Real-time walking mode recognition method based on knee joint exoskeleton

A walking pattern and recognition method technology, applied in the field of pattern recognition, can solve the problems of use impact, impact data collection, inconvenient long-term use, etc., and achieve the effect of low hardware requirements, easy optimization and adjustment, and simple calculation.

Pending Publication Date: 2019-12-06
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

[0006] However, the plantar pressure sensor has a short life under long-term pressure, and its use will be affected by the terrain
However, EMG electrodes need to be attached

Method used

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  • Real-time walking mode recognition method based on knee joint exoskeleton
  • Real-time walking mode recognition method based on knee joint exoskeleton
  • Real-time walking mode recognition method based on knee joint exoskeleton

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Embodiment Construction

[0050] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0051] The embodiment of the present invention proposes a real-time walking pattern recognition method based on knee joint exoskeleton. The current walking mode of the human body.

[0052] The automatic calibration is to eliminate the influence caused by the inaccurate installation position of the IMU module. Since the input signal used in the recognition method is an angle parameter, when the installation position of the IMU module deviates, it will affect the acquisition value of the IMU module, which in turn will affect the judgment of the walking mode and reduce the recognition accuracy. Therefore, calibration is required to eliminate this effect. During calibration, the human body needs to stand still for a few seconds, and store the angle values ​​collected by each IMU module at this time. After that, the angle value of each IMU module...

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Abstract

The invention discloses a real-time walking mode recognition method based on knee joint exoskeleton, and the method comprises the steps: firstly carrying out the automatic calibration, and eliminatingthe impact caused by the inaccurate position when an IMU module is worn each time; then, using an IMU module for collecting the rotating angles of the left thigh, the right thigh and the shank of thehuman body, and calculating knee joint angles; and using the collected angle parameters as input signals, and using a rule-based classification algorithm to realize identification of the current walking mode of the human body. Under the condition that high recognition accuracy is guaranteed, the complexity of the algorithm is reduced, the storage amount and the calculated amount are reduced, andthe method can be conveniently and directly applied to lower limb exoskeletons, walking aid devices and other products needing the function.

Description

technical field [0001] The invention belongs to the field of pattern recognition, in particular to a real-time walking pattern recognition method based on knee joint exoskeleton. Background technique [0002] In recent years, population aging has gradually developed into one of the serious social problems in various countries. With age, the organs of the human body begin to age, and the muscle strength gradually declines, especially in the lower limbs. For the elderly, the natural aging and diseases of the lower limbs will seriously affect the mobility of the human body, which greatly reduces the quality of life of the elderly. Exoskeleton is a new technology that is worn on the outside of the lower limbs of the human body and fixed together with the legs, which can provide assistance for the elderly or people with disabilities to restore their walking ability. In the future, exoskeletons will play an important role in the medical and rehabilitation fields. [0003] The e...

Claims

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Application Information

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IPC IPC(8): G06K9/62G16H20/30A61B5/11
CPCG16H20/30A61B5/112G06F18/2431
Inventor 刘娟黄强王文康张连存
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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