阅读说明：本技术 步态相位的划分方法、装置、存储介质及系统 (Gait phase dividing method, device, storage medium and system ) 是由 曹广忠 张跃鹏 凌梓钦 于 2021-07-21 设计创作，主要内容包括：本申请公开了一种步态相位的划分方法、装置、存储介质及系统,涉及医疗康复技术领域,可以提高对步态相位划分的精确度。该方法包括：获取目标对象在行走过程中足底压力采集设备的三个压力传感器采集的压力信息；根据压力信息将目标对象的足底步态相位划分为支撑相前期相位、支撑相中期相位、支撑相后期相位和摆动相相位；根据表面肌电信号采集设备采集的表面肌电信息、膝关节角度采集设备采集的膝关节角度信息以及足底步态相位的划分结果,将目标对象的腿部步态相位划分为支撑相前期相位、支撑相中期相位、支撑相后期相位和摆动相相位,且将目标对象的膝关节步态相位划分为支撑相前期相位、支撑相中期相位、支撑相后期相位和摆动相相位。(The application discloses a gait phase dividing method, a gait phase dividing device, a gait phase dividing storage medium and a gait phase dividing system, relates to the technical field of medical rehabilitation, and can improve the accuracy of gait phase division. The method comprises the following steps: acquiring pressure information acquired by three pressure sensors of a sole pressure acquisition device in the walking process of a target object; dividing the plantar gait phase of the target object into a support phase forward phase, a support phase middle phase, a support phase later phase and a swing phase according to the pressure information; according to the surface electromyogram information acquired by the surface electromyogram signal acquisition equipment, the knee joint angle information acquired by the knee joint angle acquisition equipment and the division result of the foot bottom gait phase, the leg gait phase of the target object is divided into a support phase anterior phase, a support phase middle phase, a support phase later phase and a swing phase, and the knee joint gait phase of the target object is divided into the support phase anterior phase, the support phase middle phase, the support phase later phase and the swing phase.)

1. A method for dividing gait phases, comprising:

acquiring pressure information acquired by three pressure sensors of a sole pressure acquisition device in the walking process of a target object; the three pressure sensors comprise a heel pressure sensor, a sole pressure sensor and a tiptoe pressure sensor;

dividing the plantar gait phase of the target object into a support phase early phase, a support phase middle phase, a support phase later phase and a swing phase according to the pressure information;

according to the surface electromyogram information acquired by the surface electromyogram signal acquisition equipment, the knee joint angle information acquired by the knee joint angle acquisition equipment and the division result of the foot bottom gait phase, dividing the leg gait phase of the target object into a support phase anterior phase, a support phase middle phase, a support phase later phase and a swing phase, and dividing the knee joint gait phase of the target object into a support phase anterior phase, a support phase middle phase, a support phase later phase and a swing phase.

2. The method of dividing gait phases according to claim 1, wherein the pressure information includes a pressure value and a time stamp of the pressure value; the dividing the plantar gait phase of the target object into a support phase forward phase, a support phase middle phase, a support phase late phase and a swing phase according to the pressure information includes:

according to the pressure value and the timestamp of the pressure value, respectively determining a response time period and a non-response time period of the heel pressure sensor, the sole pressure sensor and the tiptoe pressure sensor;

according to the response time period and the non-response time period of the heel pressure sensor, the sole pressure sensor and the tiptoe pressure sensor, the gait phase of the sole of the target object is divided into a support phase early phase, a support phase middle phase, a support phase late phase and a swing phase.

3. The method for dividing gait phases according to claim 2, wherein the dividing the plantar gait phase of the target object into a supporting phase anterior phase, a supporting phase middle phase, a supporting phase posterior phase and a swing phase according to the response time periods and the non-response time periods of the heel pressure sensor, the sole pressure sensor and the toe pressure sensor includes:

if the target time period is the non-response time period of the heel pressure sensor, the sole pressure sensor and the tiptoe pressure sensor, determining the target time period as a time period corresponding to the swing phase of the plantar gait phase; the target time period is any time period for the three pressure sensors to acquire the pressure information;

if the target time period is the response time period of the heel pressure sensor and is the non-response time period of the sole pressure sensor and the tiptoe pressure sensor, determining the target time period as the time period corresponding to the support phase prophase phase of the plantar gait phase;

if the target time period is the response time period of the sole pressure sensor and the response time period of the heel pressure sensor and/or the toe pressure sensor, determining the target time period as a time period corresponding to a support phase intermediate phase of the gait phase of the sole;

and if the target time period is the response time period of the tiptoe pressure sensor and is the non-response time period of the heel pressure sensor and the sole pressure sensor, determining the target time period as the time period corresponding to the support phase later phase of the plantar gait phase.

4. The method of dividing gait phases according to claim 2, wherein the determining the response time periods and the non-response time periods of the heel pressure sensor, the ball pressure sensor and the toe pressure sensor respectively based on the pressure values and the time stamps of the pressure values comprises:

if the pressure value of the heel pressure sensor in a target time period is larger than a preset threshold value, determining the target time period as a response time period of the heel pressure sensor; the target time period is any time period for the three pressure sensors to acquire the pressure information;

if the pressure value of the sole pressure sensor in a target time period is larger than the preset threshold value, determining the target time period as a response time period of the sole pressure sensor;

and if the pressure value of the tiptoe pressure sensor in the target time period is larger than the preset threshold value, determining the target time period as the response time period of the tiptoe pressure sensor.

