Gait evaluation and analysis equipment and system based on physiological signals and motion feedback

Abstract

The present invention discloses a gait evaluation and analysis device and system based on physiological signals and motion feedback, which relates to the field of physiological activity detection technology, including a comprehensive force measuring platform, a piezoelectric sensor, a surface electromyograph, a reflective identification sheet, a high-speed camera and a computer, wherein the surface electromyograph is used to measure surface electromyography parameters, and the reflective identification sheet is used to generate a highlight position so as to be captured and analyzed by a high-speed camera. The present invention is provided with a comprehensive force measuring platform with adjustable floating steps, and a piezoelectric sensor is installed on each floating step, which can continuously measure and record the pressure change indications of the support phase and the swing phase. Compared with the motion feedback test of the traditional force measuring platform, the gait evaluation and analysis device obtains the gait movements of the evaluation object in different scenes such as walking on flat ground, climbing stairs and going down stairs, and the step height of the floating step is adjustable, which can more easily analyze the gait abnormality problems that are not easy to obtain in general scenes.

Description

Technical Field

[0001] The present invention relates to the technical field of physiological activity detection, and in particular to a gait evaluation and analysis device based on physiological signals and motion feedback and a system thereof. Background Art

[0002] Gait evaluation and analysis is a technology that systematically evaluates the way a person walks. It observes, measures and analyzes various parameters of the human body during walking, including spatiotemporal parameters (such as step length, step frequency, step speed, support time, swing time, etc.), kinematic parameters (such as joint angle, displacement, speed change), dynamic parameters (such as ground reaction force, joint torque, etc.) and muscle activity parameters (such as electromyographic signals), etc., to fully understand a person's gait characteristics.

[0003] For some patients with significant gait abnormalities, when walking on flat ground, their muscle activity intensity, joint flexion angle, and the proportion of time spent on the ground during the stance and swing phases all show obvious abnormalities, so it is easy to obtain accurate results through measurement and analysis. However, some other patients have more subtle gait abnormalities. When they walk on flat ground, the corresponding physiological signals and motion feedback are extremely difficult to detect and observe. Existing gait evaluation and analysis equipment cannot provide more accurate conclusions when conducting gait evaluation and analysis on such patients. Summary of the invention

[0004] The purpose of the present invention is to provide a gait evaluation and analysis device and a system thereof based on physiological signals and motion feedback, so as to solve the problems raised by the above-mentioned background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a gait evaluation and analysis device based on physiological signals and motion feedback, comprising a comprehensive force measuring platform, a piezoelectric sensor, a surface electromyography, a reflective identification sheet, a high-speed camera and a computer, wherein the surface electromyography is used to measure surface electromyography parameters, the reflective identification sheet is used to generate a highlight position so that the image can be captured by the high-speed camera, the high-speed camera is used to capture the motion image of the evaluation object and the reflective identification sheet, the computer is used to integrate the data of the surface electromyography and the high-speed camera and perform data analysis, and the comprehensive force measuring platform comprises A pedestal and a floating step, wherein the floating steps are evenly spaced along the inner wall of the pedestal, a dark groove is provided on the upper surface of the floating step, a step height adjustment mechanism is provided at the bottom of the floating step, and the step height adjustment mechanism is one of a pressure-controlled adjustment component and a connecting rod adjustment component. The piezoelectric sensor is respectively mounted on the surface of each floating step, and the piezoelectric sensor is composed of a pedestal, a sensitive element and a panel arranged upward in sequence, the pedestal is mounted in the inner cavity of the dark groove, and both ends of the pedestal extend outwardly and overlap on the upper surface of the floating step, and the sensitive element measures the compressive parameters of the floating step by compressive deformation.

[0006] Preferably, the evaluation and analysis step includes:

[0007] Step 1, number the piezoelectric sensors in sequence, and transmit data via wireless communication between the piezoelectric sensors and the computer;

[0008] Step 2, attaching the surface electromyography instrument to the surface of the rectus femoris, vastus lateralis, vastus medialis, biceps femoris, tibialis anterior, peroneus medialis and peroneus lateralis of the evaluation object respectively, and transmitting data through wireless communication between the surface electromyography instrument and the computer;

[0009] Step 3: attach the reflective identification sheets to the surfaces of the hip joint, knee joint and ankle joint of the evaluation object respectively, set up a high-speed camera on the side of the integrated force measuring platform to capture image information, and transmit data through wireless communication between the high-speed camera and the computer;

[0010] Step 4: Ask the test subject to step onto the platform and move on each floating step from the starting end to the end end;

[0011] Step 5: After the test object moves to the end point, it is asked to switch directions and move back, so that it moves from the end point to the starting point;

[0012] Step 6: Adjust the height of the floating steps and ask the test subjects to repeat the test.

[0013] Preferably, at one end of two adjacent floating steps that are close to each other, one end of one floating step is fixedly connected to a guide rail, and one end of the other floating step is fixedly connected to a slider, and the slider slides on the inner wall of the guide rail, and the two adjacent floating steps fit each other through the cooperation of the guide rail and the slider.

[0014] Preferably, a step baffle is fixedly connected to the bottom surface of the upper floating step between two adjacent floating steps, and telescopic columns are fixedly connected to the four corners of the bottom surface of the floating step at the bottom end. The bottom end of the telescopic column is fixedly connected to the pedestal, and glass transparent panels are installed on both sides of the pedestal.

