CN113288121A - Gait analysis system - Google Patents
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Abstract
The application discloses provide a gait analytic system, gait analytic system includes: the lower limb detection device is fixed on the lower limbs of the human body and used for acquiring the knee joint movement information, and the lower limb detection device comprises a first zigbee communication module and used for sending the knee joint movement information. The sole detection device is fixed on the sole of a human body and used for acquiring sole pressure information, and the sole detection device comprises a second zigbee communication module and used for sending out the sole pressure information. And the processing device is used for acquiring the knee joint movement information and the sole pressure information and carrying out gait analysis on the human body according to the knee joint movement information and the sole pressure information. In this way, the power consumption and cost of the gait analysis system can be reduced.
Description
Technical Field
The application relates to the technical field of sensor detection, in particular to a gait analysis system.
Background
The human body movement plays a vital role in daily activities, the human body movement is detected and analyzed, and the gait parameters of a researcher in the walking process are significant in understanding the human body movement law and finding the coordination decision among limbs, and also have significant significance in the fields of clinical diagnosis, rehabilitation medicine, sports science, bionic mechanisms, humanoid robots and the like. For example, in the field of rehabilitation medical engineering, intelligent lower limb prostheses are the current research focus. In order to enable the intelligent lower limb artificial limb to have a gait close to that of the normal lower limb of a human body when walking, the intelligent lower limb artificial limb is essential to the acquisition and analysis of walking gait data of the human body.
At present, gait motion detection is mostly based on an image processing detection method, and the method has a series of defects of low precision, incapability of three-dimensional detection and the like. Moreover, conventional gait detection analyzers, such as a step-top gait analyzer, are generally very expensive and immobile and are not capable of monitoring and diagnosing the gait of a patient for a long time. The conventional portable equipment has few gait detection data types, low accuracy and incomplete data, cannot be modified aiming at specific people or diseases, and has low popularization in gait detection and diagnosis in life.
Some researchers have proposed a gait detection method using an electric signal sensor. However, most of the existing gait detection and determination methods using electric signal sensors adopt sole single sensors or single accelerometers, and because of the complexity of human gait in daily complex environments, the human body has differences between every two steps in the walking process, and the detection result detected by the single sensor is insufficient in stability and accuracy, and the extracted gait information is not comprehensive. In addition, the existing sensor data sending mode adopts wired transmission, and the test area is limited by the length of a line.
Disclosure of Invention
The technical problem that this application mainly solved provides a gait analytic system, can simplify gait analytic system's wiring structure to can reduce gait analytic system's consumption and cost.
A technical solution adopted in the present application is to provide a gait analysis system, which includes: the lower limb detection device is fixed on the lower limbs of the human body and used for acquiring the knee joint movement information, and the lower limb detection device comprises a first zigbee communication module and used for sending the knee joint movement information. The sole detection device is fixed on the sole of a human body and used for acquiring sole pressure information, and the sole detection device comprises a second zigbee communication module and used for sending out the sole pressure information. And the processing device is used for acquiring the knee joint movement information and the sole pressure information and carrying out gait analysis on the human body according to the knee joint movement information and the sole pressure information.
Further, the knee joint motion information includes an angle and an acceleration of the knee joint.
Further, the lower limb detection device further includes: at least one inertial sensor is connected with first zigBee communication module group for gather the angle and the acceleration of knee joint.
Further, the lower limb detection device includes: and the first inertial sensor is used for acquiring the angle and the acceleration of the thigh. And the second inertial sensor is used for acquiring the angle and the acceleration of the lower leg. The first single chip microcomputer is connected with the first inertial sensor, the second inertial sensor and the first ZigBee communication module and used for calculating the relative acceleration and the relative angle of the knee joint based on the angle and the acceleration of the thigh and the angle and the acceleration of the shank and sending the relative acceleration and the relative angle through the first ZigBee communication module.