5. The method for dividing gait phase according to claim 1, characterized in that the pressure information includes a pressure value and a time stamp of the pressure value, and the surface electromyogram information includes a surface electromyogram signal and a time stamp of the surface electromyogram signal; the dividing of the leg gait phase of the target object into a support phase anterior phase, a support phase middle phase, a support phase posterior phase and a swing phase comprises:

aligning the timestamp of the pressure value and the timestamp of the surface electromyographic signal;

and according to the result of the alignment operation and the division result of the gait phases of the sole, dividing the gait phases of the legs of the target object into a supporting phase early phase, a supporting phase middle phase, a supporting phase later phase and a swing phase.

6. The method of dividing gait phases according to claim 1, wherein the pressure information includes pressure values and time stamps of the pressure values, and the knee joint angle information includes knee joint angle signals and time stamps of the knee joint angle signals; the dividing of the knee joint gait phase of the target object into a support phase anterior phase, a support phase middle phase, a support phase posterior phase and a swing phase comprises:

aligning the time stamp of the pressure value and the time stamp of the knee joint angle signal;

and dividing the gait phase of the knee joint of the target object into a supporting phase early phase, a supporting phase middle phase, a supporting phase later phase and a swing phase according to the result of the alignment operation and the division result of the gait phase of the sole.

7. A device for dividing a gait phase, comprising:

the acquisition module is used for acquiring pressure information acquired by three pressure sensors of the sole pressure acquisition equipment in the walking process of the target object; the three pressure sensors comprise a heel pressure sensor, a sole pressure sensor and a tiptoe pressure sensor;

the dividing module is used for dividing the plantar gait phase of the target object into a support phase early phase, a support phase middle phase, a support phase later phase and a swing phase according to the pressure information acquired by the acquiring module;

the dividing module is further configured to divide leg gait phases of the target object into a support phase anterior phase, a support phase middle phase, a support phase later phase and a swing phase according to surface myoelectric information acquired by the surface myoelectric signal acquisition device, knee joint angle information acquired by the knee joint angle acquisition device and division results of the sole gait phases, and divide knee joint gait phases of the target object into a support phase anterior phase, a support phase middle phase, a support phase later phase and a swing phase.

8. A gait phase dividing device is characterized by comprising a memory, a processor, a bus and a communication interface; the memory is used for storing computer execution instructions, and the processor is connected with the memory through the bus;

when the gait phase dividing device is operating, a processor executes the computer-executable instructions stored in the memory to cause the gait phase dividing device to perform the gait phase dividing method as claimed in any one of claims 1 to 6.

9. A computer-readable storage medium having stored therein instructions which, when executed by a computer, cause the computer to perform the gait phase dividing method according to any one of claims 1 to 6.

10. A system for partitioning gait phases, comprising: a plantar pressure collecting device, a surface electromyogram signal collecting device, a knee joint angle collecting device and a gait phase dividing device according to claim 7;

the gait phase dividing device is used for acquiring pressure information acquired by three pressure sensors of the plantar pressure acquisition equipment, surface electromyogram information acquired by the surface electromyogram signal acquisition equipment and knee joint angle information acquired by the knee joint angle acquisition equipment.

Technical Field

The embodiment of the application relates to the technical field of medical rehabilitation, in particular to a gait phase dividing method, a gait phase dividing device, a gait phase dividing storage medium and a gait phase dividing system.

Background

For patients with lower limb movement dysfunction, the lower limb rehabilitation movement assisting exoskeleton robot can be used for rehabilitation training in the rehabilitation treatment process. In the prior art, in the process of performing rehabilitation training by cooperating a lower limb rehabilitation exercise assisting exoskeleton robot with a patient, gait information of the patient can be collected, and gait phases are divided according to the collected information, so that the consistency of the action of the lower limb rehabilitation exercise assisting exoskeleton robot and the action of the patient can be realized.

However, the dividing accuracy of the existing gait phase dividing method cannot meet the requirement of the consistency of the lower limb rehabilitation exercise assisting exoskeleton robot and the action of the patient, and the training effect of the lower limb rehabilitation exercise assisting exoskeleton robot assisting the rehabilitation training of the patient is influenced.

Disclosure of Invention

The application provides a gait phase dividing method, a gait phase dividing device, a storage medium and a gait phase dividing system, which can improve the accuracy of dividing gait phases.

In order to achieve the purpose, the technical scheme is as follows:

in a first aspect, the present application provides a method for dividing gait phases, including: acquiring pressure information acquired by three pressure sensors of a sole pressure acquisition device in the walking process of a target object; wherein, the three pressure sensors comprise a heel pressure sensor, a sole pressure sensor and a tiptoe pressure sensor; then dividing the plantar gait phase of the target object into a support phase early phase, a support phase middle phase, a support phase later phase and a swing phase according to the pressure information; then, according to the surface electromyogram information acquired by the surface electromyogram signal acquisition device, the knee joint angle information acquired by the knee joint angle acquisition device, and the division result of the foot bottom gait phase, the leg gait phase of the target object is divided into a support phase anterior phase, a support phase middle phase, a support phase later phase, and a swing phase, and the knee joint gait phase of the target object is divided into a support phase anterior phase, a support phase middle phase, a support phase later phase, and a swing phase.

In the technical scheme provided by the application, plantar pressure collection equipment is including three pressure sensor, be heel pressure sensor, sole pressure sensor and tiptoe pressure sensor respectively, and these three pressure sensor can gather the target object heel, sole and tiptoe respectively with the pressure information of ground contact in the walking process, so can obtain the division result of the comparatively accurate plantar gait phase place of target object based on pressure information, support phase place in the earlier phase, support phase place in the middle phase, support phase place and swing phase place promptly. In addition, because the surface electromyogram information acquired by the surface electromyogram signal acquisition device and the knee joint angle information acquired by the knee joint angle acquisition device are also gait information of the target object, and the gait phases of the same object at the same time are consistent, the leg gait phase and the knee joint gait phase can be divided into more accurate gait phases according to the more accurate division result of the sole gait phase. Therefore, the technical scheme provided by the application can improve the accuracy of gait phase division, so that the training effect of assisting the exoskeleton robot in assisting the rehabilitation training of patients in lower limb rehabilitation movement can be improved.

