Animal gait analysis method and system

Abstract

The invention discloses an animal gait analysis method and system, and relates to the technical field of gaits. The method comprises the following steps: acquiring plantar pressure information and image information of an animal; obtaining ground counter-force information and ground counter-torque information of the animal based on the plantar pressure information, and obtaining body segment information of the animal based on the image information; and based on the ground counterforce information, the ground countertorque information and the body segment information, obtaining the joint force and the joint torque of the body segment of the animal. Ground counter-force information and ground counter-torque information of the animal are obtained through plantar pressure information, and body segment information of the animal is obtained through image information, so that joint force and joint torque of body segments of the animal are obtained through the ground counter-force information, the ground counter-torque information and the body segment information; the method makes up for the lack of analysis of kinetic parameters such as joint force and joint torque of animals in the prior art.

Description

Technical Field

[0001] The present invention relates to the field of gait technology, and in particular to an animal gait analysis method and system. Background Art

[0002] Kinematic and dynamic parameters are widely concerned in gait analysis. In the research related to human gait analysis, the instruments and equipment related to the collection and analysis of kinematic and dynamic parameters are already very mature, and there are many commercial products on the market that are widely recognized by researchers in the industry. However, there are few instruments and equipment for small animal gait analysis on the market, and most of them analyze the paw prints of small animals, such as the CATWALK gait analysis system, which lacks the analysis of kinematic parameters such as joint angles and dynamic parameters such as joint forces and joint torques. Summary of the invention

[0003] In view of the deficiencies in the prior art, an object of the present invention is to provide an animal gait analysis method and system for analyzing at least one parameter in the animal gait.

[0004] According to a first aspect of the present invention, there is provided an animal gait analysis method, comprising:

[0005] Obtaining plantar pressure information and image information of animals;

[0006] obtaining ground reaction force information and ground reaction moment information of the animal based on the plantar pressure information, and obtaining body segment information of the animal based on the image information;

[0007] The joint forces and joint torques of the body segments of the animal are obtained based on the ground reaction force information, the ground reaction torque information and the body segment information.

[0008] The animal gait analysis method of the present invention obtains the animal's ground reaction force information and ground reaction torque information through plantar pressure information, and obtains the animal's body segment information through image information, thereby obtaining the animal's body segment joint force and joint torque from the ground reaction force information, ground reaction torque information and body segment information, making up for the lack of analysis of the animal's joint force, joint torque and other dynamic parameters in the prior art.

[0009] In some embodiments, obtaining the ground reaction force information and ground reaction torque information of the animal based on the plantar pressure information includes:

[0010] Based on the plantar pressure information, obtain sub-ground reaction force component information in three directions of multiple sub-ground reaction force information and sub-ground reaction moment component information in three directions of multiple sub-ground reaction moment information;

[0011] Obtaining pressure center information based on a plurality of sub-ground reaction force component information and a plurality of sub-ground reaction moment component information in three directions;

[0012] Obtaining the ground reaction force information based on a plurality of sub-ground reaction force component information in three directions;

[0013] The ground reaction moment information is obtained based on the ground reaction force information and the pressure center information.

[0014] In some embodiments, the plantar pressure information is obtained by a plurality of force sensors, the force sensors comprising an elastic body and eight strain gauges arranged on the elastic body; the sub-ground reaction force component information in three directions of a plurality of sub-ground reaction force information and the sub-ground reaction moment component information in three directions of a plurality of sub-ground reaction moment information are obtained based on the plantar pressure information, comprising:

[0015] The sub-ground reaction force component information and the sub-ground reaction moment component information in three directions are calculated by the following formula:

[0016]

[0017] Among them, F ix 、F iy 、F iz are the sub-ground reaction force component information in three directions, M ix 、M iy 、M iz are the sub-ground reaction moment component information in three directions, l is the length of the elastic body, D is the diameter of the elastic body, E is the elastic modulus of the elastic body, ε i1 to ε i8 They are respectively the strain amount information of the eight strain gauges on the multiple force sensors.

