DE102011052470B4 - Method and device for detecting a movement parameter of a runner - Google Patents

Abstract

Method for operating a movement parameter measuring device for detecting a movement parameter (φ) of a runner (100), which is moving relative to a ground, whereby a pressure and / or a pressure distribution between a foot of the runner (100) and the ground is provided by a sensor system ( 50) is recorded and an evaluation unit derives the movement parameter (φ) of the runner from the recorded signal of the pressure and / or the pressure distribution, and the movement parameter (φ) is a slope angle of the ground, the movement parameter (φ) of the runner (100) from a Reference speed (vs / t) is derived from a distance / time measurement from a rolling process via sensors and / or sensor surfaces of the sensor system (50) or is made available from external sources, and a force-dependent and / or pressure-dependent speed (vFt), which is detected from a foot pressure signal as a function of time during the rolling process, is derived from the Refer A resultant force (FR_berech) in the horizontal plane is determined, which resultant force (FR_berech) can be calculated from an acceleration force (Fa) in the horizontal plane and the amount of weight (Fg) of the runner and which the Represents the force that the runner needs in order to have the current speed (vs / t) in the horizontal plane, whereby an amplitude of a foot pressure signal is recorded as a function of time (t) and an arithmetic mean value (FR_arithm) is calculated during the rolling process an area integral of the pressure signal is formed over time (t), which arithmetic mean value (FR_arithm) corresponds to the amount of the resulting force during the duration of the force effect, with a comparison of the amounts of the calculated resulting force (FR_berech) in the horizontal plane and the arithmetic Mean value (FR_arithm) is carried out and if the amounts of the runner (100) are equal to the reference speed speed (vs / t) runs in the horizontal plane, and if the amounts are unequal, the rotor (100) runs in an inclined plane.

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.

A wide variety of methods and devices are known for determining movement parameters such as the speed and the distance run by runners. In the DE-A1-19734697 or the DE-A1-3405081 a distance traveled and an average speed is calculated by considering an estimated average stride length.

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

the DE 102007011855 B4 describes the detection of speed and distance by means of pressure sensors, which are arranged as a sensor chain on the shoe, for example as an insole or as a band around the shoe.

The object of the invention is to create an accurate and convenient method and a device suitable for this, with which a movement parameter of a runner can be determined. The object is achieved by the features of the independent claims. Advantageous configurations are the subject of the further claims.

According to the invention, a method for operating a movement parameter measuring device for detecting a movement parameter of a runner who is moving relative to a ground is proposed, wherein
a pressure and / or a pressure distribution between a foot of the runner and the ground is detected by a sensor system and
an evaluation unit derives the movement parameters of the rotor from the detected signal of the pressure and / or the pressure distribution, and
the movement parameter is a slope angle of the ground,
wherein the movement parameter of the runner is derived from a reference speed from a distance / time measurement from a rolling process via sensors and / or sensor surfaces of the sensor system or is made available from external sources, and
a force-dependent and / or pressure-dependent speed, which is derived from a foot pressure signal as a function of time during the rolling process,
wherein a resultant force in the horizontal plane is determined from the reference speed, which resultant force can be calculated from an acceleration force in the horizontal plane and the amount of the weight of the runner and which represents the force that the runner needs to move the having current speed,
During the rolling process, an amplitude of a foot pressure signal is recorded as a function of time and an arithmetic mean value is formed from an area integral of the pressure signal over time, which arithmetic mean value corresponds to the amount of the resulting force during the duration of the force effect,
A comparison of the amounts of the calculated resulting force in the horizontal plane and the arithmetic mean value is carried out and, if the amounts are equal, the runner runs with the reference speed in the horizontal plane, and if the amounts are not the same, the runner runs in an inclined plane.

A reference value for the speed can advantageously be recorded and compared with a current signal for the pressure and / or the pressure distribution.

With a relative increase in the pressure in the heel area, a slope can be recognized, and with a relative increase in the pressure in the forefoot area, an incline can be recognized. Acceleration can also be recognized.

A distance and / or a speed can advantageously be derived from the signal and a predetermined length of a sensor system.

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

The method according to the invention can be carried out, for example, with a movement parameter measuring device for detecting a movement parameter of a runner who is moving relative to a ground. To detect a pressure and / or a pressure distribution, a sensor system with at least one pressure sensor can be provided between a foot of the runner and the ground, as well as an evaluation unit that derives a movement parameter of the runner from the detected signal of the pressure and / or the pressure distribution.

In particular, the movement parameter can be an angle of movement, in particular an angle of incline of the subsurface. In this way it can be deduced whether the runner is moving on a plane or on an inclined plane, i.e. on an upward or downward slope. It is possible to obtain one or more movement parameters on the basis of relatively simple models of force vectors and / or accelerations, it being possible in each case to compare parameters of the same type that were obtained with different models. This increases security and can be used for plausibility studies of the results.

The sensor system can advantageously comprise a sensor chain with pressure sensors, which extends in a planar arrangement at least in some areas over a foot surface. A pressure distribution can thus be recorded, which increases safety and accuracy.

The sensor system can advantageously be integrated into an insole. Alternatively or additionally, the sensor system can be integrated into a shoe. Alternatively or additionally, the sensor system can be integrated into a stocking that can be placed around a shoe or foot.

In a favorable embodiment, the sensor system can comprise a hydraulic linkage. Alternatively or additionally, the sensor system can include a piezo element, or other pressure sensors, e.g. capacitive, inductive or ohmic pressure sensors such as the FSR sensor (Force Sensitive Resistor), which changes its electrical resistance depending on the force acting on the active surface.

• 1 eine schematische Darstellung einer Einlegesohle, welche die Fußfläche eines Fußes nachbildet und mit Sensor-Druckflächen versehen ist;
• 2 eine Erläuterung des D'Alembertschen Prinzips;
• 3 ein Beispiel eines hydraulischen Sensors mit hydraulischem Gestänge;
• 4 eine Darstellung eines Läuferbeins in Bewegung;
• 5a-5e einen Läufer in verschiedenen Laufpositionen;
• 6a-6f verschiedene Varianten von günstigen Druckflächen als Sensorflächen einer Sensorik; und
• 7 Beispielsauswertung einer resultierenden Kraft anhand von Kennlinien bei verschiedenen Geschwindigkeiten als Funktion eines Steigungswinkels.

Further advantages emerge from the following description of the drawings. Exemplary embodiments of the invention are shown in the drawing. 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;
• 4th a representation of a runner's leg in motion;
• 5a-5e a runner in various running positions;
• 6a-6f different variants of favorable pressure surfaces as sensor surfaces of a sensor system; and
• 7th Example evaluation of a resulting force based on characteristics at different speeds as a function of a gradient angle.

In the figures, elements that are the same or have the same effect are numbered with the same reference symbols.

1 shows an insole 20th for one foot 10 with sensors and / or sensor pressure surfaces, which are not designated in more detail by reference symbols, over which the foot 10 unrolls when walking or running. The insole is placed in a running shoe, for example. However, integration into a shoe sole or also into a sole area of a stocking, which can be designed to be pulled over the runner's foot or, alternatively, his running shoe, is also conceivable. Furthermore, the term runner should refer to humans and animals.

In a healthy person, the rolling movement starts one after the other from the heel (heel part 10.1 ) over the upper ankle joint to the forefoot ( 10.3 , 10.4 ) accomplished.

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

To determine the speed of the runner from a distance-time measurement, each individual sensor surface length or the total sensor surface length corresponds to a constant measurement distance s over which the foot takes 10 unrolls. The ratio of the length of the measuring section s to the duration t of the rolling process over the measuring section (e.g. the length of the sensor surface) is then the current speed according to v = s / t, in the following with 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 length of the foot L10 .

This speed v _{s / t} applies when walking as well as when running in the horizontal plane and when walking upwards and downwards / running on an inclined plane and is therefore the reference speed.

The reference speed v _{s / t} can consequently be derived in particular from a distance / time measurement from a rolling process via sensors and / or sensor surfaces. However, it is also conceivable that a reference speed is made available from external sources, for example via a GPS signal or the like.

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 over the sensor surfaces.

From the area integral of the pressure signal over time, the arithmetic mean value is formed which corresponds to the magnitude of the resulting force | F _{R_arithm} | corresponds to the duration of the force. $$\left|{\mathrm{F.}}_{\mathrm{R.}\_aritHm}\right|=\mathrm{A.}\cdot {\displaystyle \underset{t_1}{\overset{t_2}{\int }}p\left(t\right)\cdot dt}$$

With the arrangement of the system of forces according to D'Alembert's principle, the Pythagorean theorem serves to calculate the magnitude of the acceleration force | F _a | in the horizontal plane. The considerations are based on this D'Alembert principle as a simplifying assumption. $$\left|{\mathrm{F.}}_a\right|=\sqrt{\left({\mathrm{F.}}_{\mathrm{R.}\_aritHm}^2-{\mathrm{F.}}_G^2\right)}$$

F _g is the weight of the rotor. The product of the magnitude of the accelerating force | F _a | and its duration t is called the impulse of force or drive and is a measure of the speed v in relation to the body mass m. (or the current speed). $$v_{\_\mathrm{D.}ruck}=\frac{{\mathrm{F.}}_a*t}{m}$$

The resulting force F _{R_arithm} measured with each step is preferably continuously compared with a calculated resulting force F _{R_berech} which applies to the horizontal plane and which is described later.

If the values are equal (within a given tolerance), it is concluded that the runner is running _{in the horizontal plane with the speed v s / t.} If the values are not the same, it is concluded that the runner is _{running at the speed v s / t} in the inclined plane.

• Wenn: |F_{R_arithm}| = |F_{R_berech}|, dann läuft der Läufer in der horizontalen Ebene mit dem Steigungswinkel φ = 0°.
• Wenn: |F_{R_arithm}| > |F_{R_berech}|, läuft der Läufer eine schiefe Ebene hinauf mit dem Steigungswinkel φ > 0° .
• Wenn: |F_{R_arithm}| < |F_{R_berech}|, läuft der Läufer eine schiefe Ebene hinab mit dem Steigungswinkel φ < 0°.