Further, the first single chip microcomputer is used for calculating the difference between the angle of the thigh and the angle of the shank to obtain the relative angle of the knee joint, and calculating the difference between the acceleration of the thigh and the acceleration of the shank to obtain the relative acceleration of the knee joint.
Further, the lower limb detection device includes: the first box body is used for placing the first inertial sensor, the first single chip microcomputer and the first ZigBee communication module, and the first box body is arranged on one side, close to the knee joint, of the thigh. The second box body is used for placing a second inertial sensor and is arranged on one side of the lower leg close to the knee joint.
Further, the inertial sensor is a nine-axis sensor.
Further, the sole detection device includes: and the at least one plantar pressure sensor is connected with the second zigbee communication module and used for acquiring plantar pressure information. The single chip microcomputer is connected with the at least one plantar pressure sensor and the second zigbee communication module and used for receiving plantar pressure information and calculating a plantar pressure value, and the plantar pressure value is sent out through the second zigbee communication module.
Further, sole detection device includes three plantar pressure sensor, and three plantar pressure sensor all connects second zigbee communication module. Wherein, three sole pressure sensors are respectively arranged corresponding to the two sides of the sole and the heel and are respectively used for sensing pressure signals of the two sides of the sole and the heel.
Further, the plantar pressure sensor is a film pressure sensor.
The beneficial effect of this application is: be different from prior art, the gait analysis system that this application scheme provided because lower limbs detection device and sole detection device include zigBee communication module respectively, consequently after detecting knee joint motion information and plantar pressure information, can send out information based on respective zigBee communication module, and then make processing apparatus can acquire knee joint motion information and plantar pressure information through zigBee wireless communication's mode. Therefore, according to the scheme, the acquired knee joint movement information and plantar pressure information are sent to the processing device in a ZigBee wireless communication mode, the defect of complex wiring caused by a wired transmission mode in the prior art can be avoided, and in addition, due to the characteristic of low power consumption of the ZigBee wireless communication technology, the power consumption and the cost of the gait analysis system can be reduced.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Wherein:
fig. 1 is a schematic structural diagram of an embodiment of a gait analysis system provided in this embodiment;
FIG. 2 is a schematic structural diagram of an embodiment of the lower limb detection device in FIG. 1;
FIG. 3 is a schematic view of the wearing of the lower limb detection apparatus;
FIG. 4 is a schematic diagram of the structure of one embodiment of the sole detection apparatus of FIG. 1;
FIG. 5 shows a first plantar pressure sensor, a second plantar pressure sensor, and a third plantar pressure sensor
A schematic plan view of an embodiment of a position where a pressure sensor is installed;
FIG. 6 shows a first plantar pressure sensor, a second plantar pressure sensor, and a third plantar pressure sensor
A schematic side view of an embodiment of a location of a pressure sensor;
fig. 7 is a schematic structural diagram of another embodiment of a gait analysis system provided by the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be further noted that, for the convenience of description, only some of the structures related to the present application are shown in the drawings, not all of the structures. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
Gait analysis can be used not only to assist a physician in completing a pathologic assessment of a leg patient, but also to assess a patient's post-operative rehabilitation training situation to some extent. In the process of gradually popularizing the intelligent exoskeleton, the gait analysis system can provide corresponding parameters of human body walking consideration and lower limb activity for intelligent control in the development stage of the intelligent exoskeleton. The debugging stage of the exoskeleton equipment can provide some abnormal gait behavior parameters and limb activity characteristics, including falls, sprains, spasms and the like.
The inventor of the application discovers through long-term research that after gait information is collected by the conventional gait analysis system, the gait information is sent to an upper computer through wireless modes such as Bluetooth and WiFi or wired communication modes. Since the wired communication method requires wiring in each device of the system, the undesirable result of wiring complexity is inevitable. When data transmission is performed by using wireless methods such as bluetooth and WiFi, the gait analysis system may have high power consumption and high operation cost due to the large power consumption of the wireless methods such as bluetooth and WiFi.
