信息与控制2024，Vol.53Issue(5)：585-593,9.DOI:10.13976/j.cnki.xk.2024.3284
基于步态相位和滚动足模型的步速计算方法
Walking Speed Calculation Method Based on Gait Phase and Rolling Foot Model
摘要
Abstract
To address the challenge of determining walking speed parameters in the joint trajectory planning of lower limb prostheses and to help the prostheses to realize better locomotion modes conversion and dynamic motion,we propose a method of walking speed calculation based on the gait phase and a rolling foot model.Initially,we filter and normalize the angular velocity and angle data from the thigh's sagittal plane and calculate the walking frequency using the gait phase varia-ble.Next,using the lower limb rolling foot model during human walking,we establish a functional relationship among step length,real-time angle,and leg length.We then calculate walking speed by multiplying step length and step frequency over different cycles.Experimental results show that within a speed range of 2.0 to 4.0 km/h,the proposed method yields an average root mean square error of 0.054 m/s in walking speed calculation.It indicates that the proposed method has better static and dynamic walking speed calculation performance,and can provide real-time and reliable walking speed parameters.关键词
步速/步态相位/滚动足模型/步幅/步频Key words
walking speed/gait phase/rolling foot model/step length/step frequency分类
信息技术与安全科学引用本文复制引用
疏小龙,罗胜利,朱禾祥,孟巧玲,喻洪流..基于步态相位和滚动足模型的步速计算方法[J].信息与控制,2024,53(5):585-593,9.基金项目
国家自然科学基金项目(62073224) （62073224）