[0015] Preferably, the pressure-controlled adjustment component includes a telescopic cylinder installed in a pedestal, the output end of the telescopic cylinder is fixedly connected to an extension table, both sides of the extension table are rotatably connected to a flip sleeve 2, the inner wall of the flip sleeve 2 is slidably connected to a parallel support rod, one end of the parallel support rod is rotatably connected to the pedestal, the outer wall of the parallel support rod is slidably connected to a flip sleeve 1, and the flip sleeve 1 is rotatably connected to the outer wall of the floating step.

[0016] Preferably, the telescopic cylinder is a pneumatic telescopic cylinder or a hydraulic transmission telescopic rod.

[0017] Preferably, the connecting rod adjustment assembly includes a servo motor installed on a base, the output end of the servo motor is fixedly connected to a screw, the outer wall of the screw is threadedly connected to a screw slide, the top end of the screw slide is rotatably connected to a rotating rod, the other end of the rotating rod is rotatably connected to a guide rod, the outer wall of the guide rod is slidably connected to a flip sleeve three, and the flip sleeve three is rotatably connected to the outer wall of the floating step.

[0018] The present invention also discloses a gait evaluation and analysis system based on physiological signals and motion feedback, comprising a microcontroller, a communication module and a communication coordinator; the microcontroller is installed in a piezoelectric sensor and a surface electromyograph for use, the microcontroller is used to collect data, convert data and store data on measured physical values ​​within a period of time, the communication module is installed in a piezoelectric sensor, a surface electromyograph and a high-speed camera for use, the communication module is used to transmit the stored data of the microcontroller to the communication coordinator, the communication coordinator is installed in a computer for use, and the communication coordinator is used for a wireless communication protocol between the microcontroller and the computer.

[0019] Preferably, the microcontroller includes a signal adjustment circuit, an analog-to-digital converter, a data acquisition circuit and a data buffer area; the signal adjustment circuit is used to adjust and process weak or noisy signals of the measured value, the analog-to-digital converter is used to convert the analog signal into a digital signal, the data acquisition circuit is used to continuously collect data signals per unit time, and the data buffer area is used to receive the digital signal collected by the data acquisition circuit and perform data buffering, and finally transmit the data to the computer through the communication module.

[0020] Preferably, the evaluation and analysis method is: a zero-value moment is set in the measurement data of the piezoelectric sensor, the surface electromyograph and the high-speed camera; during the test, the piezoelectric sensor, the surface electromyograph and the high-speed camera operate synchronously; the measurement data are recorded at the zero-value moment; after the data is integrated and processed by the microcontroller, the data is transmitted through the communication module and imported into the computer through the transmission protocol of the communication coordinator; the pressure change value of each piezoelectric sensor is derived by the computer, the electromyographic parameters of the surface electromyograph are derived by the computer, and the motion trajectory image of the high-speed camera is derived by the computer; the three sets of data are sorted according to the zero-value moment; the relationship between the electromyographic physiological signals, the feedback of the lower limb movements and the pressure value applied to the comprehensive force platform is compared and analyzed, and the conclusion of gait abnormality is drawn through analysis.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] 1. The present invention is provided with a comprehensive force measuring platform with adjustable floating steps, and a piezoelectric sensor is installed on each floating step, which can continuously measure and record the pressure change indications of the support phase and the swing phase. Compared with the motion feedback test of the traditional force measuring platform, the gait evaluation and analysis equipment obtains the gait movements of the evaluation object in different scenarios such as walking on flat ground, climbing stairs and going down stairs, and the step height of the floating step is adjustable, which can more easily analyze gait abnormalities that are not easy to obtain in general scenarios.

[0023] 2. In the present invention, the pressure change indication is obtained by analyzing the piezoelectric sensor arranged at each level, the electromyographic parameter information of the corresponding time is obtained by using a surface electromyograph, and the movement trajectory information of both lower limbs at the corresponding time is obtained by using a high-speed camera. The three sets of collected data are transmitted to a computer for analysis and processing. For patients with nervous system diseases, the gait problems existing in the activation time and movement of the rectus femoris, vastus lateralis, vastus medialis, biceps femoris, tibialis anterior, peroneus medialis and peroneus lateralis muscles can be analyzed.

[0024] 3. In the present invention, by gradually adjusting the height of the steps, the changes in the flexion angles of the hip joint, knee joint and ankle joint and the height of the slope can be analyzed.