The comparison of the amount of the arithmetic mean of the resulting force | F _{R_arithm} |, with the amount of the calculated resulting force | F _{R_berech} | provides the following statements:

• If: | F _{R_arithm} | = | F _{R_berech} |, then the runner runs in the horizontal plane with the incline angle φ = 0 °.
• If: | F _{R_arithm} | > | F _{R_berech} |, the runner runs up an inclined plane with an incline angle φ> 0 °.
• If: | F _{R_arithm} | <| F _{R_berech} |, the runner runs down an inclined plane with an incline angle φ <0 °.

The calculation of the positive or negative slope angle φ of the inclined plane is done with the cosine law of trigonometry. The cosine law is the generalization of the Pythagorean theorem for arbitrary triangles.

der Winkel β zu: $$\beta =\text{arccos}\left(\frac{F_{R\_arithm}^2-F_g^2-F_a^2}{2*F_g*F_a}\right)$$

Hence with: $${\mathrm{F.}}_{\mathrm{R.}\_aritHm}=\sqrt{\left({\mathrm{F.}}_G^2+{\mathrm{F.}}_a^2+2*{\mathrm{F.}}_G*{\mathrm{F.}}_a*\text{cos}\left(\beta \right)\right)}$$

the angle β to: $$\beta =\text{arccos}\left(\frac{{\mathrm{F.}}_{\mathrm{R.}\_aritHm}^2-{\mathrm{F.}}_G^2-{\mathrm{F.}}_a^2}{2*{\mathrm{F.}}_G*{\mathrm{F.}}_a}\right)$$

The positive or negative slope angle φ is then: φ = 90 ◦- β.

The in 1 The pressure curve shown over time corresponds to the time curve of the resulting force F _R (t) $${\text{F.}}_{\text{R.}}\left(\text{t}\right)=\text{p}\left(\text{t}\right)*\text{A.}\left(\text{power}=\text{pressure}*\text{Fl}\ddot{\text{a}}\text{che}\right).$$

The solid line under the insole 20th in 1 corresponds to the respective pressure curve of the individual foot sections 10.1 (Heel contact area), 10.2 (metatarsal contact area), 10.3 (forefoot contact area) and 10.4 (forefoot contact area). The dashed line corresponds to the pressure curve over the entire foot 10 .

The arithmetic mean corresponds to the amount of the resulting force | F _R |. The magnitude of the acceleration force | F _a | according to Pythagoras: $$\left|{\mathrm{F.}}_a\right|=\sqrt{\left({\mathrm{F.}}_{\mathrm{R.}}^2-{\mathrm{F.}}_G^2\right)}$$

Multiplied by the duration of the force, the pressure time t, the product gives the area and is a measure of the speed v in the horizontal plane $$\text{p}=\text{m}*\mathrm{\Delta }\text{v}={\text{F.}}_{\text{a}}*\text{t}.$$

The system enables walkers or runners to provide information about speed, acceleration and distance covered, as well as information about the positive or negative gradient of the distance.

The determination of the dynamic course of the resulting force F _R is decisive.

A device such as an insole is used to determine the parameters 20th , with integrated constant measuring sections and pressure areas, and / or current measuring sections and pressure areas over which the foot rolls. (please refer 1 ).

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

When walking on the front feet, for example, a sensor chain or pressure surface chain that begins at the earliest point of contact of the forefoot and ends at the tip of the foot is used to determine a current measurement distance s over which the forefoot rolls.

Another, alternative or supplementary consideration is shown below.

When rolling the foot 10 The time t required for this is measured over the constant / current measuring distance s with each step and is used to calculate the current speed v _{s / t} . $$v_{s/t}=\frac{s}{t}$$

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

With each step, the speed v _{s / t} can be calculated from the distance-time measurement and the previous speed v _{1 can be} compared with the current speed v ₂ . The difference Δv from v _1- v ₂ corresponds to an increase or decrease in speed and is therefore a measure of the acceleration a. An acceleration a is recognized with a previously determined percentage of the speed difference .DELTA.v.

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-off time t or force pressure time t) gives the accelerating force required _{for the current speed v s / t} F _a . $${\mathrm{F.}}_a=\frac{v_{s/t}*m}{t}$$

With the arrangement of the system of forces according to D'Alembert's principle, the Pythagorean theorem of a right triangle is used to calculate the amount of the resulting force | F _R | in the horizontal plane. $${\mathrm{F.}}_{\mathrm{R.}\_berecH}=\sqrt{\left({\mathrm{F.}}_a^2+{\mathrm{F.}}_G^2\right)}$$

With the amount of the calculated acceleration force | F _a | and the amount of the constant weight | F _g | = m * g, the result is a calculated resulting force | F _{R_berech} |, which is required to have _{the current speed 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 (stored, recorded) via an analog-digital converter and the arithmetic mean is formed.

_{The arithmetic mean of the pressure curve} corresponds to the amount of the resulting force | F R_arithm | when the foot rolls over the constant or current measuring distance s, pressure area A, pressure area chain, sensor chain, in the time t required for this.

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

Is the calculated 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 the calculated resulting force | F _{R_berech} | from the distance / time measurement, the runner runs with the speed v _{s / t} in the horizontal plane. $$\left|{\text{F.}}_{\text{R.}\_\text{calc}}\right|=\left|{\text{F.}}_{\text{R.}\_\text{arithm}}\right|;\to {\text{v}}_{\text{s}/\text{t}}={\text{v}}_{\text{F t}}$$

Due to different shoe sole damping, the amount of the resulting force is | F _{R_arithm} | from the pressure signal measurement to be multiplied by a damping factor d in order to equate _{the two determined amounts of the resulting forces F R.} $$\left|{\text{F.}}_{\text{R.}\_\text{calc}}\right|=\left|{\text{F.}}_{\text{R.}\_\text{arithm}}\right|*\text{d};\to {\text{v}}_{\text{s}/\text{t}}={\text{v}}_{\text{F t}}$$

In the case of additional disruptive factors, such as B. different damping at different speeds or for calibration, a correction factor k _{_factor is} added to equate the two determined resultants F _R. $$\left|{\text{F.}}_{\text{R.}\_\text{calc}}\right|=\left|{\text{F.}}_{\text{R.}\_\text{arithm}}\right|*\text{d}*{\text{k}}_{\_\text{factor}};\to {\text{v}}_{\text{s}/\text{t}}={\text{v}}_{\text{F t}}$$

If the amount of the resulting force | F _{R_arithm} | is not equal to the amount of the resulting force | F _{R_berech} |, then the runner runs with the speed v _{s / t} on the inclined plane. $$\left|{\text{F.}}_{\text{R.}\_\text{calc}}\right|\ne \left|{\text{F.}}_{\text{R.}\_\text{arithm}}\right|;\to {\text{v}}_{\text{s}/\text{t}}\ne {\text{v}}_{\text{F t}}$$

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

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

In the running area of the horizontal plane, the value range of the resulting force F _{R is determined} by the maximum acceleration force F _{a_max} ; maximum speed V _{s / t_max} limited.

In the running area of the inclined plane upwards, the value range of the resulting force F _{R is determined} by the maximum acceleration force F _{a_max} ; maximum speed V _{s / t_max} and the maximum slope _{angle φ max} .

In the downward running range of the inclined plane, the value range of the resulting force F _{R is determined} by the maximum acceleration force F _{a_max} ; maximum speed V _{s / t_max} and the maximum angle of inclination (-) φ _max .

Calculation of the speed v _Ft from the arithmetic mean of the resulting force IF _{R_arithml} .

To determine the speed v _Ft from the pressure / time measurement (force / time measurement), the amplitude of the foot pressure signal is recorded as a function of time t during the rolling process over 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 corresponds to the amount of the resulting force | F _{R_arithm} | corresponds to the duration of the force. $$\left|{\mathrm{F.}}_{{\mathrm{R.}}_{\_aritHm}}\right|=\mathrm{A.}\cdot {\displaystyle \underset{t_1}{\overset{t_2}{\int }}p\left(t\right)\cdot dt}$$

With the arrangement of the system of forces according to D'Alembert's principle, the Pythagorean theorem serves to calculate the magnitude of the acceleration force | F _a | in the horizontal plane (see 2 ). $$\left|{\mathrm{F.}}_a\right|=\sqrt{\left({\mathrm{F.}}_{{\mathrm{R.}}_{\_aritHm}}^2-{\mathrm{F.}}_G^2\right)}$$

The product of the magnitude of the accelerating force | F _a | and its duration t, is called a force impulse or drive and is a measure of the speed v in relation to the body mass m. $$v_{\mathrm{F.}\cdot t}=\frac{{\mathrm{F.}}_a*t}{m}$$

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

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

In the case of additional disruptive factors, such as B. different damping at different speeds or for calibration, a correction factor k _{_factor is} added to equate the two determined speeds: v _{s / t} = v _Ft * d * k_ _factor .

If the calculated speeds v from the distance / time measurement and from the pressure signal measurement are not equal, then the runner runs in the inclined plane with the speed v _{s / t} : v _{s / t} ≠ v _Ft .

The multiplication of the speed v _Ft by the damping and correction _{factors d and k _factor is} not applicable if the arithmetic mean of the resulting force | F _{R_arithm} | was multiplied by the factors.

The step length s _L is determined by measuring a second period of time. The time measurement is made at a point in time that is in the area from the touchdown of the foot 10 with the heel until the foot is lifted 10 started with the toe and stopped at the next step, at the same point in time in the area from the touching down of the foot with the heel to the lifting of the foot with the toe, and thus corresponds to the step duration.

The time span Δt _{_sL therefore} lies between the points in time of a similar movement sequence of the temporally leading foot and the temporally lagging foot, in the range from the touching down of the foot with the heel to the lifting of the foot with the tip of the foot.

