CN-121971074-A - Intelligent gait analysis and symmetry assessment method and system based on gait cycle staging

CN121971074ACN 121971074 ACN121971074 ACN 121971074ACN-121971074-A

Abstract

The invention discloses an intelligent gait analysis and symmetry assessment method and system based on gait cycle staging, which belong to the technical field of gait analysis and comprise the steps of collecting gait data of a plurality of feature areas of a sole of a subject during walking, identifying and dividing at least one complete gait cycle based on the data, subdividing the complete gait cycle into a plurality of preset gait phases with equal supporting phases and swinging, extracting gait feature parameters such as time, pressure, gravity center deviation and the like for each phase, obtaining symmetry indexes of left and right feet by constructing normalized feature vectors of the left and right feet and calculating cosine similarity, finally comparing the feature parameters with normal reference ranges, comparing the symmetry indexes with preset thresholds, generating a gait assessment grade by combining a machine learning model, and outputting the feature parameters, the symmetry indexes and assessment results. The invention can evaluate gait function and provide data support for clinical diagnosis, rehabilitation monitoring and the like.

Inventors

DAN JINGJING
WANG LIGUO
WANG BINZHE
LIU DEJUN
FANG JIANHUI
XUE SHENGBO

Assignees

王斌哲

Dates

Publication Date: 20260505
Application Date: 20260323

Claims (8)

