CN113712536A - Gait analysis-based imbalance early warning method and wearable device - Google Patents
Gait analysis-based imbalance early warning method and wearable device Download PDFInfo
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Abstract
The invention provides an unbalance early warning method and a wearing device based on gait analysis, the method is executed by the wearing device which is worn on the limb part of a user and comprises an inertia measuring unit, a processing unit and an output unit, and the method comprises the following steps: the processing unit obtains a shaking angle threshold corresponding to the user according to acceleration data obtained by the inertia measuring unit during the continuous walking of the user in multiple steps; the processing unit calculates the shaking angle of the limb part of the user in each unit time according to the angular velocity data obtained by the inertial measurement unit when the user travels; and the processing unit judges whether the shaking angle is larger than the shaking angle threshold value or not, and enables the output unit to generate warning output for indicating unbalance when the shaking angle is judged to be larger than the shaking angle threshold value. Thus, a fall prevention warning conforming to the personal balance control ability can be provided.
Description
Technical Field
The present invention relates to the field of gait analysis, and more particularly, to an imbalance early warning method based on gait analysis and a wearable device.
Background
A properly functioning balance system allows people to clearly see when moving, recognize the direction relative to gravity, determine the direction and speed of movement, and make automatic posture adjustments to maintain posture and stability in a variety of situations and activities. For humans, balance is achieved and maintained by a complex set of control systems that receive sensory inputs from the visual (vision), proprioceptive (touch), and vestibular systems (motion, balance, spatial orientation), integrate these sensory inputs, and produce motion outputs to the eyes and body muscles. However, trauma, disease, certain medications, or aging processes may affect one or more of the sensory inputs described above. In addition to the above-described information of sensory input, psychological factors may also impair the sense of balance of people. Especially for the elderly, their ability to balance varies from person to person due to differences in their degree of aging in physiological perception and psychological cognition.
Existing aids for rehabilitating and/or maintaining balance are typically designed according to the gait pattern of a normal person (a person with normal balance ability), provide balance that cannot be achieved due to insufficient muscle strength through the support of the aid, and expect that the wearer will be able to lift muscle strength after a period of use to achieve the balance feeling of a normal person's gait. However, this design does not take into account the different individual balance control abilities resulting from physical perception and psychological cognition.
Therefore, when developing an auxiliary tool for promoting balance and preventing falling, how to provide an unbalance warning method that meets the personal balance control capability has become one of the issues addressed by the industry.
Disclosure of Invention
The invention aims to provide an imbalance early warning method based on gait analysis and a wearable device, which can provide an imbalance early warning function according with personal balance control capability.
The gait analysis-based imbalance early warning method is implemented by using a wearing device, wherein the wearing device is worn on a limb part of a user and comprises an inertia measuring unit, an output unit and a processing unit, the inertia measuring unit is used for measuring angular velocity and acceleration, and the processing unit is electrically connected with the inertia measuring unit and the output unit. The unbalance early warning method comprises the following steps: (A) the inertial measurement unit obtains acceleration data of the wearable device while moving during a calibration period in which the user continuously walks for N (N >1) steps on the ground; (B) the processing unit obtains a shaking angle threshold value which corresponds to the user and is related to the shaking of the limb part according to the acceleration data; (C) the processing unit calculates the shaking angle of the limb part in each unit time according to the angular velocity data, corresponding to the shaking of the wearable device, obtained by the inertial measurement unit when the user travels; (D) the processing unit judges whether the shaking angle is larger than the shaking angle threshold value; and (E) when the processing unit judges that the shaking angle is larger than the shaking angle threshold value, the processing unit enables the output unit to generate warning output for indicating unbalance.
In the gait analysis-based imbalance early warning method of the present invention, after the step (D), the method further comprises the steps of: (F) the processing unit causes the output unit to generate an indication output for indicating balance when it is determined that the shake angle is not greater than the shake angle threshold.
In the gait analysis-based imbalance early warning method of the present invention, the inertial measurement unit includes a three-axis accelerometer, and in step (a), the acceleration data includes first and second accelerations related to a traveling direction of the user and in first and second directions perpendicular to each other, respectively, and a third acceleration in a third direction perpendicular to the first and second directions.
