WO2018081986A1 - 一种可穿戴式设备及用于该设备的实时步长测量方法 - Google Patents
一种可穿戴式设备及用于该设备的实时步长测量方法 Download PDFInfo
- Publication number
- WO2018081986A1 WO2018081986A1 PCT/CN2016/104465 CN2016104465W WO2018081986A1 WO 2018081986 A1 WO2018081986 A1 WO 2018081986A1 CN 2016104465 W CN2016104465 W CN 2016104465W WO 2018081986 A1 WO2018081986 A1 WO 2018081986A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- leg
- thigh
- sensor
- angular velocity
- axis
- Prior art date
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
Definitions
- the invention belongs to the field of wearable sensors, and in particular relates to a wearable device and a real-time step measurement method for the same.
- Gait parameters are physical parameters during human walking, which can reflect human exercise ability and have great application value. Therefore, many researchers are currently studying the measurement of gait parameters. Wearable sensors include inertial measurement units, ultrasonic sensors, miniature cameras, etc., compared to large laboratory equipment that measure gait parameters such as optical motion capture systems, force gauges, etc., which are small, inexpensive, and free of time. The advantages of space limitation and easy promotion are widely used in the field of gait parameter measurement. At present, there are many studies using wearable sensors placed on the legs, waist, wrists, chest, etc. to measure gait time parameters, such as gait events, gait cycles, etc.; some also measure gait space parameters, such as walking speed. , step and so on. For example, the invention patent No.
- CN201510887154.1 discloses an indoor positioning step calculation method, which places the inertial measurement unit at the waist of the person, and the person obtains the inertial sensor data of the person during the indoor walking process, and then calculates the step size.
- the invention patent of the application No. CN 201310007945.1 discloses a step calculation method and device for acquiring the acceleration values of the respective axes in the three-dimensional coordinate system; calculating the step compensation coefficient according to the acceleration values of the respective axes; The long compensation factor and the preset preset step size determine the final step size of the carrier's movement amplitude.
- there are defects such as low gait measurement accuracy and inability to measure single step in real time.
- step and pace can be used to reflect the lower limbs' ability to move.
- the step and pace cannot reflect the difference in the ability of the two sides of the human body caused by hemiplegia, that is, the gait is not correct, and we can quantify the asymmetry of the gait on both sides of the human body according to the ratio of the two-leg steps, and
- the length can also be used to find parameters such as step size and pace, so the step size has greater clinical application value.
- the real-time step size can reflect the user's real-time displacement information, matching the user's real-time lower limbs.
- the posture information can be used for mechanical devices related to lower limb movement such as a biped robot, a lower limb assisted rehabilitation device, and the like.
- the use of wearable sensors to calculate step sizes has a wide range of applications. Therefore, it is necessary to propose a step size measurement method that takes into consideration the measurement accuracy and performs the measurement.
- the object of the present invention is to solve the defects in the prior art that the gait measurement accuracy is low, the single step size cannot be measured in real time, and the wearable device and the real-time step measurement method for the device are provided.
- the step distance refers to the distance between the places where the same foot is adjacent during the walking of the person
- the step size refers to the distance between the adjacent places of the feet during the walking of the person. In general, the step size is equal to the sum of the two leg steps.
- Gait events refer to important moments in each gait cycle of a person during walking. There are five gait events in the middle of swing, straight legs, foot landing, middle stance, and foot off the ground.
- the walking gait cycle of a person is shown in Figure 4. Taking the right leg as an example, the left leg supports the human body, and the right leg takes the forward phase as the swinging phase of the right leg; when the right leg swings to the vicinity of the left leg, it swings.
- Gait events can be detected based on the angular velocity characteristics of the ipsilateral calf and thigh, as shown in Figure 5.
- the angular velocity of the calf usually has two relatively large peaks in one cycle, one high and one short, the higher peak corresponds to the middle of the swing, the shorter one corresponds to the middle of the middle; the middle of the swing has a small number of small negative peaks. In the area, this is the vibration caused by the landing of the foot.
- the first negative peak is the moment of the foot landing; between the middle of the swing and the moment of the foot landing, there is a thigh, calf angular velocity intersecting, at this moment for the leg straightening moment; After the middle of the next swing, there is a trough, which corresponds to the moment when the foot is off the ground.
- the standing phase starts from the landing of the leg and ends, and the end of the foot is off the ground.
- the approximate angle is the area where the angular velocity of the lower leg is negative.
- the swing phase starts from the leg and ends from the ground to the end of the foot landing.
- the approximate angular velocity of the lower leg is positive. The area of the value.
- the real-time step size measurement refers to the step size of the step when the gait event of the forefoot landing is detected.
- the sagittal plane and the plumb line are shown in Figure 1.
