CN112957034A - Gait evaluation method and system based on multiple parameters - Google Patents
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Abstract
The invention relates to the field of human motion analysis, in particular to a gait evaluation method and system based on multiple parameters. The system comprises: the gait analysis system comprises a gait data acquisition unit, a gait parameter calculation unit and a gait analysis unit. The gait data acquisition unit is used for acquiring gait data of a subject; the gait parameter calculating unit calculates a plurality of gait parameters according to the gait data acquired by the gait data acquiring unit, and the plurality of gait parameters correspond to different physiological defects respectively; the gait analysis unit adopts the value of the gait parameter to quantify the physiological defect corresponding to the gait parameter, and makes a radar map, and the gait condition of the subject is comprehensively evaluated by using the radar map. The gait evaluation method realizes a low-cost solution of gait evaluation, and provides reliable basis for a clinician to formulate a targeted treatment scheme in the rehabilitation process.
Description
Technical Field
The invention relates to the field of human motion analysis, in particular to a gait evaluation method and system based on multiple parameters.
Background
The motor ability of the patient is evaluated, and the motor ability is developed according to the structural/functional defects and the characteristics in the aspects of biomechanics, so that a basis is provided for making a treatment plan and evaluating the treatment effect. Among the many methods of assessing motor ability, there are some that analyze gait pattern characteristics. Gait rehabilitation is usually guided by a physiotherapist who typically visually examines the patient's gait during rehabilitation exercises, which is inexpensive and does not require specialized equipment, however, this method lacks objectivity and quantification. To quantify gait characteristics, three-dimensional motion capture systems, multi-component force measurement systems, multi-channel electromyographs, and the like are used to record gait processes. However, these techniques are expensive, have high requirements for field and personnel training, are difficult to interpret, and have limited ability to provide a basis for guidance of treatment planning and evaluation of treatment effects, and thus are difficult to be widely used clinically.
Disclosure of Invention
In order to meet the requirements of a new method in clinic, the invention provides a gait assessment method and a gait assessment system which are low in cost, simple in operation and capable of visually reflecting gait information.
The technical scheme adopted by the system is as follows: a multi-parameter based gait evaluation system comprising:
the gait data acquisition unit is used for acquiring gait data of a subject;
the gait parameter calculating unit calculates a plurality of gait parameters according to the gait data acquired by the gait data acquiring unit, and the plurality of gait parameters correspond to different physiological defects respectively;
and the gait analysis unit is used for quantifying the physiological defects corresponding to the gait parameters by adopting the values of the gait parameters and evaluating the gait condition of the testee.
In a preferred embodiment of the above system, the gait data acquisition unit comprises: the system comprises a treadmill, a three-dimensional force sensor, an inertial sensor, a data acquisition card and a computer; the four same three-dimensional force sensors are respectively arranged at four corners of the treadmill, and the XYZ directions of the four three-dimensional force sensors are kept consistent; the inertial sensor is fixed to the subject's leg; the data acquisition card synchronously acquires the data of the three-dimensional force sensor and the data of the inertial sensor and transmits the acquired data to the computer.
Further preferably, the computer calculates a continuous COP trajectory of the center of pressure from the data of the treadmill force platform; the computer determines four gait events in the gait cycle from the inertial sensor data: the right foot is off the ground, the right foot is on the ground, the left foot is off the ground, and the left foot is on the ground; according to the gait event, the computer divides the continuous pressure center COP track into a plurality of independent COP tracks; several independent COP tracks are normalized and averaged to obtain a unique COP track, which is used for representing the change of the pressure center of the subject in a walking time and is called as a representative COP track.
Further preferably, the gait data acquisition unit acquires a COP track of the subject in a walking time; the gait parameter calculating unit calculates a plurality of gait parameters according to the representative COP track, wherein the plurality of gait parameters comprise a symmetry index, a COP area ratio at two sides, a COP inclination angle in the single support period and a COP track speed in the single support period; the gait parameter calculating unit also calculates the variability index of the COP track focus according to the COP track in a walking period;
wherein, the COP track angle in the single support period and the COP track speed in the single support period respectively calculate a value for the left side and the right side; performing linear fitting on the COP track in the single support period, and then calculating an included angle between a fitting straight line and the movement direction of the belt of the treadmill; the COP track speed in the single support period is the ratio of the COP track length in the single support period to the time length in the single support period; the COP track focal points are a left focal point and a right focal point which are obtained by dividing each COP track by using Bernoulli double-twist line fitting time phase, and each COP track has a pair of focal points.
The gait analysis unit quantifies the gait physiological defects of the testee by calculating the gait parameter values, normalizes the gait parameter values into a number between 0 and 1, regards the gait parameter values as the scores of the corresponding physiological ability of the testee, marks the scores in the radar map, and comprehensively evaluates the gait expression of the testee by calculating the area of a geometric figure formed by various physiological parameters in the radar map.
