CN108968973A - A kind of acquisition of body gait and analysis system and method - Google Patents
A kind of acquisition of body gait and analysis system and method Download PDFInfo
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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
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- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- 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
- A61B5/1128—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb using a particular sensing technique using image analysis
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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Abstract
The invention discloses a kind of acquisitions of body gait and analysis system and method, including gait information acquisition system, gait information acquisition system is made of embedded camera and computer analytical equipment, embedded camera acquires gait image information and is transmitted to computer analytical equipment and is analyzed and processed, the present invention is by joint of lower extremity point location, the binding mark point at the multiple artis of human body lower limbs.Meanwhile gait data is obtained using embedded camera, and extract the coordinate of mark point.Gait data is imported into data processing software Processing, visualization processing is carried out to data, obtains the motion profile club image and angle information in a complete gait cycle；Gait information acquisition system of the invention can capture the gait parameter in human walking procedure very well.
Description
Technical field
The present invention relates to body gait collection analysis technical field, specially a kind of body gait acquisition and analysis system and
Method.
Background technique
Gait is the behavioural characteristic of mankind's walking, is influenced by factors such as age, gender, education and living habits, also by
To the influence of various diseases.Gait analysis is the inspection method for studying walking rule, passes through biomethanics and kinematic means
The influence factor of abnormal gait is disclosed, so as to instruct the clinical diagnosis etc. of rehabilitation assessment and abnormal gait.Gait research is not
Only medically achievement is significant, also can be applicable in the practical applications such as Gait Recognition, biped robot's exploitation；Gait analysis is inspection
The method for looking into gait situation in mankind's walking process, purpose is primarily to illustrate the inherent law of gait.It is obtained by measurement
Various parameters during human locomotion, then to data quantitative analysis, it was therefore concluded that, the walking ability of measured is commented
It is fixed.There have been this concepts of gait analysis, mid-twentieth century gait analysis to start to develop for foreign countries when 19th-century, and China exists
The last century 80's has also started the research to gait.In recent years, the research of gait analysis is gradually being goed deep into always, because
Gait analysis has boundless application prospect, can occupy a tiny space in many fields.Clinically, gait analysis can
To carry out the assessment of abnormal gait, the type of abnormal gait is judged, can also assist to formulate operation plan；In medical science of recovery therapy,
Gait analysis can evaluate rehabilitation efficacy, and whether patient adapts to artificial limb, the further improvement of artificial limb；It, can be in security fields
It applies in the positioning to particular person, the identity of the people of disengaging particular place is identified.With the rapid development of scientific level,
There is tremendous development in fields such as Computer Simulation, mechanics, biology, anatomy, this has greatly pushed gait point
The research of analysis.In recent decades, people have carried out more deep analysis and understanding to the generation mechanism of motor behavior, to gait
The research of movement also accordingly produces various development.As that studies gait carries out in a deep going way, gait research is applied to
Many aspects, treatment for abnormal gait caused by abnormal gait caused by the nerve damages such as brain paralysis and joint disease etc.
Technology and methods are advanced by leaps and bounds, while also by gait research application into practical applications such as Gait Recognition, robots.
Gait analysis generally uses following several analysis methods in the prior art: traditional gait analysis method, based on figure
As the gait analysis system with video information, the gait analysis system based on pressure information, based on the gait analysis of electromyography signal
System, the wearable gait analysis system based on microscopic electro-mechanical systems, is based on pass at the gait analysis system based on acoustic signal more
The gait analysis system of sensor fusion, and this above analysis system is complicated for operation, testing cost is high, and being unfavorable for promoting makes
With therefore, it is necessary to improve.
Summary of the invention
The purpose of the present invention is to provide a kind of acquisitions of body gait and analysis system and method, to solve above-mentioned background skill
The problem of being proposed in art.
To achieve the above object, the invention provides the following technical scheme: a kind of body gait acquires and analysis system, including
Gait information acquisition system, the gait information acquisition system is made of embedded camera and computer analytical equipment, described
Embedded camera acquires gait image information and is transmitted to computer analytical equipment and is analyzed and processed.
Preferably, the embedded camera kernel is STM32F765 ARM Cortex M7；Camera uses OV7725
Camera chip.
