AU2019101779A4

AU2019101779A4 - A method of detecting a fall for use at a mobility-assistive device, and a mobility-assistive device implementing said method

Info

Publication number: AU2019101779A4
Application number: AU2019101779A
Authority: AU
Inventors: Hoi San HON; Hung Kit LAM; Wai Sing Richard LEUNG
Original assignee: Individual
Current assignee: Individual
Priority date: 2018-12-19
Filing date: 2019-11-26
Publication date: 2021-02-11
Anticipated expiration: 2027-11-26
Also published as: TWM598071U; CN112423618A; CN213785777U; JP2021532840A; EP3897274A1; WO2020125348A1; AU2019407974A1; EP3897274A4

Abstract

A method of detecting fall for use at a mobility-assistive device, the mobility-assistive device is held by a user when in use, the method comprising the steps of: detecting one or more motion conditions in relation to a fall event of the mobility-assistive device; determining one or more respective time intervals between two or more of the detected motion conditions; and comparing the one or more determined time intervals with one or more predefined time thresholds to thereby identify one or more fall conditions in association with a fall event of the user using the mobility-assistive device.

Description

A Method Of Detecting a Fall For Use At A Mobility-Assistive Device, and A Mobility-Assistive Device Im plementing Said Method Technical Field

[0001] The invention relates to a device for assisting movement of a user, and particularly, but not exclusively, to a walking-assistive device such as but not limited to a walking stick or a walking cane. Background Art

[0002] Various assistive devices have been developed for assisting users with mobility dif ficulties or disabilities due to disease, injury and/or aging. Common mobility aids may include, for example, walking canes or sticks, tripods or quadripods, wheeled-walkers, or the like, which are designed to give some degree of support to users who experience weakness or pain when walking, or those who suffer from other physical conditions which affect their mobility. Technology advancement further allows the traditional walking aids to be incorporated with additional functionalities so as to better or further assist the needs of the elderly or disabled users with an aim to enhance safety, re liability and to improve the user's experience. Summary of Invention Technical Problem

[0003] An object of the present invention is to provide a novel mobility-assistive device for assisting and supporting movement of the user.

[0004] Another object of the present invention is to provide a mobility-assistive device for detecting a fall event of the user at an improved accuracy.

[0005] A further object of the present invention is to mitigate or obviate to some degree one or more problems associated with known walking aids, or at least to provide a useful alternative.

[0006] The above objects are met by the combination of features of the main claims; the sub-claims disclose further advantageous embodiments of the invention.

[0007] One skilled in the art will derive from the following description other objects of the invention. Therefore, the foregoing statements of object are not exhaustive and serve merely to illustrate some of the many objects of the present invention. Solution to Problem Technical Solution

[0008] In a first main aspect, the invention provides a method of detecting a fall for use at a mobility-assistive device. The mobility-assistive device is held by a user when in use. The method comprises the steps of detecting one or more motion conditions in relation to a fall event of the mobility-assistive device; determining one or more respective time intervals between two or more of the detected motion conditions; and comparing the one or more determined time intervals with one or more predefined time thresholds to thereby identify one or more fall conditions in association with a fall event of the user using the mobility-assistive device.

[0009] In a second main aspect, the invention provides a mobility-assistive device im plementing the method in accordance with the first main aspect. The mobility-assistive device comprises a sensing module for detecting a fall event of the mobility-assistive device, the sensing module comprising at least one sensor for detecting one or more motion conditions in relation to the fall event of the device; a processing module connected with the sensing module; the processing module being configured to determine one or more respective time intervals between two or more of the motion conditions detected by the at least one sensor of the sensing module, and to compare the one or more determined time intervals with one or more predefined time thresholds to identify one or more fall conditions in association with a fall event of a user using the mobility-assistive device.

[0010] In a third main aspect, the invention provides a computer readable medium storing machine-readable instructions which, when implemented on a processor, implements the steps of the method in accordance with the first main aspect.

[0011] In a fourth main aspect, the invention provides a system comprising a memory for storing data and a processor for executing computer readable instructions, wherein the processor is configured by the computer readable instructions, when being executed, to implement the method in accordance with the first main aspect.

