CN111700623A - Human body gait detection system and method based on plantar pressure - Google Patents
Human body gait detection system and method based on plantar pressure Download PDFInfo
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- CN111700623A CN111700623A CN202010689675.7A CN202010689675A CN111700623A CN 111700623 A CN111700623 A CN 111700623A CN 202010689675 A CN202010689675 A CN 202010689675A CN 111700623 A CN111700623 A CN 111700623A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/112—Gait analysis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
- A61B5/6802—Sensor mounted on worn items
- A61B5/6804—Garments; Clothes
- A61B5/6807—Footwear
Abstract
The invention discloses a human body gait detection system and a method based on plantar pressure, wherein the system comprises the following components: the device comprises a plantar pressure detection device, a single-chip microcomputer control module, a signal conditioning module and an upper computer module provided with a gait analysis program; the sole pressure detection device comprises a sensing shoe and a pressure sensor; the pressure sensor, the singlechip control module and the signal conditioning module are all integrated on the sensing shoe; the pressure sensor senses the interaction force between the foot and the ground in the walking process of a person wearing the sensing shoe, voltage signals under the interaction force are measured, the voltage signals are converted and amplified by the signal conditioning module and then transmitted to the single chip microcomputer control module, the single chip microcomputer control module sends the voltage signals to the upper computer module, and the upper computer module obtains corresponding sole applied force in an asynchronous state according to the voltage signals. The invention integrates basic devices into the sensing shoes, and has the advantages of low cost, simple structure, portability, wearing, easy maintenance and the like.
Description
Technical Field
The invention relates to the technical field of human gait detection, in particular to a human gait detection system and a human gait detection method based on plantar pressure.
Background
Human gait is a walking mode consisting of movement of various parts of the body, and has been widely used in medical diagnosis and sports training to help patients recover their health and to guide athletes in more rational training. The distribution and the size of the sole pressure reflect the information of the motion function of the lower limbs of the human body. The human gait system research is one of the most important technologies for exoskeleton intelligentization, can provide theoretical guidance and technical support for mechanism design and optimization of the lower limb exoskeleton and is the basis for the exoskeleton to realize functions of assisting walking, loading, rehabilitation training and the like. In addition, when lower limbs are diseased, the pressure distribution of the soles can be correspondingly changed, so that certain physiological or pathological information of the human body can be obtained by detecting and analyzing relevant parameters of the pressure of the soles, and the method has important scientific significance and application value in the aspects of clinical medical diagnosis, operation effect evaluation, rehabilitation training, lower limb exoskeleton design and the like.
At present, most of research hotspots in the gait detection field use a graphic technology to realize the acquisition and detection of gait information, but the method using the image technology has the disadvantages of high price and immobility, has high requirements for external condition factors (such as illumination and the like), and can cause great influence on the detection result once the light intensity is insufficient. In addition, there are studies by which a gait detection method based on an electromyographic signal sensor is adopted. The method is characterized in that an electrode is used for obtaining an electromyogram signal on the surface layer of the skin of a human body in a mode of combining multiple amplification, band-pass filtering and low-pass filtering and finally adding corresponding processing such as digitization and the like, and then the obtained electromyogram signal is transmitted to a computer and a surface electromyogram is generated. However, the greatest disadvantage of this method is that once the skin surface of the human body is changed, the accuracy of the collected electromyographic signals is seriously affected (for example, when sweating occurs), the final result is greatly wrong, and the test is demanding and is not suitable for wide application.
Therefore, there is a need in the industry to provide a human gait detection system or method which can be worn in a portable manner, can detect human gait data for a long time, has low energy consumption, small volume and low price, and has high precision and strong adaptability.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a human body gait detection system and method based on plantar pressure, which have the advantages of low cost, simple structure, portability, wearing and easy maintenance.
The purpose of the invention is realized by the following technical scheme:
a human gait detection system based on plantar pressure, comprising: the device comprises a plantar pressure detection device, a single-chip microcomputer control module, a signal conditioning module and an upper computer module provided with a gait analysis program; the sole pressure detection device comprises a sensing shoe and a pressure sensor; the pressure sensor senses the interaction force between the foot and the ground in the walking process of a person wearing the sensing shoe, voltage signals under the interaction force are measured, the voltage signals are converted and amplified by the signal conditioning module and then transmitted to the single-chip microcomputer control module, the single-chip microcomputer control module sends the voltage signals to the upper computer module, the upper computer module obtains corresponding sole applying force in an asynchronous state according to the voltage signals, the sole applying force and pressure data collected in advance are analyzed and compared, and then whether the human body enters a supporting mode or a walking mode is judged.
