Gait assessment method and device based on loop graph

Abstract

The invention relates to the technical field of human body evaluation, and provides a gait evaluation method and device based on a loop graph, and the method comprises the steps: determining a joint angle loop curve graph corresponding to a plurality of gait cycles; gait event points of a plurality of positions in the angle circulation curve graphs of the joints are extracted, and event gathering center points corresponding to the positions are determined based on the gait event points of the same position under a plurality of gait cycles; and determining an overall gait evaluation result based on the distance between each gait event point and the event aggregation center point of each gait event point in the plurality of gait cycles. The method provided by the invention comprises the following steps: determining a joint angle circulation curve graph corresponding to a plurality of gait cycles; based on the gait event points at the same position under the plurality of gait cycles, determining an event aggregation center point of each position; based on the distance between each gait event point and the event aggregation center point corresponding to each gait event point in the plurality of gait cycles, visual gait evaluation with interpretability and usability is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of human body assessment, and in particular to a gait assessment method and device based on a cycle graph. Background Art

[0002] With the development of technology, instrumented gait analysis has become an important means of diagnosing abnormal gait patterns in patients with Parkinson's disease. This advanced analysis method can accurately record detailed movement data of patients during walking through professional motion capture equipment and plantar pressure measurement platforms. Commercial gait analysis systems can generate detailed gait analysis reports based on the collected data.

[0003] However, since the gait assessment results in the report usually contain a large amount of professional terms and technical details, it is difficult for non-professionals and even some clinicians to fully understand the content, and it is not possible to easily reflect the gait problems of the person to be assessed, thus limiting the scope of application and popularity of this technology in actual clinical work. Summary of the invention

[0004] The present invention provides a gait assessment method and device based on a cycle graph, so as to solve the defect in the prior art that the gait assessment results usually contain a large number of professional terms and technical details, resulting in that the gait assessment results cannot be intuitively understood.

[0005] The present invention provides a gait assessment method based on a cycle graph, comprising: Determine a joint angle cycle curve graph corresponding to a plurality of gait cycles of the person to be evaluated; Extracting gait event points at multiple positions in each joint angle cycle curve graph, and determining event aggregation center points corresponding to the gait event points at each position based on the gait event points at the same position in the multiple gait cycles; Based on the distances between each gait event point in the multiple gait cycles and the event aggregation center point corresponding to each gait event point, an overall gait assessment result of the person to be assessed is determined.

[0006] According to a gait assessment method based on a cycle graph provided by the present invention, the overall gait assessment result of the person to be assessed is determined based on the distance between each gait event point in the multiple gait cycles and the event aggregation center point corresponding to each gait event point, including: Determining an event point gait evaluation result of each gait event point in each gait cycle based on a distance between each gait event point in each gait cycle and an event aggregation center point corresponding to each gait event point; Determining local gait evaluation results of each position based on the gait evaluation results of the event point at the same position in the multiple gait cycles; The overall gait evaluation result is determined based on the local gait evaluation results of each position.

[0007] According to a gait assessment method based on a cycle graph provided by the present invention, the gait assessment results of event points at the same position in the multiple gait cycles are used to determine the local gait assessment results of the respective positions, including: Based on the gait evaluation results of the event points at the same position in the multiple gait cycles, determining the gait evaluation mean of each position; The variance calculation is performed based on the gait evaluation results of the event points at the same position in the multiple gait cycles and the gait evaluation mean to determine the local gait evaluation results of each position.

[0008] According to a gait assessment method based on a cycle graph provided by the present invention, the method of determining the event aggregation center point corresponding to the gait event points at the same position in the plurality of gait cycles comprises: An average value is calculated based on the gait event points at the same position in the multiple gait cycles and the total number of gait cycles, and an event aggregation center point corresponding to the gait event points at each position is determined.

[0009] According to a gait assessment method based on a cycle graph provided by the present invention, the step of determining a joint angle cycle graph corresponding to a plurality of gait cycles of a person to be assessed comprises: Acquiring joint angle data of the person to be evaluated; Dividing the joint angle data into gait cycles to obtain joint angle data corresponding to a plurality of gait cycles; The joint angle data corresponding to the multiple gait cycles are respectively converted into coordinates to construct joint angle cycle curve graphs corresponding to the multiple gait cycles.