In the gait analysis-based imbalance early warning method of the present invention, in the step (B), the processing unit performs the following substeps: calculating a stride L1 corresponding to each step according to the first acceleration and the second acceleration and the gait cycle of each stepiI is 1, …, N; calculating the displacement L2 of the limb part in the third direction in the gait cycle of each step according to the third acceleration and the gait cycle of each stepi(ii) a According to the stride L1iAnd the displacement L2iCalculating the reference shaking angle beta of the limb part in the gait cycle of each stepiAnd the reference shaking angle betaiIs defined as cot-1(L1i/L2i) (ii) a And calculating the reference shaking angle beta1～βNAs the shake angle threshold.
In the gait analysis-based imbalance early warning method, the gait cycle of each step is the time between two corresponding adjacent minimum peak points in the third acceleration.
In the gait analysis-based imbalance early warning method according to the present invention, the inertial measurement unit further includes a multi-axis gyroscope, in the step (C), the angular velocity data includes a first angular velocity representing that the limb part rocks about a first axis in the first direction and a second angular velocity representing that the limb part rocks about a second axis in the second direction, the unit time is a sampling period of the multi-axis gyroscope, and the rocking angle represents an angle at which the limb part rocks about one axis in a traveling direction of the user.
In the gait analysis-based imbalance early warning method according to the present invention, the alert output includes at least one of a visual output and an audio output.
The invention provides a wearable device which comprises a wearable body, an inertia measuring unit, a processing unit and an output unit. The wearing body is adapted to be worn on a limb portion of a user so as to be movable with the limb portion. The inertia measurement unit is mounted on the wearing body and operates to measure the acceleration and the angular velocity of the wearing body when the wearing body moves. The processing unit is installed in dress body and electricity is connected inertia measuring unit. The output unit is installed in the wearing body, and is electrically connected and controlled by the processing unit.
When the wearing body is worn on the user, the wearing device can operate in an initial calibration mode or a subsequent monitoring mode. When operating in the calibration mode, the inertial measurement unit obtains acceleration data of the user while the wearable device is moving during a calibration period in which the user continuously walks N (N >1) steps on the ground, and the processing unit obtains a sway angle threshold corresponding to the user and related to a sway of the limb part from the acceleration data from the inertial measurement unit. When the monitoring mode is operated, the inertia measuring unit obtains angular velocity data of shaking of the wearing device corresponding to the user when the user travels, the processing unit calculates the shaking angle of the limb part in each unit time according to the angular velocity data from the inertia measuring unit, judges whether the shaking angle is larger than the shaking angle threshold value or not, and enables the output unit to generate warning output for indicating unbalance when the shaking angle is judged to be larger than the shaking angle threshold value.
In the wearable device of the present invention, when operating in the monitoring mode, the processing unit causes the output unit to generate an instruction output for instructing balance when it is determined that the sway angle is not greater than the sway angle threshold.
In the wearable device of the present invention, the inertial measurement unit includes a three-axis accelerometer and a multi-axis gyroscope. The three-axis accelerometer is operative to measure first to third accelerations of the wearing body in first to third directions, respectively, during the calibration, the first and second directions being related to a direction of travel of the user and being mutually perpendicular to each other, the third direction being perpendicular to the first and second directions, the first to third accelerations together constituting the acceleration data. The multi-axis gyroscope is operative to measure at least a first angular velocity of the wearable body rocking about a first axis in the first direction and a second angular velocity of the wearable body rocking about a second axis in a second direction as the user travels, the first and second angular velocities collectively constituting the angular velocity data.
In the wearable device of the present invention, the processing unit obtains the sway angle threshold by: calculating a stride L1 corresponding to each step according to the first acceleration and the second acceleration and the gait cycle of each stepiI is 1, …, N; calculating the displacement L2 of the limb part in the third direction in the gait cycle of each step according to the third acceleration and the gait cycle of each stepi(ii) a According to the stride L1iAnd the displacement L2iCalculatingA reference swing angle beta of the limb part in a corresponding gait cycleiAnd the reference shaking angle betaiIs defined as cot-1(L1i/L2i) (ii) a And calculating the reference shaking angle beta1～βNAs the shake angle threshold.
