Power below-knee prosthesis-based gait recognition method

Abstract

The invention relates to a power below-knee prosthesis-based gait recognition method. The method comprises the following steps that: 1) a sensor is arranged at a corresponding position of a power below-knee prosthesis; 2) when H is equal to 1, and simultaneously FH is greater than FPH and the derivative of theta ankle is less than 0, an ankle joint enters a passive plantar flexion stage; 3) when T is equal to 1, the passive plantar flexion stage is finished; the ankle joint enters a passive dorsiflexion stage, and simultaneously the ankle joint rotates forwards until the ankle joint reaches amaximal forward angle or H is equal to 0; 4) when H is equal to 0, Tankle is greater than tau pp, and the derivative of the theta ankle is less than 0, the ankle joint enters an active plantar flexion stage; 5) when theta toe is less than 0, a toe joint enters an active dorsiflexion stage; 6) when FT is greater than FPT, the toe joint enters the active plantar flexion stage and simultaneously thetoe joint starts to rotate downwards; and 7) when the ankle joint and the toe joint reach a specified angle or T is equal to 0, the active plantar flexion stage is finished, and a foot leaves the ground to enter a swinging stage; and in the swinging stage, the ankle joint and the toe joint recover to a balance state respectively. The invention provides a new gait recognition method in which a power ankle joint and a power toe joint are involved at the same time.

Description

technical field The invention relates to the field of intelligent bionic machinery technology, sensor technology and automatic control, in particular to a gait recognition method based on a powered under-knee prosthesis. Background technique With the increase of various natural disasters, diseases and traffic accidents, the number of disabled people is increasing year by year. According to statistics, the number of people with lower limb disabilities in my country is close to 9 million. As the number of people with disabilities increases, so does the need for prosthetics. Most of the existing below-knee prostheses on the market are made of rigid materials. Although they are strong and durable, they have many disadvantages. When the wearer walks with the prosthesis, the inelastic collision between the prosthesis and the ground will cause damage to the wearer's residual limb on the one hand, and cause more energy loss on the other hand, reducing the energy efficiency of the w...

AI Technical Summary

Problems solved by technology

The research on powered under-knee prosthetics has just started, and its gait recognition method is relatively simple. Only foot switches and angle sensors at the joints are used for recognition. The recognition accuracy is not high, and the anti-interference ability is also low. A below-knee prosthetic, a gait recognition method that contains both dynamic ankle joints and dynamic toe joints has not yet been proposed

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