Preferably, the Data Analysis Software used in the computer analytical equipment is Processing.
Preferably, application method the following steps are included:
A, prepare before acquisition；
B, gait image acquires；
C, gait image data processing；
D, gait analysis.
Preferably, concrete operations in the step A are as follows: Image Acquisition carries out indoors, guarantees that indoor light is sufficient, experiment
Background is the same as colour system non-variegation；Subject wears grey black panty girdle, by hip joint, knee joint and the ankle of the right side lower limb of subject
Joint is marked using blue, yellow, red three kinds of different colors；Camera is placed on to the center in the place set.
Preferably, in the step B specifically: embedded camera is placed on experimental site center, according to subject
Height and the distance of subject one complete gait cycle be adjusted the height of camera and the distance of subject, guarantee
The mark point of subject's lower limb can be completely taken in subject's test process.
Preferably, concrete operations in the step C are as follows: will identify that coordinate that is wrong or repeatedly identifying simultaneously is arranged manually
It removes, every three coordinates are one group in the data of embedded camera output, guarantee that data processor Processing is smoothly transported
Row；Processed data are imported in Processing and write program, are closed using embedded camera color tracking hip joint, knee
A series of coordinates that section, ankle-joint obtain, three coordinates in synchronization are one group, are generated simply by multiple artis
The lower limb model formed with thigh and calf, and export hip joint and kneed angle.
Preferably, the step D specifically: obtained gait data is handled by processing, establishes one
A simple single lower limb model, it can be seen that lower limb hip joint and knee joint step is also obtained in the gait processes of subject
When angle respectively obtain the movement rail of hip joint, knee joint, ankle-joint it is possible thereby to judge that joint is buckling or stretching, extension
Mark.
Compared with prior art, the beneficial effects of the present invention are: the present invention is by joint of lower extremity point location, in human body lower limbs
Binding mark point at multiple artis.Meanwhile gait data is obtained using embedded camera, and extract the seat of mark point
Mark.Gait data is imported into data processing software Processing, visualization processing is carried out to data, obtains one completely
Motion profile club image and angle information in gait cycle；Gait information acquisition system of the invention can capture people very well
Gait parameter in body walking process.
Detailed description of the invention
Fig. 1 is present system schematic diagram；
Fig. 2 is analysis flow chart diagram of the present invention；
Fig. 3 is present invention experiment lower limb illustraton of model；
Fig. 4 is subject's normal walking hip joint track schematic diagram of the present invention；
Fig. 5 is subject's normal walking Hip Angle schematic diagram of the present invention；
Fig. 6 is subject's normal walking knee joint track schematic diagram of the present invention；
Fig. 7 is subject's normal walking knee joint angle schematic diagram of the present invention；
Fig. 8 is subject's normal walking Anklebone track schematic diagram of the present invention；
Fig. 9 is subject's normal walking joint trajectories schematic diagram of the present invention；
Figure 10 is subject's normal walking gait track schematic diagram of the present invention；
Figure 11 is that subject of the present invention steps hip joint track schematic diagram after a step；
Figure 12 is that subject of the present invention steps a step patella track schematic diagram；
Figure 13 is that subject of the present invention steps Anklebone track schematic diagram after a step；
Figure 14 is that subject of the present invention steps a step posterior joint track schematic diagram；
Figure 15 is that subject of the present invention steps Hip Angle schematic diagram after a step；
Figure 16 is that subject of the present invention steps a step patella angle schematic diagram；
Figure 17 is that subject of the present invention steps gait track schematic diagram after a step.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The present invention provides a kind of technical solution referring to FIG. 1-2: a kind of acquisition of body gait and analysis system, including step
State information acquisition system, the gait information acquisition system is made of embedded camera 1 and computer analytical equipment 2, described
Embedded camera 1 acquires gait image information 3 and is transmitted to computer analytical equipment 2 and is analyzed and processed；Wherein, embedded
Camera kernel is STM32F765ARM Cortex M7；Camera uses OV7725 camera chip.
