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摘要: 针对学步期幼儿的行走步态信息采集困难这一问题展开研究，提出一种基于Kinect的自然步态提取方法.通过Kinect直接获取人体的骨骼信息来采集不同月龄幼儿行走的关节数据，并利用关节位置平滑和骨骼长度曲线拟合实现对骨骼数据的滤波和截取；通过拟合幼儿行走的足端轨迹来提取不同月龄的步态时空参数，基于下肢的逆运动学解算来获得各关节角变化，并由此总结出学步期幼儿独立行走时的步态特征变化规律.Abstract: To solve the acquisition difficulty of toddler's walking gait, a Kinect-based natural gait extraction approach is proposed. The human body's skeletal information is acquired directly by Kinect to collect the joints data of toddlers of different months. The joint position smoothing and bone length curve fitting are utilized to realize filtering and acquisition of bone data. The temporal-spatial gait parameters of toddlers of different months are extracted by fitting the foot trajectory of the walking toddler. By means of the inverse kinematics of the lower limb, the changes of joint angles are obtained and the gait variation characteristics of the walking toddler are deduced.
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Key words:
- Kinect /
- toddler /
- gait extraction /
- data filtering
1) 本文责任编委 周志华 -
图 4 幼儿25月龄的左右大腿长度的测量值与拟合曲线
Fig. 4 The measuring curve and fitting curve of left & right thigh length during 25 months old
图 6 Kinect坐标系下$z$方向的足端轨迹
Fig. 6 Foot trajectory of $z$ axis in Kinect coordinate system
图 10 SpineBase坐标系下$z$方向足端轨迹的拟合曲线
Fig. 10 Fitting curve of foot trajectory in $z$ axis in SpineBase coordinate system
图 11 SpineBase坐标系下$y$和$x$方向足端轨迹的拟合曲线
Fig. 11 Fitting curves of foot trajectory in $y$ and $z$ axes in SpineBase coordinate system
图 12 Kinect坐标系下脊柱基点的运动轨迹
Fig. 12 Moving trajectory of SpineBase in Kinect coordinate system
图 13 SpineBase坐标系下踝关节角变化及拟合曲线
Fig. 13 Variation of ankle joint angles and corresponding fitting curves in SpineBase coordinate system
图 14 SpineBase坐标系下膝关节角变化及拟合曲线
Fig. 14 Variation of knee joint angle and corresponding fitting curve in SpineBase coordinate system
图 15 SpineBase坐标系下髋关节角变化及拟合曲线
Fig. 15 Variation of hip joint angles and corresponding fitting curves in SpineBase coordinate system
表 1 滤波后17 $\sim$ 31月龄各下肢骨骼的长度值(m)
Table 1 The filtered skeletal lengths of lower limb during 17 $\sim$ 31 months (m)
月龄 大腿 小腿 17 0.16 0.12 18 0.16 0.13 19 0.16 0.13 20 0.16 0.14 21 0.17 0.15 22 0.17 0.16 23 0.17 0.17 24 0.18 0.17 25 0.18 0.17 27 0.18 0.18 29 0.19 0.18 31 0.19 0.19 
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表 2 17 $\sim$ 31月龄幼儿行走的步态时空参数
Table 2 The temporal-spatial gait parameters of toddler during 17 $\sim$ 31 months
月龄 支撑相(%) 双足支撑相(%) 单足支撑相(%) 摆动相(%) 步态周期(s) 步频(Hz) 步长(m) 17 68.4 19.8 48.6 31.6 0.5 2 0.24 18 66.7 17.5 49.2 33.3 0.6 1.67 0.26 19 66.7 16.4 50.3 33.3 0.6 1.67 0.26 20 66.5 15.6 50.9 33.5 0.63 1.58 0.26 21 65.4 14.4 51 34.6 0.65 1.54 0.26 22 64.8 13.8 51 35.2 0.68 1.47 0.27 23 64.5 13.1 51.4 35.5 0.71 1.41 0.27 24 64 12.6 51.4 36 0.72 1.39 0.29 25 62.8 11.5 51.3 37.2 0.75 1.33 0.33 27 62.7 11.3 51.4 37.3 0.75 1.33 0.33 29 62.7 11.2 51.5 37.3 0.76 1.32 0.34 31 62.6 11 51.6 37.4 0.76 1.32 0.35
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表 3 17 $\sim$ 31月龄幼儿行走时下肢各关节角变化($^\circ$)
Table 3 The joint angle variations of lower limb of toddler during 17 $\sim$ 31 months ($^\circ$)
关节角月龄 俯仰角 髋关节横滚角 航向角 膝关节横滚角 俯仰角 踝关节横滚角 航向角 17 $-$12 $\sim$ 3 $-$103 $\sim -$88 $-$39 $\sim -$28 $-$26 $\sim$ 53 $-$32 $\sim$ 23 $-$150 $\sim -$75 $-$47 $\sim -$17 18 $-$10 $\sim$ 2 $-$101 $\sim -$86 $-$28 $\sim -$15 $-$23 $\sim$ 46 $-$23 $\sim$ 19 $-$145 $\sim -$90 $-$50 $\sim -$15 19 $-$8 $\sim$ 5 $-$100 $\sim -$85 $-$39 $\sim -$21 $-$25 $\sim$ 45 $-$11 $\sim$ 25 $-$123 $\sim -$62 $-$50 $\sim -$24 20 $-$8 $\sim$ 4 $-$98 $\sim -$84 $-$46 $\sim -$38 $-$21 $\sim$ 46 $-$10 $\sim$ 27 $-$128 $\sim -$82 $-$57 $\sim -$32 21 $-$7 $\sim$ 5 $-$97 $\sim -$84 $-$33 $\sim -$21 $-$22 $\sim$ 45 $-$12 $\sim$ 24 $-$127 $\sim -$69 $-$40 $\sim -$20 22 $-$5 $\sim$ 6 $-$100 $\sim -$87 $-$22 $\sim -$9 $-$24 $\sim$ 37 $-$18 $\sim$ 16 $-$125 $\sim -$58 $-$37 $\sim -$18 23 $-$5 $\sim$ 5 $-$100 $\sim -$90 $-$35 $\sim -$20 $-$15 $\sim$ 40 $-$20 $\sim$ 12 $-$140 $\sim -$75 $-$42 $\sim -$22 24 $-$4 $\sim$ 6 $-$100 $\sim -$90 $-$45 $\sim -$25 $-$16 $\sim$ 38 $-$10 $\sim$ 18 $-$120 $\sim -$64 $-$34 $\sim -$17 25 $-$6 $\sim$ 3 $-$100 $\sim -$90 $-$35 $\sim -$21 $-$22 $\sim$ 25 $-$12 $\sim$ 14 $-$135 $\sim -$70 $-$30 $\sim -$20 27 $-$4 $\sim$ 5 $-$100 $\sim -$91 $-$37 $\sim -$23 $-$18 $\sim$ 26 $-$14 $\sim$ 11 $-$137 $\sim -$78 $-$37 $\sim -$10 29 $-$5 $\sim$ 3 $-$99 $\sim -$89 $-$33 $\sim -$20 $-$15 $\sim$ 26 $-$13 $\sim$ 12 $-$134 $\sim -$52 $-$48 $\sim -$20 31 $-$4 $\sim$ 4 $-$97 $\sim -$88 $-$24 $\sim -$10 $-$13 $\sim$ 25 $-$12 $\sim$ 12 $-$135 $\sim -$76 $-$25 $\sim -$5
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