Dynamic gait recognition method based on human model constraints

doi:10.11772/j.issn.1001-9081.2022010131

Journal of Computer Applications ›› 2023, Vol. 43 ›› Issue (3): 972-977.DOI: 10.11772/j.issn.1001-9081.2022010131

Special Issue: 前沿与综合应用

• Frontier and comprehensive applications • Previous Articles Next Articles

Dynamic gait recognition method based on human model constraints

Jinyue LIU(), Huiyu LI, Xiaohui JIA, Jiarui LI

School of Mechanical Engineering，Hebei University of Technology，Tianjin 300401，China

Received:2022-02-08 Revised:2022-03-16 Accepted:2022-03-21 Online:2022-04-21 Published:2023-03-10
Contact: Jinyue LIU
About author:LI Huiyu， born in 1994， M. S. candidate. His research interests include force tactile perception， intelligent detection.
JIA Xiaohui， born in 1976， Ph. D.， associate professor. Her research interests include flexible precision system design， force tactile perception mechanism， intention recognition.
LI Jiarui， born in 1996， M. S. candidate. Her research interests include tactile perception mechanism， intention recognition.
Supported by:
National Natural Science Foundation of China(U1813222)

基于人体模型约束的步态动态识别方法

刘今越(), 李慧宇, 贾晓辉, 李佳蕊

河北工业大学机械工程学院，天津 300401

通讯作者: 刘今越
作者简介:刘今越（1977—），男，河北唐山人，教授，博士，主要研究方向：机器人环境感知、智能检测与控制
李慧宇（1994—），男，黑龙江佳木斯人，硕士研究生，主要研究方向：力触觉感知、智能检测
贾晓辉（1976—），女，河北唐山人，副教授，博士，主要研究方向：柔性精密系统设计、力触觉感知机理、意图识别
李佳蕊（1996—），女，辽宁铁岭人，硕士研究生，主要研究方向：力触觉感知机理、意图识别。
基金资助:
国家自然科学基金资助项目(U1813222)

Abstract

Abstract:

Aiming at the issue of accurate recognition of human motion gait in exoskeleton robot human computer interaction and medical rehabilitation， a dynamic gait recognition method based on human model constraints was proposed. Firstly， Anybody Modeling System （AMS） simulation software was used to establish different motion simulation models， the gait phases were devided according to the model constraints， and the corresponding relationship between the real data and the simulation data was established through regression mapping. Then， the plantar pressure data collected by the flexible pressure sensor and the foot displacement data collected by the inertial measurement unit were fused into the foot motion data， and the motion data was dynamically segmented according to its dynamic changes and the model constraints to determine the gait phase. Finally， Convolutional Neural Network （CNN） was built to identify the walking gait phase. Experimental results show that the proposed method has the average recognition accuracy of walking action gait of 94.58%， and the average gait recognition accuracy for going upstairs and downstairs actions is 93.21% and 94.64% respectively， which has the gait recognition accuracy of the three actions （walking， going upstairs and downstairs） increased by 11.34， 12.19 and 16.03 percentage points， respectively. It can be seen that CNN recognition based on dynamically segmented foot motion data has a high accuracy， and is suitable for gait recognition of different actions.

Key words: gait recognition, dynamic detection, human model, Convolutional Neural Network (CNN), plantar pressure

摘要：

针对外骨骼机器人在人机交互、医疗康复中的人体运动步态准确识别问题，提出一种基于人体模型约束的步态动态识别方法。首先，利用AMS仿真软件建立不同运动的仿真模型，根据模型约束划分步态相位，并通过回归映射建立真实数据与仿真数据间的对应关系；然后，将柔性压力传感器采集的足底压力数据以及惯性测量单元采集的足部位移数据融合为足部运动数据，并根据动态变化结合模型约束条件动态分割运动数据，以判断步态相位；最后，搭建卷积神经网络（CNN）识别行走步态相位。实验结果表明，所提方法的行走动作步态平均识别准确率为94.58%，上、下楼梯动作的平均步态识别准确率分别为93.21%和94.64%，与未经动态分割的足底压力数据的步态识别相比，分别提高了11.34、12.19和16.03个百分点。可见，通过经动态分割的足部运动数据进行CNN识别具有较高的准确率，且适用于不同动作的步态识别。

关键词: 步态识别, 动态检测, 人体模型, 卷积神经网络, 足底压力

CLC Number:

TP242.6

Jinyue LIU, Huiyu LI, Xiaohui JIA, Jiarui LI. Dynamic gait recognition method based on human model constraints[J]. Journal of Computer Applications, 2023, 43(3): 972-977.

刘今越, 李慧宇, 贾晓辉, 李佳蕊. 基于人体模型约束的步态动态识别方法[J]. 《计算机应用》唯一官方网站, 2023, 43(3): 972-977.

Figures/Tables 16

Fig. 1 Flow of gait recognition

Fig. 2 Sensor layout

Fig. 3 Structure and operation principle of pressure sensor

Fig. 4 Distribution of measurement points in foot and plantar pressure simulation results

Fig. 5 Simulated displacement curve of walking action

Fig.6 Plantar pressure area division

Tab. 1 Gait phase judgment conditions

步态相位	判断条件
足跟触地	$f k t o e = 0$ & $f k h e e l = - i n f$
足弓触地	$f k t o e = 0$ & $f k a r c h = - i n f$
足平放	$f k - 1 t o e = - i n f$
足跟离地	$f k - 1 h e e l = 0$ & $f k h e e l > 0$
足前支撑	$f k a r c h = 1$
摆动相	$f k t o e = 1$ & $f k h e e l = 0$

Tab. 1 Gait phase judgment conditions

步态相位	判断条件
足跟触地	$f k t o e = 0$ & $f k h e e l = - i n f$
足弓触地	$f k t o e = 0$ & $f k a r c h = - i n f$
足平放	$f k - 1 t o e = - i n f$
足跟离地	$f k - 1 h e e l = 0$ & $f k h e e l > 0$
足前支撑	$f k a r c h = 1$
摆动相	$f k t o e = 1$ & $f k h e e l = 0$

Fig.7 Z-axis displacement and velocity of foot

Fig.8 Foot motion data images

Fig.9 Structure of CNN

Tab. 2 Parameters of CNN

名称	类型	核大小及个数	步长	特征图与神经元
Input	输入层	—	—	1个34×16
C1	卷积层	6个5×5核	1	6个30×12
S2	降采样层	1个2×2核	2	6个15×6
C3	卷积层	16个5×5核	1	16个11×2
S4	降采样层	1个2×2核	1	16个6×2
C5	卷积层	120个1×1核	1	120个6×2
F6	全连接层	1×1核	1	—
Output	输出层	1×1核	1	—

Fig.10 Foot motion data acquisition system

Fig.11 Eigenvalue error of standing state

Fig. 12 Walking gait recognition

Fig. 13 Gait recognition of going upstairs and downstairs

Tab. 3 Gait recognition accuracy of different data

步态识别数据	行走	上楼梯	下楼梯
足部运动数据图像	94.58	93.21	94.64
足底压力图像	83.24	81.02	78.61

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Dynamic gait recognition method based on human model constraints

基于人体模型约束的步态动态识别方法

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