- the sagittal plane is perpendicular to the horizontal plane and divides the human body into two parts. The main movement occurs in the sagittal plane when walking.
- the plumb line is A line perpendicular to the ground.
- the X-axis is parallel to the calf or thigh; the Y-axis is in the sagittal plane, perpendicular to the calf or thigh; the Z-axis is perpendicular to the sagittal plane .
- the axis of the sensor on the thigh or calf should be consistent with the thigh or calf, but because the sagittal plane is invisible, the Y-axis and Z-axis shift will occur in the sensor, and the Y measured according to the sensor.
- the angular velocity of the axis and the Z-axis can roughly calculate the angle of the sagittal plane of the Y-axis of the sensor, and use this angle to calculate the acceleration and angular velocity of the corresponding axis of the thigh or the lower leg.
- the thigh length of the human body is the vertical height from the hip joint to the knee joint when the human body stands still; the calf length is the vertical height of the knee joint to the ground at this time.
- the present invention solves the technical problem, and the specific technical solutions adopted are as follows:
- a real-time step size measurement method for a wearable device including the following steps:
- the Y-axis acceleration and the Z-axis angular velocity during the walking of the thighs and calves on both sides of the user are measured in real time, and the gait events during walking are determined in real time according to the Z-axis angular velocity; the thighs and the calves are determined in real time according to the gait events and the Z-axis angular velocity integrals.
- the angle between the sagittal plane and the plumb line; the real-time step size is calculated based on the angle and the length of the thigh and the calf.
- the calculation of the step size can be calculated based on the geometric relationship of the lower limbs during walking.
- the wearable device includes a sensor for detecting triaxial acceleration and triaxial angular velocity of the left and right thighs and the left and right calves, and the Y-axis acceleration and the Z-axis angular velocity are obtained by a sensor.
- the gait event includes landing of the foot, middle of standing, and straightening of the leg;
- ⁇ lsms and ⁇ rsms are the angles of the left lower leg and the right lower leg in the middle of the standing with the plumb line
- a lsyms and a rsyms are the Y-axis accelerations of the left lower leg and the right lower leg respectively
- ⁇ l0 , ⁇ r0 is the angle between the left calf and the right calf in the sagittal plane and the plumb line in the static standing state of the user (the standing state of the feet naturally standing), and satisfies:
- a lsys and a rsys are the Y-axis accelerations of the left calf and the right calf when the user is standing statically;
- the angle between the calf of the leg and the plumb line in the sagittal plane is calculated in real time by angular velocity integration:
- t is the time of the last standing middle distance from the left or lower calf at the current time
- ⁇ ls (t), ⁇ rs (t) are the left calf and the right calf in the sagittal plane and plumb at time t
- the angle of the line, ⁇ lsz ( ⁇ ), ⁇ rsz ( ⁇ ) are the instantaneous Z-axis angular velocity of the left lower leg and the right lower leg respectively;
- ⁇ ltls, ⁇ rtls respectively, left thigh, right thigh at the time the legs straight in the sagittal plane and the angle between the vertical line, ⁇ lsls, ⁇ rsls case were left leg, right leg in the sagittal The angle between the surface and the plumb line;
- the angle between the thigh of the leg and the plumb line in the sagittal plane is calculated in real time by angular velocity integration:
- t is the time after the last leg of the left thigh or right thigh is straightened
- ⁇ lt (t), ⁇ rt (t) are the angles between the left thigh, the right thigh and the plumb line at time t, respectively
- ⁇ ltz ( ⁇ ), ⁇ rtz ( ⁇ ) are the instantaneous Z-axis angular velocities of the left thigh and the right thigh, respectively;
- RSL l 1 (sin(- ⁇ rtic )+sin ⁇ ltic )+ 2 (sin(- ⁇ rsic )+sin ⁇ lsic )
- ⁇ lsic , ⁇ rsic , ⁇ ltic , ⁇ rtic are the angles of the left leg, the right leg, the left thigh, the right thigh and the plumb line at the time of landing of the leg, respectively
- l 1 and l 2 are the thigh length, respectively.
- the calf is long
- the LSL is the step length of the leg when the left leg is landing
- the RSL is the step length of the leg when the right leg is landing.
- the walking process within a certain distance of the target user is monitored in advance, and the angle of the actual direction of the sensor Y-axis from the sagittal plane is determined:
- the Y-axis acceleration and Z-axis angular velocity data of each sensor are corrected in advance before being substituted into the above formulas, as the acceleration or angular velocity of the corresponding direction of the lower leg or thigh, the correction formula is:
- a y is the Y-axis acceleration measured by the sensor
- a z is the Z-axis acceleration measured by the sensor
- a yc is the Y-axis acceleration obtained by correcting the data of the sensor
- ⁇ y is the Y-axis angular velocity measured by the sensor
- ⁇ z is the Z-axis angular velocity measured by the sensor
- ⁇ zc is the Z-axis angular velocity obtained by correcting the data of the sensor.
