Method and system for decomposing superimposed ground reaction forces into individual force profiles

• US 9,579,044 B2
• Filed: 03/28/2014
• Issued: 02/28/2017
• Est. Priority Date: 03/28/2013
• Status: Active Grant

• Current Assignee: Polyvalor LP
• Original Assignee: Polyvalor LP
• Inventors: Raison, Maxime
• Primary Examiner(s): Noori, Max
• Application Number:
  US14/780,426
• Publication Number:
  US 20160045139A1
• Time in Patent Office: 1,068 Days
• Field of Search: 738/18, 738/623.81, 738/623.91
• US Class Current: 1/1
• CPC Class Codes: A61B 5/1038 Measuring plantar pressure during gait
• CPC Class Codes: G01L 5/16 for measuring several components of force
• CPC Class Codes: G06F 2218/00 Aspects of pattern recognition specially adapted for signal processing
• CPC Class Codes: G06V 40/25 Recognition of walking or running movements, e.g. gait recognition

Abstract

A method for decomposing a GRF into individual force profiles, comprising: receiving a global GRF measured while a subject performs at least one movement on the force platform, the movement comprising at least two motion configurations; identifying individual time regions contained in the time measurement of the global GRF and assigning a respective one of the at least two motion configurations to each time region using a logical order of motion configurations and an identification of a reference motion configuration; for each time region, determining an individual GRF for each one of the at least two support contacts using the identification of the motion configuration for the time region and the global GRF, thereby determining a contribution of each one of the at least two support contacts to the global GRF; and outputting the individual GRFs.

Claims

1. A computer-implemented method for decomposing a ground reaction force (GRF) into individual force profiles, comprising:

receiving a time measurement of a global GRF measured while a subject having two support contacts for abutting a force platform performs at least one movement on the force platform, the movement comprising at least two motion configurations and each motion configuration being characterized by a respective number of said two support contacts being in physical contact with the force platform;

identifying individual time regions contained in the time measurement of the global GRF and assigning a respective one of the at least two motion configurations to each time region using a logical order of motion configurations and an identification of a reference motion configuration, thereby identifying the motion configurations contained in the time measurement of the global GRF;

for each time region, determining an individual GRF for each one of the two support contacts using the identification of the motion configuration for the time region, the time measurement of the global GRF, and one of an interpolation function and a parametric equation, the one of an interpolation function and a parametric equation being used to model an individual GRF of a first one of the two support contacts that takes off from the force platform, an individual GRF of a second one of the two support contacts being determined using the global GRF and the individual GRF of the first one of the two support contacts, thereby determining a contribution of each one of the at least two support contacts to the global GRF; and

outputting the individual GRFs;

said identifying individual time regions comprising determining single stance regions and double stance regions within the global GRF;

said assigning comprising;

assigning a first one of the two support contacts considered as being in contact with the force platform to a first single stance region and assigning the first one of the two support contacts to each subsequent odd single stance region;

assigning a second one of the two support contacts considered as being in contact with the force platform to the second single stance region, the first one of the two support contacts being considered to be away from the force platform, and assigning the second one of the two support contacts to each subsequent even single stance region; and

said determining an individual GRF comprising;

for each odd single stance region, assigning a corresponding value of the global GRF to a force of the first one of the two support contacts and a substantially zero value to a force of the second one of the two support contacts;

for each even single stance region, assigning a corresponding value of the global GRF to the force of the second one of the two support contacts and the substantially zero value to the force of the first one of the two support contacts; and

for each double stance value, determining a first value for the force of the first one of the two support contacts and a second value for the force of the second one of the two support contacts, the sum of the first and second values being equal to the value of the global, thereby obtaining individual support force profiles.

2. The computer-implemented method of claim 1, wherein the logical order of motion configuration comprises a sequence of motion configurations to be executed by the subject on the force platform.

3. The computer-implemented method of claim 2, wherein the logical order of motion configuration further comprises an identification of the support contacts that are in physical contact with the force platform for each motion configurations contained in the logical order.

