JP2021532840A - How to detect a fall for use with a mobility aid, and a mobility aid that implements this method - Google Patents

Abstract

A method of detecting a fall for use with a mobility aid device (10), the mobility aid device (10) being held by the user during use, the method being associated with a fall event for the mobility aid device (10). The step of detecting one or more motor states, the step of determining one or more respective time intervals between the two or more detected motor states, and the step of determining one or more determined states. The time interval is compared to one or more predefined time thresholds to identify one or more fall conditions in relation to the fall event of the user using the mobility aid device (10). Including the stage to do.

Description

The present invention relates to a device for assisting a user's movement, and is not particularly limited to, but is not limited to, a walking assist device such as a cane or a walking cane.

Various auxiliary devices have been developed to assist users who are ill, injured, and / or have difficulty moving due to aging or who have mobility dysfunction. Common mobility aids may include, for example, a walking cane or cane, a tripod or quadruped walker, a wheeled walker, etc., which may be used by users who experience weakness or pain when walking. It is also designed to assist some users who suffer from other health conditions that affect mobility. Technological advances have added additional features to traditional gait aids to improve or further assist the needs of elderly or disabled users with the aim of increasing safety, reliability and improving the user experience. can.

An object of the present invention is to provide a novel mobility aid device for assisting and assisting a user's exercise.

Another object of the present invention is to provide a mobility aid device for detecting a user's fall event with improved accuracy.

A further object of the present invention is to provide some degree of mitigation or avoidance, or at least a useful alternative, of one or more problems associated with known gait aids.

The above object is fulfilled by a combination of features of the main claim, the dependent claim discloses a more advantageous embodiment of the invention.

Those skilled in the art will derive other objects of the invention from the following description. Therefore, the purpose of the preamble is not exhaustive and merely serves to explain some of the many purposes of the present invention.

[Technical Solution] In a first major aspect, the present invention provides a method of detecting a fall for use in a mobility aid device. The mobility aid device is retained by the user during use. The method determines one or more time intervals between the step of detecting one or more motor states associated with a mobility aid device fall event and the two or more detected motor states. And one determined time interval compared to one or more predefined time thresholds, thereby one in relation to the user's fall event using the mobility aid device. Or it includes a step of identifying multiple fall states.

In a second aspect, the invention provides a mobility aid device that implements the method according to the first aspect. The mobility assist device comprises a sensing module for detecting a fall event of the mobility assist device, the sensing module comprising at least one sensor for detecting one or more motion states associated with the fall event of the device. Determine one or more time intervals between the processing module connected to the sensing module and the two or more motion states detected by at least one sensor of the sensing module. A processing module configured to compare a time interval to one or more predefined time thresholds to identify one or more fall conditions associated with a fall event for a user using a mobility aid device. And include.

In a third aspect, the invention provides a computer-readable medium containing machine-readable instructions that, when implemented on a processor, implements the steps of the method according to the first aspect.

In a fourth main aspect, the invention provides a system comprising a memory for storing data and a processor for executing computer-readable instructions, wherein the processor, when executed, is the first major. Consists of computer-readable instructions that implement the method in any manner.

The outline of the invention does not necessarily disclose all the features essential for defining the invention, and the invention may be present in a partial combination of the disclosed features.

The above-mentioned features and further features of the present invention will become apparent from the following description of preferred embodiments provided by way of example only with the accompanying drawings.

It is a schematic diagram which shows one Embodiment of the mobility aid device by this invention.

It is a block schematic diagram of the mobility aid device of FIG.

FIG. 1 is a graph display showing a motion state related to a fall event of the mobility aid device of FIG. 1.

FIG. 1 shows a fall condition associated with a fall event for a user using the mobility aid device of FIG. 1 and a corresponding fall warning signal generated in response to the identified fall state.

The handle portion of the mobility aid device of FIG. 1 is shown.

The light projection from the mobility aid device of FIG. 1 is shown.

FIG. 1 shows a mobility aid device of FIG. 1 arranged for charging at a charging station.

[Best Embodiment] The following description is not limited to the combination of features required for carrying out the present invention, but is a preferred embodiment as a mere example.

