KR20190012986A - A dynamic harness rehabilitation training system based motion recognition - Google Patents

Abstract

Provided is a motion recognition based dynamic harness rehabilitation training system. According to an embodiment of the present invention, the motion recognition based dynamic harness rehabilitation training system comprises a gait training device, a smart insole, a smart mirror device, and a terminal. The gait training device has a guide rail to be moved while supporting a user, senses position change of the user, and provides a suitable gait position to the user. The smart insole is positioned in each of left and right plantar surfaces of the user, senses plantar pressure and plantar change of the user, and provides tactile stimulation to the user. The smart mirror device senses posture change of the user, and overlaps and displays information related to a gait training figure of the user and information related to gait training of the user. The terminal collects information related to the position change, information related to the plantar pressure and the plantar change, and the information related to the posture change, analyzes balance of the user, and provides the analysis result to the user. The present invention can increase interest of the user.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a motion recognition based dynamic harness rehabilitation training system,

The present invention relates to motion recognition based dynamic harness rehabilitation training systems.

The body balance is reduced due to erroneous lifestyle and exercise, and exercise in the lowered balance state acts as a poison rather than causing a variety of musculoskeletal diseases or health deterioration. Regardless of my intention, my body balance declines slightly within the body during work, sleep, activity, and rest in the wrong attitude due to my lifestyle in my daily life. In case of wrong exercise habits, the physical balance is lowered due to the functional deformation of the human body due to unreasonable exercise without considering the wrong exercise attitude, absence of preparation exercise, own body shape, physical strength, etc. In addition, it is dangerous and difficult to exercise in the outdoors when the elderly or the elderly are ill with inconveniences. In addition, rehabilitation patients who can not move their bodies easily due to various industrial accidents, traffic accidents, paralysis, etc. need to be regularly rehabilitated for a fixed time every day.

These rehabilitation exercises consist of gait training and postural balance training, which is to control the position of the body and to increase the ability of the body to maintain the proper relationship between the center of gravity and the body and environment. For this reason many more training devices have been developed more recently.

However, conventional training devices simply require physical performance, and the balance of the trainee can not be precisely controlled during the training, so that a safety accident such as a fall may occur when the trainee falls out of his or her feet, There is a difficulty in controlling the walking balance of the trainee. Also, there was a limit to induce the user's interest, and there was a problem that the training effect was not high.

Therefore, it is necessary to develop a training system that can guarantee safety during training, monitor and analyze the training in real time, and can generate interest to the user.

Korean Registered Patent No. 1453482 (issued on October 15, 2014) Korean Patent Publication No. 2008-0006437 (Published Jan. 16, 2008)

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and it is an object of the present invention to provide a training system in which a user of a training system can move while maintaining a certain distance pattern, can prevent falling through vibration feedback, And provides a motion recognition based dynamic harness rehabilitation training system that can induce user's interest.

The problems to be solved by the present invention are not limited to the above-mentioned problems, and other matters not mentioned can be clearly understood by those skilled in the art from the following description.

According to another aspect of the present invention, there is provided a motion recognition based dynamic harness rehabilitation training system including a guide rail for moving while supporting a user, detecting a change in position of the user, A gait training device providing a position; A smart insole provided on each of the left and right footprints of the user for sensing a change in footprint and footprint of the user and providing tactile stimulation to the user; A smart mirror device for detecting a change in the posture of the user and displaying the information related to the walking training of the user and information related to the walking training of the user; And a terminal device for collecting information related to the positional change, information related to the footprint, footstep change, and information related to the posture change, and analyzing the balance of the user and providing the analyzed information to the user.

The gait training apparatus may further include: a training moving unit moving along the guide rail; A harness unit which is worn on the upper body of the user and is connected to the moving unit by a wire to support the user; A training sensor unit including a tension sensor for sensing a change in tension of the wire and a first Kinect sensor for sensing a change in position of the user; A training projection unit for projecting a virtual smart insole mark corresponding to a suitable walking position of the user in front of the user according to the position change; A training communicator for communicating with the smart insole and the terminal device; And controlling the training moving unit such that the user maintains a predetermined distance from the first kinect sensor based on the user's foot pressure and footing change and the position change, And a training control unit for controlling the harness unit to prevent the user from falling based on the change in tension.

Further, the gait training apparatus may further include a training display unit positioned in front of the user's eyes, and the terminal device displays information related to the balance of the analyzed user on the training display unit through the training communication unit .

The smart insole may further include a pressure sensor for sensing the foot pressure, an acceleration sensor for detecting an acceleration in accordance with the movement of the plantar surface, and an angle sensor for detecting an angle of the plantar surface with respect to the ground. A sensor unit; A smart insole vibrating portion disposed in at least one region of the forefoot and hindquarters to provide tactile stimulation to the user's foot; And a smart insole control unit for controlling the smart insole unit to determine a risk of falling of the user based on information sensed by the smart toe sensor unit and provide tactile stimulation to the foot of the user.

The smart insole may include a smart insole communication unit for communicating with the walking training device and the terminal device; And a smart insole power supply unit having a battery that can be charged wirelessly.

The smart mirror device may further include: a smart mirror unit including a mirror panel showing a state of the gait training and a display panel showing information related to the gait training; A mirror sensor unit including a second Kinect sensor for recognizing a posture change according to the user's gait training; And a mirror communication unit for communicating with the gait training apparatus and the terminal apparatus.

In addition, the terminal device can evaluate the posture balancing ability of the user based on the pressure center calculated using the foot pressure.

The HMD further includes a HMD that is wearable on the head of the user and is capable of communicating with the terminal device. The terminal device can display contents related to walking rehabilitation training or cognitive training on the HMD.