[0025] 4. In the present invention, two sliders are installed at the head end of the floating step, and two guide rails are installed at the tail end of the floating step. The guide rails and the sliders are slidably engaged with each other to connect the two adjacent floating steps head to tail, so that all the floating steps form a whole. No matter how the height of the floating steps changes, a continuous platform can always be provided for the evaluation object to complete a complete gait walking process, thereby ensuring the continuity of the test. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the structure of the piezoelectric sensor, surface electromyograph, reflective identification sheet, high-speed camera memory computer in the gait evaluation and analysis device based on physiological signals and motion feedback of the present invention;

[0027] Figure 2 It is a signal transmission relationship diagram of the piezoelectric sensor, surface electromyograph, reflective identification sheet, high-speed camera memory computer in the gait evaluation and analysis device based on physiological signals and motion feedback of the present invention;

[0028] Figure 3 It is a schematic diagram of the three-dimensional structure of the comprehensive force platform in the gait evaluation and analysis device based on physiological signals and motion feedback of the present invention;

[0029] Figure 4 It is a schematic diagram of the structural decomposition of some floating steps of the gait evaluation and analysis device based on physiological signals and motion feedback of the present invention;

[0030] Figure 5The structure of the pressure control adjustment component in the gait evaluation and analysis device based on physiological signals and motion feedback of the present invention is schematically shown. Figure 1 ;

[0031] Figure 6 The structure of the pressure control adjustment component in the gait evaluation and analysis device based on physiological signals and motion feedback of the present invention is schematically shown. Figure 2 ;

[0032] Figure 7 The structure of the connecting rod adjustment component in the gait evaluation and analysis device based on physiological signals and motion feedback of the present invention is shown in FIG. Figure 1 ;

[0033] Figure 8 The structure of the connecting rod adjustment component in the gait evaluation and analysis device based on physiological signals and motion feedback of the present invention is shown in FIG. Figure 2 ;

[0034] Fig. 9 This is a system block diagram of the gait evaluation and analysis system based on physiological signals and motion feedback of the present invention.

[0035] In the figure: 1. integrated force measuring platform; 11. platform; 12. floating step; 13. step baffle; 14. guide rail; 15. slide block; 16. dark groove; 17. glass transparent plate; 18. telescopic column; 2. piezoelectric sensor; 21. base; 22. sensitive element; 23. panel; 3. pressure control adjustment component; 31. telescopic cylinder; 32. parallel support rod; 33. flip cover 1; 34. extension table; 35. flip cover 2; 4. Rod adjustment assembly; 41. servo motor; 42. lead screw; 43. lead screw slide; 44. rotating rod; 45. guide rod; 46. flip cover three; 5. surface electromyograph; 6. reflective identification plate; 7. high-speed camera; 8. computer; 81. microcontroller; 811. signal adjustment circuit; 812. analog-to-digital converter; 813. data acquisition circuit; 814. data buffer; 82. communication module; 83. communication coordinator. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the implementation regulations described are only 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.

[0037] Embodiment 1: According to Figure 1-8As shown, the gait evaluation and analysis equipment based on physiological signals and motion feedback includes an integrated force measuring platform 1, a piezoelectric sensor 2, a surface electromyography 5, a reflective identification sheet 6, a high-speed camera 7 and a computer 8. The surface electromyography 5 is used to measure surface electromyography parameters. The reflective identification sheet 6 is used to generate a high-light position so that the image can be captured by the high-speed camera 7. The high-speed camera 7 is used to capture the motion image of the evaluation object (i.e., the testee) and the reflective identification sheet 6. The computer 8 is used to integrate the data of the surface electromyography 5 and the high-speed camera 7 and perform data analysis. The integrated force measuring platform 1 includes a base 11 and a floating step 12. The floating step 12 12 are evenly spaced along the inner wall of the pedestal 11, a dark groove 16 is provided on the upper surface of the floating step 12, a step height adjustment mechanism is provided at the bottom of the floating step 12, and the step height adjustment mechanism is one of a pressure-controlled adjustment component 3 and a connecting rod adjustment component 4. A piezoelectric sensor 2 is respectively installed on the surface of each floating step 12, and the piezoelectric sensor 2 is composed of a base 21, a sensitive element 22 and a panel 23 arranged upward in sequence. The base 21 is installed in the inner cavity of the dark groove 16, and both ends of the base 21 extend outward and overlap the upper surface of the floating step 12. The sensitive element 22 measures the compressive parameters of the floating step 12 by compressive deformation.

[0038] The evaluation and analysis steps include:

[0039] 1) The piezoelectric sensors 2 are numbered in sequence, and data is transmitted via wireless communication between the piezoelectric sensors 2 and the computer 8;

[0040] 2) attaching the surface electromyography instrument 5 to the surface of the rectus femoris, vastus lateralis, vastus medialis, biceps femoris, tibialis anterior, peroneus medialis and peroneus lateralis of the evaluation object respectively, and transmitting data through wireless communication between the surface electromyography instrument 5 and the computer 8;

[0041] 3) The reflective identification sheet 6 is respectively attached to the surface of the hip joint, knee joint and ankle joint of the evaluation object, and a high-speed camera 7 is set up on the side of the integrated force measuring platform 1 to capture image information, and the data is transmitted through wireless communication between the high-speed camera 7 and the computer 8;

[0042] 4) The test subject is required to step onto the platform 11 and move on each floating step 12 from the starting end to the ending end;

[0043] 5) After the test object moves to the end point, it is asked to switch directions and move back, so that it moves from the end point to the starting point;

[0044] 6) Adjust the step height of the floating step 12 and ask the test subject to repeat the test.