References herein to "one embodied" or "one embodied" are specific features, structures, or properties described in the context of an embodiment of the invention. Means to be included in at least one embodiment of. The appearance of the phrase "in one embodied" in various places herein is not necessarily all referring to the same embodiment and is mutually exclusive with other embodiments. Nor is it a separate or alternative embodiment. In addition, various features that may be exhibited by some embodiments and not by others are described. Similarly, various requirements that may be requirements of some embodiments but not of others are described.

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

Referring to FIG. 1, a mobility aid device 10 provided in the form of a walking cane or cane according to an embodiment of the present invention is shown. FIG. 2 further shows various components and modules of the device 10 in the form of a block schematic.

As shown in FIG. 1, the cane 10 may generally include a handle portion 12 that is gripped and held by the user during use. The cane 10 may further include an elongated body portion 14 to assist the user's movement. In one embodiment, the body portion 14 may include one or more base portions 16 for engaging with the walking surface during use. Optionally, the elongated body portion 14 connecting the handle portion 12 and the base portion 16 may further include an extendable portion (not shown) such as the form of a stretchable handle portion, whereby the body portion 14 may be included. Can be extendable or retractable when activated by the user. In one preferred embodiment, the handle portion 12 is arranged so as to be coupled to the main body portion 14 via the inclined neck portion 18 as shown in FIG. More preferably, the inclined neck portion 18 defines an acute angle α of about 30 degrees to about 60 degrees with respect to the longitudinal axis AA of the main body portion 14, for example, as clearly shown in FIG. Be placed.

In one embodiment, the mobility aid 10 may include a fall detection module 20 for detecting a user's fall based on a fall event of the mobility aid 10 when used by the user. The fall detection module 20 is associated with a fall motion or equivalent motion of the mobility aid device 10, more specifically, a mobility aid associated with a fall event of the mobility aid device 10, or generated by a fall event of the mobility aid device 10. A sensing module 30 for detecting one or more movements or motor states of the device 10 may be provided. Preferably, the motor state can be a series of continuous movements including a fall event. However, it is also possible that the detected motion state includes some independent discrete motion associated with the fall event of the mobility aid device 10.

Preferably, the motion or motion state can be detected by one or more sensors 32 of the sensing module 30. The sensor 32 may include, for example, one or more of an accelerometer, a gyroscope, a magnetometer, a speed sensor, an altitude meter, an angular speed sensor and / or a rotation sensor, a pressure sensor and a force sensor. In one preferred embodiment, one or more of the sensors 32 may act to detect or measure one or more kinematic parameters of the device 10 in connection with a tipping event of the device 10 and measure. The parameters are subsequently associated with one or more motor states associated with the device 10's fall event. In one embodiment, the one or more motion states are, for example, (1) release of contact by the user from device 10, or more specifically release of grip from handle 12 of device 10. 2) Overturning motion of the device 10 itself, (3) Bounce motion of the device 10 with respect to the surface or on the impact surface after the overturning motion, (4) Movement of the device 10 such as stopping or stopping the motion of the device 10. Missing or quiescent and / or (5) interference with quiescent state of device 10, which may include manual interference such as tilting or picking up device 10. Detection of the stationary state of the device 10 may further include detection of a substantially horizontal orientation of the device 10, or optionally, for example, the tilt angle may be, for example, with respect to a surface such as a walking surface. It may include positioning the device 10 within a predetermined tilt angle when it is less than or equal to a predefined tilt threshold, such as about 10 degrees.

In another embodiment, the motion state is not limited to other motions of the device 10 associated with a fall event such as impact of the device on a surface, rocking or wobbling of the device 10 during a user's unstable motion. Can include. Accordingly, it is intended to include other possible variations of motion conditions that may be associated with a device tipping event, and the invention is not limited by embodiments described herein or shown in the drawings. Those skilled in the art will understand what to do.

