DE102011052470A1 - Motion parameter-measuring unit for detecting e.g. motion parameter of human being, has sensors and/or sensor surfaces utilized for detecting foot pressure signal from reference speed and force-dependant and/or pressure-dependant velocities - Google Patents

Abstract

The unit has a sensor system (50) comprising a sensor chain with pressure sensors (54) in a planar arrangement over a surface of foot (10). Sensors and/or sensor surfaces are utilized for detecting a foot pressure signal from reference speed and force-dependant and/or pressure-dependant velocities based on time during revolution process for deriving motion parameter of a runner. The sensor system is integrated into an insertion sole (20) and a shoe, and comprises piezo elements, capacitive and/or inductive and/or Ohmic pressure absorbers i.e. force sensitive resistor, and a hydraulic linkage. An independent claim is also included for a method for operating motion parameter-measuring unit.

Description

The invention relates to a method and a device for detecting at least one movement parameter of a runner according to the preambles of the independent claims.

Various methods and devices are known for determining motion parameters such as the speed and the distance traveled by runners. In the DE-A1-19734697 or the DE-A1-3405081 For example, a traveled distance and an average speed are calculated by considering an estimated average stride length.

From the WO 01/25726 A1 It is known, in each case to arrange a pressure sensor on a toe and a heel area of an insole, with which a contact time of the foot on the ground can be determined. The average speed is determined from the speeds derived from an acceleration in a phase of flight of the foot and from the contact time of the foot with the ground.

The DE 10 2007 011 855 B4 describes the detection of speed and distance by means of pressure sensors, which is arranged as a sensor chain on the shoe, for example as an insole or as a band around the shoe.

It is an object of the invention to provide an accurate and comfortable method and a device suitable for this, with which a movement parameter of a runner can be determined. The object is solved by the features of the independent claims. Advantageous embodiments are the subject of the other claims.

A movement parameter measuring device for detecting a movement parameter of a runner is proposed, which performs a relative movement with respect to a background. For detecting a pressure and / or a pressure distribution, a sensor system with at least one pressure sensor is provided between a foot of the rotor and the ground, and an evaluation unit which derives a movement parameter of the rotor from the detected signal of the pressure and / or the pressure distribution.

In particular, the movement parameter may be a movement angle, in particular a pitch angle of the ground. Thus it can be deduced whether the runner is moving on a plane or on an inclined plane, i. on a slope or a slope. It is possible to derive one or more motion parameters based on relatively simple models of force vectors and / or accelerations, each of which can compare similar parameters obtained with different models. This increases the safety and can be used to plausibility considerations of the results.

Advantageously, the sensor system can comprise a sensor chain with pressure sensors, which extends in a planar arrangement at least partially over a foot surface. Thus, a pressure distribution can be detected, which increases the safety and accuracy.

Conveniently, the sensor can be integrated in an insole. Alternatively or additionally, the sensor system can be integrated in a shoe. Alternatively or additionally, the sensor system can be integrated into a sock which can be laid around a shoe or foot.

In a favorable embodiment, the sensor system may comprise a hydraulic linkage. Alternatively or additionally, the sensor system may comprise a piezoelectric element or other pressure transducers, e.g. Capacitive, inductive or resistive pressure transducers such as e.g. the FSR sensor (Force Sensitive Resistor), which changes its electrical resistance depending on the force acting on the active surface.

According to a further aspect of the invention, a method for operating a movement parameter measuring device is proposed in which a movement parameter of the rotor is derived from a pressure and / or a pressure distribution between a substrate and a foot of a relative movement running relative to the substrate.

In particular, the movement parameter may be a movement angle, in particular a positive or negative gradient angle of the ground.

Advantageously, a reference value of the speed can be detected and compared with a current signal of the pressure and / or the pressure distribution. With a relative increase in pressure in the heel area, a slope can be detected, and with a relative increase in pressure in the forefoot area, a slope can be detected. Likewise, an acceleration can be detected.

Advantageously, a distance and / or a speed can be derived from the signal and a predetermined length of a sensor.

Alternatively or additionally, a takeoff angle can be derived from the signal. Alternatively or additionally, a predetermined running style can be derived from the signal.

Further advantages emerge from the following description of the drawing. In the drawings, embodiments of the invention are shown. The drawing, the description and the claims contain numerous features in combination. The person skilled in the art will expediently also consider the features individually and combine them into meaningful further combinations.

1 a schematic representation of an insole, which simulates the foot surface of a foot and is provided with sensor pressure surfaces;

2 an explanation of D'Alembert's principle;

3 an example of a hydraulic sensor with hydraulic linkage;

4 a representation of a runner's leg in motion;

5a - 5e a runner in different running positions;

6a - 6f different variants of favorable pressure surfaces as sensor surfaces of a sensor system; and

7 Example evaluation of a resulting force on the basis of characteristics at different speeds as a function of a pitch angle.

In the figures the same or equivalent elements are numbered with like reference numerals.

1 shows an insole 20 for a foot 10 with unspecified by reference numerals sensors and / or sensor pressure surfaces over which the foot 10 rolling when walking or running. The insole is placed for example in a running shoe. However, it is also conceivable to integrate into a shoe sole or in a sole region of a stocking, which may be designed to be pulled over the foot of the runner or alternatively its running shoe. Furthermore, the term runner is to refer mutatis mutandis to humans and animals.

The rolling motion is in a healthy man temporally successively from the heel (Hackteil 10.1 ) over the upper ankle to the forefoot ( 10.3 . 10.4 ) carried out.

The sensor pressure surfaces are made of pressure sensitive materials such as e.g. a pressure-sensitive film, a "robot skin", a "piezoelectric silver ink" (FlexiForce), an FSR Force Sensing Resistorfolie or individual sensors and are freely selectable in terms of their arrangement and their size, length, width, etc. for optimal function.

To determine the speed of the rotor from a path-time measurement, each individual sensor surface length or the total sensor surface length corresponds to a constant measurement distance s over that of the foot 10 rolls. The ratio of the length of the measuring path s to the duration t of the rolling process over the measuring path (for example, the sensor surface length), is then the current speed to v = s / t, hereinafter v _{s / t} . designated.

The speed can also be derived from a sensor distance as a definition of a constant measuring distance s over which the foot 10 rolls, be determined, for example, over the entire foot length L10.

This speed v _{s / t} is valid for walking as well as running in the horizontal plane and in the upward as well as the downward walking / running of an inclined plane and thus applies as a reference speed.

The reference speed v _{s / t} can therefore be derived in particular from a travel / time measurement from a rolling process via sensors and / or sensor surfaces. However, it is also conceivable that a reference speed from external sources, such as a GPS signal or the like, is provided.

To determine a speed v _pressure from a pressure-time measurement (or force-time measurement), the amplitude of the foot pressure signal is recorded as a function of time during the rolling process via the sensor surfaces.

From the area integral of the pressure signal over time, the arithmetic mean is formed, which is the magnitude of the resulting force | F _{R_arithm} | during the duration of the force effect.

With the arrangement of the force system according to the D'Alembert principle, the Pythagorean theorem is used to calculate the magnitude of the acceleration force | F _a | in the horizontal plane. This D'Alembert principle is taken as a simplifying assumption.

F _g is the weight of the runner. The product of the amount of accelerating force | F _a | and its time duration t is called force impulse or drive and is in relation to the body mass m a measure of the speed v. (or the current speed).

The resultant force F _{R_arithm} measured with each step is preferably constantly compared with a calculated resulting force F _{R_berech} , which is for the horizontal plane, which will be described later.

If the values are equal (within a given tolerance), it is concluded that the rotor is running in the horizontal plane at the speed v _{s / t} . In case of inequality of the values, it is concluded that the rotor runs at the speed v _{s / t} in the inclined plane.

The comparison of the magnitude of the arithmetic mean of the resulting force | F _{R_arithm} |, with the magnitude of the calculated resulting force | F _{R_berech} | provides the following statements:
If: | F _{R_arithm} | = | F _{R_berech} |, then the _slider runs in the horizontal plane with the pitch angle φ = 0 °.

If: | F _{R_arithm} | > | F _{R_berech} |, the runner walks up an incline with the incline angle φ> 0 °.

