穿戴式导航传感器在步行康复训练监控中的应用

摘要

With the requirements of real-time monitoring in walking rehabilitation training for stroke patients,a low-cost navigation hardware platform is developed.A zero-velocity update (ZUPT)algorithm is used to estimate the walking distance in real time.The navigation estimation formula are derived in the local frame and three joint-judgment conditions for ZUPT are constructed.Real experiment is carried out to demonstrate the efficiency of our proposed navigation algorithm.The result shows the developed navigation system can adequately fulfill the walking rehabilitation training requirement.%针对步行康复训练中的实时监控问题，开发了低成本导航传感器的硬件平台，设计了一种计算步行距离的零速修正算法，给出了本地坐标系下的导航解算公式，并论述了三组零速检测阈值联合判决条件。最后通过实验验证了本文所提出算法的正确性和实用性，可满足步行康复训练监控的应用需求。