The fall detection module 20 may further include a processing module 40 connected to communicate with the sensing module 30. When functioning in conjunction with the sensing module 20, the processing module 40 determines or measures each one or more time intervals between two or more motion states detected from the sensing module 30. In one embodiment, the one or more time intervals may be, for example, a first time interval T1 between (1) detection of release of contact of device 10 by the user and (2) detection of tipping motion of device 10. , (2) Second time interval T2 between the detection of the overturning motion of the device 10 and (3) the detection of the bouncing motion of the device 10 with respect to the surface, (3) the detection of the bouncing motion of the device 10 and (4) the device 10 Third time interval T3 between the detection of the quiescent state of, and (4) the fourth time interval T4 between the detection of the quiescent state of the device 10 and (5) the detection of interference of the device 10 with the quiescent state. And / or may include, for example, a fifth time interval T5 between (2) detection of a tipping motion of the device 10 and (5) detection of interference of the device 10 with a stationary state.

To further illustrate the motion state and the corresponding time interval, FIG. 3 provides a graphical representation of the net acceleration | a | (m / s2) of the gait assist device 10 with respect to the time during an exemplary fall event of the device 10. do. The net acceleration is calculated as the square root of the sum of the squares of the accelerations of the three coordinate components (ax, ay, az).

FIG. 3 initially accompanies the time of the net acceleration of the device 10, that is, about 6 seconds (0:06) from the time of 0 seconds (0:00) detected by the motion sensor 32a of the sensing module 30. It shows regular changes up to a point in time, which can correlate with the walking behavior of the user using the device 10. At about 0:06, the sharp increase in net acceleration detected at time point Tf (time point of fall) may be associated with the tipping motion of device 10, ie, corresponding to motion state (2). The detected change in pressure is not apparent from the graph of net acceleration in FIG. 3, but the release of contact or grip of the device 10 by the user, i.e., the motion state (1) detectable by the pressure sensor 32b of the sensing module 30. It will be appreciated that) is likely to occur before the tipping motion of the device 10. The time interval determined between (1) the release of contact of the device 10 by the user and (2) the time point Tf of the fall is equal to the first time interval T1.

From about 0:09, another change in the net acceleration pattern is detected, which can correlate with a series of bounces of the device 10 against the surface of the device 10 after it has fallen, i.e., corresponding to motion state (3). do. The time interval from (2) the time point Tf of the fall to (3) the detection of the bounce motion is equal to the second time interval T2. Immediately after the bouncing motion, detection of the stationary state of the device 10 follows, where very low net acceleration or net acceleration in the undetectable or almost undetectable range is measurable, i.e., the motion state (4). Corresponds to. The time interval determined between (3) the detection of the bouncing motion and (4) the detection of the stationary state of the device 10 is equal to the third time interval T3. In one embodiment, stationary state detection also detects a substantially horizontal orientation of the device 10 with respect to the longitudinal axis of the device 10, or more specifically, an elongated body 14 of the device 10 on a walking surface. On the other hand, it can be implemented or assisted by detecting whether or not a small tilt angle is formed within a predetermined tilt angle threshold. In one particular embodiment, the tilt angle threshold can be about 10 degrees or less with respect to the surface. In other words, if the device 10 is detected with its longitudinal axis at an angle of less than 10 degrees to the currently resting surface, the device 10 will be oriented substantially horizontally with respect to the surface. It is considered to be in a stationary state, that is, in a moving state (4).

The quiescent state can remain stationary or substantially stationary on the surface while the device 10 is not held, i.e., until interference with the quiescent state occurs, i.e., until the kinetic state (5). It can be continued for a period of time. This may include, for example, a situation in which a fallen gait assist device 10 is moved or picked up by a person. The time interval between (4) stationary state detection and (5) interference detection is equal to the fourth time interval T4. In a further embodiment, the time interval between the time point Tf of the fall and (5) the detection of interference with the stationary state of the device is equal to the fifth time interval T5.

After determining the relevant time interval, the processing module 40 further compares the time interval to one or more respective predefined time thresholds and is associated with the user's fall event when using the mobility aid device. Identify one or more predefined fall conditions. This allows for improved accuracy to detect or at least estimate a user's fall event on device 10, which is estimated based on the identified fall state, where the fall state is a series of gait assist devices 10 with respect to time. It is determined by analyzing and comparing the detected motor states of. Systematic detection of a user's fall based on a determined fall condition significantly improves the accuracy of detection of a fall event on device 10, i.e., an estimated fall event for a user on device 10, when compared to known devices. It has been found to improve, thereby avoiding, minimizing, or at least reducing the possibility of false fall warnings.

