基于惯性测量器件的无线步态分析平台

摘要

The method of quantitative measurement of gait makes a profound influence on many fields,such as clinical medicine,biped robot control strategy and so on.A gait analysis platform is established based on inertial measurement unit (IMU)combining wireless sensor network.Two IMU sensor nodes are bound on the left and right ankles so that the acceleration and angular velocity can be obtained from both sides at the same time and sent to remote terminal.Based on pattern recognition, time series analysis,threshold detection,zero velocity correction and various data fusion methods,the gait parameters are calculated.Furthermore,dual gait parameters,such as the dual stand phase and dual gait period can be obtained by the proposed sensor data fusion method.Dual stand phase detection has an important significance to the human activity recognition.The experimental results show that this study achieves high calculation accuracy.%步态定量测量方法应用于许多领域，如临床医学、双足机器人控制等。采用惯性测量单元结合无线传感器网络建立了一个步态分析平台，将两个无线惯性测量单元传感器节点分别绑定在左右双侧脚踝，以同时采集双脚运动过程中的加速度和角速度信号，并将其通过无线方式发送到远程终端。通过模式识别、时间序列分析、阈值检测和零速修正等多种数据融合方法计算步态参数，并通过融合双足传感器数据得到双支撑相、双脚步行周期等重要的双足步态参数，其中双支撑相参数对人体日常动作的识别有重要意义。实验结果显示该研究具有较高的计算精度。