CN208876547U - Gait analysis device based on IMU inertial sensor - Google Patents
Gait analysis device based on IMU inertial sensor Download PDFInfo
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- CN208876547U CN208876547U CN201820065847.1U CN201820065847U CN208876547U CN 208876547 U CN208876547 U CN 208876547U CN 201820065847 U CN201820065847 U CN 201820065847U CN 208876547 U CN208876547 U CN 208876547U
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Abstract
The utility model discloses a gait analysis device and method based on IMU inertial sensor, gait analysis device includes main shoes and vice shoes, is provided with first IMU inertial sensor in the main shoes for gather the gait data of first foot, be provided with second IMU inertial sensor in the vice shoes, be used for gathering the gait data of second foot, carry out the data interaction through the bluetooth between main shoes and the vice shoes, main shoes still are used for passing to data server on the gait data of the first foot of gathering and the gait data of second foot. Gait analysis device has dexterous, conveniently carries, the consumption is little, advantages such as adaptive capacity is strong, and the measurement of gait can be accomplished according to the walking of normal mode of walking to the shoes that the tester wore to put IMU inertial sensor under arbitrary environment, provides effectual reference data for clinical medical treatment and guardianship.
Description
Technical field
The utility model relates to gait analysis technical field more particularly to a kind of gaits based on IMU inertial sensor point
Analysis apparatus.
Background technique
Gait analysis be by observing the posture that people walks and the analysis of mechanics etc., obtain it is a series of about
The parameters such as distance, angle, time, stress and signal curve, so the gait information of measurement and analysis people have in real life
Many application prospects, such as gait analysis can be used for predicting a possibility that the elderly suffers from cognitive disorder and supervise in clinical medicine
Protect the rehabilitation degree of patient.
There are many methods for the measurement and analysis of body gait at present, and traditional clinical measurement is by tape measure, stopwatch, protractor
Etc. tool records body gait information, this method application condition as caused by human factor is big, obtained resultant error
It is bigger, it is difficult to be accurately applied to actual walking pattern and analyze.
With scientific and technological progress and development, based on video image technology, pressure information technology, electromyography signal technology and acoustics letter
The gait analysis method of number technology is rising and is gradually being applied, although these technologies have been improved in accuracy,
It is only used for laboratory environment, the time cost and economic cost that practical operation is got up are all bigger, are not appropriate for appointing on a large scale
The popularization and use of meaning environment.
In the prior art, for example, application number of invention patent 201210425490.0 discloses gait analysis device includes
Measuring unit is configured to the movement of measurement object；Judging unit is configured as object-based movement and carrys out determine object starting row
The walking sart point in time walked；Feature value calculation unit is configured as calculating when determined walking sart point in time from walking
The motion characteristics amount of the object measured in scheduled period that sart point in time starts, the scheduled period as object movement not
During stabilization；And scavenging valve, it is configured as estimating the walk of object based on characteristic quantity.
In another example number of patent application 201610160391.2 discloses, entitled the present invention relates to a kind of gait analysis
System and method.The gait analysis system includes foot sensing unit, knee sensing unit and portable apparatus.Foot sensing
Unit is to sense pressure information.Knee sensing unit is to sense first and second knee three-dimensional perspective information.Portable dress
It sets to generate reaction force side according to pressure information, first and second knee three-dimensional perspective information and reaction force direction model
To information, according to pressure information, first and second knee three-dimensional perspective information, reaction force directional information, tibia length and knee
Joint moment model generate knee joint torque, according to pressure information, first and second knee three-dimensional perspective information one of them with
And gait pattern determines gait information, generates gait analysis result according to gait information, knee joint torque and gait pattern.This hair
Bright system and method can sense the foot of user and the pressure of knee and angle-data, by analysis generate analysis result with
Adjustment is suggested.
Structure is complicated for the gait analysis device or system technical solution that the above application for a patent for invention is related to, and calculating is compared
Complicated practicability is ideal not to the utmost, and does not consider the initial alignment error of measuring unit or sensing unit, therefore measurement data is inadequate
Accurately.
Utility model content
In order to solve the above-mentioned problems in the prior art, the utility model proposes one kind to be based on IMU inertial sensor
Gait analysis device, IMU inertial sensor is placed in the bottom of shoes, tester puts on the shoes for being placed with IMU inertial sensor
Walking under any environment according to mode of normally walking can be completed the measurement of gait, provide effectively for clinical treatment and monitoring
Reference data.