[0045] The EMG parameters of the rectus femoris mainly reflect the extension movement of the knee joint, especially in the middle stage of the stance phase (the stage in the gait cycle when the foot contacts the ground and supports the body weight), which pushes the body forward; the EMG parameters of the vastus lateralis and vastus medialis reflect the medial and lateral stability of the knee joint, especially for the coordinated work in the stance phase; the EMG parameters of the biceps femoris reflect the flexion movement and buffering capacity of the knee joint, and they are obvious in the late swing phase (the stage in the gait cycle when the foot leaves the ground and swings forward), and its EMG activity increases to flex the knee in preparation for the foot landing; the EMG parameters of the tibialis anterior mainly reflect the dorsiflexion movement of the ankle joint and the control of the foot landing method, and they are obvious in the swing phase, so that the foot can be lifted off the ground smoothly and swing forward; the EMG parameters of the peroneus medialis and peroneus lateralis reflect the plantar flexion movement and stability of the ankle joint, and they are obvious in the middle and late stages of the stance phase, and are mainly responsible for plantar flexion of the ankle joint, pushing the body forward, and maintaining the stability of the ankle joint.

[0046] In this embodiment, electrodes of the surface electromyograph 5 are attached to the rectus femoris, vastus lateralis, vastus medialis, biceps femoris, tibialis anterior, peroneus medialis and peroneus lateralis of the evaluation subject's legs, so that the electromyographic parameters of different muscles can be measured in the gait evaluation scenarios of the evaluation subject walking on flat ground, climbing stairs and descending stairs. The evaluation subject is required to walk on the comprehensive force measuring platform 1, moving from the platform 11 at one end to the platform 11 at the other end. After adjusting the step height difference of the floating step 12 for multiple times, multiple groups of tests are performed respectively, and by changing the moving direction of the test subject, the parameter data of climbing and descending stairs with equal step heights are obtained respectively.

[0047] A piezoelectric sensor 2 is installed on each floating step 12, which can measure the pressure change value applied on the surface when the evaluation object passes through each floating step 12. When the evaluation object passes, the support phase and the swing phase are respectively stepped on two adjacent floating steps 12. Each floating step 12 will experience the switching process of the foot pressure between the support phase and the swing phase. The piezoelectric sensor 2 is used to measure the pressure change value during this period. When the evaluation object goes through the same test process as above, the pressure change value data of going up and down stairs with equal step heights are obtained respectively.

[0048] Reflective identification sheets 6 are affixed to the hip joints, knee joints and ankle joints of the evaluation subject, which can mark the movement trajectory of the lower limbs in the gait evaluation scenarios of the evaluation subject walking on flat ground, climbing stairs and descending stairs. When the step height of the floating step 12 changes, the swing angle and lifting height of the lower limbs of the evaluation subject when passing through also change. A high-speed camera 7 is used to capture continuous images of the evaluation subject passing through the comprehensive force measuring platform 1, and combined with the marked position of the reflective identification sheet 6, the movement trajectory of the lower limbs when climbing and descending stairs at different heights is obtained.

[0049] Embodiment 2: According to Figure 2 and Figure 3 As shown, at one end of two adjacent floating steps 12 that are close to each other, one end of one floating step 12, i.e., the tail end, is fixedly connected to a guide rail 14, and one end of the other floating step 12, i.e., the head end, is fixedly connected to a slider 15. The slider 15 slides on the inner wall of the guide rail 14. The two adjacent floating steps 12 fit each other through the cooperation of the guide rail 14 and the slider 15. A step baffle 13 is fixedly connected to the bottom surface of the floating step 12. Telescopic columns 18 are fixedly connected to the four corners of the bottom surface of the floating step 12 at the lowest end. The bottom end of the telescopic column 18 is fixedly connected to the pedestal 11, and glass transparent panels 17 are installed on both sides of the pedestal 11.

[0050] In this embodiment, since each floating step 12 is movable and adjustable in the pedestal 11, two sliders 15 are installed at the head end of the floating step 12, and two guide rails 14 are installed at the tail end of the floating step 12. Through the sliding engagement between the guide rails 14 and the sliders 15, the two adjacent floating steps 12 are connected head to tail, so that all the floating steps 12 form a whole. At the same time, a step baffle 13 is fixedly installed on the bottom surface of the tail end of the upper floating step 12 between the two adjacent floating steps 12, and the step baffle 13 is used to seal the gap formed by the step difference between the two floating steps 12. No matter whether the floating steps 12 are connected to form a flat test table or a stepped test table, it can ensure that the evaluation object moves on a continuous and complete table. In order to keep the floating of each level The steps 12 are all parallel to the ground, and a telescopic column 18 is installed at the floating step 12 at the bottom. The telescopic column 18 is limited at the four corners of the floating step 12, so that the plane state of the floating step 12 at the bottom will not deviate when it is raised or lowered. The other floating steps 12 are continuously limited by the guide rails 14 and the sliders 15, so that each level of the floating step 12 is in a parallel state, and the analysis data will not be affected by the floating steps 12, which can meet the requirements of gait evaluation. In addition, glass transparent plates 17 are installed on both sides of the pedestal 11. The glass transparent plates 17 can not only provide protection for the pedestal 11 in the middle, but also allow the high-speed camera 7 to measure the internal image information through the glass transparent plates 17, and will not cause obstacles to the evaluation of motion feedback.

