GB2538445A

GB2538445A - System for aiding a user to move

Info

Publication number: GB2538445A
Application number: GB1614148.3A
Authority: GB
Inventors: Pape Sperling Lise
Original assignee: Individual
Current assignee: Individual
Priority date: 2014-06-14
Filing date: 2015-02-13
Publication date: 2016-11-16
Anticipated expiration: 2035-02-13
Also published as: GB201614148D0; GB2538445B8; GB2538445B

Abstract

A system for aiding a user to move, comprising a sensor configured to detect a parameter indicating a position of the user's foot; a motor operable to provide vibrational feedback in response to the sensor output; and a processor, wherein the processor is configured to control the vibration in direct or inverse correlation with the sensed parameter such that a characteristic of the vibration is configured to increase or decrease in response to an increase or decrease of a sensed parameter or sensed distance. The system may have a wireless communications module for transmitting or receiving data. The system may be in the form of footwear, or as an attachment for footwear.

Description

SYSTEM FOR AIDING A USER TO MOVE

Filed of the Invention The present invention relates to a system for aiding a user to move and more particularly to an aid that provides visual cues and/or tactile feedback for a user.

Introduction

The present invention relates to a mobility aid to assist in the everyday life of a person with mobility issues. Posture and balance for walking in particular are intricately linked to proprioception, the ability to sense the position, location, orientation and movement of the body and its parts. Proprioception and other sensory feedback is often impaired in patients with diseases such as multiple sclerosis (MS) and Parkinson's disease (PD) for example. These diseases often result uneven walking.

For example, in normal gait, the heel strikes the ground before the toes (heel-to-toe walking). In Parkinsonian gait, the entire foot is often placed on the ground at the same time, or the toes touch the ground before the heel. In addition, PD patients may have reduced foot lifting clearance between the toes and the ground. Postural instability increases the likelihood of a patient falling, the consequences of which are obvious.

This invention is also helpful for other persons with lessened sensory feedback. It can also be helpful in sports for people with no mobility issues, but who wish to receive active feedback on their posture or gait, to review and revise their posture/gait e.g. when running. The device may also be helpful for anyone during general walking, to predict and detect changes in walking.

The present invention aims to provide a mobility aid to enhance a user's ability to move stably and/or efficiently.

Brief summary of the invention

The present invention provides a system and method for aiding a user as claimed.

In particular, the present invention provides a system for aiding a user to move, comprising: a sensor configured to detect a parameter indicating a position of the user's foot; a feedback device operable to provide feedback to the user; and a processor, wherein the processor is configured to control the feedback device depending on the sensed parameter.

Preferably, the present invention provides a system for aiding a user to move, comprising: a sensor configured to detect a parameter indicating a position of the user's foot; a projector operable to project a first visual cue; and a processor, wherein the processor is configured to control the projector depending on the sensed parameter.

Preferably, the present invention provides a system for aiding a user to move, comprising: a sensor configured to detect a parameter indicating a position of the user's foot; a motor operable to provide vibrational feedback in response to the sensor output; and a processor, wherein the processor is configured to control the vibrational feedback depending on the sensed parameter.

The present invention is beneficial because it increases confidence and/or efficiency in movement -it provides visual aids and/or tactile feedback to guide the user. It also promotes independence. Further, the invention is environmentally-friendly, because it promotes travel by walking.

Embodiments of the present invention will now be described, by way of example only, with reference to the following figures, in which: Figures 1 and 2 show schematic overviews of the present invention; Figure 3 shows a shoe comprising an attachment illustrating a first embodiment of the present invention; Figures 4 and 5 show the embodiment of figure 3 in more detail; Figures 6 and 7 illustrate how two visual cue mechanisms operate in relation to a users stride according to the first embodiment; Figure 8 illustrates an electronic layout for the first embodiment of the present invention; Figure 9 illustrates a second embodiment of the present invention; and Figure 10 illustrates an electronic layout for the second embodiment of the present invention.

Detailed description of the invention

The present invention is illustrated in figure 1, which shows the core elements of the system 10: a sensor 20 for sensing a parameter indicating a position of the user's foot and a feedback device 30 to provide feedback to enhance proprioception and sensory feedback.

In a first embodiment, the feedback device 30 is a projector in the form of a laser, and the laser provides one or more visual cues in response to the sensed parameter, to aid the user in walking. In the first embodiment, the sensor 20 is a pressure sensor, detecting the pressure exerted by the user on a surface such as the ground. In other embodiments, a distance sensor is used.

In use, the pressure sensor 20 measures the contact pressure between the user's foot and the walking surface. When the user's foot touches the surface and the sensed pressure exceeds a threshold, a line projection is emitted by the laser, indicating a path for the user to travel along. When the sensed pressure falls below the threshold, the laser is switched off, to preserve battery life.