[0010] According to a gait assessment method based on a cycle graph provided by the present invention, the step of extracting gait event points at multiple positions in the cycle curve graph of each joint angle includes: The extreme value points in the cycle curve graphs of each joint angle are extracted to obtain the gait event points at the multiple positions.

[0011] The present invention also provides a gait assessment device based on a cycle graph, comprising: A cycle curve graph determination unit determines a joint angle cycle curve graph corresponding to a plurality of gait cycles of the person to be evaluated; A gathering center point determination unit extracts gait event points at multiple positions in each joint angle cycle curve diagram, and determines event gathering center points corresponding to the gait event points at each position based on the gait event points at the same position in the multiple gait cycles; The gait assessment unit determines an overall gait assessment result of the person to be assessed based on the distances between each gait event point in the multiple gait cycles and the event aggregation center point corresponding to each gait event point.

[0012] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, a gait assessment method based on a cycle graph as described above is implemented.

[0013] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the gait assessment method based on the cycle graph as described in any one of the above is implemented.

[0014] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements any of the circulatory graph-based gait assessment methods described above.

[0015] The gait assessment method and device based on cycle graph provided by the present invention determine the joint angle cycle graphs corresponding to multiple gait cycles of the person to be assessed; extract gait event points at multiple positions in each joint angle cycle graph, and determine the event aggregation center point corresponding to the gait event points at each position based on the gait event points at the same position under multiple gait cycles; based on the distance between each gait event point under multiple gait cycles and the event aggregation center point corresponding to each gait event point, intuitive gait assessment is achieved, and an overall gait assessment result with interpretability and ease of use is obtained. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a schematic flow chart of a gait assessment method based on a cycle graph provided by the present invention; Figure 2 It is a joint angle cycle curve diagram corresponding to a single gait cycle provided by the present invention; Figure 3 is a schematic diagram of gait event points at multiple positions in a joint angle cycle curve diagram provided by the present invention; Figure 4 is a schematic diagram of a gait evaluation result of a gait event point at a certain position in a single gait cycle provided by the present invention; Figure 5 It is a structural schematic diagram of a gait assessment device based on a cycle graph provided by the present invention; Figure 6 It is a structural schematic diagram of the electronic device provided by the present invention.

[0018] Reference numerals: 410: a joint angle cycle curve diagram corresponding to a single gait cycle; 420: a gait event point at a certain position on the joint angle cycle curve diagram corresponding to a single gait cycle; 430: a gait event point at this position in other gait cycles; 440: a gathering center point at this position in all gait cycles. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] In clinical practice, standard gait assessment scales and walking tests commonly used by doctors are effective tools for assessing patients' gait abnormalities. These tools include the Unified Parkinson's Disease Rating Scale, the Freezing Gait Assessment Scale, the Up and Go Timed Test, and the 6-Minute Walk Test. Judging gait abnormalities based on direct observation or patient self-report is particularly suitable for Parkinson's patients with obvious symptoms. However, for those more subtle gait changes, these traditional methods are often difficult to accurately capture.

[0021] In order to achieve more accurate gait assessment, instrumented gait analysis has emerged and has become an important means of diagnosing abnormal gait patterns in Parkinson's patients. However, the gait assessment generated by current professional motion capture equipment usually contains a lot of professional terms and technical details, and cannot easily reflect the gait problems of the person to be assessed.

[0022] In view of the above problems, the present invention provides a gait assessment method based on a cycle graph, which can obtain intuitive and easy-to-understand gait assessment results. Figure 1 is a flow chart of a gait assessment method based on a cycle graph provided by the present invention, such as Figure 1 As shown, the method includes: Step 110, determining a joint angle cycle curve graph corresponding to a plurality of gait cycles of the person to be evaluated; Here, the gait cycle refers to the process from when one side's heel touches the ground to when the heel touches the ground again during walking. Therefore, the joint angle cycle curve diagram corresponding to the gait cycle here refers to the curve diagram composed of all joint angle data in the process from when the heel touches the ground to when the heel touches the ground again. It can be understood that if the joint starting point and the joint end point in the gait cycle are both the same side heel touches the ground, then the curve diagram composed of the joint angles during the gait cycle is a closed-loop curve, which can be recorded as a joint angle cycle curve diagram.