The Data Analysis Software used in computer analytical equipment is Processing.Processing is emerging at present
A kind of computer language, Processing have oneself independent exploitation environment ID E, include Code Edit area, operation home key, report
Wrong area, mode addition and program human window, it is succinct intuitive.As long as user directly writes code in code area, immediately after
Operation can see treatment effect in program human window, and modify.Be in Processing is Java language,
Mode can also be added in the upper right corner, be write using other language.The source code of Processing is open, Ke Yijin
The function of row resource-sharing, Processing is very powerful, and Processing can be used and carry out algorithm drawing, carrying out data can
Depending on changing, model is constructed, various visual arts and interaction effect are created.Processing more vividly, more has design to feel with a kind of
Processing mode visualizes data.Collected gait data is analyzed using Processing in the present invention
Processing keeps it more lively intuitive.
Application method of the invention the following steps are included:
A, prepare before acquisition；
B, gait image acquires；
C, gait image data processing；
D, gait analysis.
Wherein, concrete operations in step A are as follows: Image Acquisition carries out indoors, guarantees that indoor light is sufficient, Experimental Background is same
Colour system non-variegation；Subject wears grey black panty girdle, by hip joint, knee joint and the ankle of the right side lower limb of subject
It is marked using blue, yellow, red three kinds of different colors；Camera is placed on to the center in the place set；Have in step B
Body are as follows: embedded camera is placed on experimental site center, according to the height of subject and subject one complete gait week
The distance of phase is adjusted the height of camera and the distance of subject, guarantees completely clap in subject's test process
Take the photograph the mark point of subject's lower limb；Concrete operations in step C are as follows: will identify that coordinate that is wrong or repeatedly identifying simultaneously is manual
It excludes, every three coordinates are one group in the data of embedded camera output, guarantee that data processor Processing is smooth
Operation；Processed data are imported in Processing and write program, track hip joint, knee using embedded camera color
A series of coordinates that joint, ankle-joint obtain, three coordinates in synchronization are one group, are generated simply by multiple joints
The lower limb model of point and thigh and calf composition, and export hip joint and kneed angle；Step D specifically: pass through
Processing handles obtained gait data, establishes one simple single lower limb model, it can be seen that tested
Angle when lower limb hip joint and knee joint walk is also obtained in the gait processes of person, it is possible thereby to judge joint be buckling or
Stretching, extension, respectively obtains the motion profile of hip joint, knee joint, ankle-joint.
Experimental example:
The starting distance of walking is about 1.50m, and camera is placed on place center, and distance is 1m, high 0.6m.This experiment is adopted
It is imaged with embedded camera, and the coordinate of hip joint, knee joint, ankle-joint is acquired.
Embedded camera is connected to computer by USB, the connection icon in the lower left corner embedded camera IDE is at this time
Grey, connection icon is clicked, icon, which becomes green by white, then to be indicated to be successfully connected, and can be begun to use.It is embedded at this time
The upper right corner of camera IDE will show the picture of shooting.
In embedded camera IDE open the number of writing color tracing program, by embedded camera to color
Tracking track the movement of hip joint, knee joint, ankle-joint.Color space in embedded camera is LAB color
Space, in the color space LAB, L * component refers to the brightness of pixel；A indicates the range from red to green；B indicate from yellow to
The range of blue.The color threshold of LAB is not determining constant in embedded camera, it is easy to it is affected, it is different
Light, different dresses or different shooting direction, the threshold value of color is all different, so needing continuous debugging
Three kinds of colors could be identified simultaneously.The color region for choosing needs records L, A, and the maximum value and minimum value of B three will
The range of the LAB of record is set as threshold value and is passed in find_blobs function.
The threshold value of the lower three kinds of colors of light
It writes in a program, if recognizing blue, just with the rectangle frame of grey marks color gamut and in color region
Centre show cross shape marks；If recognizing yellow, just marked with the rectangle frame of black and in the center of color region
Centre display cross shape marks；If recognizing red, is just marked with the rectangle frame of white and shown in the centre of color region
Cross shape marks, output coordinate are the coordinate of color region central cross label.
