Research on intelligent gait detection based on wireless wearable sensor system

In order to achieve accurate human gait detection and real-time feedback to the robot system, a wireless sensor node was designed based on inertial sensors. On this basis, a set of wireless wearable sensing system was developed. Based on the human lower limb model, a reliable step length and direction detection algorithm was proposed. By using five independently designed low-cost inertial sensor nodes fixed to the lower limbs and waist of the human body, relatively accurate gait measurement was achieved. To further improve the measurement accuracy, the echo state network was used to correct the whole system measurement error. After correction, the step length measurement error is less than 3.5 cm, and the step direction measurement error is less than 4.5°. The experimental results show that the proposed system and method can achieve high-precision gait detection.