In order to achieve the above objectives, the utility model adopts the following technical solution:
A kind of gait analysis device based on IMU inertial sensor, including main shoes and secondary shoes are provided with the in the main shoes
One IMU inertial sensor is provided with the 2nd IMU inertial sensor in the pair shoes for acquiring the gait data of first foot,
For acquiring the gait data of second foot, data interaction, the master are carried out by bluetooth between the main shoes and the secondary shoes
Shoes are also used to the gait data of the gait data of collected first foot and second foot being uploaded to data server.
Preferably, the main shoes further include the first MCU main control module, the first bluetooth module and gsm module, and the pair shoes are also
Including the 2nd MCU main control module and the second bluetooth module, first bluetooth module and second bluetooth module are for carrying out
Bluetooth communication, the gsm module are used to upload the gait data of the gait data of collected first foot and second foot
To data server, the first MCU main control module is used for the first IMU inertial sensor, first bluetooth module
Whole control is carried out with the gsm module, the 2nd MCU main control module is used for the 2nd IMU inertial sensor and institute
It states the second bluetooth module and carries out whole control.
Preferably, the secondary shoes further include GPS module, and the GPS module is used to obtain the location information of tested carrier, and
It is sent to the 2nd MCU main control module, the 2nd MCU main control module is believed the position by second bluetooth module
Breath is sent to the main shoes.
Preferably, the first IMU inertial sensor and the 2nd IMU inertial sensor include accelerometer and top
Spiral shell instrument, the accelerometer is for detecting tested carrier in the acceleration signal of three-dimensional space, and the gyroscope is for detecting quilt
Carrier is surveyed in the angular velocity signal of three-dimensional space.
Compared with prior art, the utility model has the following beneficial effects:
IMU inertial sensor is placed in the bottom of shoes by the utility model, and tester, which puts on, is placed with IMU inertial sensor
Shoes, which are walked under any environment according to mode of normally walking, can be completed the measurement of gait, the gait based on IMU inertial sensor
Analytical equipment has many advantages, such as dexterity, is convenient for carrying, small power consumption, strong environmental adaptability, it is most important that inertia device precision
It is higher, the minor change in walking process can be experienced, each of walking process detail data can be recorded, to accurately divide
The gait data in people's walking process is precipitated, provides effective reference data for clinical treatment and monitoring.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of gait analysis device described in the utility model；
Fig. 2 is the analysis method flow chart of gait analysis device described in the utility model；
Fig. 3 is comparative situation figure of the 3-axis acceleration data before and after filtering；
Fig. 4 is the definition figure of carrier coordinate system；
Fig. 5 is that corresponding 3-axis acceleration counts and three-axis gyroscope data in people's walking process；
Fig. 6 is the attitude data curve calculated when tested carrier is walked based on complementary filter algorithm；
Fig. 7 is the accelerating curve and pitch angle curve when tested carrier is walked.
In figure: the main shoes of 1-, 2- pair shoes, the first IMU inertial sensor of 101-, the first MCU main control module of 102-, 103- first
Bluetooth module, 104-GSM module, the 2nd IMU inertial sensor of 201-, the 2nd MCU main control module of 202-, 203- the second bluetooth mould
Block, 204-GPS module.
Specific embodiment
Below by drawings and examples, the technical solution of the utility model is described in further detail.
The utility model provides a kind of gait analysis device based on IMU inertial sensor, as shown in Figure 1, including master
Shoes 1 and secondary shoes 2 are provided with the first IMU inertial sensor 101 in main shoes 1, for acquiring the gait data of first foot, secondary shoes 2
In be provided with the 2nd IMU inertial sensor 201, for acquiring the gait data of second foot, pass through between main shoes 1 and secondary shoes 2
Bluetooth carries out data interaction, and main shoes 1 are also used to the gait data by the gait data of collected first foot and second foot
It is uploaded to data server.
Further, main shoes 1 further include the first MCU main control module 102, the first bluetooth module 103 and gsm module 104, pair
Shoes 2 further include the 2nd MCU main control module 202 and the second bluetooth module 203, the first bluetooth module 103 and the second bluetooth module 203
For carrying out bluetooth communication, the distance of two shoes will not be far when walking, so Bluetooth communication can guarantee data completely
Synchronism；
Gsm module 104 is for the gait data of the gait data of collected first foot and second foot to be uploaded to
Data server, for example, by using the GSM2G communication technology, such design not only ensure that the data between the foot of left and right were synchronous, but also complete
It is whole errorless gait data to be uploaded into data server；
First MCU main control module 102 is used for the first IMU inertial sensor 101, the first bluetooth module 103 and gsm module
104 carry out whole control, and the 2nd MCU main control module 202 is used for the 2nd IMU inertial sensor 201 and the second bluetooth module 203
Carry out whole control.