Preferably, the sole of the sensing shoe comprises a sole layer, a middle sensing layer and a sole contact layer which are respectively contacted with the ground from bottom to top in sequence; the wearing bandage is arranged on the vamp of the sensing shoe; the pressure sensor is arranged on the steel sheet in the middle sensing layer.
Preferably, the areas of the human body, which are contacted with the area between the second metatarsal bone area and the third metatarsal bone area, the middle area of the sole and the heel, are used as sole pressure test points, and 3 pressure sensors are respectively arranged at the 3 sole pressure test points.
Preferably, the pressure sensor is a FSR408 type thin film pressure sensor.
Preferably, the method further comprises the following steps: a low power consumption processing module; the low-power consumption processing module is connected with the plantar pressure detection device in a one-way mode, and is connected with the single-chip microcomputer control module and the signal conditioning module in a two-way mode; when the low-power-consumption processing module detects that the sensing shoes are not pressed or do not reach the triggering threshold value, the low-power-consumption processing module outputs an interrupt signal to the single-chip microcomputer control module, and the single-chip microcomputer control module automatically cuts off the power supplies of the signal conditioning module and the wireless transmission module according to the interrupt signal, so that the system works in a low-power-consumption mode;
preferably, the method further comprises the following steps: a wireless transmission module; the single chip microcomputer control module sends the voltage signal to the upper computer module through the wireless transmission module.
Preferably, the single-chip microcomputer control module, the signal conditioning module and the low-power consumption processing module are all integrated on the sensing shoe.
The method of the human gait detection system based on the plantar pressure comprises the following steps:
s1, collecting voltage signals of the sensing shoes, and filtering the voltage signals;
s2, judging whether all the voltage signals are 0, if not, entering a normal working mode, and executing the step S3;
s3, converting and amplifying the voltage signal, and sending the voltage signal to the upper computer module;
and S4, the upper computer module obtains corresponding sole applied force in an asynchronous state according to the voltage signal, and analyzes and compares the sole applied force with pressure data collected in advance, so as to judge whether the human body enters a supporting mode or a walking mode.
Preferably, in step S2, if all the voltage signals are determined to be 0, and all the voltage signals are determined to be 0 for 2 consecutive times, the system enters a low power consumption mode, where the low power consumption mode is that the system automatically cuts off the power supplies of the signal conditioning module and the wireless transmission module.
Compared with the prior art, the invention has the following advantages:
the human body gait detection system based on the plantar pressure comprises a sensing shoe, a pressure sensor, a single chip microcomputer control module, a signal conditioning module and an upper computer module provided with a gait analysis program, wherein the pressure sensor, the single chip microcomputer control module and the signal conditioning module are all integrated on the sensing shoe, the pressure sensor senses the interaction force between feet and the ground in the walking process of a person wearing the sensing shoe, voltage signals under the interaction force are measured, the voltage signals are converted and amplified by the signal conditioning module and then are transmitted to the single chip microcomputer control module, the single chip microcomputer control module sends the voltage signals to the upper computer module, the upper computer module obtains corresponding plantar force under an asynchronous state according to the voltage signals, analyzes and compares the plantar force with pressure data collected in advance to judge whether the human body enters a supporting mode or a walking mode or not, therefore, the invention integrates basic devices into the sensing shoes, and has the advantages of low cost, simple structure, portability, wearing, easy maintenance and the like.
In addition, the low-power consumption processing module can realize switching of the human gait detection system between a normal operation mode and a low-power consumption operation mode according to the existence or nonexistence of the sole pressure. The invention combines the wireless communication device on the basis of the specially-made sole pressure detection device, can monitor the gait data of the human body for a long time, adopts a sensor with small volume, low energy consumption and low price, and has simple algorithm, small calculation amount, small time delay and high accuracy.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic structural diagram of a human gait detection system based on plantar pressure according to the invention.
