Research on real-time gait phase measuring based on multi-sensor

摘要

The calculation of the online gait phase identification and centre of pressure(COP) is one of the key technologies of biped robot,artificial limb,and rehabilitation robot.The multi-sensor based measure model is established in this paper and the gait phase is analyzed.In our research,5 pieces of force sensitive resistors are used as exsole sensor,and a fibre sensor is used for measuring of the bend of the legs.Based on these sensors' data fusion,the online gait phase identification can be obtained.The 5 normal gait Phases such as Stance,Stance-knee-bend,Heel-off,Swing-bend,Swing-extend,Heel-strike and 4 Irregularities such as Stance-External-tip over,stance-internal-tip over,forward_tipping over,etc.can be identified with a combination of sensors.The COP can also be calculated real-timely.The identification is independent from the order of the walking.The reliability of the results is 100% attainable.The first gait phase is also identifiable.Additionally,whether human walks fast or quite slowly doesn′t influence the identification result.The normal gait phase and irregularities can be distinguished.