A preferred implementation of the laser line projection is illustrated in figures 35. In these figures, the laser projector 30 comprises three laser elements: two lower line projection laser elements 31 and an upper dot projection element 32. The two lower laser elements are arranged to project at an angle of substantially 45-60° to provide a suitable diverging walking path. The dot projection is focused above the line projections, so that it reflects off obstacles in the user's path.

In the preferred arrangement shown, the two laser elements 31 are placed at the front of the shoe. This is a preferred location for the laser elements 31 because it is the last area to move out of contact with the ground surface during the gait cycle. The angle of the projection varies according to the individual user. The angle of the projection determines the projection distance from the shoe and is influenced by the gait stride and size of the user.

In other embodiments, the laser projection may comprise a different number of laser elements 31 -for example one laser element 31 may be configured to provide both the line and dot projections, switching between the two.

In preferred embodiments, the visual cues comprise two elements: line and dot projections. The line projections provide a path for the user to follow. In terms of overcoming fear of falling and promoting movement, there are different needs for different users. MS patients will have a need for the path (line) projection, whereas PD users suffering from FOG (freezing of gait) need obstruction identification/projection. For both types of users, the dot projection is a guideline for avoiding obstacles. Preferably, the dot projection (obstacle identification) is presented when a foot is not touching the surface and the sensed pressure is below a threshold. In some embodiments, the thresholds for the dot and line projections are the same, so the system switches between line and dot projections as the user walks. In other embodiments, the thresholds are not the same, and may overlap. In other embodiments, the dot and/or line projections may also be "on", regardless of any thresholds.

Preferably, the dot projection has a diameter and brightness that makes it easily visible for the user to identify obstacles. These dot projection parameters can be determined by the particular objects that the user finds difficulty in avoiding, e.g. steps. Since steps are to be avoided at a short distance, the required diameter of the projection may be relatively small, e.g. at least 3 mm at 0.2 m or less from the step obstacle. For obstacles that need to be avoided early, e.g. bins or lamp posts that must be walked around, the same diameter may be required at a distance of 0.5 m or less, and these parameters would still be suitable for steps (but increase power consumption). Preferably, these parameters can be configured by the user.

In some embodiments, the system further comprises a distance or proximity sensor for detecting the distance to/presence of obstacles, and the system is configured to provide a visual cue such as a dot projection to highlight the obstacle, in response to the sensor feedback. Accordingly, the dot projection parameters may be configured by the system automatically, using the sensor information. The system may optionally provide additional audible, vibrational or visual feedback when the obstacle is within a predetermined proximity/distance.

The combined path and obstacle identification system is illustrated schematically in figure 2.

Here, the shoe clip is attached on the front of the user's shoe, as shown in figure 3. The shoe clip is preferably connected to the insole via a wireless connection such as Bluetooth®. The insole informs the activity in terms of laser projection from the shoe clip. Pressure observed in the insole is used to determine which laser is on at which time, as explained above.

In some embodiments, the laser component can be turned 90 degrees, to project vertically and/or horizontally. This 90° rotation is illustrated in figures 4 and 5. Alternatively, an optical diffractive element may be used. The different projections are used for the different needs of users. For example, an MS user may observe increased confidence when being supported by the visual path which acts as guidance. The PD user benefits from having obstruction projected; particularly patients suffering from FOG. The obstructions are visual cues that can help to trigger movement, when the user is otherwise in a frozen' state.

Figures 6 and 7 illustrate the interactions between the visual cues and the user's feet positions whilst walking. In summary, the line projection (path indication) is presented when the user's foot touches the surface and the sensed pressure exceeds a threshold. The dot projection (obstacle identification) is presented when a foot is not touching the surface and the sensed pressure is below a threshold. In this way, the feet act together in a coordinated fashion to support the movement of each other, e.g. the left foot projects for the right and vice versa.

Figure 8 illustrates an electronic layout for the first embodiment of the present invention. The laser projections are influenced by the pressure coming from the insole (illustrated in figures 6 and 7). The dot projection is ON when there is no pressure, and the foot is travelling, at which point the line projection is OFF on that foot. The opposite foot will have the reverse timing, and i.e. when the right foot is travelling, the left foot is on the ground, hereby activating pressure. When pressure is on, the laser line is ON and the dot projection is OFF. It is possible for the user to switch off the entire system using a main switch. The system is preferably also configured to turn off automatically after a given time when the pressure is substantially constant and it can be assumed that the user is standing still (constant high pressure) or seated (constant high, low or zero pressure, depending on the support of the feet).

In a second embodiment, the present invention provides a feedback device in the form of a motor, wherein the motor provides vibratory feedback in response to the sensed parameter. In some embodiments, the motor is implemented within an insole of footwear.