The technical scheme adopted by the method is as follows: a gait evaluation method based on multiple parameters comprises the following steps:
s1, acquiring gait data of the subject;
s2, calculating a plurality of gait parameters according to the collected gait data, wherein the plurality of gait parameters correspond to different physiological defects respectively;
and S3, quantifying the physiological defect corresponding to the gait parameter by adopting the value of the gait parameter, and evaluating the gait condition of the subject.
Compared with the prior art, the invention has the following advantages and technical effects:
1. the invention performs time phase segmentation on the pressure center track through the data of the inertial sensor, and can enable a subject to walk more naturally and continuously in a smaller field; and (3) approximately fitting each COP track divided by the time phase into Bernoulli double-twist lines, obtaining a variability index of a pressure center COP track focus, finally quantifying the defect of physiological function through gait parameters, and displaying the quantified scores in the form of a radar map.
2. The invention uses abundant and various gait evaluation parameters, such as area ratio of two sides, track complexity index, COP inclination angle and the like, thereby fully representing and quantifying gait expression from a plurality of angles, displaying quantified scores in the form of radar map, and evaluating the gait condition more intuitively through the shape and area of the geometric figure formed by various physiological parameters in the radar map.
3. The invention objectively quantifies the gait expression, and overcomes the subjectivity caused by the clinical use scale at present; the evaluation method can utilize the calculated gait parameters to quantify functional defects, and can facilitate clinicians to intuitively know the gait condition of a patient and carry out targeted training in the subsequent rehabilitation process. The invention does not need expensive motion capture system and multi-channel electromyography, and is a set of low-cost solution for gait evaluation.
Drawings
The invention is further explained below with reference to the drawings:
FIG. 1 is a schematic representation of the symmetry index of the present invention;
FIG. 2 is a schematic of the area ratio index of the present invention;
FIG. 3 is an exponential representation of the variability of the locus focus of the present invention;
FIG. 4 is a schematic view of the COP tilt angle of the present invention;
fig. 5 is a diagrammatic illustration of the radar of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below. It is to be understood that the described embodiments are merely a subset of the embodiments of the invention, and not all embodiments; all other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention relates to a gait evaluation system based on multiple parameters, which comprises:
the gait data acquisition unit is used for acquiring gait data of a subject;
the gait parameter calculating unit calculates a plurality of gait parameters according to the gait data acquired by the gait data acquiring unit, and the plurality of gait parameters correspond to different physiological defects respectively;
and the gait analysis unit is used for quantifying the physiological defects corresponding to the gait parameters by adopting the values of the gait parameters, making a radar map and comprehensively evaluating the gait condition of the testee by using the radar map.
In one embodiment, the gait data acquisition unit comprises: treadmill power platform, inertial sensor, data acquisition card, microcomputer. The treadmill force platform is a low-speed treadmill with a three-dimensional force sensor additionally arranged at the bottom, the number of the three-dimensional force sensors is four, the four same three-dimensional force sensors are respectively arranged at four corners of the low-speed treadmill, and the XYZ directions of the four three-dimensional force sensors are kept consistent. The inertial sensor is secured to the subject's foot. The data acquisition card synchronously acquires the data of the three-dimensional force sensor and the data of the inertial sensor and transmits the data to the small computer. The small computer automatically calculates the continuous COP track according to the data of the three-dimensional force sensor through a pre-programmed program. From the inertial sensor data, the computer can determine four gait events in the gait cycle: right foot off ground (TOR), right foot on ground (HCR), left foot off ground (TOL), left foot on ground (HCL). According to the gait event, the computer can divide the continuous pressure center COP track into a plurality of independent COP tracks, and the plurality of independent COP tracks are normalized and averaged to obtain a unique COP track which is used for representing the change of the pressure center in the whole walking time and is called as a representative COP track.
In one embodiment, a subject having an inertial sensor mounted on their leg is walking at a comfortable speed on a treadmill. Before data is formally collected, an adaptation period is provided, so that a testee is adapted to walk on a running machine, and then a force platform of the running machine collects COP data of a pressure center for 2 minutes. The COP data were filtered using a 4 th order butterworth low pass filter with a cut-off frequency of 10 Hz.
The gait parameter calculating unit can obtain the following gait parameters according to the COP track calculated by the gait data acquisition unit:
(1) symmetry index (as in fig. 1): the difference between the left side COP length2 and the right side COP length1 of the subject was divided by the sum of the left side COP length2 and the right side COP length 1.
(2) Area ratio on both sides (as in fig. 2): ratio of affected COP area S2 to healthy COP area S1 of the subject.
The area of any geometric figure can be obtained by a grid area approximation method, and the specific method comprises the following steps: when a curve fitted with scattered points is regarded as a boundary of a polygon and the total number n of lattices in the boundary of the polygon is calculated, and the area of a single lattice is S, the approximate area S is nxs.
