KR100546447B1 - Gait analyzer and gait analysis method using the same - Google Patents

Abstract

Information about the rotation angle and direction of rotation of the pedestrian's hip, knee or ankle joint, the first and second rotational axes being adapted to rotate about another axis perpendicular to each other and orthogonal to each other, and the first and second rotational axes Data according to the rotation angle and rotation direction of the first to the third rotation axis is installed at the center of the third and the third rotation axis and the first to third rotation axis that is perpendicular to the plane to rotate the entire first and second rotation axis Output the momentum of each joint as an analog signal by using the joint sensors including a potentiometer to output the digital signal, convert these analog signals into digital signals, and process / process the digital data into valid data for gait analysis. A walking analyzer is disclosed. Therefore, the pedestrian's body is not attached to the pedestrian body, and thus, without having to install a separate pedestrian analysis room equipped with a camera for capturing the movement of the attached reflector, a pedestrian walking analysis method is provided. You can do analysis. In addition, in the gait analyzer of the present invention, since the joint sensors may be separated and assembled with each other, the gait analyzer may be very useful for gait analysis for patients who are limited in movement.

Gait Analysis, Joint, 3-Axis, Rotation

Description

 Gait analyzer and gait analysis method using the same {Gait capture system and method for analyzing gait using the same}             

1 is a view showing a pedestrian walking in a space provided with a computer for walking analysis according to the present invention.

2 is a block diagram for explaining a walking analyzer according to the present invention.

3 is a detailed view of a gait analysis joint set worn by pedestrians.

4A shows a perspective view of a joint sensor of the joint set of FIG. 3.

4B is a cross-sectional view of the Z axis viewed from the Y axis direction of the joint sensor of FIG. 4A.

 5 is a flowchart for describing a data processor of FIG. 2.

6A to 6K are graphs illustrating walking characteristics output by using a walking analyzer according to the present invention.

7A to 7K are graphs showing walking characteristics output using a walking analyzer manufactured by VICON Motion Capture System.

The present invention relates to a gait analyzer and a gait analysis method using the same, and in particular, a gait analyzer that is easy to maintain and manage and can be used at low cost without requiring a separate gait analysis room, and to a gait analysis method using the same. will be.

 The need for devices for measuring and analyzing the movement of parts of the body and their applications are beginning to emerge in the sports and medical industry. In particular, the movement of the leg, that is, walking, is related to the intrinsic sensation and the motor nervous system and the spinal nervous system, which can be referred to as the internal sense, as well as the five senses. It becomes visible.

The gait analysis method is performed for patients with abnormal gait, such as cerebral palsy, arthritis, amputation, hemiplegia, and is used for evaluation of abnormal gait, comparative evaluation before and after various treatments, and development of new braces or wills.

Gait analysis methods include observational analysis by visual observation, analysis by photographing, and image motion analysis which analyzes a patient's movement with an optical camera and analyzes it with a computer. When using the observational analysis method with the naked eye, it is difficult to remember and record the movement accurately because the walking progresses quickly, and the pedestrian may walk repeatedly several times so that the analyst accurately records the walking. There is plenty of room. In the analysis method by photographing, even if the desired walking state is photographed, there is a problem of waiting until the completion of development after photographing for the analysis, and in some cases, the problem of having to retake a problem occurs.

The image motion analysis method solves the problems of the above-described visual observation and analysis method by photographing. In order to use the image motion analysis method, a reflector is attached to a part of a pedestrian's body, and an infrared camera is installed at a predetermined position in a gait analysis room of about 25 pyeong prepared for gait analysis. When the patient with a predetermined reflector walks, the movement of the reflector is captured by the camera, and the position value of the reflector is obtained from the moving image, and this value is calculated using a computer to obtain data for gait analysis. It becomes possible. An example of such an image motion analysis method is disclosed in US Pat. No. 4,631,676. In addition, one of the equipment implementing the video motion analysis method is the equipment of VICON of the United Kingdom, and VICON's equipment requires a separate pedestrian analysis room, and therefore, only a few domestic hospitals (Seoul Veterans Hospital, Samsung Medical Center, Severance Hospital, etc.) I'm using it.

In other words, the image motion analysis method has the advantage of accurate and three-dimensional gait analysis, but in order to perform the image motion analysis method, a separate gait analysis room should be provided, and an expert who is responsible for the operation, maintenance, and management of the gait analyzer is required. Done. Therefore, there is a significant cost to build and maintain an image motion analysis system. It is not suitable for use in small hospitals.

