A system and method for detecting plantar flexion phase of human ankle joint

Abstract

The invention provides a human ankle joint plantar flexion phase detection system and method. The system comprises a signal acquisition unit and a data processing unit. The signal acquisition unit detects the human ankle joint phase conversion state, provides an instruction for an upper computer, and collects angular speed information of ankle joint movement. The data processing unit conducts integral operation on the information, obtains the direction matrix of each sampling moment, and calculates the main direction change of the plantar flexion phase through a principal element analysis method. The method includes the steps of detecting the phase conversion of a human ankle joint in gait through contactor switches and conducting zero clearing on the integral operation result when the plantar flexion phase is finished so as to eliminate accumulated error, and conducting dimension reduction on obtained three-dimensional data through the principle element analysis method to obtain a two-dimensional principle plane of the plantar flexion change so that the inconvenience caused when the position of a gyroscope needs to be corrected according to the movement plane of the human ankle joint in the installation process can be eliminated. A more stable and accurate human ankle joint plantar flexion phase detection result is provided at a lower cost.

Description

technical field [0001] The invention relates to a method for detecting human body gait information, in particular to a method for detecting ankle joint plantar flexion phase. Background technique [0002] Effective detection of ankle plantar flexion phase is of great significance for human walking analysis, walking assistance and biped robot walking control. There are four main methods currently available for plantarflexion phase detection: EMG detection, camera capture detection, angular displacement sensor detection, and gyroscope detection. [0003] The electromyographic detection method uses electromyographic signals obtained from the skin surface to indirectly detect the plantar flexion phase. This method is based on the rhythmic activation changes of the calf muscles during human walking, and establishes the mapping relationship between the measured value and the measured value. Since the dynamic process of human walking is affected by many factors, it is extremely d...

AI Technical Summary

Problems solved by technology

[0008] The technical problem to be solved by the present invention is to provide a robust human ankle plantarflexion phase detection device to solve the problems of high cost, low precision and large cumulative error in the prior art

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