Fig. 2 is a schematic structural view of the sensing shoe of the present invention.
Fig. 3 is a plantar pressure test chart of the present invention.
Fig. 4 is a circuit diagram of a signal conditioning module of the present invention.
Fig. 5 is a circuit diagram of the low power consumption control module of the present invention.
Fig. 6 is a flow chart of the human gait detection method based on plantar pressure according to the invention.
Detailed Description
The invention is further illustrated by the following figures and examples.
Referring to fig. 1, a human gait detection system based on plantar pressure comprises: the device comprises a plantar pressure detection device, a single-chip microcomputer control module, a signal conditioning module and an upper computer module provided with a gait analysis program; the sole pressure detection device comprises a sensing shoe and a pressure sensor;
the pressure sensor senses the interaction force between the foot and the ground in the walking process of a person wearing the sensing shoe, voltage signals under the interaction force are measured, the voltage signals are converted and amplified by the signal conditioning module and then transmitted to the single-chip microcomputer control module, the single-chip microcomputer control module sends the voltage signals to the upper computer module, the upper computer module obtains corresponding sole applying force in an asynchronous state according to the voltage signals, the sole applying force and pressure data collected in advance are analyzed and compared, and then whether the human body enters a supporting mode or a walking mode is judged.
In this embodiment, the upper computer module also displays and stores the plantar pressure signal in real time. The system further comprises: a wireless transmission module; the single chip microcomputer control module sends the voltage signal to the upper computer module through the wireless transmission module.
In this embodiment, in order to avoid the wearing and failure of the film pressure sensor due to the direct friction with the ground or the sole of the human body when the sensing shoe is in operation, the sensor is designed not to directly contact with the ground or the foot of the human body. In addition, to make the structure of the sensing shoe as compact and light as possible, the sole of the sensing shoe is designed from bottom to three layers, namely a ground-contacting sole layer 11, a middle sensing layer 12 and a sole contact layer 13, and a wearing strap 14 is arranged on the vamp of the sensing shoe, as shown in fig. 2. The sole of the sensing shoe is a core component of the plantar pressure detection device and is used for bearing a human body and collecting the plantar pressure changed by a wearer in the walking process. The pressure sensor is arranged on the steel sheet in the middle sensing layer. The sole contact layer and the ground contact layer have a certain gap, and the size of the gap is determined by the thickness of the adopted film pressure sensor. The sensing shoe integrates the singlechip control module, the signal conditioning module and the low-power consumption processing module into a shoe body, and has the advantages of light weight, low energy consumption, convenience in wearing, low price and the like.
The study showed that the 6 detection areas with higher human plantar pressure are the first phalanx, the second metatarsal, the third metatarsal, the middle of the plantar region, the medial heel, and the lateral heel as shown in fig. 3. According to the actual effect, the areas between the second metatarsal area and the third metatarsal area, the middle plantar area and the heel contact area of the human body sole are selected as sole pressure test points. Each sole pressure test point is provided with a pressure sensor, so that the pressure of 5 parts of the sole can be acquired.
The pressure sensor is a FSR408 type membrane pressure sensor. The sensor is composed of a high molecular polymer film, the length of a sensitive part is 609.6mm, the width is 10.2mm, the thickness is 0.41mm, and the sensor has the characteristics of softness, thinness and the like and is suitable for detecting the pressure of the soles. As the pressure experienced by the surface increases, the resistance of FSR408 type thin film pressure sensing decreases and has higher sensitivity. The sole pressure acquisition unit (pressure sensor and signal conditioning module) converts the change of FSR408 resistance caused by the sole pressure of a human body into a voltage signal and transmits the changed voltage value signal to the single chip microcomputer control module so as to realize the acquisition of an original data signal. The circuit for measuring the plantar pressure signal is shown in fig. 4. Since the output signal of the FSR408 type film pressure sensor changes very slightly (millivolt), the circuit must be conditioned and filtered for digital-to-analog conversion. In addition, the signal acquisition of the two insoles needs to be carried out simultaneously, so that each insole needs an independent pressure sensor and a signal conditioning module. The output voltage of each pressure signal measuring circuit of a sensing shoe is respectively as follows:
wherein, VoutY1、VoutY2、VoutY3The output voltage values V of the film pressure sensors FSR1, FSR2 and FSR30、V1、V2Sampling voltage, R, output by the signal conditioning module1、R6、R11Is a voltage dividing resistor, RFSR1、RFSR2、RFSR3Resistance values of the film pressure sensors FSR1, FSR2 and FSR3, respectively.