On the other hand, patients who have to undergo actual gait analysis are stroke, deafness gait disorder patients, patients with degenerative arthritis, artificial prosthetic patients, hips, patients with arthritis before and after knee joint surgery, and children with rheumatoid arthritis. to be. However, if you want to receive a gait analysis must visit a hospital equipped with a gait analysis room, which is a limiting factor of the use of a gait analyzer.

Thus, as in the conventional image motion analysis method, while walking analysis is performed accurately and three-dimensionally, it is easy to install and maintain the system, the related cost is low, and there is a need to develop a mobile walking analyzer.

Accordingly, an object of the present invention is to provide a gait analyzer and a gait analysis method using the same that can accurately perform gait analysis at low cost.

Another object of the present invention is to provide a gait analyzer that is movable because a separate gait analyzer is not required.

The gait analyzer for achieving the above object includes a first joint sensor attached to the hip joint of a pedestrian, a second joint sensor attached to the knee joint, and third joint sensors attached to the ankle joint, wherein the first to third joint sensors A joint momentum measuring unit connected to separate and assembled, an A / D signal converter that converts the analog signal output from the joint momentum measuring unit into a digital signal, and receives the digitally converted signal for walking analysis And a data processing / output unit for processing / processing into valid data and outputting the data in a predetermined form. Here, the first to third joint sensors of the joint moment amount measuring unit may be formed on a surface formed by a first rotation side and a second rotation axis, and a first rotation axis and a second rotation axis that are orthogonal to each other and rotate about another axis orthogonal to each other. Potent which is vertical but is installed at the center of the third and third rotating shafts for rotating the first and second rotating shafts and outputs the data according to the rotation angles and the rotational directions of the first to third rotating shafts. Outputs analog data about the rotation angle and direction of rotation of the hip, knee, and ankle joints of pedestrians during walking.

One end of the first joint sensor is fixed to the connection pad connected to the waist band, and the first joint sensor and the second joint sensor are provided at the thigh part of the pedestrian so as to move in the longitudinal direction of the pedestrian so as to be suitable for the height of the pedestrian. It is connected detachably to the slider which was made. In addition, the second joint sensor and the third joint sensor are connected to a length adjusting bar which is arranged in the longitudinal direction of the pedestrian's leg and can be varied to suit the extension of the pedestrian.

On the other hand, the joint motion measuring unit is attached to the waist band to detect the rotation of the waist, the waist sensor gyroscope, the heel rotation sensor gyroscope attached to the heel to detect the rotation of the heel, attached to the sole of the foot A sole pressure sensor for measuring sole pressure, a heel rotation sensor gyroscope, and a controller for controlling the sole pressure sensor are further provided.

The data processing / output unit selects a part of the walking section data of the pedestrian, extracts data in the X, Y, and Z axis directions of each joint, removes noise from the extracted data, and analyzes the walking for each joint region. A program module which adjusts the scale of each data so as to be a suitable scale, and generates data necessary for gait analysis by arithmetic processing of data in the X, Y, and Z axis directions; Input means for inputting information such as personal information of a pedestrian; And output means for displaying the result processed by the program module.

In addition, the gait analysis method for achieving the object of the present invention includes a) a first joint sensor attached to the hip joint of the walker, a second joint sensor attached to the knee joint, third joint sensors attached to the ankle joint, the first The third to third joint sensors are perpendicular to a plane formed by the first rotational side and the second rotational axis, and the first rotational axis and the second rotational axis, which are orthogonal to each other and are rotated about another axis orthogonal to each other. And a potentiometer installed at a center of the third rotating shaft for rotating the entire second rotating shaft and the first to third rotating shafts and outputting data according to the rotation angles and the rotating directions of the first to third rotating shafts. Outputting analog data on the rotation angle and rotation direction of the hip, knee, and ankle joints of the pedestrian through the motion measurement unit; b) converting an analog signal output from the joint momentum measuring unit into a digital signal; c) receiving a digitally converted signal to remove noise from the data; d) converting the noise-free data to obtain an angle value; e) adjusting the scale of each data to be a scale suitable for gait analysis for each joint part; f) calculating three-dimensional coordinates of each joint from the scaled angle values; And g) generating data for gait analysis from the three-dimensional coordinates of each joint. After the three-dimensional coordinate calculation step, the three-dimensional coordinates of each joint are regarded as three-dimensional coordinates located at the lowest of the three-dimensional coordinates of each joint as coordinates of the ground. The method may further include recalculating the considered coordinates.