[0012] The summary of the invention does not necessarily disclose all the features essential for defining the invention; the invention may reside in a sub-combination of the disclosed features. Advantageous Effects of Invention Brief Description of Drawings Description of Drawings

[0013] The foregoing and further features of the present invention will be apparent from the following description of preferred embodiments which are provided by way of example only in connection with the accompanying figures, of which:

[0014] Fig. 1 is a schematic diagram showing an embodiment of the mobility-assistive device in accordance with the present invention;

[0015] Fig. 2 is a block schematic diagram for the mobility-assistive device of Fig. 1;

[0016] Fig. 3 is a graphical representation showing the motion conditions in relation to a fall event of the mobility-assistive device of Fig. 1;

[0017] Fig. 4 shows the fall conditions associated with a fall event of the user using the mobility-assistive device of Fig. 1, and the corresponding fall alert signals generated in response to the identified fall conditions;

[0018] Fig. 5 shows the handle portion of the mobility-assistive device of Fig. 1;

[0019] Fig. 6 shows the light projection from the mobility-assistive device of Fig. 1; and

[0020] Fig. 7 shows the mobility-assistive device of Fig. 1 placed for charging at a charging station. Best Mode for Carrying out the Invention Best Mode

[0021] The following description is of preferred embodiments by way of example only and without limitation to the combination of features necessary for carrying the invention into effect.

[0022] Reference in this specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the em bodiment is included in at least one embodiment of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not nec essarily all referring to the same embodiment, nor are separate or alternative em bodiments mutually exclusive of other embodiments. Moreover, various features are described which may be exhibited by some embodiments and not by others. Similarly, various requirements are described which may be requirements for some embodiments but not other embodiments.

[0023] It should be understood that the elements shown in the figure, may be implemented in various forms of hardware, software or combinations thereof. Preferably, these elements are implemented in a combination of hardware and software on one or more appropriately programmed general-purpose devices, which may include a processor, memory and input/output interfaces, for example.

[0024] Referring to Fig. 1, shown is a mobility-assistive device 10 provided in the form of a walking cane or a walking stick in accordance with an embodiment of the present invention. Fig. 2 further shows various parts and modules of the device 10 in the form of a block schematic diagram.

[0025] As shown in Fig. 1, the walking stick 10 may generally comprise a handle portion 12 to be gripped and held by the user during use. The walking stick 10 may further comprise an elongated body portion 14 for supporting movement of the user. In one embodiment, the body portion 14 may comprise one or more base portions 16 for engaging a walking surface during use. Optionally, the elongated body portion 14 connecting the handle portion 12 and the base portion 16 may further comprise an ex tendable portion (not shown), such as in the form of a telescopically receivable stem portion, which allows the body portion 14 to be extendable or retractable upon actuation by the user. In one preferred embodiment, the handle portion 12 is arranged to connect with the body portion 14 via an inclined neck portion 18, as shown in Fig. 1. More preferably, the inclined neck portion 18 is arranged to define an acute angle a of about 30 deg to about 60 deg with respect to the longitudinal axis A-A of the body portion 14, as is more clearly shown in Fig. 6, for example.

[0026] In one embodiment, the mobility-assistive device 10 may comprise a fall detecting module 20 for detecting a fall of the user based on a fall event of the mobile-assistive device 10 when being used by the user. The fall detecting module 20 may comprise a sensing module 30 for detecting a falling motion or equivalent motion of the mobility assistive device 10, and more specifically, one or more motions or motion conditions of the mobility-assistive device 10 in relation to or generated by the fall event of the mobility-assistive device 10. Preferably, the motion conditions can be a series of se quential motions comprising the fall event. However, it is also possible that the detected motion conditions comprise a number of independent, discrete motions related to a fall event of the mobility-assistive device 10.

[0027] Preferably, the motions or motion conditions can be detected by one or more sensors 32 of the sensing module 30. The sensors 32 may comprise, for example, one or more of an accelerometer, a gyroscope, a magnetometer, a velocity sensor, an altimeter, an angular velocity and/or rotation sensor; a pressure sensor and a force sensor, etc. In one preferred embodiment, one or more of the sensors 32 may operate to detect or measure one or more kinematic parameters of the device 10 in relation to a fall event of the device 10, and with the measured parameters being subsequently associated with one or more motion conditions in relation to the fall event of the device 10. In one em bodiment, the one or more motion conditions may comprise, for example, (1) a release of touch from the device 10 by the user, or more specifically, the release of grip from the handle portion 12 of the device 10; (2) a falling action of the device 10 itself; (3) a bouncing action of the device 10 relative to a surface or at a surface of impact after the falling action; (4) a lack of motion or a resting state of the device 10 such as a stop or a cease in motion of the device 10; and/or (5) an interference to the resting state of the device 10, which may include, manual interference such as a tilting or picking up of the device 10, for example. The detection of resting state of device 10 may further comprise detection of a substantially horizontal orientation of the device 10, or op tionally, positioning of the device 10 within a predetermined angle of inclination, for example, when the angle of inclination is smaller than or equal to a predefined in clination threshold such as, for example, by about 10 degrees relative to a surface such as a walking surface, for example.