Therefore, the gait analysis system provided by the embodiment realizes data transmission among different devices in the system based on the ZigBee wireless communication technology, can simplify the gait analysis wiring structure, and reduces power consumption and cost.
Specifically, referring to fig. 1, fig. 1 is a schematic structural diagram of an embodiment of a gait analysis system provided in this embodiment, and as shown in fig. 1, a gait analysis system 100 provided in this embodiment includes a lower limb detection device 110, a sole detection device 120 and a processing device 130.
The lower limb detection device 110 is fixed to the lower limb of the human body and used for acquiring the knee joint movement information, and the lower limb detection device 110 includes a first zigbee communication module 111 for sending the knee joint movement information. The sole detection device 120 is fixed on the sole of the human body and used for acquiring sole pressure information, and the sole detection device 120 comprises a second zigbee communication module 121 and used for sending out the sole pressure information. The processing device 130 is configured to obtain knee joint movement information and sole pressure information, and perform gait analysis on a human body according to the knee joint movement information and the sole pressure information.
In fact, the lower limb detection device 110 is connected to a ZigBee wireless network (not shown) through the first ZigBee communication module 111, the sole detection device 120 is connected to the ZigBee wireless network through the second ZigBee communication module 121, and the lower limb detection device 110 and the sole detection device 120 can transmit the knee joint movement information and the sole pressure information to the processing device 130 through the ZigBee wireless network. Optionally, the processing device 130 is correspondingly provided with a ZigBee communication module (not shown), and the processing device 130 is connected to a ZigBee wireless network through the ZigBee communication module, so that the lower limb detection device 110 can send knee joint movement information to the processing device 130 through the ZigBee wireless network, and the sole detection device 120 can send sole pressure information to the processing device 130 through the ZigBee wireless network.
The ZigBee technology is an emerging short-distance and low-speed wireless network technology, is developed based on the IEEE802.15.4 wireless standard, is related to the technical standards in networking, safety and application software, is mainly suitable for the fields of automatic control and remote control, and can be embedded into various devices.
The ZigBee technology has the following characteristics:
1. high reliability: the Carrier Sense Multiple Access with connectivity Avoidance (CSMA/CA) technique is used to avoid contention and Collision when data is transmitted. A transmission mode with acknowledgement and a retransmission mechanism are used. Cyclic Redundancy Check (CRC) is used to ensure the correctness of the data.
2. Low power consumption: the terminal device is dozens of milliwatts in a communication state and dozens of microwatts in a sleep mode. Under the low power consumption standby mode, the No. 5 dry battery with 2 nodes can support 1 node to work for 6-24 months.
3. The cost is low: the ZigBee chip cost is only about two dollars, and the ZigBee protocol is free of special fees.
4. High safety: ZigBee provides a three-level security mode including no security setting, using an access control list to prevent illegal retrieval of data, and using a symmetric cipher of Advanced Encryption Standard with 128-bit key (AES-128) to flexibly determine its security attributes.
5. The time delay is short: the communication delay and the time delay for activating from the dormant state are both very short, the typical search device delay is 30ms, the dormant activation delay is 15ms, and the active device channel access delay is 15 ms.
6. The network capacity is large: each ZigBee network can support a maximum of 65535 devices.
Generally speaking, compared with various existing wireless communication technologies, the ZigBee technology has the characteristics of low power consumption and low cost, and is suitable for carrying a service with a small data flow.
In this embodiment, the knee joint motion information may include an angle and an acceleration of the knee joint. The angle of the knee joint is used to represent the rotation state of the human knee joint. In one embodiment, the knee joint angle is determined by the difference between the angle of the human thigh and the angle of the human calf. The angle of the thigh, i.e., the rotation angle of the thigh relative to the waist, and the angle of the calf, i.e., the rotation angle of the calf relative to the waist, are determined as the angle of the knee joint. Similarly, the acceleration of the knee joint is determined by the difference between the acceleration of the thigh and the acceleration of the calf of the human body. Since the acceleration of the thigh, i.e., the rotational acceleration of the thigh with respect to the waist, and the acceleration of the calf, i.e., the rotational acceleration of the calf with respect to the waist, the difference between the acceleration of the thigh and the acceleration of the calf is the acceleration of the knee joint.
