Trends Biomater. Artif. Organs. Vol.

17(2) pp 9-16 (2004)

http//www.sbaoi.org

DETECTION OF GAIT CHARACTERISTIC USING IMAGE PROCESSING TECHNIQUE

Bikash Roy, Subhasis Bhaumik, Jayanta Kumar Chakraborty
Mechatronics & Robotics Laboratory, Department of Applied Mechanics Bengal Engineering College (Deemed University), Howrah - 711 103, West Bengal
Abstract
Pressure distribution under foot during walking of a person depends on whether the Gait pattern is normal or abnormal. It also depends on weight of the body, age, and walking pattern, male or female etc. Therefore, two new parameters, dynamic foot-pressure variation from point to point (i.e. pixel to pixel), and movement of pressure centre are defined for normal and abnormal gait. The theoretical solution of the pressure distribution under the foot is extremely difficult due to complex behaviour of human tissues arising from viscoelasticity, non-linearity and non-homogeneity. Foot pressure patterns during walking are obtained by using an optical pedobarograph; for foot image formation, a CCD video camera for image capturing, a NI-IMAQ video digitiser hardware PC-add on card and LabView software with dedicated algorithms have been developed. The gray level image of foot pressure distribution is divided into matrix form and the average value of each matrix element is determined in pseudo gray colour, which provides information about the degree of abnormality of the foot. For normalised pressure distribution, a new parameter called pressure index has been introduced. Knowledge of pressure distributions from gray scale image data of all the points on the planter surfaces of both feet along with EMG test results can provide suitable guidelines to biomedical engineers and doctor for designing orthotic devices, rehabilitative foot wear and conducting corrective foot surgery of neuropathic feet for reliving the area of excessively high localised pressure and distribute body weight evenly. KEY WORDS : - Pressure Distribution, Gait, Abnormal feet, Image Processing, Pedobarograph, Gray level.

Introduction
The most fundamental of all human movements is walking and it is learned when one is an infant. The complexity of the central mechanisms and biomechanics under lying human gait is often not appreciated until injury, pathology or fatigue disrupts walking. The leg is treated as weight bearing column of body & foot as its mobile foundation. The human foot is amazingly engineered arrangement of bones, ligaments, tendons & muscles that allow mobility by absorbing and supporting up vigorous pressure from every day activities. The digital image processing generally refers to processing of two-dimensional picture by a digital computer. A digital image is an array of real or complex numbers represented by a finite number of bites. The image in the form of photograph, slide or chart is first digitised and stored as a matrix of binary digits in computer memory. This digitised image processed and displayed on a high resolution television monitor. The foot is lowest or end organ for weight bearing acts as a well as proprioceptive & sensory organ too. Pressure sensitive proprioceptive nerve endings are found in fasciae, capsules & tendons of foot. The nerves ending
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Bikash Roy et. al. along with sensory fibres are responsible for spontaneous adjustment of the sole of the foot during weight bearing, reacting from afferent signals in the form of pain or discomfort. The actual weight distribution of the upper portion depends on the position of the vertical line through the centre of gravity of the body organised by foot muscles. The shifting of centre of gravity causes the high stress for prolonged period causes the damage of skin & soft tissue & may rupture of blood vessels. Long term diabetic complications gives rise to peripheral neuropathy and anatomic disfunctioning (Boulton 1985). In case of leprosy patient asymmetrical pressure distribution on foot can also damage the tissue. So the quantitative knowledge of distribution of pressure under the sole is essential to detect the defective feet and access the level of deformation of the foot. The knowledge of pressure distributions can provide suitable guidelines to biomedical Engineers & Doctors for designing prosthesis, rehabilitative foot wear and conducting corrective foot surgery for reliving the area of excessively high localised pressure & distribute body weight evenly.

Survey Of Literature
The name Pedabarograph (PBG), proposed by Chodera, an extension of Morton and Elftmans ideas. Dukworth et al (1982, 1985), Boulton et al (1983) and Betts et al (1985) analysed static walking foot pressure profiles to diabetically neuropathic foot. A barograph was fabricated and some case study of static foot were carried out by Chowdhury (1992). Recently Bhatia and Patil (1999) calculate normalised pick pressure (NNP) and pressure contact ratio (PCR) in 10 different areas of dynamic foot of HD subjects. C. ltoh & Company Inc. has developed Fuji Presales Film for direct observation of the pressure distribution. Drerups (2000) measurement of in-shoe planter pressure distribution provides information for the design and adaptation of therapeutic footwear.

