CN111407232A - Foot motion characteristic extraction method and system based on plantar pressure distribution - Google Patents
Foot motion characteristic extraction method and system based on plantar pressure distribution Download PDFInfo
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Abstract
The invention provides a foot motion characteristic extraction method and system based on plantar pressure distribution, wherein the method comprises the following steps: acquiring a sole pressure original data graph, and preprocessing the sole pressure original data graph; slicing the preprocessed plantar pressure original data image and performing statistical analysis to obtain a pressure peak value and a pressure mean value of each slice; carrying out region division on the reconstructed footprint map, and extracting effective blocks of plantar pressure information; drawing pressure peak value and pressure mean value curves for the whole sole and each effective block according to the obtained pressure peak value and pressure mean value of each slice; and analyzing the motion characteristics of the foot according to the pressure peak value and the pressure mean value curve of each effective block of the whole sole. The method is simple, the decomposition problem of the footsteps during the exercise can be solved by analyzing the plantar pressure data, the accurate acquisition of the plantar pressure data and the analysis of the plantar pressure data can be completed, and the characteristic decomposition of the footstep exercise can be carried out.
Description
Technical Field
The invention relates to the field of foot motion characteristics, in particular to a foot motion characteristic extraction method and system based on plantar pressure distribution.
Background
With the rapid development of big data, intelligence has gradually deepened into production and life of people. Meanwhile, with the deep research of people on self, more and more experts and scholars begin to combine with biomechanics to achieve the purposes of self recognition and self improvement. In modern society, people pay more attention to the living conditions of the disabled and the old, and develop certain rehabilitation training by evaluating the activities of the people in daily life, and study the technology for recovering the sports ability or auxiliary tools capable of assisting the people in completing various daily actions. The walking activity seems to be simple, but can be completed only by reasonably regulating and controlling a motor system, a nervous system, a sensory system and the like by a human body, and contains rich biomechanical knowledge, and the plantar pressure is an important parameter for representing the movement function of limbs.
The sole pressure can not only reflect the stress condition of the foot, but also hide the information of human health. Research on clinical medical diagnosis by utilizing plantar pressure has started early and gradually developed into more fields, such as rehabilitation assessment, physical training, shoe manufacturing and the like, and the research on plantar pressure shows important practical value.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to provide a foot motion feature extraction method and system based on plantar pressure distribution.
In order to achieve the above object, the present invention provides a method for extracting foot motion characteristics based on plantar pressure distribution, comprising the following steps:
s1, installing a pressure sensor on the sole to obtain an original data map of the sole pressure, and preprocessing the original data map of the sole pressure;
s2, slicing and statistically analyzing the preprocessed plantar pressure original data image, reconstructing plantar footprints by taking a set number of slices as intervals, and calculating a pressure peak value and a pressure mean value of each slice in the reconstructed footprint image;
s3, carrying out region division on the reconstructed footprint map, and extracting effective blocks of plantar pressure information;
s4, drawing a pressure peak value and pressure mean value curve for the whole sole and each effective block in the process from the sole falling to the ground to the whole foot lifting according to the pressure peak value and the pressure mean value of each slice obtained in the step S2;
s5, analyzing the foot motion characteristics according to the pressure peak value and the pressure mean value curve of each effective block of the whole sole, and dividing the foot motion characteristics into four stages: landing stage, whole-foot contact stage, heel tiptoe-standing stage and liftoff stage.
The method is simple, the decomposition problem of the footsteps during the exercise can be solved by analyzing the plantar pressure data, the accurate acquisition of the plantar pressure data and the analysis of the plantar pressure data can be completed, and the characteristic decomposition of the footstep exercise can be carried out.
The preferred scheme of the method is as follows: the step S2 specifically includes: in the process from the beginning of falling to the ground of a sole to the lifting of the whole foot, dividing preprocessed sole pressure original data into N slices, extracting the Yth slice and the Mth slice in the N slices to reconstruct the foot footprint of the sole to obtain footprint maps of the N/M different slices, positioning a pressure peak point of each slice of the reconstructed footprint maps, wherein the pressure peak point of each slice is the mean value coordinate of all pressure peak points in the slice, the pressure average point is the pressure mean value of an effective area of the current slice, namely the total pressure value/pressure point number, N, M is a positive integer, N is the multiple of M, and Y is the positive integer between 1 and N/M. The method can effectively, quickly and accurately obtain the pressure peak value and the pressure mean value of each slice, and reconstruct footprints of different stages, so that the calculation data amount is reduced, the distribution areas of pressure data of different stages can be obtained, the basis of the installation mode of the pressure sensor can be extracted for foot features, the foot motion features can be better analyzed, a footprinting graph of each stage is obtained, the corresponding pressure data distribution features of each stage are obtained according to the footprinting graphs of different stages, the features of the pressure distribution of each stage are extracted by combining with the foot motion rule, and the foot motion features can be analyzed and judged.