[0028] In another embodiment, the motion conditions may include other motions of the device 10 in relation to a falling event such as, but not limited to, an impact of the device on the surface, shaking or wobbling of the device 10 during an unstable movement of the user, etc. A person skilled in the art would therefore appreciate that other possible variations on the motion conditions which are considered relevant to a fall event of the device, shall also be encompassed, and that the present invention shall not be restricted by the embodiments herein described or illustrated in the drawings.

[0029] The fall detecting module 20 may further comprise a processing module 40 connected to communicate with the sensing module 30. The processing module 40, when functioning cooperation with the sensing module 20, determines or measures one or more respective time intervals between two or more of the detected motion conditions from the sensing module 30. In one embodiment, the one or more time intervals may comprise, for example, a first time interval T Ibetween (1) the detection of the release of touch of the device 10 by the user and (2) the detection of the falling action of the device 10; a second time interval T2 between (2) the detection of the falling action of the device 10 and (3) the detection of the bouncing action of the device 10 relative to the surface; a third time interval T3 between (3) the detection of bouncing of the device 10 and (4) the detection of a resting state of the device 10; a fourth time interval T4 between (4) the detection of the resting state of the device 10 and (5) the detection of an interference to the resting state the device 10; and/or a fifth time interval T5 between (2) the detection of the falling action of the device 10 and (5) the detection of the interference of the resting state of the device 10, for example.

[0030] To further explain the motion conditions and the corresponding time intervals, Fig. 3 provides a graphical representation of the net acceleration lal (m/s2) of the walk assistive device 10 with respect to time during an exemplary fall event of the device 10. The net acceleration is calculated as the square root of the sum of the squares of the acceleration of the three coordinate components (ax, ay, az).

[0031]

[0032] Fig. 3 first shows a regular change of the net acceleration of the device 10 with time, i.e. from the time of 0 sec (0:00) to about 6 sec (0:06), as detected by the motion sensor 32a of the sensing module 30, which may correlate to a walking action of the user with the device 10. At about the time of 0:06, the sharp increase in the net acceleration detected at the time Tf (time of fall) may relate to a falling action of the device 10, i.e. corresponding to the motion condition (2). It will be understood that the release of touch or grip of the device 10 by the user, i.e. the motion condition (1), which is de tectable by the pressure sensor 32b of the sensing module 30, is likely to occur prior to the falling action of the device 10, although the detected change of pressure is not apparent from the graph of net accelerations of Fig. 3. The time interval determined between (1) the release of touch of the device 10 by the user and (2) the time of fall Tf is equivalent to the first time interval T1.

[0033] From about the time of 0:09, another change of net acceleration pattern is detected which may correlate to a series of bounces of the device 10 relative to a surface after the fall of the device 10, i.e. corresponding to the motion condition (3). The time interval from (2) the time of fall Tf to (3) the detection of the bouncing action is equivalent to the second time interval T2. The bouncing motion is shortly followed by a detection of a resting state of the device 10, at which a very low net acceleration or a net acceleration at an undetectable or barely detectable range is measurable, i.e. corre sponding to the motion condition (4). The time interval determined between (3) the detection of the bouncing motion and (4) the detection of the resting state of the device 10 is equivalent to the third time interval T3. In one embodiment, the detection of the resting state may also be conducted or supported by the detection of a substantially horizontal orientation of the device 10 with respect to the longitudinal axis of the device 10, or more particularly, the detection of whether or not the elongated body 14 of the device 10 forms a small angle of inclination within a predefined angle of in clination threshold relative to the walking surface. In one specific embodiment, the angle of inclination threshold can be less than or equal to around 10 degrees relative to the surface. In other words, when the device 10 is detected with its longitudinal axis being at an angle of less than 10 deg with respect to the surface on which is it now resting, the device 10 is considered to be at a substantially horizontal orientation relative to the surface and considered to be in a resting state, i.e. the motion condition (4).

[0034] The resting state may continue for a period whilst the device 10 is unattended, i.e. allowed to stay motionless or substantially motionless on the surface until an in terference to the resting state is imposed, i.e. motion condition (5). This may include the situation when the fallen walk-assistive device 10 is moved or picked up by a person, for example. The time interval between (4) the detection of the resting state and (5) the detection of the interference is equivalent to the fourth time interval T4. In one further embodiment, the time interval between the time of fall Tf and (5) the detection of the interference to the resting state of the device is equivalent to the fifth time interval T5.

