基于全方向下肢康复训练机器人的步态检测与分析
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摘要
二十一世纪以来,世界人口老龄化趋势的不断加剧。在老龄人群中有大量的脑血管疾病及神经系统疾病患者,多数存在下肢运动功能障碍。临床医学理论证明,除了早期的手术和药物治疗外,正确、科学的下肢康复训练对这些患者的下肢运动功能恢复发挥着重要的作用。及时、准确地获取下肢运动功能障碍患者的步态信息,并对其步态特征进行分析,是对其进行科学下肢行走康复训练的基础和必要前提。
为了获取受试者的步态信息,本研究设计了一种基于全方向下肢康复训练机器人的超声波步态检测系统,用来获取受试者的步态信息。同时,根据获得的步态信息提出了步态对称性指标,分析受试者在行走过程中左右腿的步态对称性,并通过模拟检测实验,验证检测系统的设计和利用步态对称性指标分析步态对称性方法的正确性。
超声波步态检测系统安装在全方向下肢康复训练机器人平台内侧。首先,检测受试者在行走过程中左右腿与检测平台之间的距离数据,计算受试者行走时的步长、步速、步频等步态参数。通过对检测数据获取的步态参数与实际步态参数进行比较分析,验证了超声波步态检测系统的可行性和准确性。进而利用实验装置获取的距离数据对受试者的下肢步态对称性进行了分析研究,提出了基于距离数据的步态对称性指标,分析受试者步态对称性。通过对不同的下肢运动功能障碍患者的多种模拟实验,获取其步态信息,根据不同的步态对称性指标分析不同模拟情况的步态对称性,并利用提出的对称性指标对受试者的步态对称性进行评估,验证步态对称性指标分析方法的有效性和正确性。
In recent years,it is gradually increasing that the aging phenomenon of the world’s population. Some of this aging population, who has suffered from lower limbs motion dysfunction, are of cerebrovascular disease or neurological. Clinical theory proves that, in addition to early surgery and medical treatment, correct and scientific rehabilitation training plays an important role for these groups. It is highly essential and important that timely and accurately obtaining and analyzing the gait information of subjects for scientific rehabilitation training.
In order to obtain the gait information of subjects, an ultrasonic gait detection system is designed based on the omni-directional rehabilitation robot. Moreover, a number of gait symmetry index are proposed to analyze walking symmetry of subjects. The effectiveness of the designation of ultrasonic gait detection system and the method of using gait symmetry index to analyze the gait symmetry of subjects are proved.
The ultrasonic detection system is installed in the front of omni-directional rehabilitation robot. First, the distance from the right and left legs of subjects to ultrasonic sensors can be detected, series of gait parameters are computed including step length, speed, frequency, then the walking symmetry of subjects between two lower limbs can be analyzed. The extracted gait parameters from detected data and real gait parameters are computed, the results show that the ultrasonic gait detection system can get gait parameters effectively. For the gait symmetry analysis of subjects from the experiments, series of different gait symmetry index are proposed to analysis walking symmetry of subjects, these symmetry index are calculated based on detected gait data from some different simulation experiments of subjects with lower limbs motion dysfunction. According to the different gait symmetry index, the gait walking symmetry of subjects can be evaluated, and then the effectiveness of the method that gait symmetry analysis is validated.
为了获取受试者的步态信息,本研究设计了一种基于全方向下肢康复训练机器人的超声波步态检测系统,用来获取受试者的步态信息。同时,根据获得的步态信息提出了步态对称性指标,分析受试者在行走过程中左右腿的步态对称性,并通过模拟检测实验,验证检测系统的设计和利用步态对称性指标分析步态对称性方法的正确性。
超声波步态检测系统安装在全方向下肢康复训练机器人平台内侧。首先,检测受试者在行走过程中左右腿与检测平台之间的距离数据,计算受试者行走时的步长、步速、步频等步态参数。通过对检测数据获取的步态参数与实际步态参数进行比较分析,验证了超声波步态检测系统的可行性和准确性。进而利用实验装置获取的距离数据对受试者的下肢步态对称性进行了分析研究,提出了基于距离数据的步态对称性指标,分析受试者步态对称性。通过对不同的下肢运动功能障碍患者的多种模拟实验,获取其步态信息,根据不同的步态对称性指标分析不同模拟情况的步态对称性,并利用提出的对称性指标对受试者的步态对称性进行评估,验证步态对称性指标分析方法的有效性和正确性。
In recent years,it is gradually increasing that the aging phenomenon of the world’s population. Some of this aging population, who has suffered from lower limbs motion dysfunction, are of cerebrovascular disease or neurological. Clinical theory proves that, in addition to early surgery and medical treatment, correct and scientific rehabilitation training plays an important role for these groups. It is highly essential and important that timely and accurately obtaining and analyzing the gait information of subjects for scientific rehabilitation training.