The preferred scheme of the method is as follows: the extraction method of the effective block comprises the following steps:
reconstructing images of different regions of the sole: segmenting the image by adopting an image segmentation method in image processing, and restoring a footprint map of each region;
matrix block extraction is carried out on the divided image blocks: processing the reconstructed image in a connected region, and then mapping the reconstructed image to the original footprint to obtain a corresponding matrix block;
and combining the image block and the matrix block to reappear in the foot footprint to obtain the segmentation effect of each region of the footprint, thus obtaining the effective block.
This enables fast and accurate extraction of valid blocks.
The preferred scheme of the method is as follows: the step S3 specifically includes: and extracting a toe block, a metatarsal block, an arch block and a heel block from the collected pressure raw data to be used as a sole pressure information effective block. The method can meet the accuracy requirement of foot sole data acquisition, and can reduce the data redundancy and the analysis complexity.
The preferred scheme of the method is as follows: the analysis method at each stage in step S5 is as follows:
a landing stage: the pressure peak value of the heel area is not 0, and the pressure peak values of the arch area, the metatarsal area and the toe area are all 0;
and (3) a whole foot contact stage: the pressure peak value of the heel area is not 0 at the beginning, and the pressure peak value of the heel area is 0 after the metatarsal area, the arch area and the toe area are sequentially changed from 0 to 0;
the toe tiptoe standing stage: the pressure peak value of the heel area is 0, the pressure peak values of the arch area, the metatarsal area and the toe area are not 0, and the pressure peak values of all areas meet the following relations: metatarsal region > toe region > arch region > heel region 0;
a ground-off stage: the pressure peaks in the heel area, the arch area, the metatarsal area and the toe area are all 0.
The method can accurately analyze the landing stage, the whole-foot contact stage, the heel tiptoe standing stage and the liftoff stage when the foot moves.
The preferred scheme of the method is as follows: when the pressure sensors are attached to the sole in step S1, the pressure sensors are provided in the heel region, the arch region, the metatarsal region, and the toe region of the sole, respectively. The layout mode of the sensor can reduce the influence of errors generated in the acquisition and transmission processes of plantar pressure data and can also reduce the redundancy of the data.
The invention also provides a system for extracting the motion characteristics of the foot, which comprises a pressure sensor unit arranged on the sole of the foot, a signal processing unit connected with the output end of the pressure sensor unit and an analysis unit connected with the output end of the data processing unit, wherein the analysis unit extracts the motion characteristics of the foot according to the method. The foot motion characteristic extraction system is simple in structure and can be used for rapidly and accurately extracting the foot motion characteristics.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of a method for extracting motion characteristics of a foot;
FIG. 2 is a flow chart of wavelet denoising;
FIG. 3 is a slice of a single foot footprint;
FIG. 4 is a graph of single foot pressure peak;
FIG. 5 is a graph of pressure peak variation across the whole and various zones;
FIG. 6 is a toe region segmentation effect;
FIG. 7 is a metatarsal region segmentation effect;
FIG. 8 is an arch region splitting effect;
FIG. 9 is a heel region segmentation effect;
FIG. 10 is a plantar region partition;
FIG. 11 is a schematic view of a sensor installation method;
FIG. 12 is a graph of the variation of the mean pressure values over the whole and in the various zones.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, unless otherwise specified and limited, it is to be noted that the terms "mounted," "connected," and "connected" are to be interpreted broadly, and may be, for example, a mechanical connection or an electrical connection, a communication between two elements, a direct connection, or an indirect connection via an intermediate medium, and specific meanings of the terms may be understood by those skilled in the art according to specific situations.
As shown in fig. 1, the present invention provides a method for extracting foot motion characteristics based on sole pressure distribution, which can solve the problem of decomposition of footsteps during exercise by analyzing sole pressure data, can complete accurate acquisition of sole pressure data and analysis of sole pressure data, and can perform characteristic decomposition of footstep motions, and specifically comprises the following steps:
and S1, installing a pressure sensor on the sole of the foot, acquiring a sole pressure original data graph, and preprocessing the sole pressure original data graph.