[0035] After determining the relevant time intervals, the processing module 40 will further compare the time intervals with one or more respective predefined time thresholds to identify one or more predefined fall conditions in association with a fall event of the user when using the mobility-assistive device. This allows detection or at least, an inference of a fall event of the user of the device 10 which is inferred based on the identified fall conditions at an improved accuracy, with the fall conditions being de termined via analyzing and comparing the series of detected motion conditions of the walk-assistive device 10 in relation to time. The systematic detection of the fall of the user based on the determined fall conditions is found to have a considerably increased accuracy of detection of a fall event of the device 10 and thus an inferred fall event of the user of the device 10 when compared with known devices, and thus avoids, minimizes or at least reduces chances of false fall alerts.

[0036] For example, a first fall condition can be identified when the first time interval TI falls within a range of about 8 to about 12 seconds, and preferably, at around 10 seconds, i.e. the release of grip by the user from the handle of the device 10 occurs at a time equal to or smaller than around 10 seconds before the time of fall Tf, of the device 10, for example. A second fall condition is identified when the second time interval T2 falls within the range of about 0.1 to about 3 seconds, and preferably, at around 2 seconds after the time of fall Tf,, i.e. the bouncing motion of the device 10 happens at a time equal to or less than around 2 seconds after Tf, for example. A third fall condition is identified when the third time interval T3 falls within the range of about 0.1 to about 3 second, and preferably, at around 2 seconds after the bouncing of the device 10, i.e. when a rest state of the device 10 happens at a time equal to or less than around 2 seconds after the bouncing of the device 10, for example. A fourth fall condition is identified when the fourth time interval T4 is of at least about 5 to about 15 seconds, and preferably, at about 10 seconds, i.e. a manual interference happens at the time of about 10 seconds after the device 10 has become substantially motionless, for example. And a fifth fall condition is identified when the fifth time interval T5 of at least about 14 to about 16 seconds; and preferably, at about 15s, i.e. a manual interference occurs at the time of about 15 seconds after Tf, for example.

[0037] The fall detecting module 20 may further comprise a signalling module 50 connected to communicate with the processing module 40. The signalling module 50 is arranged to produce a fall alert signal in response to the one or more fall conditions identified by the processing module 40, as described above. In one embodiment, a first alert signal can be produced when at least four fall conditions from the first, second, third, fourth and fifth fall conditions are identified by the comparing step, for example. In one em bodiment, the first alert signal may correspond to a warning which infers a fall of the user at a relatively higher risk or likelihood of occurrence, with immediate attention or assistance required.

[0038] In one further embodiment, a second fall alert can also be produced by the signalling module 50 when at least two of the first, second, third, fourth and fifth fall conditions are identified. Preferably, the at least two of the five fall conditions may include at least the first fall condition. In one embodiment, the second alert signal may correspond to a fall warning which suggests a fall of the user at a relatively lower risk or likelihood of occurrence when compared to those suggested by the first alert signal. In one embodiment, the higher risk, first alert signal can be produced after the lower risk, second alert signal is triggered and maintained for a predetermined period of time, i.e. with no human interference such as to manually switch off and/or to cancel the alert, which might suggest a true falling event of the user and/or an injury of the user, with immediate attention or assistance required.

[0039] In yet another embodiment, the first and the second alert signal may also be triggered when any combination of one or more predetermined fall conditions are fulfilled and identified, as the triggering combinations of the fall conditions can be programmed or customised by the user and/or the manufacturer in accordance with the specific needs of the user and/or the product specification, such as, depending on the level of sen sitivity or security required for outputting the respective fall alerts, for example.

[0040] Fig. 4 further shows a summary on a number of exemplary triggering combinations of the first and/or second alert signals based on the identification of one or more fall conditions as described above. As already mentioned, the fall alert signals can be de termined, programmed and/or customised in accordance with specific needs of the user, and therefore, can be altered prior to use or at the stage of manufacturing based on the specific requirement of the device 10 and/or the user's preferences. A skilled person should therefore understand that the present invention is not limited to any specific combinations of the fall conditions in order to trigger any one or more of the fall alerts. Fig. 4 merely serves as an example to illustrate how a specific embodiment may work, and should in no way be considered restrictive to the scope of the present invention.