The step length s _L results from the multiplication of the measured time span Δt _{_sL} by the runner's current speed v _{s / t.}

_Step length: s _L = Δt _sL * V _{s / t} .

A covered distance s _weg results from the summation of the individual measured step lengths s _L : s _weg = Σ S _L1 + S _L2 + S _L3 ... s _Ln

A functional description with application of D'Alembert's principle inertial forces is given in 2 explained in more detail. If a body mass m _{k is} accelerated with an acceleration force F _{a , the inertial forces F T} = (-m * a) directed against the direction of acceleration of the body mass and the downward weight of the body F _G = (m * g) combine to form a 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, the person shifts his body mass to balance all attacking forces in such a way that the resultant F _R (i.e. the resulting force F _R ) for optimal power transmission, always runs through the contact surfaces of the sole of the foot.

When touching down with the heel of a foot 10 affects the resulting F _R at the first instant to the Hackenaufsetzfläche A _landing and migrates to the maintenance of the movement, with the movement and the lifting of the hoes, to _{Forefoot print force} area A print, in order here, with the lifting of the forefoot, to _{maintain, increase or decrease the magnitude of the resulting F R} by muscle power, which corresponds to a constant speed, an increased speed or a reduced speed v.

When touching down with the forefoot, the resulting F _R acts at the first moment on the forefoot _{touching surface} A and migrates to maintain the movement, with the movement, to the forefoot _{impression force} area A Fabdruck, in order here, with the lifting of the forefoot, the magnitude of the resulting F _{Maintaining, increasing or decreasing R} by muscle power, which corresponds to a constant speed, an increased speed or a reduced speed v.

The detection of the dynamic characteristic of the resultant F _R, with respect to force strength and its time duration, by the placement of the foot with the hook to the lifting of the front foot with the toe, or the placement of the front foot to the lifting of the front foot with the toe, using: and / or constant measuring sections, current measuring sections, constant pressure areas, current pressure areas, sensor chains, pressure area chains and / or a hydraulic linkage 52c (see 1 u . 3 ).

To find and measure a current measuring distance s and roll-off time t, the heel touchdown signal, the heel lift off signal, the forefoot lift off signal and the forefoot liftoff signal are mainly used, with the rising and falling switching edges generated by the sensors.

When running with the whole foot 10 the result is a current measurement distance, e.g. from the sensor touchdown position on the heel to the sensor lift-off position on the forefoot, whereby the roll-off time t is measured from the time the heel is lifted to the time the forefoot is lifted off (with the movement ).

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

The sensors, for example switches and the like, a sensor chain or a pressure surface chain, supply the length of the current measurement section s from the earliest touchdown point of the forefoot to the latest lift-off point of the forefoot and the time t required for this. This also enables a current measurement section length s to be determined from a later touchdown point of the forefoot to an earlier lift-off point of the forefoot. With the activation / deactivation of the sensors, the positions of the sensors, which are e.g. in the memory of a microcontroller, are recognized and the current measuring section length s is determined. At the same time, a clock (timer) is switched to measure the time t, which is required to cover the current measuring section length s.

To determine and calculate the required parameters, the signals are fed to a microcontroller, which carries out the necessary links and then displays the results, e.g. via a transmitter-receiver system, e.g. with the help of a display with an integrated input keyboard on the wrist. There is also the option of communicating the results to the runner via an acoustic system. (Headphones, flat speakers in the belt). For example, different acoustic signals are possible for certain positive or negative gradient angles φ and / or for each kilometer run.

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

A hydraulic linkage, for example, is used to record / record the dynamic course of the resulting F _R 52 as an "inlay foot 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 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 consists, for example, of plastic, rubber or silicone and / or mixtures and variations with additives and is filled with a liquid of low compressibility, such as water, gel, oil, glycerine or the like, as a power transmission medium. The measuring cells 54 are placed in the insole in the area of the foot cavity so that they are not subjected to loads such as impact, pressure, torsion, etc. The pressure measuring cells are electrically connected to the microcontroller via connecting wires.

The microcontroller and the transmitter can, for example, be clamped or glued to the shoe, integrated into an inlay film or fixed in a small cuff above the ankle. The film can be integrated into the shoe or designed as an insert film. The “foot sole” is expediently constructed in such a way that the footprint force pressure amplitude and the heel touch pressure amplitude are optimal the pressure measuring cells 54 can be passed on so that there are no impairments while running, but rather a feeling of well-being.

• Wirkt auf die Kraft-Aufnahme-Fläche A₁ die resultierende Kraft F_R (F₁), so überträgt sich die Kraft auf die Drucksensor-Fläche A2 der Messzelle 54 und wandelt die resultierende Kraft F_R in eine elektrische Signalamplitude.

The hydraulic linkage 52 works according to the principle known, for example, from fluid brakes in motor vehicles or hydraulic presses:

• If the resulting force F _R (F ₁ ) acts on the force-absorbing surface A _1, the force is transmitted to the pressure sensor surface A2 the measuring cell 54 and converts the resulting 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 possibility for determining the speed, the positive or negative acceleration and the positive or negative gradient of a distance is obtained by recognizing typical characteristics of the force curve as a function of time, in particular from the recording of the foot print image.

Recordings of typical foot print images of people walking or running while accelerating, braking or walking up or down an inclined plane, with the whole foot or on the forefoot, are in the memory of a microcontroller and serve as templates or reference for a current recording measurement Comparison.

Thus, for example, a distinction is made between acceleration in the horizontal plane and running up or down an inclined plane, due to a different course of the force-time signal or different foot pressure images.

When walking down an inclined plane, the foot will land more strongly (compared to the forefoot) with the heel than when running horizontally or when running up. When walking up an incline, the forefoot is more likely to be more stressed than the heel. From the change in the respective load on the heel and forefoot and in comparison with the “neutral” pressure distribution when moving in the horizontal plane, it can be recognized whether the runner is moving horizontally or on an incline or a slope.

The size of the parameters, such as speed, increase or decrease in speed, 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 regard to its force size and its duration. With impulse or impulse the result is Δp = m * Δv = F * t

The calculations are carried out using D'Alembert's principle, according to which the measurement of the magnitude of the force results in the resulting | F _R | and the mathematical link with the amount of weight | F _g |, the amount of acceleration force | F _a | results.

Some numerical examples are given below. The values are intended for illustrative purposes and are intended as a guide only. The values can of course vary greatly depending on the runner.

ergibt sich: $$F_a{}^2+\left(2*F_g*\text{cos}\beta \right)*F_a+F_g{}^2-F_R{}^2=0$$

A calculation of the acceleration force F _a can be derived from the law of cosines. With the measured resulting force | F _{R_arithm} | = 1474.62 N, with a given weight F _g = 800 N, given incline angle φ = 18.72 ° and β = 90 ° - φ results in β = 71.28 °, and a speed v _{s / t} = 7 km / H. From the cosine law of trigonometry with $${\mathrm{F.}}_{\mathrm{R.}}=\sqrt{\left({\mathrm{F.}}_a^2+{\mathrm{F.}}_G^2+2*{\mathrm{F.}}_a*{\mathrm{F.}}_G*\text{cos}\beta \right)}$$

surrendered: $${\mathrm{F.}}_a{}^2+\left(2*{\mathrm{F.}}_G*\text{cos}\beta \right)*{\mathrm{F.}}_a+{\mathrm{F.}}_G{}^2-{\mathrm{F.}}_{\mathrm{R.}}{}^2=0$$

Normal form: $$\begin{array}{l}{x}^2+px+q=0\\ x^2={\mathrm{F.}}_a{}^2;px=\left(2*{\mathrm{F.}}_G*\text{cos}\beta \right)*{\mathrm{F.}}_a;q=\left({\mathrm{F.}}_G{}^2-{\mathrm{F.}}_{\mathrm{R.}}{}^2\right)\end{array}$$

$$\frac{p}{2}=\frac{2*F_g*\text{cos}\beta }{2}\to \frac{p}{2}=F_g*\text{cos}\beta$$

$$x_{1/2}=-F_g*\text{cos}\beta \pm \sqrt{{\left(F_g*\text{cos}\beta \right)}^2-\left(F_g{}^2-F_R{}^2\right)}$$

$$x_1=\left(-800*\mathrm{0,321}\right)+\sqrt{\left({\left(800*\mathrm{0,321}\right)}^2-\left({\left(800\right)}^2-{\left(\mathrm{1474,62}\right)}^2\right)\right)}$$

$$x_1=\left(-\mathrm{256,8}\right)+\sqrt{\left(\left(\mathrm{65946,24}\right)+\left(\mathrm{1534504,14}\right)\right)}$$

$$x_1=\left(-\mathrm{256,8}\right)+\mathrm{1265,08}=\underset{\_}{\mathrm{1008,28}}\text{ richtig!! }{F}_a=\mathrm{1008,28}N$$

Solution: $$x_{1/2}=-\frac{p}{2}\pm \sqrt{{\left(\frac{p}{2}\right)}^2-q}f\ddot{u}r:{\left(\frac{p}{2}\right)}^2-q\ge 0$$

$$\frac{p}{2}=\frac{2*{\mathrm{F.}}_G*\text{cos}\beta }{2}\to \frac{p}{2}={\mathrm{F.}}_G*\text{cos}\beta$$

$$x_{1/2}=-{\mathrm{F.}}_G*\text{cos}\beta \pm \sqrt{{\left({\mathrm{F.}}_G*\text{cos}\beta \right)}^2-\left({\mathrm{F.}}_G{}^2-{\mathrm{F.}}_{\mathrm{R.}}{}^2\right)}$$

$$x_1=\left(-800*0.321\right)+\sqrt{\left({\left(800*0.321\right)}^2-\left({\left(800\right)}^2-{\left(1474.62\right)}^2\right)\right)}$$

$$x_1=\left(-256.8\right)+\sqrt{\left(\left(65946.24\right)+\left(1534504.14\right)\right)}$$

$$x_1=\left(-256.8\right)+1265.08=\underset{\_}{1008.28}\text{correct!!}{\mathrm{F.}}_a=1008.28N$$

The negative solution for x ₂ is not considered.