If: | F _{R_arithm} | <| F _{R_berech} |, the runner runs down an inclined plane with the pitch angle φ <0 °.

The calculation of the positive or negative pitch angle φ of the inclined plane takes place with the cosine set of the trigonometry. The cosine phrase is the generalization of Pythagoras' theorem for arbitrary triangles.

der Winkel β zu:

Consequently results with:

the angle β to:

The positive or negative pitch angle φ is then: φ = 90 ° -β.

The in 1 illustrated pressure curve over time corresponds to the time course of the resulting force F _R (t) F _R (t) = p (t) · A (force = pressure · area).

The solid line under the insole 20 in 1 corresponds to the respective pressure curve of the individual foot sections 10.1 (Hoe contact surface) 10.2 (Metatarsal-contact surface) 10.3 (Forefoot contact surface) and 10.4 (Forefoot footprint area). The dashed line corresponds to the pressure curve over the entire foot 10 ,

The arithmetic mean corresponds to the magnitude of the resulting force | F _R |. The amount of acceleration force | Fa | follows from Pythagoras:

Multiplied by the duration of the force action, the pressure time t, the product gives the area and is a measure of the velocity v in the horizontal plane p = m · Δv = F _a · t.

The system allows walkers or runners, in addition to information on speed, acceleration and distance covered, also information on the positive or negative slope of the route.

Decisive is the detection of the dynamic course of the resulting force F _R. To determine the parameters, a device such as an inlay sole serves 20 , with integrated constant measuring sections and pressure surfaces, and / or current measuring sections and pressure surfaces over which the foot rolls. (please refer 1 ).

The definition of a constant measuring section takes place over the length of a pressure surface and / or over the distance between two sensors. For example, the foot length L10 may be a constant measurement distance s, as in FIG 1 is indicated by way of example.

When walking on the forefoot, e.g. a sensor chain or pressure surface chain that begins at the earliest touchdown point of the forefoot and terminates at the toe, to determine a current measurement distance s over which the forefoot rolls.

Another, alternative or supplementary consideration is shown below.

When unrolling the foot 10 via the constant / current measuring distance s, the time t required for this is measured with each step and serves to calculate the current speed v _{s / t} . v _{s / t} = s / t

This speed v _{s / t} applies when walking / running in the horizontal plane and when going up / down / walking an inclined plane and is therefore considered as a reference speed.

With each step, the speed v _{s / t} can be calculated from the distance-time measurement and the previous speed v ₁ compared with the current speed v ₂ . The difference Δv from v ₁ -v ₂ corresponds to a speed increase or decrease and is thus a measure of the acceleration a. With a predetermined percentage size of the speed difference Δv, an acceleration a is detected.

The product of the previously calculated speed v _{s / t} and the constant body mass m, in relation to the measured duration of the force effect t (roll time t or force pressure time t), yields the accelerating force needed for the current speed v _{s / t} F _a .

By ordering the force system according to D'Alembert's principle, the Pythagorean theorem of a right-angled triangle is used to calculate the magnitude of the resulting force | F _R | in the horizontal plane.

With the amount of the calculated acceleration force | F _a | and the amount of constant weight | F _g | = m · g, results in a calculated resulting force | F _{R_berech} | that is needed to have the current velocity v _{s / t} in the horizontal plane.

Simultaneously with the time measurement t, the pressure curve of the resulting force F _R = f (t) is sampled via an analog-digital converter (stored, recorded) and the arithmetic mean value is formed.

The arithmetic mean of the pressure _curve corresponds to the magnitude of the resulting force | F _{R_arithm} | when unrolling the foot over the constant or current measuring distance s, pressure surface A, pressure surface chain, sensor chain, in the time required t.

The magnitude of the resulting force | F _{R_arithm} |, is used to compare the magnitude of the calculated resulting force | F _{R_berech} | in the horizontal plane, to calculate the positive or negative pitch angle φ and to calculate the speed v _Ft .

Is the determined amount of the arithmetic mean of the resulting force | F _{R_arithm} | from the pressure / time measurement, (force / time measurement), equal to the amount of calculated resulting force | F _{R_berech} | from the distance / time measurement, the runner runs at the speed v _{s / t} in the horizontal plane. | F _{R_berech} | = | F _{R_arithm} |; → v _{s / t} = v _Ft

Due to different shoe sole cushioning, the amount of resultant force | F _{R_arithm} | from the pressure signal measurement with a damping factor d to multiply, to equate the two determined amounts of the resulting forces F _R. | F _{R_berech} | = | F _{R_arithm} | · d; → v _{s / t} = v _Ft

For additional disturbing factors, such. B. different attenuation at different speeds or for calibration, a correction factor k _{_Faktor is} added to _equalize the two determined resultant F _R. | F _{R_berech} | = | F _{R_arithm} | · d · k _{_Factor} ; → v _{s / t} = v _Ft

If the magnitude of the resulting force | F _{R_arithm} |, not equal to the magnitude of the resulting force | F _{R_berech} |, then the rotor is running at the speed v _{s / t} in the inclined plane. | F _{R_berech} | ≠ | F _{R_arithm} |; → v _{s / t} ≠ v _Ft

The calculation of the positive or negative slope angle φ of the inclined plane, as already mentioned above, takes place with the cosine set of trigonometry.

With constant weight F _G and variable acceleration force F _a ; variable speed v _{s / t} takes the resulting force F _R in each individual run area a certain range of values of its magnitude. (please refer 2 )

In the running region of the horizontal plane, the value range of the resultant force F _{R is} the maximum acceleration force F _{a_max} ; maximum speed v _{s / t_max} limited.

In the running range of the inclined plane upwards, the value range of the resultant force F _{R is} the maximum acceleration force F _{a_max} ; maximum speed v _{s / t_max} and the maximum pitch _angle φ _max limited.

In the running region of the inclined plane downwards, the value range of the resultant force F _{R is} the maximum acceleration force F _{a_max} ; maximum speed v _{s / t_max} and the maximum inclination angle (-) φ _max limited.

Calculation of the velocity v _Ft from the arithmetic mean of the resulting force | F _{R_arithm} |.

To determine the speed v _Ft from the pressure / time measurement (force-time measurement), the amplitude of the foot pressure signal is detected as a function of the time t during the rolling process via the sensor surfaces A. From the area integral of the pressure signal p over the time t, multiplied by the sensor area A, the arithmetic mean is formed, which is the amount of the resulting force | F _{R_arithm} | during the duration of the force effect.

With the arrangement of the force system according to the D'Alembert principle, the Pythagorean theorem is used to calculate the magnitude of the acceleration force | Fa | in the horizontal plane (see 2 ).

The product of the amount of accelerating force | F _a | and its temporal duration t, is called force impulse or drive and is in relation to the body mass m a measure of the speed v.

The calculated velocities v from the path / time measurement and from the pressure signal measurement are equal to v _{s / t} = v _Ft when walking or running in the horizontal plane.

Due to different shoe sole damping, the calculated value v _Ft from the pressure signal measurement is to be multiplied by a damping factor d in order to equate the two determined speeds: v _{s / t} = v _Ft * d.

For additional disturbing factors, such. B. different attenuation at different speeds or for calibration, a correction factor k _{_Faktor} added to equalize the two determined speeds: v _{s / t} = v _Ft · d · k _{_Faktor} .

If the calculated velocities v from the path / time measurement and from the pressure signal measurement are unequal, then the rotor runs in the inclined plane at the speed v _{s / t} : v _{s / t} ≠ v _Ft .

The multiplication of the velocity v _Ft by the damping and correction factors d and k _{factor is} omitted if the arithmetic mean of the resulting force | F _{R_arithm} | multiplied by the factors.

The determination of the step length s _L takes place with the measurement of a second time span. The timing is at a time in the area of touchdown of the foot 10 with the hacking, until the lifting of the foot 10 is started with the toe and stopped at the next step, at the same time in the area from putting on the foot with the hoe, to lifting the foot with the toe and thus corresponds to the step duration.

The period .DELTA.t _{_sL} is thus between the times of a similar movement of the temporally leading foot and the trailing foot in the range from putting the foot with the hoes to lifting the foot with the toe.

