Analysis Of Gait Stability Discrimination Based On Cognition Of Human Walking Balance Mechanism

Undergoing the long process of evolution,human gait has being a perfect walking model.The discrimination of human gait stability is of great value to the research and development of bipedal humanoid robot and the rehabilitation therapy for patients with walking problems.How to evaluate the walking stability of the humanoid biped robot and develop a stable and effective walking control algorithm are the key research hotspots for the development of the humanoid biped robot.At present,the most widely used walking stability criterion for the humanoid biped robot is the zero-moment stability criterion.However,the poor stability,poor flexibility,and low efficiency of this method severely limit the walking ability of humanoid biped robot.In walking rehabilitation exercises,how to evaluate the patient's gait stability and give reasonable rehabilitation guidance is also a key issue for patients.At this stage,the most effective evaluation method is the gait analysis.Doctors diagnose the rehabilitation status of the patient by comparison of normal gait related indicators with their experience.Based on the captured human walking movement data,a human walking movement model is built by kinematics positive solutions in this paper.What's more,the mechanical analysis is carried out for the model.On this basis and draw lessons from the vestibular system principle of work,a method of human gait stability judgment is put forward and verified in this paper.This study would lay the foundation for the exploration of the stability mechanism of human walking stability,and provide a new way for the development of humanoid biped robots and rehabilitation of patients' walking ability.This method would provide guidance for the bionics research of humanoid biped robots and the rehabilitation of diseases in abnormal walking.The detailed work of this article is as follows:First,a kinematic model of the human body's walking process is established in this paper.The motion capture data of the human walking process was through experiments.on the basis,the human body movement model,the human body quality model and the human body inertia model is built based on the human body physiological structure and the national human inertial standard parameters.Combined with the motion capture data and the human body model,the human body motion trajectory is calculated in the kinematics forward solution algorithm.What's more,the kinematics model of the human walking process is established.Second,analyze the human walking process.Based on Newton's second law,this paper introduces the ground reference point and combines Euler's second theorem to analyze the angular momentum balance and moment balance.Based on this,several states of human walking balance were analyzed,and the relationship between angular momentum,human gait cycle,and balance during walking was analyzed based on the relationship between the foot and the ground.Again,a human gait stability criterion is proposed.In this paper,based on the force analysis and balance analysis during human walking,a gait stability discrimination method is proposed refers to the working principle of the human vestibular balance system.The sagittal surface centroid angular momentum,the forward direction centroid acceleration,and the forward distance between the ZMP and the CMP are selected as parameters in this method.Finally,the proposed human gait stability criteria is analyzed and verified.Based on the motion capture experiment of human walking,the characteristics of the human gait stability discrimination proposed in this paper are analyzed.To verify the validity of the stability discrimination,the normal and abnormal gait motion capture data preprocessed with the Butterworth filter was selected to build the human walking movement model.What's more,on the basis of the stability evaluation data of normal gait,the stable gait value range is divided.In addition,several groups of human walking data were selected from Carnegie Mellon University Graphics Lab Motion Capture Database for comparison,which prove the reliability of the conclusion of this paper.