A method and application for detecting gait stability of workers in special environments

Abstract

The present invention relates to a gait stability detection method and application for personnel working in special environments, constructs a stop-and-brake difficulty coefficient model, quantifies the influence of various factors on the balance of walking in special environments, and accurately determines the imbalance risk of personnel working in special environments during walking in special environments. During the training process, the present invention can select the optimal gait, pace, and step length of personnel working in special environments during their movement, thereby improving the stability of personnel working in special environments during their movement. The present invention evaluates various gait recoveries, provides an optimal recovery method, and uses the optimal recovery method to train personnel working in special environments, thereby improving the ability of personnel working in special environments to restore stability; in the case where personnel working in special environments need multiple steps of braking, the optimal recovery method prompt is output, ensuring that personnel working in special environments restore their gait as soon as possible.

Description

Technical Field

[0001] The present invention relates to the field of aerospace engineering technology, and in particular to a method for detecting gait stability of workers in special environments and its application. Background Art

[0002] Among all types of missions in special environments, walking in special environments is a fundamental activity and one of the most essential skills for personnel performing these tasks. In special environments, low-gravity clothing significantly impacts the movement and manipulation abilities of personnel working in special environments. Their walking style, performance, and balance differ from walking on the ground. Due to the characteristics of the clothing and the special environment, walking in special environments is more challenging. Furthermore, the presence of meteorites, ditches, and slopes in special environments requires frequent changes in movement, which also poses challenges to gait and balance. During the Apollo lunar landings, a large number of personnel walking in special environments fell. Due to the abundance of sharp-edged meteorites in special environments, impacting a helmet with one could be extremely dangerous, seriously impacting the safety of personnel performing special environment missions. Therefore, the biomechanical characteristics and balance of walking in special environments are key areas of focus for special environment walking.

[0003] Researchers have achieved some success in studying gait balance in terrestrial environments. For example, there has been extensive research on the imbalance caused by falls. Researchers have analyzed the impact of factors such as the shoe-ground friction coefficient and slope angle on the probability of falls. However, the terrestrial environment is quite special. Unlike sandy or slippery roads on Earth, the surface of the terrestrial environment is composed of sharp small particles with a high friction coefficient, making slips almost non-existent. In addition, there are also some gait balance ability models for the elderly. Parameters such as gait speed and cadence show a certain correlation with the elderly's age. However, the theoretical support for the evaluation indicators of these models and gait balance is unclear. Moreover, the number of falls in the elderly is counted on an annual basis, and the frequency of falls is significantly different from walking in terrestrial environments, making it difficult to use them as a basis for evaluating walking in terrestrial environments. Summary of the Invention

[0004] In response to the problems existing in the prior art, the present invention provides a method and application for detecting the gait stability of workers in special environments, which can determine whether the workers in special environments are stable during their movement, accurately determine the status of the workers in special environments, and select strategies for the gait, speed and stride length of the workers in special environments during their movement, as well as strategies for gait recovery.

[0005] To achieve the above-mentioned object, the present invention provides a method for detecting gait stability of workers in a special environment, comprising:

[0006] Special environment workers wear special clothing to travel in low gravity;

[0007] The gait of workers in special environments was collected to calculate the walking speed v and the foot-ground contact time T during the deceleration phase of the walking cycle.

[0008] Collect plantar pressure and calculate the vertical plantar pressure during foot-ground contact ;

[0009] Calculating the difficulty coefficient of stopping braking Where f is the coefficient of friction between the sole and the ground, and m is the total weight of the special clothing worn by workers in special environments;

[0010] When R is not greater than the first threshold, the output is a stable gait; when R is greater than the first threshold, the output requires multiple steps of braking.

[0011] Furthermore, when R is greater than a second threshold, emergency braking is output; the first threshold is 1.03 to 1.1, and the second threshold is 1.54 to 1.6.

[0012] Furthermore, reflective balls are attached to at least the heel and toe of each foot and the hip joint, and the position of the reflective balls is detected in real time. The moment the heel touches the ground is determined based on the vertical position of the reflective ball on the heel, which is used as the starting moment of foot-ground contact. When the foot is in contact with the ground, the moment when the reflective ball on the hip joint is aligned with the reflective ball on the toe in the forward direction is used as the end time of foot-ground contact, and the foot-ground contact time T of the deceleration phase of each walking cycle is calculated.