[0023] Specifically, the detection personnel can hold a lower limb motion capture device, and the spatial position of the lower limb joints of the person to be evaluated can be collected by the lower limb motion capture device, and then the joint angle data can be calculated by the spatial position of the lower limb joints. For example, the person to be evaluated is instructed to walk along a 20-meter-long sidewalk at a comfortable self-selected speed. The spatial position of the joints in this process is captured by the lower limb motion capture device to obtain the joint angle data. The joint angle data here may include angle data of joints such as knee joints and hip joints.

[0024] Then, the joint angle data of each gait cycle of the person to be evaluated during walking can be converted into a joint angle cycle curve graph based on the cycle graph. Figure 2 is a joint angle cycle curve diagram corresponding to a single gait cycle provided by the present invention, such as Figure 2 As shown in the figure, the vertical axis represents the knee joint angle and the horizontal axis represents the hip joint angle, both in degrees. The total joint angles corresponding to a single gait cycle constitute Figure 2 The closed loop curve in .

[0025] It should be noted that cycle graphs have been introduced into the field of gait analysis as a powerful visualization tool. Cycle graphs can reveal the dynamic characteristics of gait and show higher sensitivity to abnormal gait. Therefore, by constructing joint angle cycle graphs corresponding to multiple gait cycles and performing gait analysis on the joint angle cycle graphs, intuitive and easy-to-understand gait evaluation results can be achieved.

[0026] Step 120, extracting gait event points at multiple positions in each joint angle cycle curve graph, and determining event aggregation center points corresponding to the gait event points at each position based on the gait event points at the same position in the multiple gait cycles; Here, gait event points refer to joint angle points where joint angles change greatly during walking, and can include joint angle points at multiple positions. For example, they can be joint angle points at positions such as heel touching the ground, toe off the ground, and knee flexion. It is understandable that at the joint angle points at positions such as heel touching the ground, toe off the ground, and knee flexion, the bending angle of the hip joint or knee joint is relatively large. In addition, the event aggregation center point here can be used to represent the average angle or the most typical angle corresponding to the gait event points at various positions during the entire walking process, and can be used to evaluate the rationality of the gait event points at the corresponding positions.

[0027] Specifically, for a single joint angle cycle curve graph, gait event points at multiple positions in the joint angle cycle curve graph may be extracted, for example, extreme value points in the joint angle cycle curve graph may be used as gait event points. Figure 3 is a schematic diagram of gait event points at multiple positions in the joint angle cycle curve diagram provided by the present invention, such as Figure 3 As shown, the gait event points included in the joint angle cycle curve diagram include gait event 1, gait event 2, ..., gait event 7. It can be understood that each gait event point can be identified as a point with an extreme value of the horizontal coordinate or the vertical coordinate, or a point with a large change before and after, such as a point at the turning point of the curve.

[0028] Then, the event aggregation center point corresponding to the gait event points at each position can be determined through the gait event points at the same position in multiple gait cycles. For example, the method for determining the event aggregation center point corresponding to the gait event point at the heel-touching position can be to calculate the average value of the gait event points at the heel-touching position in all gait cycles to obtain the event aggregation center point corresponding to the heel-touching position. Thus, the gait event points at multiple positions in each joint angle cycle curve diagram and the event aggregation center point corresponding to the gait event points at each position can be obtained based on the above method.

[0029] Step 130: determining a complete gait assessment result of the person to be assessed based on the distances between each gait event point in the multiple gait cycles and the event aggregation center point corresponding to each gait event point.

