A Gait Cycle Recognition Method Based on Fusion of Torque and Angle Feedback

Abstract

The invention discloses a gait cycle recognition method based on the fusion of torque and angle feedback, which is characterized in that, according to the axial force and bending moment of the prosthetic leg extension rod of the prosthetic wearer, the ground support reaction force model is established, and according to the installation The pressure sensor at the end of the prosthetic leg extension rod obtains the ground support reaction force data and the support reaction force distribution of the prosthetic foot, and then obtains the knee joint rotation angle data according to the angle sensor installed on the knee joint of the prosthetic leg ; According to the support reaction force data and the knee joint rotation angle data, compare the data in the gait database to determine the phase of the current gait cycle. The invention overcomes the defect that the measurement data of the method of identifying the gait cycle by the electromyographic signal is easily disturbed by the skin surface state, and the gait cycle cannot be accurately judged when the skin is sweating or unclean, and the test result of the sensor is reliable. There is a risk of the sensor falling off.

Description

technical field [0001] The invention relates to the technical field of computer recognition, in particular to a gait recognition method based on torque and angle feedback fusion. Background technique [0002] With the development of modern industry, natural disasters, traffic accidents, diseases and other accidental injuries occur frequently, and the number of thigh amputee is increasing rapidly. For thigh amputee, amputation makes them lose their basic walking ability. An effective measure of walking ability. One of the key technologies of intelligent prosthetics is gait cycle recognition, so research on gait cycle recognition is of great significance for improving the lives of thigh amputees. [0003] At present, the main method of gait cycle recognition includes electromyographic signal recognition of gait cycle. The electromyographic signal recognition gait cycle is to attach the electromyographic sensor to the skin surface muscles of the thigh amputee subjects, collec...

AI Technical Summary

Problems solved by technology

However, the recognition of the gait cycle by the EMG signal requires the EMG sensor to be in full contact with the surface of the human skin, and the signal is relatively weak. The dryness, cleanliness, and sweating of the skin surface will affect the output signal of the EMG sensor, which is prone to measurement results. Inaccurate, wrong judgment of gait cycle, etc.

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