For example, the first tipping state is when the first time interval T1 is in the range of about 8 seconds to about 12 seconds, preferably about 10 seconds, i.e., from the handle of the device 10 by the user. The release of the grip can be identified, for example, when it occurs at a time equal to or shorter than about 10 seconds before the tipping point Tf of the device 10. The second tipping state is when the second time interval T2 is in the range of about 0.1 seconds to about 3 seconds, preferably about 2 seconds after the tipping point Tf, i.e., of the device 10. It is identified when the bounce motion occurs, for example, at a time equal to or shorter than about 2 seconds after Tf. The third tipping state is when the third time interval T3 is in the range of about 0.1 seconds to about 3 seconds, preferably about 2 seconds after the bounce of the device 10, i.e., the device 10. Is identified when the quiescent state of is generated, for example, at a time equal to or shorter than about 2 seconds after the bounce of the device 10. The fourth tipping state is, for example, when the fourth time interval T4 is at least about 5 seconds to about 15 seconds, preferably about 10 seconds, i.e. after the device 10 is substantially stuck. , Identified when manual interference occurs at about 10 seconds. The fifth fall state is at least about 14 seconds to about 16 seconds, preferably about 15 seconds, when manual interference occurs at a fifth time interval T5, eg, about 15 seconds after Tf. Be identified.

The fall detection module 20 may further include a signal module 50 connected to communicate with the processing module 40. As described above, the signal module 50 is arranged to generate a fall warning signal in response to one or more fall conditions identified by the processing module 40. In one embodiment, the first warning signal can be generated, for example, when at least four fall states from the first, second, third, fourth and fifth fall states are identified by the comparison step. .. In one embodiment, the first warning signal may correspond to a warning that presumes a user's fall at a relatively high risk or likelihood of occurrence that requires immediate attention or assistance.

In a further embodiment, the signal module 50 may also generate a second fall warning once at least two of the first, second, third, fourth, and fifth fall states have been identified. .. Preferably, at least two of the five fall states may include at least the first fall state. In one embodiment, the second warning signal corresponds to a fall warning that suggests a user's fall with a relatively low risk or likelihood of occurrence when compared to the fall warning suggested by the first warning signal. Can be. In one embodiment, the high-risk first warning signal is triggered by a low-risk second warning signal and a true fall of the user for a predetermined period of time, i.e., immediate attention or assistance is required. It can be generated after a period of time without human intervention, such as manually turning off and / or canceling an event and / or a warning that may indicate a user injury.

In yet another embodiment, the first and second warning signals are also such that the combination of fall state triggers depends on, for example, the level of sensitivity or security required to output each fall warning. Can be programmed or customized by the user and / or the manufacturer according to the specific requirements and / or product specifications of, and can be triggered when any combination of one or more predetermined fall conditions is met and identified.

FIG. 4 further provides a summary of some exemplary trigger combinations of the first and / or second warning signals based on the identification of one or more fall states as described above. As already mentioned, the tipping warning signal can be determined, programmed, and / or customized according to the user's specific requirements, and is therefore pre-use or manufacturing stage based on the specific requirements and / or user settings of the device 10. Can be changed with. Therefore, one of ordinary skill in the art should understand that the present invention is not limited to a particular combination of fall states in order to trigger any one or more of the fall warnings. FIG. 4 is merely an illustration of how a particular embodiment works and should never be considered to limit the scope of the invention.

The generated first and / or second tipping warning signal can be output in one or more forms of an electrical signal and / or an electromagnetic signal via the signal module 50. For example, an electrical fall warning signal can be transmitted to one or more signal devices 52 to output and / or emit one or more fall warnings based on the corresponding first and / or second warning signals. , The signal device 52 may include, for example, a light emitting unit 53, such as one or more LED lights, a sound emitting unit 54, such as one or more buzzers, a beeper and / or an alarm, a vibration unit 55, and the like. The generated warning may be visible, audible and / or recognizable by any person, including a user near the device 10, to indicate a user's fall. In one embodiment, the warning generated by the sound emitting unit 54 based on the first warning signal, which suggests that the user is at high risk of tipping, is intended to signal immediate attention. Warnings generated based on a second warning signal, which can be provided in the form of a relatively loud, long, and / or continuous beep, suggesting that the user may have a low risk of tipping, are, for example, It can be provided in the form of a relatively gentle, short and / or intermittent beep. Additional or alternative, the visible warning generated by the light emitting unit 53 is also a first and / or second warning signal, i.e., in various colors or intensities to indicate the level of danger detected. Can be provided.