The calculation of the current 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: $$\mathrm{P.}=\mathrm{F.}*v_{s/t}$$

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

With the arrangement of the calculated and measured forces F in a force triangle and multiplication of the forces F with a current speed v _{s / t} generated from these forces, the product F * v = P results in a power triangle with the respective associated powers: Acceleration force power (horizontal plane) P _ah = | F _ah | * _{Vs / t} Acceleration force power (inclined plane) P _as = | F _as | * v _{s / t} Resulting force output (horizontal plane) P _Rh = | F _{R_berech} | * V _{s / t} Resulting force performance (inclined plane) P _Rs = | F _{R_arithm} | * V _{s / t} Weight power P _Fg = | F _g | * v _{s / t}

To calculate the acceleration power Pah in the horizontal plane, the effective force F _ah is calculated from the impulse and the speed v _{s / t} from the distance / time measurement. $${\mathrm{P.}}_{aH}={\mathrm{F.}}_{aH}*v_{s/t}\text{With}{\mathrm{F.}}_{aH}=\frac{v_{s/t}*m}{t};v_{s/t}=\frac{s}{t}$$

To calculate the acceleration power Pas in the inclined plane, the acting force Fas is derived from the law of cosines with the measured resultant | F _{R_arithm} | calculated. The speed v _{s / t} is calculated from the distance / time measurement. $${\mathrm{P.}}_{as}={\mathrm{F.}}_{as}*v_{s/t}\text{With}{\mathrm{F.}}_{as}\text{from the law of cosines},\left|{\text{F.}}_{\text{R.}\_\text{arithm}}\right|;v_{s/t}=\frac{s}{t}$$

The calculation of the _{resulting power P Rh} in the horizontal plane results from the product of the calculated effective force | F _{R_berech} | and the speed v _{s / t} , which was calculated from the distance-time measurement. $${\mathrm{P.}}_{\mathrm{R.}H}={\mathrm{F.}}_{\mathrm{R.}\_berecH}*v_{s/t}$$

The calculation of the resultant power P _Rs in the inclined plane results from the product of the measured effective force | F _{R_arithm} | and the speed v _{s / t} , which was calculated from the distance / time measurement. $${\mathrm{P.}}_{\mathrm{R.}s}={\mathrm{F.}}_{\mathrm{R.}\_aritHm}*v_{s/t}$$

The calculation of the weight power P _Fg results from the product of the constant weight F _g and the current speed v _{s / t} , which was calculated from the distance / time measurement. $${\mathrm{P.}}_{\mathrm{F.}G}={\mathrm{F.}}_G*v_{s/t}\text{With}{\mathrm{F.}}_G=m*G\text{and}{v}_{s/t}=\frac{s}{t}$$

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

An average total output Ptot results from the summation of the respective individual calculated step outputs divided by the number of calculated outputs. $${\mathrm{P.}}_{Ges}=\frac{{\displaystyle {\sum }_1^n{\mathrm{P.}}_1+{\mathrm{P.}}_2+{\mathrm{P.}}_{\mathrm{3\; ............}}{\mathrm{P.}}_n}}{n}$$

The individual services can also be viewed in analogy to AC technology (electrical machine). In this case, the acceleration force power P _a corresponds to the real power P, the resulting force power P _{R to} the apparent power S and the weight power P _{Fg to} the reactive power Q.

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

In the horizontal plane the following applies: $${\mathrm{P.}}_{\mathrm{R.}}=\sqrt{\left({\mathrm{P.}}_a^2+{\mathrm{P.}}_G^2\right)}=\mathrm{S.}=\sqrt{\left({\mathrm{P.}}^2+Q^2\right)}$$

The power factor λ is given as a function of the slope angle φ and the ratio of active power P = P _a to 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 measurement methods or calculation methods can be used alternatively or in any combination, with the same variables obtained with different methods on the one hand can be used for plausibility analysis (outlier values can be ignored) and / or for averaging in order to reduce any measurement errors.

In the horizontal plane, each speed v is the magnitude of a certain resulting force | F _R | assigned, whereby the theorems of Newton and Pythagoras apply

In the inclined plane, every amount of a certain resulting force | F _R | associated with an angle β. Furthermore, D'Alambert's principle and the law of cosines apply. (please refer 2 )

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

gemessen, arithmetischer Mittelwert.At the same time, the force amplitude curve of the resulting force F _{R1 is recorded in the measured time t 1} = 0.216 s and the arithmetic mean value is formed, which thus corresponds to the amount of the resulting force | F _R | during the time t corresponds. $$\left|{\text{F.}}_{\text{R.}1}\right|=951.132\text{N}$$

measured, arithmetic mean.

The magnitude of the acceleration force | F _a | results from the Pythagoras. $$\left|{\mathrm{F.}}_{a1}\right|=\sqrt{\left({\mathrm{F.}}_{\mathrm{R.}1}{}^2-{\mathrm{F.}}_G{}^2\right)}=\sqrt{\left({951.132}^2-{800}^2\right)}=514.44\text{N}$$

$${\text{V}}_{\text{Ft}1}=\mathrm{514,44}\text{ N}*\mathrm{0,216}\text{ s}/80\text{ kg}=\mathrm{1,389}\text{ m}/\text{s}=5\text{ km}/\text{h}$$

Aussage: v_s/t1 = V_Ft1 d.h. der Läufer läuft in der horizontalen Ebene! The product of the constant amount of the accelerating force | F _a1 | and its duration t _{1 gives the current speed V pressure1} in relation to the body mass m. $${\text{<figure-callout id="1" label="V Ft" filenames="DE102011052470B4\_0088.png" state="{{state}}">V</figure-callout>}}_{\text{Ft}}={\text{F.}}_{\text{a}1}*{\text{<figure-callout id="1" label="t" filenames="DE102011052470B4\_0088.png" state="{{state}}">t</figure-callout>}}_1/\text{m}$$

$${\text{<figure-callout id="1" label="V Ft" filenames="DE102011052470B4\_0088.png" state="{{state}}">V</figure-callout>}}_{\text{Ft}}=514.44\text{N}*0.216\text{s}/80\text{kg}=1.389\text{m}/\text{s}=5\text{km}/\text{H}$$

Statement: v _{s / t1} = V _Ft1 ie the runner 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 current speed to be found v ₂ = s / t ₂ $${\text{v}}_{\text{s}/\text{t}2}=0.3\text{m}/0.154\text{s}=\mathrm{1,948}\text{m}/\text{s}=\mathrm{7th}\text{km}/\text{H}$$

The speed increase is Δv _2-1 $$\mathrm{\Delta }{\text{v}}_{2-1}={\text{v}}_{\text{s}/\text{t}2}-{\text{v}}_{\text{s}/\text{<figure-callout id="1" label="t" filenames="DE102011052470B4\_0088.png" state="{{state}}">t</figure-callout>}1}=\mathrm{7th}\text{km}/\text{H}-5\text{km}/\text{H}=2\text{km}/\text{H}$$

gemessen, berechnet arithmetischer Mittelwert.At the same time, the force amplitude curve of the resulting force F _{R2 is} recorded in the measured time t = 0.154 s and the arithmetic mean value is formed, which thus corresponds to the amount of the resulting force | F _R | during the time t corresponds. $\left|{\text{F.}}_{\text{R.}2}\right|=\mathrm{1288,527}\text{N}$

measured, calculated arithmetic mean.

The magnitude of the acceleration force | F _a2 | results from the Pythagoras. $$\left|{\mathrm{F.}}_{a2}\right|=\sqrt{\left({\mathrm{F.}}_{\mathrm{R.}2}{}^2-{\mathrm{F.}}_G{}^2\right)}=\sqrt{\left({\mathrm{1288,527}}^2-{800}^2\right)}=1010.101\text{N}$$

$${\text{V}}_{\text{Ft}2}=\mathrm{1010,101}\text{ N * 0}\text{,154 s / 80 kg }=\text{ 1}\text{,944 m/s }=\text{ 7km/h}$$

The product of the constant amount of the accelerating force | F _a2 | and its duration t _{2 gives the current speed v 2} in relation to the body mass m. $${\text{V}}_{\text{Ft}2}=\left|{\text{F.}}_{\text{a2}}\right|*{\text{t}}_2/\text{m}$$

$${\text{V}}_{\text{Ft}2}=1010.101\text{N * 0}\text{, 154 s / 80 kg}=\text{1}\text{, 944 m / s}=\text{7km / h}$$

• (v_s/t1 =5 km/ h, V_Ft2 = 7 km /h) und ergeben die Aussage, dass der Läufer in der horizontalen Ebene läuft und seine Geschwindigkeit um Δv = 2 km /h erhöht.

The determination of the current speeds v ₁ and v ₂ from the distance-time measurement and the force-time measurement result in the values:

• (v _{s / t1} = 5 km / h, V _Ft2 = 7 km / h) and result in the statement that the runner runs in the horizontal plane and increases his speed by Δv = 2 km / h.

The change in speed and the acceleration can also be calculated from the differences. The speed difference Δv = v _{s / t2} - v _{s / t1} results in Δv = 1.944 m / s - 1.389 m / s = 0.555 m / s and thus Δv = 2 km / h, i.e. speed change by v = 2 km / 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 magnitude of the acceleration force | F _a | results from | F _a | = m * a _1-2 with body mass m = 80 kg results in | F _ad | = 80 kg * 8.96 m / s2 = 716.845 N.