According to another aspect of the present invention, there is provided a motion recognition based dynamic harness rehabilitation training system for supporting a user training in a treadmill and for training a treadmill to sense a load and a position change of the user Device; A smart insole provided on each of the left and right footprints of the user for sensing a change in footprint and footprint of the user and providing tactile stimulation to the user; A smart mirror device for detecting a change in the attitude of the user and displaying the driving training image of the user and information related to the driving training of the user in an overlapping manner; And a portable device that collects the load and position change information, the foot pressure and foot change information, and the posture change information, analyzes the balance of the user, and provides the analyzed balance to the user.

The training device for supporting the treadmill may further include: a training moving part moving along the guide rail; A harness part which is worn on the upper body of the user and is connected to the training moving part by a wire to support the user; A load sensor installed in the harness unit for sensing the load and a position change sensor installed in the training moving unit and sensing the position change; A portable device mounting portion including a connecting member connected to the training moving portion, and a mounting member connected to the connecting member and to which the portable device is mounted; A training communicator for communicating with the smart insole and the portable device; And a training control unit for controlling the harness unit on the basis of a change in footprint of the user and footprints and changes in the load and the position.

Other specific details of the invention are included in the detailed description and drawings.

According to the present invention, the user can train while maintaining a constant training pattern, analyze the measured data to maintain the posture balance of the trainee, and prevent falling through harness control and vibration feedback.

In addition, visual biofeedback can be used to enhance the balance ability and to induce user's interest.

1 is a conceptual diagram illustrating a motion recognition based dynamic harness rehabilitation training system according to an embodiment of the present invention.
2 is a block diagram illustrating a gait training apparatus of a motion recognition based dynamic harness rehabilitation training system according to an embodiment of the present invention.
3 is a block diagram illustrating a smart insole of a motion recognition based dynamic harness rehabilitation training system according to an embodiment of the present invention.
Fig. 4A is a view showing angles? And? Of a plantar surface with respect to the ground, and Fig. 4B is a view showing angles?,?, And?
FIG. 5 is a conceptual diagram for explaining a walking guidance method using a smart insole of a motion recognition based dynamic harness rehabilitation training system according to an embodiment of the present invention.
6 is a view for explaining the arrangement of vibration parts of the smart insole of the motion recognition based dynamic harness rehabilitation training system according to the embodiment of the present invention.
7 is a view showing the operation of a battery and a wireless patch provided in a smart insole.
FIG. 8 is a block diagram illustrating a smart mirror device of a motion recognition based dynamic harness rehabilitation training system according to an embodiment of the present invention. Referring to FIG.
9 is a block diagram illustrating a terminal device of a motion recognition based dynamic harness rehabilitation training system according to an embodiment of the present invention.
FIG. 10A is a graph showing the locus of the pressure center COP and its enlarged view, FIG. 10B is a graph showing SDC (Sway Density Curve) and its enlarged view, FIG. 10C is a graph showing the COP and Sway density of the sample.
11 is a conceptual diagram illustrating a motion recognition based dynamic harness rehabilitation training system according to another embodiment of the present invention.
FIG. 12 is a block diagram illustrating a gait training device and a portable device of the dynamic recognition harness rehabilitation training system based on the motion recognition according to another embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention, and the manner of achieving them, will be apparent from and elucidated with reference to the embodiments described hereinafter in conjunction with the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. Is provided to fully convey the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

Although the first, second, etc. are used to describe various elements, components and / or sections, it is needless to say that these elements, components and / or sections are not limited by these terms. These terms are only used to distinguish one element, element or section from another element, element or section. Therefore, it goes without saying that the first element, the first element or the first section mentioned below may be the second element, the second element or the second section within the technical spirit of the present invention.

The terminology used herein is for the purpose of illustrating embodiments and is not intended to be limiting of the present invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. As used herein, the terms "comprises" and / or "made of" means that a component, step, operation, and / or element may be embodied in one or more other components, steps, operations, and / And does not exclude the presence or addition thereof.

Unless defined otherwise, all terms (including technical and scientific terms) used herein may be used in a sense commonly understood by one of ordinary skill in the art to which this invention belongs. Also, commonly used predefined terms are not ideally or excessively interpreted unless explicitly defined otherwise.

Hereinafter, the present invention will be described in more detail with reference to the accompanying drawings.

1 is a conceptual diagram illustrating a motion recognition based dynamic harness rehabilitation training system according to an embodiment of the present invention.

Referring to FIG. 1, a motion recognition based dynamic harness rehabilitation training system 10 according to an embodiment of the present invention includes a gait training device 100, a smart insole 200, and a smart mirror device 300. In addition, the motion recognition based dynamic harness rehabilitation training system 10 according to an embodiment of the present invention may further include a terminal device 400 and an HMD 500. The gait training device 100 is a device for gait training of a user, the smart insole 200 is a device provided on the foot of a user, and the smart mirror device 300 is a device for viewing the training state of the user. The HMD 500 is a display device that can be worn on the head of the user U. The HMD 500 is a display device that can be worn on the head of the user U.

For example, the motion recognition based dynamic harness rehabilitation training system 10 includes a guide rail 105 to move while supporting the user U, to sense a change in the position of the user U, U of the user U to detect a change in the pedestrian pressure of the user U and a change in the footsteps of the user U, A smart insole 200 for providing a tactile stimulus and a smart mirror 200 for sensing a change in attitude of the user U and displaying the information related to the walking training of the user U and the walking training of the user U, Device 300 as shown in FIG. In addition, the motion recognition based dynamic harness rehabilitation training system 10 collects information related to the position change, information related to the foot pressure and footstep change, and information related to the posture change, And provides the user terminal U with the analysis result. Hereinafter, each device of the motion recognition based dynamic harness rehabilitation training system 10 will be described in detail.

2 is a block diagram illustrating a gait training apparatus of a motion recognition based dynamic harness rehabilitation training system according to an embodiment of the present invention.

1 and 2, the gait training apparatus 100 includes a guide rail 105, a training moving unit 110, a harness unit 120, a training sensor unit 130, a training projection unit 140, A communication unit 150, a training control unit 160, a training display unit 170, a training storage unit (not shown), and the like.

