Human gait modelling and tracking based on motion functionalisation
Publié en ligne: 22 nov. 2021
Pages: 21 - 30
Reçu: 17 juin 2021
Accepté: 24 sept. 2021
© 2021 Ruxun Sun et al., published by Sciendo
This work is licensed under the Creative Commons Attribution 4.0 International License.
Fig. 1
The trajectory of the limbs of the same subject walking at different speeds.Fig. 2
Limb movement trajectories of subjects of different heights walking at a fixed speed.Fig. 3
Fitting curves of the relationship between height and amplitude at different speeds.Fig. 4
Fitting coefficient and fitting curve of relationship with walking speed.Fig. 5
Fitting curve of the relationship between period and speed and height.Fig. 6
Human motion gait modelling and tracking effect.Fitting coefficients and errors at different speeds.
v/m · s−1 |
a |
B |
ey |
Δe |
εy/% |
|
0.4 |
104.16 |
−160.77 |
1.0683 |
1.0316 |
2.31% |
0.5 |
88.81 |
−144.08 |
0.8648 |
0.6 |
88.36 |
−118.31 |
1.1636 |
0.7 |
83.85 |
−111.87 |
1.45 |
0.8 |
77.67 |
−114.01 |
0.8586 |
0.9 |
69.9 |
−101.71 |
1.135 |
1 |
59.09 |
−95.39 |
1.1549 |
1.1 |
53.91 |
−77.55 |
1.63 |
Exercise cycles of the same subject at different walking speeds.
v/m · s−1 |
Ty/s |
v/m · s−1 |
Ty/s |
|
0.4 |
1.94 |
0.8 |
1.35 |
0.5 |
1.6 |
0.9 |
1.21 |
0.6 |
1.45 |
1 |
1.18 |
0.7 |
1.35 |
1.1 |
1.13 |
Exercise cycle of subjects with different heights when walking at a speed of 0.8 m/s.
h/m |
Ty/s |
h/m |
Ty/s |
|
1.97 |
1.17 |
1.684 |
1.15 |
1.94 |
1.14 |
1.67 |
1.13 |
1.735 |
1.13 |
1.644 |
1.16 |
1.72 |
1.14 |
1.614 |
1.11 |
1.705 |
1.15 |
|
|
The amplitude of limb movement when subjects of different heights walk at different speeds.
Serial number |
h/m |
v/m · s−1 |
|
0.4 |
0.5 |
0.6 |
0.7 |
0.8 |
0.9 |
1 |
1.1 |
|
1 |
1.86 |
44.03 |
42.25 |
38.04 |
34.35 |
32.52 |
29.45 |
24.43 |
22.03 |
2 |
1.84 |
40.64 |
35.24 |
33.48 |
31.33 |
28.82 |
25.13 |
24.26 |
21.26 |
3 |
1.68 |
34.34 |
31.25 |
28.85 |
24.58 |
23.12 |
22.55 |
19.4 |
19.43 |
4 |
1.64 |
31.88 |
30.5 |
25.24 |
24.85 |
22.45 |
20.95 |
16.24 |
16.11 |
5 |
1.624 |
30.28 |
25.44 |
24.23 |
22.05 |
18.32 |
15.99 |
14.66 |
14.03 |
6 |
1.6 |
26.84 |
24.88 |
22.55 |
18.45 |
18.32 |
15.23 |
16.41 |
14.19 |
7 |
1.684 |
24.18 |
22.85 |
20.55 |
15.88 |
14.44 |
14.31 |
14.1 |
11.4 |
8 |
1.64 |
22.16 |
16.86 |
16.84 |
14.48 |
14.82 |
13.34 |
11.94 |
10.99 |
9 |
1.614 |
16.68 |
14.1 |
14.22 |
13.44 |
12.26 |
11.42 |
10.44 |
9.94 |
The initial phases of subjects with different heights when walking at a speed of 0.8 m/s.
h/m |
Ty/s |
h/m |
Ty/s |
|
1.87 |
−0.471 |
1.685 |
−0.6 |
1.84 |
−0.451 |
1.67 |
−0.566 |
1.735 |
−0.417 |
1.655 |
−0.614 |
1.71 |
−0.518 |
1.615 |
−0.487 |
1.705 |
−0.534 |
|
|
The initial phase of the same subject at different walking speeds.
v/m · s−1 |
φy |
v/m · s−1 |
φy |
|
0.4 |
−0.566 |
0.8 |
−0.442 |
0.5 |
−0.505 |
0.9 |
−0.442 |
0.6 |
−0.46 |
1 |
−0.552 |
0.7 |
−0.442 |
1.1 |
−0.552 |