In a second aspect, the present application provides a device for dividing gait phases, comprising: the device comprises an acquisition module and a dividing module;

specifically, the acquisition module is used for acquiring pressure information acquired by three pressure sensors of the sole pressure acquisition equipment in the walking process of the target object; the three pressure sensors comprise a heel pressure sensor, a sole pressure sensor and a tiptoe pressure sensor;

the dividing module is used for dividing the plantar gait phase of the target object into a support phase early phase, a support phase middle phase, a support phase later phase and a swing phase according to the pressure information acquired by the acquiring module;

the dividing module is further used for dividing leg gait phases of the target object into a support phase anterior phase, a support phase middle phase, a support phase later phase and a swing phase according to the surface electromyographic information acquired by the surface electromyographic signal acquisition device, the knee joint angle information acquired by the knee joint angle acquisition device and the division result of the foot sole gait phases, and dividing the knee joint gait phases of the target object into the support phase anterior phase, the support phase middle phase, the support phase later phase and the swing phase.

In a third aspect, the present application provides a gait phase dividing device, which includes a memory, a processor, a bus and a communication interface; the memory is used for storing computer execution instructions, and the processor is connected with the memory through a bus; when the gait phase dividing device is operating, the processor executes computer-executable instructions stored in the memory to cause the gait phase dividing device to perform the gait phase dividing method as provided in the first aspect above.

Optionally, the gait phase dividing apparatus may further include a transceiver, and the transceiver is configured to perform the steps of transceiving data, signaling or information under the control of the processor of the gait phase dividing apparatus, for example, acquiring pressure information acquired by three pressure sensors of the plantar pressure acquiring device during walking of the target object.

Further optionally, the gait phase dividing device may be a physical machine for implementing the division of the gait phase, or may be a part of the physical machine, for example, a chip system in the physical machine. The partitioning means for supporting gait phases implements the functions referred to in the first aspect, such as receiving, sending or processing data and/or information referred to in the above partitioning method of gait phases. The chip system includes a chip and may also include other discrete devices or circuit structures.

In a fourth aspect, the present application provides a computer readable storage medium having stored therein instructions that, when executed by a computer, cause the computer to perform the method of partitioning gait phases as provided in the first aspect.

In a fifth aspect, the present application provides a computer program product comprising computer instructions which, when run on a computer, cause the computer to perform the method of partitioning gait phases as provided in the first aspect.

In a sixth aspect, the present application provides a gait phase dividing system, comprising: the device comprises a plantar pressure collecting device, a surface electromyogram signal collecting device, a knee joint angle collecting device and a gait phase dividing device provided by the second aspect;

the gait phase dividing device is used for acquiring pressure information acquired by three pressure sensors of the plantar pressure acquisition equipment, surface electromyogram information acquired by the surface electromyogram signal acquisition equipment and knee joint angle information acquired by the knee joint angle acquisition equipment.

It should be noted that all or part of the computer instructions may be stored on the computer readable storage medium. The computer-readable storage medium may be packaged with the processor of the gait phase dividing device, or may be packaged separately from the processor of the gait phase dividing device, which is not limited in this application.

For the description of the second, third, fourth, fifth and sixth aspects in this application, reference may be made to the detailed description of the first aspect; in addition, for the beneficial effects described in the second aspect, the third aspect, the fourth aspect, the fifth aspect and the sixth aspect, reference may be made to the beneficial effect analysis of the first aspect, and details are not repeated here.

In the present application, the names of the above-mentioned gait phase dividing means do not limit the devices or functional modules themselves, which may appear under other names in practical implementations. Insofar as the functions of the respective devices or functional modules are similar to those of the present application, they fall within the scope of the claims of the present application and their equivalents.

These and other aspects of the present application will be more readily apparent from the following description.

Drawings

Fig. 1 is a schematic diagram of a gait phase partitioning system according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a plantar pressure collecting device provided in an embodiment of the present application;

fig. 3 is a schematic diagram of an architecture of another gait phase dividing system according to an embodiment of the present application;

fig. 4 is a schematic structural diagram of a surface electromyogram signal acquisition device provided in an embodiment of the present application;

fig. 5 is a schematic structural diagram of a knee joint angle acquisition apparatus provided in an embodiment of the present application;

fig. 6 is a schematic flowchart of a gait phase dividing method according to an embodiment of the present application;

fig. 7 is a schematic diagram illustrating a flow of dividing gait phases of pressure information collected by three pressure sensors in three gait cycles according to an embodiment of the present invention, where (a) in fig. 7 is a schematic diagram illustrating response states of the pressure sensors in the three gait cycles, and (b) in fig. 7 is a schematic diagram illustrating a gait phase stage in the three gait cycles;

fig. 8 is a schematic flow chart of another gait phase dividing method according to the embodiment of the present application;

fig. 9 is a schematic structural diagram of a gait phase dividing device according to an embodiment of the present invention;

fig. 10 is a schematic structural diagram of a device for dividing gait phases according to an embodiment of the present application.

Detailed Description

The method, apparatus, storage medium, and system for partitioning gait phases provided in the embodiments of the present application are described in detail below with reference to the accompanying drawings.

The term "and/or" herein is merely an association describing an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone.

The terms "first" and "second" and the like in the description and drawings of the present application are used for distinguishing different objects or for distinguishing different processes for the same object, and are not used for describing a specific order of the objects.

Furthermore, the terms "including" and "having," and any variations thereof, as referred to in the description of the present application, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.