[0041] The generated first and/or the second fall alert signals can be outputted, via the signalling module 50, in the form of one or more of electric signal and/or electro magnetic signal. For example, an electric fall alert signal can be transmitted to one or more signalling devices 52, which may comprise, for example, a light-emitting unit 53, e.g. one or more LED lights; a sound-emitting unit 54, e.g. one or more buzzer, beeper and/or alarm; a vibration unit 55 or the like, for outputting and/or emitting one or more fall alerts based on the corresponding first and/or second alert signals. The generated alerts can be visible, audible and/or recognized by any person, including the user, near the device 10 to indicate a fall of the user. In one embodiment, the alert generated by the sound-emitting unit 54 based on the first alert signal, which suggests a possible higher risk of fall of the user, can be provided in the form of a relatively louder, longer and/or continuous beeping to signal that immediate attention is required; while the alert generated based on the second alert signal, which suggests a possible lower risk of fall of the user can be provided in the form of a relatively softer, shorter, and/or in termittent beeping, for example. Additionally or alternatively, a visible alert generated by the light-emitting unit 53 can also be provided in different colors or intensities to signify the first and/or the second alert signals and thus the levels of risk detected.

[0042] The device 10 may further comprise one or more actuating means 60 electrically connected with the signalling module 50 and/or other modules or components of the device 10, with the actuating means 60 being actuatable by any person including the user to operate and to control the device 10. The actuating means 60 may comprise, for example, a switch or a button in any known form which is manually actuatable to intervene in the operation of the device 10, such as to pause or to cancel the generated fall alerts or alert signals. For example, the actuating means 60 can be operated to stop one or more of the light alert, sound alert and/or vibration alert generated in ac cordance with the second fall alert signal produced by signalling module 50 to thereby prevent subsequent generation of the first fall alert signal, which may otherwise be generated if there is no manual intervention, i.e. to stop the second fall alert signal after the second fall alert signal has been triggered and maintained for a predetermine period of time. In another embodiment, the actuating means 60 can also be actuated to stop, to pause and to alter operation of any parts or functionalities of the device 10.

[0043] The device 10 may further comprise a communicating module 75 for communicating the fall alert signals to one or more computer devices 100 in any known form including desk top computer, laptop computer, tablet computer, smart phones, or any portable electronic smart devices or to an emergency service system. The communication module 75 may also transmit the fall alert signals to a network 110, either private or public such as the internet, and to exchange information or data. In one embodiment, the electromagnetic alert signals can be transmitted wirelessly between the device 10 and the computer device 100 and/or the network 110. For example, in a situation in which the lower risk, second alert signal has been maintained for a predetermined period of time, e.g. after 20 seconds, and the sensing module 30 has failed to detect any intervention/interference such as the device 10 being moved and/or picked up, and/or no manual switch off or cancelling of the alerts or alarms via the actuating means 60, a higher risk, first alert signal may be generated. Simultaneously or subsequently, a warning which can be provided in the form of a text message, which may optionally be attached with location details of the device 10, may be sent wirelessly via the commu nicating module 75 to one or more emergency contacts preset at the device 10. In one other embodiment, the warning message and/or location details can also be sent to the user's mobile device 100, which may then be further directed to the user's emergency contacts and/or the emergency system, for example.

[0044] Referring to Fig. 5, shown is a further embodiment of the mobility-assistive device 10 which comprises an illuminating means 70 arranged at a forward-facing side wall of the inclined neck portion 18 of the device 10. The illuminating means 70 is configured to project a light beam in a forward direction when the device 10 is held and used by the user. In one specific embodiment, the illuminating means 70 projects a light beam at a beam angle of about 60 deg to about 120 deg. In one further embodiment, the beam angle, direction, intensity and/or color (e.g. a warm color tone or a cold color tone) of the projected light beam is controllable, adjustable or selectable by the user via an adjusting means (not shown) provided at the device 10. For example, the illu minating means 70 may project the light beam such that it spreads radially forwardly at an intensity of about 100 lux decreasing to about 0 lux at a distance of about 1.5 meter from the device 10. More preferably, the illuminating means 70 projects the light beam such that it spreads radially forwardly at an intensity of about 100 lux decreasing to about 80 lux at a distance of about 0.5 meter from the device, as shown in Fig. 6. The illuminating means 70 is advantageous in providing illumination to the user when using the device 10 in an environment with relatively low visibility due to insufficient lighting, which can be detected by a light sensor 72 provided at the device 10. Specifically, the illuminating means 70 is configured to provide sufficient and user friendly lighting by providing a light beam at a moderate beam angle and light intensity, etc. which is sufficient to enhance visibility and thus safety of the user without interfering, affecting or disturbing other people near the user.