4. The computer-implemented method of claim 1, wherein the reference motion configuration comprises one of a first motion configuration and a last motion configuration.

5. The computer-implemented method of claim 1, wherein said determining the single and double stance regions comprises:

determining a squared Euclidian norm Δ

COP²_k,l between two sample points k and l using the global GRF;

comparing Δ

COP²_k,l to a first threshold;

determining a beginning of a double stance region when Δ

COP²_k,l is greater than the first threshold;

comparing Δ

COP²_k,l to a second threshold; and

determining a beginning of a single stance region when Δ

COP²_k,l is less than the second threshold.

6. The computer-implemented method of claim 5, further comprising:

determining a squared Euclidian norm Δ

COP²_k,s between the sample points k and a predetermined number s of measurement points using the global GRF, s being greater than one;

comparing Δ

COP²_k,s to a third threshold; and

predicting that a squared Euclidian norm peak will occur within the predetermined number s of measurement points.

7. The computer-implemented method of claim 1, wherein said determining the single and double stance regions comprises:

determining the peak points in time at which a GRF peak occurs;

determining a squared Euclidian norm Δ

COP²_k,l between two sample points k and l using the global GRF; and

starting from each peak point in time, determining a first last point in time for which Δ

COP²_k,l is greater than a first threshold, the first last point in time separating a first single stance region from a given double stance region, and determining a second last point in time for which Δ

COP²_k,l is less than a second threshold, the second last point in time separating the given double stance region from a second single stance region.

8. The computer-implemented method of claim 1, further comprising determining the identification of the reference motion configuration using a lateral displacement in time of a global center of pressure.

9. A system for decomposing a ground reaction force (GRF) into individual force profiles, comprising:

a stance region determining module for;

receiving a time measurement of a global GRF measured while a subject having two support contacts for abutting a force platform performs at least one movement on the force platform, the movement comprising at least two motion configurations and each motion configuration being characterized by a respective number of said two support contacts being in physical contact with the force platform;

identifying individual time regions contained in the time measurement of the global GRF and assigning a respective one of the at least two motion configurations to each time region using a logical order of motion configurations and an identification of a reference motion configuration, thereby identifying the motion configurations contained in the time measurement of the global GRF; and

an individual GRF determining module for;

for each time region, determining an individual GRF for each one of the two support contacts using the identification of the motion configuration for the time region, the time measurement of the global GRF, and one of an interpolation function and a parametric equation, the one of an interpolation function and a parametric equation being used to model an individual GRF of a first one of the two support contacts that takes off from the force platform, an individual GRF of a second one of the two support contacts being determined using the global GRF and the individual GRF of the first one of the two support contacts, thereby determining a contribution of each one of the at least two support contacts to the global GRF; and

outputting the individual GRFs;

the stance region determining module being adapted to;

determine single stance regions and double stance regions within the global GRF;

assign a first one of the two support contacts considered as being in contact with the force platform to a first single stance region and assigning the first one of the two support contacts to each subsequent odd single stance region;

assign a second one of the two support contacts considered as being in contact with the force platform to the second single stance region, the first one of the two support contacts being considered to be away from the force platform, and assigning the second one of the two support contacts to each subsequent even single stance region; and

the individual GRF determining module is adapted to;

for each odd single stance region, assign a corresponding value of the global GRF to a force of the first one of the two support contacts and a substantially zero value to a force of the second one of the two support contacts;

for each even single stance region, assign a corresponding value of the global GRF to the force of the second one of the two support contacts and the substantially zero value to the force of the first one of the two support contacts; and

for each double stance value, determine a first value for the force of the first one of the two support contacts and a second value for the force of the second one of the two support contacts, the sum of the first and second values being equal to the value of the global, thereby obtaining individual support contact force profiles.

10. The system of claim 9, wherein the logical order of motion configuration comprises a sequence of motion configurations to be executed by the subject on the force platform.