Further, secondary shoes 2 further include GPS module 204, and GPS module 204 is used to obtain the location information of tested carrier,
And it is sent to the 2nd MCU main control module 202, the 2nd MCU main control module 202 is sent out location information by the second bluetooth module 203
Give main shoes 1.
Further, the first IMU inertial sensor 101 and the 2nd IMU inertial sensor 201 include accelerometer and top
Spiral shell instrument, wherein accelerometer is for detecting tested carrier in the acceleration signal of three-dimensional space, and gyroscope is for detecting tested load
Angular velocity signal of the body in three-dimensional space.
Tester puts on the main shoes 1 for being provided with the first IMU inertial sensor 101 and is provided with the 2nd IMU inertia sensing
The secondary shoes 2 of device 201 walk the measurement of gait can be completed under any environment according to mode of normally walking, inertia device precision compared with
Height can experience the minor change in walking process, can record each of walking process detail data, accurately analyze people
Gait data in walking process provides effective reference data for clinical treatment and monitoring.
The analysis method of gait analysis device described in the utility model based on IMU inertial sensor is as shown in Fig. 2, include
Following steps:
Before step 1, measurement, the scale factor error of IMU inertial sensor, zero offset error and installation position error are carried out
Calibration；
After step 2, measurement, the original gait data of IMU inertial sensor acquisition is filtered, high frequency is eliminated and makes an uproar
Sound；
Step 3 defines carrier coordinate system, calculates the initial not horizontal of the IMU inertial sensor；
Step 4 is analyzed and processed filtered gait data, obtains stride period and stride length.
Inertial sensor, need to be before the use to its constant multiplier, zero bias due to device individual difference and installation reason
And installation error is demarcated, calibration is the accuracy and uniformity in order to guarantee measurement.
Specifically, IMU inertial sensor includes accelerometer and gyroscope, in step 1, by being based on hexahedral mark
Cover half type demarcates IMU inertial sensor, and the model is simple to operation, and accuracy is high.
The peg model of accelerometer are as follows:
Wherein Nax、Nay、NazFor the output digital quantity of the accelerometer, axb、ayb、azbFor the input of the accelerometer
Amount, Kax、Kay、KazFor the scale factor error of the accelerometer, K0x、K0y、K0zFor the zero offset error of the accelerometer,
Ayx、Azx、Axy、Azy、Axz、AyzFor the installation position error of the accelerometer；
The peg model of gyroscope are as follows:
Wherein Ngx、Ngy、NgzFor the output digital quantity of the gyroscope, ωxb、ωyb、ωzbFor the input of the gyroscope
Amount, Kgx、Kgy、KgzFor the scale factor error of the gyroscope, D0x、D0y、D0zFor the zero offset error of the gyroscope, Eyx、
Ezx、Exy、Ezy、Exz、EyzFor the installation position error of the gyroscope.
Scale factor error, the zero offset error, installation side of IMU inertial sensor can be demarcated by above-mentioned peg model
Position error, the accuracy of sensing data greatly improved in the accuracy of these parameters, and then improves the accurate of gait parameter
Property.
Further, in step 2, the original gait data is filtered by second-order low-pass filter, is eliminated
High-frequency noise.
Original sensing data is since the interference of high-frequency noise causes to generate error, so must utilize before the computation
Filtering technique elimination high-frequency noise, movement characteristic when the utility model is normally walked according to the sample frequency of data and people,
High-frequency noise is effectively filtered out using second-order low-pass filter, improves the stability and accuracy of initial data, for gait point
Analysis provides more accurate data source.Fig. 3 is comparative situation of the 3-axis acceleration data before and after filtering, is not only filtered after filtering
High-frequency Interference noise is fallen, and effective information can be retained.
Further, as shown in figure 4, in step 3, the X-axis of carrier coordinate system is defined as perpendicular to the ordinate of foot and refers to
To the right side of foot, Y-axis is defined as the y direction of foot, and Z axis is defined as perpendicular to ground upwardly direction.
Inertial sensor will cause horizontal by now certain angle after initial power-on due to the reason of installation, this
Angle is called initial not horizontal, and to make subsequent posture, correctly iteration continues, it is necessary to correctly obtain this initial angle, base
In this utility model proposes a kind of initial not horizontal algorithm model based on accelerometer data.