The product of the determined constant amount of the accelerating force | F _ad | and the rolling time difference Δt gives the current speed change Δv in relation to the body mass m. $$\Delta \text{v}=\left|{\text{F.}}_{\text{ad}}\right|\text{*}\Delta \text{t /}m\text{With}\Delta \text{v}=716.845\text{N * 0}\mathrm{,\; 062}\text{s / 80 kg}=0.555\text{m / s}=2\text{km / h}$$

In the inclined plane, with a measured rolling time t ₁ = 0.216 s and with the constant distance s = 0.3 m, the current speed to be found is v ₁ = s / t ₁ = 0.3 m / 0.216 s = 1.389 m / s to v ₁ = 5 km / h.

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

The magnitude of the acceleration force | F _a1 | results from the Pythagorean theorem. $$\left|{\mathrm{F.}}_{a1}\right|=\sqrt{\left({\mathrm{F.}}_{\mathrm{R.}1}{}^2-{\mathrm{F.}}_G{}^2\right)}=\sqrt{\left({951.132}^2-{800}^2\right)}=514.44\text{N}$$

The product of the constant amount of the accelerating force | F _a1 | and its duration t _{1 gives the current speed v 1} in relation to the body mass m. 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 speeds v from the distance-time measurement and the force-time measurement result in the same values (v = 5 km / h) and make the following statement: the runner runs in the horizontal plane!

The next measured roll-off time t ₂ is also: t ₂ = 0.216 s results in the current speed to be found v ₂ = s / t ₂ = 0.3 m / 0.216 s = 1.389 m / s with the constant distance s = 0.3 m v ₂ = 5 km / h

At the same time, the force amplitude curve of the resulting force F _{R is recorded in the measured time t 2} = 0.216 s and the arithmetic mean value is formed, which thus corresponds to the amount of the resulting force | F _R | corresponds to | F _R2 | = 1080.259 N as a 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 following statement: There is no increase in speed, acceleration before.

With the calculation mode - horizontal plane, the acceleration force | F _a | results from the Pythagorean theorem. $$\left|{\mathrm{F.}}_{a2}\right|=\sqrt{\left({\mathrm{F.}}_{\mathrm{R.}2}{}^2-{\mathrm{F.}}_G{}^2\right)}=\sqrt{\left({1080.259}^2-{800}^2\right)}=725.919\text{N}$$

The product of the constant amount of the accelerating force | F _a | and its duration t _{2 gives the current speed v 2} with V ₂ = | F _a2 | in relation to the body mass m * 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 therefore no change in speed Δv = 0 and no acceleration a = 0, - is the result obtained
v ₂ = 7.05 km / h or
Δv = 7.05 km / h - 5 km / h = 2.05 km / h, which is clearly wrong. This recognizes that the runner is moving on the inclined plane. Due to its rolling time t = 0.216 s, the runner runs at a speed of v = 5 km / h.

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

The magnitude 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 resulting force is | F _R2 | = 1080.259 N, and the weight F _g is: F _g = m * g = 80 kg * 10 m / s2 = 800 N.

ergibt sich β mit $$\beta =\text{arccos}\left(\frac{F_{R2}{}^2-F_g^2-F_a^2}{2\ast F_g\ast F_a}\right)$$

$$\mathrm{\beta }=\text{arccos}\left({\mathrm{1080,259}}^2-{800}^2\text{ N}-{\mathrm{514,44}}^2\text{ / }2\text{ * }800\text{ N * }\mathrm{514,44}\right)$$

$$\mathrm{\beta }=\text{arccos}\left(\mathrm{0,318}\right)\text{ ; }\mathrm{\beta }=\mathrm{1,247}\left(\text{Bogenmaß}\right)\text{ ; }\mathrm{\beta }={\mathrm{71,45}}^{\circ }$$

From the cosine law: ${\mathrm{F.}}_{\mathrm{R.}2}=\sqrt{\left({\mathrm{F.}}_a^2+{\mathrm{F.}}_G^2+2\ast {\mathrm{F.}}_a\ast {\mathrm{F.}}_G\ast \text{cos}\beta \right)}$

results in β with $$\beta =\text{arccos}\left(\frac{{\mathrm{F.}}_{\mathrm{R.}2}{}^2-{\mathrm{F.}}_G^2-{\mathrm{F.}}_a^2}{2\ast {\mathrm{F.}}_G\ast {\mathrm{F.}}_a}\right)$$

$$\mathrm{\beta }=\text{arccos}\left({1080.259}^2-{800}^2\text{N}-{514.44}^2\text{/}2\text{*}800\text{N *}514.44\right)$$

$$\mathrm{\beta }=\text{arccos}\left(0.318\right)\text{;}\mathrm{\beta }=1.247\left(\text{Radians}\right)\text{;}\mathrm{\beta }={71.45}^{\circ }$$

The slope angle φ = 90 ° - β = 90 ° - 71.45 ° = 18.55 °

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

With an increase in speed, i.e. acceleration, on the inclined plane, the following occurs.

The measured roll-off time is t ₁ = 0.216 s and the constant distance s = 0.3 m results in the current speed to be found v _{s / t1} = s / t ₁ = 0.3 m / 0.216 s = 1.389 m / s to v _{s / t1} = 5 km / h.

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

The absolute value 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 result: v ₁ = 5 km / h, | Fr ₁ | = 1080.259 N the statement: the runner runs at a speed of v = 5 km / h up an inclined plane with an incline 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 speed to be found v ₂ = s / t ₂ with v _{s / t2} = 0.3 m / 0.154 s = 1.944 m / s = 7 km / h.

$$\Delta \text{v}=\Delta {\text{v}}_1-\Delta {\text{v}}_2=\mathrm{1,944}\text{ m/ s}-\mathrm{1,389}\text{ m/ s}=\mathrm{0,555}\text{ m/ s}=2\text{ km/ h}$$

ergibt die Aussage: Der Läufer erhöht seine Geschwindigkeit um 2 km/ hThe calculations from difference formation with $$\Delta \text{t}=\Delta {\text{t}}_1-\Delta {\text{t}}_2=0.216\text{s}-0.154\text{s}=0.062\text{s}$$

$$\Delta \text{v}=\Delta {\text{v}}_1-\Delta {\text{v}}_2=\mathrm{1,944}\text{m / s}-1.389\text{m / s}=0.555\text{m / s}=2\text{km / h}$$

results in the statement: The runner increases his speed by 2 km / h

In order 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 a speed of v = 7 km / h, the runner needs a certain acceleration force F _a . The momentum set is used to calculate the acceleration force F _a: $${\text{F.}}_{\text{a}}=\text{v * m / t}=\mathrm{1,944}\text{m / s *}80\text{kg /}0.154\text{s}=1009.87\text{N}$$

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

Pythagoras gives: $\left|{\mathrm{F.}}_{\mathrm{R.}berecH}\right|=\sqrt{\left({\mathrm{F.}}_a{}^2+{\mathrm{F.}}_G{}^2\right)}=\sqrt{\left({1009.87}^2+{800}^2\right)}=\mathrm{1288,347}\text{N}$

$$\mathrm{\beta }=\text{arccos}\left({\mathrm{1474,575}}^2-{800}^2-{\mathrm{1009,87}}^2\text{ / }2\text{ * }800\text{ * }\mathrm{1009,87}\right)$$

$$\mathrm{\beta }=\text{arccos}\left(\mathrm{0,318}\right)=\mathrm{1,247}\left(\text{Bogenma}\right)=\mathrm{1,247}\text{ * }{360}^{\circ }\text{ / }2\text{ * }\mathrm{3,1415}={\mathrm{71,45}}^{\circ }$$

$$\mathrm{\phi }={90}^{\circ }-\mathrm{\beta }={90}^{\circ }-{\mathrm{71,45}}^{\circ }={\mathrm{18,55}}^{\circ }$$

Statement: The comparison of the measured resultant | F _{R_arithm} | = 1474.575 N with the resultant | F _Rberech | calculated from Pythagoras = 1288.347 N yields: | F _{R_arithm} | ≠ | F _Rberech |, the measured resultant is not equal to the calculated resultant, ie the runner runs in the inclined plane, from which it follows that the calculation of the angle of inclination φ is made from the cosine law. $$\mathrm{\beta }=\text{arccos}\left({\text{F.}}_{\text{R\_arithm}}{}^2-{\text{F.}}_{\text{G}}{}^2-{\text{F.}}_{\text{a}}{}^2\text{/}2{\text{* F}}_{\text{G}}{\text{* F}}_{\text{a}}\right)$$

$$\mathrm{\beta }=\text{arccos}\left({1474.575}^2-{800}^2-{1009.87}^2\text{/}2\text{*}800\text{*}1009.87\right)$$

$$\mathrm{\beta }=\text{arccos}\left(0.318\right)=1.247\left(\text{Radian measure}\right)=1.247\text{*}{360}^{\circ }\text{/}2\text{*}3.1415={71.45}^{\circ }$$

$$\mathrm{\phi }={90}^{\circ }-\mathrm{\beta }={90}^{\circ }-{71.45}^{\circ }={18.55}^{\circ }$$

Result: The runner continues to run up the inclined plane with the incline angle φ = 18.55 °, and has increased his speed from v ₁ = 5 km / h to v ₂ = 7 km / h.

The observation of the movement down the inclined plane follows. _{A runner needs 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 , the current speed is: v _{s / t1} = 0.3 m / 0.06 s = 5 m / s, i.e. v _{s / t1} = 18 km / h.

In order to have a speed of v _{s / t1} = 18 km / h _{in the horizontal plane, an acceleration force F a is} required, which results from the impulse / impulse. $$\left|{\text{F.}}_{\text{a}}\right|=\text{m * v / t}=80\text{kg * 5}\text{.00 m / s /}0.060\text{s}=6666.67\text{N}$$

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

$$\left|F_{Rberech}\right|=\sqrt{\left(F_a{}^2+F_g{}^2\right)}=\sqrt{\left({\mathrm{6666,67}}^2+{800}^2\right)}=\mathrm{6714,49841}\text{ N}$$

With weight ${\text{F.}}_{\text{G}}=\text{m * g}=80\text{kg *}10{\text{m / s}}^2=800{\text{m / s}}^2$

$$\left|{\mathrm{F.}}_{\mathrm{R.}berecH}\right|=\sqrt{\left({\mathrm{F.}}_a{}^2+{\mathrm{F.}}_G{}^2\right)}=\sqrt{\left({6666.67}^2+{800}^2\right)}=\mathrm{6714,49841}\text{N}$$

Simultaneously with the measurement of the unwinding time t ₁ = 0.060 s, the force amplitude curve of the resulting force F _{R is} measured and the arithmetic mean value is formed, which thus corresponds to the amount of the resulting force | F _{R_arithm} | corresponds to 0.060 s during the unwinding time t _1.