The device 10 may further include one or more actuating means 60 electrically connected to the signal module 50 and / or other modules or components of the device 10, which may operate and operate the device 10. It can be operated by anyone, including the user, to control it. The actuating means 60 may include any known form of switch or button that can be manually actuated to intervene in the operation of the device 10, such as suspending or canceling a generated fall warning or warning signal. For example, the actuating means 60 may be operated to stop one or more of the light warning, sound warning and / or vibration warning generated according to the second fall warning signal generated by the signal module 50. It can, thereby preventing subsequent generation of a first fall warning signal that could be generated in the absence of manual intervention, i.e., a second after the second fall warning signal has been triggered and maintained for a predetermined period of time. The fall warning signal can be stopped. In another embodiment, the actuating means 60 can also be actuated to stop, pause, and change the operation of any component or function of the device 10.

The device 10 signals a fall warning signal to any known form of the computer device 100, including a desktop computer, laptop computer, tablet computer, smartphone, or any portable electronic smart device, or an emergency service system. It may further include a communication module 75 for communication. The communication module 75 may also send a fall warning signal to either a private or public network 110 such as the Internet to exchange information or data. In one embodiment, the electromagnetic warning signal can be transmitted wirelessly between the device 10 and the computer device 100 and / or the network 110. For example, after a low-risk second warning signal has been maintained for a predetermined period of time, eg, 20 seconds, the sensing module 30 cannot detect intervention / interference such as movement and / or picking up of device 10 and / or. In situations where there is no warning or manual turning off or cancellation of the warning via the actuating means 60, a high risk first warning signal may be generated. Warnings that can be provided in the form of text messages, which can optionally attach the location details of the device 10 at the same time as or after the generation, are one or more preset to the device 10 via the communication module 75. Can be sent wirelessly to emergency contacts. In another embodiment, warning messages and / or location details can also be sent to the user's mobile device 100 and then, for example, further to the user's emergency contacts and / or emergency system.

Referring to FIG. 5, a further embodiment of the mobility aid 10 with the lighting means 70 disposed on the anterior side wall of the inclined neck portion 18 of the device 10 is shown. The lighting means 70 is configured to project a light beam in the forward direction when the device 10 is held and used by the user. In one particular embodiment, the illuminating means 70 projects a light beam at a beam angle of about 60 degrees to about 120 degrees. In a further embodiment, the beam angle, direction, intensity, and / or color (eg, warm or cold tones) of the projected light beam is via an adjusting means (not shown) provided on the device 10. It can be controlled, adjusted, or selected by the user. For example, the illuminating means 70 may project a light beam so as to spread radially forward with an intensity of about 100 lux, which is reduced to about 0 lux at a distance of about 1.5 meters from the device 10. More preferably, the illuminating means 70 projects a light beam radially forward with an intensity of about 100 lux, which is reduced to about 80 lux at a distance of about 0.5 meters from the device, as shown in FIG. do. The lighting means 70 is advantageous for providing the user with lighting detectable by the optical sensor 72 provided in the device 10 when the device 10 is used in an environment where the visibility is relatively poor due to insufficient lighting. be. Specifically, the lighting means 70 is sufficient to enhance the user's visibility, i.e., safety, without interfering with, influencing, or disturbing others near the user. By providing a light beam with an appropriate beam angle and light intensity, etc., it is configured to provide sufficient and user-friendly lighting.

The device 10 may optionally include a heating element 80 that may be provided on the handle 12 of the device 10 in order to keep the user's hands warm while holding the handle 12. The heating of the heating element 80 can be provided by any known electric heating means, the operation of which is controllable by the temperature sensor 82, and as a result, when the ambient temperature is below a predetermined threshold temperature, for example, 15 degrees Celsius. If the temperature is less than or equal to the temperature, the temperature sensor 82 triggers heating by the heating element 80.

