Human Lower Limb Motion Analysis Using Wearable Ground Reaction Force Sensors and Motion Sensors

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。患者的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强板地面反应测量的一体化已经得到了广泛的应用。他们应用逆动力学来估计关节力矩。然而，这种方法需要较大的工作空间，且日常康复费用较高。本研究项目开发了一种新型的可穿戴式三维地面反作用力传感器和可穿戴式运动传感器。可穿戴式地面反应传感系统是一种可穿戴式地面反应传感系统，它由一个平行的六轴承力器、一个三轴称重传感器和一个运动传感器安装在患者的鞋内。将局部坐标系中的反力变换到直角坐标系中。将这种新型的可穿戴反作用力传感器和可穿戴运动传感器安装在人体小腿上，建立了人体小腿关节力矩的估计方法。对步态进行了分析，实验结果表明，该方法得到的小腿地面反作用力和关节力矩与常规方法得到的结果基本一致。

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 forte plate has been widely used. They apply inverse dynamics to estimate joint moment . However such a method needs sizable work space and it is very expensive for daily rehabilitation.In this research project, a new wearable 3-dimentinal ground reaction force sensor and wearable motion sensor are developed. A parallel type 6-axial load sell, a 3-axial load cell and a motion sensor are mounted in the shoes of patient which is the wearable ground reaction sensor system. Reaction force in local coordinate is transformed to the rectangular coordinate. By using this new wearable reaction force sensor and wearable motion sensor attached to the human lower limb, estimation method of joint moment of human lower limb is developed. Gait analysis is carried out and experimental results of the proposed methods on ground reaction force and joint moment of the lower limb compare well with those by using the conventional method.