Hip joint that embedded camera is identified and exported, knee joint, ankle-joint coordinate export in excel table,
Carry out the pretreatment of data.The window that shooting picture is shown in embedded camera is using the upper left corner as origin, and the X axis right side is passed
Increase, is incremented by under Y-axis to establish coordinate system.The direction of subject's walking is constant, is incremented by direction to X-axis and walks, so output
Coordinate be all regular.Thus it can be seen which coordinate is that the coordinate of identification error is processed in data, guarantee
Outputing three coordinates simultaneously is one group, is conducive to processing of the Processing to data in this way.In the case where light is suitble to
What is identified is relatively good, and whole group data are general only to dispose 2-3 coordinate points, will not impact to experimental result.
As shown in Fig. 3-17, hip joint is considered as ball-and-socket joint in this experiment, knee joint is for hinge joint.From top to bottom
A right side lower limb model is established, hip joint is set as L to kneed lengtht, the length of knee joint to ankle-joint is set as Ls, foot
The length of the palm is set as Lf, thigh and perpendicular to the ground angular separation are set as θh, the angle of thigh extended line and shank is set as θk, shank
θ is set as with the angle of soleα。
Using Matlab, experiment the data obtained is subjected to plot analysis, the reference axis established in Matlab and OpenMV
Acquisition data coordinates axis is consistent.
Firstly, the coordinate that hip joint is acquired in walking is depicted as hip joint trajectory diagram, as shown in Figure 4.Hip closes in figure
The X-axis range of section movement is [11,149], and Y-axis range is [3,9], it can be seen that for normal person in gait processes, center of gravity can be
The sagittal plane progress of human body is regular to be moved up and down, and also illustrates that the two sides lower limb of subject are more symmetrical.
Fig. 5 can be seen that normal person in the process of walking, the angle first increases and then decreases that hip joint and knee joint are formed,
Wave crest and wave trough is obvious, illustrates that subject can have enough strides with normal extension, curve more symmetrically also illustrates tested
Person is more stable in the process of walking.After subject's walking initially enters shaking peroid, right side lower limb are as swing limb hip joint
Flexion angle increases, and thigh steps forward, and buckling can be continued until that right foot lands.
The coordinate that knee joint is acquired in walking is depicted as knee joint trajectory diagram, as shown in Figure 6.Motion of knee joint in figure
X-axis range be [7,151], Y-axis range be [29,59].It can be seen from the chart two apparent peak values, knee joint is sent out at this time
Raw maximum flexion, second peak value is exactly that right lower extremity is in swing phase mid-term.Right limb lands in support when intermediate one section of valley
Phase, knee joint are gradually increased to right toeoff into swing phase.
As can be seen from Figure 7 subject's knee joint when standing early period is in appropriate buckling shape, is not stretched completely, this
Sample can reduce the rising of gravity.In stance phase, knee joint gradually stretches, and stretches completely until to leave with pedaling, then again
Gradually buckling, when right foot prepares to land again, knee sprung angle is gradually reduced until that right foot lands.
The coordinate that ankle-joint is acquired in walking is depicted as Anklebone track figure, as shown in Figure 8.Motion of knee joint in figure
X-axis range be [9,142], Y-axis range be [63,99].Peak value and valley can be significantly found out from figure, when ankle-joint position
Explanation is in support phase, right side lower limb holding state when valley；Illustrate that right limb is in when ankle is in second peak value
Swing phase, knee joint track should be at its peak value at this time.
The motion profile of the motion profile of hip joint, kneed fortune function track and ankle-joint has been put into a figure by Fig. 9
In, it can be seen that gait motion be extremely have it is regular.The gait processes of subject can be more intuitively found out from Figure 10, it can be with
Significantly find out each stage that subject is in gait cycle.It lands for the first time from right foot, abscissa 60, ordinate is
Start a gait cycle when 100, right foot, which lands, initially enters support phase, is then to enter support phase end when right foot starts liftoff
Phase, right foot completely it is liftoff initially enter swing phase, right foot starts again at the swing phase latter stage of having arrived that lands to the end, and one is complete
Whole gait cycle terminates.