[0013] When walking through the force platform, the force platform collects the three-dimensional plantar pressure during gait, obtains the vertical plantar pressure during the foot-ground contact process, and calculates the average vertical plantar pressure during the walking cycle through the force platform.

[0014] Furthermore, the weight of the suit simulates low gravity.

[0015] A second aspect provides a method for determining the gait of a worker in a specific environment, comprising:

[0016] Special environment workers wear special clothing in a simulated low gravity state and walk for a period of time with various gaits, speeds and step lengths;

[0017] For each gait, pace, and step length, the gait of workers in specific environments is collected, and the pace v and the foot-ground contact time T during the deceleration phase of the walking cycle are calculated; the plantar pressure is collected and the vertical plantar pressure during the foot-ground contact process is calculated in real time. ; Calculate the stopping and braking difficulty coefficient in each walking cycle f is the friction coefficient between the sole and the ground, and m is the total weight of the special clothing worn by the worker in the special environment; when R is not greater than the first threshold, the output is stable gait; when R is greater than the first threshold, the output is that multiple braking steps are required;

[0018] For each gait, pace, and stride length, the mean braking difficulty coefficient of multiple walking cycles is calculated, and the gait, pace, and stride length with the smallest mean braking difficulty coefficient are selected as the most stable walking strategy for workers in this special environment wearing this special clothing.

[0019] Furthermore, a special environment scenario is constructed, and a person working in the special environment walks in the special environment scenario with the most stable walking strategy; when the person working in the special environment recovers from a gait when R is greater than a first threshold to a gait when R is not greater than the first threshold, a process of gait change is recorded;

[0020] For each gait with R greater than the first threshold, the gait change process with the fastest gait recovery speed is selected, and the gait recovery action is extracted as the optimal recovery method.

[0021] Furthermore, personnel working in special environments are trained according to the most stable walking strategy and the optimal recovery method.

[0022] Furthermore, when the operator in the special environment is walking, R is greater than the first threshold, and the corresponding optimal recovery method is output to prompt the operator in the special environment.

[0023] Furthermore, the various gaits include: alternating forward movement of both feet and jumping gait; the jumping gait includes forward and backward forking jumping gait of both feet and parallel jumping gait of both feet;

[0024] The walking speed range is: 0.61m / s to 1.22m / s;

[0025] The step length range is: 0.50m to 0.82m;

[0026] The walking distance of special environmental workers in a single test is at least 6m, and each action is repeated at least 5 times.

[0027] Furthermore, when R is greater than a second threshold, emergency braking is output; the first threshold is 1.03 to 1.1, and the second threshold is 1.54 to 1.6.

[0028] A third aspect provides a special clothing verification and testing method, including:

[0029] For each special clothing scheme, special environment workers or volunteers wear special clothing in a simulated low gravity state and walk a specific distance with a specific gait, pace and step length; collect the gait of the special environment workers, calculate the pace v and the foot-ground contact time T during the deceleration phase of each walking cycle in real time; collect the plantar pressure and calculate the vertical plantar pressure during the foot-ground contact process ;Calculate the stopping and braking difficulty coefficient for each walking cycle Where f is the friction coefficient between the sole and the ground, and m is the total weight of the special clothing worn by the operator in the special environment; when R is not greater than the first threshold, the output is stable gait; when R is greater than the first threshold, the output is required to brake multiple times;

[0030] Calculate the mean value of the stopping and braking difficulty coefficient of the special clothing of the i-th scheme ;

[0031] Select the average difficulty coefficient of stopping and braking The special clothing corresponding to the minimum solution is taken as the determined special clothing solution.

[0032] The above technical solution of the present invention has the following beneficial technical effects:

[0033] (1) The present invention provides a method for detecting gait stability of workers in special environments, constructs a stopping and braking difficulty coefficient model, quantifies the influence of various factors on the balance of walking in special environments, and accurately determines the imbalance risk of workers in special environments during walking in special environments.