Image Acquisition And Processing

The setup consists of barograph, camera, image acquisition hardware, computer and image processing programme. Barograph : The barograph is a device, which converts the applied pressure into a visible light pattern. The area on which pressure is applied is also visible. The intensity of visible light is proportional to the applied pressure. Fig.1 shows the schematic diagram of (a) barograph and (b) total internal reflection of light rays inside the glass plate. Fig. 2 shows set-up for image acquisition. For imaging purpose among few types of plastic sheet a 1.2cm. thick ,183cm. long and 61cm width having surface structure 0.03mm to 0.02 mm. is used having no tendency of retaining of image intensity after withdrawal of pressure. Camera : CCD camera, PHILIPS, f = 6.0 mm., F = 1.4 Image acquisition system : National Instruments IMAQ Vision Builder and Image Acquisition Hardware integrated to PC Pentium-III computer. Programme : The program build on Turbo C for processing of image and displays the image on screen in the form matrix in 16 pseudo gray colour.

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Detection of Gait Characteristic Using Image Processing Technique

Fig. 1 Schematic diagram of Barograph

Fig. 2 Hardware setup

Subjects : Three normal healthy and two abnormal subjects are volunteered to participate in this study. (i) Normal : Subject1 - age-26years, height-183cm., weight-76 kg. Subject2 - age-25years, height-168 cm., weight-60kg. Subject3 - age-27 years, height-155cm., weight-55 kg. (ii) Abnormal Subject4 - age-50 years, height-150 cm., weight-54 kg., suffering from poliomyelitis. Subject5 - age-50, height-155cm., weight48kg. suffering from poliomyelitis. Before going to acquire, analyse, and processing of images, it is essential to set-up the imaging system. The flow chart shows detail step by step process for getting pressure intensities of an acquired image.
Setting for image acquisition Channel No. Frame setting Framewise image capturing Frame wise image data saving in file

Divide image into matrix (55 pixels), Averaging gray values of each matrix

File opening Image Length, Image Width

Saving the values of matrices in output file

Displaying the image into pseudo gray colour and saving in output file

Compare average matrix values of a particular matrix with different images frames

Calibrate image and convert average matrix values to pressure intensities.

Calculate pressure indices from pressure intensities

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Bikash Roy et. al. First of all calibration is done under a ring load and obtained the following data that follows the curve shown in Fig. 3. From this curve we get the following equation and from this equation we obtain pressure intensity for a particular gray value. Equation: Y = 11.7191 * X + -274.852 . The experiment and analysis of images for foot pressure distribution of two normal subjects and an abnormal subject are carried out. From the following figures and curves we observe the foot pressure distribution and obtained the following about the foot pressure characteristic: Detection Of Gait Characteristic Using Image Processing Technique

(a) Results of Normal foot pressure distribution

The foot pressure distribution is mainly shared by central part of heel, the metatarsal heads and big toe. A significant part of the load is taken by forefoot but the peak pressure is located in the central part of heel. But, the pressure under the first and 2nd metatarsal heads are more or less same as that under central heel. The peak pressure does not hold for a long duration of total contact time. The medial part of the foot takes a very small part of load due to skeletal structure of the foot. The foots of subjects Subject1 and Subject2 are well arched and end support of the foot will incorporate comfort in walking, standing, and running. For Subject1 and Subject2 the pressure distribution pattern are almost symmetrical. The centres of pressure (centroid) lines are also similar during walking. Fig. 4 shows variation of pressure index with contact time at four different regions. Fig.5 indicates images of foot at different time interval and movement of pressure centres for normal foot along curve during walking.