It should be noted that in the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described herein as "exemplary" or "e.g.," is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, use of the word "exemplary" or "such as" is intended to present concepts related in a concrete fashion.

In the description of the present application, the meaning of "a plurality" means two or more unless otherwise specified.

For patients with lower limb movement dysfunction, the lower limb rehabilitation movement assisting exoskeleton robot can be used for rehabilitation training in the rehabilitation treatment process. In the prior art, in the process of performing rehabilitation training by cooperating a lower limb rehabilitation exercise assisting exoskeleton robot with a patient, gait information of the patient can be collected, and gait phases are divided according to the collected gait information, so that the consistency of the action of the lower limb rehabilitation exercise assisting exoskeleton robot and the action of the patient can be realized.

However, the dividing accuracy of the existing gait phase dividing method cannot meet the requirement of the consistency of the lower limb rehabilitation exercise assisting exoskeleton robot and the action of the patient, and the training effect of the lower limb rehabilitation exercise assisting exoskeleton robot assisting the rehabilitation training of the patient is influenced.

In view of the above problems in the prior art, an embodiment of the present application provides a method for dividing gait phases, which can obtain relatively accurate division results of the gait phases of the sole, that is, a support phase early phase, a support phase middle phase, a support phase late phase and a swing phase, based on pressure information acquired by three pressure sensors of a sole pressure acquisition device. Therefore, the technical scheme provided by the application can improve the accuracy of gait phase division, so that the training effect of assisting the exoskeleton robot in assisting the rehabilitation training of patients in lower limb rehabilitation movement can be improved.

The gait phase dividing method provided by the embodiment of the application can be applied to the gait phase dividing system shown in fig. 1. Referring to fig. 1, the gait phase dividing system may include a plantar pressure collecting device 01, a surface electromyogram signal collecting device 02, a knee joint angle collecting device 03, and a gait phase dividing apparatus 05. The gait phase dividing device 05 is connected with the plantar pressure collecting device 01, the surface electromyogram signal collecting device 02 and the knee joint angle collecting device 03 respectively.

Referring to fig. 2, a schematic diagram of a plantar pressure collecting device 01 according to an embodiment of the present disclosure is provided. As shown in fig. 2, the sole pressure collecting device 01 may be a basic structure composed of a common cotton insole 11 and a leather shoe 12, the common cotton insole 11 and the leather shoe 12 are fixedly connected, and the common cotton insole 11 is provided with three pressure sensors. The three pressure sensors include a heel pressure sensor 13, a sole pressure sensor 14 and a toe pressure sensor 15, and are used for acquiring pressure information of a target object (an object wearing the sole pressure acquisition device 01) in contact with the ground at the heel, the sole and the toe respectively in the walking process.

Alternatively, in one possible implementation, the pressure sensor may be a membrane pressure sensor. For example, the pressure sensor may be an FSR (force Sensing resistor) type resistive film pressure sensor.

Optionally, when the pressure sensor is a film pressure sensor, a soft rubber pad can be arranged on the upper side of the sensing area, so that the sensing area can be effectively contacted with the film pressure sensor, and the resistance value measured by the film pressure sensor is ensured to be more accurate. Of course, in practical applications, other types of sensors may also be used as the pressure sensor, and this is not limited in this application.

The output resistance in a thin film pressure sensor decreases as the pressure on its sensor surface increases, so that the thin film pressure sensor does not directly measure the pressure value. Thus, alternatively, as shown in fig. 2, the heel pressure sensor 13, the ball pressure sensor 14 and the toe pressure sensor 15 may be connected to the central processing device 06. The central processing device 06 can convert the output resistance information in the thin film pressure sensor into pressure information.

Optionally, as shown in fig. 3, the embodiment of the present application further provides a gait phase dividing system, which further includes a central processing unit 06, compared with the gait phase dividing system of fig. 1. The central processing unit 06 includes three linear voltage modules 61 therein, and the three linear voltage modules 61 can obtain a pressure value of each pressure sensor contacting the ground according to a conversion relationship between an output resistance value and a pressure value of the three pressure sensors in the plantar pressure collecting device 01. Wherein, can carry out data transmission through the 2 core national standard RVVP tinned copper core shielded wires that single line footpath is 1mm between three pressure sensor and the three linear voltage module 61, can guarantee like this that not receive the interference of power frequency among the signal transmission process, 2 Pin's binding post can be used to the both ends of shielded wire and pressure sensor and the interface of three linear voltage module 61, carries out the plug in facilitating the use.

As shown in fig. 3, the central processing unit 06 further includes a microprocessor 62, the microprocessor 62 is connected to the three linear voltage modules 61, and can process the pressure values converted by the three linear voltage modules 61 and send the processed pressure values to the gait phase dividing device 05 through the communication module. Alternatively, the cpu 06 may be integrated on a Printed Circuit Board (PCB) having a length of 12.3cm and a width of 9.7cm, and the power source of the cpu 06 may be two rechargeable lithium batteries having a capacity of 1400 mAh. Three interfaces of the linear voltage module 61 and the microprocessor 62 are reserved on the PCB, so that the connection is convenient. The PCB can be placed inside an aluminum metal box with the length of 18cm, the width of 16cm and the thickness of 4.8cm, and the aluminum is hermetically wrapped by using tinfoil paper so as to shield the interference of space clutter signals.

Illustratively, the microprocessor 62 may be an Arduino NANO type processor, and the outputs of the three linear voltage blocks 61 may be connected to the pin PC0(ADC0), the pin PC1(ADC1) and the pin PC2(ADC2) of the microprocessor 62, respectively.

Referring to fig. 4, a schematic diagram of a surface electromyogram signal acquisition device 02 provided in an embodiment of the present application is shown. As shown in fig. 4, the surface electromyogram signal acquisition device 02 may include an electromyogram sensor 21, an electrode sheet 22, a receiver 23, and a synchronizer 24.

