Gait event detection based on inter-joint coordination using only angular information
Gait event detection based on inter-joint coordination using only angular information
复制标题
DOI：
10.1080/01691864.2020.1803126
复制
发表时间：
2020-08-14
影响因子：
2
通讯作者：
Sugano, Shigeki
中科院分区：
文献类型：
--
作者：
Miyake, Tamon;Kobayashi, Yo;Sugano, Shigeki
可穿戴传感器的步态事件的检测是必要的机器人系统与步行的人进行交互。传统的步态相位检测方法是基于机器学习的。然而，该方法不能检测每个步态周期的步态事件，因为它是难以提取的特征点。另外，仅使用角度信息进行检测是有益的，因为角度信息是机器人的控制和评估所需要的。本文提出了一种新的算法，用于检测脚跟接触和脚趾离地使用髋关节，膝关节和踝关节，具有较低的维结构的关节间协调。该算法推导出角空间中的四个平面，并找到平面的切换点。七名参与者在测力板上行走，测力板测量脚对地板的力。当使用第一个步态数据计算平面后检测步态事件时，误差小于0.035 s。关节间协调模式的变化反映了步态时相的变化。虽然数据是离线计算的，但结果表明，一旦平面被导出，只要感测到角度，就可以检测到脚跟接触和脚趾离地。
The detection of gait events with wearable sensors is necessary for a robotic system interacting with walking people. Conventional gait phase detection methods are based on machine learning. However, this method cannot detect a gait event every gait cycle because it is difficult to extract characteristic points. Additionally, using only angular information for detection is beneficial because angular information is needed for the control and evaluation of the robots. This paper proposes a novel algorithm for the detection of heel contact and toe-off using the inter-joint coordination of the hip, knee, and ankle joints that has a lower-dimensional structure. The proposed algorithm derives the four planes in the angular space and finds the switching points of the planes. Seven participants walked on force plates that measured the force of the foot against the floor. The error was less than 0.035 s when the gait events were detected after calculating planes using the first gait datum. The change in the patterns of the inter-joint coordination reflected the change in gait phases. Although the data were calculated offline, the results show that the heel contact and toe-off could be detected as soon as the angles were sensed once the planes were derived.