein, when establishing Algorithm for gait recognition, normal person is acquired in advance in level walking, slope walking, stair activity
When exercise data, include the pressure point of the movement locus of bilateral lower limb thigh, shank and inertia, angular speed, double-legged sole
The rotation angle of cloth and situation of change, the distribution situation of gravity center of human body and human hip, knee joint, ankle-joint.Then right
The exercise data of acquisition carries out model training operation, obtains the corresponding gait parameter model of normal person, and preserve to data processing
Device.Data processor is receiving leg inertia measurement parameter, the second sensor component that the measurement of first sensor component obtains
Measure obtain foot motion data, 3rd sensor component measure obtain the above body inertia measurement parameter in leg and
After 4th sensor module measures the rotation angle of each joint assembly obtained, the gait parameter model after input training, i.e.,
It can determine that the gait parameter of gait ancillary equipment user.
It is understood that data processor can also be more than leg inertia measurement parameter, foot motion data, leg
Selected in body inertia measurement parameter and the rotation angle of each joint assembly it is therein several, utilize preset gait know
Other algorithm determines gait parameter.
Specifically, after the gait parameter for determining gait ancillary equipment user, the movement number of ectoskeleton component is detected
According to then using determining gait parameter as reference, the exercise data of analysis ectoskeleton component determines that gait ancillary equipment uses
Whether the step-length of person there is exception with walking posture, and if there is exception, then data processor generates control instruction and is sent to drive
Dynamic component exports corresponding torque driving associated bone component movement, so that gait ancillary equipment makes for controlling drive component
The step-length and walking posture of user matches with the gait parameter determined.
The gait recognition method that the embodiment of the present invention is provided, compared to existing technologies, ectoskeleton component further includes
At least one of knee components, hip joint component, ankle-joint component, sensor module further include for measuring each joint group
4th sensor module of part rotation angle, data processor can according to first sensor component, second sensor component and
3rd sensor component measures the above body inertia measurement ginseng of the leg inertia measurement parameter, foot motion data and leg obtained
One or more of number utilizes preset gait in conjunction with the rotation angle for each joint assembly that the 4th sensor module measures
Recognizer determines gait parameter, which can characterize the leg of gait ancillary equipment user, foot, more than leg
The action posture and behavioural characteristic in body and each joint, to more contribute to gait ancillary equipment according to the step of user
State parameter carries out automatic adjusument so that the operation posture of gait ancillary equipment can be special with the action posture of user and behavior
Sign is more coordinated.
Further, a kind of gait ancillary equipment is also provided in the embodiment of the present invention, which includes dermoskeleton
Bone component, sensor module and data processor；Sensor module is set on ectoskeleton component, is obtained outside described for measuring
The exercise data of bone component, and sensor module is communicated to connect with data processor；Data processor is used for receiving sensor
Component measures the exercise data of the ectoskeleton component obtained, according to exercise data, and utilizes preset Algorithm for gait recognition
Determine gait parameter, which is used to characterize the action posture and behavioural characteristic of the user of the gait ancillary equipment.
Further, gait ancillary equipment further includes the drive component for driving ectoskeleton component movement, connects data
Processor；Data processor is additionally operable to the gait parameter according to acquisition, generates control instruction and is sent to drive component, for controlling
Drive component processed exports corresponding torque and drives corresponding ectoskeleton component movement.
Specifically, the gait ancillary equipment in the embodiment of the present invention is implemented for first embodiment of the invention to the present invention the 6th
Gait ancillary equipment described in example, specifically can refer to retouching in first embodiment of the invention to sixth embodiment of the invention
It states, details are not described herein.
It should be noted that for each method embodiment above-mentioned, describe, therefore it is all expressed as a series of for simplicity
Combination of actions, but those skilled in the art should understand that, the present invention is not limited by the described action sequence because
According to the present invention, certain steps may be used other sequences or be carried out at the same time.Secondly, those skilled in the art should also know
It knows, embodiment described in this description belongs to preferred embodiment, and involved action and module might not all be this hairs
Necessary to bright.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, there is no the portion being described in detail in some embodiment
Point, it may refer to the associated description of other embodiments.
It is to a kind of description of gait recognition method and gait ancillary equipment provided by the present invention, for this field above
Technical staff, the thought of embodiment according to the present invention, there will be changes in the specific implementation manner and application range, comprehensive
On, the content of the present specification should not be construed as limiting the invention.
Claims (10)
1. a kind of gait recognition method is applied to gait ancillary equipment, which is characterized in that the gait ancillary equipment includes dermoskeleton
Bone component, sensor module and data processor；The sensor module is set on the ectoskeleton component, is obtained for measuring
The exercise data of the ectoskeleton component is obtained, and the sensor module is communicated to connect with the data processor；The method
Including：
The data processor receives the exercise data that the sensor module measures the ectoskeleton component obtained；
The data processor determines gait parameter according to the exercise data, and using preset Algorithm for gait recognition, described
Gait parameter is used to characterize the action posture and behavioural characteristic of the user of the gait ancillary equipment.