11. The system of claim 10, wherein the logical order of motion configuration further comprises an identification of the support contacts that are in physical contact with the force platform for each motion configurations contained in the logical order.

12. The system of claim 9, wherein the reference motion configuration comprises one of a first motion configuration and a last motion configuration.

13. The system of claim 9, wherein the stance region determining module is adapted to:

determine a squared Euclidian norm Δ

COP²_k,l between two sample points k and l using the global GRF;

compare Δ

COP²_k,l to a first threshold;

determine a beginning of a double stance region when Δ

COP²_k,l is greater than the first threshold;

compare Δ

COP²_k,l to a second threshold; and

determine a beginning of a single stance region when Δ

COP²_k,l is less than the second threshold.

14. The system of claim 13, wherein the stance region determining module is further adapted to:

determine a squared Euclidian norm Δ

COP²_k,s between the sample points k and a predetermined number s of measurement points using the global GRF, s being greater than one;

compare Δ

COP²_k,s to a third threshold; and

predict that a squared Euclidian norm peak will occur within the predetermined number s of measurement points.

15. The system of claim 9, wherein the stance region determining module is further adapted to:

determine the peak points in time at which a GRF peak occurs;

determine a squared Euclidian norm Δ

COP²_k,l between two sample points k and l using the global GRF; and

starting from each peak point in time, determine a first last point in time for which Δ

COP²_k,l is greater than a first threshold, the first last point in time separating a first single stance region from a given double stance region, and determine a second last point in time for which Δ

COP²_k,l is less than a second threshold, the second last point in time separating the given double stance region from a second single stance region.

16. The system of claim 9, wherein the stance region determining module is further adapted to determine the identification of the reference motion configuration using a lateral displacement in time of a global center of pressure.

17. A computer-implemented method for decomposing a ground reaction force (GRF) into individual force profiles, comprising:

receiving a time measurement of a global GRF measured while a subject having two support contacts for abutting a force platform performs at least one movement on the force platform, the movement comprising at least two motion configurations and each one of the at least two motion configurations corresponding to one of a single stance configuration and a double stance configuration;

identifying individual time regions contained in the time measurement of the global GRF and assigning a respective one of the at least two motion configurations to each time region using a logical order of motion configurations and an identification of a reference motion configuration, thereby identifying the motion configurations contained in the time measurement of the global GRF, said assigning comprising;

assigning a first one of the two support contacts considered as being in contact with the force platform to a first single stance region and assigning the first one of the two support contacts to each subsequent odd single stance region;

assigning a second one of the two support contacts considered as being in contact with the force platform to the second single stance region, the first one of the two support contacts being considered to be away from the force platform, and assigning the second one of the two support contacts to each subsequent even single stance region; and

for each time region, determining an individual GRF for each one of the two support contacts using the identification of the motion configuration for the time region and the time measurement of the global GRF, thereby determining a contribution of each one of the at least two support contacts to the global GRF, said determining an individual GRF comprising;

for each odd single stance region, assigning a corresponding value of the global GRF to a force of the first one of the two support contacts and a substantially zero value to a force of the second one of the two support contacts;

for each even single stance region, assigning a corresponding value of the global GRF to the force of the second one of the two support contacts and the substantially zero value to the force of the first one of the two support contacts; and

for each double stance value, determining a first value for the force of the first one of the two support contacts and a second value for the force of the second one of the two support contacts, the sum of the first and second values being equal to the value of the global, thereby obtaining individual support contact force profiles; and

outputting the individual GRFs,

wherein said determining the single and double stance regions comprises;

determining a squared Euclidian norm Δ

COP²_k,l between two sample points k and l using the global GRF;

comparing Δ

COP²_k,l to a first threshold;

determining a beginning of a double stance region when Δ

COP²_k,l is greater than the first threshold;

comparing Δ

COP²_k,l to a second threshold; and

determining a beginning of a single stance region when Δ

COP²_k,l is less than the second threshold.