Optionally, the device 10 may also be configured to communicate with the user's mobile device 100 via the communication module 75 to receive an incoming call alert from the mobile device 100. In this regard, the vibration unit 55 of the signal module 50 of the device 10 may generate vibrations at the device 10 thereby alerting the user about an incoming call.

The device 10 may further include a charging unit 90 for charging the device. In one embodiment, the charging unit 90 may include one or more wired electrical connectors and / or wireless inductive connections. In one embodiment, the inductive wireless charging unit is magnetically connected to the corresponding charging terminal 122 at the charging station 120, facilitating the attachment / detachment of the device 10 at the charging station 120, as shown in FIG. .. In a further embodiment, the inductive wireless connection is a data exchange and data exchange between the mobility aid 10 and the computer device 100 when both the mobility aid 10 and the computer device 100 are connected or communicating with the charging station 120. It may further enable the communication of information for synchronization.

Optionally, the device 10 is one for detecting, monitoring, and / or recording blood oxygen levels, blood pressure, heart rate, and average walking speed and distance, energy consumption, fitness tracking, etc., without limitation. Alternatively, a fitness module 95 having a plurality of sensors may be further provided, and the recorded data can communicate with the mobile device 100 and / or the network 110 via the communication module 75.

As described above, the operation of one or more of the lighting means 70, the heating element 80, the charging unit 90, and / or the other modules or components of the mobility aid 10 is an actuating means provided on the device 10. It is manually operable and controllable by 60. In one embodiment, the actuating means 60 may include a plurality of switches or buttons for controlling one or more corresponding functions of the device 10. In a further embodiment, the actuating means 60 may include a touch panel for actuating and controlling various functions of the device 10.

The present invention also relates to a computer-readable medium containing machine-readable instructions, which, when mounted on the processor 42 of the processing module 40, implements the steps of the method described above.

The invention further relates to a system comprising a memory 44 for storing data and a processor 42 for executing a computer-readable medium, wherein the processor 42 comprises computer-readable instructions that implement the method described above when executed. Will be done.

The present invention is advantageous in that it provides a mobility aid device for improving or improving the accuracy of a user's fall detection of the device and a method for use with said device. Specifically, the method provides efficient and systematic analysis and detection of a user's fall event based on the detection of one or more motor states during a fall of a mobility aid device. The exercise state is then associated with one or more corresponding time intervals associated with the device's fall event for evaluation with reference to one or more predefined time thresholds, thereby the user's. One or more fall conditions that provide an estimate of the likelihood of a fall event are identified. In one embodiment, the motion state is, for example, but not limited to, the release of the grip of the user's hand from the handle of the device, the rolling motion of the device, the bouncing motion of the device after a fall, the stationary state of the device on the surface, and the like. And / or may include interference with the stationary state of the device. In another embodiment, the fall state may include other motion states of the device associated with the fall, such as impact of the device on the surface, vibration or sway of the device during the user's unstable movement. One of ordinary skill in the art suggests a possible variation in motor state, ie, the relevant time interval determined, and the possibility of a fall event for the user using the device with improved accuracy. You will understand the corresponding predefined time thresholds for identification.

In a further embodiment, the memory 44 of the processing module 40 is, but is not limited to, the time it takes for a user or any person to manually interfere or cancel a warning or alarm generated by the device 10. Operation pattern can be recorded. The statistics of these behavioral data assist in the analysis performed by the processing module 40, further increasing the accuracy of detecting the possibility of a user's fall.

This description shows the principle of the present invention. Accordingly, one of ordinary skill in the art will appreciate that although not expressly described or shown herein, one can embody the principles of the invention and devise various arrangements within its spirit and scope. ..

Moreover, all specifications describing the principles, embodiments, and embodiments of the invention, as well as embodiments thereof, are intended to include both structural and functional equivalents thereof. In addition, such equivalents include both currently known equivalents and future developed equivalents, i.e., all elements developed to perform the same function, regardless of structure. Is intended.

The invention is illustrated and described in detail in the drawings and the aforementioned description, but the same should be considered exemplary and not limiting in characteristics, only exemplary embodiments. It will be appreciated that it is shown and described and does not limit the scope of the invention in any way. It will be appreciated that any of the features described herein can be used in any embodiment. Exemplary embodiments do not exclude each other, nor do they exclude other embodiments not described herein. Accordingly, the invention also provides embodiments that include one or a combination of one or more of the exemplary embodiments described above. Modifications and modifications of the invention described herein can be made without departing from their spirit and scope and are therefore subject to only such limitations, as indicated by the appended claims. Should be.