[0045] The device 10 may optionally comprise a heating element 80 which may preferably be provided at the handle portion 12 of the device 10 for keeping the user's hand warm while holding the handle portion 12. Heating of the heating element 80 can be provided by any known electrical heating means, with its operation controllable by a temperature sensor 82, such that, when an ambient temperature is lower than a prede termined threshold temperature, e.g. equal to or lower than say 15 degree Celsius, the temperature sensor 82 triggers heating by the heating element 80.

[0046] Optionally, the device 10 may also be configured to communicate with the user's mobile device 100 via the communication module 75 to receive incoming call alerts from the mobile device 100. In this connection, the vibration unit 55 of the signalling module 50 of the device 10 may generate a vibration at the device 10 to thereby alert the user about the incoming call.

[0047] The device 10 may further comprise a charging unit 90 for electrically charging the device. In one embodiment, the charging unit 90 may comprise one or more wired electrical connectors and/or wireless inductive connection. In one embodiment the inductive wireless charging unit is capable of magnetically connecting with a corre sponding charging terminal 122 at a charging station 120 to facilitate easy attachment and detachment of the device 10 at the charging station 120, as shown in Fig. 7. In one further embodiment, the inductive wireless connection may further allow commu nication of information for data exchange and synchronization between the mobility assistive device 10 and a computer device 100 when both are connected or commu nicating with the charging station 120.

[0048] Optionally, the device 10 may further comprise a healthcare module 95 having one or more sensors for detecting, monitoring and/or recording, such as, but not limited to, blood oxygen level, blood pressure, heart rate, as well as average walking speed and distance travelled, energy expenditure, fitness tracking or the like, with the recorded data being able to be communicated with the mobile device 100 and/or the network 110 via the communication module 75.

[0049] As earlier described, operation of one or more of the illuminating means 70, heating element 80, charging unit 90 and/or other modules or components of the mobility assistive device 10 can be manually actuatable and controllable by the actuating means 60 provided at the device 10. In one embodiment, the actuating means 60 may comprise a plurality of switches or buttons for controlling one or more corresponding functions of the device 10. In one further embodiment, the actuating means 60 may comprise a touch panel for actuating and controlling the various functions of the device 10.

[0050] The present invention also relates a computer readable medium storing machine readable instructions which, when implemented on a processor 42 at the processing module 40, implements the steps of the method as described above.

[0051] The present invention further relates to a system comprising a memory 44 for storing data and a processor 42 for executing a computer readable medium, wherein the processor 42 is configured by computer readable instructions when being executed to implement the method as described above.

[0052] The present invention is advantageous in that it provides a mobility-assistive device and a method for use in said device for improving or enhancing accuracy of fall detection of a user of the device. Particularly, the method provides an efficient and systematic analysis and detection of a fall event of the user based on detection of one or more motion conditions during a fall of the mobility-assistive device. The motion conditions are then associated with one or more corresponding time intervals in relation to the fall event of the device for evaluation with reference to one or more predefined time thresholds to thereby identify one or more fall conditions which provide an inference of a possible fall event of the user. In one embodiment, the motion conditions may include, but are not limited to, the release of grip of the user's hand from the handle of the device, a falling motion of the device, a bouncing motion of the device after the fall, a resting state of the device on a surface, and/or an in terference to the resting state of the device, for example. In another embodiment, the fall conditions may include other motion conditions of the device in relation to the fall such as, for example, an impact of the device on the surface, shaking or swinging of the device during an unstable movement of user, etc. A person skilled in the art would appreciate the possible variations on the motion conditions, and thus the relevant time intervals to be determined and the corresponding predefined time threshold for identifying the possible fall conditions, which suggest the likelihood of the fall event of the user using the device at an improved accuracy.

[0053] In one further embodiment, the memory 44 of the processing module 40 may record actuation patterns of the device 10 such as, but not limited to, the time taken for the user or any person to manually interfere or to cancel the alerts or alarms generated by the device 10. The statistics of these operating data will assist in the analysis performed by the processing module 40 to further increase accuracy of the detection of a possible fall of the user.

[0054] The present description illustrates the principles of the present invention. It will thus be appreciated that those skilled in the art will be able to devise various arrangements that, although not explicitly described or shown herein, embody the principles of the invention and are included within its spirit and scope.