Measured | F _{R_arithm} | results = 6304.84 N and calculated $$\left|{\text{F.}}_{\text{Rberech}}\right|=\mathrm{6714,489}\text{N}\text{, d}\text{.H}\text{.}\left|{\text{F.}}_{\text{R\_arithm}}\right|\ne \left|{\text{F.}}_{\text{Rberech}}\right|\text{and}\left|{\text{F.}}_{\text{R\_arithm}}\right|<\left|{\text{F.}}_{\text{Rberech}}\right|\text{.}$$

If the measured resulting 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: angle of incline φ = 0 °

If the measured resulting force | F _{R_arithm} | not equal to the calculated resulting force | F _Rberech | is, | F _{R_arithm} | ≠ | F _Rberech |, then the runner runs on the inclined plane with the speed v _{s / t1} = 18 km / h.

$$\mathrm{\beta }=\text{arccos}\left({630484}^2-{800}^2-{666667}^2\text{ / }2\text{ * }800\text{ * }\mathrm{6666,67}\right)=\mathrm{2,094}={120}^{\circ }$$

$$\mathrm{\phi }={90}^{\circ }-\mathrm{\beta }={90}^{\circ }-{120}^{\circ }=-{30}^{\circ }$$

The slope angle φ is calculated from the cosine law $$\mathrm{\beta }=\text{arccos}\left(\left({\text{F.}}_{\text{R\_arithm}}{}^2-{\text{F.}}_{\text{G}}{}^2-{\text{F.}}_{\text{a}}{}^2\right)\text{/}2{\text{* F}}_{\text{G}}{\text{* F}}_{\text{a}}\right)$$

$$\mathrm{\beta }=\text{arccos}\left({630484}^2-{800}^2-{666667}^2\text{/}2\text{*}800\text{*}6666.67\right)=2.094={120}^{\circ }$$

$$\mathrm{\phi }={90}^{\circ }-\mathrm{\beta }={90}^{\circ }-{120}^{\circ }=-{\mathrm{30th}}^{\circ }$$

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

In addition to determining whether the runner is moving on a horizontal or an inclined plane, the invention allows a distinction to be made between walking and running.

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

The task of the initial contact with the ground and the load response is to take over the body load. This dampens the impact, initiates stability of the leg and maintains locomotion. The next three sub-phases, the middle stance phase, the terminal stance phase and the pre-swing phase, ensure monopedal standing. In these sub-phases, the whole mass of the person is carried by just one leg (monopedal). This requires stability without interrupting the movement. The task of the next four sub-phases (pre-swing phase, initial swing phase, middle swing phase and terminal swing phase) is to swing the leg forward without losing speed: the leg lifts off, is moved forward and then put down again.

The run differs from the gait in terms of its phases. Only the swing and monopedal stance phase are included, there is no bipedal stance phase. At higher speeds, there is also the floating phase, in which no foot is in contact with the ground. During the sprint, the ball of the foot takes over the initial contact with the ground.

When walking, shortly before the forefoot of the trailing, acceleration-giving foot lifts off, the leading foot touches the heel. At this point, both have feet Ground contact. In the next moment, when the forefoot of the trailing, acceleration-giving foot is lifted off, the resulting F _{R is transferred} to the leading foot and moves with the rolling motion 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. The walker has one of his feet in contact with the ground in every phase of a step cycle, which can be considered a definition of walking.

When placing the leading foot with the heel, the runner falls from a height of about 1 cm to the ground. If the hacking of the leading foot takes place after the forefoot of the trailing foot has been lifted off, there is briefly no ground contact with one of the feet. The period of time from the lifting of the forefoot of the following foot to the touchdown of the heeling of the leading foot is called the flight phase and can be used as the definition of running.

The point in time of the heel touchdown signal of the leading foot and the instant of the forefoot off signal of the trailing foot or, in general, the point in time when the leading foot touches down and the point in time when the trailing foot is lifted are used to detect whether there is walking or running.

If the time of the heel touching signal of the leading foot is present or is the same as the time of the forefoot lifting signal of the trailing foot, walking is recognized. (Ground contact)

If the time of the heel touching signal of the leading foot is after the time of the forefoot lifting signal of the trailing foot, then walking is recognized. (Flight phase)

The running corresponds to a sequence of “step-long jumps”, where you jump off with the rear foot that gives you acceleration and land with the foot in front. The flight phase is comparable to the oblique throw.

Here, the superimposition of a uniform movement of the body's center of gravity KSP with a certain initial speed (jump speed) obliquely upwards and free fall is to be understood. The two partial movements result in a resulting movement. The trajectory is a parabola, which the body's center of gravity KSP covers from the time of the forefoot lifting signal of the following foot to the time of the heel touching signal of the leading foot.

For this resulting movement of the body's center of gravity KSP, speeds and distances can be determined mathematically or graphically. The laws and functions of an oblique throw apply here, whereby the oblique throw now corresponds to an "oblique jump". The following applies to the resulting speed: $$v_{res}=\sqrt{v_2{}^2+{\left(G\cdot t\right)}^2-2<figure-callout\; id="0"\; label="\cdot \; v"\; filenames="DE102011052470B4\_0093.png,DE102011052470B4\_0099.png"\; state="\{\{state\}\}">\cdot </figure-callout>v_{}{}_0\cdot G\cdot t_s\cdot \text{sin}\delta }$$

v0

Geschwindigkeit des Körperschwerpunktes KSP beim Absprung; Absprungsgeschwindigkeit; Anfangsgeschwindigkeit

g

Fallbeschleunigung ( 9,81 m/s²)

ts

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

δ

Absprungwinkel; (Beschleunigungskraft-Winkel);

Mean:

v0

Speed of the body's center of gravity KSP when jumping; Take-off speed; Initial speed

G

Acceleration due to gravity (9.81 m / s ² )

ts

Time (from the time of the forefoot lift-off signal of the following foot to the time of the heel-touching signal of the leading foot)

δ

Take-off angle; (Acceleration force angle);

The jump distance of the body's center of gravity KSP is of interest here. It depends on the initial speed (jump speed) and the jump angle δ. The following applies to the jump distance s _{w of} the body's center of gravity KSP: $$s_w=\frac{{\mathrm{<figure-callout\; id="0"\; label="v"\; filenames="DE102011052470B4\_0093.png,DE102011052470B4\_0099.png"\; state="\{\{state\}\}">v</figure-callout>}}_0{}^2\cdot \text{sin}\left(2\cdot \delta \right)}{G}$$

In relation to the height of the body's center of gravity KSP, at the time of the forefoot lift-off signal of the following foot, the body's center of gravity reaches its greatest height after the climbing time tst. The greatest height that the body's center of gravity KSP reaches is called the jump height s _h . The time to reach the highest height is the climb time tst and is exactly as long as the fall time t _f , i.e. the time between reaching the highest height and the time of the hacking of the leading foot at the jump height. The duration of the entire center of gravity jump is therefore equal to the sum of the climbing time and the falling time.

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

Whereby the rise time tst begins with the lifting of the trailing foot and the fall time ends with the touchdown of the leading foot.

Jump height and climb time of the body's center of gravity KSP are also calculated $$\begin{array}{cc}{s}_H=\frac{{\mathrm{<figure-callout\; id="0"\; label="v"\; filenames="DE102011052470B4\_0093.png,DE102011052470B4\_0099.png"\; state="\{\{state\}\}">v</figure-callout>}}_0{}^2\cdot {\text{sin}}^2\delta }{2G}& t_{st}=\frac{{\mathrm{<figure-callout\; id="0"\; label="v"\; filenames="DE102011052470B4\_0093.png,DE102011052470B4\_0099.png"\; state="\{\{state\}\}">v</figure-callout>}}_0\cdot \text{sin}\delta }{G}\end{array}$$

$$s_y=v_0\cdot t\cdot \text{sin}\delta -\frac{g}{2}\cdot t^2$$

The paths of the body's center of gravity KSP in the horizontal direction or in the vertical direction result from the partial movements and can be determined as follows: $$s_x={\mathrm{<figure-callout\; id="0"\; label="v"\; filenames="DE102011052470B4\_0093.png,DE102011052470B4\_0099.png"\; state="\{\{state\}\}">v</figure-callout>}}_0\cdot t\cdot cOs\delta$$

$$s_y={\mathrm{<figure-callout\; id="0"\; label="v"\; filenames="DE102011052470B4\_0093.png,DE102011052470B4\_0099.png"\; state="\{\{state\}\}">v</figure-callout>}}_0\cdot t\cdot \text{sin}\delta -\frac{G}{2}\cdot t^2$$

The relationships shown apply in the horizontal plane if the air resistance is neglected. The slope angle ± φ must be taken into account in the inclined plane.

Walking is an Olympic, athletic discipline, whereby referees pay strict attention to whether the walker always has contact with the ground with one of his feet and does not walk. There have always been wrong judgments because observation and assessment is very difficult.

With the detection of the time of the heel-touching signal of the leading foot and the time of the forefoot lifting signal of the following foot, walking or running is recognized and can be signaled e.g. via colored light-emitting diodes on the shoe. This means that wrong judgments can be ruled out and contribute to fair competition.

The innovation is also suitable for training 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 greatest possible stride length s _Lmax , the greatest possible angle δ_max and his stride frequency fstep.