Within the scope of the patent claims herein, the elements represented as means for performing a particular function are, for example, a) a combination of circuit elements that perform that function, or b) executing the software. It is intended to include any method of performing a function, including any form of software, including firmware, microcode, etc., which is the result of being combined with the appropriate circuitry to perform the function. The present invention, as defined in the claims, is in the fact that the functions provided by the various described means are combined and combined in the manner required by the claims. Therefore, the means by which these functions can be provided are considered equivalent to those shown herein.

In the following claims and the aforementioned description of the invention, the phrase "comprise" or "comprises", unless the context requires that it is not due to the language of expression or the necessary implications. Modifications such as ")" or "comprising" are used in a comprehensive sense. That is, it is used to specify the presence or absence of the described features, not to rule out the presence or addition of additional features in various embodiments of the invention.

It is to be understood that when prior art publications are referred to herein, such references do not constitute an endorsement that the publications form part of the common general knowledge of the art.

Claims (32)

A method of detecting a fall for use with a mobility aid, wherein the mobility aid is held by the user during use and the method is:
A step of detecting one or more motor states associated with a fall event of the mobility aid device, and
A step of determining each time interval between two or more of the detected motor states, and
The step of comparing the one or more determined time intervals to the one or more predefined time thresholds, thereby relating to the fall event of the user using the mobility aid device. A method, including steps, to identify one or more fall conditions. The method of claim 1, wherein the detection step comprises measuring one or more kinematic parameters of the mobility aid device in connection with the fall event of the mobility aid device. 2. The detection step further comprises associating the measured one or more kinematic parameters with the one or more motor states associated with the tipping event of the mobility aid device. The method described in. The detection step is carried out by a sensing module provided in the mobility assist device, wherein the sensing module is one of an accelerometer, a gyroscope, a magnetometer, a pressure sensor, an altitude meter, a speed sensor and / or an angular velocity sensor. The method of claim 3, comprising one or more. The step of detecting one or more motor states is
The step of detecting the release of contact of the mobility aid device from the user,
The stage of detecting the fall of the mobility aid device,
The stage of detecting the bounce of the mobility aid device with respect to the surface,
The stage of detecting the stationary state of the mobility aid device and / or
The step of detecting interference of the mobility aid device with the rest state,
The method according to any one of claims 1 to 4, which comprises one or more of the above. The method of claim 5, wherein the step of detecting the stationary state of the mobility aid device comprises the step of detecting a substantially horizontal orientation of the mobility aid device. The one or more determined time intervals mentioned above
The first time interval between the detection of the release of contact of the mobility aid device from the user and the detection of the fall of the mobility aid device, and
A second time interval between the detection of the fall of the mobility aid device and the detection of the bounce of the mobility aid device with respect to the surface.
A third time interval between the detection of the bounce of the mobility aid device against the surface and the detection of the stationary state of the mobility aid device.
A fourth time interval between the detection of the quiescent state of the mobility aid device and the interference of the mobility aid device with the quiescent state.
A fifth time interval between the detection of the fall of the mobility aid device and the detection of the interference of the mobility aid device with the resting state,
The method according to any one of claims 1 to 6, comprising one or more of the above. The mobility aid device is used to predefine one or more of the determined time intervals to identify one or more fall conditions in connection with the user's fall event. The step of comparing with the time threshold given is:
The step of identifying the first fall state when the first time interval is in the range of about 8 seconds to about 12 seconds, and
A step of identifying a second fall state when the second time interval is in the range of about 0.1 seconds to about 3 seconds, and
A step of identifying a third fall state when the third time interval is within the range of about 0.1 to about 3 seconds.
The step of identifying a fourth fall state when the fourth time interval is at least about 5 seconds to about 15 seconds and / or the fifth time interval is at least about 14 seconds to about 16 seconds. The stage of identifying the fifth fall state at the time,