(3) Track focus variability index: each COP track divided by the time phase is approximately fitted to a bernoulli double twist line which has a left focus and a right focus, so that each COP track has a pair of left and right focuses, the left and right focuses of all COP tracks respectively form two sequences, the standard deviation of the two sequences is calculated, and the mean value of the two standard deviations is defined as a variability index.
As shown in FIG. 3, line segment X is drawn along the X-axis1X2Equally dividing into t points, respectively finding out each pair of points
Product of distances from uniformly chosen s points in a single COP trajectory:
|PnF1 k||PnF2 k|＝dn(k＝1…t；n＝1……s；)
separately determining the sequences
Standard deviation of (2). Because the product of the distances from all points in the trajectory to the focal point is constant in an ideal bernoulli twisted pair, the point with the smallest standard deviation in the sequence is the optimal focal point.
And repeating the steps to obtain the optimal focus of all COP tracks to form a left focus sequence and a right focus sequence, and respectively obtaining the standard deviation of the two sequences, wherein the mean value of the standard deviations of the two sequences is the variability index.
(5) COP tilt angle (as in fig. 4): and the geometric angle between the fitting straight line of the COP track and the movement direction of the belt of the treadmill in the affected side single support period.
(6) COP track speed: average speed of COP trajectory during the period of unilateral single-leg stance.
The gait analysis unit respectively corresponds the plurality of gait parameters to different physiological defects, and the defects are quantified by the values of the gait parameters. Based on a large amount of clinical gait experimental data, the symmetry index is found to have certain correlation with the knee joint hyperextension. The bilateral area ratio has a certain correlation with the pelvic decline. The track focus variability has a certain correlation with the stability of the center of gravity. The COP inclination angle has a certain correlation with foot drop. The COP trajectory speed during the single support period is related to its mobility. Based on the research results, the gait parameter value is calculated to quantify the gait physiological defect of the testee, the gait parameter value is normalized to be a number between 0 and 1, the gait parameter value is regarded as the score of the corresponding physiological capability of the testee, the score is marked in a radar map (figure 5), and the gait performance of the testee can be comprehensively evaluated through the shape and the area of a geometric figure formed by the physiological parameters in the radar map.
Based on the same inventive concept, the invention also provides a gait evaluation method based on multiple parameters, which comprises the following steps:
s1, acquiring gait data of the subject;
s2, calculating a plurality of gait parameters according to the collected gait data, wherein the plurality of gait parameters correspond to different physiological defects respectively;
s3, quantifying the physiological defect corresponding to the gait parameter by adopting the value of the gait parameter, making a radar map, and comprehensively evaluating the gait condition of the subject by using the radar map.
In one embodiment, the above step S1 is to acquire data through three-dimensional force sensors installed at four corners of the low speed meter treadmill, inertial sensors fixed to the legs of the subject; synchronously acquiring data of a three-dimensional force sensor and an inertial sensor; from the inertial sensor data, four gait events in a gait cycle are determined: right foot off ground (TOR), right foot on ground (HCR), left foot off ground (TOL), left foot on ground (HCL); according to the gait event, the continuous pressure center COP track is divided into a plurality of independent COP tracks, and a unique COP track can be obtained by averaging the plurality of independent COP tracks after normalization, and is used for representing the change of the pressure center in the whole walking time and used as a representative COP track.
In one embodiment, the step S2 includes calculating a plurality of gait parameters according to the representative COP trajectory: the symmetry index, the area ratio of COPs on two sides, the COP inclination angle in the single support period, the COP track speed in the single support period and the like, and the variability index of the COP track focus is calculated according to the COP track in a walking period.
In one embodiment, step S3 analyzes the plurality of calculated gait parameters, quantifies the physiological deficiency corresponding to each gait parameter using the gait parameter values, normalizes the gait parameter values to a number between 0 and 1, considers the gait parameter values as a score of the physiological ability corresponding to the subject, marks the score in a radar map, and calculates the area of a geometric figure formed by each physiological parameter in the radar map, thereby comprehensively evaluating the gait performance of the subject.
As described above, the present invention can be preferably implemented.
Claims (9)
1. A multi-parameter based gait assessment system, comprising:
the gait data acquisition unit is used for acquiring gait data of a subject;
the gait parameter calculating unit calculates a plurality of gait parameters according to the gait data acquired by the gait data acquiring unit, and the plurality of gait parameters correspond to different physiological defects respectively;
and the gait analysis unit is used for quantifying the physiological defects corresponding to the gait parameters by adopting the values of the gait parameters and evaluating the gait condition of the testee.