- Another object of the present invention is to provide a method for measuring gait asymmetry, which measures the real-time step size according to the above method, and then quantifies the gait asymmetry of the user with unilateral motion disorder, and the calculation formula is as follows:
- GA gait asymmetry
- the inertial sensor is first connected to a single chip microcomputer, a single chip microcomputer and a bluetooth mode. Blocks are connected, and the upper computer and the Bluetooth module exchange data through Bluetooth.
- a fixing strap for fixing the inertial sensor is also included.
- the inertial sensor is an inertial sensor based on the MPU6050 chip.
- the inertial sensor sampling frequency is not less than 100 Hz.
- the invention has the following beneficial effects:
- the step size measurement by the wearable device can conveniently and effectively quantify the movement ability of the human body and their differences, and can be conveniently applied to the clinic.
- the present invention can output the lower limb posture and the step size in real time, and can be used for real-time control of related devices.
- Figure 1 is a schematic view showing a sagittal plane and a plumb line in the present invention
- FIG. 2 is a schematic view showing the position of the sensor and the coordinate system of the lower leg and the thigh in the present invention
- Figure 3 is a structural diagram of a wearable real-time step size measuring system in the present invention.
- Figure 4 is a schematic view showing the walking cycle of the human body in the present invention.
- Figure 5 is a schematic diagram of gait event detection in the present invention.
- FIG. 6 is a schematic view showing a two-dimensional geometric model of a double inverted pendulum of a lower limb in the present invention.
- Figure 7 is a schematic view showing the mid-angle of the right lower leg swing in the present invention.
- P represents a plumb line
- S represents a sagittal plane (Sagittal Plane)
- 1 to 4 are inertial sensor units placed on the left thigh, the left lower leg, the right thigh, and the right lower leg, respectively, and 5 is a host computer unit;
- a to E are gait events of the right leg in a gait cycle, where A is the mid-swing gait event, B is the leg extension gait event, and C is the foot landing gait event. D is the mid-term gait event, and E is the foot gait event.
- the present invention uses a wearable device including four inertial measurement sensors and a geometry-based algorithm to calculate and output the lower limb posture and step size of the user while walking.
- the real-time step size measurement refers to the step size of the step when the gait event of the forefoot landing is detected.
- the target user has a thigh length of 42 cm and a calf length of 53 cm, which is input into the upper computer of the wearable device, and then the user wears the wearable device.
- Each of the four inertial sensor units includes an inertial measurement sensor module based on the MPU6050 chip.
- the module includes a three-dimensional accelerometer and a three-dimensional gyroscope for collecting three-dimensional acceleration and three-dimensional angular velocity data during the user's walking.
- the sampling frequency is 100Hz.
- the four sensor units are placed on the outside of the user's two thighs and two calves.
- the X-axis is parallel to the calf or thigh; the Y-axis is in the sagittal plane, perpendicular to the calf or thigh; the Z-axis is perpendicular to the sagittal plane.
- the axis of the sensor placed on the thigh or calf should be consistent with the thigh or calf to collect data for the corresponding axis.
- the sensor unit on the lower leg comprises an elastic fixing strap to the MPU6050 sensor module; the sensor unit on the thigh comprises a battery, a fixing strap, a single chip microcomputer, an MPU6050 sensor module and a Bluetooth transmission module.
- the fixing strap is used for fixing the sensor unit to the user's leg;
- the single-chip microcomputer in the thigh sensor unit is connected with each module in the unit, and is also connected with the MPU6050 sensor module in the same-side calf sensor unit through the wire for preliminary use.
- the Bluetooth module is used for communication between the inertial sensor unit and the host unit.
- the upper unit structure includes a Bluetooth module, a single chip microcomputer, a button, a battery, and an OLED display.
- the single-chip microcomputer is used to process data; the button and the OLED display form an operation interface, which is convenient for the user to use.
- the X axis is parallel to the calf or thigh; the Y axis is in the sagittal plane, perpendicular to the calf or thigh; the Z axis is perpendicular to the sagittal plane
- the sensor detects Data needs to be dynamically corrected and statically calibrated before use.
- the modified Y-axis acceleration needs to be filtered by a low-pass filter with a cutoff frequency of 3.2 Hz for later use. Subsequent steps require stepwise calculation using the filtered Y-axis acceleration data of the sensor unit and the corrected Z-axis angular velocity data.
- Dynamic correction is a constant correction of the Y- and Z-axis data of the sensors on the thigh or calf.