[0034] (2) During the training process, the present invention can select the optimal gait, pace and stride length for workers in special environments, thereby improving the stability of workers in special environments.

[0035] (3) The present invention evaluates various gait recovery methods, provides the optimal recovery method, and uses the optimal recovery method to train workers in special environments, thereby improving the ability of workers in special environments to restore stability; when workers in special environments need multiple steps of braking, the optimal recovery method prompt is output, ensuring that workers in special environments restore gait as soon as possible.

[0036] (4) The gait stability detection method for workers in special environments of the present invention can be applied to the detection of special clothing. A variety of special clothing schemes can be simulated and verified, and the special clothing corresponding to the scheme with the easiest stopping and braking can be selected, providing theoretical support for the design of special clothing and the formulation of ergonomic requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is a flow chart for testing gait stability of workers in a special environment;

[0038] Figure 2(a) is a schematic diagram of the forward position of the reflective ball; Figure 2 (b) is a lateral schematic diagram of the location where the reflective balls are attached;

[0039] Figure 3 This is a schematic diagram of the ground test system;

[0040] Figure 4 Flowchart of the method for determining the gait of workers in special environments;

[0041] Figure 5 Flowchart for validation test method for special clothing. DETAILED DESCRIPTION

[0042] To make the objectives, technical solutions, and advantages of the present invention more clearly understood, the present invention will be further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings. It should be understood that these descriptions are merely exemplary and are not intended to limit the scope of the present invention. In addition, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present invention.

[0043] Provide a method for detecting gait stability of workers in a special environment, combined with Figure 1 , including the following steps:

[0044] (1) Special environment workers wear special clothing and move in low gravity conditions.

[0045] This detection method can be used to monitor the walking status in a low-gravity state in a simulated special environment on the ground, and can also be used to detect the gait stability of special environment workers when walking in a low-gravity state in a special environment.

[0046] like Figure 3 As shown in the figure, in a simulated low-gravity scenario, the test system includes a weight-reducing suspension device, a Kistler force plate, and NDI motion measurement equipment.

[0047] A weight-reducing suspension device and a walking path were set up to suspend the personnel in the special environment, providing lower-limb support and simulating the low-gravity conditions of the special environment. The weight-reducing device uses elastic slings to offset all or part of the person's weight and provide a low-friction environment for horizontal movement. The subjects wore wire suits, which connected to the slings approximately on either side of their chests.

[0048] Kistler force plate is used to measure the three-dimensional plantar pressure.

[0049] NDI motion measurement equipment captures motion. It includes NDI Optotark, the NDI Optotark data unit, and the NDIODAU. NDI Optotark is the motion capture lens; the NDI Optotark data unit is the motion data acquisition unit, transmitting motion compensation data collected by multiple lenses to the main control computer; and the NDIODAU is the data synchronization unit, synchronizing the motion capture data with the plantar pressure data.

[0050] (2) Collect the gait of workers in special environments, calculate the walking speed v and the foot-ground contact time T during the deceleration phase of each walking cycle; collect the plantar pressure and calculate the vertical plantar pressure during the foot-ground contact process

[0051] NDI motion measurement equipment collects gait data of typical body parts during gait. It is necessary to stick reflective balls on the human torso and lower limbs. The reflective balls are stuck in the following positions: Figure 2 As shown in the figure, reflective balls are attached to at least the heel and toe of each foot and the hip joint, and the position of the reflective balls is detected in real time. The moment when the heel touches the ground is determined based on the vertical position of the reflective ball on the heel, which is used as the starting moment of foot-ground contact. When the foot-ground contact occurs, the moment when the reflective ball on the hip joint is aligned with the reflective ball on the toe in the forward direction is used as the end time of foot-ground contact. The foot-ground contact time T is calculated during the deceleration phase of each walking cycle.

[0052] Two Kistler force plates are used to collect three-dimensional plantar pressure during gait. The two force plates are placed side by side. When the environmental worker steps on each of the two force plates with both feet, the two force plates output the plantar pressure in three dimensions respectively, which can directly obtain the vertical plantar pressure. When walking across the force plates, the vertical plantar pressure during the foot-ground contact process is obtained, and the average vertical plantar pressure during the foot-ground contact process during the walking cycle across the force plates is calculated. .

