Human gait analyzing method and system based on multi-sensor fusion

A technology of multi-sensor fusion and analysis method, applied in the field of gait analysis, can solve the problem that it is difficult to effectively eliminate the integration error of the motion signal

Active Publication Date: 2015-07-08
DALIAN UNIV OF TECH
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0005] The present invention mainly solves the technical problem in the prior art that it is difficult to effectively eliminate the integration error of the motion signal, and proposes a human gait anal

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  • Human gait analyzing method and system based on multi-sensor fusion
  • Human gait analyzing method and system based on multi-sensor fusion
  • Human gait analyzing method and system based on multi-sensor fusion

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Embodiment 1

[0065] figure 1 It is an implementation flowchart of the multi-sensor fusion-based human gait analysis method provided by the embodiment of the present invention. The human gait analysis method based on multi-sensor fusion provided by the embodiment of the present invention can be executed by the human gait analysis system based on multi-sensor fusion provided by the embodiment of the present invention, and the system can be realized by software and / or hardware. Such as figure 1 As shown, the human gait analysis method based on multi-sensor fusion provided by the embodiment of the present invention includes:

[0066] Step 100, using sensors to collect movement signals of lower limbs and three-dimensional geomagnetic field component signals during human walking.

[0067] Wherein, the motion signal includes a three-dimensional acceleration signal and a three-dimensional angular velocity signal. Specifically, the sensor is calibrated through the three-dimensional turntable and...

example 1

[0091] Example 1, in the embodiment of indoor walking on flat ground, the subject performs a "stomp" action after binding the gait analysis system, so that the sensor worn by the subject senses an obvious initial signal, which is used to Complete the data synchronization between the video tracking system VICON and the sensor. The following two groups of experiments were: the subject walked two circles along the rectangular route in the VICON measurement area of ​​the optical tracking system; the subject walked ten steps along a straight line at his own comfortable pace. The upper computer is the data calculation and output terminal, and the data collected by the lower computer is transmitted to the gait analysis upper computer software through the mobile storage medium, and various gait parameters are calculated. Data analysis and processing procedures such as figure 1shown. The gait data collected by the lower computer is uploaded to the upper computer gait analysis softwar...

example 2

[0092] Example 2, in this embodiment, the subject completes the movement of climbing two floors of stairs, and the collected data is first stored in the SD card. After the experiment is over, the card reader is passed into the gait analysis host computer software to calculate various parameters . The endurance of stair exercise can be evaluated by performing the stair exercise experiment on the same subject several times per unit time. Stair exercise can improve cardiovascular function, strengthen myocardial contractility, improve lung function, increase lung capacity, develop lower limb muscle strength, and improve knee joint toughness. The stair exercise capacity indirectly reflects the subjects' cardiovascular and pulmonary function indicators, as well as the strength and toughness of the joints of the lower extremities. Figure 8 It is a schematic diagram of the walking trajectory in the three-dimensional coordinate system when the subject climbs two floors of stairs calc...

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Abstract

The invention relates to the technical field of gait analysis in biomedical engineering and provides a human gait analyzing method and system based on multi-sensor fusion. The method comprises the steps of filtering sensor signals to eliminate the signal noise error according to human motion features, and eliminating the integral error by means of the improved zero velocity updating algorithm, so that the method and system can be adapted to different walking scenes; fusing multiple sensor data with the Denavit-Hartenberg method, and reducing the leg position calculation error; calculating the step speed, step length, step frequency, walking period and walking track of a tested person accurately during walking after error correction is conducted; establishing a gait database, and conducting statistic analysis on gait data of different tested persons with the quantile regression analysis method. By the adoption of the method and system, gait parameter measurement precision can be improved, and gait parameters of different tested persons are comparable through standardization.

Description

technical field [0001] The invention relates to the technical field of gait analysis, in particular to a human gait analysis method and system based on multi-sensor fusion. Background technique [0002] Human gait is the behavioral characteristic of the coordination relationship of the lower limbs in the process of human walking. It involves factors such as personal exercise habits, health status, gender, age, occupation, etc. Human gait detection has significant significance. For example, in terms of sports rehabilitation, gait analysis can evaluate the recovery of the testee's lower limb exercise ability. In terms of telemedicine, portable gait analysis devices can reduce long hours of caregiver attendance. In terms of personal navigation, the position positioning in an environment without GPS signals can be realized by calculating the trajectory information of the pedestrian's lower limbs. [0003] Existing gait analysis methods include traditional methods based on visu...

Claims

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Application Information

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IPC IPC(8): A61B5/11
CPCA61B5/112
Inventor 王哲龙仇森赵红宇
Owner DALIAN UNIV OF TECH
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