(b) Results of Abnormal foot pressure distribution

The pressure distributions of abnormal feet are asymmetric in compare with the normal feet. In this subject4 for left foot pressure is distributed only in the heel region. The movement of pressure centres for one of the abnormal foot is around the Toe region and another in Heel region. The pressure distribution on the heel region holds high for a long time and the pressure index is also high. Fig. 6 shows the nature of the curve for

Fig. 3 Calibration curve 12

Fig. 4 Variation of pressure index with contact time at different regions

Detection of Gait Characteristic Using Image Processing Technique Subject 4 during walking. Fig. 7 shows the image clips of and movement of pressure centre of Subject 4 during walking. Fig. 8 represents the pressure distribution in 3-D viewpoint of Subject 4 & Subject 5. Fig. 9 shows external and reflected image and the movement of pressure centres of subject5. Fig. 10 shows the processed image of Subject5 during walking. The foot pressure distribution can also be studied through simulation technique. Fig. 11 and Fig. 12 shows kinematic and dynamic study of normal reaction force on foot and simulation of movement of legs.

Fig. 5 Images of foot at different time interval and movement of pressure centres for normal foot

Fig. 6 Curve for abnormal foot Pressure Index variation 13

Bikash Roy et. al.

Fig. 7 Images of abnormal foot and movement of pressure center

Fig. 8 Pressure distribution in 3-D image

Fig. 9 External image, Reflected image and movement of pressure centre of an abnormal footings

Fig. 10 Processed image of abnormal footings 14

Detection of Gait Characteristic Using Image Processing Technique

Fig.11 Kinematic and dynamic images of foot Legs

Fig. 12 Simulation of movement of and reaction forces

Discussion
Improvement can be done in calibration process for selecting plastic sheet. In present study it is assumed uniform pressure distribution under the circular ring. For this reason average intensity values are taken in to consideration. If any system of loading can be incorporated which will apply load by air or fluid pressure through sole (properties must be similar to human foot like material) the assumption might be true. The effect of hysteresis, temperature variation, dynamic variation etc. on the quality of scattered light images should be studied preciously to get more accurate results about pressure distribution. Preferable larger glass plate should be used to get the natural footsteps activities on the glass area. Another importance should be given on cleanliness and homogeneity of the glass plate. A major source of light is the dirtiness of the surface of glass plate. Presence of greasy dust, moisture may cause of pseudo pressure. The improvements can be made to the current system, it is valuable aid for management of patient those who are suffering insensitive foot. The advantages over other methods are highly resolution capacity, low-cost, simplicity of use etc.

Conclusion
When a complete analysis of variation of pressure distribution pattern under foot during walking is done a comparison of normal gait pattern and abnormal gait pattern due to different pathological conditions could be analysed. Also by the EMG study of muscles of the lower limb during walking a correlation between muscular activity with pressure distribution under foot for normal and abnormal gait can be established.

Reference
1. Anjan Chowdhury -Fabrication of Barograph for measuring foot pressure and some case study ME Thesis. 2. Betts RP, Franks CI, Boulton AJM. Duckworth T (1985)-Static and dynamic foot pressure measurements in the management of the incentive foot-Proceedings on the International conference on Biomechanics and Clinical Kinesiology of Hand and Foot, IIT. Madras.
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Bikash Roy et. al. 3. B. Drerup- Normalisation of planter pressure distribution with respect to get velocity24th Conference of the Europian Society of Biomechanics, Dublin, 2000. 4. Boulton AJM, Hardesty CA, Betts RP, Franks CI, Worth CR, Ward JD & Duckworth T, Dynamic foot pressure and other studies as diagnostic & management aids in diabetic neuropathy-Diabetic Care, 6(1), 26-33. 5. Chodera J,(1985)-Pressure under soles in upright man -proceedings of the International conference on Biomechanics & Clinical Kinesiology of Hand & Foot, IIT Madras . 6. Duckworth T, Betts RP,Franks CI,&.Burke J,(1982)-The measurement of pressure under foot -Foot & Ankle,3 ,130-141 7. Elftman H,(1934)-A kinematic study of the distribution of pressure in the human foot-Anat.Rec.,59 8. Mahesh M. Bhatia, K. M. Patil -New On-Line Parameter for analysis of a dynamic Foot Pressures in Neuropathic Feet of Hanisons Disease Subjects, Jr. of Reh. Research and Develop. Vol. 36 No.3, July 1999.

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