A measure system of zero moment point using wearable inertial sensors
A measure system of zero moment point using wearable inertial sensors
复制标题
DOI：
10.1109/cc.2016.7489970
复制
发表时间：
2016-06
影响因子：
4.1
通讯作者：
Xianggang Zhang;Hao Wang;Yuliang Shi;Changjun Fu;Huiqin Wang;Guoyu Wang
中科院分区：
文献类型：
--
作者：
Xianggang Zhang;Hao Wang;Yuliang Shi;Changjun Fu;Huiqin Wang;Guoyu Wang
保持平衡是人类行走的前提。ZMP(零力矩)是总扭矩达到平衡的点。它能更好地反映步行过程中的动态平衡，是评价步行平衡能力的重要指标。ZMP在医疗康复、疾病诊断、治疗等领域有着广泛的应用。本文采用基于MEMS的可穿戴惯性传感器系统来测量步行过程中的ZMP(零力矩)，该系统具有价格低廉、使用方便、不受实验室限制等优点。我们研制的可穿戴ZMP测量系统由惯性测量子系统和PC机实时监测站组成。惯性测量子系统包括九轴惯性传感节点、车身通信网络和中心节点。惯性传感节点安装在人体的不同部位，实时采集人体姿态信息，然后通过卡尔曼滤波得到当前姿态的最佳估计。传感器的数据通过CAN总线汇聚到中心节点，然后计算出ZMP。最后，可以在上位机监控站中进行显示。实验证明，该系统能够实现行走过程中ZMP的实时检测。
Keeping balance is the premise of human walking. ZMP(zero moment point) is a point where total torque achieves balance. It is an important evaluation parameter of balance ability in walking, since it can be used to better reflect the dynamic balance during walking. ZMP can be used in many applications, such as medical rehabilitation, disease diagnosis, treatment and etc. In this paper, wearable inertial sensors system based on MEMS is used to measure ZMP (zero moment point) during walking, which is cheap, convenient, and free from the restriction of lab. Our wearable ZMP measurement system consists of inertial measurement subsystem and PC real-time monitoring station. Inertial measurement subsystem includes 9-axis inertial sensing nodes, the body communication network and the central node. Inertial sensing nodes are mounted on different parts of the body to collect body posture information in real-time, and then the best estimation of current posture are obtained by Kalman filter. The data from sensors is aggregated to the central node through the CAN bus, and then ZMP is calculated. Finally, it can be showed in the PC monitoring station. Experiments prove the system can achieve real-time ZMP detection during walking.