The lower limb detection device 110 comprises at least one inertial sensor (not shown), and is connected to the first ZigBee communication module 111 for collecting the angle and acceleration of the knee joint.
Alternatively, the inertial sensor may be a three-axis sensor, a six-axis sensor, or a nine-axis sensor. Optionally, the inertial sensor may further include a signal amplification processing circuit and/or a filter circuit, etc., so that the collected knee angle signal and acceleration signal are more accurate.
The nine-axis sensor is a combination of three sensors: the three parts of the three-axis acceleration sensor, the three-axis gyroscope and the three-axis electronic compass (geomagnetic sensor) have different functions and are mutually matched. The acceleration sensor measures acceleration in each direction in space. The inertia of a gravity block is utilized, when the sensor moves, the gravity block can generate pressure to X, Y, Z directions (front, back, left, right, upper and lower), then a piezoelectric crystal is utilized to convert the pressure into an electric signal, the pressure in each direction is different along with the change of the movement, and the electric signal is also changed, so that the acceleration direction and the speed of the mobile phone are judged. The gyroscope is a device for measuring angles and maintaining directions, and can completely monitor the displacement of hands of a player in games such as a flight game, a sports game, a first visual angle shooting game and the like, thereby realizing various game operation effects. The lower graph is a most basic mechanical gyroscope model, the middle golden rotor is not influenced by inertia effect in the whole instrument movement, and the three peripheral steel rings are changed by changing the posture of the equipment, so that the current rotation state of the equipment is detected. Electronic compasses can describe essentially the complete motion state of a device using acceleration sensors and gyroscopes. However, with long-time movement, accumulated deviation also occurs, and the movement posture cannot be accurately described, such as the inclination of the control picture. The electronic compass (geomagnetic sensor) measures the earth magnetic field, corrects and compensates through the absolute pointing function, and can effectively solve the accumulated deviation, so as to correct the motion direction, the attitude angle, the motion force, the speed and the like of the human body.
The nine-axis sensor is used as an integrated sensor module, reduces a circuit board and the whole space, and is more suitable for being used in light and portable electronic equipment and wearable products. The data accuracy of the integrated sensor not only relates to the accuracy of the device, but also relates to the correction after welding assembly and a matching algorithm aiming at different applications. The appropriate algorithm can fuse data from various sensors, make up for the deficiency of a single sensor in calculating accurate position and direction, and therefore realize high-precision motion detection.
The nine-axis sensor that can be used in this embodiment is BMX055, LSM9DS0 or MPU-9250.
In an embodiment, referring to fig. 2, fig. 2 is a schematic structural diagram of an embodiment of the lower limb detection device in fig. 1, and as shown in fig. 2, the lower limb detection device 110 includes a first inertial sensor 112, a second inertial sensor 113, a first ZigBee communication module 111, and a first single chip microcomputer 114. The first single chip microcomputer 114 is connected to the first inertial sensor 112, the second inertial sensor 113 and the first ZigBee communication module 111. The first inertial sensor 112 is used to collect the angle and acceleration of the thigh. The second inertial sensor 113 is used to acquire the angle and acceleration of the lower leg.
The first single chip microcomputer 114 is used for calculating the relative acceleration and the relative angle of the knee joint based on the angle and the acceleration of the thigh and the angle and the acceleration of the shank and sending the relative acceleration and the relative angle through the first ZigBee communication module 111. Specifically, the first single chip 114 is configured to calculate a difference between an angle of the thigh and an angle of the calf to obtain a relative angle of the knee joint, and calculate a difference between an acceleration of the thigh and an acceleration of the calf to obtain a relative acceleration of the knee joint.