For example, the gait training apparatus 100 may include a training moving unit 110 that moves along the guide rail 105, a user who wears the training unit 110 on the upper body of the user U, A tension sensor 132 for sensing a change in tension of the wire 122 and a first knot sensor 134 for sensing a change in the position of the user U. The first knot sensor 134 detects a change in the position of the user U, A training sensor unit 130 for projecting a virtual smart insole mark 145 corresponding to a suitable walking position of the user U in front of the user U in accordance with the positional change, A training communicator 150 for communicating with the smart insole 200, the smart insole 200 and the terminal device 400. The user communicates with the smart insole 200 and the terminal device 400 based on the user's footprint and footprint changes, Controls the training moving part 110 to maintain a certain distance from the knot sensor 134, And a training control unit 160 for controlling the harness unit 120 to prevent a fall of the user U based on a change in foot pressure of the user U and a change in footsteps and a change in tension of the wire 122 . The gait training apparatus 100 further includes a training display unit 170 located in front of the user's eyes and data and information generated by the gait training apparatus 100 and data received from another apparatus through the training communication unit 150 And a training storage unit for storing various kinds of information.

The guide rails 105 may be installed on the ceiling as shown in FIG. 1, but they may be provided in a floating form using a plurality of vertical frames (not shown). It will be apparent to those skilled in the art that the shape, structure, material, and the like of the guide rails 105 can be appropriately adopted.

The training moving part 110 moves along the guide rail 105 and provides driving force for moving the gait training device 100. The training moving part 110 may include a rail running roller (not shown) moving along the guide rail 105, a driving motor for providing a driving force to the rail running roller, and the like. Of course, various structures used in conventional rail harness systems can be applied and applied. In the training moving unit 110, the driving motor is controlled by a control signal of the training control unit 160, and the training control unit 160 controls the rotation axis of the driving motor to rotate in the forward direction or the reverse direction, Can be changed. For example, the training control unit 160 can forward / reverse the driving motor by a CW (clockwise) / CCW (counterclockwise) command, and the training control unit 160 generates a CW / And controls the motor. The traveling motor may further include a driver for control and a speed reducer for controlling the speed.

The harness portion 120 may include a jacket harness 124 that can be worn on the user's upper body and a wire 122 that connects the jacket harness 124 with the training moving portion 110.

Here, the wire 122 may be made in the form of a belt, a braid, a rope, a cable, or the like as a member in the longitudinal direction. On the other hand, the wire 122 is preferably made of a material having a tensile strength sufficient to support the load of the user U. And a belt drive (not shown) for lifting or lowering the wire 122 to the area where the wire 122 and the training moving part 110 are connected to each other and may prevent the jacket harness 124 from coming off And a fastening means (not shown). The jacket harness 124 may be implemented in the form of a vest, a jumper, or the like so that the jacket harness 124 can be worn on the upper body of the user U.

The training sensor unit 130 includes a tension sensor 132 for detecting a change in tension of the wire 122 and a first key knot sensor 134 for detecting a change in the position of the user U. At this time, it is preferable that the tension sensor 132 is installed on the wire 122 and the first kinect sensor 134 is connected to the training moving part 110 so as to be located in the upper front part of the user U .

Here, when a tension change is detected by the tension sensor 132, it can be used as a basic data for determining whether the user U falls. For example, when the user U who is walking by the training moving unit 110 is supported by the harness unit 120 and the user U moves abruptly to the front or rear, It is possible to detect a change in the tension of the sensor 132. At this time, when the magnitude of the tension change is out of the preset reference, the training control unit 160 can control the harness unit 120 so that the user U does not collapse. Here, it is possible to more accurately determine whether or not a fall occurs by using the user's foot pressure and footbed change together with the tension change of the wire 122.

The first kinect sensor 134 can detect a change in the position of the user U in the upper portion of the front of the user U and can detect the change in the position of the user U, Can be used as basic data. For example, when the user moves by the training moving unit 110, the first Kinect sensor 134 is also connected to the training moving unit 110 and moved. At this time, the first kinect sensor 134 can photograph and confirm the positions of the two feet of the user U, and by confirming the change in position of the first key knot sensor 134 and the user U, May control the training moving part 110 such that the user U maintains a certain distance from the first kinect sensor 134. [ Here, it is possible to more accurately determine whether or not the user is appropriately moved by using the user's foot pressure and the footprints change together with the change of the position of the user U.

The training projection unit 140 projects and displays a virtual smart insole mark 145 corresponding to a suitable walking position of the user U in front of the user U in accordance with the position change of the user U. [ At this time, it is preferable that the training projection unit 140 is connected to the training moving unit 110 so as to project a virtual smart ink mark 145 on the upper side of the user U. The user U can keep an appropriate walking distance, walking speed and the like by walking in accordance with the virtual smart insole mark 145, thereby maximizing the effect of the rehabilitation training.

The training communication unit 150 may communicate with other devices such as the smart insole 200, the smart mirror device 300, the terminal device 400, and the HMD 500. For example, the training communication unit 150 can receive information such as a foot pressure of the user U and a change in footsteps from the smart insole 200, and receive the control signal from the terminal device 400. In addition, data obtained in the gait training apparatus 100, various kinds of information to be generated, and the like can be transmitted to the terminal device 400, the smart mirror device 300, and the HMD 500.

At this time, other devices such as the training communicator 150, the smart insole 200, the smart mirror device 300, and the terminal device 400 can perform short-distance wireless communication or long-distance wireless communication with each other. Preferably, the training communication unit 150 and other devices such as the smart insole 200, the smart mirror device 300, and the terminal device 400 may utilize local communication. Here, it may be one of Bluetooth, Zigbee, Near Field Communication (NFC), and Wibree. For example, Bluetooth is a short-range wireless communication standard, which controls various electronic and information communication devices wirelessly within a radius of 10 to 100 m, uses a frequency of 2.45 GHz, uses a frequency of 2.4 GHz, It controls the connection of various devices wirelessly with a communication speed of 1Mbps to a distance of about 10m. Of course, it should be apparent to those skilled in the art that other wireless communication schemes may be adopted without being limited to the above-described short-range wireless communication.