[0051] Embodiment 3: According to Figure 5 and Figure 6 As shown, the pressure-controlled adjustment component 3 includes a telescopic cylinder 31 installed in the pedestal 11, and the output end of the telescopic cylinder 31 is fixedly connected to the extension platform 34, and the corners on both sides of the extension platform 34 are rotatably connected to the flip sleeve 2 35, and the inner wall of the flip sleeve 2 35 is slidably connected to the parallel support rod 32, one end of the parallel support rod 32 is rotatably connected to the pedestal 11, and the outer wall of the parallel support rod 32 is slidably connected to the flip sleeve 1 33, and the flip sleeve 1 33 is rotatably connected to the outer wall of the floating step 12, and the telescopic cylinder 31 is a pneumatic telescopic cylinder or a hydraulic transmission telescopic rod.

[0052] In this embodiment, in order to uniformly adjust the step height of the floating step 12, two parallel support rods 32 are connected in series on the outer side wall of the floating step 12 so that the floating step 12 is always in a straight line. The bottom ends of the two parallel support rods 32 are rotatably mounted on the surface of the pedestal 11. Since the two parallel support rods 32 are in a parallel position, the flip cover 33 connected between the two parallel support rods 32 is always parallel during the adjustment process, thereby ensuring that each level of the floating step 12 is in a parallel state. Secondary reinforcement is performed to adjust the height of the extension platform 34 so that the extension platform 34 drives the flipping of both sides. The second sheath 35 slides on the parallel support rod 32 so that the height of the other end of the parallel support rod 32 changes, thereby adjusting the tilting angle of the parallel support rod 32. The parallel support rod 32 is adjustable within the angle range of 0°-37°, so that the step height of the floating step 12 can also be freely adjusted within a certain range, and the step height difference of the floating step 12 is adjusted. When the parallel support rod 32 is 0°, the two parallel support rods 32 are fitted and folded at the top edge of the pedestal 11, so that the flip sheath 1 33 on both sides of the floating step 12 is slightly staggered in height position, so that the parallel support rod 32 can be completely folded on the pedestal 11.

[0053] Embodiment 4: According to Figure 7 and Figure 8 As shown, the only difference between this example and Example 3 is that the connecting rod adjustment assembly 4 includes a servo motor 41 installed on the base 11, the output end of the servo motor 41 is fixedly connected to a screw rod 42, the outer wall of the screw rod 42 is threadedly connected to a screw rod slide 43, the top of the screw rod slide 43 is rotatably connected to a rotating rod 44, the other end of the rotating rod 44 is rotatably connected to a guide rod 45, the outer wall of the guide rod 45 is slidably connected to a flip sleeve three 46, and the flip sleeve three 46 is rotatably connected to the outer wall of the floating step 12.

[0054] In this embodiment, the pressure-controlled adjustment component 3 provided on the pedestal 11 is replaced by the connecting rod adjustment component 4. Similarly, the servo motor 41 is used to drive the screw rod 42 to rotate, so that the screw rod 42 drives the screw rod slide 43 to translate in the direction of the linear trajectory, and the position of the bottom end of the rotating rod 44 is changed. Since the top end of the rotating rod 44 is connected to the guide rod 45, the screw rod 42, the rotating rod 44 and the guide rod 45 form a triangular structure, and the lengths of the two sides of the triangle corresponding to the rotating rod 44 and the guide rod 45 remain unchanged. Therefore, when the length of the bottom side changes (i.e. The screw rod slide 43 moves on the screw rod 42), and the angle of the base angle of the triangle will also change. In other words, the slope corresponding to the guide rod 45 will also change. The position of the screw rod slide 43 can be adjusted by rotating the screw rod 42, so that the base angle of the triangle can be adjusted within the range of 0°-37°, so that the step height of the floating step 12 can also be freely adjusted within a certain range, and the height difference between two adjacent floating steps 12 can be adjusted. When the angle between the guide rod 45 and the screw rod 42 is 0°, the rotating rod 44 and the guide rod 45 are attached and retracted above the screw rod 42.

[0055] Embodiment 5: According to Figure 4 , Figure 6 , Figure 7 and Figure 8 As shown, the gait evaluation and analysis system based on physiological signals and motion feedback includes: a microcontroller 81, a communication module 82 and a communication coordinator 83; the microcontroller 81 is installed in the piezoelectric sensor 2 and the surface electromyograph 5 for use, and the microcontroller 81 is used to collect data, convert data and store data for measured physical values ​​within a period of time, the communication module 82 is installed in the piezoelectric sensor 2, the surface electromyograph 5 and the high-speed camera 7 for use, the communication module 82 is used to transmit the stored data of the microcontroller 81 to the communication coordinator 83, the communication coordinator 83 is installed in the computer 8 for use, and the communication coordinator 83 is used for the wireless communication protocol between the microcontroller 81 and the computer 8.

[0056] The microcontroller 81 includes a signal adjustment circuit 811, an analog-to-digital converter 812, a data acquisition circuit 813 and a data buffer area 814; the signal adjustment circuit 811 is used to adjust and process weak or noise signals of the measured value, the analog-to-digital converter 812 is used to convert the analog signal into a digital signal, the data acquisition circuit 813 is used to continuously collect data signals within a unit time, and the data buffer area 814 is used to receive the digital signal collected by the data acquisition circuit 813 and perform data buffering, and finally transmit the data to the computer 8 through the communication module 82.