The electrode sheet 22 is attached to the leg muscle portion of the target object along the muscle fiber direction. Illustratively, the electrode sheet 22 may be affixed to the outside of the medial femoral muscle, lateral femoral muscle, tibialis anterior muscle, biceps femoris muscle, semitendinosus muscle, and gastrocnemius muscle of the leg of the target subject.

The electromyographic sensor 21 is attached to the electrode sheet 22 at a distance of about 2cm, and is attached to the leg muscle in the forward direction. The electromyographic sensor 21 may collect a surface electromyographic signal of a leg of the target object during walking of the target object, and then transmit the surface electromyographic signal to the receiver 23 by wireless transmission, the receiver 23 is connected to the synchronizer 24, and the synchronizer 24 may transmit the surface electromyographic signal received from the receiver 23 to the gait phase dividing device 05.

Referring to fig. 5, a schematic diagram of a knee joint angle acquisition apparatus 03 according to an embodiment of the present disclosure is provided. As shown in fig. 5, the knee joint angle collecting apparatus 03 may include a hall angle sensor 31, two links 32, and an elastic coupling 33.

The hall angle sensor 31 is used for acquiring angle change information of a knee joint of the target object in the walking process of the target object. The Hall angle sensor 31 is installed at one end of the upper rod of the two connecting rods 32 and is connected with one end of the lower rod of the two connecting rods 32 through the elastic coupling 33, and the connecting structure can avoid interference of a target object on flexion and extension of the knee joint during movement. The upper rod of the two-link 32 can be fixed at the thigh position of the target object by an elastic band, the lower rod of the two-link 32 can be fixed at the calf position of the target object by an elastic band, the hall angle sensor 31 is kept consistent with the knee joint of the target object in the horizontal direction, and the rotating shaft is consistent with the rotating center of the knee joint.

Optionally, in a possible implementation manner, the hall angle sensor 31 may transmit data with the microprocessor 62 in the central processing device 06 through a 3-core national standard RVVP tin-plated copper core shielding wire with a single wire diameter of 1mm, so as to ensure that the signal transmission process is not interfered by power frequency, and the two ends of the shielding wire and the interface of the hall angle sensor 31 may use 3Pin connection terminals, which facilitates plugging and unplugging in the use process. Illustratively, when the microprocessor 62 employs an Arduino NANO, the hall angle sensor 31 may be connected to pin ADC6 of the microprocessor 62. As shown in fig. 3, the knee joint angle collecting device 03 is connected to the microprocessor 62, and the microprocessor 62 can transmit the knee joint angle information collected by the hall angle sensor 31 in the knee joint angle collecting device 03 in real time to the dividing device 05 of the gait phase.

The gait phase dividing device 05 may be a physical machine (such as a server), or may be a Virtual Machine (VM) deployed on the physical machine. The gait phase dividing device 05 is used for acquiring pressure information acquired by three pressure sensors of the plantar pressure acquisition device 01, surface electromyogram information acquired by the surface electromyogram signal acquisition device 02 and knee joint angle information acquired by the knee joint angle acquisition device 03, and realizing accurate division of gait phases according to the acquired information.

The following describes the method for dividing gait phases provided by the present application with reference to the system for dividing gait phases shown in fig. 1 or fig. 3.

Referring to fig. 6, the method for dividing gait phases provided in the embodiment of the present application includes steps S601 to S603:

s601, acquiring pressure information acquired by three pressure sensors of a sole pressure acquisition device of a target object in a walking process by a gait phase dividing device.

It is understood that the plantar pressure acquisition device in the embodiment of the present application is a device worn on the right leg or the left leg of the target subject. In practical application, the lower limb rehabilitation exercise assisting exoskeleton robot comprises two sole pressure acquisition devices which are respectively worn on the right leg and the left leg of a target object, so that the robot can walk in cooperation with the target object.

S602, the gait phase dividing device divides the plantar gait phase of the target object into a support phase early phase, a support phase middle phase, a support phase late phase and a swing phase according to the pressure information.

Optionally, the pressure information may include a pressure value and a timestamp of the pressure value. The gait phase dividing device can respectively determine the response time period and the non-response time period of the heel pressure sensor, the sole pressure sensor and the tiptoe pressure sensor according to the pressure value and the time stamp of the pressure value; and then dividing the gait phase of the sole of the target object into a support phase forward phase, a support phase middle phase, a support phase late phase and a swing phase according to the response time period and the non-response time period of the heel pressure sensor, the sole pressure sensor and the tiptoe pressure sensor.

When the three pressure sensors in the plantar pressure acquisition equipment acquire pressure values (resistance values when the pressure sensors are thin-film pressure sensors), the timestamps of the acquired pressure values can be synchronously recorded, and thus, the gait phase dividing device can determine the response time periods and the non-response time periods of the three pressure sensors according to the timestamps of the recorded pressure values.

Optionally, in a possible implementation manner, if the pressure value of the heel pressure sensor in the target time period is greater than a preset threshold, determining the target time period as a response time period of the heel pressure sensor; if the pressure value of the sole pressure sensor in the target time period is greater than a preset threshold value, determining the target time period as the response time period of the sole pressure sensor; and if the pressure value of the toe pressure sensor in the target time period is greater than the preset threshold value, determining the target time period as the response time period of the toe pressure sensor.

The target time period is any time period for the three pressure sensors to acquire pressure information. The preset threshold may be a pressure value preset artificially, and may specifically be determined according to a pressure value when the pressure sensor responds. For example, when the pressure value of the pressure sensor is greater than 0, the pressure sensor responds, and the preset threshold may be 0.