In order to obtain the gait information of subjects, an ultrasonic gait detection system is designed based on the omni-directional rehabilitation robot. Moreover, a number of gait symmetry index are proposed to analyze walking symmetry of subjects. The effectiveness of the designation of ultrasonic gait detection system and the method of using gait symmetry index to analyze the gait symmetry of subjects are proved.
The ultrasonic detection system is installed in the front of omni-directional rehabilitation robot. First, the distance from the right and left legs of subjects to ultrasonic sensors can be detected, series of gait parameters are computed including step length, speed, frequency, then the walking symmetry of subjects between two lower limbs can be analyzed. The extracted gait parameters from detected data and real gait parameters are computed, the results show that the ultrasonic gait detection system can get gait parameters effectively. For the gait symmetry analysis of subjects from the experiments, series of different gait symmetry index are proposed to analysis walking symmetry of subjects, these symmetry index are calculated based on detected gait data from some different simulation experiments of subjects with lower limbs motion dysfunction. According to the different gait symmetry index, the gait walking symmetry of subjects can be evaluated, and then the effectiveness of the method that gait symmetry analysis is validated.
引文
[1] Kram R, Timothy M, Griffin J, et al. Force treadmill for measuring vertical and horizontal ground reaction forces, Journal of Applied Physiology, 1998, 85(2):764~769.
[2] Chou L S, Kaufman R, Brey H, et al. Motion of the whole body’s center of mass when stepping over obstacles of different heights. Gait and Posture, 2001, 13(1):17~26.
[3] Lee L, Grimson. Gait analysis for recognition and classification, Automatic Face and Gesture Recognition,2002:148~155.
[4] Lee L, Romano R, Stein G. Monitoring activities from multiple video streams: establishing a common coordinate frame, Pattern Analysis and Machine Intelligence, 2000, 22(8): 758~767.
[5] Yean Yam C, Mark S, Nixon, et al. Automated person recognition by walking and running via model-based approaches. Pattern Recognition, 2004, 37 (5): 1057~1072.
[6] Kavanagh J, Barrett R, Morrison S. Upper body accelerations during walking in healthy young and elderly men. Gait and Posture, 2004, 20(3): 291~298.
[7] Joonbum B, Kyoungchul K, Nancy B, et al. A mobile gait monitoring system for gait analysis, International Conference on Rehabilitation Robotics, USA, 2009:73~79.
[8] Richard F, Dudley S, Joseph N. Portable ranging system for analyzing gait. United States, Patent No. 5831937, 1998.
[9] Yingbo Xu, Chunhao Wang, Paul Zalzal, et al. Analysis of human gait bilateral symmetry for functional assessment after an orthopaedic surgery, Lecture Notes in Computer Science, 2009:627~636.
[10] Robinro O, Herzon W, Nigg M, et al. Use of force platform variables to quantify the effects of chiropractic manipulation on gait symmetry, Journal of Manipulative Physical Therapeutics, 1987, 10(4):172~176.
[11] Seliktar R, Mizrahi J. Some gait characteristics of below-knee amputees and their reflection on the ground reaction forces, Eng Med, 1986, 15(1):27~34.
[12] Pierotti E, Brand A, Gabel H, et al. Are leg electromyogram profiles symmetrical, J Orthop Res, 1991, 9(5):720~729.
[13] Vagenas G, Hoshizaki B. A multivariable analysis of lower extremity kinematic asymmetry in running, Int J Sports Biomech, 1992, 8(1):11~29.
[14] Gundersen A, Valle R, Barr E, et al. Bilateral analysis of the knee and ankle during gait: an examination of the relationship between lateral dominance and symmetry. Phys Ther, 1989, 69(8):640~650.
[15] Muniz S, Nadal J. Application of principal component analysis in vertical ground reaction force to discriminate narmal and abnormal gait, Gait and Posture, 2009:31~35.
[16]赵海燕,张立勋,张今瑜等.人体步态运动学研究方法进展综述.测控技术,2007,26(12):1~3
[17]杨衍明,林方,袁波等.超声定位人体下肢步态分析仪.中国生物医学工程学报,1997,16(4):298~303.
[18]林方,杨衍明.提高超生步态检测系统精度的研究.核电子学与探测技术,1998,18(4):292~296.
[19]陈大跃,丁洪,周新宇等.人体行走的步态测试与分析系统.中国生物医学工程学报,1997,16(2):133~141.
[20]刘蓉,黄璐,李少伟等.基于步态加速度的步态分析研究.传感技术学报,2009,22(6):893~896.