In order to meet the requirements of wearing, carrying convenience and low power consumption of the plantar pressure detection device, and consider that the device can be in a standby state in the actual use working condition. The human gait detection system based on the sole pressure further comprises: the low-power consumption processing module can enable the system to work in a low-power consumption working mode; the low-power consumption processing module is connected with the plantar pressure detection device in a one-way mode, and the low-power consumption processing module is connected with the single-chip microcomputer control module and the signal conditioning module in a two-way mode. When the low-power-consumption processing module detects that the sensing shoes are not pressed or do not reach the triggering threshold value, the low-power-consumption processing module outputs an interrupt signal to the single-chip microcomputer control module, and the single-chip microcomputer control module automatically cuts off the power supplies of the signal conditioning module and the wireless transmission module according to the interrupt signal, so that the system works in a low-power-consumption mode; when the low-power-consumption processing module detects that the sensing shoes are pressed and reach a preset threshold value, the low-power-consumption processing module is in a dormant state, and the system works normally.
Referring to fig. 5, the low power consumption processing module of the present invention includes a central controller, which is a model MSP430F249 single chip microcomputer, has good low power consumption characteristics and is small in size, and is particularly suitable for a wearable detection device. The FSR408 sensor is connected with a resistor in series to divide voltage, and then the voltage is input to the base of the triode. When the sensing shoe is not pressed or the triggering threshold value is not reached, the voltage at the FSR1 pin is 3.3V, the triode is in a closed state, and the voltage at a CPU (central processing unit) is about 0V. When the sensing shoe is pressed and reaches a preset threshold value, the resistance value of the FSR is reduced, the voltage at the pin of the FSR1 is reduced, the voltage at the pin of the CPU is increased to a high level, so that a rising edge interrupt signal is generated, and the detection system turns to a normal working mode by closing the low-power consumption control circuit. After the low-power module is added in the system, the system has two different working modes of low power consumption and normal operation. The system realizes the switching of the power switch through the control signal of the single chip microcomputer control module, thereby reducing the electric quantity consumption to the maximum extent. The two working modes can carry out state switching according to the switching value obtained by the feedback of the actual condition of the human body sole contacting the ground, thereby greatly reducing the consumption of electric quantity and improving the cruising ability of the detection system.
In this embodiment, the FSR408 sensor employed in the present invention has a high sensitivity and resolution, and therefore, it is necessary to set the switching value trigger threshold of the pressure membrane sensor to 40N.
Therefore, the low-power consumption processing module can realize switching of the human body gait detection system between the normal operation mode and the low-power consumption operation mode according to the existence or nonexistence of the sole pressure. The invention combines the wireless communication device on the basis of the specially-made sole pressure detection device, can monitor the gait data of the human body for a long time, adopts a sensor with small volume, low energy consumption and low price, and has simple algorithm, small calculation amount, small time delay and high accuracy.
Referring to fig. 6, the human gait detection method of plantar pressure applied to the human gait detection system based on plantar pressure includes:
s1, collecting voltage signals of the sensing shoes, and filtering the voltage signals;
s2, judging whether all the voltage signals are 0, if not, entering a normal working mode, and executing the step S3; if the pressure signals of the 3 paths are not completely 0, the system sends the pressure signals to a computer (an upper computer module) after the pressure signals are filtered, packaged and the like, and displays and stores the pressure signals by using LabV IEW software
S3, converting and amplifying the voltage signal, and sending to the upper computer module
And S4, the upper computer module obtains corresponding sole applied force in an asynchronous state according to the voltage signal, and analyzes and compares the sole applied force with pressure data collected in advance, so as to judge whether the human body enters a supporting mode or a walking mode.
In this embodiment, in step S2, if all the voltage signals are determined to be 0 and all the voltage signals are determined to be 0 for 2 consecutive times, the system enters a low power consumption mode, in which the system automatically cuts off the power supply of the signal conditioning module and the wireless transmission module. Once pressure is input again, the low-power consumption processing module generates a pulse signal to switch the system from the low-power consumption working mode to the normal working mode.