Figure 11 to Figure 17 is that subject with slow posture has stepped a step.Figure 11 to Figure 16 be hip joint, knee joint and
The motion profile figure and angle figure of ankle-joint, it is quite similar with corresponding curve graph in above-mentioned complete gait cycle, in this way into
One step demonstrates the accuracy of above-mentioned experimental data.And Figure 17 gait trajectory diagram, then it is the gait track than complete gait cycle
What figure was more clear has found out the process taken a step.
The present invention has initially set up lower limb model on the right side of the human body as analysis foundation, and then the data that processing obtains exist
Curve graph is drawn in Matlab, depicts the movement rail in three joints of right side lower limb of one step of complete gait cycle and walking respectively
Mark figure, the angle change figure of angle change figure and knee joint of the hip joint in gait processes during the motion.Pass through drafting
Curve can analyze to obtain each stage of walking, it is also seen that the gait of subject whether normal table.
The present invention is by joint of lower extremity point location, the binding mark point at the multiple artis of lower limb on the right side of the human body.Meanwhile benefit
Gait data is obtained with embedded camera, and extracts the coordinate of mark point.It is soft that gait data is imported into data processing
Visualization processing is carried out to data in part Processing, obtain motion profile club image in a complete gait cycle with
Angle information；Gait information acquisition system of the invention can capture the gait parameter in human walking procedure very well.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (8)
1. a kind of body gait acquisition and analysis system, including gait information acquisition system, it is characterised in that: the gait information
Acquisition system is made of embedded camera (1) and computer analytical equipment (2), and the embedded camera (1) acquires gait
Image information (3) is simultaneously transmitted to computer analytical equipment (2) and is analyzed and processed.
2. a kind of body gait acquisition according to claim 1 and analysis system, it is characterised in that: the embedded camera shooting
Head kernel is STM32F765ARM Cortex M7；Camera uses OV7725 camera chip.
3. a kind of body gait acquisition according to claim 1 and analysis system, it is characterised in that: the computer analysis
The Data Analysis Software used in device is Processing.
4. realizing the application method of a kind of body gait acquisition and analysis system described in claim 1, it is characterised in that: it makes
With method the following steps are included:
A, prepare before acquisition；
B, gait image acquires；
C, gait image data processing；
D, gait analysis.
5. the application method of a kind of body gait acquisition and analysis system according to claim 4, it is characterised in that: described
Concrete operations in step A are as follows: Image Acquisition carries out indoors, guarantees that indoor light is sufficient, Experimental Background is the same as colour system non-variegation；By
Examination person wears grey black panty girdle, the hip joint, knee joint and ankle of the right side lower limb of subject is used blue, yellow, red
Three kinds of different colors are marked；Camera is placed on to the center in the place set.
6. the application method of a kind of body gait acquisition and analysis system according to claim 4, it is characterised in that: described
In step B specifically: embedded camera is placed on experimental site center, it is complete according to the height of subject and subject one
The distance of whole gait cycle is adjusted the height of camera and the distance of subject, and guaranteeing in subject's test process can be with
Completely take the mark point of subject's lower limb.
7. the application method of a kind of body gait acquisition and analysis system according to claim 4, it is characterised in that: described
Concrete operations in step C are as follows: it will identify that coordinate that is wrong or repeatedly identifying simultaneously excludes manually, embedded camera output
Every three coordinates are one group in data, guarantee data processor Processing trouble-free operation；Processed data are imported
Program is write in Processing, is obtained using embedded camera color tracking hip joint, knee joint, ankle-joint a series of
Coordinate, three coordinates in synchronization are one group, generate the lower limb mould being simply made of multiple artis and thigh and calf
Type, and export hip joint and kneed angle.
8. the application method of a kind of body gait acquisition and analysis system according to claim 4, it is characterised in that: described
Step D specifically: obtained gait data is handled by processing, establishes one simple single lower limb mould
Type, it can be seen that angle when lower limb hip joint and knee joint step is also obtained, it is possible thereby to judge in the gait processes of subject
Joint is buckling or stretching, extension, respectively obtains the motion profile of hip joint, knee joint, ankle-joint.
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| CN110075420A (en) * | 2019-04-26 | 2019-08-02 | 南通大学 | A kind of research method of spinal function electrical stimulation signal to lower limb gait regulating and controlling effect |
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