Optionally, in a possible implementation manner, if the target time period is a non-response time period of the heel pressure sensor, the sole pressure sensor, and the toe pressure sensor, determining the target time period as a time period corresponding to a swing phase of a gait phase of a sole of a foot; if the target time period is the response time period of the heel pressure sensor and is the non-response time period of the sole pressure sensor and the tiptoe pressure sensor, determining the target time period as the time period corresponding to the support phase forward phase of the gait phase of the sole; if the target time period is the response time period of the sole pressure sensor and the response time period of the heel pressure sensor and/or the tiptoe pressure sensor, determining the target time period as the time period corresponding to the support phase intermediate phase of the gait phase of the sole; and if the target time period is the response time period of the tiptoe pressure sensor and is the non-response time period of the heel pressure sensor and the sole pressure sensor, determining the target time period as the time period corresponding to the support phase later phase of the sole gait phase.

For example, if "1" indicates a state in which the pressure sensor responds and "0" indicates a state in which the pressure sensor does not respond, when the states of the heel pressure sensor, the sole pressure sensor, and the toe pressure sensor are all "0" at a certain time, the time is in a phase of the swing phase of the plantar gait phase of the target object. If the states of the sole pressure sensor and the toe pressure sensor are both "0" at a certain time and the state of the heel pressure sensor is "1", the certain time is in the stage of the support phase early phase of the plantar gait phase of the target object. If the state of any one of the heel pressure sensor and the toe pressure sensor is "1" and the state of the sole pressure sensor is "1" at a certain time, the time is in the stage of the support phase middle phase of the plantar gait phase of the target object. If the state of the tiptoe pressure sensor is '1' at a certain moment and the states of the sole pressure sensor and the heel pressure sensor are '0', the moment is in the phase of the support phase later phase of the plantar gait phase of the target object. Referring to table 1, a comparison list of the state of the pressure sensor and the division result of the plantar gait phase is shown; it can be understood that, in practical applications, it is unlikely that a person will fall on the ground with neither the heel nor the toe nor the sole falling on the ground with both the heel and the toe during walking, and therefore, table 1 does not list the above two cases:

TABLE 1

It is understood that in practical applications, it is unlikely that a person will fall on the sole of a foot and neither the heel nor the toe nor the sole of the foot will fall on the ground and both the heel and the toe will fall on the ground during walking, and therefore, the above two cases are not listed in the above list.

After acquiring pressure information for a period of time, the gait phase dividing device can divide the gait phase of the sole by using table 1 as a dividing principle. For example, referring to fig. 7, a schematic flow chart for performing gait phase division on pressure information collected by three pressure sensors in three gait cycles is provided in the embodiment of the present application. Fig. 7 (a) is a schematic diagram of the response state of the pressure sensor in three gait cycles, the abscissa represents time, and the ordinate represents the response state of the pressure sensor. The response time period and the non-response time period of the three pressure sensors, which can be obtained from the pressure information collected by the three pressure sensors, are respectively represented by "1" to indicate response, and "0" to indicate no response, then (a) in fig. 7 can be obtained. Thereafter, the plantar gait phase may be divided according to table (1) and (a) in fig. 7 to obtain (b) in fig. 7. Fig. 7 (b) is a schematic diagram of the phase phases of gait in three gait cycles, the abscissa indicates time, the ordinate indicates the phase of gait, "0" indicates the phase of the swing phase, "1" indicates the early phase of the supporting phase, "2" indicates the middle phase of the supporting phase, and "3" indicates the late phase of the supporting phase.

S603, the gait phase dividing device divides the leg gait phase of the target object into a support phase anterior phase, a support phase middle phase, a support phase later phase and a swing phase according to the surface electromyogram information acquired by the surface electromyogram signal acquisition equipment, the knee joint angle information acquired by the knee joint angle acquisition equipment and the division result of the foot bottom gait phase, and divides the knee joint gait phase of the target object into the support phase anterior phase, the support phase middle phase, the support phase later phase and the swing phase.

Optionally, the surface electromyogram information may include a surface electromyogram signal and a timestamp of the surface electromyogram signal, and the gait phase dividing device may perform an alignment operation on the timestamp of the pressure value and the timestamp of the surface electromyogram signal; and then dividing the leg gait phase of the target object into a support phase early phase, a support phase middle phase, a support phase late phase and a swing phase according to the result of the alignment operation and the division result of the sole gait phase.

Optionally, in a possible implementation manner, the surface electromyogram signal acquiring device may be an 8-channel Ultium-EMG surface electromyogram signal acquiring instrument, and an independent analog-to-digital converter (a/D) is disposed in the surface electromyogram signal acquiring instrument, and when performing a/D conversion on the acquired surface electromyogram signal, a timestamp of the acquired surface electromyogram signal may be recorded.

Optionally, the knee joint angle information includes time stamps of the knee joint angle signal and the knee joint angle signal, and the gait phase dividing device may perform alignment operation on the time stamp of the pair of pressure values and the time stamp of the knee joint angle signal; and then dividing the gait phase of the knee joint of the target object into a supporting phase early phase, a supporting phase middle phase, a supporting phase later phase and a swing phase according to the result of the alignment operation and the division result of the gait phase of the sole.

Optionally, the frequency of the knee joint angle acquisition device during the acquisition of knee joint angle signals can be the same as the frequency of the three pressure sensors of the sole pressure acquisition device during the acquisition of pressure information, and the time stamps of the knee joint angle signals can be synchronously recorded during the acquisition.

Optionally, in a possible implementation manner, a pre-trained neural network model is stored in the gait phase dividing device, and after the gait phase dividing device determines the dividing result of the sole gait phase, the dividing result of the sole gait phase may be determined as tag data and input into the neural network model, and the surface electromyographic signal and the timestamp of the surface electromyographic signal are input into the neural network model, so as to obtain a support phase early phase, a support phase middle phase, a support phase late phase and a swing phase, which are output by the neural network model and obtained by dividing the leg gait phase.