- the X axis of the sensor can be roughly parallel to the thigh or the lower leg, but the sagittal plane is invisible, the sensor placement position is prone to deviation, and the Y and Z axes of the sensor are more likely to be in the plane they form. Offset, so you need to determine the angle at which the Y axis deviates from the sagittal plane
- the dynamic correction is as follows:
- the Y-axis and Z-axis angular velocity detected by the sensor are used to determine the angle of the actual Y-axis of the sensor from the sagittal plane:
- the Y-axis acceleration and Z-axis angular velocity data of each sensor are corrected in advance before use as the acceleration or angular velocity of the calf or thigh in the corresponding direction:
- a y is the Y-axis acceleration measured by the sensor
- a z is the Z-axis acceleration measured by the sensor
- a yc is the Y-axis acceleration obtained by correcting the data of the sensor
- ⁇ y is the Y-axis angular velocity measured by the sensor
- ⁇ z is the Z-axis angular velocity measured by the sensor
- ⁇ zc is the Z-axis angular velocity obtained by correcting the data of the sensor.
- the static calibration is to calibrate the zero point of the angle between the calf and the plumb line. Because the subsequent calculation requires the angle between the calf and the plumb line, after the user adjusts the sensor position, the X axis can be kept parallel with the calf, but it is difficult to achieve a precise parallel state. At this time, the X axis is regarded as the direction of the calf, which will cause There is a certain amount of error, so it is necessary to recalibrate the calf direction.
- the static calibration is as follows:
- ⁇ l0 , ⁇ r0 are the angle between the left calf and the right calf X axis of the user in the static standing state and the plumb line in the sagittal plane, respectively, a lsys and a rsys are the left calf of the user when standing statically, Y-axis acceleration of the right lower leg.
- the user walks on a flat ground, and four inertial sensors collect acceleration and angular velocity data in real time.
- the MCU uses the corresponding algorithm to detect gait events.
- the walking gait cycle of a person is shown in Fig. 4. In one cycle, there are mainly five gait events of mid-swing A, leg straight B, foot landing C, standing mid-D, and foot off-E, which need to be detected in this method.
- the gait event is the landing of the foot, the middle of the stance, and the straightening of the legs.
- the Z-axis angular velocity of the calf and thigh on the same side can detect the gait event in each gait cycle of the user's side leg in real time, as shown in FIG.
- the foot landing event is the moment of landing before the forefoot during the walking process, occurring at the first negative trough in the angular velocity vibration region after the highest peak of the calf angular velocity in each gait cycle, that is, the first after the highest peak Negative turning point, and can be detected immediately after it occurs;
- the middle of the standing is the leg as the supporting leg, moving to the position close to the vertical and the ground, at the small short peak of the angular velocity of the lower leg, and the peak value is negative
- the middle of the swing and the landing event there is a moment when the angular velocity of the thigh is equal to the angular velocity of the lower leg, that is, the moment when the leg straightening event occurs, at which time the user's leg swings and straightens in the forward direction.
- the angle between the thigh and the calf in the sagittal plane and the plumb line during walking is calculated in real time.
- the lower limbs of the human body are simplified into a two-dimensional geometric model of the double pendulum, and the user's motion is simplified into a plane motion in the sagittal plane.
- the lower leg and the thigh are simplified into a rod, and the hip joint and the two knee joints are simplified as Hinge.
- the simplified rod model of the thigh and the calf is perpendicular to the ground when the human body stands still, that is, the angle with the plumb line is 0, thereby obtaining the left and right calf simplified rod model and the
- the angle of the X-axis of the calf is ⁇ l0 and ⁇ r0 .
- the real-time angle between the thigh and the calf during the walking process and the plumb line is mainly obtained by real-time integration of the Z-axis angular velocity, but as the integration time goes on, the integral error will become larger and larger, so it needs to be in each cycle. They are recalibrated once.
- ⁇ lsms and ⁇ rsms are the angles between the left lower leg and the right lower leg in the middle of the standing and the vertical line
- a lsyms and a rsyms are respectively corrected by a low-pass filter with a cutoff frequency of 3.2 Hz.
- the angle between the real left left leg, the right calf and the plumb line above the angle of the standing mid-point calibration is taken as the starting point, calculated by the angular velocity integral:
- t is the time from the middle of the left or lower calf
- ⁇ ls (t) are the angles between the left calf, the right calf and the plumb line at time t
- ⁇ Lsz ( ⁇ ) is the instantaneous Z-axis angular velocity of the left lower leg and the right lower leg.
- the thigh angle is approximately in a straight line, thereby calculating the angle between the thigh and the plumb line of the leg.
