Gait phase recognition method adaptable to variable stride frequency walking

Abstract

The invention relates to a gait phase recognition method adaptable to variable stride frequency walking. The method comprises the following steps: placing an inertial measurement unit on a foot to collect human body motion data; designing a foot extreme value detection algorithm capable of carrying out structural parameter self-adjustment according to stride frequency and amplitude characteristics, and realizing stable extraction of extreme point characteristics of foot motion data; a foot zero-speed detection algorithm fused with a self-adaptive oscillator is designed, and accurate extraction of foot zero-speed state features is achieved; and classifying and analyzing the extracted foot characteristic values by utilizing a finite state machine, thereby realizing accurate identification of four phases, namely a foot ground-touching phase, a standing phase, a standing end phase and a pre-swinging phase in a walking mode with variable stride frequency. The foot gait phase recognition process is no longer limited to a laboratory environment and a walking mode with a fixed stride frequency, the gait phase recognition accuracy in a complex environment and a motion mode is effectively improved, and application and development of gait analysis in the field of medical rehabilitation and rehabilitation robots are facilitated.

Description

technical field [0001] The invention relates to the technical field of biological signal recognition, in particular to a gait phase recognition method that can adapt to variable-step-frequency walking. Background technique [0002] With the development of wearable technology, more and more smart wearable devices have been developed to record and monitor various physiological information of the human body in an all-weather and all-round way. Human gait characteristics, as a kind of human physiological information, often have abnormalities, so the identification and detection of human gait phase characteristics are of great significance. [0003] As an important part of human gait characteristics, gait phase is often used to diagnose the disease degree of people with movement disorders, and the identification of gait phase is also often used in the design of the control system of rehabilitation robots, aiming to improve the activeness of rehabilitation robots. Perception. Th...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the deficiencies of the prior art, the present invention provides a gait phase recognition method that can adapt to variable-step frequency walking, which improves the accuracy of gait phase recognition in complex environments and motion patterns, and does not require human intervention to carry out the recognition method. Off-line adjustment can effectively meet the needs of real-time detection and monitoring of human gait phase in the fields of medical and robotics

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