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

How out 4th As can be seen, a defined leg length L _bein , which corresponds to the drawn resulting force F _R , results from the center of the footprint force area A _Fabdruck from the forefoot of the trailing foot to the hip bone and forms the angle δ _{to the perpendicular weight F G.} The leg length L _bein can be measured manually with a tape measure and is fed to the microcontroller via an input keyboard.

A small leg length L _leg requires a higher step frequency to cover a given distance, compared to a large leg length L _leg . Higher step frequencies result when accelerating and when walking up an inclined plane. Lower step frequencies arise when reducing speed and walking down an inclined plane.

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

The work expended thus corresponds to an acceleration work done by the force of the footprint. $${\mathrm{W.}}_{kin}=\mathrm{F.}\cdot s=m\cdot a\cdot s=\frac{m\cdot v^2}{2}$$

Wkin

kinetische Energie des Körpers (Beschleunigungsarbeit)

m

Masse des Körpers

v

Geschwindigkeit des Körpers

s

Weg

Mean:

Wkin

kinetic energy of the body (acceleration work)

m

Mass of the body

v

Speed of the body

s

path

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

This is then: $\Delta {\mathrm{W.}}_{kin}=\frac{m}{2}\cdot \left(v_2{}^2-{\mathrm{<figure-callout\; id="1"\; label="v"\; filenames="DE102011052470B4\_0088.png"\; state="\{\{state\}\}">v</figure-callout>}}_1{}^2\right)$

The difference between a measured footprint force and the measured heel contact force and the next or previous measured footprint force is a measure of the change in speed.

the 5a until 5e show a runner 100 , who runs up an inclined plane upright, with constant weight F _G , with constant resulting force F _R (constant footprint force) and constant stride length s _L , runs in the horizontal plane and runs down an inclined plane. ( 5a) .. Below the partial images a, b, c the 5a For illustration purposes, forces and angles between the forces are given

The weight F _G always acts perpendicularly from the center of gravity of the runner to the ground and forms the angle δ _{with the resulting force F R.} (Acceleration force angle; speed angle))

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

The stride length s _L depends on the height of the runner 100 or his leg length L _leg . The body's center of gravity is located near the navel at the level of the runner's hip bone. Become smaller step lengths, the angle δ _L s _L decreases and reaches its minimum _min Wertδ if the step length _L s is equal to the foot length S _F. The smallest step length s _{Lmin results} when the heel of the trailing foot touches down in the line to the toe of the leading foot, and thus also 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 Pythagoras: $${\mathrm{F.}}_{\mathrm{R.}}{}^2={\mathrm{F.}}_G{}^2+{\mathrm{F.}}_a{}^2$$

The angle β is 90 ° in the horizontal plane. The angle δ is calculated from: $$\begin{array}{l}\frac{{\mathrm{F.}}_G}{{\mathrm{F.}}_{\mathrm{R.}}}=\text{cos}\left(\delta \right)\text{;}\frac{{\mathrm{F.}}_a}{{\mathrm{F.}}_{\mathrm{R.}}}=\text{sin}\left(\delta \right)\text{;}\frac{{\mathrm{F.}}_a}{{\mathrm{F.}}_G}=\text{tan}\left(\delta \right)\\ {\delta }_{max}=\text{arccos}\left(\frac{{\mathrm{F.}}_G}{{\mathrm{F.}}_{\mathrm{R.}\text{Max}}}\right)\cdot \end{array}$$

The left partial image b the 5a shows the movement of the runner 100 upwards in an inclined plane, the inclined plane having a positive slope angle (+ φ). _{It can be clearly seen how the constant weight F G} , acting perpendicularly from the runner's center of gravity to the ground, reduces the angle δ in the order of magnitude of the incline angle (+ φ) and thus _{generates a smaller acceleration force F a} in the direction of movement with respect to partial image a, which is a corresponds to a lower speed v.

The right partial image c the 5a shows the runner 100 running down an inclined plane with a negative slope angle (- φ). _{It can be clearly seen how the weight F G} , acting perpendicularly from the runner's center of gravity to the ground, increases the angle δ in the order of magnitude of the angle of inclination (- φ) and thus _{generates a greater acceleration force F a} in the direction of movement with respect to partial image a, which is a corresponds to a greater speed v.

daraus folgt $$\beta =\text{arccos}\left(\frac{F_R^2-F_g^2-F_a^2}{2\cdot F_g\cdot F_a}\right)$$

In the inclined plane, the laws of the trigonometric functions of an oblique triangle apply (see Sect. 2 ). The resulting force F _{R is} calculated as follows: $${\mathrm{F.}}_{\mathrm{R.}}=\sqrt{{\mathrm{F.}}_G{}^2+{\mathrm{F.}}_a{}^2+2+{\mathrm{F.}}_G\cdot {\mathrm{F.}}_a\cdot \text{cos}\left(\beta \right)}$$

it follows $$\beta =\text{arccos}\left(\frac{{\mathrm{F.}}_{\mathrm{R.}}^2-{\mathrm{F.}}_G^2-{\mathrm{F.}}_a^2}{2\cdot {\mathrm{F.}}_G\cdot {\mathrm{F.}}_a}\right)$$

The acceleration force F _{a is} calculated with: $${\mathrm{F.}}_a=-{\mathrm{F.}}_G\ast \text{cos}\beta +\sqrt{{\left({\mathrm{F.}}_G\ast \text{cos}\beta \right)}^2-\left({\mathrm{F.}}_G{}^2-{\mathrm{F.}}_{\mathrm{R.}}{}^2\right)}$$

The slope angle φ results from: φ = 90 ° - β

The angle δ results from: δ = arcsin ((F _a / F _R ) · sin β); β = 90 ° - φ

The angle ω results from: ω = arcsin ((F _g / F _R ). Sinε); ε = 180 ° - β

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

The partial images ad of serve to find the maximum positive slope angle (+ φmax) 5b to consider the behavior of the force system and the center of gravity KSP of the runner with increasing positive incline angle + φ with regard to his equilibrium and his stability. Here is the runner 100 stable as long as its center of gravity is perpendicular above the support surface (touching foot) and it is thus in stable equilibrium.

The pictures show a runner who runs upright, with constant weight F _G , with constant resulting force F _R (constant footprint force) and constant stride length s _L , up an inclined plane with an increasing positive angle of incline (+ φ).

Partial picture a shows the runner 100 In the horizontal plane with the angle of inclination φ = 0. Here, the body's center of gravity KSP, with its constant weight F _G acting vertically from it, is in the frontal plane of the middle of the body at the level of the navel, whereby the vertically acting constant weight F _{G is} due to the Mid-step to the floor. (stable equilibrium)

The partial images b, c, d show that the vertically acting constant weight F _G , with increasing positive slope angle (+ φ), reduces the angle δ and thus _{generates an ever decreasing acceleration force F a} in the direction of movement. This results in a maximum positive angle of incline of φ = 15 °, which ensures upright, continuous walking / running on the inclined plane.

The runner is at a positive angle of incline of φ = 20 ° 100 in the critical area, in which measurements must be used to assess whether upright, continuous walking / running on the inclined plane can be guaranteed.

The partial images a, b, c, d are used to find the maximum negative slope angle (-φ _max) 5c to consider the behavior of the force system and the center of gravity KSP of the runner 100 , with increasing negative slope angle -φ, with regard to its equilibrium and stability. Here is the runner 100 stable as long as its center of gravity KSP is perpendicular above the support surface (touching foot) and it is thus in stable equilibrium. The partial images ad of the figure show the runner 100 , who runs upright, with constant weight F _G with constant resulting force F _R (constant footprint force) and constant step length s _L , down an inclined plane with increasing negative slope angle (- φ).

Partial picture a shows the runner 100 In the horizontal plane with the angle of inclination φ = 0. The body's center of gravity KSP, with its constant weight F _G acting vertically from it, is in the frontal plane of the center of the body, with the vertically acting constant weight F _G , through the middle of the step to Floor runs (stable equilibrium).

The partial images b, c, d show that the vertically acting constant weight F _G increases the angle δ with increasing negative slope angle (- φ) and thus _{generates an increasing acceleration force F a} in the direction of movement.

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

The runner is at a negative angle of incline of -φ = 20 ° 100 in the critical area, in which measurements must be used to assess whether upright, continuous walking / running on the inclined plane can be guaranteed.

In partial image a the 5d is the runner 100 shown, who runs up an inclined plane with the positive slope angle + φ = 15 °, with his upper body being at right angles to the inclined plane.

Part b shows the runner 100 walking up an inclined plane with a positive gradient of + φ = 15 °, with his upper body bent 15 ° forward in relation to partial image a and now perpendicular to the inclined plane, which corresponds to walking / running upright (Posture for constant speed; small changes in speed).

Part c shows the runner 100 , who runs up an inclined plane with a positive angle of inclination + φ = 15 °, with his upper body bent forward by 18 ° in relation to partial image b and now in a line with the forefoot of the following, accelerating foot (acceleration posture to increase speed).

As can be seen from the pictures, the runner shifts his body's center of gravity KSP with his vertical weight F _G by bending his upper body and thus increases the angle δ and the resulting F _R , which generates a greater acceleration force F _a in the direction of movement.

Partial image a the 5e shows the runner 100 who runs down an inclined plane with a negative slope angle -φ = 15 °, with his upper body at right angles to the inclined plane.

Partial image b the 5e shows the runner 100 who runs down an inclined plane with a negative slope angle -φ = 15 °, with his upper body bent backwards by 15 ° in relation to partial image a and is now perpendicular to the inclined plane, which corresponds to an upright walking / running (Posture for constant speed; small changes in speed).

Partial image c of the figure shows the runner 100 , who runs down an inclined plane with a negative angle of inclination -φ = 15 °, with his upper body bent backwards by 15 ° in relation to partial image b and now in a line with the forefoot of the leading, acceleration-taking foot (braking position to reduce speed ).

