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为了实现精确的人体步态检测并实时反馈给机器人系统,设计了一种基于惯性传感器的无线传感器节点,在此基础上研发了一套无线穿戴式传感系统.基于人体下肢模型,提出一种可靠的步长和步向检测算法.使用五个自主设计的低成本惯性传感器节点固定在人体下肢和腰部,实现了相对精确的步态测量.为了进一步提高测量精度,利用回声状态网络对整个系统测量误差进行校正,校正后步长测量误差小于3.5cm,步向测量误差小于4.5°.实验结果表明该系统与方法能够实现高精度的步态检测.
In order to achieve accurate human gait detection and real-time feedback to the robot system, a wireless sensor node based on inertial sensor is designed, and a wireless wearable sensor system is developed based on this. Based on the lower extremity model of human body, Reliable step and step detection algorithm.Use five self-designed low-cost inertial sensor nodes fixed to the lower extremities and waist of the human body, to achieve a relatively accurate gait measurement.In order to further improve the measurement accuracy, the use of echo state network for the entire system The measurement error is corrected, the error of measurement step is less than 3.5cm and the error of step measurement is less than 4.5 °. The experimental results show that the system and method can achieve high-precision gait detection.