Gait Detection And Analysis Based On Omni-Directional Rehabilitation Robot

In recent years,it is gradually increasing that the aging phenomenon of the world's population. Some of this aging population, who has suffered from lower limbs motion dysfunction, are of cerebrovascular disease or neurological. Clinical theory proves that, in addition to early surgery and medical treatment, correct and scientific rehabilitation training plays an important role for these groups. It is highly essential and important that timely and accurately obtaining and analyzing the gait information of subjects for scientific rehabilitation training.In order to obtain the gait information of subjects, an ultrasonic gait detection system is designed based on the omni-directional rehabilitation robot. Moreover, a number of gait symmetry index are proposed to analyze walking symmetry of subjects. The effectiveness of the designation of ultrasonic gait detection system and the method of using gait symmetry index to analyze the gait symmetry of subjects are proved.The ultrasonic detection system is installed in the front of omni-directional rehabilitation robot. First, the distance from the right and left legs of subjects to ultrasonic sensors can be detected, series of gait parameters are computed including step length, speed, frequency, then the walking symmetry of subjects between two lower limbs can be analyzed. The extracted gait parameters from detected data and real gait parameters are computed, the results show that the ultrasonic gait detection system can get gait parameters effectively. For the gait symmetry analysis of subjects from the experiments, series of different gait symmetry index are proposed to analysis walking symmetry of subjects, these symmetry index are calculated based on detected gait data from some different simulation experiments of subjects with lower limbs motion dysfunction. According to the different gait symmetry index, the gait walking symmetry of subjects can be evaluated, and then the effectiveness of the method that gait symmetry analysis is validated.