As can be seen from the pictures, the runner shifts 100 By bending the upper body, its center of gravity KSP with its weight F _G acting vertically from it backwards and thus reduces the angle δ and the resulting F _R in order to achieve 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 system 50 as sensor surfaces.

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

For direct detection of the by the foot 10 The force exerted by the runner, the pressure surfaces are designed to be the same size, for example, and when the force is applied they provide the exact length position within the sole of the foot along its length L10 . the reference number 24 indicates the earliest contact point of the foot 10 at the ball of the foot 10.3 on. 10.4 denotes the area of the toe.

Pressure measuring cells can be used to convert the force into an electrical signal 54 are located directly in the power transmission medium within the pressure surface or connected to it via capillaries in the area of the foot cavity 12th installed (area 22nd for signal acquisition and signal processing).

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

6c shows a sensor chain arrangement for detecting the foot pressure from the heel area 10.1 and from the forefoot area 10.3 , 10.4 . When force is applied, the pressure surfaces provide the exact length position within the sole of the foot along the longitudinal extension L10 of the foot 10 and are designed in different sizes.

6d shows a sensor chain arrangement similar to the arrangement in FIG 6c corresponds, but with additional recording of the foot pressure in the metatarsal rolling area 10.2 .

6e shows a sensor chain arrangement for recording the entire footprint. The pressure surfaces are, for example, rectangular in shape and, when a force is applied, they provide the exact length position within the sole of the foot along the longitudinal extension L10 of the foot. Below the top view is a longitudinal section through the measuring cells for illustration 54 along L10 shown.

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

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

7th shows an example evaluation of a resulting force F _R on the basis of characteristic curves at different speeds as a function of a gradient angle φ.

The following parameters are used as examples of calculation data: Body weight m = 80 kg constant measurement distance s from heel to toe s = 30 cm.

At a speed of v = 10 km / h (upper curve) and an incline 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 an incline 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 speed v _{s / t} calculated from the distance-time measurement and the determined amount of the arithmetic mean value of the pressure _{curve of} the resulting force | F R_arithm |, for each running speed v and each pitch angle ( ± φ) calibrated using correction factors or correction functions. To calibrate every speed v _{s / t} and every incline angle (± φ) when walking / running with the whole foot or on the forefoot, a treadmill is used as the primary standard for the speed specification v _cal and adjustable positive and negative incline _{angles (± φ cal} ).

Normal walking / running is assumed, which excludes trapping, stumbling, plopping or walking / running in place.

oder $${\text{v}}_{\text{kal}}={\text{v}}_{\text{s/t}}\text{ * f}\left({\text{k}}_{\text{Faktor}}\right)=v_{\text{s/t\_kal}}$$

_{The speed v s / t} calculated from the distance-time measurement is compared with the specified speed v _kal and, if they are not equal, equated by correction factors or correction functions. e.g. $${\text{v}}_{\text{cal}}={\text{v}}_{\text{s / t}}{\text{* k}}_{\text{factor}}=v_{\text{s / t\_cal}}$$

or $${\text{v}}_{\text{cal}}={\text{v}}_{\text{s / t}}\text{* f}\left({\text{k}}_{\text{factor}}\right)=v_{\text{s / t\_cal}}$$

The exact weight of the rotor | F _g | = m * g, is measured with a calibrated scale.

When walking / running in the horizontal plane, the calibrated speed v _{s / t_kal} and the precisely measured weight | F _g | = m * g, the accelerating force Fa and furthermore the amount of the resulting force | F _{R_berech} | calculated.

oder $$\left|{\text{F}}_{\text{R\_berech\_kal}}\right|=\left|{\text{F}}_{\text{R\_arithm}}\right|\text{ * f}\left({\text{k}}_{\text{Faktor}}\right)=\left|{\text{F}}_{\text{R\_arithm\_kal}}\right|$$

This amount of the resulting force | F _{R_berech} | calculated from the calibrated values is now considered the calibrated resulting force | F _{R_berech_kal} | in the horizontal plane, with the set angle of inclination φ _cal = 0 °. The calibration of the amount of the arithmetic mean of the resulting force | F _{R_anthm} | from the pressure / time measurement (force / time measurement) in the horizontal plane, is carried out by equating it with the resulting force | F _{R_berech_kal} | in the horizontal plane, by means of correction factors or correction functions at any given speed v _cal and set angle of inclination φ _cal = 0 °. e.g. $$\left|{\text{F.}}_{\text{R\_berech\_kal}}\right|=\left|{\text{F.}}_{\text{R\_arithm}}\right|{\text{* k}}_{\text{factor}}=\left|{\text{F.}}_{\text{R\_arithm\_kal}}\right|$$

or $$\left|{\text{F.}}_{\text{R\_berech\_kal}}\right|=\left|{\text{F.}}_{\text{R\_arithm}}\right|\text{* f}\left({\text{k}}_{\text{factor}}\right)=\left|{\text{F.}}_{\text{R\_arithm\_kal}}\right|$$

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

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

A signal filter is connected upstream of the evaluation unit to eliminate signal outliers (peaks).

The calibration of the positive and negative incline angle (± φ) is carried out by equating the calculated incline angle (± φ _calc ) to each set incline _{angle (± φ cal} ) by means of correction factors or correction functions, at each set speed v _{cal of} the treadmill.

The amount of the arithmetic mean of the resulting force | F _{R_arithm_kal} | is decisive for the calculation of the positive or negative slope angle (± φ) from the pressure / time measurement (force / time measurement).

In order to achieve equality of the slope angle to be calculated (± φ) with the set slope angle (± φ _kal ), the amount | F _{R_arithm_kal} | multiplied by an angle correction factor φ_k _factor or an angle correction function f (φ_k _factor).

With: $$\left|{\text{F.}}_{\text{R\_arithm\_kal}}\right|\text{*}\mathrm{\phi \_}{\text{k}}_{\text{factor}}\to {\mathrm{\phi }}_{\mathrm{\_}\text{calc\_cal}}={\mathrm{\phi }}_{\text{cal}}$$

With: $$\left|{\text{F.}}_{\text{R\_arithm\_kal}}\right|\text{* f}\left(\mathrm{\phi \_}{\text{k}}_{\text{factor}}\right)\to {\mathrm{\phi }}_{\mathrm{\_}\text{calc\_cal}}={\mathrm{\phi }}_{\text{cal}}\text{.}$$

In summary it can be said that from the velocity _reference v = s / t the resultant | F Rberech | is calculated and is therefore also used as a force reference for the horizontal and inclined plane.

The resultant | F R_arithm | is derived _{from the pressure curve measurement} and the speed v _{Ft is} calculated, which is only correct in the horizontal plane.

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

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

| F _{R_arithm} | _{is thus a measure of the slope angle} (± φ) with respect to | F Rberech | _·

Claims (9)

Method for operating a movement parameter measuring device for detecting a movement parameter (φ) of a runner (100), which executes a relative movement with respect to a ground, with a pressure and / or a pressure distribution between a foot of the runner (100) and the ground from a sensor system (50) is recorded and an evaluation unit derives the movement parameter (φ) of the runner from the recorded signal of the pressure and / or the pressure distribution, and the movement parameter (φ) is an angle of inclination of the ground, the movement parameter (φ) of the runner (100 ) is derived from a reference _{speed (v s / t} ) from a distance / time measurement from a rolling process via sensors and / or sensor surfaces of the sensor system (50) or is made available from external sources, and a force-dependent and / or pressure-dependent speed (v _Ft ), which is recorded from a foot pressure signal as a function of time during the rolling process, is derived, where from the reference _{speed (v s / t} ) a resultant force (F R_berech) is determined in the horizontal plane, which resultant force (F _{R_berech} ) from an acceleration force (F _a ) in the horizontal plane and the amount of weight (F _g ) of the Runner is calculable and which represents the force that the runner needs to have the current speed (v _{s / t} ) in the horizontal plane, whereby an amplitude of a foot pressure signal is recorded as a function of time (t) during the rolling process and an arithmetic mean value (F _{R_arithm} ) is formed from an area integral of the pressure signal over time (t), which arithmetic mean value (F _{R_arithm} ) corresponds to the amount of the resulting force during the duration of the force, whereby a comparison of the amounts of the calculated resulting force ( F _{R_berech} ) is carried out in the horizontal plane and the arithmetic mean (F _{R_arithm} ) and if the amounts of the runs are equal r (100) runs with the reference speed (v _{s / t} ) in the horizontal plane, and if the amounts differ, the rotor (100) runs in an inclined plane. Procedure according to Claim 1 , characterized in that with a relative increase in the pressure in the heel area (10.1) a gradient is detected and with a relative increase in the pressure in the forefoot area (10.4, 10.3) an incline and / or acceleration is detected. Procedure according to Claim 1 or 2 , characterized _{in that a distance (s) and / or a speed (v s / t} , v _Ft , v) is derived from the time signal and / or pressure signal and a predetermined length and / or current length of a sensor system (50). Method according to one of the Claims 1 until 3 , characterized in that a jump angle is derived from the time signal and / or pressure signal. Method according to one of the Claims 1 until 4th , characterized in that a predetermined running style is derived from the time signal and / or pressure signal. Method according to one of the Claims 1 until 5 , 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 from the product of the time span (Δt _{_sL} ) and reference _{speed (v s / t} )) the stride length s _{L is} calculated. Method according to one of the Claims 1 until 6th , characterized in that a covered distance s _weg and / or a total distance is derived by summing the individual step lengths s _L. Method according to one of the Claims 1 until 7th , characterized in that the data and / or results in the memory of a microcontroller are fed to a separate computer via a serial and / or parallel and / or USB interface and are evaluated and / or displayed, preferably via a suitable graphical user interface. Method according to one of the Claims 1 until 8th , characterized in that the data and / or results in the memory of a microcontroller are fed to a transmitter-receiver system and displayed via a serial and / or parallel and / or USB interface.

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