[0053] When walking in a special environment, the vertical plantar pressure is collected based on the force sensor and posture sensor installed inside the special clothing. The gait is used to calculate the walking speed v and the foot-ground contact time T during the deceleration phase of each walking cycle.

[0054] (3) Calculate the difficulty coefficient of stopping and braking Where f is the coefficient of friction between the shoe and the ground in the special environment, and m is 1 / 6 of the total mass of the special clothing worn by the workers in the special environment.

[0055] The stopping and braking process involves the center of mass speed decreasing to zero. To ensure a smooth stop in the forward direction, the center of mass speed must drop to zero before it reaches the toes. If the center of mass exceeds the toes, a new cycle of center of mass imbalance and braking begins. During the stopping process, the law of conservation of energy between the body's kinetic energy, potential energy, and work performed by the body must be met, as well as the law of conservation of momentum between external forces and the body's impulse.

[0056] During the stopping process, if there is still forward kinetic energy when the center of mass reaches directly above the ankle joint, the human body will tend to fall over, including forward and downward velocity vectors. At this time, it is the momentum conservation process that restricts the human body from stopping. The human body will respond with stress, locking the lower limb joints, turning the lower limbs into a quasi-rigid structure with front and back bifurcations. The forefoot pushes hard against the ground, obtaining both backward friction resistance for horizontal deceleration of the human body and upward ground support force to counteract gravity and the tendency of the human body to fall over, for vertical deceleration. In this process, the formula F = ma or I = ∫F must be satisfied. x dt = mv, where F x is the backward frictional resistance of the ground on the human body, m is the human body mass, a is the acceleration of the center of mass, I is the forward impulse of the human body at the moment of forefoot contact, and v is the forward velocity of the center of mass at the moment of forefoot contact. This braking process is mainly related to factors such as walking speed, clothing mass, center of mass position, and plantar support.

[0057] Generally, the human body has a tendency to fall when stopping while running or walking fast. What restricts the human body from stopping is the process of conservation of momentum. The following is an analysis of the braking difficulty coefficient during the stopping process.

[0058] a.Impulse Demand I

[0059] If the forward velocity of the center of mass is reduced from v to 0, the impulse required from the ground by the foot during braking is I = mv. It can be seen that the greater the mass of the person / suit and the faster the center of mass velocity, the greater the braking difficulty; the longer the braking time from the moment the supporting foot touches the ground to the critical moment of imbalance, the lower the braking difficulty.

[0060] b. Maximum impulse I max

[0061] The landing phase of the supporting foot can be divided into two stages. a. From the moment the supporting foot touches the ground to the moment the center of mass is positioned above the supporting foot, the supporting foot exerts rearward resistance on the center of mass, representing a deceleration of the center of mass in the fore-aft direction. b. From the moment the center of mass is positioned above the supporting foot to the moment the supporting foot leaves the ground, the supporting foot exerts forward propulsion on the center of mass (the human body can also choose not to exert forward propulsion), representing an acceleration of the center of mass in the fore-aft direction. The deceleration phase will be primarily analyzed.

[0062] In order to obtain the maximum ground resistance to reduce the center of mass speed during deceleration, F x =f*F y , F x and F y are the components of the plantar pressure in the forward and vertical directions, respectively, and f is the shoe-ground friction coefficient due to the specific environment. I max It is the maximum impulse that the ground resistance can exert on the human body during deceleration. is the average plantar pressure in the vertical direction during the foot-ground contact process, and T is the foot-ground contact time during the deceleration phase.

[0063] The stopping braking difficulty coefficient model of the present invention is: The larger the coefficient, the more difficult it is to stop and brake. When R is less than 1, the human body can reduce speed to 0 during the deceleration process. When R is greater than 1, multiple braking steps are required to reduce speed to 0. Where f is the coefficient of friction between the shoe and the ground due to the specific environment. Generally, the friction coefficient is between 0.3 and 0.8.

