A detection method of human foot movement standing phase based on inertial sensor
A technology of inertial sensor and detection method, which is applied in the direction of sensor, diagnostic recording/measurement, navigation through speed/acceleration measurement, etc., and can solve the problem of detection performance degradation
Active Publication Date: 2022-06-14
BEIHANG UNIV
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[0004] In order to solve the problem of the detection performance degradation of the existing stance phase detection method based on fixed threshold in the coexistence of multiple motion modes, the present invention proposes a human foot movement stance phase detection method based on inertial sensors. This method is not only suitable for It is suitable for standing phase detection in a single motion mode, and is suitable for standing phase detection in the coexistence of multiple motion modes, while improving the accuracy of the zero-rate update algorithm
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[0034] The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
[0035] figure 1 A flow chart of the implementation of the method for detecting standing phase of human foot motion based on inertial sensors provided by the embodiment of the present invention, figure 2 It is a schematic diagram of the sensor installation in the embodiment of the present invention, and the sensor is installed on the shoe upper.
[0036](1) The motion signal of the human foot is collected at the sampling frequency of 200Hz through the inertial sensor installed on the foot (including the shoe);
[0037] Wherein, the motion signal includes a three-axis specific force signal a k (a kx , a ky , a kz ) and the triaxial angular velocity signal ω k (ω kx , ω ky , ω kz ), t k (k=1,2,...,m) represents the sampling time. The threshold method is used to detect the standing phase. This method is only related to the magnitude of the motio...
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The invention discloses a method for detecting the stance phase of human foot movement based on an inertial sensor, which relates to the field of gait analysis, especially the detection of the stance phase under the condition that multiple motion modes coexist. The present invention proposes a stance phase detection applicable to the coexistence of multiple motion modes. The technical points of the method are as follows: firstly, detect the heel-off reference point and the heel-ground reference point according to the foot movement characteristics; According to the dynamic level difference of foot movement, the foot movement is divided into low dynamic level and high dynamic level. Finally, different methods are used for stance detection of different dynamic levels. The method of fixed threshold is used for low dynamic level movement stance detection. Adaptive threshold method for stance phase detection of high dynamic level motion. The proposed stance phase detection method can effectively detect stance phases in various human motion modes such as horizontal walking, back step, side step, walking up stairs, walking down stairs, horizontal running, running up stairs and running down stairs.
Description
1. Technical field [0001] The invention relates to the field of gait analysis, in particular to a stance phase detection method under the condition of alternate existence of multiple motion patterns. 2. Background technology [0002] Walking is the most basic human movement, and it is related to factors such as personal health, age, gender, living habits, etc. Human gait detection has important scientific significance and application value in many fields, such as in medical diagnosis, gait analysis. It can evaluate whether the patient has abnormal gait and the nature and extent of the abnormal gait, or evaluate the effect of rehabilitation treatment; in terms of elderly monitoring, it can evaluate the daily activities of the elderly, and then guide and train the elderly in a targeted manner. , to improve the quality of life; in terms of biomechanics, can provide the basic parameters of the trunk and lower extremities needed for the study. [0003] With the rapid development...
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IPC IPC(8): A61B5/11G01C21/16
CPCA61B5/112G01C21/16
Inventor 吴银锋刘炳政冯仁剑于宁
Owner BEIHANG UNIV