Research On Human Gait Characteristics And Walking Stability Based On 3D Motion Capture

China has become an aging society.Against such a background,a concern regarding the health care of elderly persons is attracting growing attention.It is known that walking ability,which is closely related to the quality of elderly life,is one of the most important in human daily activities.Many elderly persons suffer walking difficulties due to the decline of age-related lower limb muscles.The falls will not only affect the quality of the elderly's life,but also increase economic burden of the family and society.Some elderly people are not willing to walk outdoors because they are afraid to fall.Therefore,large numbers of the elderly people with weaken leg to walk are in need of walking assistance robot to overcome their walking obstaclesThis paper aims at the analysis of human walking stability and the gait information detection for walking assistance robot.3D-motion capture system is used to analyze the difference of walking stability between young and elderly subjects through experiments,and the stable area of walking and good gait characteristics are determined,and finally analysis the improvement of walking assistance robot and develop the walking assistance robot and analyze gait Information detection algorithm.the following aspects have completed in this paper:1)The theory of ZMP which applying biped robot stability criterion is introduced and propose two parameters to evaluate human walking stability.The ?_ZMP which is a difference between the center of mass?COM?and ZMP,The ?_ankle which is the difference between ankle and ZMP,These parameter can distinguish effectively the gait differences between the elderly and the young people,and evaluate the unstable gait,providing an evaluation basis for the development of walking assistance robots to improve the gait characteristics.2)Based on the study of the stability range of the human body during walking,the ZMP was combined with the inverted pendulum model to study the relationship between walking speed and ?_ZMP,and the differences in walking stability of different subjects were analyzed through experimental data.Secondly,the ZMP trajectory in the horizontal plane is calculated to obtain the experimental reference value of the walking stability area.3)By calculating the energy during walking,the energy exchange rate?%R?was introduced to compare the difference between young and old people.Through do the experiment in different walking speed using treadmill,The conclusion can be draw out the optimal walking speed using%R method.This result can be used to developing the walking assistance robot.4)Analyze the improving gait characteristics with walking assistance robot and without.Development the walking assistance robot and information detection algorithm.acceleration sensor to detect the ZMP of human body.Identify the stable gait and unstable gait by setting the threshold.Experiments show that the detected information can be well distinction between normal gait and abnormal gait.The above research results can provide research basis for the walking assist robot to improve the gait characteristics of the user and optimize the robot control strategy.