[0030] Specifically, first, the distance between each gait event point in each gait cycle and the event aggregation center point corresponding to each gait event point can be calculated to achieve gait evaluation of each key position in a single gait cycle. For example, for a single gait cycle, the gait event points at four positions of heel touchdown, toe lift-off and knee flexion are extracted, and the gait evaluation result at the heel touchdown position in the gait cycle can be calculated by the distance between the gait event point at the heel touchdown position of the gait cycle and the event aggregation center point corresponding to the heel touchdown position in the joint angle cycle curve diagram. By analogy, the gait evaluation results at other positions in the gait cycle are calculated, and then the gait evaluation results of the gait event points at each position in the gait cycle are obtained, so as to achieve the evaluation of the gait rhythmicity of the person to be evaluated.

[0031] In one embodiment, Figure 4 is a schematic diagram of the gait evaluation result of a gait event point at a certain position in a single gait cycle provided by the present invention, such as Figure 4 As shown, 410 represents the joint angle cycle curve diagram corresponding to a single gait cycle; 420 represents a gait event point at a certain position on the joint angle cycle curve diagram corresponding to the single gait cycle; 430 represents the gait event point at this position in other gait cycles; and 440 represents the gathering center point of this position in all gait cycles.

[0032] Therefore, the first The distance between the gait event point 430 at a position and the gathering center point 440 at the position in all gait cycles , it can be used to analyze the gait of the position, and then obtain the gait evaluation result of the gait event point of the position.

[0033] Then, the overall gait assessment result of the person to be assessed can be determined through the gait assessment results of each key position in multiple gait cycles. For example, the gait assessment results of the four positions of heel contact, toe lift and knee flexion in all gait cycles can be used as the final gait assessment result of the person to be assessed. Therefore, the gait assessment results here can intuitively and popularly represent the gait assessment results of the person to be assessed at each key position during walking, so that the final complete gait assessment results are interpretable and easy to use, and there is no redundant representation of technical terms.

[0034] The method provided by the embodiment of the present invention determines the joint angle cycle curve graphs corresponding to multiple gait cycles of the person to be evaluated; extracts gait event points at multiple positions in each joint angle cycle curve graph, and determines the event aggregation center point corresponding to the gait event points at each position based on the gait event points at the same position under multiple gait cycles; based on the distance between each gait event point under multiple gait cycles and the event aggregation center point corresponding to each gait event point, an intuitive gait evaluation is achieved, and an overall gait evaluation result with interpretability and ease of use is obtained.

[0035] Based on any of the above embodiments, step 130 includes: Determining an event point gait evaluation result of each gait event point in each gait cycle based on a distance between each gait event point in each gait cycle and an event aggregation center point corresponding to each gait event point; Determining local gait evaluation results of each position based on the gait evaluation results of the event point at the same position in the multiple gait cycles; The overall gait evaluation result is determined based on the local gait evaluation results of each position.

[0036] Here, the event point gait evaluation result can be used to reflect the gait evaluation result of each position in a single gait cycle, such as the gait evaluation results of the four positions of heel touchdown, toe lift-off and knee flexion in the first gait cycle. In addition, the local gait evaluation result here can be used to reflect the gait evaluation result of a single position in the entire walking process. Therefore, the overall gait evaluation result here can be used to reflect the gait evaluation result of the entire lower limb during the complete walking process.

[0037] Specifically, first, based on the distance between each gait event point in each gait cycle and the event aggregation center point corresponding to each gait event point, the event point gait evaluation result of each gait event point in each gait cycle is determined. Here, the event point gait evaluation result of a single gait event point can be calculated by the following formula, as shown in the following formula: In the formula, Indicates the first The distance between the gait event point at the position and the event cluster center point corresponding to the gait event point, that is, The event point gait evaluation results of the gait event points at the positions; Indicates The joint angle data corresponding to the horizontal coordinate of the gait event point at each position; Indicates The joint angle data corresponding to the ordinate of the gait event point at each position; Indicates The horizontal coordinate of the center point of the cluster corresponding to each position; Indicates The vertical coordinate of the center point of the cluster corresponding to each position.

[0038] Next, the local gait evaluation results of each position can be determined through the gait evaluation results of the event points at the same position under multiple gait cycles. For example, the gait evaluation results of the event points at the same position under multiple gait cycles can be averaged to obtain the local gait evaluation results of each position. Finally, the local gait evaluation results of each position can be directly used as the overall gait evaluation results. Therefore, the overall gait evaluation results here can intuitively reflect the gait evaluation results of each key point position of the person to be evaluated during the entire walking process. Alternatively, the local gait evaluation results of each position can be analyzed and the analysis results can be used as the overall gait evaluation results.

