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

康复对于防止卧床不起患者的增加和改善他们的损害非常重要。有关患者关节瞬间或肌肉动作的信息对于医生或PT判断哪种康复菜单最适合每个患者是非常有用的。多摄像机系统的三维运动测量和力板的地面反应测量相结合已被广泛用于跟踪人体部分并对其物理行为进行动态分析。然而，这种方法需要较大的工作空间，且日常康复费用较高，本研究项目提出了一种利用花盆压力传感器测量踝关节力矩和反作用力的新方法。压力传感器安装在患者的鞋子上，并使用重回归分析估计用于信号处理的参数(回归系数)。利用这种新的估计方法对步态进行了分析，实验结果表明，该方法得到的垂直反作用力和足关节力矩与传统方法相比有较好的一致性。考察了压力传感器数目对测量结果的影响，结果表明该系统在4个以上的压力传感器上都能显示出较高的精度。考察了足部大小的影响，可以看到使用同一传感器安装的鞋可以测量多个不同患者的反作用力和关节力矩。提出了一种简单的三维运动分析方法，只使用一个摄像头，非常简单的信号处理。在图像处理中，摄像机与标记物之间的距离可以通过标记物的面积来估计。该系统可以安装在移动设备上。然后，如果我们将这个系统安装在行走支撑机上，我们可以测量在任何地方使用行走支撑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.