Here, the data required for gait analysis includes pelvic tilt of the pelvis, pelvic obliquity, pelvic rotation of the pelvis, and degree of hip flexion / extension relative to the pelvis. ), Hip ab / adduction relative to the pelvis (hip ab / adduction), hip rotation relative to the pelvis (hip rotation), calf flexion / extension relative to the knee, and knee At least one of the degree of movement in and out of the calf (knee valgus / varus), foot alignment, foot dosri / plantar, and foot rotation Can be.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

1 is a view showing a pedestrian walking in a space provided with a computer for walking analysis, according to an embodiment of the present invention, Figure 2 shows a block diagram for explaining a walking analyzer according to an embodiment of the present invention. Here, the space provided for gait analysis refers to a space of about 1 pyeong, which is a minimum space required for walking, unlike a gait analysis room required by a conventional image motion analysis method, and no space is attached to the camera.

The pedestrian wears a momentum measuring joint set 100 for measuring the momentum of the hips, knees and ankles in his lower body. Information such as the rotation direction, the amount of rotation, and the degree of twist of each joint portion obtained from the momentum measurement joint set 100 is converted into a digital signal and transmitted to the computer device 200 in charge of data processing and output. That is, as shown in FIG. 2, the gait analyzer according to the present invention includes a joint exercise amount measuring unit 280, an A / D (Analogue / Digital) signal converter 282, a data transmitting / receiving unit 284, and a data processing unit ( 286) and an output unit 288.

The joint exercise amount measuring unit 280 performs its function by the joint set 100 shown in FIG. 1. The joint set 100 is for measuring the rotation angle and the rotation direction of the hip joint, which is attached to the first joint sensor 120 and the knee joint pad 145 attached to the connection pad 115 connected to the waist band 110. The second joint sensor 140 and the fixing band 165 for measuring the rotation angle and the rotation direction of the knee joint attached to the joint to measure the rotation angle and rotation direction of the ankle joint disposed on the ankle part And three joint sensors 160. In addition, the joint set 100 is attached to the waist band 110, the waist sensing gyroscope (190 of FIG. 3) for measuring the amount of rotation and the rotation angle of the waist, attached to the heel rotation information of the heel Heel rotation sensor gyroscope for measuring the (182 of FIG. 3) and the sole is attached to the sole foot pressure sensor 170 for measuring the foot pressure during walking, the heel rotation detection gyroscope 182 and It includes a foot sensor controller (180 of FIG. 3) for controlling the operation of the sole pressure sensor 170. In addition, the first joint sensor 120 and the second joint sensor 140 are detachably connected by the first connection unit 130, and similarly, the second joint sensor 140 and the third joint sensor 160 are also connected. The second connection part 150 is detachably connected.

Meanwhile, since the data output from the above-described joint set 100 are analog data, an A / D converter for converting them into digital data suitable for the computer device 200 and equipment for transmitting the digitally converted data are needed. In this embodiment, the RS232C processor is used for the A / D conversion function and the data transmission function. The RS232C processor is installed to hang on the waistband 110 of FIG. 1 as shown in FIG. In addition, in order to receive the signal transmitted from the RS232C and transmit the signal back to the computer device 200, a wireless transmission / reception module (not shown) is provided near the inside or the outside of the computer device 200.

In addition, the computer device 200 operating as a data processor is a keyboard that is an input means for inputting information such as a program module for processing data of a digitally processed joint and outputting data for gait analysis, personal information of a pedestrian, and the like. 220, a screen 230 and a printer 240 for outputting the processed result are provided. Here, the touch screen may be used as the screen 230, and in this case, the screen 230 may be used as an input means in addition to the output means. On the other hand, the wheel 250 is provided at the lower end of the casing 210 of the computer device 200, and the handle bar 270 is provided at the top, to facilitate the movement of the computer device 200. In addition, in consideration of the movement of the gait analyzer, a drawer 260 for storing the above-described joint set 100 is provided in an empty space inside the casing 210 of the computer device 200.

Referring now to FIGS. 4A and 4B showing a perspective view and a cross-sectional view of each of the joint sensors 120, 140, and 160 constituting the joint set 100 of FIGS. 3 and 3 showing the wearing state of the joint set 100 in detail. As described above, the configuration of the joint set 100 and the joint sensors 120, 140, and 160 and the rotation direction and the rotation angle measurement principle through them will be described.

