Research On The Law And Quantification Method Of Human Lower Limb Gait Synergy Based On Adaptive CPG

As the most intelligent creature in nature,human has excellent locomotor ability,among which walking is a basic human survival skill,the lower limbs show a simple external form,but its internal synergistic control mechanism is very complex.The study of human lower limb gait synergistic law can provide a theoretical basis to reveal the mechanism of motor control,and can be applied to the fields of rehabilitation medicine,professional exercise guidance,and humanoid bipedal robot control.However,the quantitative understanding of lower limb gait synergy has been a challenging topic,and the current analysis of human lower limb gait synergy is not deep,and many quantitative methods of lower limb gait synergy have small applicability and poor universality,which cannot achieve the purpose of accurate quantitative analysis and characterization of lower limb gait synergistic law.Therefore,aiming at the above-mentioned problems,the synergistic law of human lower limb gait has been explored in depth,and the main research work includes the following points:(1)Using high-precision wearable inertial sensor system,complete the collection of walking kinematic data,and based on the kinematic characteristics of human lower limb gait,complete the processing of human walking motion data and the establishment of database.Based on the anatomical structure of human body,a simplified model of human kinematics is constructed to lay the foundation for the subsequent simulation of human walking motion based on parameter reconstruction.(2)To solve the problem that complex lower limb joint motion trajectories are difficult to be accurately characterized,an adaptive Hopf-CPG network is introduced to characterize the human lower limb gait motion as amplitude and phase parameters of the Hopf-CPG network model to realize the parametric description of lower limb gait motion.Meanwhile,by simplifying the adaptive Hopf-CPG network and combining with the human kinematic model,a human motion parameter reconstruction model is constructed,and the effectiveness and accuracy of the parametric description of human gait is verified quantitatively by using kinematic simulation and joint reconstruction error calculation.(3)Based on the characterization parameters of human lower limb gait,the analysis of the synergistic relationship between lower limb joints reveals the constraint relationship followed by human lower limb joints in the walking process.Focusing on the goal of quantifying lower limb gait synergy,based on the law of lower limb inter-joint constraint,and by analyzing the variability characteristics of lower limb gait,a method of quantifying and scoring lower limb gait synergy is proposed to achieve the preliminary quantification of lower limb gait synergy.Through the analysis of the quantification results,it was found that the method had the problems of inaccurate coordination scoring and low differentiation between normal gait and abnormal gait.(4)To address the defects of the above gait synergy quantification methods,based on the constraint relationship of human lower limb gait,the lower limb gait synergy features are further extracted by principal component analysis and non-negative matrix decomposition,and the principal component analysis is selected to complete the dimensionality reduction description of the lower limb walking motion to realize the twodimensional visualization of the lower limb gait synergy features.Based on the twodimensional distribution law of the lower limb gait synergistic features,and combined with the constraint relationship of the lower limb gait,a general method is proposed to realize the quantification of the lower limb gait synergy between different subjects and different gait frequencies.The effectiveness of the proposed method was verified by comparing and analyzing the quantification results of normal gait and abnormal gait synergy.