[0055] Moreover, all statements herein reciting principles, aspects, and embodiments of the invention, as well as specific examples thereof, are intended to encompass both structural and functional equivalents thereof. Additionally, it is intended that such equivalents include both currently known equivalents as well as equivalents developed in the future, i.e., any elements developed that perform the same function, regardless of structure.

[0056] While the invention has been illustrated and described in detail in the drawings and foregoing description, the same is to be considered as illustrative and not restrictive in character, it being understood that only exemplary embodiments have been shown and described and do not limit the scope of the invention in any manner. It can be ap preciated that any of the features described herein may be used with any embodiment. The illustrative embodiments are not exclusive of each other or of other embodiments not recited herein. Accordingly, the invention also provides embodiments that comprise combinations of one or more of the illustrative embodiments described above. Modifications and variations of the invention as herein set forth can be made without departing from the spirit and scope thereof, and, therefore, only such lim itations should be imposed as are indicated by the appended claims.

[0057] In the claims hereof, any element expressed as a means for performing a specified function is intended to encompass any way of performing that function including, for example, a) a combination of circuit elements that performs that function or b) software in any form, including, therefore, firmware, microcode or the like, combined with appropriate circuitry for executing that software to perform the function. The invention as defined by such claims resides in the fact that the functionalities provided by the various recited means are combined and brought together in the manner which the claims call for. It is thus regarded that any means that can provide those func tionalities are equivalent to those shown herein.

[0058] In the claims which follow and in the preceding description of the invention, except where the context requires otherwise due to express language or necessary implication, the word "comprise" or variations such as "comprises" or "comprising" is used in an inclusive sense, i.e. to specify the presence of the stated features but not to preclude the presence or addition of further features in various embodiments of the invention.

[0059] It is to be understood that, if any prior art publication is referred to herein, such reference does not constitute an admission that the publication forms a part of the common general knowledge in the art.