  Joint set 100 is worn on both legs, each leg is attached to three joint sensors (120, 140, 160), two rotation sensing gyroscopes (190, 182), one sole pressure sensor 170 Will be. Joint sensor (120, 140, 160) is composed of three rotation axis (not shown). The first and second rotation axes (X-axis rotation axis and Y-axis rotation axis) orthogonal to each other are provided in the hexahedral bodies 124a and 124b, each of which rotates about another axis orthogonal to itself. have. First arms 128a and 128b are connected to both ends of the rotation axis in the X-axis direction in the bodies 124a and 124b, and hexahedron-shaped bodies 124a and 132 are connected to both ends of the rotation axis in the Y-axis direction of the bodies 124a and 124b. 124b) and the 2nd arms 122, 123a, 123b, and 127 provided with the 3rd rotation axis (z-axis rotation axis) for rotating the whole 1st arm 128a, 128b about Z-axis are connected. The third rotation shaft is coupled to the rotation bar 121 through the through hole of the end 127 of the second arm, so that the rotation of the rotation bar 121 is transmitted to the third rotation shaft. A bar 129 for facilitating rotation of the bodies 124a and 124b around the first and second rotation axes is fixed to a portion of the first arm that faces the bodies 124a and 124b.

The rotation angles and rotation directions in the X, Y, and Z axis directions of the first to third rotation axes are measured by potentiometers 143, 146, and 149 provided at the center of each axis, as shown in Fig. 4B. The potentiometers 143, 146, and 149 output a voltage value reflecting the variable resistance value due to the rotation of the rotating shaft when the respective axes rotate, and from this output voltage value, the amount of motion (rotation angle and rotation direction) of each joint is determined. I find out. Unexplained reference numerals 142 and 148 are supports that are fixed to the potentiometer to guide and support the rotating part. Therefore, the rotation information of the hip, knee or ankle joint during walking is output through two photons installed at the center of the first rotation axis and the second rotation axis of the joint sensor and installed at the center of the third rotation axis of the joint sensor. Through the potentiometer, the degree of torsion of the hip, knee or ankle joint is output.

Joint sensors (102, 140, 160) having the above configuration is connected to each other through the connecting portion (130, 150) to form one joint set. As shown in FIG. 3, the first connection part 130 connecting the first joint sensor 120 and the second joint sensor 140 has a rotation bar 121 fastened to the Z axis rotation axis of the joint sensor 120. The connecting bar 131, which is also a role of), the slider 132, the slider 132 is fastened to the connecting bar 131 to enable the vertical movement of the connecting bar 131 in accordance with the height or leg length of the pedestrian is And a fixing band 133 for fixing the attachment pad 145 attached by the fixing means such as the fixing tape 135 to the body of the upper part of the knee joint. The connecting bar 131 is detachably connected to the first joint sensor 120 at point A.

Meanwhile, the bar 129 formed at one end of the second joint sensor 140 is fixed on the attachment pad 145 of the first connection unit 130. In addition, the second joint sensor 140 and the third joint sensor 160 are connected by the second connection unit 150. The second connection unit 150 is capable of adjusting the length in the vertical direction in accordance with the leg length of the pedestrian. The length of the upper length adjusting bar 151 and the lower length adjusting bar 154 and the adjusting bars 151 and 154, which are connected while having a bend to fit the volume of the calf, are fixed, and the connection state thereof is fixed. It includes a fixing band 153 for making. On the other hand, as in the first connection portion 130, the connection bar 151 may be detachable to the joint sensor 140 at point B, the upper length adjustment bar 151 is Z of the joint sensor 140 The role of the rotary bar 121 is fastened to the shaft rotation shaft.

And, the third joint sensor 160 for measuring the amount of motion of the ankle joint is installed at the center of the ankle joint, the bar 129 of the third joint sensor 160 is connected to the length adjustment bar 154, The rotation bar 169 in the Z-axis direction of the third joint sensor 160 is fixed to the instep by the fixing band 165.

In addition, the joint set 100, the foot pressure sensor 170 and the heel gyroscopic 182 for detecting the foot pressure distribution during walking and rotation information of the heel during walking, in addition to the rotation information of the ankle is to control them The controller 180 is provided.