The training control unit 160 controls the user U such that the user U keeps a certain distance from the first kinect sensor 134 based on the change of the footprint of the user U and the change of the footsteps of the user U, The user can control the harness unit 120 to prevent the user U from falling down based on the foot low pressure and footstep change of the user U and the tension change of the wire 122.

That is, the training controller 160 can guide the user's walking speed, stride, etc. by using the information transmitted from the smart insole 200 and the information obtained from the first Kinect sensor 134. In addition, the training control unit 160 can prevent the risk of falling of the user by using the information transmitted from the smart insole 200 and the information obtained from the tension sensor 132.

For example, if the size of the low pressure sensed by the smart insole 200 is below a predetermined reference low pressure and the angle of the plantar surface is not less than a predetermined reference angle, the tension change sensed by the tension sensor 132 The training controller 160 determines that the risk of falling of the user U is great and the training controller 160 controls the harness 120 to pull the wire 122 to move the user U, Can be prevented.

When the user U sensed by the first Kinect sensor 134 is detected while the size of the foot low pressure sensed by the smart insole 200 is lower than a preset reference low pressure and the angle of the plantar surface is not less than a predetermined reference angle, The training control unit 160 determines that the walking training of the user U is inappropriate and the training control unit 160 controls the training moving unit 110 so that the user So that the training moving unit 110 moves.

The training display unit 170 is located in front of the user U and can display the walking information of the user U, contents related to walking training, and the like. In particular, the training display unit 170 can display information related to the balance of the user U analyzed by the terminal device 400, thereby stimulating the user U to perform training while maintaining the walking balance. At this time, it is preferable that the training display unit 170 is connected to the training moving unit 110 so as to display information related to the balance of the user U in front of the user U, and moves together. In addition, the training display unit 170 can display fall risk information based on a fall risk signal transmitted from a smart insole 200 to be described later. The user U can visually confirm the training display unit 170 and perform the walking training, thereby instantly recognizing the presence or absence of the risk of falling.

3 is a block diagram illustrating a smart insole of a motion recognition based dynamic harness rehabilitation training system according to an embodiment of the present invention. Fig. 4A is a view showing angles? And? Of a plantar surface with respect to the ground, and Fig. 4B is a diagram showing angles?,?, And? Of a plantar surface with respect to the ground. 5 is a conceptual diagram for explaining a walking guidance method using a smart insole of a dynamic harness rehabilitation training system based on motion recognition according to an embodiment of the present invention. 6 is a view for explaining the arrangement of vibration parts of the smart insole of the motion recognition based dynamic harness rehabilitation training system according to the embodiment of the present invention. 7 is a view showing the operation of the battery and the wireless patch provided in the smart insole.

3 and 7, the smart insole 200 is provided on each of the left and right foot surfaces of the user U and includes a smart insole sensor unit 210, a smart insole vibration unit 220, A control unit 230, a smart insole communication unit 240, a smart insole power unit 210, and the like.

The smart insole 200 may be manufactured to be inserted into a shoe worn by the user U, but may be manufactured in a form integrated with a shoe or a slipper. Accordingly, the smart insole 200 referred to in this specification is a concept encompassing shoes, slippers, and the like, as well as products manufactured separately.

The smart insole sensor unit 210 includes a pressure sensor (not shown) for detecting a pedestal pressure, an acceleration sensor (not shown) for sensing an acceleration in accordance with the motion of the plantar surface, And an angle sensor (not shown). More specifically, the smart insole sensor unit 210 may include a pressure sensor, a 9-axis sensor including a 3-axis acceleration sensor, a 3-axis gyro sensor, and a 3-axis geomagnetic sensor.

Here, the pressure sensor can acquire the pressure, the force, the center of gravity of the user U at the sole, etc., which the user U applies to the smart insole 200, and the like. The pressure sensor may include at least one of a force sensing resistor (FSR) or a load cell. A plurality of pressure sensors including a force sensing resistor (FSR) and / or a load cell may be formed on the smart insole 200. For example, the Force Sensing Resistor (FSR) is a polymer film that generates a decreasing resistance when increasing the force on the surface. It has its own resistance value, which is the force applied to the active area It is possible to detect the foot pressure of the user U by using the inverse characteristic. In addition, the pressure sensor may be constituted by a film-shaped load cell provided in the smart insole 200. The FSR (Force Sensing Resistor) and / or the load cell may be installed symmetrically in the front, rear, left, and right directions to help grasp the center and the moving direction of the user U more accurately. It is needless to say that other types of sensors can be applied as long as the pressure sensor is installed in the smart insole 200 and can measure the foot pressure of the user U. The low pressure information can be used as a basic data for determining whether the user U is in danger of falling, or for calculating the appropriate walking speed of the user U,

Further, the acceleration sensor (not shown) and the angle sensor (not shown) can detect the motion acceleration of the plantar surface of the user U and the angles alpha and beta of the plantar surface with respect to the ground, respectively. The acceleration information may be used as basic data for determining the walking speed of the user U and the angular information of the plantar surface with respect to the ground may be data for calculating an appropriate walking speed of the user U, ) Can be used as a basic data for determining whether or not a fall risk exists. As shown in FIG. 4A, the smart insole sensor unit 210 senses an angle β of the plantar surface with respect to the ground when the heel touches the stance phase, and when the heel is supported and supported by the toe portion (forefoot) The angle? Of the plantar surface with respect to the ground surface of the plantar surface can be detected. At this time, the angles (?,?) Of the plantar surface are values measured based on the direction parallel to the walking direction of the user (U). 4B, the smart insole sensor unit 210 may detect the angle? Of the plantar surface with respect to the ground with reference to the direction perpendicular to the walking direction, It can be utilized as basic information for detecting the risk of falling in the left and right directions.

