基于Kalman滤波及蚁群优化算法的步态信号处理新方法研究-电气检测技术及仪器专业论文.docxVIP

AbstractAbstract Abstract Abstract In this paper,by using the multiple sensor data acquisition system which was developed by our own team，we successfully collected the signals of plantar pressure and inertial measurement units during the walking．And the new method of the stride frequency predicting and the space attitude inversion of the lower limbs have been studied and Verifiod． In order to make the intelligent lower limb be able to adjust the damping of the knee joint in real time，and make its natural frequency be in conformity with actual pace，SO as to achieve the most natural gait,a stride frequency prediction algorithm based on plantar pressure sensing system was proposed in this paper．The stride frequency was predicted by the Kalman prediction equation．And the optimal combination of two parameters in Kalman prediction equation,the system error and the measurement error,Was found in a continuous domain by using the Ant Colony algorithm．First,6 groups of the stride frequency data were obtained by using the plantar pressure sensing system．Then 3 groups of training data Was processed by the Ant Colony algorithm to get the optimal combination of these two parameters．Then these two parameters were substituted into the Kalman prediction equations to process the other 3 groups of test data．The final test results showed that in the 3 groups of test data,the deviation between the next step stride frequency predicted by the Kalman prediction equations which Was optimized by the Ant Colony algorithm and the posterior values reduced 44．10％、43．42％and 36．17％，comparing with the following method．It prove that the method combined the Kalman prediction algorithm and ant colony algorithm have an application prospect on controlling the intelligent lower limb． In order to avoid assuming certain orientations in which the sensors are mounted with respect to the body segments，a new method for human joint angle calculation based on inertial measurement data is developed．By exploiting