- the angle between the real left thigh, the right thigh and the plumb line is calculated by the angular velocity integral before the next leg extension event is detected:
- t is the time after the last leg of the left thigh or right thigh is straightened
- ⁇ lt (t), ⁇ rt (t) are the angles between the left thigh, the right thigh and the plumb line at time t, respectively
- ⁇ ltz ( ⁇ ), ⁇ rtz ( ⁇ ) are the instantaneous Z-axis angular velocities of the left thigh and the right thigh.
- the calculation in the above steps is mainly completed in the single-chip microcomputer in the thigh inertial sensor unit, and then the result of the real-time detection of the gait event and the real-time angle of the thigh and the calf are transmitted to the upper computer unit through Bluetooth.
- the host computer calculates the step size of the user's leg by real-time calculation of the geometric model as shown in FIG. 6:
- RSL l 1 (sin(- ⁇ rtic )+sin ⁇ ltic )+ 2 (sin(- ⁇ rsic )+sin ⁇ lsic )
- ⁇ lsic , ⁇ rsic , ⁇ ltic , ⁇ rtic are the angles of the left calf, the right calf, the left thigh, the right thigh and the plumb line at the time of landing of the leg of the leg calculated in step (3), respectively.
- 1 and l 2 are the length of the thigh and the length of the calf, respectively.
- the LSL is the step length of the leg when the left leg is landing
- the RSL is the step length of the leg when the right leg is landing.
- the calculated step size results can be displayed directly on the OLED display in real time or sent to other devices via the serial port.
- the step size of each step of the user is measured by the above method. After the user finishes walking, if the user has dyskinesia on one side of the lower limb, the gait asymmetry of the user can also be quantified:
- GA gait asymmetry
- the average of the left leg step and the right leg step respectively.
- the user has no lower extremity dyskinesia.
- the step measurement process a total of 22 steps are taken. Each step can be detected in real time and the step size is calculated in real time.
- the root mean square error of all steps measured by the process is 3.9 cm, which is 6.2% of the user's actual average step size (63.1 cm); it is assumed that the user's left leg is motion
- the actual gait asymmetry is 0.503
- the measured value of the process is 0.508 with an error of 0.005. It can be seen that the device and method of the present invention can not only realize real-time measurement of step size and gait asymmetry, but also actual precision thereof. The degree has also been greatly improved.
- the embodiments described above are only some of the preferred embodiments of the present invention, but are not intended to limit the present invention.
- Various changes and modifications can be made by those skilled in the art without departing from the spirit and scope of the invention.
- the above embodiment may also use other algorithms or use other sensors to calculate the angle of the thigh and the calf in real time, such as using an accelerometer, a gyroscope, and a magnetic field sensor fusion to calculate the angles of the left and right thighs and the calves by using a Kalman filter algorithm.