The smart insole oscillator 220 is disposed in at least one region of the forefoot and hind foot regions to provide tactile stimulation to the plantar surface of the user (U). The tactile stimulus may be a variety of stimuli such as a vibration stimulus and an electric stimulus, and a pattern, an intensity, and a cycle of a vibration stimulus or an electric stimulus may be variously set by a user. Further, the pattern, intensity, cycle, etc. of the vibrating stimulation or electric stimulation can be changed by means of the terminal device 400 or the like.

At this time, based on the data of the smart insole sensor unit 210, the smart insole vibration unit 220 can guide the user's walking posture. The walking speed and the walking cycle of the user U can be confirmed based on the data sensed by the smart insole sensor unit 210, and the walking posture can be guided based on this. The walking cycle includes an initial contact, oppsite toe off, heel rise, opposite opposite contact, toe off, feet adjacent, tibial (Tibial vertical) and initial contact (initial contact). It is divided into two phases: the stance phase (approximately 60%), which is the period of walking between the heel of one foot and the toe of the same leg, and the time from when one foot falls to the heel of the same foot And a swinging phase (approximately 40% occupation) as a walking cycle. The smart insole sensor 210 measures the stride of the user U, the area of the plantar surface that the user must touch while walking, Can be detected.

For example, as shown in FIG. 5, in step (a), since the right foref of the user U must touch the ground first, the smart insole vibrating part 220 disposed in the forefoot area applies a tactile stimulus do. In the next step (b), since the right heel of the user U must touch the ground, the smart insole vibrating part 220 disposed in the hind foot area applies a tactile stimulus. After step (c), the user's U's right heel should touch the ground, and the smart insole vibrator 220 disposed in the hind foot area applies a tactile stimulus. Although not shown for the left foot, the smart insole vibrating unit 220 operates on the same principle with respect to the left foot. In order to determine whether walking is performed properly according to the guiding operation of the smart insole vibrating unit 220, it is determined whether the pressure sensor touches the ground surface after the tactile stimulation for the guide is performed.

The smart insole control unit 230 controls the smart insole vibration unit 220 to detect the tactile stimulation based on the data of the smart insole sensor unit 210, . As shown in Fig. 4B, the angles? And? Of the plantar surface are values measured based on the direction parallel to the walking direction of the user U. As shown in Fig. In addition, the angle? Of the plantar surface with respect to the ground can be detected based on the direction perpendicular to the walking direction. That is, the angle of the plantar surface by the angle sensor of the smart insole sensor unit 210 may be an angle of the plantar surface measured on the basis of the direction parallel to the walking direction, or an angle of the plantar surface measured on the basis of the direction perpendicular to the walking direction It may be the angle of the face. The angle of the plantar surface measured with reference to the direction parallel to the walking direction may be a reference for judging that the user U is in danger of falling forward or backward, The angle of the plantar surface may be a criterion for determining that the user U is at risk of falling to the left or right.

6, the smart insole vibrating part 220 includes first and second vibration modules 241 and 242 disposed in the forefoot and hind foot areas, respectively, and the first and second vibration modules 241 and 242 disposed in the right foot part and the left foot part, respectively Third and fourth vibration modules 243 and 244, respectively. When the angle? Of the heel with respect to the ground exceeds a predetermined range, the second vibration module 242 in the region located at the hindquarters is controlled to apply a vibrating stimulus, and the angle? The first vibration module 241 of the area located at the forefoot is applied to apply a vibrating stimulus and the angle? Of the plantar surface with respect to the ground is set to a direction perpendicular to the walking direction of the user, The third vibration module 243 located at the left foot portion or the fourth vibration module 244 located at the right foot portion to apply a vibration stimulus to the user U as well as a risk of falling The direction of the fall can be recognized.

The smart insole control unit 230 determines the risk of falling of the user U based on the information sensed by the smart insole sensor unit 210 and provides smart tactile stimulation to the foot of the user U 220).

For example, the smart insole control unit 230 may control the fall of the user U based on sensed information sensed by the smart insole sensor unit 210 (foot pressure, acceleration of the plantar surface, Controls the smart insole vibrator 220 to provide tactile stimulation to the plantar surface of the user U if it is determined that a risk exists.

Specifically, when the angle of the plantar surface sensed by the smart insole sensor unit 210 is greater than a preset proper angle, the smart insole control unit 230 controls the user U so that, The risk of falls is large, and a fall risk signal is generated. The appropriate angle of the plantar surface with respect to the ground is an angle that the user U can stably walk without risk of falling, and it is an angle of the plantar surface with respect to the ground on the basis of the user's walking direction, Means an appropriate value of an angle? Of the plantar surface with respect to the ground with respect to a direction perpendicular to the surface of the plantar surface. The appropriate angle of the plantar surface may be set differently for each user U, or it may be stored in advance in a database and stored in a Smart Insole storage unit (not shown).

The fall risk signal generated by the smart insole control unit 230 is transmitted to the gait training apparatus 100 and the training control unit 160 of the gait training apparatus 100 refers to the fall risk signal to transmit the fall risk signal to the training movement unit 110 or the harness (120). That is, by utilizing the change in the position of the user U sensed by the first Kinect sensor 134 or the tension change of the wire detected by the tension sensor 132 in addition to the fall risk signal, And the risk of falling of the user U can be prevented in advance.

The smart insole control unit 230 controls the smart insole vibrating unit 220 to notify the user U of the risk of falling and to control the training moving unit 110 and the harness unit 120, the risk of fall of the user U can be physically prevented. Therefore, in the smart insole 200, the user U can be warned of the risk of falling or the inappropriate walking posture, and even if the user U is in danger of falling or in inappropriate walking training, 100) can solve the problem of falling risk or inadequate gait training.