[0057] In this embodiment, the gait evaluation and analysis system is to analyze the numerical value information of the table pressure change, the electromyographic parameter information and the motion trajectory information of two pairs of lower limbs collected by the piezoelectric sensor 2, the surface electromyograph 5 and the high-speed camera 7 in different test scenarios such as walking on flat ground, climbing stairs and going down stairs of the evaluation object, to analyze the numerical value of the reaction force change of the support phase and the swing relative to the floating step 12 of the evaluation object, the muscle relaxation and stretching state and the flexion angle of the hip joint, knee joint and ankle joint, the physiological signal of the electromyographic parameter measured by the surface electromyograph 5, the motion feedback of the motion trajectory measured by the high-speed camera 7, and the pressure value of the integrated force measuring platform 1 measured by the piezoelectric sensor 2. The three groups of data are analyzed comprehensively to reflect whether there are abnormalities in the physiological signals and the motion feedback. For example, for some patients with neurological diseases, the activation time of the ankle dorsiflexor muscles may be delayed, resulting in foot drop, affecting the normal gait pattern. The situation of the muscle activation time being advanced or delayed caused by these gait abnormalities is more likely to occur in the experimental scenarios of going up and down stairs;

[0058] The communication coordinator 83 is a ZigBee coordinator. The ZigBee protocol supports the AES-128 encryption algorithm, which can encrypt the transmitted data to prevent the data from being stolen or tampered with, thereby ensuring the security of the gait evaluation and analysis system. As the core device of the ZigBee network, it is responsible for establishing and managing the network. When selecting it, attention should be paid to its compatibility and stability. The ZigBee network is connected to the computer 8 to realize data transmission.

[0059] Embodiment 6: As shown in 9, the evaluation and analysis method is: a zero-value moment is set in the measurement data of the piezoelectric sensor 2, the surface electromyograph 5 and the high-speed camera 7. During the test, the piezoelectric sensor 2, the surface electromyograph 5 and the high-speed camera 7 are operated synchronously, and the measurement data are recorded at the zero-value moment. After the data is integrated and processed by the microcontroller 81, the data is transmitted through the communication module 82 and imported into the computer 8 through the transmission protocol of the communication coordinator 83. The pressure change value of each piezoelectric sensor 2 is derived by the computer 8, the electromyographic parameters of the surface electromyograph 5 are derived by the computer 8, and the motion trajectory image of the high-speed camera 7 is derived by the computer 8. The three groups of data are sorted according to the zero-value moment, and the relationship between the electromyographic physiological signals, the feedback of the lower limb movements and the pressure value applied to the comprehensive force platform 1 is compared and analyzed, and the conclusion of gait abnormality is drawn through analysis.

[0060] In this embodiment, the feedback changes of each joint action of the evaluation object in different test scenarios are as follows:

[0061] 1. Hip joint, walking on flat ground: the flexion angle in the swing phase gradually increases, reaching 30°-40° in the middle stage; the stance phase stretches first, then is basically straightened in the middle stage, and overstretches by 5°-10° in the late stage (after completing the extension movement, the hip joint will continue to stretch, exceeding the normal straight position by a smaller angle range, which is between 5°-10°); climbing stairs: the flexion angle in the swing phase and the early stance phase increases, with a peak value of 60°-70° in the swing phase, a large range of angle changes in the stance phase and a large degree of extension; descending stairs: the flexion angle in the swing phase is similar to that on flat ground, the flexion angle in the early stance phase decreases, and the extension angle in the middle and late stages is slightly smaller than that on flat ground.

[0062] 2. Knee joint, walking on flat ground: the swing phase starts to flex from extension, with a maximum of about 60° in the middle stage; the early stage of the stance phase flexes 15°-20° for cushioning, gradually straightens in the middle stage, and is basically straightened at the end; going up stairs: the flexion angle in the swing phase is similar to that on flat ground, with 20°-30° flexion in the early stage of the stance phase, and a greater degree of straightening in the later stage; going down stairs: the flexion angle in the swing phase is the same as that on flat ground, with 30°-40° flexion in the early stage of the stance phase for cushioning, and a slightly smaller degree of straightening in the later stage.

[0063] 3. Ankle joint, walking on flat ground: 10°-20° dorsiflexion in the swing phase, dorsiflexion in the early stage of the stance phase, and then gradual plantar flexion, with 20°-30° propulsion in the late stage; climbing stairs: the dorsiflexion angle in the swing phase is the same as that on flat ground, the plantar flexion in the early stage of the stance phase is slightly smaller, and increases to 30°-40° in the middle and late stages; descending stairs: the dorsiflexion angle in the swing phase is the same as that on flat ground, and 15°-20° plantar flexion in the early stage of the stance phase for cushioning.

[0064] The changes in the physiological signals of each muscle of the evaluation subject in different test scenarios are as follows:

[0065] 1. Rectus femoris, walking on flat ground: the EMG activity is low in the early swing phase, then gradually increases during the stance phase, and reaches a higher level in the middle of the stance phase; climbing stairs: the EMG activity is significantly enhanced, with force exerted from the initial contraction, and a high activity level is maintained throughout the stance phase, with increased peak and duration; descending stairs: there is EMG activity in the early stance phase, with a peak in the early stage, and then gradually decreases, mainly serving to cushion the body's descent.