In the process of acquiring and transmitting the original data of the plantar pressure, certain noise and data redundancy are inevitably generated due to the influence of external environment interference and instruments per se, and the noise and the data redundancy are important factors influencing data analysis, so in the analysis process, the data is subjected to denoising processing firstly, and meanwhile, the data redundancy needs to be reduced. In the present invention, we use Daubechies wavelets (db) for denoising, the db wavelets being orthogonal, continuous and tightly-supported. The wavelet denoising flow chart is shown in fig. 2.
S2, slicing and statistically analyzing the preprocessed plantar pressure original data image, reconstructing plantar footprints by taking a set number of slices as intervals, calculating a pressure peak value and a pressure mean value of each slice in the reconstructed footprint image, and providing evaluation indexes and standards for the next analysis and simulation experiment.
The method specifically comprises the following steps: in the process from the beginning of falling to the ground of the sole to the lifting of the whole foot, dividing the preprocessed sole pressure original data into N slices, extracting the Yx M slices in the N slices to reconstruct the foot footprint of the sole, and obtaining footprint maps of N/M different slices, wherein N, M are positive integers, N is a multiple of M, and Y is all positive integers between 1 and N/M, including 1 and N/M. The slice is divided at intervals, the data volume is reduced, the reconstruction is to map the pressure data of the slice into a grid map through simulation software, such as matlab, and the used function is contourr. And positioning the pressure peak point of each slice of the reconstructed footprint graph, wherein the pressure peak point of each slice is the mean value coordinate of all the pressure peak points in the slice, the pressure mean point is the pressure mean value of the effective area of the current slice, namely the total pressure value/the number of pressure points, the effective area of the current slice is the area of the current slice with the pressure value distribution, and the area without the pressure value is removed.
Such as: in the process from the beginning of falling to the ground of the sole to the lifting of the whole foot, taking single foot data as an example, dividing the data into 345 slices, performing a simulation experiment on the sorted data, reconstructing foot footprints, extracting the Y × 5 slices from the 345 slices as a stage for reconstruction, obtaining footprint graphs of 345/5 ═ 69 different slices, as shown in fig. 3, and simultaneously positioning the pressure peak point of each slice, as shown in fig. 4, a single foot pressure peak curve graph is embodied. Because more than one pressure peak point is arranged in each slice, the invention adopts the mean value coordinate of the pressure peak points as the pressure peak points of one slice.
And S3, carrying out region division on the reconstructed footprint map, and extracting effective blocks of plantar pressure information.
Because the acquired image is stored in a computer in a matrix form, when the plantar region is divided, matrix block extraction is preferably performed, namely, effective blocks are extracted from the matrix blocks, and the method for extracting the effective blocks comprises the following steps:
first, the images of different regions of the reconstructed footprint map are reconstructed: and (4) segmenting the reconstructed footprint graph by adopting an image segmentation method in image processing, and restoring the footprint graph of each region.
When the reconstructed footprint map is divided into regions, different dividing methods are available, specifically, the sole is divided into the following four types:
1) one area is: the whole sole of the foot.
2) Three regions: toe area, metatarsal area, heel area.
3) Four regions: toe area, metatarsal area, arch area, heel area, as shown in fig. 10.
4) Ten areas: big toe area, 2 nd to 5 th toe area, 1 to 5 metatarsal bone area, arch area, heel outer side area, heel inner side area.
In the first classification, the whole sole is used as a data acquisition area, although the number of sensors is small, because the sole pressure is not completely distributed on the whole sole, data redundancy can occur in the acquisition process, and the analysis complexity is increased; in the second classification, most data of sole data can be collected, but data of an arch region is not collected, so that errors are caused in the prediction of limb movement accuracy, and the data of the arch region is a key region for judging the landing of the whole sole; in the fourth classification, although the data acquisition precision is high, the number of the used sensors is large, so that the overall comfort level is influenced to a certain extent, and the analysis complexity is increased. In summary, the third classification method is preferably adopted in this embodiment, which not only can meet the accuracy requirement of sole data acquisition, but also can reduce the data redundancy and the analysis complexity, and the segmentation effects of the toe region, the metatarsal region, the arch region and the heel region are shown in fig. 6 to 9, as can be seen from fig. 6 to 9, the sole pressure data is mainly concentrated in these four regions.
Matrix block extraction is carried out on the divided image blocks: and processing the reconstructed image in a connected region, and mapping the processed image to the original footprint to obtain a corresponding matrix block.