The smart insole communication unit 240 transmits data of the smart insole sensor unit 210 or the result of the fall risk determination of the smart insole control unit 230 to the walking training apparatus 100, the smart mirror apparatus 300, the terminal apparatus 400, The HMD 500 or the like. The smart insole communication unit 240 can receive data or information from the walking training device 100, the smart mirror device 300, the terminal device 400, the HMD 500, and the like. The smart insole communication unit 240 may be implemented as a communication module using various well-known wireless network technologies such as Wi-fi, Bluetooth, Internet, Zigbee, and the like. Data or information transmitted or received through the smart insole communication unit 240 may be stored and processed and constructed as big data for analyzing the walking pattern of the user U. [

The smart insole power supply unit 250 includes a battery 252 that can be charged wirelessly and may include a wireless patch 254 for automatically charging the battery 252. The battery 252 functions to supply power for operating each component of the smart insole 200. [ 7, when the smart insole 200 is placed on the wireless charger 50, the battery 252 can be wirelessly charged by the action between the wireless patch 254 and the wireless charger 50. [ The wireless charging method includes a magnetic induction method using an electromagnetic induction phenomenon between coils, a magnetic resonance method using a self-resonance phenomenon between coils, and an antenna method using a radiation phenomenon. The wireless charging method, Can be used. Of course, the shape, construction, material, etc. of the wireless patch 254 may be different depending on the charging method.

FIG. 8 is a block diagram illustrating a smart mirror device of a motion recognition based dynamic harness rehabilitation training system according to an embodiment of the present invention. Referring to FIG.

1 and 8, the smart mirror device 300 includes a smart mirror unit 310, a mirror sensor unit 320, a mirror communication unit 330, a mirror control unit 340, a mirror storage unit 350, .

For example, the smart mirror device 300 includes a smart mirror unit 310 including a mirror panel 312 showing a gait training and a display panel 314 showing information related to the gait training, A gait training device 100 and a mirror communication part 330 communicating with the terminal device 200. The mirror sensor part 320 includes a second Kinect sensor for recognizing an attitude change according to a gait training of the user, A mirror control unit 340 for controlling the smart mirror unit 310, the mirror sensor unit 320, the mirror communication unit 330 and the like; information transmitted through the mirror communication unit 330; And a mirror storage unit 350 for storing data and the like sensed by the user.

The smart mirror unit 310 may view the user U on the mirror panel 312 and display contents related to the walking training on the display panel 314. [ For example, it is possible to visually provide the user with the content that is built in the mirror storage unit 350 or transmitted from the outside through the terminal device 400, and simultaneously displays the user's walking training image through the mirror of the mirror panel 312, By providing the biofeedback, it is possible to enhance the walking balance ability using the fusion of the visual, vestibular, and somatosensory senses, and can induce the user's interest. The smart mirror unit 310 receives the falling risk information from the smart insole 200 and displays it in an overlapping manner with the user's view or displays the walking information of the user received from the smart insole 200 such as the acceleration of the plantar surface, The walking distance, the walking speed, and the like of the plantar surface with respect to the user's body.

The mirror sensor unit 320 recognizes the posture change caused by the user's gait training and includes a second key knot sensor. The Kinect sensor of the gait training device 100 mainly senses the positional change of the user U in the front upper part of the user U while the Kinect sensor of the mirror sensor part 320 senses the position of the user U in front of the user U, And mainly detects a change in attitude of the user U. The second Kinect sensor extracts depth data from the image data, detects the joint position and movement direction of the user through user recognition and background filtering, detects the depth data, Can be detected.

The change of the attitude of the user U thus extracted is displayed on the display panel 314 of the smart mirror unit 310 under the control of the mirror control unit 340 and overlapped with the walking training figure of the user U, So that the posture of the gait training can be immediately recognized.

The mirror communication unit 330 communicates with the gait training device 100, the smart insole 200, and the like, and is capable of communicating using short-distance wireless communication or long-distance wireless communication as described above.

9 is a block diagram illustrating a terminal device of a motion recognition based dynamic harness rehabilitation training system according to an embodiment of the present invention. 10A is a graph showing the locus of the pressure center COP and a partially enlarged view thereof, FIG. 10B is a graph showing the SDC (Sway Density Curve) and its enlarged view, FIG. 10C is a graph showing the COP And Sway density, respectively.

1 and 9, the terminal device 400 can communicate with the gait training device 100, the smart insole 200, and the like, and can perform communication using short-distance wireless communication or long-distance wireless communication as described above .

Specifically, the terminal device 400 collects information related to the position change, information related to the foot pressure and the footing change, and information related to the posture change, and analyzes the balance of the user and provides the information to the user U .

For example, the terminal device 400 receives information related to the foot pressure from the smart insole 200 and can evaluate the postural balance ability of the user on the basis of the calculated pressure center. In addition, the terminal device 400 can receive the information related to the positional change from the walking / training device 100 or receive information related to the posture change from the smart mirror device 300 to evaluate the postural balance ability of the user. Such evaluation information may be transmitted to the user U by being transmitted to the smart mirror apparatus 300, the training display unit 170 of the gait training apparatus 100, the HMD 500, or the like.

10A, the terminal device 400 can estimate the maximum foot pressure from the foot pressure obtained from the smart insole 200 as the pressure center, and trace the locus of the pressure center . Through this locus of the pressure center, the SDC (Sway Density Curve) according to the elapsed time of the gait training can be calculated as shown in Fig. 10B. In this case, the SDC is defined as the time at which the COP (pressure center) stays in the circle. As shown in FIG. 10C, the peak point of the SDC means the stable position during the gait training, and the valley point of the SDC means a relatively unstable portion. Based on this SDC, the user's ability to balance during walking can be evaluated. That is, the pressure center can be calculated from the foot pressure, and the SDC can be derived from the locus of the pressure center to be used as an index for evaluating the postural balance ability of the user. The mean stabilization time, the mean spatial distance, and the mean transition time obtained by averaging the distance and time between the peaks and valleys of the SDC are calculated, The ability to balance during training can be assessed.

