Estimation Method for Joint Moment and Muscle Action of Human Leg without Restriction of Work space

康复对于防止卧床病人增加、改善其伤残状况非常重要。有关患者关节力矩或肌肉动作的信息对于医生或物理治疗师判断哪种康复菜单最适合每个患者非常有用。多相机系统的三维运动测量和测力板的地面反应测量的集成已广泛用于跟踪人体部位并对其身体行为进行动态分析。然而这种方法需要相当大的工作空间，并且对于日常康复来说非常昂贵。在本研究项目中，提出了一种利用足底压力传感器测量踝关节力矩和反作用力的新估计方法。将压力传感器安装在患者的鞋子中，并通过使用重回归分析来估计信号处理的参数（回归系数）。利用这种新的估计方法进行步态分析，所提出的方法在垂直反作用力和足关节力矩方面的实验结果与传统方法的结果相当。检查了压力传感器数量的影响，可以看出，该系统可以使用 4 个以上压力传感器显示相当精确的结果。检查了脚尺寸的影响，可以看出，使用安装有相同传感器的鞋子可以测量许多不同患者的反作用力和关节力矩。提出了一种仅使用一台摄像机和非常简单的信号处理的简单三维运动分析方法。可以根据图像处理中标记的面积来估计相机和人体上标记之间的距离。该系统可以安装在移动设备上。然后，如果我们将该系统安装在步行支持机上，我们就可以在任何地方测量使用步行支持机进行康复的患者的运动。

Rehabilitation is very important in preventing an increase of bedridden patients and improving their impairments. Information on the joint moment or muscle action of patients is very useful for doctor or PT to judge what kind of rehabilitation menu is optimum for each patient The integration of three dimensional motion measurement with multi camera system and ground reaction measurement with force plate has been widely used to tracking human parts and performing dynamic analysis of their physical behaviors. However such a method needs sizable work space and it is very expensive for daily rehabilitation.In this research project, a new estimation method for measuring ankle joint moment and reaction force by using planter pressure sensors is proposed. Pressure sensors are mounted in the shoes of patient and parameters(regression coefficients) for signal processing is estimated by using heavy regression analysis. By using this new estimation method, gait analysis is carried out and experimental results of the proposed methods on vertical reaction force and foot joint moment compare well with those by using the conventional method. Effect of number of pressure sensors is examined and it can be seen that this system can show considerably precise results with more than 4 pressure sensors. Effect of foot size is examined and it can be seen that reaction force and joint moment of many different patients can be measured by using same sensor mounted shoes.A simple three dimensional motion analysis method by using only one camera and very simple signal processing is proposed. Distance between camera and markers on the human body can be estimated from area of the marker in the image processing. This system can be installed on the moving device. Then if we install this system on a walking support machine, we can measure motion of a patient who uses a walking support machine in his rehabilitation in any place.