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A Gru-based Gait Recognition Method

A gait recognition and gait technology, applied in the field of prosthetics, can solve the problems of poor comfort, doubtful classification accuracy, poor real-time performance, etc., to improve classification accuracy and discrimination efficiency, save feature extraction engineering, and high practical application. effect of value

Active Publication Date: 2022-07-22
HEBEI UNIV OF TECH
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Problems solved by technology

[0003] Most of the current gait recognition methods have disadvantages such as complex calculation, poor real-time performance, and low reliability.
For example, the Chinese invention patent application No. 201811241695.7 is to identify the gait stage by collecting EMG signals and extracting relevant features. However, the detection signal is affected by factors such as surface temperature and sweat, and the stability and accuracy are low. Wavelet decomposition and calculation are required. The complex feature extraction process such as Willison amplitude is cumbersome and has poor real-time performance, and the electrodes need to be in direct contact with the skin, which is not comfortable
The Chinese invention patent application No. 201910976122.7 uses the IMU module to collect the rotation angles of the left and right thighs and calves of the human body, and uses a rule-based classification algorithm to realize real-time recognition of the human walking gait. However, the transition period of the gait stage is short and the signal changes are complicated. , there are large differences in different road conditions and different detection objects. Although the rule-based classification algorithm is simple to calculate, its classification accuracy is doubtful and its reliability is low.

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  • A Gru-based Gait Recognition Method
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Embodiment Construction

[0032] The present invention is further described below in conjunction with embodiment and accompanying drawing thereof:

[0033] The present invention provides a GRU-based gait recognition method, and the method flow chart is as follows: figure 1 shown, including the following steps:

[0034] Step 1: Place the eight-unit high-dynamic FSR film pressure sensor insole on the sole of the right foot of the prosthesis and fit the entire sole of the prosthesis, so that the figure 2 The HALLUX in the middle is coincident with the thumb of the prosthetic foot, and the TOES can be coincident with the little finger of the prosthetic foot. The voltage divider module and the Bluetooth host are connected to the STM32F103RCT6 microcontroller (STM32 for short), and are fixed on the front of the right calf with a strap. The machine was tied around the waist with a belt.

[0035] The FSR film pressure sensor is used to sense the pressure changes at eight positions on the sole of the prosthe...

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Abstract

The invention discloses a gait recognition method based on GRU, which belongs to the technical field of prosthetics. The invention solves the problems of complex calculation and poor real-time performance of the traditional gait classification method, and saves the complicated feature extraction engineering through GRU, and only needs to use the model The parameters can be classified, which greatly improves the calculation speed, and realizes the real-time calculation of the gait stage, which gets rid of the tedious process of traditional gait recognition that needs to be classified offline. It includes: using the FSR film pressure sensor worn on the sole of the prosthesis to collect the plantar pressure information during walking; labeling each data queue according to the typical walking characteristics and timestamp of the target; building a GRU network model; defining GRU units and full connections The obtained data labels are divided into training set and test set, and the training set is sent to the GRU network model for training. After the training is completed, the test set is used to evaluate the model classification effect and conduct online real-time classification.

Description

technical field [0001] The invention belongs to the technical field of prosthetics, and in particular relates to a gait recognition method based on GRU, namely a lower limb prosthetic gait recognition system, which can recognize the gait stages of prosthetic limb wearers, and improve the accuracy and reliability of gait recognition. real-time. Background technique [0002] A complete cycle of gait is called the "gait cycle". A gait cycle is divided into two phases, the "stance phase" and the "swing phase", and can be further divided into multiple sub-phases. Gait recognition can not only provide an important analysis basis for rehabilitation physicians, but also provide control signals for intelligent prosthetics to make corresponding control strategies and parameter adjustments, thereby making the patient's movement process more stable, smooth and natural. [0003] Most of the current gait recognition methods have shortcomings such as complex calculation, poor real-time p...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06V10/764G06V10/82G06V40/20G06K9/62G06N3/04G06N3/08
CPCG06N3/08G06V40/25G06N3/045G06F18/24
Inventor 耿艳利蔡晓东杨鹏宣伯凯陈玲玲
Owner HEBEI UNIV OF TECH
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