Combining the image block and the matrix block to reappear in the foot footprints to obtain the segmentation effect of each region of the footprints, and obtaining the effective block: toe block, metatarsal block, arch block, and heel block.
And S4, drawing a pressure peak value and pressure mean value curve for the whole sole and each effective block in the process from the sole falling to the ground to the whole foot lifting according to the pressure peak value and the pressure mean value of each slice obtained in the step S2.
S5, analyzing the foot motion characteristics according to the pressure peak value and the pressure mean value curve of each effective block of the whole sole, and dividing the foot motion characteristics into four stages: landing stage, whole-foot contact stage, heel tiptoe-standing stage and liftoff stage.
The analysis method of each stage is as follows:
a landing stage: the peak pressure value in the heel area is not 0, and the peak pressure values in the arch area, the metatarsal area and the toe area are all 0.
And (3) a whole foot contact stage: the pressure peak value of the heel area is not 0 at the beginning, and the pressure peak value of the heel area is 0 until the pressure peak value of the heel area is 0 as the metatarsal bone area, the arch area and the toe area are sequentially changed from 0 to all of non-0.
The toe tiptoe standing stage: the pressure peak value of the heel area is 0, the pressure peak values of the arch area, the metatarsal area and the toe area are not 0, and the pressure peak values of all areas meet the following relations: metatarsal region > toe region > arch region > heel region 0.
A ground-off stage: the pressure peaks in the heel area, the arch area, the metatarsal area and the toe area are all 0.
The calculation method of the pressure peak value and the pressure mean value of each area comprises the following steps:
the footprint data of the slice obtained by reconstruction is stored in a matrix form, and the pressure data of the area in which the pressure peak value and the pressure mean value are calculated is set as a matrix Am×nWhere m and n are the length and width of the matrix, respectively, the maximum and mean values of the pressure peaks can be calculated by the following equations:
pressure peak value Amax＝max(A(m,max(A(:,n))))；
Mean value of pressure
When calculating the pressure peak value and the pressure mean value of each stage of a certain area, the stage is determined according to the pressure peak value variation trend of the area, for example, the intersection point of the pressure mean value and the overall pressure mean value variation trend between different areas is shown in fig. 12, and the intersection point of the pressure peak value and the overall pressure peak value variation trend between different areas is shown in fig. 5. Wherein A (: n) represents the matrix Am×nAll columns of (A, m,: represents the matrix Am×nIn all rows, max (x) represents the maximum, sum, num (x) represents the number, A (m, max (A (n))) represents a new matrix obtained by taking the maximum of all columns in A,
the new matrix obtained by summing all columns in a is shown.
As shown in fig. 5, it can be known from the trend of pressure peak and pressure mean value in each area in fig. 5 that the heel area falls on the ground from the beginning, when cut into 67 slices, the heel pressure peak is reduced, at this time, other areas fall on the ground, the pressure center of gravity shifts, when cut into 214 slices, the heel pressure is 0, at this time, the heel starts to lift off the ground; the arch area begins to fall on the ground at the section 30, the pressure peak value is the largest when the heel leaves the ground, and the pressure peak value of the arch area is 0 when the arch area is cut into the section 271, and the arch area is lifted off the ground; the metatarsal region begins to land when being sliced into 25 slices, the pressure peak value is continuously increased, the maximum pressure peak value is reached, namely when the slice 303 is sliced, the foot stands on the tiptoe, when the slice 336 is sliced, the pressure peak value of the metatarsal region is 0, and only the toes land at this time; when the toe area starts to land on the floor at the time of the slice 57 and reaches the maximum pressure peak, that is, the slice 287, and the foot stands on the floor at this time at the slice 341, the toe is lifted off, and at this time, the pressure peak of the entire foot is 0 and the toe is lifted off the floor.
In this embodiment, when the pressure sensors are attached to the sole of the foot in step S1, the pressure sensors are preferably provided in the heel region, the arch region, the metatarsal region, and the toe region of the sole of the foot, respectively. Taking a sole of a male left foot with a size of 40 yards as an example, a specific installation method of the sensor is obtained, and as shown in fig. 11, the sensor with the size of 4.2cm x 6.2cm is installed in a heel area; a sensor with the size of 4.0cm x 6.2cm is arranged in the arch region; in the metatarsal region, a sensor with the size of 6.2cm by 6cm is arranged; in the toe area, a sensor with a size of 4.2cm x 3.2cm is mounted.
