Three-dimensional gait generating method based on human body motion structure characteristic

Abstract

The invention discloses a three-dimensional gait generating method based on a human body motion structure characteristic, wherein the method relates to robot control technology. The method comprises the steps of firstly establishing a hip joint coordinate system, and calculating a three-dimensional motion track of an AJC in a self hip joint coordinate system in the single gait period of differentnormal persons; concluding a general three-dimensional gait curve rule, selecting a point which corresponds with a limit value on each three-dimensional motion track as a first-class characteristic point; selecting points on the three-dimensional motion track of an ankle joint central point which corresponds with the generating time of the specific phase of each testee as second-class characteristic points; calculating a regression coefficient in a multivariable regression equation according to the two classes of characteristic points; and finally calculating the generating time of two classesof characteristic points of a certain to-be-tested patient by means of the regression equation, performing sequencing and using the time as a segmenting point, and fitting every two continuous segmenting points for obtaining a three-dimensional closed characteristic curve, and generating the three-dimensional gait of the patient. The three-dimensional gait generating method can perform customization according to the motion and structure characteristics of different persons for generating the adapted three-dimensional gait.

Description

technical field [0001] The invention relates to robot control technology, in particular to a three-dimensional gait generation method based on human body motion structure features. Background technique [0002] In recent years, with the aging of the Chinese society and the increasing incidence of various accidents, the population of limb movement disorders caused by stroke, spinal cord injury and traumatic brain injury has grown rapidly. Effective rehabilitation methods are an important way to restore walking function, and have important practical significance for improving the quality of life and reducing social burdens. [0003] The traditional rehabilitation method of rehabilitation training with the assistance of medical staff is difficult to guarantee the training intensity and continuity, which is affected by the number and level of therapists. Therefore, the application of lower limb rehabilitation robots for rehabilitation training has become an effective means to re...

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Problems solved by technology

The joint trajectories and gait patterns obtained in this way are obtained based on human motion data obtained from a certain number of samples, and it is difficult to guarantee generality. At the same time, the multivariate function expressions of the set motion parameters are relatively simple, and it is difficult to achieve individualization and customization

[0006] At the same time, the current gait generation for lower limb rehabilitation robots is mainly focused on the gait generation in the sagittal plane, and does not care about the 3D gait, which does not match the real 3D human body movement and will affect the effect of rehabilitation training

In the process of gait generation, one way of thinking is to generate corresponding joint angles, such as document 1: CN201710448440, which discloses a gait planning method for lower limb rehabilitation robots based on the characteristics of lower limb walking. In fact, the ankle joint points are relative to the coordinates of the human body The trajectory curve of the system can also be used as a trajectory generated by gait planning, such as literature 2: 2009, 17(1): 2-8. Banala et al. published a paper "Robot Assisted Gait Training Based on Active Exoskeleton". The motion trajectory of the ankle joint points obtained in the paper is only in the sagittal plane, and there is currently no work related to the generation of the motion trajectory of the ankle joint points.

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