Research On Walking Stability Criteria Based On Human Dynamic Balance Perception

As a typical bipedal system,the human body has a stable walking ability.With the development of science and technology,although the humanoid robots developed based on the human bipedal mode have realized some human-like functions,in terms of stable and compliant walking function,it is still in the bottleneck of research and development.How to develop a stable,efficient and practical walking algorithm is the key issue in the development of humanoid robots at this stage.At the same time,China's population is becoming increasingly aging,there are a large number of patients with imbalance,the research on the evaluation method of human walking stability will help prevent the elderly from falling and the rehabilitation of patients.However,the existing evaluation criteria cannot accurately assess the stability of human walking.Therefore,how to accurately assess the walking balance of the human body is a key issue that needs to be solved urgently.To this end,this article is based on the capture data of various walking movements of the human body,learning from the working principle and kinematic posture characteristics of the human walking balance perception system,establish a simplified model of human walking kinematics,extract the parameters of human walking balance perception,A method for judging the balance of human walking is proposed and established to achieve an accurate assessment of human walking balance.The success of this topic will lay the foundation for exploring the mechanism of human walking balance perception,provide new ideas in the aspects of human walking balance assessment,patient walking rehabilitation treatment,and development of humanoid biped robots.The specific work of this article is as follows:First,given the complex physiological structure of the human body,establish a simplified model of human kinematics,body mass distribution and body mass centroid distribution model with reference to the national standard of adult human inertial parameters,analyze the format of the motion capture experiment data according to the kinematic posture of the human body,by using D-H kinematics forward solution algorithm,the visualization analysis of joint trajectory is realized.Second,based on the perception of human walking dynamic balance,Introduce centroid angular momentum and ground reference point to realize the analysis of human walking force and complete the analysis of the relationship between human walking total torque and human body balance;With reference to the working principle of the vestibular system,combined with the characteristics of the human body's stable walking,the analysis of the relationship between the centroid acceleration,forward offset angular acceleration and walking balance stability is completed;based on the inverted pendulum and motion capture point theory,complete the analysis of the relationship between the stability margin and the human body dynamic balance.Third,based on the law of coordinated movement between various tissues of the human body,analyze the internal relationship between the real-time dynamic imbalance stability of the human walking posture and the perception parameters of the human walking balance,propose and establish a balance stability criterion for human body stable walking,disturbed walking,and variable posture walking,to achieve an accurate discrimination between stability and disturbance during human walking,and an effective distinction between the balance degree of multi-posture walking;In view of the differences in the balance and stability criteria of the human body's multiple walking gaits,the PSO-SVM classification mechanism is used to achieve the stable discrimination of the human body's multiple walking gaits based on the perception of human dynamic balance.Fourth,in order to verify the accuracy and validity of the walking stability criterion based on human dynamic balance perception proposed in this paper,Based on the captured data of various movements of the human body and the corresponding walking stability criteria,an experimental comparative analysis of the human body's normal walking,walking in different postures and disturbed walking was carried out.The qualitative characterization of the human body's different walking postures and the accurate determination of gait stability were successfully achieved.