The inventor of this application discovers through long-term research that current equipment that is used for sensing knee joint motion information utilizes the angle information of bending sensor monitoring knee joint usually, because bending sensor's structure is rectangular form, need be fixed in whole knee joint through external fixation device (like the bandage), and it is airtight, tightly ties up the sense, and in function, bending sensor lacks the acceleration monitoring, can't construct complete gait model to influence patient and experience recovered effect even.
In a specific application scenario, referring to fig. 2 and 3, fig. 3 is a schematic wearing diagram of the lower limb detection device, and as shown in the figure, the lower limb detection device 110 further includes a first box 115 and a second box 116. The first box 115 is used for placing a first inertial sensor 112, a first single chip microcomputer 114, a first ZigBee communication module 111, and a power supply device (not shown) such as a battery, and the first box 115 is disposed on one side of the thigh close to the knee joint. The second box 116 is used for placing the second inertial sensor 113, and the second box 116 is disposed on one side of the lower leg close to the knee joint.
In this embodiment, two parts of the lower limb detection device 110 (i.e., the first inertial sensor 112, the first single-chip microcomputer 114, the first ZigBee communication module 111, and the battery included in the first box 115, and the second inertial sensor 113 included in the second box 116) are fixed on the upper and lower sides of the knee joint, so that the knee movement is completely unaffected and breathable, and the bending angle and the acceleration of the knee joint can be accurately obtained.
Optionally, in a specific application scenario, the first box body 115 and the second box body 116 are provided with straps, and the straps may be provided with buckles, so that when the user wears the lower limb detection device, the first box body 115 is fixed to one side of the thigh close to the knee joint through the straps, the second box body 116 is fixed to one side of the calf close to the knee joint through the straps and is fixed through the buckles, and the tightness may be adjusted through the buckles. The first box 115 may be provided with a lock-free spring button, the lower limb detection device 110 automatically presses the switch button (i.e., the lock-free spring button) when being worn, the lower limb detection device 110 is turned on, and the first inertial sensor 112 and the second inertial sensor 113 respectively start to collect the angle and the acceleration information of the thigh and the calf of the user in real time.
Optionally, the gait analysis system 100 provided in this embodiment includes a plurality of lower limb detection devices 110, for example, the gait analysis system 100 includes 2 lower limb detection devices 110, which are respectively fixed to the left and right legs of the user, respectively acquire the motion information of the knee joints of the left and right legs of the user, and respectively transmit the knee joint motion information by using the respective first ZigBee communication module 111.
In one embodiment, with continued reference to fig. 1, the sole detection device 120 includes at least one sole pressure sensor (not shown) and at least one single-chip microcomputer (not shown). At least one plantar pressure sensor is connected with the second zigbee communication module 121 and used for collecting plantar pressure information. At least one singlechip is connected with at least one plantar pressure sensor and second zigbee communication module 121 for receiving plantar pressure information and calculating plantar pressure value, and send out plantar pressure value through second zigbee communication module 121.
Optionally, the gait analysis system 100 provided in this embodiment includes a plurality of sole detection devices 120, for example, the gait analysis system 100 includes 2 sole detection devices 120, which are respectively fixed to the left and right feet of the user, respectively acquire sole pressure information of the left and right feet of the user, and respectively send the sole pressure information by using the respective second ZigBee communication module 121.
In fact, the working principle of the sole detection device 120 is:
when a human body stands on the plurality of plantar pressure sensors, different downward acting forces can be generated due to the action of gravity, the downward acting forces generate pressure signals on the plantar pressure sensors, the plantar pressure sensors convert the plantar pressure signals into available electric signals according to a certain rule and output the electric signals, and the electric signals are processed through a preset single chip microcomputer to obtain pressure values corresponding to the plantar pressure sensors. The pressure value is sent out through the second ZigBee communication module 121, and the processing device 130 can determine whether the human body enters the support mode or the swing mode by analyzing and comparing the pressure data in the later period.