[0018] In some embodiments, obtaining the pressure center information based on the plurality of sub-ground reaction force component information and the plurality of sub-ground reaction moment component information in three directions includes:

[0019] The pressure center information is calculated by the following formula:

[0020]

[0021] in, is the coordinate information included in the pressure center information, for the coordinates of each of the force sensors.

[0022] In some embodiments, obtaining the ground reaction force information based on the plurality of sub-ground reaction force component information in three directions includes:

[0023] The ground reaction force information is calculated by the following formula:

[0024]

[0025] in, is the ground reaction force information;

[0026] The obtaining the ground reaction moment information based on the ground reaction force information and the pressure center information includes:

[0027] The ground reaction moment information is calculated by the following formula:

[0028]

[0029] in, is the ground reaction moment information.

[0030] In some embodiments, obtaining body segment information of the animal from the image information includes:

[0031] Based on the image information, obtain the proximal coordinate information and the distal coordinate information of the body segments of the animal;

[0032] Obtaining the joint angle of the animal based on the proximal body segment coordinate information and the distal body segment coordinate information; and

[0033] Performing regional segmentation and three-dimensional reconstruction based on the image information to obtain a full-body three-dimensional model of the animal;

[0034] The moment of inertia of each body segment is obtained based on the animal's whole body three-dimensional model.

[0035] In some embodiments, obtaining the proximal coordinate information and the distal coordinate information of the body segments of the animal based on the image information includes:

[0036] Based on the coordinate vectors of the reflective marking points at the proximal end and distal end of the body segment on the image information, the coordinate information of the proximal end of the body segment is obtained as follows: And the distal coordinate information of the body segment is

[0037] The step of obtaining the moment of inertia of each body segment based on the animal's whole body three-dimensional model includes:

[0038] The moment of inertia is calculated by the following formula:

[0039]

[0040] Among them, I n is the moment of inertia of each segment, is the position vector of the mass element to the coordinate axis, dm n is the mass element of each segment.

[0041] In some embodiments, obtaining the joint force and joint torque of the body segments of the animal based on the ground reaction force information, the ground reaction torque information, and the body segment information includes:

[0042] The joint force and the joint torque of the body segment are calculated by the following formula:

[0043]

[0044] in, is the second-order moment of inertia tensor, m n is the mass of each segment, is the angular acceleration,

[0045] is the acceleration, is the acceleration due to gravity, and are the position vectors from the centroid of the body segment to the proximal end and the distal end of the body segment, respectively. and are the joint forces and moments applied to the proximal end of the body segment,

[0046] and is the joint force and moment applied to the distal end of the body segment. For the foot segment,

[0047] and They are

[0048] According to a second aspect of the present invention, there is provided an animal gait analysis system, which is used to perform the above-mentioned animal gait analysis method, comprising:

[0049] An acquisition module, used to acquire plantar pressure information and image information of an animal;

[0050] A reaction force and body segment information module, which obtains ground reaction force information and ground reaction moment information of the animal based on the plantar pressure information, and obtains body segment information of the animal based on the image information;

[0051] The joint force and torque module obtains the joint force and joint torque of the body segments of the animal based on the ground reaction force information, the ground reaction torque information and the body segment information.

[0052] According to a third aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to implement the above-mentioned animal gait analysis method when executed by a processor.

[0053] Compared with the prior art, the animal gait analysis method and system of the present invention obtain the animal's ground reaction force information and ground reaction torque information through plantar pressure information, and obtain the animal's body segment information through image information, thereby obtaining the animal's joint force and joint torque of the body segments from the ground reaction force information, ground reaction torque information and body segment information, making up for the lack of analysis of the animal's joint force, joint torque and other dynamic parameters in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 A first structural diagram of an animal gait analysis system according to an embodiment of the present invention;

[0055] Figure 2 is a structural diagram of a plantar pressure module according to an embodiment of the present invention;

[0056] Figure 3 It is a schematic diagram of a three-dimensional rectangular coordinate system established based on a pressure runway according to an embodiment of the present invention;

[0057] Figure 4 A schematic diagram of an animal's foot landing on a pressure track according to an embodiment of the present invention;

[0058] Figure 5 is a structural diagram of a force sensor according to one embodiment of the present invention;

