Research On Motion Monitoring And Analysis For Hippotherapy Based On Body Sensor Data Fusion

Hippotherapy,as a new type of exercise rehabilitation therapy,has confirmed its therapeutic effect on physical,psychological,cognitive,social and behavioral disorders of special children with motor dysfunction,neurological diseases,muscle diseases and language disorders.However,the clinical evaluation indicators mainly refer to the medical scale,and most of the current studies are subjective qualitative analysis based on this medical scale,and there is still lacking monitoring means and objective quantitative evaluation methods that can feed back the rehabilitation effect and gradual progress of hippotherapy in real time.Through monitoring the movement data of patients in the process of hippotherapy,combining with the quantitative analysis of the movement function of patients by scientific means,we can accurately grasp the rehabilitation situation of patients,which has important reference significance for the follow-up rehabilitation plan.On the basis of current research,this paper introduces the concept of motion sensing,and proposes a hippotherapy monitoring and analysis method using multi-sensor data fusion method.The main contributions of this paper are as follows.(1)A portable wearable wireless inertial motion capture system is developed in this research.Simultaneously,the error calibration and compensation of inertial sensors are also studied.Our key point focuses on the calibration and compensation strategy of magnetometer.In addition,to solve the problem of initial alignment between sensors and corresponding segments,an initial pose calibration method from sensor to segment based on I-Pose is proposed,which can eliminate the error of initial alignment in motion capture.(2)A new sensor fusion method,extend Kalman filter based on exercise intensity detection is proposed.This method designed a frame spectum detector to judge the motion intensity by analyzing the motion intensity of sensor signal,and the tuning parameters of the extended Kalman filter is changed according to the motion intensity.Thus,the estimation error caused by gravity imbalance in high speed can be reduced.(3)A quaternion driven method for human motion reconstruction based on skeleton vectorization is proposed.In this study,the mechanism model of human body is established.Based on the establishment of vectorized motion model in accordance with human dynamics,this research reconstructed the three-dimensional posture of children with cerebral palsy in hippotherapy by introducing the mutual constraints among skeletons.According to the relationship between each joint,the joint angle is extracted as a comparative index by motion capture method,combined with the dynamic time warping,the changes of joint angles for key parts of children with cerebral palsy in hippotherapy are analyzed from the perspective of kinematics and statistics,which can provide evidence for revealing the effectiveness of hippotherapy in improving the posture maintenance ability and motor balance function of children with cerebral palsy.(4)A method of lower limb gait analysis for children with cerebral palsy is proposed.As abnormal gait behaviors such as scissors feet,knee-bending gait and hobble gait are very common in children with cerebral palsy,the traditional zero-velocity-update gait analysis method is not applicable at this time.Therefore,on this basis,this paper extracts the relevant gait parameters suitable for the gait analysis of children with cerebral palsy by correlating the lower limb movement posture.By means of kinematics analysis,the effects of hippotherapy on lower limb motor rehabilitation for children with cerebral palsy are counted.Finally,through the identification of authoritative experts,it is proved that the indexes monitored by body sensor network before and after hippotherapy are consistent with the clinical test results.It further shows that the method of motion monitoring and analysis for hippotherapy with body sensor network is feasible,which provides a new idea for monitoring and quantitative evaluation of motor function rehabilitation of patients with cerebral palsy.