基于三维激光雷达的步态测量分析系统  

Gait Measurement and Analysis System Based on Three-dimensional Lidar

作　　者：何红力 郭帅[2] 宋韬[1] 张敬 刘伟[4] 梁雅彦 He Hongli

机构地区：[1]上海大学机电工程与自动化学院,上海200444 [2]上海大学工程训练技术中心,上海200444 [3]海南医学院第一附属医院康复医学科,海南海口570102 [4]南昌大学第一附属医院靖安医院,江西靖安330699

出　　处：《工业控制计算机》2024年第9期85-87,共3页Industrial Control Computer

基　　金：国家自然科学基金国家重大科研仪器研制项目(82227807)。

摘　　要：步态分析可以用于评估和监测人体健康状况,通过对患者步态的定量分析,可指导临床相关疾病的预测与评估,从而制定有效的诊疗康复计划。目前的步态测量系统存在测量精度不高、场地受限、穿戴要求严格、步态参数单一、提取特征困难等问题。采用三维激光雷达进行步态参数测量,通过基于距离和阈值判定的数据分类、最小二乘数据拟合为核心的点云数据分析算法处理采集的三维空间数据,从而计算步态参数。首先利用光学运动捕捉系统与激光雷达传感器测量系统对比实验验证传感器的有效性,实验数据表明该测量系统的空间参数平均误差小于5%、时间参数平均误差小于10%,证明具有较高的测量精度;然后收集多名受试者的步态数据,提取步长、步宽、步行周期以及踝关节角度一系列关键步态特征,结果表明此系统可为医师提供异常步态参数进行早期诊断,以便进行后续治疗方案。Existing gait measurement systems face challenges such as low measurement accuracy,limited space requirements,strict wearing conditions,singular gait parameters,and difficulties in feature extraction.This study employs three-dimensional laser radar for gait parameter measurement.A point cloud data analysis algorithm,core to which is data classification based on distance and threshold determination,and least squares data fitting,processes the collected three-dimensional spatial data to calculate gait parameters.Initially,the effectiveness of the sensor is validated through a comparative experiment between an optical motion capture system and the laser radar sensor measurement system.Experimental data indicates that the spatial parameter average error is less than 5%,and the temporal parameter average error is less than 10%,demonstrating high measurement accuracy.Subsequently,gait data from multiple subjects is collected,and key gait features such as step length,step width,walking cycle,and ankle joint angle are extracted.

关 键 词：三维激光雷达 点云数据 步态测量 踝关节角度 

分 类 号：TN958.98[电子电信—信号与信息处理]