7. The method of claim 7, comprising one or more of the above. 8. The method of claim 8, further comprising generating a fall warning signal in response to the identified one or more fall conditions. The step of generating a fall warning signal in response to the identified one or more fall states is the first fall state, the second fall state, and the third fall state according to the comparison step. 9. The method of claim 9, comprising the step of generating a first warning signal when at least four of the fourth fall state and the fifth fall state are identified. The steps of generating a fall warning signal in response to the identified one or more fall states are the first fall state, the second fall state, the third fall state, and the fourth. 10. The method of claim 10, comprising the step of generating a second warning signal when at least two of the fall state and the fifth fall state are identified. At least two of the first fall state, the second fall state, the third fall state, the fourth fall state and the fifth fall state are at least the first fall state. The method of claim 11, including. The method of claim 11 or 12, further comprising generating the first warning signal after the second warning signal has been maintained for a predetermined period of time. The method of any one of claims 9-13, further comprising outputting the fall warning signal generated by transmitting one or more of an electrical signal and / or an electromagnetic signal. 14. The method of claim 14, wherein the electrical signal comprises one or more of a light emitting signal, a sound emitting signal, and / or a vibration signal. 14. The method of claim 14, wherein the electromagnetic signal includes a radio communication signal. A mobility aid device that implements the method according to any one of claims 1 to 16.
A sensing module configured to detect a fall event of the mobility aid device, comprising at least one sensor for detecting one or more motion states associated with the fall event of the mobility aid device. With the sensing module
A processing module connected to communicate with the sensing module, one or more time intervals between the two or more motion states detected by the at least one sensor of the sensing module. Determine and compare one or more of the determined time intervals to one or more predefined time thresholds and one or more related to a fall event for the user using the mobility aid device. The processing module configured to identify a fall condition and
A mobility aid device, including. 17. The mobility assist device of claim 17, wherein the sensing module comprises one or more of an accelerometer, a gyroscope, a magnetic field meter, a pressure sensor, an altimeter, a speed sensor and / or an angular velocity sensor. Further comprising a signal module connected to communicate with the processing module, the signal module is configured to generate a fall warning signal in response to the one or more fall conditions identified by the processing module. The mobility aid device according to claim 17 or 18. 19. The mobility aid device of claim 19, further comprising a communication module for transmitting the fall warning signal to one or more remote computer devices and / or networks. 19. The mobility aid according to claim 19, wherein the signal module comprises one or more signal devices including one or more of a light emitting unit, a sound emitting unit, and a vibration unit. The mobility aid device includes a handle portion that fits in the user's hand and an elongated body portion for assisting the user's movement, and the handle portion is coupled to the body portion via an inclined neck portion. The mobility aid device according to any one of claims 17 to 21. 22. The mobility aid device of claim 22, wherein the slanted neck is arranged to define an acute angle of about 30 to about 60 degrees with respect to the longitudinal axis of the body. 22 or 23. The mobility aid device of claim 22 or 23, further comprising illuminating means disposed on the anterior side wall of the inclined neck portion, wherein the illuminating means projects a light beam at a beam angle of about 60 degrees to about 120 degrees. .. 24. The mobility aid according to claim 24, wherein the lighting means projects the light beam extending radially forward with an intensity of about 100 lux, which is reduced to about 0 lux at a distance of about 1.5 meters from the mobility aid device. device. 25. The mobility aid according to claim 25, wherein the lighting means projects the light beam extending radially forward with an intensity of about 100 lux, which is reduced to about 80 lux at a distance of about 0.5 meters from the mobility aid device. device. The mobility aid device according to any one of claims 22 to 26, further comprising a heating element provided on the handle portion. 27. The method 27, wherein the operation of the heating element can be controlled by the temperature sensor, and when the temperature sensor detects an ambient temperature lower than a predetermined threshold temperature, the temperature sensor triggers the operation of the heating element. Mobility assistance device. The mobility aid according to any one of claims 17 to 28, further comprising an actuating means that can be manually actuated by the user to operate and control the operation of the mobility aid device. device. The mobility aid device according to any one of claims 17 to 29, further comprising a charging unit for charging the mobility aid device. A program that causes a computer to perform the steps of the method according to any one of claims 1-16. A system comprising a memory for storing data and a processor for executing computer-readable instructions, wherein the processor implements the method according to any one of claims 1-16 when executed. The system configured by the computer-readable instructions.

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