The step length s _L results from the multiplication of the measured time interval Δt _{_sL} with the current speed v _{s / t of} the rotor. _Step length: s _L = Δt _{_sL} · v _{s / t} .

A distance traveled s _away results from the summation of the individual measured step lengths s _L : s _away = Σs _L1 + s _L2 + s _L3 ... s _Ln

A functional description using D'Alembert's principle of inertial forces is in 2 explained in more detail. If a body mass m _{k is} accelerated with an acceleration force F _a , then the inertial forces F _T = (-m.a) directed against the direction of acceleration of the body mass and the downward weight force of the body F _G = (m · g) become one resulting force F _R together.

Depending on the magnitude of an acceleration or deceleration, when running in the horizontal plane or when walking up or down an inclined plane, man shifts his body mass to the balance of all the attacking forces in such a way that the resultant in the force system resulting F _R (ie the resulting force F _R ) for optimum power transmission, always passes through the contact surfaces of the sole of the foot.

When putting on with the hack of a foot 10 affects the resulting F _{R landing} at the first instant to the Hackenaufsetzfläche A and moves to the maintenance of the movement, with the movement and the lifting of the hoes, to Vorderfußabdruckskraft area A _Fabdruck to here, with the lifting of the front of the foot, the amount size of the resulting F _R by muscle power to maintain, increase or decrease, which corresponds to a constant speed, increased speed or a reduced speed v.

When placed on the forefoot, the resulting F _R acts on the forefoot _surface A at the first moment and, in order to maintain the movement, with the movement, to the forefoot _imprint area A, to here, with the lift of the forefoot, the magnitude of the resulting F _R by muscle power to maintain, increase or decrease, which corresponds to a constant speed, increased speed or a reduced speed v.

The detection of the dynamic behavior of the resulting F _R , in terms of strength and its duration, from placing the foot with the hoes to lifting the forefoot with the toe, or from putting on the forefoot to lifting the forefoot with the toe, via: and / or constant measuring sections, current measuring sections, constant pressure surfaces, current pressure surfaces, sensor chains, pressure surface chains and / or a hydraulic linkage 52c (S. 1 u. 3 ).

To find and measure a current measurement distance s and roll-off time t are mainly the Hackenaufset signal, the Hackenabhebe signal, the Vorderfußaufsetz signal and Vorderfußabhebe signal, with the generated by the sensors rising and falling switching edges.

When running with the whole foot 10 results in a current measuring distance, for example, from the sensor placement position on the heel up to the sensor lifting position on the forefoot, wherein the rolling time t, from the time of lifting the heel up to the time of lifting the forefoot is measured (with the movement ).

When running on the forefoot, for example, a sensor chain or pressure surface chain, which begins at the earliest attachment point of the forefoot and ends at the toe, is used to determine a current measurement distance over which the forefoot rolls.

The sensors, such as switches and the like, a sensor chain or print area chain provide the length of the current measurement distance s from the earliest touchdown point of the forefoot to the latest lifting point of the forefoot and the time t required for it. This is also the determination of a current measuring track length s, given by a later touchdown point of the forefoot to an earlier lifting point of the forefoot. With the activation / deactivation of the sensors, the positions of the sensors, e.g. lie in the memory of a microcontroller, detected and the current measuring distance length s determined. At the same time, a clock (timer) is switched to measure the time t, which is needed to travel the current measuring distance length s.

In order to determine and calculate the sought-after parameters, the signals are fed to a microcontroller, which performs the necessary operations and then displays the results, e.g. via a transceiver system, e.g. using a display with integrated keypad on the wrist, brings to the display. It is also possible to tell the runner the results via an acoustic system. (Headphones, flat speaker in the belt). Possible are e.g. different acoustic signals for certain positive or negative pitch angle φ and / or for each kilometer run.

In addition, the results stored in the value memory of the microcontroller can be fed to a PC and evaluated via a graphical user interface and analyzed.

To capture / record the dynamic course of the resulting F _R , serves as a hydraulic linkage 52 as "insole sole" or integrated into the shoe, which optimally transfers the force to a measuring cell 54 forwards. 3 shows an embodiment of such a hydraulic linkage 52 with a sensor surface 52a at the heel of the foot 10 and a sensor surface 52b on the forefoot, with the sensor surfaces 52a . 52b with a hydraulic connection 52c are connected. In the connection 52c are measuring cells 54 arranged (expediently in the area of the foot cavity to protect the measuring cells 54 ), which are connected to an evaluation unit (indicated by wires).

The hydraulic linkage 52 For example, consists of plastic, rubber or silicone and / or mixtures and variations with additives and is filled with a liquid small compressibility such as water, gel, oil, glycerol or the like, as a power transmission medium. The measuring cells 54 are placed in the foot sole in the area of the foot cavity so as not to stress them with loads such as impact, pressure, torsion, etc. The pressure cells are electrically connected via connecting wires to the microcontroller.

For example, the microcontroller and the transmitter may be clamped to the shoe, glued, integrated into an insert film, or fixed in a small sleeve above the ankle. The film may be integrated in the shoe or be designed as Einleg film. The "insole sole" is conveniently designed so that the footprint pressure amplitude and the heel pressure amplitude are optimally matched to the pressure cells 54 be forwarded, so that when running no interference, but well-being.

The hydraulic linkage 52 works according to the principle known eg from fluid brakes in motor vehicles or hydraulic presses:
Acts on the force-receiving surface A _1, the resulting force F _R (F ₁ ), the force is transmitted to the pressure sensor surface A2 of the measuring cell 54 and converts the resultant force F _R into an electrical signal amplitude.

Similar to the hydraulic press, the forces behave like the corresponding surfaces. The following applies: F ₁ / F ₂ = A ₁ / A ₂

Another way to determine the speed, the positive or negative acceleration and the positive or negative slope of a path results from the recognition of typical characteristics of the force curve as a function of time, in particular from the recording of the foot print image.

Recordings of walking or walking footprints when accelerating, decelerating, or when walking up or down an inclined plane, with the whole foot or on the forefoot, are stored in the memory of a microcontroller and serve as a current recording measurement as templates or reference, for Comparison.

Thus, for example, a distinction between an acceleration in the horizontal plane and the rise or fall of an inclined plane, given by a different course of the force-time signal or different foot print image.

So when walking down an inclined plane, the foot is placed more heavily (compared to the forefoot) with the heel as when running in the horizontal or when running up. When walking up an inclined plane, the forefoot is more stressed than the heel. From the change in the load on the heel and forefoot and in comparison with the "neutral" pressure distribution when moving in the horizontal plane, it is possible to detect whether the runner moves horizontally or on a slope or a slope.

The size of the parameters, such as speed, speed increase or deceleration, positive or negative acceleration, as well as positive or negative slope angle of the distance can be calculated from the measurement of the course or partial course of the force-time signal, with respect to its force magnitude and its duration. With impulse or force impulse results Δp = m · Δv = F · t

The calculations are made using the D'Alembertian principle, according to which the measurement of the force magnitude of the magnitude of the resulting | F _R | and the mathematical conjunction with the magnitude of the weight | F _g |, the magnitude of the acceleration force | F _a | results.

The following are some numerical examples. The values are for illustrative purposes and are intended as a guide only. Of course, the values can vary greatly depending on the runner.

A calculation of the acceleration force F _a can be derived from the cosine theorem. With measured resulting force | F _{R_arithm} | = 1474.62 N, given a gravitational force F _g = 800 N, a given pitch angle φ = 18.72 ° and β = 90 ° - φ results in β = 71.28 °, and a velocity v _{s / t} = 7 km / H. From the cosine theorem of trigonometry with

The negative solution for x ₂ is not considered.

The calculation of the actual power P with each step results from the product of the acting force F, which brings a body to the speed v _{s / t} and the speed v _{s / t} , which was caused by the action of the force F: P = F · v _{s / t}

For a given speed v _{s / t} , the powers P behave like the forces F. The power P is proportional to the force F.