In the wearable device of the present invention, a gait cycle of each step is a time interval between corresponding two adjacent minimum peak points in the third acceleration.
In the wearing apparatus of the present invention, the unit time is a sampling period of the multi-axis gyroscope, and the rocking angle represents an angle at which the limb portion rocks about one axis in a traveling direction of the user.
In the wearing device of the present invention, the alert output includes at least one of a visual output and an audio output.
The invention has the beneficial effects that: because the shaking angle threshold value obtained during the calibration can fully reflect the personal balance control capability of the user, the unbalance early warning mode which uses the shaking angle threshold value as the basis for judging whether the user is balanced can provide the anti-falling early warning which accords with the personal balance control capability.
Drawings
Other features and effects of the present invention will become apparent from the following detailed description of the embodiments with reference to the accompanying drawings, in which:
fig. 1 is a block diagram schematically showing the structure of a wearing apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic diagram schematically illustrating an eyeglass apparatus according to an embodiment of the present invention, which is worn on a face of a user;
FIG. 3 is a flow chart illustrating the steps performed when an embodiment of the present invention operates in a calibration mode;
fig. 4 is a graph exemplarily illustrating first to third accelerations of the wearing body in the X direction, the Y direction and the Z direction, respectively, obtained during the calibration according to the embodiment of the present invention;
fig. 5 is a schematic view exemplarily illustrating a relationship between a reference shake angle and a stride length and a displacement in a vertical direction of a user;
FIG. 6 is a flowchart illustrating the steps performed when an embodiment of the present invention is operating in a monitor mode; and
FIG. 7 is a diagram illustrating an example of an alert output generated by an embodiment of the present invention.
Detailed Description
Before describing the present invention in more detail, it should be noted that where considered appropriate, reference numerals have been repeated among the figures to indicate corresponding or analogous elements, which may have similar characteristics in their selection.
Referring to fig. 1 and fig. 2, a wearing device 100 according to an embodiment of the present invention is illustrated, for example, but not limited to, implemented as smart glasses suitable for wearing on the face of a user. In other embodiments, the wearable device 100 may also be implemented as a smart belt worn around, for example, the waist of a user. The wearable device 100 includes, for example, a wearable body 10 (such as a spectacle frame shown in fig. 2), an inertia measurement unit 1, a processing unit 2, and an output unit 3.
Note that, in the present embodiment, the wearing body 10 must be properly worn on the face of the user so as to be movable together with the face (or head) of the user.
The inertia measurement unit 1 is mounted to the wearing body 10 and operates to measure acceleration and angular velocity of the wearing body 10 while moving. In the present embodiment, the inertial measurement unit 1 includes, for example, a three-axis accelerometer 11 and a multi-axis gyroscope 12. More specifically, the three-axis accelerometer 11 operates to measure first to third accelerations in first to third directions, respectively, when the wearable body 10 is moved. More specifically, the first direction and the second direction relate to a direction of travel of the user and are perpendicular to each other, hereinafter for example indicated in the X-direction and the Y-direction, respectively, and the third direction is perpendicular to the first direction and the second direction, hereinafter for example indicated in the Z-direction. In the present embodiment, the multi-axis gyroscope 12 operates to measure at least a first angular velocity at which the wearing body 10 rocks about a first axis in the first direction (X direction) and a second angular velocity at which the wearing body rocks about a second axis in a second direction (Y direction) while the user is traveling.
The processing unit 2 is mounted on the wearable body 10 and electrically connected to the inertial measurement unit 1. The detailed operation of the processing unit 2 will be explained below.
The output unit 3 is mounted on the wearable body 10, and is electrically connected to and controlled by the processing unit 2. In the present embodiment, the output unit 3 may include a display module 31 such as a transparent display screen embedded in a lens, but is not limited thereto. However, in other embodiments, the display module 31 may also be a light-emitting module for generating a visual optical output, or the output unit 3 may also include an audio module (not shown) for generating an audio output, or only include the audio module.
The wearable device 100 can operate in a calibration mode or a monitoring mode. Specifically, when the wearing apparatus 100 (or the wearing body 10) is initially worn on the face of the user, the wearing apparatus 100 operates in the calibration mode so as to obtain a shake angle threshold corresponding to the user.