2. The system according to claim 1, wherein the gait data acquisition unit comprises: the treadmill comprises a treadmill force platform, an inertial sensor, a data acquisition card and a computer; the treadmill force platform is a low-speed treadmill with a three-dimensional force sensor additionally arranged at the bottom, the number of the three-dimensional force sensors is four, the four same three-dimensional force sensors are respectively arranged at four corners of the treadmill, and the XYZ directions of the four three-dimensional force sensors are kept consistent; the inertial sensor is secured to the subject's foot; the data acquisition card synchronously acquires the data of the three-dimensional force sensor and the data of the inertial sensor and transmits the acquired data to the computer.
3. The multi-parameter based gait assessment system according to claim 2, characterized in that the computer calculates a continuous center of pressure COP trajectory from the treadmill force table data; the computer determines four gait events in the gait cycle from the inertial sensor data: the right foot is off the ground, the right foot is on the ground, the left foot is off the ground, and the left foot is on the ground; according to the gait event, the computer divides the continuous pressure center COP track into a plurality of independent COP tracks; several independent COP tracks are normalized and averaged to obtain a unique COP track, which is used for representing the change of the pressure center of the subject in a walking time and is called as a representative COP track.
4. The multi-parameter based gait evaluation system according to claim 3, characterized in that the gait data acquisition unit acquires COP track of the subject over a period of walking time; the gait parameter calculating unit calculates a plurality of gait parameters according to the representative COP track, wherein the plurality of gait parameters comprise a symmetry index, a COP area ratio at two sides, a COP inclination angle in the single support period and a COP track speed in the single support period; the gait parameter calculating unit also calculates the variability index of the COP track focus according to the COP track in a walking period;
wherein, the COP track angle in the single support period and the COP track speed in the single support period respectively calculate a value for the left side and the right side; performing linear fitting on the COP track in the single support period, and then calculating an included angle between a fitting straight line and the movement direction of the belt of the treadmill; the COP track speed in the single support period is the ratio of the COP track length in the single support period to the time length in the single support period; the COP track focal points are a left focal point and a right focal point which are obtained by dividing each COP track by using Bernoulli double-twist line fitting time phase, and each COP track has a pair of focal points.
5. The system of claim 1, wherein the gait analysis unit quantifies the physiological gait impairment of the subject by calculating gait parameter values, normalizes the gait parameter values to a number between 0 and 1, considers the gait parameter values as scores corresponding to the physiological ability of the subject, marks the scores in the radar map, and comprehensively evaluates the gait performance of the subject by calculating the area of a geometric figure formed by the physiological parameters in the radar map.
6. A gait evaluation method based on multiple parameters is characterized by comprising the following steps:
s1, acquiring gait data of the subject;
s2, calculating a plurality of gait parameters according to the collected gait data, wherein the plurality of gait parameters correspond to different physiological defects respectively;
and S3, quantifying the physiological defect corresponding to the gait parameter by adopting the value of the gait parameter, and evaluating the gait condition of the subject.
7. The multi-parameter based gait evaluation method according to claim 6, characterized in that step S1 acquires data by three-dimensional force sensors installed at four corners of the treadmill, inertial sensors fixed to the subject' S feet; synchronously acquiring data of a three-dimensional force sensor and an inertial sensor; from the inertial sensor data, four gait events in a gait cycle are determined: the right foot is in ground contact, the left foot is in ground contact and the left foot is in ground contact; according to the gait event, a continuous pressure center COP track is divided into a plurality of independent COP tracks, the plurality of independent COP tracks are normalized and averaged to obtain a unique COP track which is used for representing the pressure center change of a subject in a period of walking time and is called as a representative COP track.
8. The gait assessment method according to claim 7, wherein step S1 is to acquire COP track of the subject during a walking period; step S2 calculates a plurality of gait parameters from the representative COP trajectory, the plurality of gait parameters including: the symmetry index, the area ratio of COP on two sides, the COP inclination angle in the single support period and the COP track speed in the single support period; step S2 also calculates the variability index of COP track focus according to COP track in a walking time;
wherein, the COP track angle in the single support period and the COP track speed in the single support period respectively calculate a value for the left side and the right side; performing linear fitting on the COP track in the single support period, and then calculating an included angle between a fitting straight line and the movement direction of the belt of the treadmill; the COP track speed in the single support period is the ratio of the COP track length in the single support period to the time length in the single support period; the COP track focal points are a left focal point and a right focal point which are obtained by dividing each COP track by using Bernoulli double-twist line fitting time phase, and each COP track has a pair of focal points.
9. A gait evaluation method according to claim 6, characterized in that step S3 analyzes a plurality of gait parameters, quantifies physiological defects corresponding to each gait parameter using the gait parameter values, normalizes the gait parameter values to a number between 0 and 1, regards as a score of the subject corresponding to physiological ability, marks the score in a radar map, and evaluates the gait performance of the subject comprehensively by calculating the area of a geometric figure formed by each physiological parameter in the radar map.
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