In order to improve the accuracy of the support phase early phase, the support phase middle phase, the support phase late phase and the swing phase obtained based on the surface electromyogram signal, optionally, in a possible implementation manner, the division result of the foot bottom gait phase may be determined as tag data and input into the neural network model, then the timestamps of the surface electromyogram signal and the timestamps of the knee joint angle signal and the knee joint angle signal are simultaneously input into the neural network model, and finally, the support phase early phase, the support phase middle phase, the support phase late phase and the swing phase of the leg gait phase divided by the surface electromyogram signal are obtained more accurately.

Illustratively, the neural network model may be a convolutional neural network including a convolutional layer, a pooling layer, and two fully-connected layers, the convolutional layer activation function may be a Linear rectifying function (ReLU) function, and the fully-connected layer activation function may be a normalized exponential function (Softmax).

In the technical scheme provided by the embodiment of the application, plantar pressure collection equipment is including three pressure sensor, be heel pressure sensor, sole pressure sensor and tiptoe pressure sensor respectively, and these three pressure sensor can gather the target object heel, sole and heel respectively with the pressure information of ground contact in the walking process, so can obtain the division result of the comparatively accurate plantar gait phase place of target object based on pressure information, support phase place in the middle of promptly, support phase place and swing phase place. In addition, because the surface electromyogram information acquired by the surface electromyogram signal acquisition device and the knee joint angle information acquired by the knee joint angle acquisition device are also gait information of the target object, and the gait phases of the same object at the same time are consistent, the leg gait phase and the knee joint gait phase can be divided into more accurate gait phases according to the more accurate division result of the sole gait phase. Therefore, the technical scheme provided by the application can improve the accuracy of gait phase division, so that the training effect of assisting the exoskeleton robot in assisting the rehabilitation training of patients in lower limb rehabilitation movement can be improved.

In summary of the above description, as shown in fig. 8, step S602 in fig. 6 may be replaced with S6021-S6022:

and S6021, determining the response time period and the non-response time period of the heel pressure sensor, the sole pressure sensor and the tiptoe pressure sensor respectively by the gait phase dividing device according to the pressure values and the timestamps of the pressure values.

And S6022, the gait phase dividing device divides the plantar gait phase of the target object into a support phase forward phase, a support phase middle phase, a support phase late phase and a swing phase according to the response time period and the non-response time period of the heel pressure sensor, the sole pressure sensor and the toe pressure sensor.

Alternatively, as shown in fig. 8, step S603 in fig. 6 may be replaced with S6031-S6032:

and S6031, aligning the timestamp of the pressure value and the timestamp of the surface electromyogram signal by the gait phase dividing device, and dividing the leg gait phase of the target object into a support phase anterior phase, a support phase middle phase, a support phase posterior phase and a swing phase according to the alignment operation result and the division result of the sole gait phase.

And S6032, the gait phase dividing device aligns the timestamp of the pressure value and the timestamp of the knee joint angle signal, and divides the knee joint gait phase of the target object into a support phase early phase, a support phase middle phase, a support phase late phase and a swing phase according to the alignment operation result and the division result of the sole gait phase.

As shown in fig. 9, the present embodiment further provides a device for dividing gait phase, which may be the device 05 for dividing gait phase in the system for dividing gait phase according to fig. 1 in the above embodiment. The device for dividing gait phases comprises: an acquisition module 51 and a division module 52.

The obtaining module 51 executes S601 in the foregoing method embodiment, and the dividing module 52 executes S602 and S603 in the foregoing method embodiment.

Specifically, the obtaining module 51 is configured to obtain pressure information collected by three pressure sensors of the plantar pressure collecting device in the walking process of the target object; the three pressure sensors comprise a heel pressure sensor, a sole pressure sensor and a tiptoe pressure sensor;

a dividing module 52, configured to divide the plantar gait phase of the target object into a support phase early phase, a support phase middle phase, a support phase late phase and a swing phase according to the pressure information acquired by the acquiring module 51;

the dividing module 52 is further configured to divide the leg gait phase of the target object into a support phase anterior phase, a support phase middle phase, a support phase posterior phase and a swing phase according to the surface electromyographic information acquired by the surface electromyographic signal acquisition device, the knee joint angle information acquired by the knee joint angle acquisition device and the division result of the foot sole gait phase, and divide the knee joint gait phase of the target object into the support phase anterior phase, the support phase middle phase, the support phase posterior phase and the swing phase.

Optionally, in a possible implementation manner, the pressure information includes a pressure value and a timestamp of the pressure value, and the dividing module 52 is specifically configured to:

according to the pressure value and the timestamp of the pressure value, respectively determining a response time period and a non-response time period of the heel pressure sensor, the sole pressure sensor and the tiptoe pressure sensor;

according to the response time period and the non-response time period of the heel pressure sensor, the sole pressure sensor and the tiptoe pressure sensor, the gait phase of the sole of the target object is divided into a support phase forward phase, a support phase middle phase, a support phase late phase and a swing phase.

Optionally, in another possible implementation manner, the dividing module 52 is specifically configured to:

if the target time period is the non-response time period of the heel pressure sensor, the sole pressure sensor and the tiptoe pressure sensor, determining the target time period as a time period corresponding to the swing phase of the gait phase of the sole; the target time period is any time period for collecting pressure information by the three pressure sensors;

if the target time period is the response time period of the heel pressure sensor and is the non-response time period of the sole pressure sensor and the tiptoe pressure sensor, determining the target time period as the time period corresponding to the support phase forward phase of the gait phase of the sole;

if the target time period is the response time period of the sole pressure sensor and the response time period of the heel pressure sensor and/or the tiptoe pressure sensor, determining the target time period as the time period corresponding to the support phase intermediate phase of the gait phase of the sole;

and if the target time period is the response time period of the tiptoe pressure sensor and is the non-response time period of the heel pressure sensor and the sole pressure sensor, determining the target time period as the time period corresponding to the support phase later phase of the sole gait phase.