[21]侯向锋,刘蓉,周兆丰.加速度传感器MMA7260在步态特征提取中的应用.传感技术学报,2007,20(3):507~511.
[22]侯向锋.基于运动加速度的步态识别研究:(硕士学位论文).武汉:华中师范大学,2007.
[23]张立勋,王令军,王凤良等.一种人体步态轨迹测量方法.测控技术,2009,28(2):24~27.
[24]王人成,金德闻,张济川等.一种应变式三维测力平台.中国.专利公开号:2702708. 2004.
[25]高圣伟,胡晓璐,肖星等.步态检测装置.中国.专利申请号:200910069062.7. 2009.
[26]韦巍,江沛.基于行人步态检测的步速测量和传输的系统和方法.中国.专利公开号101694499A. 2009.
[27]金德闻,张培玉,王人成等.膝上假肢使用者步态对称性分析.中国康复医学杂志1997,12(3):112~115.
[28]廖福元,王珏.帕金森病对步态对称性的影响.西安交通大学学报,2006,40(2):228~231.
[29]王人成,张美芹,华超等.基于Fitts定律的人体步态对称性评定指标.清华大学学报,2005,45(2):190~192.
[30]吴建宁,王珏.采用支持向量机评估老年人步态对称性的研究.西安交通大学学报,2007,41(8):995~999.
[31]钱竞光,宋雅伟,叶强等.步行动作的生物力学原理及步态分析.南京体育学院学报,2006,5(4):1~8.
[32]胡雪艳,恽晓平,郭忠武等.正常人步态特征研究.中国康复理论与实践,2006,12(10):855-857.
[33]杨路明,桂彦,曾庆冬.基于无标记点运动跟踪的步态参数提取.计算机应用研究,2008,25(6):1759~1764.
[34]张翼,邱兆坤,朱玉鹏等.基于微多普勒特征的人体步态参数估计.信号处理,2010,26(6):917~922.
[35]陆明刚,宋启敏.步态参数的测试.上海大学学报,1998,4(1):87~91.
[36]杨俊友,李宇庆,白殿春.下肢康复机器人机械结构设计及动力学仿真.沈阳工业大学学报,2010,32(5):514~519.
[37]杨俊友,白殿春,王硕玉,等.全方向轮式下肢康复训练机器人轨迹跟踪控制.机器人,2011,33(3):314~318.
[38]白殿春.下肢康复训练机器人控制策略与康复评价方法研究:(博士学位论文).辽宁:沈阳工业大学,2011.
[39] Junyou Yang, Dianchun Bai, Le Ma, et al. Design of mechanical structure and tracking control system for lower limbs rehabilitative training robot. ICMA, 2009:1824~1829.
[40] Dianchun Bai, Junyou Yang, Le Ma, et al. Walking activity detection with lower limbs rehabilitative training robot by wearable wireless sensors. Automation and Robotics, 2010:277~280.
[41]李金香,李龙,王兴军等.离子迁移信号数字滤波和谱峰检测技术.舰船防化,2007,6:15~22.
[2] Chou L S, Kaufman R, Brey H, et al. Motion of the whole body’s center of mass when stepping over obstacles of different heights. Gait and Posture, 2001, 13(1):17~26.
[3] Lee L, Grimson. Gait analysis for recognition and classification, Automatic Face and Gesture Recognition,2002:148~155.
[4] Lee L, Romano R, Stein G. Monitoring activities from multiple video streams: establishing a common coordinate frame, Pattern Analysis and Machine Intelligence, 2000, 22(8): 758~767.
[5] Yean Yam C, Mark S, Nixon, et al. Automated person recognition by walking and running via model-based approaches. Pattern Recognition, 2004, 37 (5): 1057~1072.
[6] Kavanagh J, Barrett R, Morrison S. Upper body accelerations during walking in healthy young and elderly men. Gait and Posture, 2004, 20(3): 291~298.
[7] Joonbum B, Kyoungchul K, Nancy B, et al. A mobile gait monitoring system for gait analysis, International Conference on Rehabilitation Robotics, USA, 2009:73~79.
[8] Richard F, Dudley S, Joseph N. Portable ranging system for analyzing gait. United States, Patent No. 5831937, 1998.
[9] Yingbo Xu, Chunhao Wang, Paul Zalzal, et al. Analysis of human gait bilateral symmetry for functional assessment after an orthopaedic surgery, Lecture Notes in Computer Science, 2009:627~636.
[10] Robinro O, Herzon W, Nigg M, et al. Use of force platform variables to quantify the effects of chiropractic manipulation on gait symmetry, Journal of Manipulative Physical Therapeutics, 1987, 10(4):172~176.