Such a terminal device 400 may be a general mobile communication terminal, a terminal capable of 2G / 3G / 4G / 5G, a WiBro wireless network service, a Palm Personal Computer, a Personal Digital Assistant (PDA) A smart phone, a wireless application protocol phone (WAP phone), and the like, and it is also possible to use a wireless LAN connection such as an IEEE 802.11 wireless LAN network card, And the like. In addition to the mobile communication terminal, the terminal device 400 may be an information communication device such as a computer, a notebook computer, or the like.

Specifically, the terminal device 400 includes a terminal communication unit 410 for communicating with the terminal input unit 410, the walking and training device 100, the smart insole 200, the smart mirror device 300, the HMD 500, A terminal storage unit 440 for storing various information and / or data, a user terminal output unit 450 for displaying and providing information, and a terminal control unit 430 for controlling them.

Referring again to FIG. 1, the user U may wear the HMD 500 on the head of the user. The HMD 500 is preferably a see through HMD for the user U to view the smart mirror device 300 and the training display 170.

The HMD 500 communicates with the gait training device 100, the smart insole 200, the smart mirror device 300, the terminal device 400 and the like and can communicate using short range wireless communication or long distance wireless communication. As shown above.

In particular, the HMD 500 can receive and display contents related to walking rehabilitation training or cognitive training from the terminal device 400. [ By displaying contents related to walking rehabilitation training or cognitive training in the HMD 500, it is possible to provide contents for prevention of dementia and training for stroke prevention. In addition, the HMD 500 may transmit and display a footprint image indicating a footprint from the smart 200. By displaying the footprint image in the HMD 500, it is possible to provide contents for balance training and the like. It is needless to say that the image displayed in the HMD 500 can be a virtual reality (VR) image as well as an augmented reality (AR) image.

11 is a conceptual diagram illustrating a motion recognition based dynamic harness rehabilitation training system according to another embodiment of the present invention. 12 is a block diagram for explaining a gait training apparatus and a portable device of the motion recognition based dynamic harness rehabilitation training system according to another embodiment of the present invention.

Referring to FIGS. 11 and 12, a motion recognition based dynamic harness rehabilitation training system 20 according to another embodiment of the present invention includes a training device 600 for training a treadmill, a smart insole 700, a smart mirror device 800 ). In addition, the motion recognition based dynamic harness rehabilitation training system 20 according to another embodiment of the present invention may further include a portable device 900, an HMD 1000, and the like. The smart insole 700 is a device provided on the foot of the user and the smart mirror device 800 is a device for training the user U. The training device 100 for treadmill support is a device for running training of the user U, It is a device that can. The portable device 900 is a device that is attached to the treadmill training device 600 and allows the user U to view video information or the like displayed on the portable device 900. The HMD 1000 can be worn on the head of the user U Display device.

For example, a motion recognition based dynamic harness rehabilitation training system 20 according to another embodiment of the present invention supports a user U training in a treadmill 602, A treadmill support training device 600 for sensing tactile stimulation of the user U, a treadmill support training device 600 for sensing tactile feedback of the user U on the left and right foot sides of the user U, And a smart mirror device 800 that senses a change in attitude of the user U and overlaps and displays information related to driving training of the user U and driving training of the user have. In addition, the motion recognition based dynamic harness rehabilitation training system 20 according to another embodiment of the present invention collects load and position change information, foot low pressure and foot change information, and posture change information, A portable device 900 for analyzing the balance and providing the analyzed balance to the user U, and an HMD 1000 as a display device that can be worn on the user U's head.

The smart insole 700, the smart mirror device 800 and the HMD 1000 may be installed in the smart insole 200 of the motion recognition based dynamic harness rehabilitation training system 10 according to an embodiment of the present invention, The apparatus 300 and the HMD 500 will be described below. In the following, only the treadmill training apparatus 600 and the portable device 900 will be described.

11 and 12, the training apparatus 600 for supporting the treadmill supports the guide rail 605 so that the user trained in the treadmill 602 can move to the next stage after finishing the training in the treadmill 602. [ A harness part 630 which is connected to the training moving part 610 by a wire 632 and supports the user U, a training moving part 610 which moves the training moving part 610 along the training moving part 610, A load sensor 642 installed in the harness 630 for detecting a load and a position change sensor 644 installed in the training moving unit 610 for detecting a change in position, A portable device mounting portion 650 including a connecting member 652 connected to the training moving portion 610 and a mounting member 654 connected to the connecting member 652 to which the portable device 900 is mounted, A smart insole 700, a portable device 900, and the like, User includes the Foot Pressure and changes in the plantar (U), the training controller 670, etc. for controlling the harness 630 on the basis of the load and position changes.

Compared with the gait training apparatus 100 described above, the training apparatus 600 for training the treadmill supports the user U in the treadmill 602, and after the user completes the driving training in the treadmill 602, It is necessary to fix the training moving part 610 to move while being supported by the harness part 630. [ That is, when the user U is carried by the treadmill 610 while being supported by the harness 630 connected to the training moving unit 610, the training moving unit 610 is fixed, The user U can be moved to the next training step by the training moving part 610 while being supported by the harness part 630 after finishing the driving training in the treadmill 602. [ In the following, the training communication unit 660 and the training control unit 670 are omitted.

The harness portion 630 may include a jacket harness 634 that can be worn on the user's upper body and a wire 632 that connects the jacket harness 634 with the training moving portion 610. [

The training sensor unit 640 includes a load sensing sensor 642 for sensing a load according to the weight of the user U and a position change sensing sensor 644 for sensing a change in the position of the user U. It is preferable that the load sensing sensor 642 is installed on the wire 632 and the position change sensing sensor 644 is connected to the training moving part 610 so as to be located in the upper part of the front of the user U. As the training moving unit 610 moves, the load sensing sensor 642 installed on the wire 632 and the position change sensing sensor 644 connected to the training moving unit 610 move together.

