基于下肢康复机器人的激光雷达步态测量系统

Gait Measurement System Using Laser Range Sensor Based on Lower-limb Rehabilitation Robot

时间和空间的步态参数为步态疾病的患者在进行康复训练时,提供了重要的信息。步态测量通常使用光学动作捕捉系统和压力板等进行。然而,这些系统因其高昂的价格,较大的占地面积和需要穿戴的要求难以应用于下肢康复机器人。该研究提出了一种基于下肢康复机器人使用激光雷达传感器的步态测量系统。首先将激光的原始数据采用聚类算法将其划分为左右两腿,利用最小二乘法拟合成腿圆。然后通过找寻到的脚跟着地和脚尖离地的时间和位置来计算步态参数。最后通过光学动捕系统来验证该测量系统的有效性。结果表明,基于激光雷达的步态测量系统的测量误差较小,该系统是步态测量的有效工具手段。

Spatiotemporal gait parameters provide important information for the rehabilitation of patients with gait dysfunction.These parameters are often obtained by complex systems such as optical motioncapture system and pressure plates.However,these systems cannot be deployed at the lower-limb rehabilitation robot easily because of high costs,large area occupation and wearable requirements.We present a gait measurement system with a Light Detection And Ranging(LIDAR) laser sensor based on the lower-limb rehabilitation robot.Firstly,to calculate gait parameters,the data are aggregated into left and right legs by the clustering algorithm and the legs contour is fitted with two circles respectively according to the least square method.Then,the spatiotemporal gait parameters are defined based on the time and position of initial contact(IC) and toe off(TO).Finally,to verify the validity of the proposed system,we compared the results of the proposed system with a 3 D motion capture system based on a lower-limb rehabilitation robot.Experimental results showed that the gait detection system can measure the parameters within a small range of error that testified the validation of the proposed system.This system proved to be a valid and reliable method for the measurement of gait parameters.