- the step size calculation is further performed using the geometric model of FIG. 6.
- the above-mentioned wearable device may also adopt other structures in the prior art or modify the device shown in the drawing.
- the wired connection in the original device is removed, and all the four inertial sensors are wirelessly communicated for more convenient use.
- the single chip microcomputer can also be integrated in the upper computer unit.
- the host computer unit can also be in the form of a remote PC or the like.
- the step of correcting the data collected by the sensor placed on the leg may be omitted, and the sensor data is directly used for the step length measurement process. .
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Physics & Mathematics (AREA)
- Dentistry (AREA)
- Biophysics (AREA)
- Pathology (AREA)
- Physiology (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
Abstract
Description
Claims (10)
- 一种用于可穿戴式设备的实时步长测量方法,其特征在于,包括以下步骤:实时测量用户两侧大腿和小腿行走过程中的Y轴加速度和Z轴角速度,同时根据Z轴角速度实时确定行走过程中的步态事件;根据步态事件以及Z轴角速度积分实时确定大腿和小腿在矢状面内与铅垂线的夹角;再根据所述的夹角以及大腿和小腿的长度计算实时步长。
- 如权利要求1所述的用于可穿戴式设备的实时步长测量方法,其特征在于,所述的可穿戴式设备中包含用于检测左右大腿和左右小腿三轴加速度、三轴角速度的传感器,所述的Y轴加速度和Z轴角速度通过传感器获得。
- 如权利要求1所述的用于可穿戴式设备的实时步长测量方法,其特征在于,所述的步态事件包括脚落地、站立中期以及腿伸直;当检测到左小腿或右小腿站立中期时,计算该小腿与铅垂线的夹角:式中:θlsms、θrsms分别为左小腿、右小腿在站立中期时与铅垂线的夹角,alsyms、arsyms分别为此时左小腿、右小腿Y轴加速度;其中,θl0、θr0分别为用户静态站立状态下的左小腿、右小腿在矢状面内与铅垂线的夹角,且满足:式中:alsys、arsys分别为用户静态站立时左小腿、右小腿Y轴加速度;在检测到下一个站立中期事件之前,通过角速度积分实时计算该腿的小腿在矢状面内与铅垂线的夹角:式中:t为当前时刻距离左小腿或右小腿的上一个站立中期的时间,θls(t)、θrs(t)分别为t时刻时左小腿、右小腿在矢状面内与铅垂线的夹角,ωlsz(δ)、ωrsz(δ)分别为左小腿、右小腿瞬时Z轴角速度;当检测到左腿或右腿腿伸直时,计算该腿的大腿在矢状面内与铅垂线的夹角:θltls=θlslsθrtls=θrsls式中:θltls、θrtls分别为左大腿、右大腿在腿伸直时刻在矢状面内与铅垂线的夹角,θlsls、θrsls分别为此时左小腿、右小腿在矢状面内与铅垂线的夹角;在检测到下一个腿伸直事件之前,通过角速度积分实时计算该腿的大腿在矢状面内与铅垂线的夹角:式中:t为自左大腿或右大腿的上一个腿伸直时刻后的时间,θlt(t)、θrt(t)分别为t时刻时左大腿、右大腿与铅垂线的夹角,ωltz(δ)、ωrtz(δ)分别为左大腿、右大腿的瞬时Z轴角速度;当检测到左腿或右腿脚落地时,计算该腿此时的步长:LSL=l1(sinθrtic+sin(-θltic))+l2(sinθrsic+sin(-θlsic))RSL=l1(sin(-θrtic)+sinθltic)+l2(sin(-θrsic)+sinθlsic)式中:θlsic、θrsic、θltic、θrtic分别为该腿落地时刻的左小腿、右小腿、左大腿、右大腿与铅垂线的夹角,l1、l2分别为大腿长、小腿长,LSL为左腿落地时刻该腿的步长,RSL为右腿落地时刻该腿的步长。
- 如权利要求2所述的用于可穿戴式设备的实时步长测量方法,其特征在于,测量步长之前,预先监测目标用户的一定距离内的行走过程,确定传感器Y轴实际方向偏离矢状面的角度:测量步长过程中的,每个传感器的Y轴加速度、Z轴角速度数据在使用前都预先进行修正,作为该小腿或大腿相应方向的加速度或角速度,修正公式为:式中:ay为该传感器测量的Y轴加速度,az为该传感器测量的Z轴加速度,ayc为该传感器的数据修正后得到的Y轴加速度;ωy为该传感器测量的Y轴角速度,ωz为该传感器测量的Z轴角速度,ωzc为该传感器的数据修正后得到的Z轴角速度。
- 一种实现权利要求1所述实时步长测量方法的可穿戴式设备,其特征在于,包括四个惯性传感器和上位机,每个惯性传感器包含三维加速度计以及三维角速度计,惯性传感器与上位机相连进行数据传输。
- 如权利要求6所述的可穿戴式设备,其特征在于,所述的惯性传感器首先与单片机相连,单片机与蓝牙模块相连,所述的上位机与所述的蓝牙模块通过蓝牙进行数据交互。
- 如权利要求6所述的可穿戴式设备,其特征在于,还包括用于固定惯性传感器的固定带。
- 如权利要求6所述的可穿戴式设备,其特征在于,所述的惯性传感器为基于MPU6050芯片的惯性传感器。
- 如权利要求6所述的可穿戴式设备,其特征在于,所述的惯性传感器采样频率不低于100Hz。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/CN2016/104465 WO2018081986A1 (zh) | 2016-11-03 | 2016-11-03 | 一种可穿戴式设备及用于该设备的实时步长测量方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/CN2016/104465 WO2018081986A1 (zh) | 2016-11-03 | 2016-11-03 | 一种可穿戴式设备及用于该设备的实时步长测量方法 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2018081986A1 true WO2018081986A1 (zh) | 2018-05-11 |
Family
ID=62076471