[0066] 2. Vastus lateralis, walking on flat ground: EMG activity in the stance phase is enhanced, which is more obvious in the middle and late stages, and works together to stabilize the knee joint; climbing stairs: EMG signals in the early stage of the stance phase increase rapidly, and a high activity level is maintained throughout the entire process, which enhances the stability in the medial and lateral directions of the knee joint; descending stairs: EMG activity in the early stage of the stance phase increases rapidly. The key is to maintain the stability in the medial and lateral directions of the knee joint and resist torsion. Overall activity is more critical.

[0067] 3. Vastus medialis muscle, walking on flat ground: activity begins in the early stage of the stance phase and maintains a certain degree of activity throughout the whole process, cooperating to stabilize the knee joint; climbing stairs: EMG activity increases rapidly in the early stage of the stance phase and maintains a high degree of activity throughout the whole process to ensure the stability of the medial and lateral sides of the knee joint; descending stairs: EMG activity increases rapidly in the early stage of the stance phase, focusing on maintaining the stability of the medial and lateral sides of the knee joint and resisting torsion.

[0068] 4. Biceps femoris, walking on flat ground: EMG activity increases in the late swing phase, and helps control knee flexion in the early stance phase to avoid excessive flexion; climbing stairs: activity is enhanced in the late swing phase and early stance phase to control the speed and angle of knee flexion, and cushion the body weight after the foot touches the step; going down stairs: control knee flexion in the late swing phase, and maintain a high activity level throughout the stance phase to cushion the impact of the body's descent.

[0069] 5. Tibialis anterior muscle, walking on flat ground: obvious EMG activity in the swing phase, responsible for ankle dorsiflexion, and controls the way the foot touches the ground in the early stage of the stance phase; climbing stairs: the swing phase and the early stage of the stance phase play a key role, accurately controlling the dorsiflexion of the ankle joint to make the foot land on the step, and helping to stabilize the ankle joint in the early stage of the stance phase; going down stairs: the role of the swing phase is similar, the foot touches the ground in the early stage of the stance phase and coordinates to maintain the stability of the ankle joint throughout the process.

[0070] 6. Medial peroneus and lateral peroneus, walking on flat ground: EMG activity is enhanced in the middle and late stages of the stance phase, responsible for plantar flexion and stability of the ankle joint; climbing stairs: activity is significantly enhanced in the middle and late stages of the stance phase, generating greater plantar flexion force to push the body upward and stabilize the ankle joint; descending stairs: EMG activity in the early stages of the stance phase increases to control the degree of plantar flexion, maintain ankle joint stability throughout the entire process, and cushion the impact of descent.

[0071] Among them, the flexion angles of the hip joint, knee joint and ankle joint are obtained by shooting the motion trajectory of the reflective identification sheet 6 with a high-speed camera 7 and performing image analysis. The electromyographic parameters of the rectus femoris, vastus lateralis, vastus medialis, biceps femoris, tibialis anterior, peroneus medialis and peroneus lateralis are obtained by obtaining data and analyzing the electrodes of the surface electromyography instrument 5. When the evaluation subject has abnormal gait defects, in the experiment of climbing stairs, the angle of joint flexion is reduced compared with the normal flexion angle, and in order to climb smoothly, the gait cycle of going upstairs is significantly longer, and the pace and frequency are significantly reduced. Due to the decline of physical function and the lack of lower limb muscle strength, the person is afraid of losing balance when going up and down stairs, and tries to compensate for the instability of body posture by reducing the time of the swing phase. The pressure value provided by the swing phase of the evaluation subject is clearly distinguished from the pressure value provided by the support phase. The pressure value change indication of the piezoelectric sensor 2 is analyzed, so as to analyze the difference between the time proportion of the support phase and the swing phase in the overall gait cycle and the normal proportion.

[0072] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A gait evaluation and analysis device based on physiological signals and motion feedback, comprising a comprehensive force measuring platform (1), a piezoelectric sensor (2), a surface electromyography (5), a reflective identification sheet (6), a high-speed camera (7) and a computer (8), wherein the surface electromyography (5) is used to measure surface electromyography parameters, the reflective identification sheet (6) is used to generate a high-light position so that an image can be captured by the high-speed camera (7), the high-speed camera (7) is used to capture a moving image of the evaluation object and the reflective identification sheet (6), and the computer (8) is used to integrate data from the surface electromyography (5) and the high-speed camera (7) and perform data analysis, characterized in that: The integrated force measuring platform (1) comprises a base (11) and floating steps (12), wherein the floating steps (12) are distributed at equal intervals along the inner wall of the base (11), a dark groove (16) is provided on the upper surface of the floating step (12), and a step height adjustment mechanism is provided at the bottom of the floating step (12), wherein the step height adjustment mechanism is one of a pressure-controlled adjustment component (3) and a connecting rod adjustment component (4), wherein the piezoelectric sensor (2) is respectively mounted on the surface of each floating step (12), and the piezoelectric sensor (2) is composed of a base (21), a sensitive element (22) and a panel (23) which are sequentially arranged upwards, wherein the base (21) is mounted in the inner cavity of the dark groove (16), and the two ends of the base (21) extend outwards and overlap the upper surface of the floating step (12), and the sensitive element (22) measures the pressure parameters of the floating step (12) by deforming under pressure; At one end of two adjacent floating steps (12) close to each other, one end of one floating step (12) is fixedly connected to a guide rail (14), and one end of the other floating step (12) is fixedly connected to a slider (15), and the slider (15) slides on the inner side wall of the guide rail (14), and the two adjacent floating steps (12) are fitted to each other through the cooperation between the guide rail (14) and the slider (15); A step baffle (13) is fixedly connected to the bottom surface of the upper floating step (12) between two adjacent floating steps (12), and telescopic columns (18) are fixedly connected to the four corners of the bottom surface of the floating step (12) at the bottom end. The bottom end of the telescopic column (18) is fixedly connected to the pedestal (11), and glass transparent panels (17) are installed on both sides of the pedestal (11).