[0059] Figure 6 A structural diagram of a strain gauge and a support rod according to an embodiment of the present invention;

[0060] Figure 7 A flowchart of an animal gait analysis method according to an embodiment of the present invention;

[0061] Figure 8 A flowchart of obtaining ground reaction force information and ground reaction moment information according to an embodiment of the present invention;

[0062] Fig. 9 A flowchart of obtaining joint angles according to an embodiment of the present invention;

[0063] Fig.10 A flowchart of obtaining the moment of inertia of a body segment according to one embodiment of the present invention;

[0064] Fig.11 A second structural diagram of an animal gait analysis system according to an embodiment of the present invention

[0065] Fig.12It is a schematic structural diagram of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0066] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0067] The embodiment of the present invention provides an animal gait analysis system, such as Figure 1 As shown, the system includes a control module 101 , a plantar pressure module 2 and a joint posture module 3 .

[0068] like Figure 2 As shown, the foot pressure module 2 includes a pressure track 201, and the pressure track 201 is composed of a sensor array of multiple force sensors 202. The force sensor 202 can be a MEMS force sensor, and the force sensor 202 can measure the pressure between the small animal's foot and the track. Because the force sensor 202 is small in size, at the centimeter level, when the small animal's foot touches the ground, it can step on multiple force sensors 202 at the same time.

[0069] like Figure 3 As shown, an OXYZ three-dimensional rectangular coordinate system is established, and the pressure track 201 and the force sensor 202 share the same coordinate system, wherein the Z axis is perpendicular to the planes of the pressure track 201 and the force sensor 202, the Y axis is along the length direction of the pressure track 201, that is, the direction in which the animal (such as rats and other small animals) moves, and the X axis is along the width direction of the pressure track 201 and is perpendicular to the Y axis and the Z axis (according to the right-hand screw rule).

[0070] In the rectangular coordinate system (i.e. in three directions), the ground reaction force has three components, namely Fx, Fy, and Fz, and the ground reaction torque also has three components, namely Mx, My, and Mz.

[0071] like Figure 4 As shown, when the animal's foot lands on the pressure track 201, because the animal's foot area is larger than the force sensor 202, the animal's foot can simultaneously exert pressure on multiple force sensors 202. The blue line is the area where the animal's foot contacts the pressure track 201, and the red area is the multiple force sensors 202 that sense the pressure of the animal's foot.

[0072] like Figure 5 and Figure 6 As shown, each force sensor 202 is composed of a base 2021, a support rod 2022, a load-bearing plate 2023 and eight strain gauges, namely, a longitudinal strain gauge 20241 in the positive direction of the X-axis, a transverse strain gauge 20251 in the positive direction of the X-axis, a longitudinal strain gauge 20242 in the negative direction of the Y-axis, a transverse strain gauge 20252 in the negative direction of the Y-axis, a longitudinal strain gauge 20243 in the negative direction of the X-axis, a transverse strain gauge 20253 in the negative direction of the X-axis, a longitudinal strain gauge 20244 in the positive direction of the Y-axis, and a transverse strain gauge 20254 in the positive direction of the Y-axis.

[0073] The two ends of the support rod 2022 (i.e., elastic body) with a circular cross section are respectively fixedly connected to the load-bearing plate 2023 and the base 2021. When the animal's foot contacts the force sensor 202, it steps on the load-bearing plate 2023, causing a slight deformation of the support rod 2022. Because the elastic modulus of the material of the load-bearing plate 2023 and the base 2021 is much greater than the elastic modulus of the support rod 2022, the deformation of the load-bearing plate 2023 and the base 2021 can be ignored.

