一种测量人行走时骨盆运动轨迹的新方法

骨盆的运动轨迹是类人机器人和康复训练机器人控制的基础,针对以往研究方法的不足,提出了一种测量人在跑步机上行走时骨盆运动轨迹的新方法.通过3个高精度位移传感器和1个数据采集卡进行数据采集,运用MATLAB软件进行数据处理和分析.实验结果表明:正常人行走过程中,骨盆在左右和上下方向的运动轨迹符合周期性变化规律,近似于正弦波形;在一个完整的步态周期内,骨盆左右摆动1次,上下起伏2次;幅值主要由身高和行走速度等参数决定,在此基础上建立了骨盆运动轨迹的数学模型.

A new method to measure pelvis trajectory during human walking

The trajectory of the pelvis is the control foundation in the fields of humanoid robots and rehabilitation robots.To address a shortage of related research,a new method is put forward to measure the trajectory of the pelvis as a human walks on a treadmill.Data acquisition was based on three precise displacement-sensors and a data acquisition card.Data processing was performed using MATLAB software.Experimental results show that the medial-lateral and vertical movements of the pelvis in normal walking are cyclical and roughly sinusoidal;the pelvis moves through two cycles vertically and one medial-laterally in a gait cycle.Moreover,it was found that the displacement from peak to peak depends mainly on one's height and walking velocity.A mathematical model was established to calculate pelvis trajectory.