[11] Seliktar R, Mizrahi J. Some gait characteristics of below-knee amputees and their reflection on the ground reaction forces, Eng Med, 1986, 15(1):27~34.
[12] Pierotti E, Brand A, Gabel H, et al. Are leg electromyogram profiles symmetrical, J Orthop Res, 1991, 9(5):720~729.
[13] Vagenas G, Hoshizaki B. A multivariable analysis of lower extremity kinematic asymmetry in running, Int J Sports Biomech, 1992, 8(1):11~29.
[14] Gundersen A, Valle R, Barr E, et al. Bilateral analysis of the knee and ankle during gait: an examination of the relationship between lateral dominance and symmetry. Phys Ther, 1989, 69(8):640~650.
[15] Muniz S, Nadal J. Application of principal component analysis in vertical ground reaction force to discriminate narmal and abnormal gait, Gait and Posture, 2009:31~35.
[16]赵海燕,张立勋,张今瑜等.人体步态运动学研究方法进展综述.测控技术,2007,26(12):1~3
[17]杨衍明,林方,袁波等.超声定位人体下肢步态分析仪.中国生物医学工程学报,1997,16(4):298~303.
[18]林方,杨衍明.提高超生步态检测系统精度的研究.核电子学与探测技术,1998,18(4):292~296.
[19]陈大跃,丁洪,周新宇等.人体行走的步态测试与分析系统.中国生物医学工程学报,1997,16(2):133~141.
[20]刘蓉,黄璐,李少伟等.基于步态加速度的步态分析研究.传感技术学报,2009,22(6):893~896.
[21]侯向锋,刘蓉,周兆丰.加速度传感器MMA7260在步态特征提取中的应用.传感技术学报,2007,20(3):507~511.
[22]侯向锋.基于运动加速度的步态识别研究:(硕士学位论文).武汉:华中师范大学,2007.
[23]张立勋,王令军,王凤良等.一种人体步态轨迹测量方法.测控技术,2009,28(2):24~27.
[24]王人成,金德闻,张济川等.一种应变式三维测力平台.中国.专利公开号:2702708. 2004.
[25]高圣伟,胡晓璐,肖星等.步态检测装置.中国.专利申请号:200910069062.7. 2009.
[26]韦巍,江沛.基于行人步态检测的步速测量和传输的系统和方法.中国.专利公开号101694499A. 2009.
[27]金德闻,张培玉,王人成等.膝上假肢使用者步态对称性分析.中国康复医学杂志1997,12(3):112~115.
[28]廖福元,王珏.帕金森病对步态对称性的影响.西安交通大学学报,2006,40(2):228~231.
[29]王人成,张美芹,华超等.基于Fitts定律的人体步态对称性评定指标.清华大学学报,2005,45(2):190~192.
[30]吴建宁,王珏.采用支持向量机评估老年人步态对称性的研究.西安交通大学学报,2007,41(8):995~999.
[31]钱竞光,宋雅伟,叶强等.步行动作的生物力学原理及步态分析.南京体育学院学报,2006,5(4):1~8.
[32]胡雪艳,恽晓平,郭忠武等.正常人步态特征研究.中国康复理论与实践,2006,12(10):855-857.
[33]杨路明,桂彦,曾庆冬.基于无标记点运动跟踪的步态参数提取.计算机应用研究,2008,25(6):1759~1764.
[34]张翼,邱兆坤,朱玉鹏等.基于微多普勒特征的人体步态参数估计.信号处理,2010,26(6):917~922.
[35]陆明刚,宋启敏.步态参数的测试.上海大学学报,1998,4(1):87~91.
[36]杨俊友,李宇庆,白殿春.下肢康复机器人机械结构设计及动力学仿真.沈阳工业大学学报,2010,32(5):514~519.
[37]杨俊友,白殿春,王硕玉,等.全方向轮式下肢康复训练机器人轨迹跟踪控制.机器人,2011,33(3):314~318.
[38]白殿春.下肢康复训练机器人控制策略与康复评价方法研究:(博士学位论文).辽宁:沈阳工业大学,2011.
[39] Junyou Yang, Dianchun Bai, Le Ma, et al. Design of mechanical structure and tracking control system for lower limbs rehabilitative training robot. ICMA, 2009:1824~1829.
[40] Dianchun Bai, Junyou Yang, Le Ma, et al. Walking activity detection with lower limbs rehabilitative training robot by wearable wireless sensors. Automation and Robotics, 2010:277~280.
[41]李金香,李龙,王兴军等.离子迁移信号数字滤波和谱峰检测技术.舰船防化,2007,6:15~22.