[0074] On the surface of the support rod 2022 whose outer normal is along the positive direction of the X-axis, a longitudinal strain gauge 20241 in the positive direction of the X-axis is longitudinally pasted at the upper third, and a transverse strain gauge 20251 in the positive direction of the X-axis is pasted at the lower third at an angle of 45° with the Z-axis. The strains measured by the two are ε i1 and ε i2 On the surface of the support rod 2022 whose outer normal is along the negative direction of the Y axis, a longitudinal strain gauge 20242 in the negative direction of the Y axis is longitudinally pasted at the upper third, and a transverse strain gauge 20252 in the negative direction of the Y axis is pasted at the lower third at an angle of 45° with the Z axis. The strains measured by the two are ε i3 and ε i4 On the surface of the support rod 2022 whose outer normal is along the negative direction of the X-axis, a longitudinal strain gauge 20243 in the negative direction of the X-axis is longitudinally pasted at the upper third, and a transverse strain gauge 20253 in the negative direction of the X-axis is pasted at the lower third at an angle of 45° with the Z-axis. The strains measured by the two are ε i5 and ε i6 On the surface of the support rod 2022 whose outer normal is along the positive direction of the Y axis, a longitudinal strain gauge 20244 in the positive direction of the Y axis is longitudinally pasted at the upper third, and a transverse strain gauge 20254 in the positive direction of the Y axis is pasted at the lower third at an angle of 45° with the Z axis. The strains measured by the two are ε i7 and ε i8 , where i is the number of the multiple force sensors 202, i is an integer greater than 0, ε i1 to ε i8 They are respectively the strain information of eight strain gauges on the multiple force sensors 202 .

[0075] like Figure 1As shown, the joint posture module 3 includes a camera 301, and a reflective marking point 302 is attached to each of the hip joint, knee joint, ankle joint, and foot of the animal. When the animal runs on the pressure track 201, the two cameras 301 collect image information. Specifically, the spatial coordinates of the reflective marking point 302 can be obtained through the image information collected by the camera 301. Because the small animal moves forward along the pressure track, the movement of its knee joint and ankle joint can be approximated as movement on the sagittal plane, simplifying the joint angle calculation process. The angle between the line connecting the two reflective marking points 302 of the hip joint and the knee joint and the line connecting the two reflective marking points 302 of the knee joint and the ankle joint is the angle of the knee joint; the angle between the line connecting the two reflective marking points 302 of the knee joint and the ankle joint and the line connecting the two reflective marking points 302 of the ankle joint and the foot is the angle of the ankle joint; the angle between the line connecting the two reflective marking points (302) of the ankle joint and the foot and the horizontal plane is the angle between the foot and the ground, and the above angles can be calculated from the spatial coordinates of the reflective marking points 302.

[0076] The joint posture module 3 also includes a CT imaging device (not shown), which uses the CT imaging device to obtain a whole-body CT image of the animal, or the joint posture module 3 does not include the CT imaging device, but receives a whole-body CT image of the animal obtained by the CT imaging device.

[0077] The plantar pressure module 2 and the joint posture module 3 transmit the information obtained respectively to the control module 101, and the control module 101 executes the subsequent steps.

[0078] The embodiment of the present invention provides an animal gait analysis method, which is executed in the above-mentioned animal gait analysis system, such as Figure 7 As shown, the animal gait analysis method comprises:

[0079] S100: Acquiring plantar pressure information and image information of the animal;

[0080] In this embodiment, the plantar pressure information of the animal is obtained through multiple force sensors 202 on the pressure runway 201. The plantar pressure information can be reflected by the strain information of eight strain gauges on the multiple force sensors 202. The image information of the animal is obtained through the camera 301 and the CT imaging device. The image information includes the image information collected by the camera 301 and the whole body CT image information of the animal obtained by the CT imaging device.

[0081] S200: obtaining ground reaction force information and ground reaction torque information of the animal based on the plantar pressure information, and obtaining body segment information of the animal based on the image information;

[0082] In this embodiment, the control module 101 is used to obtain the ground reaction force information and ground reaction torque information of the animal based on the plantar pressure information, and to obtain the body segment information of the animal based on the image information.