[0064] Tests have shown that the stopping and braking difficulty coefficient for all movements ranges from 1.03 to 3.86. The difficulty of stopping during normal walking in a special environment is higher than walking on the ground. The average stopping and braking difficulty coefficient for normal walking on the ground is 1.03, meaning that a person can stop by taking a single step forward, which is consistent with human walking experience. However, the average stopping and braking difficulty coefficient for normal walking in a special environment is 1.54, requiring two steps to stop. Faster speeds or leaning forward may require more steps. When walking in a special environment, workers should allow sufficient distance and be prepared to stop in multiple steps.

[0065] Therefore, the present invention selects that when R is not greater than a first threshold, the output is stable gait; when R is greater than the first threshold, the output is that multiple-step braking is required; when R is greater than a second threshold, the output is that emergency braking is required; the first threshold is 1.03 to 1.1, and the second threshold is 1.54 to 1.6.

[0066] The second aspect provides a method for determining the gait of workers in a special environment, combining Figure 4 , including the following steps:

[0067] (1) Special environment workers wear special clothing and walk for a period of time in a simulated special environment with low gravity using various gaits, speeds and step lengths.

[0068] Gait mode: There are three working conditions. In the normal gait mode, volunteers start from the initial position and walk in a normal way, alternating between their feet. In the jumping gait mode, there are two types: a forward-and-backward split jumping gait and a forward-and-backward parallel jumping gait. Because environmental workers walk in a forward-and-backward jumping manner, there is no alternation of feet during walking.

[0069] Before participating in the formal test, personnel working in the environment must undergo training and experience. They must start and stop in a standing position with their feet parallel, walking in a straight line at a constant speed. Each test distance is 6 meters, with each movement repeated five times, followed by a one-minute rest period. Each operator will only conduct one test per day, with each test lasting no more than two hours.

[0070] (2) For each gait, pace, and step length, collect the gait of workers in a specific environment, calculate the pace v and the foot-ground contact time T during the deceleration phase of each walking cycle; collect the plantar pressure and calculate the vertical plantar pressure during the foot-ground contact process in real time ;Calculate the stopping and braking difficulty coefficient for each walking cycle Where f is the coefficient of friction between the shoe and the ground in the special environment, and m is the total mass of the special clothing worn by the operator in the special environment; when R is not greater than the first threshold, the output is stable gait; when R is greater than the first threshold, the output is that multiple braking steps are required;

[0071] (3) For each gait, pace, and stride length, the mean braking difficulty coefficient of multiple walking cycles is calculated, and the gait, pace, and stride length with the smallest mean braking difficulty coefficient are selected as the most stable walking strategy for workers in this special environment wearing this special clothing.

[0072] (4) Constructing a special environment surface scene, in which the special environment operator walks in the special environment surface scene with the most stable walking strategy; when the special environment operator recovers from a gait when R is greater than a first threshold to a gait when R is not greater than the first threshold, the process of gait change is recorded.

[0073] (5) For each gait with R greater than the first threshold, the gait change process with the fastest gait recovery speed is selected and the gait recovery action is extracted as the optimal recovery method.

[0074] The average plantar force across all movements ranged from 167N to 626N, and the impulse across all movements ranged from 151Ns to 538Ns. Gait speed varied from 0.61m / s to 1.22m / s across different motion conditions. The gait period varied from 1.05s to 1.67s across different motion conditions. Stride length varied from 0.50m to 0.82m across different motion conditions.

[0075] Furthermore, the personnel working in the special environment are trained according to the most stable walking strategy and the optimal recovery method, so that the personnel working in the special environment can walk with the most stable walking strategy and recover quickly according to the training situation when the gait R is greater than the first threshold.

[0076] On the other hand, when the operator is actually moving in the special environment, if the detection R is greater than the first threshold, the optimal recovery method is found in time and a recovery reminder is output. The reminder content includes, for example:

[0077] a. Slow down.

[0078] b. Take big steps and lean your body's center of gravity backward.

[0079] c. Increase the distance between your feet.

[0080] d. Use the tiptoe method to brake.

[0081] Special environment workers can quickly adopt reminder strategies to restore a stable gait.