Claims

Claims

[Claim 1] A method of detecting fall for use at a mobility-assistive device, the mobility-assistive device held by a user when in use, the method comprising the steps of: detecting one or more motion conditions in relation to a fall event of the mobility-assistive device ; determining one or more respective time intervals between two or more of the detected motion conditions; and comparing the one or more determined time intervals with one or more predefined time thresholds to thereby identify one or more fall conditions in association with a fall event of the user using the mobility-assistive device.
[Claim 2] The method according to claim 1, wherein the detecting step comprises measuring one or more kinematic parameters of the device in relation to the fall event of the device.
[Claim 3] The method according to claim 3, wherein the detecting step further comprises associating the measured one or more kinematic parameters with the one or more motion conditions in relation to the fall event of the device.
[Claim 4] The method according to claim 3, wherein the detecting step is conducted by a sensing module provided at the device, the sensing module comprises one or more of an accelerometer, a gyroscope, a magnetometer, a pressure sensor, an altimeter, a velocity sensor and/or an angular velocity sensor.
[Claim 5] The method according to claim 1, wherein the step of detecting one or more motion conditions comprises one or more of the steps of: detecting a release of touch of the mobility-assistive device from the user; detecting falling of the device: detecting bouncing of the device relative to a surface; detecting a resting state of the device; and/or detecting an interference to the resting state of the device.
[Claim 6] The method according to claim 5, wherein the step of detecting a resting state of the device comprising detecting a substantially horizontal orientation of the device.
[Claim 7] The method according to claim 1, wherein the one or more determined time intervals comprise one or more of: a first time interval between detection of the release of touch of the device from the user, and detection of falling of the device; a second time interval between the detection of falling of the device, and detection of bouncing of the device relative to the surface; a third time interval between the detection of bouncing of the device relative to the surface, and detection of a resting state of the device; a fourth time interval between the detection of the resting state of the device and an interference to the resting state of the device; a fifth time interval between the detection of falling of the device and the detection of the interference to the resting state of the device.
[Claim 8] The method according to claim 7, wherein the step of comparing the one or more determined time intervals with one or more predefined time thresholds to identify one or more fall conditions in association with a fall event of the user using the mobility-assistive device comprises one or more of the steps of: identifying a first fall condition when the first time interval falls within the range of about 8 to about 12 seconds; identifying a second fall condition when the second time interval falls within the range of about 0.1 to about 3 seconds; identifying a third fall condition when the third time interval falls within the range of about 0.1 to about 3 second; identifying a fourth fall condition when the fourth time interval is of at least about 5 to about 15 seconds; and/or identifying a fifth fall condition when the fifth time interval is at least about 14 to about 16 seconds.
[Claim 9] The method according to claim 8, further comprising a step of producing a fall alert signal in response to the identified one or more fall conditions.
[Claim 10] The method according to claim 9, wherein the step of producing a fall alert signal in response to the identified one or more fall conditions comprises producing a first alert signal when at least four of the first, second, third, fourth and fifth fall conditions are identified by the comparing step.
[Claim 11] The method according to claim 10, wherein the step of producing a fall alert signal in response to the identified one or more fall conditions comprises producing a second alert signal when at least two of the first, second, third, fourth and fifth fall conditions are identified.
[Claim 12] The method according to claim 11, wherein the at least two of the first, second, third, fourth and fifth fall conditions comprise at least the first fall condition.
[Claim 13] The method according to claim 10, further comprising a step of producing the first alert signal after the second alert signal is maintained for a predetermined period of time.
[Claim 14] The method according to claim 1, further comprising a step of outputting the produced fall alert signal by transmitting one or more of an electric signal and/or an electromagnetic signal.
[Claim 15] The method according to claim 14, wherein the electric signal comprises one or more of a light-emitting signal, a sound-emitting signal and/or a vibration signal.
[Claim 16] The method according to claim 14, wherein the electromagnetic signal comprises a wireless communication signal.
[Claim 17] A mobility-assistive device implementing the method in accordance with claim 1, comprising: a sensing module configured to detect a fall event of the mobility assistive device; the sensing module comprising at least one sensor for detecting one or more motion conditions in relation to the fall event of the device ; a processing module connected to communicate with the sensing module; the processing module being arranged to determine one or more respective time intervals between two or more of the motion conditions detected by the at least one sensor of the sensing module, and to compare the one or more determined time intervals with one or more predefined time thresholds to identify one or more fall conditions in association with a fall event of a user using the mobility-assistive device.
[Claim 18] The mobility-assistive device according to claim 17, wherein the sensing module comprises one or more of an accelerometer, a gyroscope, a magnetometer, a pressure sensor, an altimeter, a velocity sensor and/or an angular velocity sensor.
[Claim 19] The mobility-assistive device according to claim 17, further comprising a signalling module connected to communicate with the processing module, the signalling module is configured to produce a fall alert signal in response to the one or more fall conditions identified by the processing module.
[Claim 20] The mobility-assistive device according to claim 19, further comprising a communicating module for transmitting the fall alert signal to one or more remote computer device and/or network.
[Claim 21] The mobility-assistive device according to claim 19, wherein the signalling module comprises one or more signalling devices comprising one or more of a light-emitting unit, a sound-emitting unit, and a vibration unit.
[Claim 22] The mobility-assistive device according to claim 17, wherein the device comprises a handle portion for engaging a user's hand, and an elongated body portion for supporting movement of the user, wherein the handle portion is connected with the body portion via an inclined neck portion.
[Claim 23] The mobility-assistive device according to claim 22, wherein the inclined neck portion is arranged to define an acute angle of about 30 deg to about 60 deg with respect to a longitudinal axis of the body portion.
[Claim 24] The mobility-assistive device according to claim 22, further comprising an illuminating means arranged at a forward-facing side wall of the inclined neck portion, wherein the illuminating means projects a light beam at a beam angle of about 60 deg to about 120 deg.
[Claim 25] The mobility-assistive device according to claim 24, wherein the illu minating means projects the light beam spreading radially forwardly at an intensity of about 100 lux decreasing to about 0 lux at a distance of about 1.5 meter from the device.
[Claim 26] The mobility-assistive device according to claim 25, wherein the illu minating means projects the light beam spreading radially forwardly at an intensity of about 100 lux decreasing to about 80 lux decreasing at a distance of about 0.5 meter from the device.
[Claim 27] The mobility-assistive device according to claim 22, further comprising a heating element provided at the handle portion.
[Claim 28] The mobility-assistive device according to claim 27, wherein operation of the heating element is controllable by a temperature sensor, such that when an ambient temperature of lower than a predetermined threshold temperature is detected by the temperature sensor, the temperature sensor triggers operation of heating element.
[Claim 29] The mobility-assistive device according to claim 17, further comprising an actuating means manually actuatable by the user to operate and to control operation of the device.
[Claim 30] The mobility-assistive device according to claim 17, further comprising a charging unit for electrically charging the device.
[Claim 31] A computer readable medium storing machine readable instructions which, when implemented on a processor, implements the steps of the method of claim 1.
[Claim 32] A system comprising a memory for storing data and a processor for executing computer readable instructions, wherein the processor is configured by the computer readable instructions when being executed to implement the method of claim 1.