In conclusion, the invention provides a human body gait detection system method based on plantar pressure, basic devices are integrated in sensing shoes, and the human body gait detection system method has the advantages of low cost, simple structure, portability, wearing, easiness in maintenance and the like.
The above-mentioned embodiments are preferred embodiments of the present invention, and the present invention is not limited thereto, and any other modifications or equivalent substitutions that do not depart from the technical spirit of the present invention are included in the scope of the present invention.
Claims (9)
1. A human gait detection system based on plantar pressure, characterized by comprising: the device comprises a plantar pressure detection device, a single-chip microcomputer control module, a signal conditioning module and an upper computer module provided with a gait analysis program; the sole pressure detection device comprises a sensing shoe and a pressure sensor; the pressure sensor, the singlechip control module and the signal conditioning module are all integrated on the sensing shoe;
the pressure sensor senses the interaction force between the foot and the ground in the walking process of a person wearing the sensing shoe, voltage signals under the interaction force are measured, the voltage signals are converted and amplified by the signal conditioning module and then transmitted to the single-chip microcomputer control module, the single-chip microcomputer control module sends the voltage signals to the upper computer module, the upper computer module obtains corresponding sole applying force in an asynchronous state according to the voltage signals, the sole applying force and pressure data collected in advance are analyzed and compared, and then whether the human body enters a supporting mode or a walking mode is judged.
2. The plantar pressure based human gait detection system according to claim 1, characterized in that the sole of the sensing shoe includes, in order from bottom to bottom, a ground-contacting sole layer, an intermediate sensing layer and a plantar contact layer, respectively; the wearing bandage is arranged on the vamp of the sensing shoe; the pressure sensor is arranged on the steel sheet in the middle sensing layer.
3. The human gait detection system based on plantar pressure according to claim 1, characterized in that the areas of the human plantar, where the second metatarsal bone area and the third metatarsal bone area, the middle plantar area and the heel are in contact, are used as plantar pressure test points, and 3 pressure sensors are respectively arranged at the 3 plantar pressure test points.
4. The plantar pressure based gait detection system of claim 1, wherein the pressure sensor is a FSR408 type membrane pressure sensor.
5. The plantar pressure based human gait detection system of claim 1, further comprising: a low power consumption processing module; the low-power consumption processing module is connected with the plantar pressure detection device in a one-way mode, and is connected with the single-chip microcomputer control module and the signal conditioning module in a two-way mode;
when the low-power-consumption processing module detects that the sensing shoes are not pressed or the triggering threshold value is not reached, the low-power-consumption processing module outputs an interrupt signal to the single-chip microcomputer control module, and the single-chip microcomputer control module automatically cuts off the power supplies of the signal conditioning module and the wireless transmission module according to the interrupt signal, so that the system works in a low-power-consumption mode.
6. The plantar pressure based human gait detection system of claim 1, further comprising: a wireless transmission module; the single chip microcomputer control module sends the voltage signal to the upper computer module through the wireless transmission module.
7. The plantar pressure based gait detection system of claim 5, wherein the low power processing module is integrated into the sensing shoe.
8. A method based on the plantar pressure based gait detection system of claims 1-7, which includes:
s1, collecting voltage signals of the sensing shoes, and filtering the voltage signals;
s2, judging whether all the voltage signals are 0, if not, entering a normal working mode, and executing the step S3;
s3, converting and amplifying the voltage signal, and sending the voltage signal to the upper computer module;
and S4, the upper computer module obtains corresponding sole applied force in an asynchronous state according to the voltage signal, and analyzes and compares the sole applied force with pressure data collected in advance, so as to judge whether the human body enters a supporting mode or a walking mode.
9. The method of claim 8, wherein in step S2, if all the voltage signals are determined to be 0 and all the voltage signals are determined to be 0 for 2 consecutive times, the system enters a low power mode, and the low power mode is that the system automatically cuts off the power supply of the signal conditioning module and the wireless transmission module.
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| CN114034418A (en) * | 2021-08-02 | 2022-02-11 | 上海大学 | Plantar pressure sensing insole based on photoelectric sensing |
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