Exoskeleton gait analysis system and method based on multi-sensor fusion

Abstract

The invention discloses an exoskeleton gait analysis system and method based on multi-sensor fusion. The exoskeleton gait analysis system based on multi-sensor fusion comprises outer bones, attitude and heading devices, intelligent shoes, encoders and microprocessors. The outer bones include hip joint parts, thigh mechanical bones, knee joint parts, shank mechanical bones and ankle joint parts. The microprocessors are used for analyzing and processing motion state data generated in the walking process of the outer bones. The exoskeleton gait analysis method based on multi-sensor fusion includes the steps that outer bone motion state data collected by the attitude and heading devices, the intelligent shoes and encoders are subjected to denoising and analysis processing and then transmitted to an upper computer, the upper computer adjusts walking gait and speed according to all outer bone data information, and stability and safety during walking of the outer bones are ensured. The system is simple and light, data collection is efficient, control responding is sensitive, and wearing comfort of the outer bones and safety guarantee ability of a wearer in the walking process are greatly improved.

Description

Technical field [0001] The invention relates to the field of wearable rehabilitation medicine, in particular to an exoskeleton robot gait analysis system and method based on multi-sensor fusion. Background technique [0002] With the rapid development of robotics and the society’s increasing care and assistance for the disabled, exoskeleton robots came into being. Exoskeleton robots are a new type of multi-disciplinary design that integrates mechanics, electronics, computers, and biology. Wearable robot. In the field of rehabilitation medicine, exoskeleton robots can help patients with spinal cord injuries stand up again and walk like normal people, which not only reduces the patients’ dependence on nursing staff in daily life, but also assists patients in rehabilitation treatment; at the same time, exoskeleton robots can also Assist the elderly to exercise, enhance the exercise time of the elderly, and help them strengthen their physical fitness. Whether in helping the disable...

AI Technical Summary

Problems solved by technology

[0004] (1) High-speed camera devices are usually installed indoors, and the scope of use is limited, and in the test process, a large number of punctuation points must be carried out on the joints of the human body, and the operation process is complicated, which is not conducive to frequent repeated a large number of analysis tests;

[0005] (2) In the process of using the pressure plate for gait analysis, the pressure plate can accurately collect the pressure on the soles of the human feet, but the pressure plate is relatively bulky and cannot be used with the experimenter, and the area is limited, so the walking range is greatly limited , which is not conducive to analyzing the gait information of the exoskeleton during use

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