Hereinafter, how the wearable device 100 performs the following steps 301 to 305 in the calibration mode will be described with reference to fig. 1 and 3.
First, in step 301, during a calibration period in which the user continuously walks N (N >1) steps on the ground, the wearable device 100 moves together with the face of the user (see fig. 5), in which case the three-axis accelerometer 11 of the inertial measurement unit 1 obtains acceleration data corresponding to the movement of the face of the user and composed of first to third accelerations by measuring the first acceleration, the second acceleration, and the third acceleration of the moving wearable body 10 in the X direction, the Y direction, and the Z direction, respectively. For example, N is 17, and the first to third accelerations obtained by the triaxial accelerometer 11 are shown as curves a1, a2 and a3, respectively, shown in fig. 4.
Then, the processing unit 2 obtains a shake angle threshold (hereinafter, denoted by β) corresponding to the user and relating to the shake of the face of the user by performing steps 302 to 305.
In step 302, the processing unit 2 calculates a stride L1 corresponding to each step based on the first acceleration and the second acceleration and a gait cycle (hereinafter, represented by Ti) of each stepiI ═ 1, …, N (see fig. 5). Note that the gait cycle Ti of each step is actually the time between the corresponding two adjacent minimum peak points in the third acceleration (see fig. 5). For example, according to the curves a1 and a2 shown in fig. 4, the curve segment of the curve a1 corresponding to T1 is twice integrated with T1 to obtain the displacement α of T1 in the X directionx1The displacement alpha of T1 in the Y direction is obtained by twice integrating T1 with the curve segment of the curve a2 corresponding to T1y1And according to said displacement alphax1And alphay1Calculate L11(ii) a Similarly, L1 can be calculated2～L117。
In step 303, the processing unit 2 calculates a displacement L2 of the user's face in the Z direction in the gait cycle Ti of each step based on the third acceleration and the gait cycle Ti of each stepiI is 1, …, N. For example, according to the curve a3 shown in FIG. 4, the curve segment of the curve a3 corresponding to T1 is twice integrated with T1 to obtain the displacement L2 of T1 in the Z direction1。
In step 304, the processing unit 2 determines the stride L1 according to the stride L1iAnd the displacement L2iCalculating the reference shaking angle beta of the limb part in the corresponding gait cycleiI is 1, …, N. In this embodiment, the reference shaking angle βiIs defined as cot-1(L1i/L2i) (see FIG. 5). As in the previous example, when N is 17, β1，β2，...，β17Can be calculated.
In step 305, the processing unit 2 calculates the reference shake angle β1～βNAs the shake angle threshold value β. In other words, β ═ β (β)1+β2+...+βN) and/N. According toAs an example, when N is 17, β is (β)1+β2+...+β17)/17。
After obtaining the sway angle threshold β for the user, the wearable device 100 may be operated in the monitoring mode in order to monitor whether the user is balanced while traveling.
Hereinafter, how the wearable device 100 performs the following steps 601 to 605 in the monitoring mode will be described with reference to fig. 1 and 6.
In step 601, the multi-axis gyroscope 12 of the inertial measurement unit 1 measures a first angular velocity (hereinafter, ω) of the moving wearable body 10 shaking around a first axis (in the X direction) and a second axis (in the Y direction) respectivelyRollExpressed by ω) and a second angular velocity (hereinafter, expressed by ω)PitchRepresented) to obtain a shake corresponding to the wearable device 100 (or the user's face) and by the first angular velocity ωRollAnd the second angular velocity ωPitchThe constructed angular velocity data.
Then, in step 602, the processing unit 2 calculates a shake angle (hereinafter, represented by θ) of the face (or head) of the user per unit time (hereinafter, represented by τ) based on the angular velocity data from the inertial measurement unit 1. Note that, in the present embodiment, the unit time τ is, for example, a sampling period of the multi-axis gyroscope 12, but is not limited to this example, and the shake angle θ represents an angle at which the face (or the head) of the user is shaken around one axis in the traveling direction of the user. Specifically, the processing unit 2 first determines the first angular velocity ωRollAnd the second angular velocity ωPitchCalculating a (resultant) angular velocity ω of the user's face (or head) shaking about the axis in the user's direction of travelRoll,PitchWherein, ω isRoll,Pitch＝(ω2 Roll+ω2 Pitch)1/2Then, the angular velocity ω is measuredRoll,PitchAnd integrating the unit time tau to obtain the shaking angle theta.