[0039] It should be noted that compared with the prior art which only analyzes the joint angle data in a single gait cycle, here the local gait evaluation results of each position are determined by the gait evaluation results of the event point at the same position in multiple gait cycles, and the overall gait evaluation result is determined based on the local gait evaluation results of each position, so as to perform cluster analysis on the gait of each gait event in multiple gait cycles, thereby quantitatively evaluating the regularity of the gait, capturing subtle gait changes, and obtaining a more intuitive, highly interpretable and easy-to-understand overall gait evaluation result.

[0040] Based on any of the above embodiments, the determining of the local gait evaluation results of each position based on the gait evaluation results of the event point at the same position in the multiple gait cycles includes: Based on the gait evaluation results of the event points at the same position in the multiple gait cycles, determining the gait evaluation mean of each position; The variance calculation is performed based on the gait evaluation results of the event points at the same position in the multiple gait cycles and the gait evaluation mean to determine the local gait evaluation results of each position.

[0041] Specifically, first, the gait evaluation results of the event points at the same position in multiple gait cycles can be used to determine the mean gait evaluation value of each position, and then the mean gait evaluation value of each key position point can be calculated. Here, the mean gait evaluation value of a certain position can be calculated by the following formula, as shown below: In the formula, Indicates The mean of gait assessments at each location; Indicates the total number of gait cycles; Indicates Gait evaluation results of event points at various locations.

[0042] Next, the variance calculation is performed based on the gait evaluation results of the event points at the same position in multiple gait cycles and the gait evaluation mean to determine the local gait evaluation results of each position. The local gait evaluation result of a certain position here can be calculated by the following formula, as shown below: Indicates Local gait assessment results at each location; Indicates the total number of gait cycles; Indicates Gait evaluation results of event points at each location; Indicates Therefore, the local gait evaluation results of other positions can be calculated based on this calculation method.

[0043] It should be noted that the smaller the distance variance, the smaller the change of the gait event at this position in different gait cycles, and the more regular the gait. On the contrary, the larger the distance variance, the greater the gait change and the less regular the gait.

[0044] Based on any of the above embodiments, the step 120 of determining the event aggregation center point corresponding to the gait event points at the same position in the multiple gait cycles includes: An average value is calculated based on the gait event points at the same position in the multiple gait cycles and the total number of gait cycles, and an event aggregation center point corresponding to the gait event points at each position is determined.

[0045] Specifically, the total number of gait cycles of the person to be evaluated during a period of driving can be obtained, and the average value of the gait event points at the same position under multiple gait cycles can be calculated to obtain the event aggregation center point corresponding to the gait event points at each position. Here, the event aggregation center point corresponding to the gait event point at a certain position can be calculated by the following formula, as shown in the following formula: In the formula, Indicates The horizontal coordinate of the event cluster center point at each location; Indicates the total number of gait cycles; Indicates The horizontal coordinate of the gait event point at each position; Indicates The vertical coordinate of the event cluster center point at each location; Indicates Therefore, the event aggregation center points corresponding to the gait event points at other positions can be calculated based on this method.

[0046] The method provided by the embodiment of the present invention calculates the event aggregation center point at the same position through gait event points at multiple gait cycles, thereby realizing gait evaluation within the range of multiple gait cycles and improving the accuracy of gait evaluation.

[0047] Based on any of the above embodiments, step 110 includes: Acquiring joint angle data of the person to be evaluated; Dividing the joint angle data into gait cycles to obtain joint angle data corresponding to a plurality of gait cycles; The joint angle data corresponding to the multiple gait cycles are respectively converted into coordinates to construct joint angle cycle curve graphs corresponding to the multiple gait cycles.