[0083] In an optional embodiment, if Figure 8 As shown, the step S200 of obtaining the ground reaction force information and ground reaction torque information of the animal based on the plantar pressure information, and obtaining the body segment information of the animal based on the image information, includes:

[0084] S210A: obtaining sub-surface reaction force component information in three directions of a plurality of sub-surface reaction force information and sub-surface reaction moment component information in three directions of a plurality of sub-surface reaction moment information based on the plantar pressure information;

[0085] In this embodiment, the plantar pressure information is obtained by multiple force sensors 202, each force sensor 202 has a sub-surface reaction force information and a sub-surface reaction moment information, and each sub-surface reaction force information has sub-surface reaction force component information in three directions, and each sub-surface reaction moment information has sub-surface reaction moment component information in three directions. Therefore, the sub-surface reaction force component information in three directions of multiple sub-surface reaction force information and the sub-surface reaction moment component information in three directions of multiple sub-surface reaction moment information are obtained based on the plantar pressure information, including:

[0086] The sub-ground reaction force component information and sub-ground reaction moment component information in three directions are calculated using the following formulas:

[0087]

[0088] Among them, F ix 、F iy 、F iz are the sub-ground reaction force component information in three directions, M ix 、M iy 、M iz are the sub-ground reaction moment component information in three directions, l is the length of the elastic body, D is the diameter of the elastic body, E is the elastic modulus of the elastic body, ε i1 to ε i8 are the strain information of eight strain gauges on the multiple force sensors 202, and the F ix 、F iy 、F iz The M of the multiple force sensors 202 respectively constitute Fx, Fy, and Fz. ix 、M iy 、M iz They are respectively composed of Mx, My and Mz.

[0089] S220A: Obtaining pressure center information based on multiple sub-ground reaction force component information and multiple sub-ground reaction moment component information in three directions;

[0090] In this embodiment, if Figure 4 As shown, Figure 4 The red area in the middle is the force sensor 202 that the animal's foot contacts. The coordinates of the force sensor 202 are If the origin of the coordinates is placed on the pressure runway 201, then z i = 0. Let the coordinates of the pressure center of the red area be The pressure center of each force sensor 202 is the geometric center of the load-bearing plate 2023 .

[0091] According to the characteristics of force synthesis and pressure center, the resultant moment on the pressure center is zero, that is, the pressure center information is obtained based on multiple sub-ground reaction force component information and multiple sub-ground reaction moment component information in three directions, including:

[0092] The center of pressure information is calculated using the following formula:

[0093]

[0094] in, The coordinate information of the pressure center is included. are the coordinates of each force sensor. From this, the coordinates of the pressure center can be solved

[0095] S230A: Obtaining ground reaction force information based on multiple sub-ground reaction force component information in three directions;

[0096] In this embodiment, the ground reaction force information is obtained based on the multiple sub-ground reaction force component information in three directions, including:

[0097] The ground reaction force information is calculated using the following formula:

[0098]

[0099] in, It is the ground reaction force information.

[0100] S240A: Obtain ground reaction torque information based on the ground reaction force information and the pressure center information.

[0101] In this embodiment, since the pressure center should fall on the pressure runway 201, that is, Z = 0, the moment is taken for the pressure center at this time, and the resultant moment is not zero. Suppose the resultant moment is The combined force is The ground reaction moment information is obtained based on the ground reaction force information and the pressure center information, including:

[0102] The ground reaction moment information is calculated using the following formula:

[0103]

[0104] in, is the ground reaction moment information. Then we can solve At this time, the ground reaction force between the animal's foot and the pressure runway 201 is The ground reaction moment is The coordinates of the center of pressure are (X,Y,0).

[0105] In an optional embodiment, if Fig. 9 As shown, the step S200 of obtaining the body segment information of the animal from the image information includes:

[0106] S210B: obtaining body segment proximal coordinate information and body segment distal coordinate information of the body segment of the animal based on the image information;

[0107] In this embodiment, since a reflective marking point 302 is attached to each of the hip joint, knee joint, ankle joint, and foot of the animal, the image information collected by the camera 301 obtains the spatial coordinates of the reflective marking point 302, so the spatial coordinates of the reflective marking point 302 are the proximal coordinate information and the distal coordinate information of the body segment of the animal; the proximal coordinate information and the distal coordinate information of the body segment of the animal are obtained based on the image information, including:

[0108] Based on the coordinate vectors of the reflective marker points at the proximal and distal ends of the body segment on the image information, the coordinate information of the proximal end of the body segment is obtained as follows: And the distal coordinate information of the body segment is