By arranging the calculated and measured forces F in a force triangle and multiplying the forces F by a current speed v _{s / t} generated from these forces, the product F · v = P yields a power triangle with the respective associated powers: Accelerator power (horizontal plane) P _ah = | F _ah | · v _{s / t} Acceleration force performance (inclined plane) P _as = | F _as | · v _{s / t} Resulting force-power (horizontal plane) P _Rh = | F _{R_berech} | · v _{s / t} Resulting force power (inclined plane) P _Rs = | F _{R_arithm} | * v _{s / t} Weight Power Output P _Fg = | F _g | · v _{s / t}

To calculate the acceleration power P _ah in the horizontal plane, the acting force F _ah is calculated from the momentum and the speed v _{s / t is} calculated from the distance / time measurement.

To calculate the acceleration power P _as in the inclined plane, the acting force F _as from the cosine set with the measured resultant | F _{R_arithm} | calculated. The velocity v _{s / t} is calculated from the distance / time measurement. P _as = F _as · v _{s / t} with F _as from cosine set, | F _{R_arithm} |; v _{s / t} = s / t

The calculation of the resultant power P _Rh in the horizontal plane results from the product of the calculated acting force | F _{R_berech} | and the velocity v _{s / t} calculated from the path-time measurement. P _Rh = F _{R_berech} * v _{s / t}

The calculation of the resultant power P _Rs in the inclined plane results from the product of the measured acting force | F _{R_arithm} | and the speed v _{s / t} calculated from the distance-time measurement. P _Rs = F _{R_arithm} * v _{s / t}

The calculation of the weight force power P _Fg results from the product of the constant weight force F _g and the current speed v _{s / t} , which was calculated from the distance / time measurement. P _Fg = F _g * v _{s / t} with F _g = m * g and v _{s / t} = s / t

The weight force power P _Fg applies in the horizontal plane and in the inclined plane and is proportional to the current speed v _{s / t} .

A mean total power P _ges is obtained by summing the respective individual calculated step powers divided by the number of calculated services.

The individual services can also be considered in analogy to AC technology (electric machine). Here, the acceleration force power P _a then corresponds to the active power P, the resulting power power P _{R of} the apparent power S and the weight force power P _{Fg of} the reactive power Q.

The leg muscles correspond to a generator and the body mass to the consumer. The weight force power P _Fg thus corresponds to the exchanged power between muscle power and the body mass to be accelerated.

In the horizontal plane the following applies:

The power factor λ, is given as a function of the pitch angle φ and the ratio of active power P = P _a to the apparent power S = P _R.

A positive pitch angle (+ φ) would correspond to an inductive load and a negative pitch angle (-φ) to a capacitive load.

The different measuring methods or calculation methods can be used alternatively or in any desired combination, wherein the same variables obtained with different methods can be used on the one hand for plausibility analysis (outlier values can be ignored) and / or for averaging in order to reduce any measurement errors.

In the horizontal plane, each velocity v is the magnitude of a given resultant force | F _R | assigned, the sentences of Newton and Pythagoras apply

In the inclined plane, every amount of a given resultant force | F _R | an angle β assigned. Furthermore, the D`Alambert`sche principle and the Kosinussatz applies. (please refer 2 )

A runner moves in the horizontal plane and needs to travel its constant measuring distance at the foot s = 30 cm = 0.3m the measured rolling time t ₁ = 0.216 s, that is, its current speed is v _{s / t1} = s / t ₁ with v _{s / t1} = 0.3 m / 0.216 s = 1.3889 m / s = 5 km / h.

At the same time, in the measured time t ₁ = 0.216 s, the force amplitude curve of the resulting force F _{R1 is} recorded and the arithmetic mean value is formed, which thus corresponds to the magnitude of the resulting force | F _R | during the time t corresponds.

| F _R1 | = 951.132 N measured, arithmetic mean.

The amount of acceleration force | F _a | arises from the Pythagoras.

The product of the constant amount of accelerating force | F _a1 | and its duration t ₁ results in relation to the body mass m, the current speed v _Druck1 . V _Ft1 = F _a1 · t ₁ / m V _Ft1 = 514.44 N · 0.216 s / 80 kg = 1.389 m / s = 5 km / h

Statement: v _{s / t1} = V _Ft1 ie the rotor runs in the horizontal plane!

The next measured roll-off time is t ₂ = 0.154 s and with the constant distance s = 0.3 m results in the actual velocity v ₂ = s / t ₂ to be found v _{s /} t 2 = 0.3 m / 0.154 s = 1.948 m / s = 7 km / h

The speed increase is Δv _2-1 Δv _2-1 = v _{s / t} 2 - v _{s / t 1} = 7 km / h - 5 km / h = 2 km / h

At the same time, in the measured time t = 0.154 s, the force amplitude curve of the resulting force F _{R2 is} recorded and the arithmetic mean value is formed, which thus corresponds to the magnitude of the resulting force | F _R | during the time t corresponds.

| F _R2 | = 1288.527 N, calculated arithmetic mean.

The amount of acceleration force | F _a2 | arises from the Pythagoras.

The product of the constant amount of accelerating force | F _a2 | and its duration t ₂ gives in relation to the body mass m the current speed v ₂ . V _Ft2 = | F _a2 | · t ₂ / m V _Ft2 = 1010.10 N · 0.154 s / 80 kg = 1.944 m / s = 7 km / h

The determination of the current velocities v ₁ and v ₂ from the distance-time measurement and the force-time measurement yield the values:
(v _{s / t1} = 5 km / h, V _Ft2 = 7 km / h) and give the statement that the runner runs in the horizontal plane and increases its speed by Δv = 2 km / h.

The speed change and the acceleration can also be calculated from the differences. The speed difference Δv = v _{s / t} 2 -v _{s / t} 1 gives Δv = 1.944 m / s - 1.389 m / s = 0.555 m / s and thus Δv = 2 km / h, ie speed change by v = 2 km / h. H

The roll-off time difference is Δt = t ₁ -t ₂ with Δt = 0.216 s-0.154 s = 0.062 s

The acceleration results from a _1-2 = Δv / Δt with a _1-2 = 0,56 m / s / 0,062 s = 8,96 m / s2

The amount of acceleration force | F _a | results from | F _a | = m · a _1-2 with the body mass m = 80 kg results | F _ad | = 80 kg · 8,96 m / s2 = 716,845 N.

The product of the determined constant amount of accelerating force | F _ad | and the roll-off time difference .DELTA.t results in relation to the body mass m, the current speed change .DELTA.v. Δv = | F _ad | · Δt / m with Δv = 716.845 N · 0.062 s / 80 kg = 0.555 m / s = 2 km / h

In the inclined plane results with a measured roll-off time t ₁ = 0.216 s and with the constant distance s = 0.3 m, the actual speed to be found v ₁ = s / t ₁ = 0.3m / 0.216 s = 1.389 m / s to v ₁ = 5 km / h.

At the same time, in the measured time t ₁ = 0.216 s, the force amplitude curve of the resulting force F _{R is} recorded and the arithmetic mean value is formed, which thus corresponds to the magnitude of the resulting force | F _R | corresponds to | F _R1 | = 951.132 N as measured, arithmetic mean.

The amount of acceleration force | F _a1 | arises from the theorem of Pythagoras.

The product of the constant amount of accelerating force | F _a1 | and its duration t ₁ gives in relation to the body mass m the current speed v ₁ . with V ₁ = | F _a1 | · t / m to V ₁ = 514.44 N · 0.216 s / 80 kg = 1.389 m / s = 5 km / h

The determination of the current velocities v from the distance-time measurement and the force-time measurement result in the same values (v = 5 km / h) and make the statement: the rotor runs in the horizontal plane!

The next measured rolling time t ₂ is also: t ₂ = 0.216 s with the constant distance s = 0.3 m gives the actual speed v ₂ = s / t ₂ = 0.3 m / 0.216 s = 1.389 m / s to be found v ₂ = 5 km / h

At the same time, in the measured time t ₂ = 0.216 s, the force amplitude curve of the resulting force F _{R is} recorded and the arithmetic mean value is calculated, which thus corresponds to the magnitude of the resulting force | F _R | corresponds to | F _R2 | = 1080.259 N as measured arithmetic mean.

A time difference formation with Δt _d = Δt ₂ - Δt ₁ = 0.216s - 0.216 s = 0 s and Δv _d = Δv ₂ - Δv ₁ = 1.389 s - 1.389 s = 0 s provides the statement: There is no speed increase, acceleration.

