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A Method of Extracting Leg Dynamic Eigenvalues ​​Based on Pedestrian Foot Force

A technology of plantar force and eigenvalues, applied in complex mathematical operations, instruments, design optimization/simulation, etc., to improve efficiency, reduce time and steps, and solve high costs

Active Publication Date: 2022-01-04
HUAIYIN INSTITUTE OF TECHNOLOGY
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Problems solved by technology

[0004] Obtaining human body dynamics parameters through indirect methods is the focus of research, but there are still many problems to be overcome, such as: how to select the parameters to be measured, how to scientifically establish the motion control equation of the human body structure, and how to solve the nonlinear relationship from the motion control equation characteristic parameters, etc.

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  • A Method of Extracting Leg Dynamic Eigenvalues ​​Based on Pedestrian Foot Force
  • A Method of Extracting Leg Dynamic Eigenvalues ​​Based on Pedestrian Foot Force
  • A Method of Extracting Leg Dynamic Eigenvalues ​​Based on Pedestrian Foot Force

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Embodiment Construction

[0040] The technical solution of the present invention will be further introduced below in conjunction with the accompanying drawings and specific implementation methods.

[0041] Such as figure 1 Shown is a simplified model of the dynamics of the leg structure during walking, where m, k, and c are human body mass, leg stiffness, and damping, respectively; g is the acceleration of gravity, θ is the angle between the human leg and the direction of gravity, u are the axial acceleration, velocity and displacement of the leg, respectively. Plantar F x , F y , F z They are the support component forces in the x-longitudinal, y-lateral and z-vertical directions respectively. The component forces can be obtained by direct testing on the force platform. The magnitude is shown in formula (1), assuming that it acts along the axis of the leg.

[0042]

[0043] according to figure 1 The force relationship shown yields the cosine of θ as:

[0044]

[0045] According to the axi...

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Abstract

The invention discloses a method for extracting the dynamic characteristic value of the leg based on the pedestrian's plantar force, which comprises the following steps: (1) establishing a dynamic control equation based on the force characteristics of the human leg structure; (2) establishing a human dynamic control equation based on the dynamic control equation. Leg state matrix equation; (3) Establish the extended Kalman state update equation and measurement update equation of the human leg structure; (4) Establish the extended Kalman state and measurement update calculation process; (5) Substitute the measured pedestrian foot force into the established Extend the calculation process of Kalman state and measurement update, and extract the parameters of human leg stiffness and damping ratio. The invention can efficiently and accurately realize the extraction of leg power features, and effectively reduces the extraction cost and implementation difficulty. The method has very practical value in solving scientific research and engineering problems of human gait testing force.

Description

technical field [0001] The invention relates to a method for extracting motion gait features, in particular to a method for extracting leg power feature values ​​based on pedestrian's plantar force. Background technique [0002] With the advent of Industry 4.0 transformation, modern science and technology vigorously develop robots, especially humanoid legged robots, which have become a hot research topic in the scientific community. However, it is not only difficult and inconvenient to install sensors on the human body; at the same time, the price of the sensors is also very expensive; it is not realistic to popularize the measurement based on the sensors of human body parts in various groups of people, which leads to the dynamic characteristics of the human body structure. parameters are difficult to obtain. [0003] At present, testing human body dynamics parameters is intensive and expensive, and it has become a key issue restricting the research of human body structure ...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F30/20G06F17/16G06F111/08G06F119/14
CPCG06F17/16
Inventor 高延安朱倩影
Owner HUAIYIN INSTITUTE OF TECHNOLOGY
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