[0109]

[0110] S220B obtains the joint angle of the animal based on the proximal body segment coordinate information and the distal body segment coordinate information;

[0111] In this embodiment, the angle between the line connecting the two reflective marking points 302 of the hip joint and the knee joint and the line connecting the two reflective marking points 302 of the knee joint and the ankle joint is the angle of the knee joint, the angle between the line connecting the two reflective marking points 302 of the knee joint and the ankle joint and the line connecting the two reflective marking points 302 of the ankle joint and the foot is the angle of the ankle joint, and the angle between the line connecting the two reflective marking points (302) of the ankle joint and the foot and the horizontal plane is the angle between the foot and the ground, and the above angles can be calculated from the spatial coordinates of the reflective marking points 302.

[0112] In an optional embodiment, if Fig.10As shown, the step S200 of obtaining the body segment information of the animal from the image information also includes:

[0113] S210C: Perform regional segmentation and 3D reconstruction based on image information to obtain a 3D model of the entire animal body;

[0114] In this embodiment, a multi-rigid body motion model of a small animal is established. Specifically, a small animal CT imaging device is used to obtain a full-body CT image of the small animal, and then the image is segmented and three-dimensionally reconstructed to obtain a full-body three-dimensional model of the small animal, which includes each body segment. The animal is then dissected and the mass m of each body segment is weighed. n and volume v n , and the density of each segment is calculated Thus, the moment of inertia I of each body segment in the local coordinates of the three-dimensional model is calculated. n and the centroid position.

[0115] S220C: Obtain the moment of inertia of each body segment based on the animal's full body 3D model.

[0116] In this embodiment, the moment of inertia for each coordinate axis is The centroid position is That is, the moment of inertia of each body segment is obtained based on the animal's full body three-dimensional model, including:

[0117] The moment of inertia is calculated using the following formula:

[0118]

[0119] Among them, J n is the moment of inertia of each segment, is the position vector of the mass element to the coordinate axis, dm n is the mass element of each segment, dm n =ρ n dv n , where n is the segment number and n is an integer greater than 0.

[0120] S300: Obtaining joint forces and joint torques of body segments of the animal based on ground reaction force information, ground reaction torque information, and body segment information.

[0121] In this embodiment, the control module 101 is used to obtain the joint force and joint torque of the animal's body segment based on the ground reaction force information, the ground reaction torque information, and the body segment information. Specifically, the coordinate system reference Figure 3 The control module 101 establishes an inverse dynamics equation for each body segment and obtains the moment of the center of mass, that is, obtains the joint force and joint moment of the body segment of the animal based on the ground reaction force information, the ground reaction moment information, and the body segment information, including:

[0122] The joint forces and joint moments of the body segments are calculated by the following formulas:

[0123]

[0124] in, is the second-order moment of inertia tensor, m n is the mass of each segment, is the angular acceleration, is the acceleration, is the acceleration due to gravity, and are the position vectors from the centroid of the body segment to the proximal end and the distal end of the body segment, respectively. and are the joint forces and moments applied to the proximal end of the body segment, and is the joint force and moment applied to the distal end of the body segment. For the foot segment, and They are

[0125] The inverse dynamics equation of each body segment is combined, and the moment of inertia and mass of each body segment, the ground reaction force and reaction torque, and the coordinate vector of each reflective mark point 302 are known quantities. Substitute them into the inverse dynamics equation to solve for each body segment. and and That is, the forces and moments at the proximal and distal ends of the body segments, that is, the joint forces and moments of the proximal and distal joints.

[0126] The animal gait analysis method of this embodiment can obtain the pressure and torque between the sole of the animal and the ground while obtaining kinematic parameters such as the animal's joint angle, and can calculate dynamic parameter information such as the animal's joint force and joint torque.