The calculation mode - horizontal plane results in the acceleration force | F _a | from the sentence of Pythagoras.

The product of the constant amount of accelerating force | F _a | and its duration t ₂ , in relation to the body mass m, gives the current speed v ₂ with V ₂ = | F _a2 | · t ₂ / m and V ₂ = 725.919 N · 0.216 s / 80 kg = 1.95 m / s = 7.055 km / h. Because the roll-off time difference Δt = t1 - t2 = 0 and there is thus no speed change Δv = 0 and no acceleration a = 0, - is the result determined
v ₂ = 7.05 km / h or
Δv = 7.05 km / h - 5 km / h = 2.05 km / h, which is clearly wrong. It is recognized that the runner moves on the inclined plane. Due to its rolling time t = 0.216 s, the runner runs at the speed v = 5 km / h.

We are now looking for the positive or negative pitch angle φ, for which the calculation mode - inclined plane → cosine theorem is used.

The amount of its acceleration force | F _a | is still | F _a | = m · v / t = 80 kg · 1.389 m / s / 0.216 s = 514.44 N, because v = const. = 5 km / h.

The amount of the measured resultant force is | F _R2 | = 1080.259 N, and the weight F _g is: F _g = m × g = 80 kg × 10 m / s 2 = 800 N.

ergibt sich ß mit

β = arccos(1080,259² – 800² N – 514,44²/2·800 N·514,44) β = arccos (0,318); β = 1,247 (Bogenmaß); β = 71,45°
Der Steigungswinkel φ = 90° – β = 90° – 71,45° = 18,55°From the cosine phrase:

ß results with

β = arccos (1080.259 ² - 800 N ² - 514.44 ^2/2 · 800 N · 514.44) β = arccos (0.318); β = 1.247 (radians); β = 71.45 °
The pitch angle φ = 90 ° - β = 90 ° - 71.45 ° = 18.55 °

From this follows the statement: The runner runs with the speed v = 5 km / h an inclined plane with the pitch angle φ = 18.55 °.

At a speed increase, i. Accelerate, in the inclined plane the following results.

The measured Abrollzeit is t ₁ = 0.216 s yields at the constant distance s = 0.3 m to place current speed v _{s / t 1} = s / t ₁ = 0.3 m / s = 0.216 1.389 m / s to v _{s / t1} = 5 km / h.

At the same time, in the measured time t ₁ = 0.216 s, the force amplitude curve of the resulting force F _{R is} recorded and the arithmetic mean value is formed, which thus corresponds to the magnitude of the resulting force | F _R | equivalent.

The amount of the measured resultant is | F _R1 | = 1080,259 N

| F _R1 | = 1080,259 N measured, arithmetic mean

From the previous calculation (in the inclined plane) the measured and determined values give: v ₁ = 5 km / h, | Fr ₁ | = 1080,259 N the statement: the runner runs with the speed v = 5 km / h an inclined plane with the pitch angle φ = 18.55 °.

The next measured roll-off time is t ₂ = 0.154 s and with the constant distance s = 0.3 m results in the current velocity v ₂ = s / t ₂ with v _{s /} t ₂ = 0.3 m / 0.154 s = 1.944 m / s = 7 km / h.

The calculations from difference formation with Δt = Δt ₁ - Δt ₂ = 0.216 s - 0.154 s = 0.062 s Δv = Δv ₂ - Δv ₁ = 1.944 m / s - 1.389 m / s = 0.555 m / s = 2 km / h gives the statement: The runner increases his speed by 2 km / h

To clarify the question of whether the runner runs in the horizontal or in the inclined plane, the following consideration is made.

The amount of the measured and determined resultant | F _{R_arithm} | = 1474.575 N. In order to run at the speed of v = 7 km / h, the runner needs a certain acceleration force F _a . To calculate the acceleration force F _a , the pulse set is used: F _a = v · m / t = 1.944 m / s · 80 kg / 0.154 s = 1009.87 N

In the horizontal plane, the Pythagoras is used to determine the amount of resultant | F _R |.

Pythagoras yields

Statement: The comparison of the measured resultants | F _{R_arithm} | = 1474,575 N with the resultant | F _Rberech | calculated from the Pythagoras = 1288.347 N returns: | F _{R_arithm} | ≠ | F _Rberech |, the measured resultant is not equal to the calculated resultant, ie the rotor runs in the oblique plane, from which it follows that the calculation of the pitch angle φ is done from the cosine set. β = arc cos (F _{R_arithm} ² - F _g ² - F _a ^2/2 · F · _g F _a) β = arccos (1474.575 ^{2-800 2-1009.87 2/2} · 800 · 1009.87) β = arccos (0.318) = 1.247 (radians) = 1.247 x 360 ° / 2 x 3.1415 = 71.45 ° φ = 90 ° - β = 90 ° - 71.45 ° = 18.55 °

Result: The runner continues to climb the inclined plane with the pitch angle φ = 18.55 °, increasing his speed from v ₁ = 5 km / h to v ₂ = 7 km / h.

It follows the consideration of the movement down the inclined plane. A runner requires the measured rolling time t ₁ = 0.060 s to cover his constant measuring distance s at the foot s = 30 cm = 0.3 m. With v = s / t ₁ an actual speed of: v _{s / t1} = 0.3 m / 0.06 s = 5 m / s, ie v _{s / t1} = 18 km / h.

In order to have the velocity of v _{s / t1} = 18 km / h in the horizontal plane, an acceleration force F _a resulting from the momentum / momentum is required. | F _a | = m · v / t = 80 kg · 5.00 m / s / 0.060 s = 6666.67 N

By arranging the forces according to D'Alembert's principle, the amount of the resulting force | F _R |, when running in the horizontal plane, results from the Pythagoras.

With the weight F _g = m × g = 80 kg × 10 m / s ² = 800 m / s ²

Simultaneously with the measurement of the rolling time t ₁ = 0.060 s, the force amplitude curve of the resulting force F _{R is} measured and the arithmetic mean value is calculated, which thus corresponds to the magnitude of the resulting force | F _{R_arithm} | during the rolling time t ₁ = 0.060 s corresponds.

The result is measured | F _{R_arithm} | = 6304.84 N and computes | F _Rberech | = 6714.498 N, ie | F _{R_arithm} | ≠ | F _Rberech | and | F _{R_arithm} | <| F _Rberech |.

When the measured resultant force | F _{R_arithm} | equal to the calculated resulting force | F _Rberech | is, ie | F _{R_arithm} | = | F _Rberech |, then the runner runs in the horizontal plane at the speed v _{s / t1} = 18 km / h, and the following applies:
Slope angle φ = 0 °

When the measured resultant force | F _{R_arithm} | unlike the calculated resulting force | F _Rberech | is, | F _{R_arithm} | ≠ | F _Rberech |, then the runner runs in the inclined plane with the speed v _{s / t1} = 18 km / h.

The pitch angle φ is calculated from the set of cosines β = arccos ((F _{R_arithm} ² -F _g ² -F _a ² ) / 2 × F _g × F _a ) β = arccos (6304.84 ^{2-800 2-6666.67 2/2} · 800 · 6666.67) = 2.094 = 120 ° φ = 90 ° - β = 90 ° - 120 ° = -30 °

Result: The runner descends the inclined plane with the incline angle φ = (-30 °) at the speed v _{s / t} = 18 km / h.

The invention allows a distinction between walking and running, in addition to determining whether the runner is moving on a horizontal or inclined plane.

When walking, for example, according to the Rancho Los Amigos system eight subphases of a gait cycle are known: an initial contact with the ground, a loading response, a mid stance, a terminal stance, a pre-swing phase, an initial swing phase, a mid swing phase and a terminal swing phase.

The task of the initial ground contact and the load response is the takeover of the body load. This dampens the impact, initiates leg stability and maintains locomotion. The next three sub-phases, the middle stance phase, the terminal stance phase and the advance phase, ensure monopedal standing. In these sub-phases the whole mass of the human being is carried by only one leg (monopedal). This requires stability without interrupting locomotion. The next four sub-phases (pre-swing phase, initial swing phase, middle swing phase, and terminal swing phase) are designed to swing the leg forward without loss of speed: the leg lifts off, is moved forward, and released.