[0082] On the other hand, a special clothing verification and testing method is provided, combining Figure 5 , including the following steps:

[0083] (1) Special clothing for each program:

[0084] Special environment workers or volunteers wear special clothing and walk a specific distance with a specific gait, pace, and step length in a simulated special environment with low gravity. The gait of the special environment workers is collected, and the pace v and the foot-ground contact time T during the deceleration phase of each walking cycle are calculated in real time. The plantar pressure is collected and the vertical plantar pressure during the foot-ground contact process is calculated in real time. ;Calculate the stopping and braking difficulty coefficient for each walking cycle Where f is the friction coefficient between the shoe and the ground in the special environment, and m is the total mass of the special clothing worn by the operator in the special environment; when R is not greater than the first threshold, the output gait is stable; when R is greater than the first threshold, the output requires multiple steps of braking.

[0085] (2) Calculate the mean value of the stopping and braking difficulty coefficient of the special clothing of the i-th scheme .

[0086] (3) Select the average difficulty coefficient of stopping braking The special clothing corresponding to the minimum solution is taken as the determined special clothing solution.

[0087] The various design options for special clothing currently do not take into account the impact of braking on workers in special environments. However, the quality of special clothing, the influence of the center of gravity position, and clothing constraints all have an impact on braking.

[0088] The average value of the stopping braking difficulty coefficient is calculated for multiple schemes respectively, and the scheme is selected based on the value.

[0089] The present invention provides a method for determining special clothing solutions based on a verification mechanism, providing theoretical support for special clothing design and ergonomic requirements formulation.

[0090] In summary, the present invention relates to a method and application for detecting the gait stability of personnel working in special environments, constructs a stop-and-brake difficulty coefficient model, quantifies the influence of various factors on the balance of walking in special environments, and accurately determines the risk of imbalance of personnel working in special environments during walking in special environments. During the training process, the present invention can select the optimal gait, pace, and stride length of personnel working in special environments, thereby improving the stability of personnel working in special environments. The present invention evaluates various gait recoveries, gives the optimal recovery method, and uses the optimal recovery method to train personnel working in special environments, thereby improving the ability of personnel working in special environments to restore stability; in the case where personnel working in special environments need multiple steps of braking, the optimal recovery method prompt is output, ensuring that personnel working in special environments restore their gait as soon as possible.

[0091] It should be understood that the above-described specific embodiments of the present invention are merely illustrative or illustrative of the principles of the present invention and do not constitute limitations of the present invention. Therefore, any modifications, equivalent substitutions, improvements, etc. made without departing from the spirit and scope of the present invention should be included within the scope of protection of the present invention. In addition, the appended claims are intended to cover all variations and modifications that fall within the scope and metes and bounds of the appended claims, or equivalents thereof.

Claims

1. A method for detecting gait stability of workers in a special environment, characterized in that: include: Special environment workers wear special clothing to travel in low gravity; The gait of workers in special environments was collected to calculate the walking speed v and the foot-ground contact time T during the deceleration phase of the walking cycle. Collect plantar pressure and calculate the vertical plantar pressure during foot-ground contact Calculating the difficulty coefficient of stopping braking Where f is the coefficient of friction between the sole and the ground, and m is the total weight of the special clothing worn by workers in special environments; When R is not greater than the first threshold, the output is a stable gait; when R is greater than the first threshold, the output requires multiple steps of braking.

2. The method for detecting gait stability of workers in a special environment according to claim 1, characterized in that: When R is greater than a second threshold, the output requires emergency braking; the first threshold is 1.03 to 1.1, and the second threshold is 1.54 to 1.

6.

3. The method for detecting gait stability of workers in a special environment according to claim 1 or 2, characterized in that: Reflective balls are attached to at least the heel and toe of each foot and the hip joint, and the position of the reflective balls is detected in real time. The moment the heel touches the ground is determined based on the vertical position of the reflective ball on the heel, which is used as the starting moment of foot-ground contact. When the foot-ground contact occurs, the moment when the reflective ball on the hip joint is aligned with the reflective ball on the toe in the forward direction is used as the end time of foot-ground contact, and the foot-ground contact time T is calculated during the deceleration phase of each walking cycle. When walking through the force platform, the force platform collects the three-dimensional plantar pressure during gait, obtains the vertical plantar pressure during the foot-ground contact process, and calculates the average vertical plantar pressure during the walking cycle through the force platform.