The insole provides tactile feedback in order to give the user an increased proprioceptive understanding and sensory feedback in general. The insole can be personalised to fit the feet of each user, and provide the required support and feedback. Each user may also have different levels of sensory perception depending on the level of impairment, hence different vibrational levels may be needed. These settings are preferably adjustable when the user initially calibrates the insole.

In the second embodiment, the insole comprises a pressure sensor 120 and a vibration motor 130. The pressure sensor 120 detects changes in pressure and amount of pressure, allowing the vibration feedback to be directly (or inversely) correlated with the amount of pressure. Hence, different surfaces result in different amounts of vibration, the vibration varying n direct or inverse proportion to the pressure. It is therefore possible for a user to detect the hardness of a surface, as e.g. stepping in mud will give less strong vibrations than stepping onto a concrete surface (mode 1). With inverse correlation, stepping in mud will give stronger vibrations than stepping onto a concrete surface (mode 2). In other embodiments, the vibration level operates like a traffic light system having three tiers indicating the rigidity of the surface to the user, rather than proportional correlation, as tabulated below: Surface Mode 1 Mode 2 Concrete (stable, solid) Strong vibration Mild vibration Mud (moderate) Moderate vibration Moderate vibration Sponge (unstable) Mild vibration Strong vibration Alternatively, multiple distance sensors could be used and the system can determine whether the distance from the underside of the foot to the surface at multiple locations, and thus whether the surface is flat or uneven.

The increased proprioceptive and sensory feedback will come through the vibration motors 130 placed within the insole and activated by feedback from the pressure sensors 120. Additionally, the insole can be customised to the individual, providing touch on the entire sole of the foot, as opposed to what most people have today -a flat shoe, that only provides touch on the pressure points at the front and heel of the foot.

Exemplary insoles, a moulded prototype and a diagram of the electronic circuit are shown in figures 9 and 10. In this embodiment, when there is no pressure, there is no vibration. Here, as the pressure increases, the vibrational feedback increases.

In the first embodiment, the pressure sensor 20 is used to detect the position of the user's foot, which may be determined as a binary contact status: in contact with a surface, or not in contact with a surface. In the second and other embodiments, the position is detected to a degree using a pressure sensor 120 or distance sensor.

The preferred embodiments use a pressure sensor 20, 120 to measure a pressure exerted by the user on a surface. In other embodiments, any other sensor may be used, such as a proximity sensor, a light sensor or a distance sensor (e.g. ultrasound, IR).

In a preferred embodiment, three pressure sensors 120 and three vibration motors 130 are used. The sensors 120 and motors 130 are paired together and located at the heel, toe and under the arch of the foot. These pairs are linked individually -i.e. if only the toe of the wearer is on the ground, then only the motor in the toe area will vibrate. Likewise, if only the heel is on the ground, only the motor in the heel area will vibrate. This arrangement is beneficial as the vibrational feedback directly correlates to the contacting area. Other embodiments may include more or fewer sensors 120 and motors 130.

In the illustrated embodiments, the system is implemented as one or more attachments for footwear. In other embodiments, the system may be integrated within footwear.

The present invention may also be used to gather user data and correlate user data with the feedback. The present invention may further comprise an input device for receiving user data such as medical (disease and medication) history and biometric data. The present invention may further comprise storage to store this data and the sensor data, to identify trends in the data.

The system may further comprise a wireless communications element to send and receive such data e.g. to a smartphone or smartwatch or directly to a computer. In particular, the system may be operable to record pressure sensor data across the user's foot in real-time and store/transmit this data for real-time analysis of weight distribution, for example. The tactile feedback may be used to "train" the user to modify their weight distribution e.g. for improved performance, stability or strength.

This data may be used to track disease progression (by the user, medical professional or in research), to link with medication that the user may be taking, as it may be that drug A is best for user A and drug B is best for user B, even if they are diagnosed with the same disease. Over time, it may also be possible to identify trends, that can be used for research purposes, to better understand the disease.

When used in this specification and claims, the terms "comprises" and "comprising" and variations thereof mean that the specified features, steps or integers are included. The terms are not to be interpreted to exclude the presence of other features, steps or components.

The features disclosed in the foregoing description, or the following claims, or the accompanying drawings, expressed in their specific forms or in terms of a means for performing the disclosed function, or a method or process for attaining the disclosed result, as appropriate, may, separately, or in any combination of such features, be utilised for realising the invention in diverse forms thereof.

Preferred Features 1. Footwear or an attachment for footwear to assist a person walking in a direction of travel, e.g. a person with limited or impaired walking ability, comprising a device for projecting a line in front of the person wearing the footwear, the line either forming a path extending in the said direction of travel or a line extending across the direction of travel, e.g. at right angles to the direction of travel.