[0048] Specifically, the detection person can hold a lower limb motion capture device, and the spatial position of the lower limb joints of the person to be evaluated can be collected by the lower limb motion capture device, and then the joint angle data can be calculated by the spatial position of the lower limb joints. For example, the person to be evaluated is instructed to walk along a 20-meter-long sidewalk at a comfortable self-selected speed. The spatial position of the joints in this process is captured by the lower limb motion capture device to obtain the joint angle data. The joint angle data here may include the angle data of the knee joint and the hip joint.

[0049] In one embodiment, the lower limb motion capture device herein can be handheld, which is easy to carry and deploy. The lower limb motion capture device may include a near-infrared binocular camera, an infrared light source, an optical camera, a handheld computer, a magic tie, and a passive reflective ball marker. These devices cooperate with each other to complete the all-round capture of the lower limb motion of the person to be evaluated. Among them, the near-infrared binocular camera is one of the key components of the system, which can record high-precision video of human lower limb motion at a speed of 60 frames per second and a resolution of 720p. As a result, the higher frame rate ensures the continuity and smoothness of the motion data, so that the kinematic characteristics can be accurately restored.

[0050] In addition, in order to provide a more intuitive video picture, the lower limb motion capture device is also equipped with an optical camera during the motion recording process. The introduction of the optical camera does not affect the function of the near-infrared binocular camera, but provides a color image for visualization, so that the details of the lower limbs of the person to be evaluated in motion can be viewed more clearly. The light source part of the lower limb motion capture device consists of two circular emitting light source arrays of 850nm infrared light. The brightness of the infrared light source can be manually adjusted according to the use environment to ensure that the camera can always obtain the best lighting conditions. The design of the circular light source array allows the infrared light to be evenly irradiated onto the passive reflective ball marker. Here, the reflective ball marker is installed at the key position of the lower limb of the person to be evaluated, and precise positioning is achieved by reflecting infrared light. The advantage of the light source configuration is that it can provide the camera with a consistent and clear reflection signal, reduce the interference of external light sources, and improve the accuracy of joint data capture.

[0051] In order to control and record the video, a handheld computer equipped with DirectShow video capture software can be used. The software allows the handheld computer to synchronously record video data from the RGB camera and the near-infrared binocular camera, making the entire motion capture process smooth and efficient. The portability and functionality of the handheld computer make the system easy to operate and suitable for rapid deployment in different scenarios. The design of the entire lower limb motion capture device fully considers the accuracy issue. Experiments show that its recording error is less than 1.5 degrees. This level of accuracy is sufficient to meet the needs of most kinematic analyses and ensures the credibility and validity of the data. Compared with traditional motion capture equipment, the lower limb motion capture device provided in an embodiment of the present invention has many advantages, including simple deployment, easy to carry, flexible operation and relatively low cost. Therefore, it is not only suitable for laboratory environments, but also can be used to capture human lower limb motion in complex environments such as outdoors, and has broad application prospects.

[0052] Then, the joint angle data collected during the entire motion process can be divided into gait cycles to obtain joint angle data corresponding to multiple gait cycles. For example, the gait cycle segmentation algorithm can be used to divide the joint angle data of the entire motion process into gait cycles to obtain joint angle data corresponding to each gait cycle. Finally, based on the cycle graph, the joint angle data corresponding to each gait cycle can be converted into coordinates respectively, and a joint angle cycle curve graph corresponding to multiple gait cycles can be constructed. For example, if the joint angle data includes hip joint angle data and knee joint angle data, the hip joint angle data can be converted into a horizontal coordinate, and the knee joint angle data can be converted into a vertical coordinate.

[0053] Based on any of the above embodiments, in step 120, extracting gait event points at multiple positions in the cyclic curve graph of each joint angle includes: The extreme value points in the cycle curve graphs of each joint angle are extracted to obtain the gait event points at the multiple positions.

[0054] Specifically, the extreme value points in the cycle curve graphs of the joint angles may be extracted, for example, points corresponding to the maximum or minimum horizontal and vertical coordinates in the cycle curve graphs of the joint angles, as gait event points.