4. The method for detecting gait stability of workers in a special environment according to claim 1 or 2, characterized in that: The low-gravity state includes: using weight-reducing suspension equipment to suspend personnel working in special environments, quantitatively offsetting the weight of the human body and special clothing, and simulating a low-gravity state.

5. A method for determining the gait of workers in a special environment, characterized in that: include: Special environment workers wear special clothing in a simulated low gravity state and walk for a period of time with various gaits, speeds and step lengths; For each gait, pace and step length, the gait of workers in special environments is collected, and the pace v and the foot-ground contact time T during the deceleration phase of the walking cycle are calculated; the plantar pressure is collected and the vertical plantar pressure during the foot-ground contact process is calculated in real time. Calculating the difficulty coefficient of stopping braking f is the coefficient of friction between the sole and the ground, and m is the total weight of the special clothing worn by the worker in the special environment; when R is not greater than the first threshold, the output is stable gait; when R is greater than the first threshold, the output is that multiple braking steps are required; For each gait, pace, and stride length, the mean braking difficulty coefficient of multiple walking cycles is calculated, and the gait, pace, and stride length with the smallest mean braking difficulty coefficient are selected as the most stable walking strategy for workers in this special environment wearing this special clothing.

6. The method for determining the gait of workers in a special environment according to claim 5, characterized in that: Constructing a special environment surface scene, wherein a person operating in the special environment walks in the special environment surface scene using the most stable walking strategy; when the person operating in the special environment recovers from a gait when R is greater than a first threshold to a gait when R is not greater than the first threshold, recording the process of gait change; For each gait with R greater than the first threshold, the gait change process with the fastest gait recovery speed is selected, and the gait recovery action is extracted as the optimal recovery method.

7. The method for determining the gait of workers in a special environment according to claim 6, characterized in that: Special environment workers are trained according to the most stable walking strategy and optimal recovery method.

8. The method for determining the gait of workers in a special environment according to claim 7, characterized in that: When the operator in the special environment is walking, R is greater than the first threshold, and the corresponding optimal recovery method is output to prompt the operator in the special environment.

9. The method for determining the gait of workers in a special environment according to any one of claims 5 to 8, characterized in that: The various gaits include: alternating forward and backward forward and backward forward and parallel forward and backward forward and parallel forward and backward forward and parallel forward and backward forward and backward forward and backward and parallel forward and backward and backward and forward ... The walking speed range is: 0.61m / s to 1.22m / s; The step length range is: 0.50m to 0.82m; The walking distance of special environmental workers in a single test is at least 6m, and each action is repeated at least 5 times.

10. The method for determining the gait of workers in a special environment according to any one of claims 5 to 8, characterized in that: When R is greater than a second threshold, the output requires emergency braking; the first threshold is 1.03 to 1.1, and the second threshold is 1.54 to 1.

6.

11. A special clothing verification and detection method, characterized in that: include; For each special clothing scheme, special environment workers or volunteers wear special clothing in a simulated low gravity state and walk a preset distance with several gaits, paces and strides; the gait of the special environment workers is collected, and the pace speed v and the foot-ground contact time T during the deceleration phase of each walking cycle are calculated in real time; the plantar pressure is collected and the vertical plantar pressure during the foot-ground contact process is calculated Calculating the difficulty coefficient of stopping braking Where f is the friction coefficient between the sole and the ground, and m is the total weight of the special clothing worn by the operator in the special environment; when R is not greater than the first threshold, the output is stable gait; when R is greater than the first threshold, the output is required to brake multiple times; Calculate the mean value of the stopping and braking difficulty coefficient R of the special clothing of the i-th scheme when traveling a preset distance with several gaits, speeds and stride lengths i ; Select the mean R of the difficulty coefficient of stopping and braking i The special clothing corresponding to the minimum solution is taken as the determined special clothing solution.

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