In a specific embodiment, referring to fig. 1 and 4, fig. 4 is a schematic structural diagram of an embodiment of the sole detection device in fig. 1, as shown in the drawing, the sole detection device 120 includes three sole pressure sensors, that is, a first sole pressure sensor 122, a second sole pressure sensor 123 and a third sole pressure sensor 124, the sole detection device 120 includes a second single chip microcomputer 125, and the first sole pressure sensor 122, the second sole pressure sensor 123 and the third sole pressure sensor 124 are all connected to a second zigbee communication module 121 through the second single chip microcomputer 125.
Alternatively, referring to fig. 5 and 6, fig. 5 is a schematic top view of an embodiment of the arrangement positions of the first sole pressure sensor, the second sole pressure sensor and the third sole pressure sensor, and fig. 6 is a schematic side view of an embodiment of the arrangement positions of the first sole pressure sensor, the second sole pressure sensor and the third sole pressure sensor, and as shown in fig. 5 and 6, the three sole pressure sensors are respectively arranged corresponding to both sides of the forefoot and the heel and are respectively used for sensing pressure signals of both sides of the forefoot and the heel. Specifically, the first plantar pressure sensor 122 is correspondingly arranged on one side of the little toe of the forefoot, the second plantar pressure sensor 123 is correspondingly arranged on one side of the big toe of the forefoot (not shown in fig. 6), and the third plantar pressure sensor 124 is correspondingly arranged at the heel. In this embodiment, since the two sides of the forefoot and the heel are the force points and have a certain representativeness to the gait characteristics of the user, the pressure signals of the two sides of the forefoot and the heel of the user are collected, so that more accurate plantar pressure information can be obtained, and the gait of the user can be more accurately analyzed.
Optionally, the first plantar pressure sensor 122, the second plantar pressure sensor 123 and the third plantar pressure sensor 124 are film pressure sensors or flexible film pressure sensors, wherein the flexible film pressure sensors have a span of 50 kg. Optionally, the first plantar pressure sensor 122, the second plantar pressure sensor 123 and the third plantar pressure sensor 124 may further include a signal amplification processing circuit and/or a filter circuit, etc., so that the acquired plantar pressure signals are more accurate.
In one specific application scenario, please continue to refer to fig. 1, the sole detection device is embodied as a sole detection shoe, and the user wears or removes the sole detection device 120 by wearing the sole detection shoe. Specifically, at least one plantar pressure sensor may be disposed at the sole near the sole, for example, when the plantar detection shoe includes 3 plantar pressure sensors, the plantar pressure sensors are correspondingly disposed at the sole near both sides of the user's forefoot and the heel, respectively, so as to conveniently detect the pressure signals at both sides of the user's forefoot and the heel. Optionally, the at least one plantar pressure sensor is sealed with a sole glue for the purpose of water and grinding prevention, and without affecting the normal walking experience of the user.
Optionally, the at least one plantar pressure sensor is connected with an adhesive tape arranged above the slippers and corresponding to the instep of the user through a thin film wire, the adhesive tape is slightly thicker than an adhesive tape of a normal shoe, and the inside of the adhesive tape is used for deploying the at least one single chip microcomputer, the second ZigBee communication module 121 and the battery. When the user dresses this pressure detection shoes, the human plantar pressure signal of real-time collection of plantar pressure sensor at the pressure detection shoes sole to transmit plantar pressure signal to the singlechip through the film electric wire, the singlechip is handled plantar pressure signal in order to obtain the plantar pressure value, and sends to processing apparatus 130 through second zigBee communication module 121. The arrangement mode does not have any exposed electric wire, and the use experience of a user is not influenced.
In this embodiment, the processing device 130 may be an upper computer with data processing capability, such as a mobile phone, a computer, a tablet, a server, and the like. Optionally, the processing device 130 needs to provide a ZigBee communication module to acquire the knee joint movement information and the sole pressure information sent by the lower limb detection device 110 and the sole detection device 120. Optionally, the processing device 130 may include a display module (not shown) for displaying the obtained conclusion on a display panel for the user to view after performing gait analysis on the user.