1. An intelligent gait analysis and symmetry assessment method based on gait cycle staging is characterized by comprising the following steps: collecting gait data of a plurality of characteristic areas of the sole of a foot in the walking process of a subject; Identifying and dividing at least one complete gait cycle based on the gait data, and dividing each of the gait cycles into a plurality of preset gait phases; extracting one or more gait feature parameters for each of the gait phases; Calculating a left foot symmetry index and a right foot symmetry index based on the gait characteristic parameters; analyzing the gait characteristic parameters and the symmetry indexes of the left and right feet to obtain gait evaluation results; and outputting the gait characteristic parameters, the symmetry index and the evaluation result.
2. The intelligent gait analysis and symmetry assessment method based on gait cycle staging according to claim 1, wherein identifying and dividing at least one complete gait cycle based on the gait data and dividing each of the gait cycles into a plurality of predefined gait phases comprises: Detecting a plurality of gait events from the gait data, wherein the gait events include at least a first ipsilateral heel strike, a ipsilateral toe off, a first contralateral heel strike; dividing a complete gait cycle by taking two continuous same heel first touchdown events on the same side as a time interval; based on the gait event, primarily dividing a single gait cycle into a supporting phase and a swinging phase, wherein the supporting phase is from the first contact of the heel on the same side to the toe off on the same side, and the swinging phase is from the first contact of the toe off on the same side to the first contact of the heel on the next same side; The method comprises the steps of carrying out fine division on a supporting phase and a swinging phase, dividing the supporting phase into a ground contact period from the moment of first contact of the heel on the same side to the moment of complete contact of the whole foot sole with the ground, dividing the supporting phase into a standing metaphase from the moment of complete contact of the whole foot sole with the ground to the moment of heel off the ground, dividing the supporting phase into a pushing period from the moment of heel off the ground to the moment of ending of first contact of the toe on the same side, dividing the swinging phase into a swinging initial stage from the moment of first contact of the toe on the same side to the moment of parallelism of the swinging leg and the supporting leg on the sagittal plane, dividing the supporting phase into a swinging metaphase from the moment of parallelism of the swinging leg and the supporting leg to the moment of perpendicularity of the tibia with the ground, and dividing the supporting leg into a swinging metaphase from the moment of first contact of the heel on the next same side from the moment of first contact of the heel with the ground.
3. The intelligent gait analysis and symmetry assessment method according to claim 2, wherein a complete gait cycle is divided by taking two consecutive same ipsilateral heel first touchdown events as a time interval, comprising: When the pressure value of the lateral area of the single-side heel exceeds a preset ground contact threshold value for the first time, marking the current time point as a gait cycle starting point; And continuously tracking the pressure value of the unilateral foot from the starting point of the gait cycle, and marking the current time point as the end point of the gait cycle when the pressure value of the unilateral heel lateral area is detected to exceed a preset ground contact threshold value again and the contact area of the unilateral foot bottom shows a non-zero-non-zero change trend.
4. The intelligent gait analysis and symmetry assessment method based on gait cycle staging according to claim 3, wherein based on the gait event, the preliminary division of a single gait cycle into a support phase and a swing phase comprises: Taking a gait cycle starting point as a first contact event occurrence point of the heel on the same side, namely judging that the heel on the same side contacts the ground for the first time when the pressure value of the lateral area of the heel on the single side exceeds a contact threshold value for the first time; when the contact area data of the big toe of the single-side sole and the 2 nd to 5 th toe areas are continuously preset for zero, and the coordinate value of the Z axis of the single-side foot is detected to rise by a preset height when the coordinate value is contacted with the ground, judging that the same-side toe off event occurs; Defining a period from a point of occurrence of a first contact event on the ipsilateral heel to a point of occurrence of a toe off event on the ipsilateral toe as a supportive phase of a single gait cycle; The period from the point of occurrence of the ipsilateral toe off event to the start point of the next gait cycle is defined as the swing phase of the single gait cycle.
5. The intelligent gait analysis and symmetry assessment method based on gait cycle staging according to claim 2, wherein extracting one or more gait feature parameters for each of the gait phases comprises: gait feature parameters extracted for the support phase: Calculating a time difference value from the occurrence point of the first contact event of the heel on the same side to the occurrence point of the toe off event on the same side; Obtaining pressure data of each region of the sole in the supporting phase time period, screening out the maximum value of the pressure values of each region, and taking the maximum value as the maximum pressure value of the sole of the supporting phase; taking coordinate values of the gravity center of the body on the X axis when the heel on the same side touches the ground for the first time and the toe off the ground on the same side, and calculating the absolute value of the difference value of the two coordinate values to be used as the front-back offset of the gravity center of the supporting phase; gait feature parameters extracted for the swing phase: calculating the time difference between the occurrence point of the toe-off event on the same side and the occurrence point of the first contact event of the heel on the next same side; acquiring coordinate data of the foot in the Z axis in the swing phase time period, screening out the maximum value of the coordinate values, and calculating a difference value between the maximum value of the coordinate values and the Z axis coordinate value at the starting moment of the support phase to serve as the maximum lifting height of the foot in the swing phase; And acquiring coordinate values of the gravity center of the body on the Y axis when the toe at the same side leaves the ground and the heel at the next same side touches the ground for the first time, and calculating the absolute value of the difference value of the two coordinate values to be used as the left-right offset of the gravity center of the swing phase.
6. The intelligent gait analysis and symmetry assessment method based on gait cycle staging according to claim 5, wherein calculating a left and right foot symmetry index based on the gait feature parameters comprises: Constructing a left characteristic vector L and a right characteristic vector R based on gait characteristics of left and right feet in each gait phase; normalizing the left characteristic vector L and the right characteristic vector R; And calculating cosine similarity between the normalized left feature vector L and the normalized right feature vector R to serve as a left foot symmetry index S, wherein the formula is as follows: 。
7. The intelligent gait analysis and symmetry assessment method based on gait cycle staging according to claim 1, wherein analyzing the gait feature parameter and the left and right foot symmetry index to obtain a gait assessment result comprises: Comparing the gait characteristic parameters with a preset corresponding normal reference range, and if any parameter exceeds the normal reference range, marking the parameter as an abnormal parameter and a deviation degree; Comparing the symmetry index of the left foot and the right foot with a preset symmetry threshold, and judging that the left foot and the right foot are asymmetric if the symmetry index is lower than the symmetry threshold; And generating a gait evaluation grade by adopting a machine learning model based on the number, the type and the deviation degree of the abnormal parameters and the symmetry indexes of the left foot and the right foot, wherein the gait evaluation grade comprises normal, mild abnormal, moderate abnormal and severe abnormal.
8. An intelligent gait analysis and symmetry assessment system based on gait cycle staging, wherein the system is configured to implement the intelligent gait analysis and symmetry assessment method based on gait cycle staging of any one of claims 1-7, comprising: The acquisition module is used for acquiring gait data of a plurality of characteristic areas of the sole of a subject in the walking process; The cycle dividing module is used for identifying and dividing at least one complete gait cycle based on the gait data and dividing each gait cycle into a plurality of preset gait phases; a feature extraction module for extracting one or more gait feature parameters for each of the gait phases; The symmetry analysis module is used for calculating the symmetry index of the left foot and the right foot based on the gait characteristic parameters; the evaluation module is used for analyzing the gait characteristic parameters and the symmetry indexes of the left foot and the right foot to obtain gait evaluation results; and the result output module is used for outputting the gait characteristic parameters, the symmetry index and the evaluation result.