IMU inertial sensor includes accelerometer, calculate IMU inertial sensor initial not horizontal the step of include:
Obtain the original sampling data of accelerometer:
Na=(Nax,Nay,Naz)T
Using scale factor error, zero offset error and the installation position error calculation demarcated to the original sampling data
Compensated ratio increment:
Wherein α=x, y, z, above formula are to utilize scale factor error, zero offset error and the installation position error meter demarcated
Calculation ratio increment, then compensated ratio increment are as follows:
Wherein, δ T is sampling period, Ea, k0、kaaFor installation position error, zero offset error and scale factor error；
Comparative example increment carries out integral and normalized:
Δwb=Σ δ wb
Wherein δ wbIndicate the ratio of three axis of acceleration, Δ wbIndicate the proportional integration of three axis of acceleration,To calculate
3-axis acceleration out, Δ w are that three axis scales are integrated normalized,For y-axis acceleration,For z-axis acceleration；
The initial attitude angle of IMU inertial sensor is calculated according to normalized result:
θ=arcsinT32
θ, γ are initial pitch angle and roll angle.
Human locomotion is a cycle movement lasting, with the harmonious rhythm and pace of moving things, and walking period feature is corresponding
It is also embodied in inertia walking state data, Fig. 5 is that corresponding 3-axis acceleration counts and three-axis gyroscope in people's walking process
Data.
Specifically, step 4 includes:
Firstly, obtaining 3-axis acceleration data and three axis angular rate data as shown in Figure 5；
Then, it is based on complementary filter algorithm, 3-axis acceleration data and three axis angular rate data are carried out from frequency domain angle
Fusion, calculates attitude data curve when tested carrier is walked, as shown in Figure 6.Based on above data, walking process institute is right
The Y-axis accelerating curve and pitch angle curve answered all present very strong regularity, can be obtained according to attitude data curve
Accelerating curve and pitch angle curve when walking to tested carrier, as shown in Figure 7.
Finally, accelerating curve and pitch angle curve obtain stride period and stride length according to Fig.7,.
According to the situation of change of Y-axis acceleration and pitch angle in Fig. 7: the A in figure, C point represent tiptoe will be from
Ground, B, D point represent heelstrike because a tiptoe it is liftoff to process next time heelstrike be exactly the period that strides,
As long as pitch angle or accelerating curve Wave crest and wave trough corresponding time point are found, then the period that strides is exactly the two time points
The corresponding time difference.
According to pitch angle above-mentioned and Y direction acceleration change curve, find it is corresponding heelstrike and
After tiptoe is liftoff point, carrying out quadratic integral to the acceleration between the two points can be obtained distance, i.e. stride length:
L=∫ ∫ ay(t)dt。
In order to verify the actual effect of the utility model, IMU inertial sensor is placed on sole, tester puts on installation
There are the shoes of inertial sensor to walk in laboratory, then carries out the distance that the utility model calculates distance and laser is measured pair
Than experimental facilities is following and experimenter's information is as follows:
Actual distance when tester walks is measured using laser ranging, and the distance and the utility model are calculated
Stride cumulative distance compares, and then obtains the precision of the utility model, and experimental result is as follows, this is practical new judging from the experimental results
The precision of type extraordinary can meet gait analysis related application within 2%.
Above-described specific embodiment, to the purpose of this utility model, technical scheme and beneficial effects carried out into
One step is described in detail, it should be understood that being not used to limit the foregoing is merely specific embodiment of the present utility model
Determine the protection scope of the utility model, within the spirit and principle of the utility model, any modification for being made equally is replaced
It changes, improve, should be included within the scope of protection of this utility model.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108030497A (en) * | 2018-01-16 | 2018-05-15 | 大连乾函科技有限公司 | A gait analysis device and method based on IMU inertial sensor |
| CN108334827A (en) * | 2018-01-23 | 2018-07-27 | 大连乾函科技有限公司 | A gait identity authentication method based on smart shoes and smart shoes |
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2018
- 2018-01-16 CN CN201820065847.1U patent/CN208876547U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108030497A (en) * | 2018-01-16 | 2018-05-15 | 大连乾函科技有限公司 | A gait analysis device and method based on IMU inertial sensor |
| CN108030497B (en) * | 2018-01-16 | 2023-12-19 | 大连乾函科技有限公司 | Gait analysis device and method based on IMU inertial sensor |
| CN108334827A (en) * | 2018-01-23 | 2018-07-27 | 大连乾函科技有限公司 | A gait identity authentication method based on smart shoes and smart shoes |
| CN108334827B (en) * | 2018-01-23 | 2024-03-26 | 大连乾函科技有限公司 | Gait identity authentication method based on intelligent shoe and intelligent shoe |
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