2. Footwear or an attachment for footwear as recited in clause 1, wherein the device is switchable between projecting a line forming a path extending in the said direction of travel and a line extending across the direction of travel.

3. Footwear or an attachment for footwear as recited in clause 1 or clause 2, wherein the device is capable of projecting a spot in front of the person wearing the footwear to assist in gauging the height of an obstacle lying along the direction of travel.

4. Footwear or an attachment for footwear as recited in any preceding clause, which comprises a pressure-sensor for detecting the pressure exerted by the person's foot on the ground, which sensor is capable of communication with the device to project a line only when the sensor detects a pressure above a predetermined threshold value.

5. Footwear or an attachment for footwear as recited in clause 4, wherein the device is configured to project a spot when the sensor detects a pressure below a threshold value.

6. Footwear or an attachment for footwear as recited in clause 4 or clause 5, which includes an insole and wherein the sensor is incorporated into the insole.

7. Footwear or an attachment for footwear as recited in clause 6, wherein the insole includes a vibrator capable of delivering a variable degree of vibration to the sole of the person's foot, which the sensor is capable of communication with the vibrator to provide a degree of vibration that increases with increasing pressure sensed by the sensor.

8. A method of assisting a person with walking in a direction of travel, e.g. a person with limited or impaired walking ability, which comprises projecting from the person's foot a line in front of the person, the line either forming a path extending in the said direction of travel or a line extending across the direction of travel, e.g. at right angles to the direction of travel.

9. A method as recited in clause 8, which compromises projecting a spot in front of the person wearing the footwear to assist in gauging the height of an obstacle.

10. A method as recited in any preceding clause 8 clause 9, which comprises sensing the pressure exerted by the person's foot on the ground, and projecting a line only when the sensor detects a pressure above a predetermined threshold value.

11. A method as recited in clause 10, which comprises projecting a spot when the pressure is below a threshold value.

12. A method as recited in clause 10 or clause 11, wherein a vibration is delivered to the sole of the person's foot and wherein the degree of vibration increases with increasing pressure sensed by the sensor.

Keys for Figures Figure 2: 2a -Guidance pathway projected from the user.

2b -Tactile feedback given for each step indicating surface hardness.

2c -As user approaches obstacle, the visual stimuli will help to alert the user whether it is safe to pass.

Figure 6: 6a -Right foot: As pressure disappears, DOT turns ON and LINE turns OFF. Left foot: With pressure, DOT turns OFF and LINE turns ON.

6b -Right foot: Without pressure, DOT is ON and LINE is OFF. Left foot: With pressure, DOT is OFF and LINE is ON.

6c -Left foot: The LINE projection from the left foot helps to guide the right foot in its next stride.

Lad -Left foot: The left foot starts lifting off the ground. The last part to lift is the front, from where T-1 the projection is coming, hence keeping the projection stable during the step.

Right foot: The DOT projection helps the user identify whether the foot is lifted high enough CO to pass obstacles.

-Left foot: The LINE stays ON until the whole foot has left the ground and there is no pres sure. At this point the DOT turns ON allowing for the left foot to move forward.

Right foot: The DOT stays ON until the right foot is on the ground, at which point the LINE C\I turns ON to guide for the left foot.

Figure 7: 7a -Right foot: As pressure disappears, DOT turns ON and LINE turns OFF. Left foot: With pressure, DOT turns OFF and LINE turns ON.

7b -Right foot Without pressure, DOT is ON and LINE is OFF. Left foot With pressure, DOT is OFF and LINE is ON.

7c -Left foot The LINE projection from the left foot helps to guide the right foot in its next stride.

7d - Lett foot: The left foot starts lifting off the ground. The last part to lift is the front, from where the projection is coming, hence keeping the projection stable during the step.

Right foot The DOT projection helps the user identify whether the foot is lifted high enough to pass obstacles.

7e -Left foot: The LINE stays ON until the whole foot has left the ground and there is no pres sure. At this point the DOT turns ON allowing for the left foot to move forward.

Right foot The DOT stays ON until the right foot is on the ground, at which point the LINE turns ON to guide for the left foot.

Claims

CLAIMS1. A system for aiding a user to move, comprising a sensor configured to detect a parameter indicating a position of the user's foot; a motor operable to provide vibrational feedback in response to the sensor output; and a processor, wherein the processor is configured to control the vibration in direct or inverse correlation with the sensed parameter such that a characteristic of the vibration is configured to increase or decrease in response to an increase or decrease of a sensed parameter or sensed distance.
2. The system of claim 1, wherein the position of the foot is either: in contact with a surface, or not in contact with a surface.
3. The system of claim 1 or claim 2, further comprising a wireless communications module for transmitting and/or receiving data.
4. The system of any of claims 1 to 3, in the form of footwear or an attachment for footwear.
5. A system substantially as shown in the figures.