2. The gait evaluation and analysis device based on physiological signals and motion feedback according to claim 1 is characterized in that: The evaluation and analysis steps include: S1, numbering the piezoelectric sensors (2) in sequence, and transmitting data via wireless communication between the piezoelectric sensors (2) and a computer (8); S2, attaching the surface electromyography (5) to the surface of the rectus femoris, vastus lateralis, vastus medialis, biceps femoris, tibialis anterior, peroneus medialis and peroneus lateralis of the evaluation subject respectively, and transmitting data by wireless communication between the surface electromyography (5) and the computer (8); S3, attaching the reflective identification sheet (6) to the surface of the hip joint, knee joint and ankle joint of the evaluation object respectively, setting up a high-speed camera (7) on the side of the integrated force measuring platform (1) to capture image information, and transmitting data by wireless communication between the high-speed camera (7) and the computer (8); S4, requiring the test subject to step onto the platform (11), and move on each floating step (12), and move from the starting end to the end end; S5. After the test object moves to the end point, it is made to switch directions and move back, so that it moves from the end point to the starting point; S6. Adjust the height of the floating step (12) and ask the test subject to repeat the test.

3. The gait evaluation and analysis device based on physiological signals and motion feedback according to claim 1, characterized in that: The pressure-controlled adjustment component (3) comprises a telescopic cylinder (31) installed in a pedestal (11); an output end of the telescopic cylinder (31) is fixedly connected to an extension platform (34); both sides of the extension platform (34) are rotatably connected to a second flip cover (35); an inner side wall of the second flip cover (35) is slidably connected to a parallel support rod (32); one end of the parallel support rod (32) is rotatably connected to the pedestal (11); an outer side wall of the parallel support rod (32) is slidably connected to a first flip cover (33); and the first flip cover (33) is rotatably connected to the outer side wall of the floating step (12).

4. The gait evaluation and analysis device based on physiological signals and motion feedback according to claim 3 is characterized in that: The telescopic cylinder (31) is a pneumatic telescopic cylinder or a hydraulic transmission telescopic rod.

5. The gait evaluation and analysis device based on physiological signals and motion feedback according to claim 1, characterized in that: The connecting rod adjustment assembly (4) comprises a servo motor (41) mounted on a pedestal (11); an output end of the servo motor (41) is fixedly connected to a screw rod (42); an outer wall of the screw rod (42) is threadedly connected to a screw rod slide (43); a top end of the screw rod slide (43) is rotatably connected to a rotating rod (44); the other end of the rotating rod (44) is rotatably connected to a guide rod (45); an outer wall of the guide rod (45) is slidably connected to a flip sleeve three (46); and the flip sleeve three (46) is rotatably connected to the outer wall of the floating step (12).

6. A gait evaluation and analysis system based on physiological signals and motion feedback, characterized in that: A gait evaluation and analysis device based on physiological signals and motion feedback using any one of claims 1 to 5, comprising a microcontroller (81), a communication module (82) and a communication coordinator (83); the microcontroller (81) is installed in a piezoelectric sensor (2) and a surface electromyography (5) for use, the microcontroller (81) is used to collect data, convert data and store data on measured physical values ​​over a period of time, the communication module (82) is installed in the piezoelectric sensor (2), the surface electromyography (5) and the high-speed camera (7) for use, the communication module (82) is used to transmit the stored data of the microcontroller (81) to the communication coordinator (83), the communication coordinator (83) is installed in a computer (8) for use, and the communication coordinator (83) is used for a wireless communication protocol between the microcontroller (81) and the computer (8).

7. The gait evaluation and analysis system based on physiological signals and motion feedback according to claim 6, characterized in that: The microcontroller (81) comprises a signal adjustment circuit (811), an analog-to-digital converter (812), a data acquisition circuit (813) and a data buffer area (814); the signal adjustment circuit (811) is used to adjust and process weak or noise signals of the measured value, the analog-to-digital converter (812) is used to convert the analog signal into a digital signal, the data acquisition circuit (813) is used to continuously acquire data signals within a unit time, and the data buffer area (814) is used to receive the digital signal acquired by the data acquisition circuit (813), cache the data, and finally transmit the data to the computer (8) through the communication module (82).

8. The gait evaluation and analysis system based on physiological signals and motion feedback according to claim 6, characterized in that: The evaluation and analysis method is as follows: the communication module (82) transmits data externally, and the data is imported into the computer (8) through the transmission protocol of the communication coordinator (83), the three sets of data are time-calibrated, and compared and sorted, and the relationship between the electromyographic physiological signals, the feedback of the movements of the two lower limbs and the pressure value applied to the comprehensive force measuring platform (1) is compared and analyzed to perform gait evaluation and analysis.

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