Here, when a sudden change in the load is detected by the load sensing sensor 642, it can be used as a basic data for determining whether the user U falls. For example, when the size of the user's load change exceeds a preset reference value as the user U moves abruptly and collapses while the user U is being supported by the harness unit 630, 1670 can control the harness unit 63 so that the user U does not collapse where the user's foot pressure and footprint change can be used together with the load change of the user U to more accurately determine whether or not the fall have.

The portable device mounting portion 650 is a mounting portion of the portable device 900 and includes a connecting member 652 connected to the upper frame and a connecting member 652 connected to the connecting member 652 and positioned in front of the user U, And a mounting member 654 to which the apparatus 900 is mounted. The portable output unit 950 of the portable device 900 serves as the training display unit 170 described above. Accordingly, each user U who performs the driving training in the treadmill 610 can perform the driving training while watching the customized program suitable for him / her using the portable device 900 carried by himself / herself.

11 and 12, the portable device 900 includes a portable input unit 910 for inputting and selecting information, a training device 600 for supporting the treadmill, a smart insole 700, a smart mirror device 800, A portable storage unit 940 for storing various information and / or data, a user portable output unit 950 for displaying and providing information, a portable control unit 930 for controlling the portable communication unit 920, And the like.

It is a matter of course that such a portable device 900 is generally a mobile communication terminal so as to be installed in the training device 600 for supporting the treadmill, but is not limited thereto. The portable device 900 may comprehensively mean all the wired / wireless home appliances / communication devices having a user interface for connecting to the network, in accordance with the size and shape of the portable device mounting portion 650.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, You will understand. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive.

10: Motion recognition based dynamic harness rehabilitation training system
100: Walking training device
200: Smart insole
300: Smart mirror device
400: terminal device
500: HMD (Head Mount Display)

Claims (10)

A gait training device provided with a guide rail for moving while supporting the user, detecting a change in the position of the user, and providing a walking position suitable for the user;
A smart insole provided on each of the left and right footprints of the user for sensing a change in footprint and footprint of the user and providing tactile stimulation to the user;
A smart mirror device for detecting a change in the posture of the user and displaying the information related to the walking training of the user and information related to the walking training of the user; And
And a terminal device for collecting information related to the positional change, information related to the footprint and footstep change, and information related to the posture change, and analyzing the balance of the user and providing the analyzed information to the user. Harness rehabilitation training system. The method according to claim 1,
The gait training apparatus includes:
A training moving part moving along the guide rail;
A harness part which is worn on the upper body of the user and is connected to the training moving part by a wire to support the user;
A training sensor unit including a tension sensor for sensing a change in tension of the wire and a first Kinect sensor for sensing a change in position of the user;
A training projection unit for projecting a virtual smart insole mark corresponding to a suitable walking position of the user in front of the user according to the position change;
A training communicator for communicating with the smart insole and the terminal device; And
And controlling the training moving unit such that the user maintains a predetermined distance from the first kinect sensor based on the user's foot pressure and footing change and the position change, And a training control section for controlling the harness section to prevent a fall of the user based on the change. 3. The method of claim 2,
The gait training apparatus includes:
And a training display unit positioned in front of the user's gaze,
The terminal apparatus comprises:
And displays information related to the analyzed balance of the user on the training display unit through the training communication unit. The method according to claim 1,
In the smart insole,
A smart insole sensor unit including a pressure sensor for detecting the foot pressure, an acceleration sensor for detecting an acceleration in accordance with the movement of the plantar surface, and an angle sensor for detecting an angle of the plantar surface with respect to the ground surface.
A smart insole vibrating portion disposed in at least one region of the forefoot and hindquarters to provide tactile stimulation to the user's foot; And
And a smart insole control unit for controlling the smart insole oscillator to determine a risk of falling of the user based on information sensed by the smart insole sensor unit and to provide tactile stimulation to the foot of the user, Rehabilitation training system. 5. The method of claim 4,
In the smart insole,
A smart insole communication unit for communicating with the gait training device and the terminal device; And
A dynamic awareness-based dynamic harness rehabilitation training system, further comprising a smart power supply unit with a battery capable of wireless charging. The method according to claim 1,
The smart mirror device includes:
A smart mirror unit including a mirror panel showing the gait training and a display panel showing information related to the gait training;
A mirror sensor unit including a second Kinect sensor for recognizing a posture change according to the user's gait training; And
And a mirror communication unit communicating with the gait training device and the terminal device. The method according to claim 1,
The terminal apparatus comprises:
Wherein the motion recognition based dynamic harness rehabilitation training system evaluates the postural balance ability of the user based on the pressure center calculated using the foot pressure. The method according to claim 1,
Further comprising an HMD which is worn on the head of the user and is capable of communicating with the terminal device,
The terminal apparatus comprises:
A motion recognition based dynamic harness rehabilitation training system for displaying contents related to walking rehabilitation training or cognitive training to the HMD. A training device for supporting a user training in a treadmill and for sensing a change in load and position of the user;
A smart insole provided on each of the left and right footprints of the user for sensing a change in footprint and footprint of the user and providing tactile stimulation to the user;
A smart mirror device for detecting a change in the attitude of the user and displaying the driving training image of the user and information related to the driving training of the user in an overlapping manner; And
And a portable device that collects the load and position change information, the foot pressure and foot change information, and the posture change information, and analyzes the balance of the user and provides the analyzed result to the user. system. 10. The method of claim 9,
The training apparatus for supporting the treadmill,
A training moving part for moving along the guide rail, a harness part for worn on the upper body of the user and connected to the training moving part by a wire to support the user;
A load sensor installed in the harness unit for sensing the load and a position change sensor installed in the training moving unit and sensing the position change;
A portable device mounting portion including a connecting member connected to the training moving portion, and a mounting member connected to the connecting member and to which the portable device is mounted;
A training communicator for communicating with the smart insole and the portable device; And
And a training control unit for controlling the harness unit based on the change of the user's foot pressure and footsteps and the change of the load and the position of the harness.

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