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/CN2016/104465 WO2018081986A1 (zh) | 2016-11-03 | 2016-11-03 | 一种可穿戴式设备及用于该设备的实时步长测量方法 |
Country Status (1)
Country | Link |
---|---|
WO (1) | WO2018081986A1 (zh) |
Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109540133A (zh) * | 2018-09-29 | 2019-03-29 | 中国科学院自动化研究所 | 基于微惯性技术的自适应步态划分方法、*** |
CN110680335A (zh) * | 2019-10-08 | 2020-01-14 | 深圳市臻络科技有限公司 | 步长测量方法及其设备、***、非易失性计算机存储介质 |
CN111967366A (zh) * | 2020-08-12 | 2020-11-20 | 华中科技大学鄂州工业技术研究院 | 一种对腿部患者的康复状况进行评测的方法及助行机器人 |
CN112066980A (zh) * | 2020-08-31 | 2020-12-11 | 南京航空航天大学 | 一种基于人体四节点运动约束的行人导航定位方法 |
CN112949676A (zh) * | 2020-12-29 | 2021-06-11 | 武汉理工大学 | 一种柔性下肢助力外骨骼机器人的自适应运动模式识别方法 |
CN113317776A (zh) * | 2020-12-29 | 2021-08-31 | 武汉理工大学 | 一种无足底压力外骨骼多种运动模式下的步态相位检测方法 |
CN113768760A (zh) * | 2021-09-08 | 2021-12-10 | 中国科学院深圳先进技术研究院 | 助行器的控制方法、***和驱动设备 |
CN113995634A (zh) * | 2021-12-08 | 2022-02-01 | 广州龙之杰科技有限公司 | 肢体康复训练器及其对称性参数获取方法、装置 |
CN114190921A (zh) * | 2020-09-02 | 2022-03-18 | 中国科学院沈阳自动化研究所 | 一种可适应变步频行走的步态相位识别方法 |
CN114587346A (zh) * | 2022-03-25 | 2022-06-07 | 中电海康集团有限公司 | 一种基于imu的人体下肢运动监测方法及*** |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101694499A (zh) * | 2009-10-22 | 2010-04-14 | 浙江大学 | 基于行人步态检测的步速测量和传输的***和方法 |
CN102670217A (zh) * | 2012-05-04 | 2012-09-19 | 嘉兴市制衡精仪有限公司 | 下肢关节作用力和力矩的穿戴式传感器测量装置及方法 |
CN103267524A (zh) * | 2013-04-24 | 2013-08-28 | 华中科技大学 | 一种穿戴式的人员步态检测室内定位***及方法 |
CN104757976A (zh) * | 2015-04-16 | 2015-07-08 | 大连理工大学 | 一种基于多传感器融合的人体步态分析方法和*** |
US20160284231A1 (en) * | 2015-03-26 | 2016-09-29 | President And Fellows Of Harvard College | Systems and Methods for Detecting Overstriding in Runners |
CN106419928A (zh) * | 2016-11-03 | 2017-02-22 | 浙江大学 | 一种可穿戴式设备及用于该设备的实时步长测量方法 |
-
2016
- 2016-11-03 WO PCT/CN2016/104465 patent/WO2018081986A1/zh active Application Filing
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101694499A (zh) * | 2009-10-22 | 2010-04-14 | 浙江大学 | 基于行人步态检测的步速测量和传输的***和方法 |
CN102670217A (zh) * | 2012-05-04 | 2012-09-19 | 嘉兴市制衡精仪有限公司 | 下肢关节作用力和力矩的穿戴式传感器测量装置及方法 |
CN103267524A (zh) * | 2013-04-24 | 2013-08-28 | 华中科技大学 | 一种穿戴式的人员步态检测室内定位***及方法 |
US20160284231A1 (en) * | 2015-03-26 | 2016-09-29 | President And Fellows Of Harvard College | Systems and Methods for Detecting Overstriding in Runners |
CN104757976A (zh) * | 2015-04-16 | 2015-07-08 | 大连理工大学 | 一种基于多传感器融合的人体步态分析方法和*** |
CN106419928A (zh) * | 2016-11-03 | 2017-02-22 | 浙江大学 | 一种可穿戴式设备及用于该设备的实时步长测量方法 |
Cited By (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109540133A (zh) * | 2018-09-29 | 2019-03-29 | 中国科学院自动化研究所 | 基于微惯性技术的自适应步态划分方法、*** |
CN110680335A (zh) * | 2019-10-08 | 2020-01-14 | 深圳市臻络科技有限公司 | 步长测量方法及其设备、***、非易失性计算机存储介质 |
CN111967366A (zh) * | 2020-08-12 | 2020-11-20 | 华中科技大学鄂州工业技术研究院 | 一种对腿部患者的康复状况进行评测的方法及助行机器人 |
CN111967366B (zh) * | 2020-08-12 | 2022-10-21 | 华中科技大学鄂州工业技术研究院 | 一种对腿部患者的康复状况进行评测的方法及助行机器人 |
CN112066980A (zh) * | 2020-08-31 | 2020-12-11 | 南京航空航天大学 | 一种基于人体四节点运动约束的行人导航定位方法 |
CN114190921A (zh) * | 2020-09-02 | 2022-03-18 | 中国科学院沈阳自动化研究所 | 一种可适应变步频行走的步态相位识别方法 |
CN114190921B (zh) * | 2020-09-02 | 2024-05-17 | 中国科学院沈阳自动化研究所 | 一种可适应变步频行走的步态相位识别方法 |