Since the joint set according to the present invention is configured to assemble and complete the joint sensor of each part separated, there is an advantage of facilitating the movement of the gait analyzer and making it easier for the pedestrian to wear the joint set for gait analysis. .

When walking with the above-described joint set 100, the joint set 100 outputs the walking exercise amount of the pedestrian as an analog signal, the analog signal is RS232C processor attached to the waist band 110 of the pedestrian The digital signal is converted into a digital signal and then transmitted to a wireless transmission / reception module provided at the computer device 200. The wireless transmission / reception module transmits this signal to the computer device 200 again. Referring now to FIG. 5, a process of processing digital data received by the computer device 200 will be described.

The noise is removed from the data of each joint output through the joint set 100 by a known method (S12), and the data from which the noise is removed is converted into an angle value (S13). Next, the scale of each data is adjusted to be a scale suitable for gait analysis for each joint region (S14). The three-dimensional coordinates of each joint are calculated from the angle value of each joint (S15). When the three-dimensional coordinates are calculated, it is possible to grasp the change in the position of the three-dimensional coordinates of each joint over time, and thus the movement of the joints may be displayed on the screen. On the other hand, when the three-dimensional coordinate value is calculated it can be seen from the gait period, by comparing the three-dimensional coordinate value for each gait cycle, and checks and corrects whether or not the error of the data by the gyro sensor (S16). Next, if a reliable walking section is selected and the data of the section is output except for a portion estimated to not output data suitable for analysis, such as the initial walk and the end of walking, among the output data (S18), FIGS. 6A to 6K. Data can be obtained.

On the other hand, since the sole pressure sensor 170 is used in this embodiment, the three-dimensional coordinate value of the sole pressure sensor 170 may be regarded as the coordinate value of the ground, but when the sole pressure sensor 170 is not provided The three-dimensional coordinate values obtained by the above-described process should be converted into values considering the ground, and this process is called a ground recognition process (S17). The surface recognition process (S17) is as follows. From the three-dimensional coordinates obtained from the angular value, the coordinate value of the lowest joint is regarded as the coordinate value of the ground, and based on this, the calculated three-dimensional coordinates of the joint are recalculated. In the absence of the sole pressure sensor 170, the joint sensor located at the lowest position becomes the ankle sensor 160 of the lower leg.

In the conventional image analysis method, since rotation information including a rotation amount of each joint is not directly obtained to obtain data for gait analysis, a process of extracting rotation information of each joint from the image captured by the camera is involved. However, in the gait analyzer according to the present invention, since the motion amount of each joint is directly output from the joint sensors 120, 140, and 160, the process of obtaining gait analysis data becomes simpler, and the analysis can be made faster. have.

A walk analysis graph through the walk analyzer of the present invention is shown in FIGS. 6A-6K. In each graph, the horizontal axis represents the walking cycle in% as the time axis for one step and the angular change along the vertical axis. 6A shows the pelvic tilt of the pelvis according to the walking time, FIG. 6B shows the pelvic obliquity, FIG. 6C shows the pelvic rotation, and FIG. 6D shows the pelvis. The hip flex / extension of the thigh as a reference, Figure 6e is the hip ab / adduction of the thigh relative to the pelvis, Figure 6f is the degree of rotation of the thigh relative to the pelvis ( 6G shows the knee flex / extension with respect to the knee, FIG. 6H shows the degree of movement inside and outside the calf with respect to the knee, and FIG. 6I. 6 shows the foot alignment of the foot, FIG. 6J shows the foot dosri / plantar of the ankle, and FIG. 6K shows the foot rotation of the sole. In addition, the graphs 'a', 'b' and 'c' of each diagram are graphs showing the momentum of the left hip, knee, and ankle of the gait analyzer, and graphs and criteria representing the momentum of the right hip, knee, and ankle of the gait analyzer, respectively. As a walking graph of normal persons, the results of gait analysis performed under the following conditions, respectively.

Item a graph b graph cgraph Strides per minute (steps / min) 90.00 90.00 102.12 Walking speed (m / s) 0.58 0.70 1.18 Stride time (s) 1.23 1.27 1.18 Step time (s) 0.67 0.67 0.61 Stride length (m) 0.97 0.88 1.39

On the other hand, the gait analysis graph using a gait analyzer of VICON UK using a conventional image analysis method is shown in Figure 7a to 7k, these graphs, gait analysis graph obtained using a joint set according to the present invention It can be seen that the pattern is very similar to these. That is, it can be seen that the gait analyzer according to the present invention can replace the gait analyzer using the conventional image analysis method. 7A to 7K are graphs represented by the long dotted line, the thin dotted line, and the solid line, each of which shows a momentum of the left hip joint, the knee joint and the ankle joint of the gait analyzer, and a momentum of the right hip joint, the knee joint and the ankle joint of the gait analyzer. The graph and the walking graph of the normal person as a reference | standard show the walking analysis result performed on condition of the following.

