基于步态高斯图及稀疏表示的步态识别

为了突出步态特征的差异性,解决单一视角及跨视角下识别率低的问题,分析了步态高斯图及稀疏表示的原理,提出在步态高斯图的基础上,应用稀疏表示的方法来进行分类。提取的步态高斯图增加了不同人步态的差异性进而提高了步态识别率。该方法首先获取步态高斯图,其次获取测试阶段所需的过完备字典,最后通过测试样本的重构误差进而分类。实验结果表明:该方法显著提高了跨视角下的步态识别率,对穿大衣、携带背包下的步态识别具有很强的鲁棒性。     

A Narrative Review of Alternate Gait Training Using Knee-ankle-foot Orthosis in Stroke Patients with Severe Hemiparesis

Impairments resulting from stroke lead to persistent difficulties with walking. Subsequently, an improved walking ability is one of the highest priorities for people living with stroke. The degree to which gait can be restored after a stroke is related to both the initial impairment in walking ability and the severity of paresis of the lower extremities. However, there are some patients with severe motor paralysis and a markedly disrupted corticospinal tract who regain their gait function. Recently, several case reports have described the recovery of gait function in stroke patients with severe hemiplegia by providing alternate gait training. Multiple studies have demonstrated that gait training can induce “locomotor-like” coordinated muscle activity of paralyzed lower limbs in people with spinal cord injury. In the present review, we discuss the neural mechanisms of gait, and then we review case reports on the restoration of gait function in stroke patients with severe hemiplegia.     

White matter hyperintensities and dynamics of postural control

Background

White matter hyperintensities (WMHs) on MRI have been associated with age, cardiovascular risk factors and falls in the elderly. This study evaluated the relationship between WMHs and dynamics of postural control in older adults without history of falls.

Methods

We studied 76 community-living subjects without history of falls (age 64.5±7.3 years). Brain and WMH volume calculations and clinical rating were done on fluid-attenuation inversion recovery (FLAIR) and MP-RAGE MR images on 3 T. Balance was assessed from the center of pressure displacement using the force platform during 3 min of quiet standing using traditional and dynamic measures (using stabilogram-diffusion analysis). Gait speed was measured from 12-min walk.

Results

Age-adjusted periventricular and focal WMHs were associated with changes in certain dynamic balance measures, including reduced range of postural sway in anteroposterior direction (fronto-temporal WMHs, P=.045; parieto-occipital WMHs, P=.009) and more irregular long-term mediolateral fluctuations (P=.046). Normal walking speed was not affected by WMHs.

Conclusions

Periventricular and focal WMHs affect long-term dynamics of postural control, which requires engagement of feedback mechanisms, and may contribute to mobility decline in the elderly.     

基于虚拟样机技术的四足机器人静态稳定步态规划

针对现有技术文献中广泛使用的多种静态稳定步态中速度稳定性与稳定裕度不可兼得的通病,在随动质心的静态步态基础上,利用参数化坐标变换矩阵方法规划出一种四足机器人前进过程中质心以曲线轨迹移动的静态步态方法,使该步态方法以连续性速度运动的过程中保证一定稳定裕度。通过D-H法求得四足机器人的逆运动学坐标变换矩阵,分别在三维空间中对四足机器人的四组足端轨迹方程进行规划,并带入MATLAB软件后以逆运动学方程计算出关节夹角驱动方程,利用步态规划图求出机器人四条腿各自对应的夹角驱动方程以及机体质心轨迹方程。最后在MSC.ADAMS软件中建立四足机器人虚拟样机并对规划的步态进行虚拟仿真,仿真结果验证了该步态对提升四足机器人对于速度连续性以及稳定裕度的提升。     

Locomotor kinematics of the gecko （Tokay gecko） upon challenge with various inclines

Tokay geckos are skillful climbers and are able to negotiate difficult terrain such as steep slopes and overhanging inclines without losing their foothold. Here, we present data on the changes in locomotor kinematics when geckos are challenged to walk on various inclined surfaces. We trained individual geckos to move along a platform which can be tilted to simulate different slopes. The animals were filmed using a high-speed video camera. The results showed that their speed decreased with increasing slope angle, and their speed on the steep and inverted slopes （sloped angle 〉60~） decreased at a faster rate than on the shallow slopes （sloped angle 〈60~）. The geckos＇ stride length was much greater on the shallow slopes compared to the inverted slopes. The influence of stride length and stride frequency on speed was different when the geckos moved across different slopes. There are significant differences duty factor, which varied from 0.54 when wall climbing （90° slope） to 0.84 when walking on the ceiling （180° slope）. The mechanisms revealed this study will improve our understanding of control strategies in kinematics and inspire the design of robots with greater mobility.     