[0127] The embodiment of the present invention provides an animal gait analysis system, such as Fig.11 As shown, the system can be used as a specific device to implement the animal gait analysis method provided in the embodiment of the present invention, such as Fig.11 As shown, the device may include:

[0128] An acquisition module 100 is used to acquire plantar pressure information and image information of an animal;

[0129] A reaction force and body segment information module 200 obtains ground reaction force information and ground reaction moment information of the animal based on the plantar pressure information, and obtains body segment information of the animal based on the image information;

[0130] The joint force and torque module 300 obtains the joint force and joint torque of the body segments of the animal based on the ground reaction force information, the ground reaction torque information and the body segment information.

[0131] In an optional embodiment, the acquisition module 100 includes a plantar pressure module 2 and a joint posture module 3, wherein the joint posture module 3 may include a camera 301 and a CT imaging device; the reaction force and body segment information module 200 and the joint force and torque module 300 constitute the control module 101.

[0132] An embodiment of the present invention provides an electronic device, such as Fig.12 As shown, Fig.12 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0133] like Fig.12 As shown, the electronic device is in the form of a general-purpose computing device. The components of the electronic device may include, but are not limited to: one or more processors 910, a memory 930, and a communication bus 940 connecting different system components (including the memory 930 and the processor 910).

[0134] The communication bus 940 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of a variety of bus structures. For example, these architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MAC) bus, an enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnection (PCI) bus.

[0135] Electronic devices typically include a variety of computer system readable media. These media can be any available media that can be accessed by the electronic device, including volatile and non-volatile media, removable and non-removable media.

[0136] The memory 930 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) and / or cache memory. The electronic device may further include other removable / non-removable, volatile / non-volatile computer system storage media. Fig.12 Not shown in the figure, a disk drive for reading and writing a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing a removable non-volatile optical disk (e.g., a compact disc read only memory (CD-ROM), a digital versatile disc read only memory (DVD-ROM), or other optical media) may be provided. In these cases, each drive may be connected to the communication bus 940 via one or more data medium interfaces. The memory 930 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of various embodiments of the present invention.

[0137] A program / utility having a set (at least one) of program modules may be stored in memory 930, such program modules including but not limited to an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. The program modules generally perform the functions and / or methods of the embodiments described herein.

[0138] The electronic device may also communicate with one or more external devices, and may also communicate with one or more devices that enable a user to interact with the electronic device, or communicate with any device that enables the electronic device to communicate with one or more other computing devices (e.g., a network card, a modem, etc.). Such communication may be performed through the communication interface 920. In addition, the electronic device may also communicate with the network adapter ( Fig.12 The network adapter can communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through the communication bus 940. It should be understood that although Fig.12Not shown, other hardware and / or software modules may be used in conjunction with the electronic device, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, disk arrays (Redundant Arrays of Independent Drives; hereinafter referred to as: RAID) systems, tape drives, and data backup storage systems.

[0139] The processor 910 executes various functional applications and data processing by running the programs stored in the memory 930, such as implementing the animal gait analysis method provided in the embodiment of the present invention.

[0140] An embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions enable the computer to execute the animal gait analysis method provided by the embodiment of the present invention.

[0141] The above-mentioned computer-readable storage medium can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above, but is not limited to this. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM) or a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, a device or a device or used in combination with it.

[0142] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0143] The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wire, optical cable, radio frequency (RF), etc., or any suitable combination of the foregoing.

[0144] The above are only some embodiments of the present invention. For those skilled in the art, several modifications and improvements can be made without departing from the creative concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A method for analyzing animal gait, characterized in that: include: Obtaining plantar pressure information and image information of animals; obtaining ground reaction force information and ground reaction moment information of the animal based on the plantar pressure information, and obtaining body segment information of the animal based on the image information; The joint forces and joint torques of the body segments of the animal are obtained based on the ground reaction force information, the ground reaction torque information and the body segment information.

2. The animal gait analysis method according to claim 1, characterized in that: The obtaining of ground reaction force information and ground reaction torque information of the animal based on the plantar pressure information includes: Based on the plantar pressure information, obtain sub-ground reaction force component information in three directions of multiple sub-ground reaction force information and sub-ground reaction moment component information in three directions of multiple sub-ground reaction moment information; Obtaining pressure center information based on a plurality of sub-ground reaction force component information and a plurality of sub-ground reaction moment component information in three directions; Obtaining the ground reaction force information based on a plurality of sub-ground reaction force component information in three directions; The ground reaction moment information is obtained based on the ground reaction force information and the pressure center information.