2. gait recognition method according to claim 1, which is characterized in that the gait ancillary equipment further includes for driving
The drive component for moving the ectoskeleton component movement, connects the data processor, the method further includes：
The data processor generates control instruction and is sent to the driving component according to the gait parameter of acquisition, institute
It states control instruction and exports the corresponding ectoskeleton component movement of corresponding torque driving for controlling the driving component.
3. gait recognition method according to claim 2, which is characterized in that the ectoskeleton component includes leg ectoskeleton
Component, the leg ectoskeleton component includes at least one of：Left side leg member, the small leg member in left side, right lateral thigh structure
Part, the small leg member in right side；The sensor module includes the first sensor component for measuring leg inertia, and described first
Sensor module is correspondingly arranged on each component of the leg ectoskeleton component, and the exercise data includes first sensing
Device assembly measures the leg inertia measurement parameter obtained；
The driving component includes leg bone drive component, and the leg bone drive component and the leg ectoskeleton group
Each component of part is correspondingly arranged, for respectively driving corresponding component movement；The control instruction includes for controlling the leg
First control instruction of portion's bone drive component torque output.
4. gait recognition method according to claim 3, which is characterized in that the sensor module further includes for measuring
The second sensor component of foot motion data；The data processor utilizes preset Gait Recognition according to exercise data
Algorithm determines gait parameter, including：
The data processor measures the leg inertia measurement parameter obtained and described the according to the first sensor component
Two sensor modules measure the foot motion data obtained, and determine gait parameter using preset Algorithm for gait recognition.
5. gait recognition method according to claim 4, which is characterized in that the ectoskeleton component further includes foot's dermoskeleton
Bone component, foot's ectoskeleton component includes at least one of：Left foot component, right crus of diaphragm component；The second sensor group
Part is correspondingly arranged on each component of foot's ectoskeleton component；The driving component further includes foot bones drive component,
And each component of the foot bones drive component and foot's ectoskeleton component is correspondingly arranged, it is corresponding for respectively driving
Component moves；The control instruction includes the second control instruction for controlling the foot bones drive component torque output.
6. gait recognition method according to claim 4, which is characterized in that the sensor module further includes for measuring
The 3rd sensor component of the above body inertia in leg；The data processor utilizes preset gait according to exercise data
Recognizer determines gait parameter, including：
The data processor measures the leg inertia measurement parameter obtained, second biography according to the first sensor component
Sensor component measures the foot motion data obtained and the 3rd sensor component measures the above body in leg obtained and is used to
Property measurement parameter, and determine gait parameter using preset Algorithm for gait recognition.
7. according to claim 2 to 6 any one of them gait recognition method, which is characterized in that the ectoskeleton component includes
At least one of：The component more than knee components, leg member and leg formed between leg member and small leg member
Between the ankle-joint component that is formed between the hip joint component, small leg member and the foot part component that are formed；
The sensor module includes the 4th sensor module being set at each joint assembly, and the exercise data includes described
4th sensor module measures the rotation angle of each joint assembly obtained.
8. gait recognition method according to claim 7, which is characterized in that the data processor according to exercise data,
And determine gait parameter using preset Algorithm for gait recognition, including：
The data processor measures the leg inertia measurement parameter obtained, second biography according to the first sensor component
Sensor component measures the foot motion data obtained, the 3rd sensor component measures the above body inertia in the leg obtained and surveys
It measures parameter and the 4th sensor module measures the rotation angle of each joint assembly obtained, and utilize preset gait
Recognizer determines gait parameter.
9. a kind of gait ancillary equipment, which is characterized in that including ectoskeleton component, sensor module and data processor；It is described
Sensor module is set on the ectoskeleton component, for measuring the exercise data for obtaining the ectoskeleton component, and it is described
Sensor module is communicated to connect with the data processor；
The data processor is used to receive the exercise data that the sensor module measures the ectoskeleton component obtained, root
Determine that gait parameter, the gait parameter are described for characterizing according to the exercise data, and using preset Algorithm for gait recognition
The action posture and behavioural characteristic of the user of gait ancillary equipment.
10. gait ancillary equipment according to claim 9, which is characterized in that the gait ancillary equipment further includes being used for
The drive component for driving the ectoskeleton component movement, connects the data processor；
The data processor is additionally operable to, and according to the gait parameter of acquisition, is generated control instruction and is sent to the driving
Component, the control instruction export the corresponding ectoskeleton component movement of corresponding torque driving for controlling the driving component.
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