[0055] Based on any of the above embodiments, Figure 5 is a schematic diagram of the structure of a gait assessment device based on a cycle graph provided by the present invention, such as Figure 5 As shown, the device comprises: A cycle curve graph determination unit 510 determines a joint angle cycle curve graph corresponding to a plurality of gait cycles of the person to be evaluated; The gathering center point determination unit 520 extracts gait event points at multiple positions in each joint angle cycle curve diagram, and determines the event gathering center point corresponding to the gait event points at each position based on the gait event points at the same position in the multiple gait cycles; The gait assessment unit 530 determines an overall gait assessment result of the person to be assessed based on the distances between each gait event point in the multiple gait cycles and the event aggregation center point corresponding to each gait event point.

[0056] The device provided by the embodiment of the present invention determines the joint angle cycle curve graphs corresponding to multiple gait cycles of the person to be evaluated; extracts gait event points at multiple positions in each joint angle cycle curve graph, and determines the event aggregation center point corresponding to the gait event points at each position based on the gait event points at the same position under multiple gait cycles; based on the distance between each gait event point under multiple gait cycles and the event aggregation center point corresponding to each gait event point, an intuitive gait evaluation is achieved, and an overall gait evaluation result with interpretability and ease of use is obtained.

[0057] Based on any of the above embodiments, the gait assessment unit is specifically used for: Determining an event point gait evaluation result of each gait event point in each gait cycle based on a distance between each gait event point in each gait cycle and an event aggregation center point corresponding to each gait event point; Determining local gait evaluation results of each position based on the gait evaluation results of the event point at the same position in the multiple gait cycles; The overall gait evaluation result is determined based on the local gait evaluation results of each position.

[0058] Based on any of the above embodiments, the gait assessment unit is further specifically used for: Based on the gait evaluation results of the event points at the same position in the multiple gait cycles, determining the gait evaluation mean of each position; The variance calculation is performed based on the gait evaluation results of the event points at the same position in the multiple gait cycles and the gait evaluation mean to determine the local gait evaluation results of each position.

[0059] Based on any of the above embodiments, the gathering center point determination unit is specifically used for: An average value is calculated based on the gait event points at the same position in the multiple gait cycles and the total number of gait cycles, and an event aggregation center point corresponding to the gait event points at each position is determined.

[0060] Based on any of the above embodiments, the cycle curve diagram determining unit is specifically used for: Acquiring joint angle data of the person to be evaluated; Dividing the joint angle data into gait cycles to obtain joint angle data corresponding to a plurality of gait cycles; The joint angle data corresponding to the multiple gait cycles are respectively converted into coordinates to construct joint angle cycle curve graphs corresponding to the multiple gait cycles.

[0061] Based on any of the above embodiments, the gathering center point determination unit is further specifically used for: The extreme value points in the cycle curve graphs of each joint angle are extracted to obtain the gait event points at the multiple positions.

[0062] Figure 6 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 6 As shown, the electronic device may include: a processor 610, a communication interface 620, a memory 630 and a communication bus 640, wherein the processor 610, the communication interface 620 and the memory 630 communicate with each other through the communication bus 640. The processor 610 may call the logic instructions in the memory 630 to execute a gait assessment method based on a cycle graph, the method comprising: determining a joint angle cycle curve graph corresponding to a plurality of gait cycles of the person to be assessed; extracting gait event points at a plurality of positions in each joint angle cycle curve graph, and determining the event aggregation center point corresponding to the gait event points at each position based on the gait event points at the same position under the plurality of gait cycles; and determining the overall gait assessment result of the person to be assessed based on the distance between each gait event point under the plurality of gait cycles and the event aggregation center point corresponding to each gait event point.

[0063] In addition, the logic instructions in the above-mentioned memory 630 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0064] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the gait assessment method based on the cycle graph provided by the above-mentioned methods, which includes: determining the joint angle cycle curve graphs corresponding to multiple gait cycles of the person to be assessed; extracting gait event points at multiple positions in each joint angle cycle curve graph, and determining the event aggregation center point corresponding to the gait event points at each position based on the gait event points at the same position under the multiple gait cycles; and determining the overall gait assessment result of the person to be assessed based on the distance between each gait event point under the multiple gait cycles and the event aggregation center point corresponding to each gait event point.