Description

Intelligent gait analysis and symmetry assessment method and system based on gait cycle staging Technical Field The invention relates to the technical field of gait analysis, in particular to an intelligent gait analysis and symmetry assessment method and system based on gait cycle staging. Background Gait is an inherent movement pattern of human body walking, and its periodic variation is closely related to foot physiological structure, muscle function and nerve control, and is a core index reflecting lower limb movement function and health state. In the clinical field, accurate gait analysis is not only a key basis for early diagnosis of foot diseases, but also an important support for evaluating rehabilitation effect and making personalized training scheme, and has irreplaceable effects in the scenes of sports health monitoring, artificial limb adaptation optimization and the like. With the development of medical technology, gait analysis technology has gradually evolved from traditional manual observation and evaluation to quantitative analysis based on sensors and data algorithms. However, the current mainstream gait analysis technology still has three core defects, and is difficult to meet the requirements of clinical diagnosis and treatment on accuracy, comprehensiveness and intellectualization. Therefore, how to provide a gait analysis method and a symmetry evaluation system capable of realizing the comprehensive evaluation of the multi-dimensional index in the fine phase division of the gait cycle are the problems to be solved by the person skilled in the art. Disclosure of Invention In view of the above, the invention provides an intelligent gait analysis and symmetry assessment method and system based on gait cycle staging, which are used for realizing fine staging of gait cycle by collecting gait data of multiple feature areas of the sole, extracting key gait feature parameters of each phase in a targeted manner, accurately quantifying left and right foot symmetry by combining normalization processing and cosine similarity calculation, and finally generating a grading assessment result through parameter comparison and a machine learning model, thereby providing scientific, objective and quantifiable technical support for clinical gait function diagnosis, rehabilitation effect monitoring and motion health management and improving the intellectualization and practicability of gait analysis. In order to achieve the above purpose, the present invention adopts the following technical scheme: in one aspect, the invention provides an intelligent gait analysis and symmetry assessment method based on gait cycle staging, comprising the following steps: collecting gait data of a plurality of characteristic areas of the sole of a foot in the walking process of a subject; Identifying and dividing at least one complete gait cycle based on the gait data, and dividing each of the gait cycles into a plurality of preset gait phases; extracting one or more gait feature parameters for each of the gait phases; Calculating a left foot symmetry index and a right foot symmetry index based on the gait characteristic parameters; analyzing the gait characteristic parameters and the symmetry indexes of the left and right feet to obtain gait evaluation results; and outputting the gait characteristic parameters, the symmetry index and the evaluation result. Preferably, identifying and dividing at least one complete gait cycle based on the gait data, and dividing each of the gait cycles into a plurality of predefined gait phases, comprises: Detecting a plurality of gait events from the gait data, wherein the gait events include at least a first ipsilateral heel strike, a ipsilateral toe off, a first contralateral heel strike; dividing a complete gait cycle by taking two continuous same heel first touchdown events on the same side as a time interval; based on the gait event, primarily dividing a single gait cycle into a supporting phase and a swinging phase, wherein the supporting phase is from the first contact of the heel on the same side to the toe off on the same side, and the swinging phase is from the first contact of the toe off on the same side to the first contact of the heel on the next same side; The method comprises the steps of carrying out fine division on a supporting phase and a swinging phase, dividing the supporting phase into a ground contact period from the moment of first contact of the heel on the same side to the moment of complete contact of the whole foot sole with the ground, dividing the supporting phase into a standing metaphase from the moment of complete contact of the whole foot sole with the ground to the moment of heel off the ground, dividing the supporting phase into a pushing period from the moment of heel off the ground to the moment of ending of first contact of the toe on the same side, dividing the swinging phase into a swinging initial stage from the moment of first contact of the toe o