| Walking is one of the most common human dalily activities. Gait monitoring and analysis could reflect human motion, which not only has a high reaserch value in the medical treatment, but also is important for the study of biped robot. Traditional video-based gait monitoring platform is difficult to be applied in practice due to the high-cost and constraints in the environment. With the rapid development of integrated circuit technology and sensor networks, using inertial measurement unit (IMU) to design wearable gait monitoring systems have become a research hotspot.In this paper, the inertial module ADIS16405was used to set up the overall architecture of gait mornitoring systems based on embedded software. Four modules which included data collection module, data read and write chip module, RS-485bus module and SD card storage module were designed based on the MSP430F169microcontroller’s I/O interface, clock unit and USART serial communication. We carried out the initial calibration of IMU ADIS16405and gait data acquisition, and debugged data read and write module AT45DB161, bus module RS485, as well as the initialization and data storage of SD card. Then, the gait monitoring system achieved real-time acquisition and cache, accurate transmission and SD card storage of three-axis acceleration and angular velocity data.The portable wearable monitoring system provides a platform for real-time access to human gait motion information, and it can be used in the fields such as human gait analysis and fall detection. We designed some experiments to collect the quantitative three-axis acceleration and angular velocity data in the process of human gait and fall, where inertial sensor nodes were mounted on the waist and ankles of subjects. Some important parameters including pitch angle, step length, gait phase and fall detection threshold were obtained with the relevant algorithm in the PC, and further validated the usefulness and effectiveness of the monitoring systems. |
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