基于低成本惯性测量单元和力敏电阻的足部三维运动数据建模

doi:10.3969/j.issn.1006-9771.2024.10.013

《中国康复理论与实践》 ›› 2024, Vol. 30 ›› Issue (10): 1224-1231.doi: 10.3969/j.issn.1006-9771.2024.10.013

基于低成本惯性测量单元和力敏电阻的足部三维运动数据建模

杨平¹^,²^,³(), 陈浩源², 高睿馨², 王欣平²

1.中国康复科学所康复工程研究部，北京市 100068
2.首都医科大学康复医学院，北京市100068
3.英国思克莱德大学，英国格拉斯哥市G1 1XQ

收稿日期:2024-07-24 修回日期:2024-08-12 出版日期:2024-10-25 发布日期:2024-11-08
通讯作者: 杨平(1983-)，女，汉族，山东临沂市人，硕士，副研究员，主要研究方向：康复工程、生物力学。E-mail： yangping2005668@163.com
基金资助:
中国康复科学所中央级公益性科研院所基本科研业务费项目(2022CZ-7)

Three-dimensional modeling of foot motion based on low-cost inertial measurement unit and force sensing resistor

YANG Ping¹^,²^,³(), CHEN Haoyuan², GAO Ruixin², WANG Xinping², Philip ROWE³

1. Department of Rehabilitation Engineering, China Rehabilitation Science Institute, Beijing 100068, China
2. Capital Medical University School of Rehabilitation Medicine, Beijing 100068, China
3. University of Strathclyde, Glasgow G1 1XQ, UK

Received:2024-07-24 Revised:2024-08-12 Published:2024-10-25 Online:2024-11-08
Contact: YANG Ping, E-mail： yangping2005668@163.com
Supported by:
Fundamental Research Funds for Central Public Welfare Research Institutes, conducted by China Rehabilitation Science Institute(2022CZ-7)

摘要/Abstract

摘要：

目的设计一种基于低成本惯性测量单元和力敏电阻的便携式足部三维运动捕捉系统，探讨应用该系统评估裸足和穿鞋状态下足内小关节三维运动的可行性。

方法该系统由数据采集、数据传输和数据处理部分组成。惯性测量单元用于足部小关节运动数据采集，力敏电阻用于检测足跟触地和足趾离地时间。所有数据通过无线局域网传输，数据处理由自主编写的宏程序完成。2024年1月至7月，2例健康成年女性穿戴该设备以自我感觉合适的速度在室内平地连续行走10 m。采用步态分析对受试者2进行行走一致性测试，并记录受试者1分别以裸足、穿两种护士鞋行走时，连续步态周期下第1跖骨相对于拇趾(Met-Ph)、中足相对于第1跖骨(Mid-Met)的背屈-跖屈、内收-外展和内旋-外旋运动曲线。

结果该系统在行走时显示良好的测试一致性。Met-Ph和Mid-Met的背屈-跖屈、内收-外展和内旋-外旋活动范围在穿鞋时均较裸足时降低，使用带足弓支撑的鞋最低。

结论本研究开发了一种低成本、便携式足部三维运动系统，可用于测量连续步态时足内小关节在裸足和穿鞋状态下的三维运动。

关键词: 惯性测量单元, 力敏电阻, 足, 三维运动建模, 步态分析

Abstract:

Objective To develop a portable three-dimensional foot motion analysis system based on low-cost inertial measurement units (IMU) and force sensing resistor (FSR), and to explore the feasibility of assessing three-dimensional motion of internal small joints of foot in barefoot and shod conditions.

Methods The system consisted of data sampling, data transmitting and data processing parts. IMUs were employed for data acquisition of small foot joints, and FSRs were utilized to detect heel strike and toe off. All the data were transmitted via wireless local area network. Data processing was accomplished by a self-programmed Excel macro. From January to July, 2024, two healthy female subjects wearing the device walked in the corridor at self-selected pace, for ten meters. Gait analysis was used to conduct consistency test on subject 2. Dorsiflexion-plantarflexion, adduction-abduction and internal rotation-external rotation of the 1st metatarsal relative to the phalangeal (Met-Ph), the midfoot relative to the 1st metatarsal (Mid-Met) were recorded and analyzed on subject 1 in consecutive barefoot walking and two types of nurse footwear walking conditions.

Results The system showed good consistency between tests. Dorsiflexion-plantarflexion, adduction-abduction and internal rotation-external rotation ranges of motion were reduced in both Met-Ph and Mid-Met with shoes compared with those of bare foot, they were the least in arch support.

Conclusion A low-cost, portable three-dimensional foot motion analysis system has been developed, which could be used to measure barefoot motion and shod foot motion in consecutive walking.

Key words: inertial measurement units, force sensing resistor, foot, three-dimensional motion model, gait analysis

中图分类号:

R496

杨平, 陈浩源, 高睿馨, 王欣平. 基于低成本惯性测量单元和力敏电阻的足部三维运动数据建模[J]. 《中国康复理论与实践》, 2024, 30(10): 1224-1231.

YANG Ping, CHEN Haoyuan, GAO Ruixin, WANG Xinping, Philip ROWE. Three-dimensional modeling of foot motion based on low-cost inertial measurement unit and force sensing resistor[J]. Chinese Journal of Rehabilitation Theory and Practice, 2024, 30(10): 1224-1231.

图/表 5

参考文献 48

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基于低成本惯性测量单元和力敏电阻的足部三维运动数据建模

Three-dimensional modeling of foot motion based on low-cost inertial measurement unit and force sensing resistor

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