The run is different from the walk through its phases. Included are only the swing and monopedal stance phase, a bipedal stance phase is eliminated. At higher speeds, the floating phase is added, in which no foot has contact with the ground. During the sprint the initial contact with the ground is taken over by the ball of the foot.

When walking sets the leading leg of the heel just before lifting the forefoot of the trailing, accelerating foot. At this point, both feet have contact with the ground. The next moment, with the lift of the fore foot of the trailing accelerating foot, the resulting F _{R is transferred} to the leading foot and travels with the foot rolling movement from the heel to the forefoot, while the lifted foot of the trailing foot is moved forward and now the part of the leading foot takes over. Here, in each phase of a step cycle, the goer has ground contact with one of his feet, which can be considered a definition of walking.

When placing the leading foot with the hoes of the runner falls from about 1 cm height to the ground. If the touchdown of the hacking of the leading foot takes place after lifting off the forefoot of the trailing foot, there is for a short time no ground contact with one of the feet. The period of time, from lifting the forefoot of the trailing foot, to putting on the hacking of the leading foot, is referred to as flight phase and can be considered as a definition of running.

To detect whether walking or running, serve the time of Hackenaufsetz signal of the leading foot and the time of Vorderfußabhebe signal of the trailing foot or generally the time when placing the leading foot and the time when lifting the trailing foot.

If the time of the Hackenaufsetz signal of the leading foot before or is equal to the time of Vorderfußabhebe signal of the trailing foot, so walking is detected. (Ground contact)

If the time of the heel strike signal of the leading foot is after the time of the Vorderfußabhebe signal of the trailing foot, then running is detected. (Flight phase)

The running corresponds to a sequence of "step wide jumps", jumping off with the rear trailing, accelerating foot and landed with the leading foot. The flight phase is comparable to the oblique litter.

This is the superposition of a uniform movement of the body center of gravity KSP with certain initial speed (jump speed) obliquely upward and free fall to understand. The two partial movements result in a resulting movement. The trajectory is a parabola, which the body center of gravity KSP travels from the time of the forefoot release signal of the trailing foot to the time of the chopping-up signal of the leading foot.

For this resulting movement of the body center of gravity KSP, speeds and paths can be determined by calculation or drawing. Here, the laws and functions of the oblique litter, the oblique litter now corresponds to a "diagonal jump". For the resulting speed:

v₀

Geschwindigkeit des Körperschwerpunktes KSP beim Absprung; Absprungsgeschwindigkeit; Anfangsgeschwindigkeit

g

Fallbeschleunigung (9,81 m/s²)

t_s

Zeit (vom Zeitpunkt des Vorderfußabhebe-Signals des nachlaufenden Fußes, bis zum Zeitpunkt des Hackenaufsetz-Signals des vorlaufenden Fußes)

δ

Absprungwinkel; (Beschleunigungskraft-Winkel);

Where:

v ₀

Speed of body center KSP at take-off; Bounce rate; initial velocity

G

Fall acceleration (9,81 m / s ² )

t _s

Time (from the time of the forefoot lift off signal of the trailing foot until the time of the heel strike signal of the leading foot)

δ

Bounce angle; (Acceleration force angle);

Of interest here is the jump distance of the body's center of gravity KSP. It depends on the initial speed (take-off speed) and the take-off angle δ. For the jump width s _{W of} the body center of gravity KSP, the following applies:

With respect to the height of the body center of gravity KSP, at the time of the forefoot lifting signal of the trailing foot, the body center of gravity reaches its greatest height after the climbing time t _st . The greatest height reached by the body center of gravity KSP is called the jump height s _h . The time to reach the highest altitude is the climb time t _st and is the same as the fall time t _f , ie the time between reaching the highest altitude and setting up the hopping of the leading foot in jump height. The duration of the entire body-center-jump, is therefore equal to the sum of rise time and fall time.

The jump duration (step duration) t _sp results from t _sp = t _st + t _f

Where the rising time t _st begins with the lifting of the trailing foot and the fall time ends with the placement of the leading foot.

Jump height and climbing time of the body center of gravity KSP calculate with

The paths of the body center of gravity KSP in the horizontal direction or in the vertical direction result from the partial movements and can be determined as follows: s _x = v ₀ · t · cosδ s _y = v ₀ × t × sinδ-g / 2 × t ²

The relationships shown apply in the horizontal plane neglecting air resistance. In the inclined plane, the pitch angle ± φ must be considered.

Walking is an Olympic, athletics discipline, with referees paying close attention to whether the golfer complies with the rules of always having contact with one of his feet and is not walking. There are always wrong judgments, because the observation and assessment is very difficult.

With the detection of the timing of the heel strike signal of the leading foot and the time of the forefoot release signal of the trailing foot, walking or running is recognized and may be e.g. be signaled via colored LEDs on the shoe. Thus, wrong judgments can be excluded and contribute to a fair competition.

Furthermore, the innovation is suitable for training the long jump or for determining the calorie consumption when climbing stairs.

The body size of a runner, or his leg length, is decisive for the largest possible stride length s _Lmax , the largest possible angle δ_max and its stepping frequency f _step .

The introduction of a defined leg length L _leg serves to define a range of values.

How out 4 can be seen results in a defined leg length L _leg , which corresponds to the drawn resultant force F _R , from the center of Fußabruckskraftfläche A _Fabdruck the forefoot of the trailing foot to the hip bone and forms the perpendicular weight force F _G , the angle δ. The leg length L _bein can be measured manually with a meter measure and is fed via an input keyboard to the microcontroller.

A small leg length L _leg requires a higher stride _frequency to travel a given distance, compared to a large leg length L _leg . Higher stepping frequencies result when accelerating and when ascending an inclined plane. Lower pacing rates result from slowing down and when walking down an incline.

To accelerate a body and bring it to a certain speed, work has to be done. This is then in the form of kinetic energy in the body.

The work done thus corresponds to an acceleration work performed by the footprint force.

W_kin

kinetische Energie des Körpers (Beschleunigungsarbeit)

m

Masse des Körpers

v

Geschwindigkeit des Körpers

s

Weg

Where:

W _kin

kinetic energy of the body (acceleration work)

m

Mass of the body

v

Speed of the body

s

path

A change in the velocity from v ₁ to v ₂ therefore results in a change in the kinetic energy (acceleration work).

This is then: ΔW _kin = m / 2 · (v ₂ ² - v ₁ ² )

The difference, a measured footprint force to the measured hoe touch force and the next or previous measured footprint force, is a measure of the speed change.

The 5a to 5e show a runner 100 which runs upright, with constant weight force F _G , with constant resultant force F _R (constant footprint force) and constant stride length s _{L up} an inclined plane, running in the horizontal plane and running down an inclined plane. ( 5a ). Below the partial images a, b, c of the 5a For purposes of illustration, forces and angles between forces are indicated

Here, the weight F _G always acts perpendicular from the center of gravity of the rotor to the ground and forms with the resultant force F _R the angle δ. (Acceleration force angle, speed angle).

With consideration of the middle partial picture a the 5a (Runner 100 on the horizontal plane) results from the largest stride length s _{Lmax of} the runner 100 a maximum resulting force | F _{R_max} | of the fore foot of the trailing foot to the body center of gravity KSP and thus forms the vertical constant weight force | F _G |, the largest angle δ _max in the horizontal plane.

The step length s _L is dependent on the height of the runner 100 or his leg length L _leg . The body center of gravity KSP is located near the belly button at the level of the hip bone of the runner. Become smaller step lengths _L s, the angle δ _L decreases and reaches its minimum value δ _min, when the step length _L s is equal to the foot length _F s is. This results in the smallest step length s _Lmin when the hacking of the trailing foot, in the line to the toe of the leading foot touches, and thus generates the minimum resulting force F _{R_min} .