Then, in step 603, the processing unit 2 determines whether the shake angle θ (corresponding to each unit time) is larger than the shake angle threshold β (obtained during previous calibration). If the determination result is positive, that is, θ > β, the flow proceeds to step 604; if the determination result is negative, that is, θ is not greater than β, the flow proceeds to step 605.
In this embodiment, if θ > β, this means that the user will be in an unbalanced state if he does not change his inertia. Then, in step 604, the processing unit 2 causes the output unit 3 to generate an alarm output indicating imbalance, which can be used as a fall prevention alarm to remind the user to respond early (e.g., stop advancing), thereby achieving the fall prevention effect. In the present embodiment, the warning output may be implemented as, for example, a warning pattern displayed on the display module 31, such as an annular pattern 71 (see fig. 7) emitting a blinking red light, but not limited thereto. In other embodiments, the alert output may include not only a flashing pattern displayed, but also an audio output (e.g., a beep) emitted by an audio module (e.g., a buzzer).
In this embodiment, if θ ≦ β, this represents that the user is in equilibrium. Then, in step 605, the processing unit 2 causes the output unit 3 to generate an instruction output for instructing balance. In the present embodiment, the indication output may be implemented as, for example, an indication pattern displayed on the display module 31, such as a pie pattern 72 (see fig. 7) emitting green light, but is not limited thereto.
In summary, since the sway angle threshold β obtained during calibration can sufficiently reflect the personal balance control ability of the user, the imbalance warning method of the wearable device 100 of the present invention using the sway angle threshold β as a basis for determining whether the user is balanced can provide the fall prevention warning conforming to the personal balance control ability. In addition, the swing angle threshold β can also be used as an important parameter for designing or adjusting the balance aid required by the user, so as to achieve the purpose of customizing the balance aid.
The above description is only for the preferred embodiment of the present invention, and it is not intended to limit the scope of the present invention, and any person skilled in the art can make further modifications and variations without departing from the spirit and scope of the present invention, therefore, the scope of the present invention should be determined by the claims of the present application.
Claims (14)
1. An imbalance early warning method based on gait analysis, performed using a wearable device worn on a limb portion of a user and including an inertial measurement unit for measuring angular velocity and acceleration, an output unit, and a processing unit electrically connecting the inertial measurement unit and the output unit, the imbalance early warning method comprising the steps of:
step A: the inertial measurement unit obtains acceleration data of the wearable device while moving during a calibration period in which the user continuously walks on the ground for N steps, wherein N > 1;
and B: the processing unit obtains a shaking angle threshold value which corresponds to the user and is related to the shaking of the limb part according to the acceleration data;
and C: the processing unit calculates the shaking angle of the limb part in each unit time according to the angular velocity data, corresponding to the shaking of the wearable device, obtained by the inertial measurement unit when the user travels;
step D: the processing unit judges whether the shaking angle is larger than the shaking angle threshold value; and
step E: the processing unit causes the output unit to generate a warning output indicating an imbalance when it is determined that the sway angle is greater than the sway angle threshold.
2. The gait analysis-based imbalance early warning method according to claim 1, characterized by further comprising the following steps after step D:
step F: the processing unit causes the output unit to generate an indication output for indicating balance when it is determined that the shake angle is not greater than the shake angle threshold.
3. The gait analysis-based imbalance warning method according to claim 2, wherein the inertial measurement unit includes a three-axis accelerometer, and in step a, the acceleration data includes first and second accelerations that are related to a traveling direction of the user and are in first and second directions that are perpendicular to each other, respectively, and a third acceleration in a third direction that is perpendicular to the first and second directions.
4. The gait analysis-based imbalance early warning method according to claim 3, wherein in step B, the processing unit performs the following substeps:
calculating a stride L1 corresponding to each step according to the first acceleration and the second acceleration and the gait cycle of each stepi，i＝1,…,N；
Calculating the displacement L2 of the limb part in the third direction in the gait cycle of each step according to the third acceleration and the gait cycle of each stepi；
According to the stride L1iAnd the displacement L2iCalculating the reference shaking angle beta of the limb part in the gait cycle of each stepiAnd the reference shaking angle betaiIs defined as cot-1(L1i/L2i) (ii) a And
calculating the reference shaking angle beta1～βNAs the shake angle threshold.
