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
CN111475949BActive Publication Date: 2022-01-04HUAIYIN INSTITUTE OF TECHNOLOGY
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
HUAIYIN INSTITUTE OF TECHNOLOGY
Publication Date
2022-01-04

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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.
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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 ...

Claims

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