为了获取健康人体的正常步态信息,提出了一种快捷有效的获取方法.通过在下肢关节点处粘贴标记点,利用摄像机获取正常人行走的图像,对图像进行二值化处理,提取出标记点坐标.经过最小二乘拟合分析可得到人体脚心在一个步态周期内的运动轨迹及运动速度.最后对下肢康复机器人进行步态规划,得到下肢康复机器人的步态轨迹及其速度,并对不同年龄人群的步态速度曲线进行了分析.实验结果表明,该系统可行性好,工作稳定,为下肢康复机器人的运动学分析与控制提供有力的理论依据和验证方法.%In order to obtain gait features of human foot in normal walking process.This paper presents a fast and effective system for gait features acquisition.Feature points were attached to the specific parts of human lower limbs and a video camera was used to acquire images of a walking process.In addition,axis values of feature points can be acquired by image binarization processing.At the same time,foot trajectory of fixed center of mass and gait speed were abstracted based on the least square method (LSM).Finally,the gait of lower limb rehabilitation robot was planned according to the gait features,abstracting the gait trajectory of rehabilitation robot,Moreover,gait speed of different ages were analyzed.Experiments results show that the system is feasible and stable,which provides a powerful data basis and authentication methods for the analysis of movement and control of lower limb rehabilitation robot.
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