In order to enable the gait analysis system provided by the application to have a wider application range, even if the gait analysis system can comprise more types of processing devices, the gait analysis system provided by the inventor of the application can also comprise a processing device without a ZigBee communication module. Specifically, referring to fig. 7, fig. 7 is a schematic structural diagram of another embodiment of a gait analysis system provided by the present application, and as shown in fig. 7, the gait analysis system 100 includes a lower limb detection device 110, a sole detection device 120, a data transmission device 140 and a processing device 130.
The lower limb detection device 110 is fixed to the lower limb of the human body and used for acquiring the knee joint movement information, and the lower limb detection device 110 includes a first zigbee communication module 111 for sending the knee joint movement information. The sole detection device 120 is fixed on the sole of the human body and used for acquiring sole pressure information, and the sole detection device comprises a second zigbee communication module 121 and used for sending out the sole pressure information. The data transmission device 140 is configured to obtain knee joint movement information and sole pressure information, and send the knee joint movement information and the sole pressure information, and the data transmission device 140 includes a third zigbee communication module 141. The processing device 130 is used for performing gait analysis on the human body according to the knee joint movement information and the sole pressure information.
In this embodiment, the lower limb detection device 110 and the sole detection device 120 are connected to the data transmission device 140 through the ZigBee wireless network, and the data transmission device 140 is connected to the processing device 130 through a method other than the ZigBee wireless network.
In this embodiment, the data transmission device 140 may further include a bluetooth module, a wireless WiFi module, and the like. The data transmission device 140 may also be connected to the processing device 130 by a wired connection. For example, when the data transmission device 140 includes a bluetooth module, it is obvious that the processing device 130 includes a corresponding bluetooth module, and the data transmission device 140 acquires the knee joint movement information and the sole pressure information from the lower limb detection device 110 and the sole detection device 120 by using the third zigbee communication module 141, and transmits the knee joint movement information and the sole pressure information to the processing device 130 by using the bluetooth module.
The gait analysis system provided in this embodiment is provided with a data transmission device 140, and the data transmission device 140 is used as a hub for transmitting data by the lower limb detection device 110, the sole detection device 120 and the processing device 130, that is, for acquiring knee joint movement information and sole pressure information acquired by the lower limb detection device 110 and the sole detection device 120, and sending the knee joint movement information and the sole pressure information to the processing device 130. In this way, the gait analysis system 100 provided by the present embodiment can have a wider application range.
Optionally, the lower limb rehabilitation software of the department of Chinese academy may be installed in the processing device 130, the lower limb rehabilitation software firstly displays the relative angle and acceleration values of the knee joint of the user, secondly displays the plantar pressure values, and finally carries out background calculation on the values, fits the gait model through the values and displays the real-time walking gait model of the user, the lower limb rehabilitation software sets the gait assessment threshold, and once the gait condition is severe, sends a notification to guide the doctor or other guardians to analyze the gait characteristics and guide rehabilitation.
Optionally, the lower limb rehabilitation software can also upload gait data of the user to a special rehabilitation system server located in shenzhen zhong institute of china academy, gait features of a plurality of users are stored on the server, a gait feature library is established, a lower limb rehabilitation map is generated by combining goodness, mediality and regional distribution conditions for reference, and meanwhile, a manager can know the current rehabilitation condition by checking archives (including lower limb rehabilitation processes, user information and the like) of the users, so that group management and big data analysis facing trend analysis, archive management facing individuals, rehabilitation progress management and the like are realized.
In summary, in the gait analysis system provided by this embodiment, because the lower limb detection device and the sole detection device respectively include the ZigBee communication module, after knee joint movement information and sole pressure information are detected, information can be sent out based on the respective ZigBee communication module, and then the processing device can acquire knee joint movement information and sole pressure information through the ZigBee wireless communication mode. Therefore, according to the scheme, the acquired knee joint movement information and plantar pressure information are sent to the processing device in a ZigBee wireless communication mode, the defect of complex wiring caused by a wired transmission mode in the prior art can be avoided, and in addition, due to the characteristic of low power consumption of the ZigBee wireless communication technology, the power consumption and the cost of the gait analysis system can be reduced.