[0065] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the cycle graph-based gait assessment method provided by the above-mentioned methods, the method comprising: determining a joint angle cycle curve graph corresponding to multiple gait cycles of the person to be assessed; extracting gait event points at multiple positions in each joint angle cycle curve graph, and determining, based on the gait event points at the same position under the multiple gait cycles, an event aggregation center point corresponding to the gait event points at each position; and determining, based on the distance between each gait event point under the multiple gait cycles and the event aggregation center point corresponding to each gait event point, an overall gait assessment result of the person to be assessed.

[0066] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0067] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0068] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A gait assessment method based on a cycle graph, characterized in that: include: Determine a joint angle cycle curve graph corresponding to a plurality of gait cycles of the person to be evaluated; Extracting gait event points at multiple positions in each joint angle cycle curve graph, and determining event aggregation center points corresponding to the gait event points at each position based on the gait event points at the same position in the multiple gait cycles; Based on the distances between each gait event point in the multiple gait cycles and the event aggregation center point corresponding to each gait event point, an overall gait assessment result of the person to be assessed is determined.

2. The gait assessment method based on cycle graph according to claim 1, characterized in that: The determining of the overall gait assessment result of the person to be assessed based on the distances between each gait event point in the multiple gait cycles and the event aggregation center point corresponding to each gait event point comprises: Determining an event point gait evaluation result of each gait event point in each gait cycle based on a distance between each gait event point in each gait cycle and an event aggregation center point corresponding to each gait event point; Determining local gait evaluation results of each position based on the gait evaluation results of the event point at the same position in the multiple gait cycles; The overall gait evaluation result is determined based on the local gait evaluation results of each position.

3. The gait assessment method based on cycle graph according to claim 2, characterized in that: The determining of the local gait evaluation results of each position based on the gait evaluation results of the event point at the same position in the multiple gait cycles includes: Based on the gait evaluation results of the event points at the same position in the multiple gait cycles, determining the gait evaluation mean of each position; The variance calculation is performed based on the gait evaluation results of the event points at the same position in the multiple gait cycles and the gait evaluation mean to determine the local gait evaluation results of each position.

4. The gait assessment method based on a cycle graph according to any one of claims 1 to 3, characterized in that: The determining, based on the gait event points at the same position in the multiple gait cycles, the event aggregation center point corresponding to the gait event points at each position includes: An average value is calculated based on the gait event points at the same position in the multiple gait cycles and the total number of gait cycles, and an event aggregation center point corresponding to the gait event points at each position is determined.

5. The gait assessment method based on a cycle graph according to any one of claims 1 to 3, characterized in that: The step of determining the joint angle cycle curve graphs corresponding to the multiple gait cycles of the person to be evaluated includes: Acquiring joint angle data of the person to be evaluated; Dividing the joint angle data into gait cycles to obtain joint angle data corresponding to a plurality of gait cycles; The joint angle data corresponding to the multiple gait cycles are respectively converted into coordinates to construct joint angle cycle curve graphs corresponding to the multiple gait cycles.

6. The gait assessment method based on cycle graph according to any one of claims 1 to 3, characterized in that: The step of extracting gait event points at multiple positions in the cyclic curve graph of each joint angle includes: The extreme value points in the cycle curve graphs of each joint angle are extracted to obtain the gait event points at the multiple positions.

7. A gait assessment device based on a cycle graph, characterized in that: include: A cycle curve graph determination unit determines a joint angle cycle curve graph corresponding to a plurality of gait cycles of the person to be evaluated; A gathering center point determination unit extracts gait event points at multiple positions in each joint angle cycle curve diagram, and determines event gathering center points corresponding to the gait event points at each position based on the gait event points at the same position in the multiple gait cycles; The gait assessment unit determines an overall gait assessment result of the person to be assessed based on the distances between each gait event point in the multiple gait cycles and the event aggregation center point corresponding to each gait event point.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the gait assessment method based on the cycle graph according to any one of claims 1 to 6 is implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the gait assessment method based on a cycle graph as claimed in any one of claims 1 to 6 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the gait assessment method based on a cycle graph as claimed in any one of claims 1 to 6 is implemented.

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