3. The animal gait analysis method according to claim 2, characterized in that: The plantar pressure information is obtained by a plurality of force sensors, wherein the force sensors include an elastic body and eight strain gauges arranged on the elastic body; the sub-ground reaction force component information in three directions of the plurality of sub-ground reaction force information and the sub-ground reaction moment component information in three directions of the plurality of sub-ground reaction moment information are obtained based on the plantar pressure information, including: The sub-ground reaction force component information and the sub-ground reaction moment component information in three directions are calculated by the following formula: Among them, F ix 、F iy 、F iz are the sub-ground reaction force component information in three directions, M ix 、M iy 、M iz are the sub-ground reaction moment component information in three directions, l is the length of the elastic body, D is the diameter of the elastic body, E is the elastic modulus of the elastic body, ε i1 to ε i8 They are respectively the strain amount information of the eight strain gauges on the multiple force sensors.

4. The animal gait analysis method according to claim 3, characterized in that: The obtaining of the pressure center information based on the plurality of sub-ground reaction force component information and the plurality of sub-ground reaction moment component information in three directions comprises: The pressure center information is calculated by the following formula: in, is the coordinate information included in the pressure center information, for the coordinates of each of the force sensors.

5. The animal gait analysis method according to claim 4, characterized in that: The obtaining the ground reaction force information based on the plurality of sub-ground reaction force component information in three directions comprises: The ground reaction force information is calculated by the following formula: in, is the ground reaction force information; The obtaining the ground reaction moment information based on the ground reaction force information and the pressure center information includes: The ground reaction moment information is calculated by the following formula: in, is the ground reaction moment information.

6. The animal gait analysis method according to claim 5, characterized in that: The method of obtaining the body segment information of the animal from the image information includes: Based on the image information, obtain the proximal coordinate information and the distal coordinate information of the body segments of the animal; Obtaining the joint angle of the animal based on the proximal body segment coordinate information and the distal body segment coordinate information; and Performing regional segmentation and three-dimensional reconstruction based on the image information to obtain a full-body three-dimensional model of the animal; The moment of inertia of each body segment is obtained based on the animal's whole body three-dimensional model.

7. The animal gait analysis method according to claim 6, characterized in that: The obtaining of body segment proximal coordinate information and body segment distal coordinate information of the body segment of the animal based on the image information includes: Based on the coordinate vectors of the reflective marking points at the proximal end and distal end of the body segment on the image information, the coordinate information of the proximal end of the body segment is obtained as follows: And the distal coordinate information of the body segment is The step of obtaining the moment of inertia of each body segment based on the animal's whole body three-dimensional model includes: The moment of inertia is calculated by the following formula: Among them, J n is the moment of inertia of each segment, is the position vector of the mass element to the coordinate axis, dm n is the mass element of each segment.

8. The animal gait analysis method according to claim 7, characterized in that: The obtaining of the joint force and joint torque of the body segments of the animal based on the ground reaction force information, the ground reaction torque information, and the body segment information includes: The joint force and the joint torque of the body segment are calculated by the following formula: in, is the second-order moment of inertia tensor, m n is the mass of each segment, is the angular acceleration, is the acceleration, is the acceleration due to gravity, and are the position vectors from the centroid of the body segment to the proximal end and the distal end of the body segment, respectively. and are the joint forces and moments applied to the proximal end of the body segment, and is the joint force and moment applied to the distal end of the body segment. For the foot segment, and They are 9. An animal gait analysis system, characterized in that: include: An acquisition module, used to acquire plantar pressure information and image information of an animal; A reaction force and body segment information module, which obtains ground reaction force information and ground reaction moment information of the animal based on the plantar pressure information, and obtains body segment information of the animal based on the image information; The joint force and torque module obtains the joint force and joint torque of the body segments of the animal based on the ground reaction force information, the ground reaction torque information and the body segment information.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the animal gait analysis method according to any one of claims 1 to 8 when executed.

Images