CN112949676A (zh) * | 2020-12-29 | 2021-06-11 | 武汉理工大学 | 一种柔性下肢助力外骨骼机器人的自适应运动模式识别方法 |
CN112949676B (zh) * | 2020-12-29 | 2022-07-08 | 武汉理工大学 | 一种柔性下肢助力外骨骼机器人的自适应运动模式识别方法 |
CN113317776B (zh) * | 2020-12-29 | 2023-04-07 | 武汉理工大学 | 一种无足底压力外骨骼多种运动模式下的步态相位检测方法 |
CN113317776A (zh) * | 2020-12-29 | 2021-08-31 | 武汉理工大学 | 一种无足底压力外骨骼多种运动模式下的步态相位检测方法 |
CN113768760A (zh) * | 2021-09-08 | 2021-12-10 | 中国科学院深圳先进技术研究院 | 助行器的控制方法、***和驱动设备 |
CN113768760B (zh) * | 2021-09-08 | 2022-12-20 | 中国科学院深圳先进技术研究院 | 助行器的控制方法、***和驱动设备 |
WO2023035457A1 (zh) * | 2021-09-08 | 2023-03-16 | 中国科学院深圳先进技术研究院 | 助行器的控制方法、***和驱动设备 |
CN113995634A (zh) * | 2021-12-08 | 2022-02-01 | 广州龙之杰科技有限公司 | 肢体康复训练器及其对称性参数获取方法、装置 |
CN113995634B (zh) * | 2021-12-08 | 2024-04-12 | 广州龙之杰科技有限公司 | 肢体康复训练器及其对称性参数获取方法、装置 |
CN114587346A (zh) * | 2022-03-25 | 2022-06-07 | 中电海康集团有限公司 | 一种基于imu的人体下肢运动监测方法及*** |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2018081986A1 (zh) | 一种可穿戴式设备及用于该设备的实时步长测量方法 | |
CN106419928B (zh) | 一种可穿戴式设备及用于该设备的实时步长测量方法 | |
CN104757976B (zh) | 一种基于多传感器融合的人体步态分析方法和*** | |
WO2018132999A1 (zh) | 一种用于可穿戴式设备的人体步长测量方法及其测量设备 | |
CN106908021B (zh) | 一种用于可穿戴式设备的人体步长测量方法及其测量设备 | |
KR101751760B1 (ko) | 하지 관절 각도를 이용한 보행 인자 추정 방법 | |
Wang et al. | Estimation of step length and gait asymmetry using wearable inertial sensors | |
WO2018196227A1 (zh) | 人体运动能力评价方法、装置及*** | |
WO2017014294A1 (ja) | 歩行解析方法および歩行解析システム | |
Li et al. | The lower limbs kinematics analysis by wearable sensor shoes | |
Huang et al. | Novel foot progression angle algorithm estimation via foot-worn, magneto-inertial sensing | |
Liu et al. | Triaxial joint moment estimation using a wearable three-dimensional gait analysis system | |
Tumkur et al. | Modeling human walking for step detection and stride determination by 3-axis accelerometer readings in pedometer | |
CN107137089A (zh) | 一种穿戴式传感鞋***及步态评估方法 | |
KR20110064712A (ko) | 통합센서 기반의 모션 캡쳐 시스템 | |
CN111012358B (zh) | 一种人体踝关节运动轨迹测量方法及可穿戴式设备 | |
Yang et al. | A calibration process for tracking upper limb motion with inertial sensors | |
CN111895997B (zh) | 一种无需标准矫正姿势的基于惯性传感器的人体动作采集方法 | |
Tan et al. | Magnetometer-free, IMU-based foot progression angle estimation for real-life walking conditions | |
CN110609621A (zh) | 姿态标定方法及基于微传感器的人体运动捕获*** | |
CN202932930U (zh) | 有关人体下肢关节作用力和力矩的穿戴式传感器测量装置 | |
CN108309301B (zh) | 人体体段质量测量方法 | |
Hu et al. | A study on estimation of planar gait kinematics using minimal inertial measurement units and inverse kinematics | |
CN109945889A (zh) | 一种基于双姿态传感器的关节角度测量方法 | |
Li et al. | Wearable gait analysis system for ambulatory measurement of kinematics and kinetics |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 16920522 Country of ref document: EP Kind code of ref document: A1 |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 16920522 Country of ref document: EP Kind code of ref document: A1 |
|
32PN | Ep: public notification in the ep bulletin as address of the adressee cannot be established |
Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205 DATED 20.11.2019) |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 16920522 Country of ref document: EP Kind code of ref document: A1 |