5. The gait analysis-based imbalance early warning method according to claim 4, wherein the gait cycle of each step is a time between two adjacent minimum peak points in the third acceleration.
6. The gait analysis-based imbalance early warning method according to claim 3, wherein the inertial measurement unit further includes a multi-axis gyroscope, and in step C:
the angular velocity data includes a first angular velocity representing a sway of the limb portion about a first axis in the first direction, and a second angular velocity representing a sway of the limb portion about a second axis in the second direction;
the unit time is a sampling period of the multi-axis gyroscope; and
the roll angle represents an angle at which the limb portion rolls about an axis in the direction of travel.
7. The gait analysis-based imbalance warning method according to claim 1, wherein the alert output includes at least one of a visual output and an audio output.
8. A wearable device, comprising:
a wearing body adapted to be worn on a limb part of a user so as to be movable with the limb part;
an inertia measurement unit mounted to the wearing body and operated to measure acceleration and angular velocity of the wearing body while moving;
the processing unit is arranged on the wearable body and is electrically connected with the inertia measuring unit; and
an output unit which is arranged on the wearing body, is electrically connected with and controlled by the processing unit,
when the wearing body is worn on the user, the wearing device can operate in an initial calibration mode or a subsequent monitoring mode;
when the device is operated in the calibration mode, the inertial measurement unit obtains acceleration data when the wearable device moves in a calibration period when the user continuously walks on the ground for N steps, and the processing unit obtains a shaking angle threshold value which corresponds to the user and is related to shaking of the limb part according to the acceleration data from the inertial measurement unit, wherein N is greater than 1; and
when the monitoring mode is operated, the inertia measuring unit obtains angular velocity data of shaking of the wearing device corresponding to the user when the user travels, the processing unit calculates the shaking angle of the limb part in each unit time according to the angular velocity data from the inertia measuring unit, judges whether the shaking angle is larger than the shaking angle threshold value or not, and enables the output unit to generate warning output for indicating unbalance when the shaking angle is judged to be larger than the shaking angle threshold value.
9. The wearing device according to claim 8, wherein when operating in the monitoring mode, the processing unit causes the output unit to generate an indication output indicating balance when it is determined that the sway angle is not greater than the sway angle threshold.
10. The wearable device of claim 8, wherein the inertial measurement unit comprises:
a three-axis accelerometer operative to measure first to third accelerations of the wearing body in first to third directions, respectively, during the calibration, the first and second directions being related to a direction of travel of the user and being mutually perpendicular to each other, the third direction being perpendicular to the first and second directions, the first to third accelerations collectively constituting the acceleration data; and
a multi-axis gyroscope operative to measure at least a first angular velocity of the wearable body rocking about a first axis in the first direction and a second angular velocity of the wearable body rocking about a second axis in the second direction as the user travels, the first and second angular velocities collectively constituting the angular velocity data.
11. The wearable device of claim 10, wherein the processing unit obtains the sway angle threshold by:
according to the first and second accelerations and eachA gait cycle of steps, and a stride L1 corresponding to each step is calculatedi，i＝1,…,N；
Calculating the displacement L2 of the limb part in the third direction in the gait cycle of each step according to the third acceleration and the gait cycle of each stepi；
According to the stride L1iAnd the displacement L2iCalculating the reference shaking angle beta of the limb part in the gait cycle of each stepiAnd the reference shaking angle betaiIs defined as cot-1(L1i/L2i) (ii) a And
calculating the reference shaking angle beta1～βNAs the shake angle threshold.
12. The wearable device according to claim 11, wherein a gait cycle of each step is a time between two adjacent minimum peak points in the third acceleration.
13. The wearable device according to claim 10, wherein:
the unit time is a sampling period of the multi-axis gyroscope; and
the roll angle represents an angle at which the limb portion rolls about an axis in the direction of travel.
14. The wearable device of claim 8, wherein the alert output comprises at least one of a visual output and an audio output.
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