The invention also provides a foot motion characteristic extraction system, which comprises a pressure sensor unit arranged on the sole of a foot, a signal processing unit connected with the output end of the pressure sensor unit and an analysis unit connected with the output end of the data processing unit. The pressure sensor unit comprises a plurality of pressure sensors which are respectively arranged in a heel area, an arch area, a metatarsal area and a toe area of the sole. The analysis unit extracts the foot motion characteristics according to the method.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (7)
1. A foot motion characteristic extraction method based on plantar pressure distribution is characterized by comprising the following steps:
s1, installing a pressure sensor on the sole to obtain an original data map of the sole pressure, and preprocessing the original data map of the sole pressure;
s2, slicing and statistically analyzing the preprocessed plantar pressure original data image, reconstructing plantar footprints by taking a set number of slices as intervals, and calculating a pressure peak value and a pressure mean value of each slice in the reconstructed footprint image;
s3, carrying out region division on the reconstructed footprint map, and extracting effective blocks of plantar pressure information;
s4, drawing a pressure peak value and pressure mean value curve for the whole sole and each effective block in the process from the sole falling to the ground to the whole foot lifting according to the pressure peak value and the pressure mean value of each slice obtained in the step S2;
s5, analyzing the foot motion characteristics according to the pressure peak value and the pressure mean value curve of each effective block of the whole sole, and dividing the foot motion characteristics into four stages: landing stage, whole-foot contact stage, heel tiptoe-standing stage and liftoff stage.
2. The method for extracting foot motion characteristics based on plantar pressure distribution according to claim 1, wherein the step S2 specifically comprises: in the process from the beginning of falling to the ground of a sole to the lifting of the whole foot, dividing preprocessed sole pressure original data into N slices, extracting the Yth slice and the Mth slice in the N slices to reconstruct the foot footprint of the sole to obtain footprint maps of the N/M different slices, positioning a pressure peak point of each slice of the reconstructed footprint maps, wherein the pressure peak point of each slice is the mean value coordinate of all pressure peak points in the slice, the pressure average point is the pressure mean value of an effective area of the current slice, namely the total pressure value/pressure point number, N, M is a positive integer, N is the multiple of M, and Y is the positive integer between 1 and N/M.
3. The method for extracting foot motion characteristics based on plantar pressure distribution according to claim 1, characterized in that the effective blocks are extracted by the following method:
and reconstructing images of different areas in the reconstructed footprint map: segmenting the image by adopting an image segmentation method in image processing, and restoring a footprint map of each region;
matrix block extraction is carried out on the divided image blocks: processing the reconstructed image in a connected region, and then mapping the reconstructed image to the original footprint to obtain a corresponding matrix block;
and combining the image block and the matrix block to reappear in the foot footprint to obtain the segmentation effect of each region of the footprint, thus obtaining the effective block.
4. The method for extracting foot motion characteristics based on plantar pressure distribution according to claim 1 or 3, wherein the step S3 specifically comprises: and extracting a toe block, a metatarsal block, an arch block and a heel block from the collected pressure raw data to be used as a sole pressure information effective block.
5. The method for extracting foot motion characteristics based on plantar pressure distribution according to claim 1, wherein the analysis method in each stage in step S5 is as follows:
a landing stage: the pressure peak value of the heel area is not 0, and the pressure peak values of the arch area, the metatarsal area and the toe area are all 0;
and (3) a whole foot contact stage: the pressure peak value of the heel area is not 0 at the beginning, and the pressure peak value of the heel area is 0 after the metatarsal area, the arch area and the toe area are sequentially changed from 0 to 0;
the toe tiptoe standing stage: the pressure peak value of the heel area is 0, the pressure peak values of the arch area, the metatarsal area and the toe area are not 0, and the pressure peak values of all areas meet the following relations: metatarsal region > toe region > arch region > heel region 0;
a ground-off stage: the pressure peaks in the heel area, the arch area, the metatarsal area and the toe area are all 0.
6. The method for extracting foot motion characteristics based on distribution of plantar pressure according to claim 1, characterized in that, when the pressure sensors are installed on the sole in step S1, the pressure sensors are respectively installed on the heel region, the arch region, the metatarsal region and the toe region of the sole.
7. A foot motion feature extraction system is characterized by comprising a pressure sensor unit arranged on the sole of a foot, a signal processing unit connected with the output end of the pressure sensor unit and an analysis unit connected with the output end of the data processing unit, wherein the analysis unit is used for extracting foot motion features according to the method of any one of claims 1 to 6.
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