The invention relates to a foot end ground contact detection method. The method comprises the following steps: acquiring a sole force, a sole speed and a knee joint angular speed of a foot and a leg at a current moment; according to the plantar force, the plantar speed and the knee joint angular speed, the contact observation probability that the foot and the leg are in a contact phase at the current moment is determined; according to a preset gait switching mode of the foot and leg, in combination with a state transition probability algorithm, the first state transition probability that the foot and leg is transferred to the contact phase at the current moment is determined, and the gait switching mode is used for achieving periodic switching between the swing phase and the contact phase of the foot and leg; according to the contact observation probability and the first state transition probability, generating a contact probability that the foot and the leg are in a contact phase at the current moment; responding to the condition that the contact probability meets a preset threshold value, and determining that the foot ends of the feet and legs make contact with the ground at the current moment. By adopting the method, the probability that the foot end is in contact with the ground can be determined by fusing various operation data, and the method has relatively high robustness and relatively low misjudgment rate.
本申请涉及一种足端接触地面的检测方法。所述方法包括:获取足腿在当前时刻下的足底力、足底速度和膝关节角速度;根据足底力、足底速度和膝关节角速度,确定足腿在当前时刻下处于接触相的接触观测概率;根据足腿预设的步态切换模式,结合状态转移概率算法,确定足腿在当前时刻下转移至接触相的第一状态转移概率,步态切换模式用于实现足腿摆动相与接触相的周期性切换;根据接触观测概率和第一状态转移概率,生成足腿在当前时刻下处于接触相的接触概率;响应于接触概率满足预设阈值,确定足腿在当前时刻下的足端接触地面。采用本方法能够融合多种运行数据来确定足端接触地面的概率,具有较强的鲁棒性和较低的误判率。
Method for detecting contact between foot end and ground
足端接触地面的检测方法
2024-02-20
Patent
Elektronische Ressource
Chinesisch
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