Optionally, in another possible implementation manner, the dividing module 52 is further specifically configured to:

if the pressure value of the heel pressure sensor in the target time period is larger than a preset threshold value, determining the target time period as the response time period of the heel pressure sensor; the target time period is any time period for collecting pressure information by the three pressure sensors;

if the pressure value of the sole pressure sensor in the target time period is greater than a preset threshold value, determining the target time period as the response time period of the sole pressure sensor;

and if the pressure value of the toe pressure sensor in the target time period is greater than the preset threshold value, determining the target time period as the response time period of the toe pressure sensor.

Optionally, in another possible implementation manner, the pressure information includes a pressure value and a timestamp of the pressure value, the surface electromyogram information includes a surface electromyogram signal and a timestamp of the surface electromyogram signal, and the dividing module 52 is further specifically configured to:

aligning the timestamp of the pressure value and the timestamp of the surface electromyographic signal;

according to the result of the alignment operation and the division result of the gait phases of the sole, the gait phases of the legs of the target object are divided into a support phase early phase, a support phase middle phase, a support phase late phase and a swing phase.

Optionally, in another possible implementation manner, the pressure information includes a pressure value and a timestamp of the pressure value, the knee joint angle information includes a knee joint angle signal and a timestamp of the knee joint angle signal, and the dividing module 52 is further specifically configured to:

aligning the timestamp of the pressure value and the timestamp of the knee joint angle signal;

according to the result of the alignment operation and the division result of the gait phases of the sole, the gait phases of the knee joint of the target object are divided into a supporting phase early phase, a supporting phase middle phase, a supporting phase late phase and a swing phase.

Optionally, the gait phase dividing device may further include a storage module, and the storage module is configured to store a program code of the gait phase dividing device, and the like.

As shown in fig. 10, the embodiment of the present application further provides a gait phase dividing device, which includes a memory 41, a processor 42(42-1 and 42-2), a bus 43 and a communication interface 44; the memory 41 is used for storing computer execution instructions, and the processor 42 is connected with the memory 41 through a bus 43; when the gait phase dividing device is operating, the processor 42 executes computer-executable instructions stored in the memory 41 to cause the gait phase dividing device to perform the gait phase dividing method provided in the above-described embodiment.

In particular implementations, processor 42 may include one or more Central Processing Units (CPUs), such as CPU0 and CPU1 shown in FIG. 10, as one embodiment. And as an example, the means for dividing the gait phase may comprise a plurality of processors 42, such as processor 42-1 and processor 42-2 shown in fig. 10. Each of the processors 42 may be a single-Core Processor (CPU) or a multi-Core Processor (CPU). Processor 42 may refer herein to one or more devices, circuits, and/or processing cores that process data (e.g., computer program instructions).

The memory 41 may be, but is not limited to, a read-only memory 41 (ROM) or other type of static storage device that can store static information and instructions, a Random Access Memory (RAM) or other type of dynamic storage device that can store information and instructions, an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compact disc, laser disc, optical disc, digital versatile disc, blu-ray disc, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. The memory 41 may be self-contained and coupled to the processor 42 via a bus 43. The memory 41 may also be integrated with the processor 42.

In a specific implementation, the memory 41 is used for storing data in the present application and computer-executable instructions corresponding to software programs for executing the present application. The processor 42 may operate or execute software programs stored in the memory 41 and invoke various functions of the data, gait phase dividing means stored in the memory 41.

The communication interface 44 is any device, such as a transceiver, for communicating with other devices or communication networks, such as a control system, a Radio Access Network (RAN), a Wireless Local Area Network (WLAN), and the like. The communication interface 44 may include a receiving unit implementing a receiving function and a transmitting unit implementing a transmitting function.

The bus 43 may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an extended ISA (enhanced industry standard architecture) bus, or the like. The bus 43 may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 10, but this is not intended to represent only one bus or type of bus.

As an example, in conjunction with fig. 9, the function implemented by the acquisition module in the division device of the gait phase is the same as the function implemented by the receiving unit in fig. 10, the function implemented by the division module in the division device of the gait phase is the same as the function implemented by the processor in fig. 10, and the function implemented by the storage module in the division device of the gait phase is the same as the function implemented by the memory in fig. 10.

For the explanation of the related contents in this embodiment, reference may be made to the above method embodiments, which are not described herein again.

Through the above description of the embodiments, it is clear to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be completed by different functional modules according to needs, that is, the internal structure of the device may be divided into different functional modules to complete all or part of the above described functions. For the specific working processes of the system, the apparatus and the unit described above, reference may be made to the corresponding processes in the foregoing method embodiments, and details are not described here again.

The embodiment of the present application further provides a computer-readable storage medium, in which instructions are stored, and when the computer executes the instructions, the computer is enabled to execute the method for dividing gait phases provided in the foregoing embodiment.

The computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a RAM, a ROM, an erasable programmable read-only memory (EPROM), a register, a hard disk, an optical fiber, a CD-ROM, an optical storage device, a magnetic storage device, any suitable combination of the foregoing, or any other form of computer readable storage medium known in the art. An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. Of course, the storage medium may also be integral to the processor. The processor and the storage medium may reside in an Application Specific Integrated Circuit (ASIC). In embodiments of the present application, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

The above description is only an embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions within the technical scope of the present disclosure should be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.