In the several embodiments provided in the present application, it should be understood that the disclosed method and apparatus may be implemented in other manners. For example, the above-described device embodiments are merely illustrative, and for example, the division of the above modules or units is only one logical functional division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The above embodiments are merely examples and are not intended to limit the scope of the present disclosure, and all modifications, equivalents, and flow charts using the contents of the specification and drawings of the present disclosure or those directly or indirectly applied to other related technical fields are intended to be included in the scope of the present disclosure.
Claims (10)
1. A gait analysis system, characterized in that the gait analysis system comprises:
the lower limb detection device is fixed on the lower limb of the human body and used for acquiring the knee joint movement information, and comprises a first zigbee communication module used for sending the knee joint movement information;
the sole detection device is fixed on the sole of a human body and used for acquiring sole pressure information, and comprises a second zigbee communication module used for sending out the sole pressure information;
and the processing device is used for acquiring the knee joint movement information and the sole pressure information and carrying out gait analysis on the human body according to the knee joint movement information and the sole pressure information.
2. The gait analysis system according to claim 1,
the knee joint motion information includes an angle and an acceleration of the knee joint.
3. The gait analysis system according to claim 2, characterized in that,
the lower limb detection device further comprises:
and the inertial sensor is connected with the first ZigBee communication module and is used for acquiring the angle and the acceleration of the knee joint.
4. The gait analysis system according to claim 3,
the lower limb detection device comprises:
the first inertial sensor is used for acquiring the angle and the acceleration of the thigh;
the second inertial sensor is used for acquiring the angle and the acceleration of the shank;
the first single chip microcomputer is connected with the first inertial sensor, the second inertial sensor and the first ZigBee communication module and used for calculating the relative acceleration and the relative angle of the knee joint based on the angle and the acceleration of the thigh and the angle and the acceleration of the shank and sending the relative acceleration and the relative angle through the first ZigBee communication module.
5. The gait analysis system according to claim 4,
the first single chip microcomputer is used for calculating the difference between the angle of the thigh and the angle of the shank to obtain the relative angle of the knee joint, and calculating the difference between the acceleration of the thigh and the acceleration of the shank to obtain the relative acceleration of the knee joint.
6. The gait analysis system according to claim 4,
the lower limb detection device comprises:
the first box body is used for placing the first inertial sensor, the first single chip microcomputer and the first ZigBee communication module, and the first box body is arranged on one side, close to the knee joint, of the thigh;
the second box body is used for placing the second inertial sensor, and the second box body is arranged on one side, close to the knee joint, of the lower leg.
7. The gait analysis system according to claim 3,
the inertial sensor is a nine-axis sensor.
8. The gait analysis system according to claim 1,
the sole detection device includes:
the sole pressure sensor is connected with the second zigbee communication module and used for acquiring sole pressure information;
and the singlechip is connected with the at least one plantar pressure sensor and the second zigbee communication module, and is used for receiving the plantar pressure information, calculating a plantar pressure value and sending the plantar pressure value out through the second zigbee communication module.
9. The gait analysis system according to claim 8,
the sole detection device comprises three sole pressure sensors which are all connected with the second zigbee communication module;
the three plantar pressure sensors are respectively arranged corresponding to two sides of the sole and the heel and are respectively used for sensing pressure signals of the two sides of the sole and the heel.
10. The gait analysis system according to claim 8,
the sole pressure sensor is a film pressure sensor.
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| PCT/CN2021/137704 WO2022233138A1 (en) | 2021-05-07 | 2021-12-14 | Gait analysis system |
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| WO2022233138A1 (en) * | 2021-05-07 | 2022-11-10 | 深圳先进技术研究院 | Gait analysis system |
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