A Parametric Identification Method for Human Gait Differencesand its Application
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摘要: 通过对下肢3个关节步态曲线建立具有共性控制点的数学模型,提出了以个体的局部形状参数作为区别同一关节中不同曲线的方法。实验采用Perception Neuron动作捕捉系统,对正常组10名健康男性青年,验证组2名健康和3名处于不同康复期的右腿踝关节损伤男性青年在正常步速下的步态数据进行实验测量以获得髋关节、膝关节和踝关节的上下位移轨迹曲线,并计算得出正常组步态曲线的局部形状参数作为判别步态正常与否的参考调整范围。经分析,验证组中健康被试者的局部形状参数大多属于该范围,而恢复较差的病人参数大多超出该范围,表明该参数化方法可有效辨别步态曲线差异,此外还可对康复评价的方法提供依据。Abstract: The mathematical model of gait curves with the same control points for three lower limb joints was proposed, and the shape parameters were used to distinguish different curves. The gait data of a normal group (10 healthy young men) and a validation group (2 healthy and 3 young men with right ankle injuries) were measured and calculated at normal walking speed with the Perception Neuron motion capture system. Therefore, the vertical displacement trajectories of lower limb joints (hip, knee and ankle) and their shape parameters are obtained. The analysis of whether the shape parameters of the validation group belong to the adjustment range of shape parameters of the normal group shows that most of the shape parameters of the injured are beyond the adjustment range, indicating that the parametric judgment is valid and concluding that this method has reference values for identifying abnormal gaits and evaluating rehabilitation effects.
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Key words:
- motion capture /
- control point /
- shape parameter
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表 1 正常组各被试者步态原始周期
指标 正常组 平均值 标准差 1 2 3 4 5 6 7 8 9 10 原始周期/s 1.19 1.48 1.41 1.48 1.26 1.26 1.26 1.33 1.41 1.33 1.34 0.10 表 2 下肢关节共性控制点坐标
关节 共性控制点坐标 P1 P2 P3 P4 P5 P6 P7 髋Ph 0.00,941.00 23.19,980.17 52.22,927.01 81.68,980.68 100.00,939.00 − − 膝Pk 0.00,475.93 24.97,494.79 76.88,416.06 75.46,558.28 100.00,480.07 − − 踝Pa 0.00,73.61 60.44,52.36 58.17,219.40 76.90,220.33 80.75,84.87 94.88,126.69 100.00,82.39 表 3 正常组右腿关节局部形状参数
被试者 髋关节局部形状参数 膝关节局部形状参数 踝关节局部形状参数 λ1 λ2 λ3 λ4 λ1 λ2 λ3 λ4 λ1 λ2 λ3 λ4 λ5 λ6 1 4.2 5.4 6.6 3.8 4.0 3.9 4.1 2.9 1.3 13.9 23.7 10.2 7.3 4.8 2 2.6 5.0 5.9 3.2 4.1 3.3 3.0 0.6 2.8 13.6 21.3 8.9 9.8 4.2 3 2.7 4.4 4.5 2.7 1.4 3.3 4.4 3.2 5.1 3.4 10.8 0.1 20.8 1.3 4 0.6 3.4 2.8 1.1 0.7 3.2 3.1 1.9 4.6 1.1 0.9 26.2 3.2 3.7 5 3.2 4.8 4.6 3.0 4.2 4.1 4.5 1.4 4.3 10.9 19.2 25.1 5.6 2.1 6 4.3 6.5 6.1 4.5 1.2 4.6 4.8 2.8 4.7 14.5 24.2 4.1 15.7 0.9 7 0.5 3.5 3.2 0.6 0.5 4.6 4.5 2.3 1.7 13.2 20.2 0.1 20.1 1.5 8 0.9 5.1 5.4 1.0 0.6 7.5 4.6 2.8 4.1 11.7 18.5 19.6 6.4 3.9 9 3.8 5.4 6.6 4.2 2.8 4.8 5.2 0.6 5.2 1.8 1.2 22.3 10.9 2.8 10 1.7 3.9 4.2 1.9 1.3 4.8 4.9 2.2 3.7 8.1 17.2 15.1 9.2 2.3 均值 2.5 4.7 5.0 2.6 2.1 4.4 4.3 2.1 1.82 6.41 8.34 7.98 3.00 4.2 最小值 0.5 3.5 2.8 0.6 0.5 3.2 3.0 0.6 1.3 1.1 0.9 0.1 3.2 0.9 最大值 4.3 6.5 6.6 4.5 4.2 7.5 5.2 3.2 5.2 14.5 24.2 26.2 20.8 4.8 表 4 验证组右腿各关节局部形状参数
项目 局部形状参数 λ1 λ2 λ3 λ4 λ5 λ6 被试
者1髋关节 0.8 5.3 5.1 1.2 − − 膝关节 2.7 5.0 5.1 1.5 − − 踝关节 1.9 2.3 5.2 29.9 2.8* 5.6 被试
者2髋关节 1.9 3.7 4.0 2.1 − − 膝关节 2.4 4.7 5.2 2.3 − − 踝关节 3.2 14.1 22.5 11.3 8.5 3.3 被试
者3髋关节 2.0 4.2 4.5 1.8 − − 膝关节 2.9 3.1 3.9 0.5 − − 踝关节 2.9 7.2 13.9 15.8 13.2 5.1 被试
者4髋关节 5.0* 7.8* 1.2* 5.0* − − 膝关节 5.0* 2.1* 2.7* 5.0* − − 踝关节 3.3 21.0* 35.0* 0.0* 20.1 2.7 被试
者5髋关节 5.0* 8.1* 1.7* 5.0* − − 膝关节 5.0* 1.2* 1.9* 5.0* − − 踝关节 3.9 21.0* 35.0* 0.0* 21.0* 0.0* 注:右上角有*符号的表示数值超出正常组该参数值的调整范围。 -
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