Crawling gait realization of the mini-modular climbing caterpillar robot

The concept of a modular climbing caterpillar robot is inspired by the kinematics of real caterpillars,Two typical kinematics models and gaits are investigated based on the crawling motion of the inchworm and the tobacco hornworm.Due to the fixed constraints between the suckers and the wall,the gait of a caterpillar robot engages a changing kinematic chain which is from an open chain to a closed chain,and then to an open chain in order.During the open chain periods,an unsymmetrical phase method (UPM) is used to ensure the reliable attachment of the passive suckers to the wall.In the closed-chain state,a four-link kinematics model is adopted to fulfill the fixed constraints,By combining the two methods together,the complete joint control trajectories are acquired for a modular caterpillar robot with seven joints.At last,on-site tests confirm the proposed principles and the validity of the climbing gait.     

基于傅立叶描述符优化形变轮廓插值的步态识别研究

针对现有步态识别算法在步态周期变化时不能很好地保留瞬时信息的问题,提出了一种基于傅里叶描述符优化形变轮廓插值方法。首先,对人类轮廓的周期性形变进行建模;然后,将基于傅里叶系数乘积的新度量作为闭合曲线之间的距离度量,并利用帧插值方法近似识别半周期的起始帧和结束帧;最后,利用步态距离完成最终的步态分类。在OU-ISIR和CASIA步态数据库上的识别精度可分别高达99%、87.34%,分析结果表明,提出的算法在步态周期变化时依然能保留瞬时信息,对行走速度上的轻微变化具有更好的鲁棒性,并且大大降低了整体计算复杂度。     

Cutoff Value for a Nutritional Indicator Related to Gait Independence in Elderly Fracture Patients: A Preliminary Study

Objective: Previous studies have reported the relationship between nutritional status and gait independence in elderly fracture patients. However, the degree to which nutritional indicators are related to gait independence is unclear. The purpose of this study is to calculate a cutoff value for a nutritional indicator related to gait independence in patients with hip and vertebral compression fractures. Method: This study included 69 patients (33 hip fracture, 36 vertebral compression fracture) who underwent rehabilitation at a convalescent rehabilitation ward. The relationships between nutritional indexes (Mini-Nutritional Assessment-Short Form [MNA^Ⓡ-SF] and skeletal muscle mass index [SMI] ) at admission and gait independence at discharge were analyzed using logistic regression. In addition, receiver operating characteristic analysis was performed to calculate a cutoff value that predicts gait independence. Results: Among the nutritional indicators used in this study, only MNA^Ⓡ-SF was significantly able to predict gait independence at discharge, and this association was maintained, even after adjustment for confounders. The calculated MNA^Ⓡ-SF cutoff values were 5.5 (sensitivity 100%, specificity 46.3%) and 7.5 points (sensitivity 67.9%, specificity 78.0%). Conclusion: This study suggests that MNA^Ⓡ-SF may be an index for predicting gait independence in patients with hip or vertebral compression fractures in the convalescent rehabilitation ward. The cutoff values calculated in this study were simple and useful index for physical therapists to interpret the results of MNA^Ⓡ-SF.     

Revisiting the stability of 2D passive biped walking: Local behavior

Models of biped walking have demonstrated that stable walking motions are possible without active control. Stability of these motions has typically been quantified by studying the stability of an associated Poincaré map (orbital stability). However, additional insight may be obtained by examining how perturbations evolve over the short-term (local stability). For example, there may be regions where small perturbations actually diverge from the unperturbed trajectory, even if over the entire cycle small (but perhaps not large) perturbations are dissipated. We present techniques to calculate local stability, and demonstrate the utility of these techniques by examining the local stability of the 2D compass biped. These techniques are relevant to the design of controllers to maintain stability in robots, and in understanding how the neuromuscular system maintains stability in humans.