In the horizontal plane the laws of the trigonometric functions of a right triangle apply. The forces are calculated from the Pythagoras: F _R ² = F _G ² + F _a ²

The angle β is 90 ° in the horizontal plane. The angle δ is calculated from:

The left part of the picture b the 5a shows the movement of the runner 100 in an inclined plane upwards, wherein the inclined plane has a positive pitch angle (+ φ). It can be clearly seen how the constant weight force F _G acting perpendicularly from the center of gravity of the rotor to the ground reduces the angle δ in the order of magnitude of the pitch angle (+ φ) and thus produces a smaller acceleration force F _a in the direction of movement with respect to sub-image a, which is a lower speed v corresponds.

The right part of the picture c the 5a shows the runner 100 running down an inclined plane with the negative pitch angle (-φ). It can be clearly seen how the weight force F _G , which acts perpendicularly from the center of gravity of the rotor to the ground, increases the angle δ in the order of magnitude of the pitch angle (-φ) and thus produces a greater acceleration force F _a in the direction of movement with respect to the sub-image a greater speed v corresponds.

In the inclined plane the laws of the trigonometric functions of a skewed triangle apply (s. 2 ). The resulting force F _{R is} calculated with:

The acceleration force F _{a is} calculated with:

The pitch angle φ is given by: φ = 90 ° - β

The angle δ is given by: δ = arcsin ((F _a / F _R ) · sinβ); β = 90 ° - φ

The angle ω is given by: ω = arcsin ((F _g / F _R ) · sinε); ε = 180 ° - β

Other angular relationships are: δ = β - ω; 180 ° = δ + ω + ε

To find the maximum positive pitch angle (+ φ _max ) serve the fields a-d of 5b to consider the behavior of the force system and the body center of gravity KSP of the runner with increasing positive pitch angle + φ with regard to its equilibrium and its stability. Here's the runner 100 stable as long as its center of gravity lies vertically above the support surface (foot) and is therefore in stable equilibrium.

The images show a runner running upright, with constant weight force F _G , with constant resultant force F _R (constant footprint force) and constant stride length s _L , an inclined plane with increasing positive pitch angle (+ φ).

Drawing a shows the runner 100 in the horizontal plane with the pitch angle φ = 0. In this case, the body center of gravity KSP, with its constant weight force F _G acting perpendicular to it, is in the frontal plane of the middle of the body at the level of the navel, the perpendicular constant weight force F _G , through which Center of the step to the ground runs. (stable balance)

The sub-images b, c, d show that the vertically acting constant weight force F _G decreases with increasing positive lead angle (+ φ), the angle δ and thus produces an ever smaller acceleration force F _a in the direction of movement. This results in a maximum positive pitch angle of φ = 15 °, which ensures an upright continuous walking / running in the inclined plane.

From a positive pitch angle of φ = 20 °, is the rotor 100 in the critical area, by assessing via measurements, whether an upright continuous walking / running in the inclined plane can be guaranteed.

To find the maximum negative pitch angle (-φ _max ) serve the sub-images a, b, c, d of 5c to consider the behavior of the system of forces and the body's center of gravity KSP of the runner 100 , with increasing negative pitch angle -φ, in terms of its balance and stability. Here's the runner 100 stable as long as its center of gravity KSP lies vertically above the support surface (placing foot) and thus is in stable equilibrium. The partial images a-d of the figure show the runner 100 running downright, with constant weight force F _G with constant resultant force F _R (constant footprint force) and constant stride length s _L , an inclined plane with increasing negative pitch angle (-φ).

Drawing a shows the runner 100 in the horizontal plane with the pitch angle φ = 0. In this case, the body center of gravity KSP, with its constant weight force F _G acting perpendicularly on it, is in the frontal plane of the body center, the perpendicular constant weight force F _G passing through the middle of the step Ground runs (stable balance).

The sub-images b, c, d show that the perpendicularly acting constant weight force F _G increases the angle δ with increasing negative lead angle (-φ) and thus generates an ever-increasing acceleration force F _a in the direction of movement.

This results in a maximum negative pitch angle of -φ = 15 °, which ensures an upright continuous walking / running in the inclined plane.

From a negative pitch angle of -φ = 20 °, is the rotor 100 in the critical area, by assessing via measurements, whether an upright continuous walking / running in the inclined plane can be guaranteed.

In the drawing a the 5d is the runner 100 shown running up an inclined plane with the positive pitch angle + φ = 15 °, with his upper body at right angles to the inclined plane.

Drawing b shows the runner 100 which runs up an inclined plane with the positive pitch angle + φ = 15 °, with its upper body, with respect to partial image a, bent by 15 ° forward and is now perpendicular to the inclined plane, which corresponds to an upright walking / running (Posture for constant speed, small speed changes).

Drawing c shows the runner 100 , which runs up an inclined plane with the positive pitch angle + φ = 15 °, with its upper body, with respect to partial image b, bent by 18 ° forward and is now in line with the forefoot of the trailing accelerating foot (acceleration attitude for speed increase).

As can be seen from the pictures, the runner shifts his body center of gravity KSP by flexing the upper body with its perpendicularly acting weight F _G forward and thus increases the angle δ and the resulting F _R , creating a greater acceleration force F _{a is} generated in the direction of movement.

Partial picture a the 5e shows the runner 100 running down an inclined plane with the negative pitch angle -φ = 15 °, with its upper body at right angles to the inclined plane.

Partial picture b of the 5e shows the runner 100 which runs down an inclined plane with the negative pitch angle -φ = 15 °, with its upper body, with respect to sub-picture a, bent 15 ° backwards and is now perpendicular to the inclined plane, which corresponds to an upright walking / running (Posture for constant speed, small speed changes).

Partial figure c of the figure shows the runner 100 running down an inclined plane with the negative pitch angle -φ = 15 °, with its upper body bent back by 15 ° with respect to panel b and now in line with the forefoot of the leading, accelerating foot (brake position for speed reduction ).

As can be seen from the pictures, the runner shifts 100 by bending the upper body its body center of gravity KSP with its perpendicular from him gravitational force F _G backwards and thus reduces the angle δ and the resulting F _R to a smaller acceleration force F _a in the direction of movement or a braking force (-F _a ) against the direction of movement produce.

6a - 6f show different variants of favorable pressure surfaces of a sensor 50 as sensor surfaces.

6a shows a sensor chain arrangement of a sensor 50 with measuring cells 54 to record foot pressure from the heel area 10.1 over the midfoot area 10.2 to the forefoot area 10.3 and 10.4 , The sensor chain arrangement is for example in an insole 20 integrated.

For direct detection of the foot 10 For example, the force exerted by the runner, the pressure surfaces are designed to be equal in size and provide the exact length position within the sole of the foot along its length L10 when force. the reference number 24 indicates the earliest touchdown point of the foot 10 on the ball of the foot 10.3 at. 10.4 refers to the area of the toe.

For the conversion of the force in an electrical signal pressure measuring cells can 54 are located directly in the transmission medium within the pressure surface or connected by capillaries in the area of the foot cavity 12 be installed (area 22 for signal acquisition and signal processing).

6b shows a sensor chain arrangement for detecting the foot pressure from the heel area 10.1 and the forefoot area 10.3 . 10.4 , For direct detection of the applied force, the pressure surfaces are designed to be the same size and provide the force of the exact length position along the length L10 (longitudinal extension of the foot 10 ) within the sole of the foot.

6c shows a sensor chain arrangement for detecting the foot pressure from the heel area 10.1 and the forefoot area 10.3 . 10.4 , The pressure surfaces provide the force of the exact length position within the sole of the foot along the longitudinal extent L10 of the foot 10 and are designed differently sized.

6d shows a sensor chain arrangement, the arrangement in 6c corresponds but with additional detection of foot pressure in the midfoot region 10.2 ,

6e shows a sensor chain arrangement for detecting the entire footprint. The pressure surfaces are designed, for example rectangular and provide the force of the exact length position within the sole of the foot along the longitudinal extent L10 of the foot. Below the plan view is for illustrative purposes a longitudinal section through the measuring cells 54 shown along L10.

6f shows a sensor chain arrangement for detecting the entire footprint. The pressure surfaces are designed, for example, the same size and arranged in a central region of the sole of the foot along the longitudinal extent L10. So can a pressure or a pressure distribution in the central area of the foot 10 be recorded.

The in the 6a - 6f embodiments shown are meant by way of example. Both an absolute pressure and a distribution of the pressure across the sensor surface can be detected and used for the evaluation.

7 shows an example evaluation of a resultant force F _R on the basis of characteristics at different speeds as a function of a pitch angle φ.

The following quantities are used as calculation data by way of example:
Body weight m = 80 kg
constant measuring distance s from the heel to the toe s = 30 cm.

At a speed of v = 10 km / h (upper curve) and a slope angle φ = 10 °, the resulting force F _R increases by ΔF _R = 125.88 N

At a speed of v = 5 km / h (lower curve) and a slope angle φ = 10 °, the resulting force F _R increases by ΔF _R = 72.37 N.

To ensure very high accuracy, the relevant parameters, such as the velocity v _{s / t} calculated from the distance-time measurement and the determined value of the arithmetic mean of the pressure _{curve of} the resulting force | F _{R_arithm} |, for each running speed v and each _{helix angle} ( ± φ) are calibrated via correction factors or correction functions. For calibration of each speed v _{s / t} and each pitch angle (± φ) when walking / running with the whole foot or on the forefoot, a treadmill is used as the primary standard for the speed command v _kal and adjustable positive and negative pitch angles (± φ _kal ).

Prerequisite is normal walking / running, which excludes a chattering, tripping, slumping or walking / running.

The speed v _{s / t} calculated from the distance-time measurement is compared with the preset speed v _kal and equated by correction factors or correction functions in the case of inequality. eg v _cal = v _{s / t} · k _factor = v _{s / t_kal} or v _cal = v _{s / t} * f (k _factor ) = v _{s / t_kal}

The exact weight of the runner | F _g | = m · g, is measured with a calibrated balance.

When walking / running in the horizontal plane, with the calibrated speed v _{s / t_kal} and the properly measured weight force | Fg | = m · g, the accelerating force Fa, and further the magnitude of the resultant force | F _{R_berech} | calculated.

This amount of the resulting force | F _{R_berech} |, calculated from the calibrated values, is now considered calibrated resulting force | F _{R_berech_kal} | in the horizontal plane, with set pitch angles φ _kal = 0 °. The calibration of the magnitude of the arithmetic mean of the resulting force | F _{R_arithm} | from the pressure / time measurement, (force / time measurement) in the horizontal plane, takes place via the equation with the resulting force | F _{R_berech_kal} | in the horizontal plane, by correction factors or correction functions at each predetermined speed v _cal and set pitch angle φ _kal = 0 °. eg | F _{R_berech_kal} | = | F _{R_arithm} | · k _Factor = | F _{R_arithm_kal} | or | F _{R_berech_kal} | = | F _{R_arithm} | · f (k _factor ) = | F _{R_arithm_kal} |

Thus: | F _{R_berech_kal} | = | F _{R_arithm_kal} |; for all v _kal at φ _kal = 0 °

Here, the amounts are decisive and not the individual force-pressure curve of the resulting force F _R.

To eliminate signal outliers (peak), the evaluation unit is preceded by a signal filter.

The calibration of the positive and negative pitch angle (± φ) is made by equating the calculated pitch angle (± φ _berech ) to each set pitch _angle (± φ _kal ) by correction _factors or correction functions at each treadmill speed v _{kal set} .

Decisive for the calculation of the positive or negative pitch _angle (± φ), is the magnitude of the arithmetic mean of the resulting force | F _{R_arithm_kal} | from the pressure / time measurement, (force / time measurement).

In order to obtain the equality of the pitch angle (± φ) to be calculated with the set pitch angle (± φ _kal ), the magnitude | F _{R_arithm_kal} | multiplied by an angle correction factor φ_k _factor or an angle correction function f (φ_k _factor ). With: | F _{R_arithm_kal} | · φ_k _factor → φ _{_berech_kal} = φ _kal With: | F _{R_arithm_kal} | · f (φ_k _factor ) → φ _{_berech_kal} = φ _kal .

In summary, from the velocity _reference v = s / t, the resultant | F _Rberech | is calculated and thus also applies as a force reference for the horizontal and inclined plane.

From the pressure _curve measurement, the resultant | F _{R_arithm} | and calculates the speed v _Ft , which is correct only in the horizontal plane.

If | F _{R_arithm} | = | F _Rberech | then also v _Ft = v _{s / t} (horizontal plane only).

If | F _{R_arithm} | ≠ | F _Rberech | then also v _Ft ≠ v _{s / t} (walking in a slanted plane).

| F _{R_arithm} | is thus a measure of the pitch _angle (± φ) with respect to | F _Rberech |.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 119734697 A1 [0002]
• DE 3405081 A1 [0002]
• WO 01/25726 A1 [0003]
• DE 102007011855 B4 [0004]

Claims (19)

Motion parameter measuring device for detecting a movement parameter of a runner ( 100 ), which relative to a ground performs a relative movement, characterized in that for deriving a movement parameter (φ) of the runner ( 100 ), from a reference speed (v _{s / t} ) and a force-dependent and / or pressure-dependent speed (v _Ft ) which can be detected from a foot pressure signal as a function of time during the rolling process via sensors and / or sensor surfaces. Movement parameter measuring device according to claim 1, characterized in that movement parameters (φ) of the runner ( 100 ) is a movement angle (φ). Movement parameter measuring device according to claim 1 or 2, characterized in that the sensors ( 50 ) a sensor chain with pressure sensors ( 54 ), which extends in a planar arrangement at least partially over a foot surface. Movement parameter measuring device according to one of the preceding claims, characterized in that the sensors ( 50 ) is integrated in an insole. Movement parameter measuring device according to one of the preceding claims, characterized in that the sensors ( 50 ) is integrated in a shoe. Movement parameter measuring device according to one of the preceding claims, characterized in that the sensors ( 50 ) is integrated into a sock which can be laid around a shoe or foot. Movement parameter measuring device according to one of the preceding claims, characterized in that the sensors ( 50 ) a hydraulic linkage ( 52 ). Movement parameter measuring device according to one of the preceding claims, characterized in that the sensors ( 50 ) Comprises piezo elements and / or capacitive and / or inductive and / or ohmic pressure transducers. Method for operating a movement parameter measuring device according to one of the preceding claims, characterized in that from a reference speed (v _{s / t} ) and a force-dependent and / or pressure-dependent speed (v _Ft ), which consists of a foot pressure signal as a function of time Rolling process is detected by sensors / sensor surfaces, a movement parameter (φ) of the rotor ( 100 ) is derived. A method according to claim 9, characterized in that the movement parameter is a movement angle (φ). Method according to claim 9 or 10, characterized in that the reference speed (v _{s / t} ) is derived from a travel / time measurement from a rolling process via sensors and / or sensor surfaces. Method according to one of claims 9 to 11, characterized in that at a relative increase in the pressure in the heel area ( 10.1 ), and a relative increase in pressure in the forefoot area (FIG. 10.4 . 10.3 ) a slope and / or acceleration is detected. Method according to one of claims 9 to 12, characterized in that from the time signal and / or pressure signal and a predetermined length and / or current length of a sensor ( 50 ) a distance (s) and / or a speed (v _{s / t} , v _Ft , v) is derived. Method according to one of claims 9 to 13, characterized in that a jump angle is derived from the time signal and / or pressure signal. Method according to one of claims 9 to 14, characterized in that from the time signal and / or pressure signal, a predetermined running style is derived. Method according to one of Claims 9 to 15, characterized in that the step length s _{L is} derived from the time span of the step duration (Δt _{_sL} ) and the reference _speed (v _{s / t} ), in particular that the step length s _{L is} calculated from the product of time span (Δt _{_sL} ) and reference _speed (v _{s / t} )). Method according to one of claims 9 to 16, characterized in that is derived by summation of the individual step lengths s _L a distance traveled _away s and / or a total distance. Method according to one of Claims 9 to 17, characterized in that the data and / or results lying in the memory of a microcontroller are fed via a serial and / or parallel and / or USB interface to a separate computer and evaluated, preferably via a suitable graphical user interface and / or displayed. Method according to one of Claims 9 to 18, characterized in that the data and / or results lying in the memory of a microcontroller are fed via a serial and / or parallel and / or USB interface to a transmitter-receiver system and displayed.

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