Item Long dotted line Thin dotted line Solid line Strides per minute (steps / min) 112.44 112.44 102.12 Walking speed (m / s) 1.21 1.24 1.18 Stride time (s) 1.07 1.07 1.18 Step time (s) 0.52 0.52 0.57 Stride length (m) 1.29 0.68 1.39

 As described above, the computer set 200 which outputs a variety of data for gait analysis from the signal output from the joint set 100 and the joint set 100 including a plurality of joint sensors consisting of a three-axis universal joint The gait analyzer according to the present invention has substantially the same analytical capability as a gait analyzer by an image motion analysis method requiring a separate analytical chamber, but does not require a separate analytical room and a management and maintenance expert. The cost of installing, maintaining, and managing a walking analyzer is relatively low. In addition, since the gait analyzer according to the present invention is composed of a joint set, a wireless transmission and reception device, a movable computer device, and the like, the gait analyzer may be very useful for the gait analysis of patients who are inconvenient to move.

Additionally, the gait analyzer according to the present invention may provide objective data on the patient's walking ability and disability judgment in case of an accident or disaster, and cause abnormal walking habits of the patient not explained by X-rays and the like. You can also determine the cause of your pain.

 Although the configuration and principle of the present invention have been described so far, the present invention is not limited thereto, and various embodiments which can be modified and changed within the true spirit and scope of the principles described and claimed in the present specification are within the protection scope of the present invention. It should be understood that it belongs.

Claims (8)

A first joint sensor attached to the hip joint of the pedestrian, a second joint sensor attached to the knee joint, and third joint sensors attached to the ankle joint, wherein the first to third joint sensors are connected to be separated and assembled. , The first to third joint sensors may be perpendicular to a plane formed by a first rotational axis and a second rotational axis that are orthogonal to each other and rotate about another axis that is orthogonal to each other, and the first rotational axis and the second rotational axis. A potentio is installed at each of the first and third rotating shafts for rotating the first and third rotating shafts and the second and second rotating shafts, respectively. Including a meter, the angle of rotation of the hip, knee, and ankle joint of the pedestrian during walking is output as analog data through potentiometers respectively installed on the first and second rotation axes of the first to third joint sensors. The direction of rotation of the hip joint, knee joint and ankle joint of the pedestrian is analogized through a potentiometer installed on the third rotation shaft of the first to third joint sensors. Joint dynamic energy measurement unit that outputs the data; An A / D signal converter for converting an analog signal output from the joint momentum measuring unit into a digital signal; And And a data processor / output unit configured to receive the digitally converted signal, process / process the received data into data valid for gait analysis, and output the data in a predetermined form. The method of claim 1, wherein one end of the first joint sensor is fixed to a connection pad connected to a waist band, and the first joint sensor and the second joint sensor are provided on the thigh portion of the pedestrian. A walk analyzer, which is removably connected to a slider adapted to move in the longitudinal direction of the pedestrian to suitably. According to claim 1 or claim 2, wherein the second joint sensor and the third joint sensor is connected to the length adjustment bar is arranged in the longitudinal direction of the foot of the pedestrian and can be varied to suit the extension of the pedestrian Gait analyzer, characterized in that. According to claim 3, The amount of motion measuring unit, A waist sensing gyroscope attached to the waist band for detecting the rotation of the waist, Heel rotation sensing gyroscope attached to the heel to detect the rotation of the heel And a controller for controlling the operation of the foot pressure sensor and the heel rotation sensing gyroscope and the sole pressure sensor attached to the sole to measure the sole pressure when walking. The data processing / output unit of claim 1, wherein the data processing / output unit selects a part of the walking section data of the pedestrian, extracts data in the X, Y, and Z axis directions of each joint, removes noise from the extracted data, and A program module for adjusting the scale of each data to be a scale suitable for gait analysis for each joint area, and generating data for gait analysis by calculating and processing data in the X, Y, and Z directions; Input means for inputting information such as personal information of the pedestrians; And And an output means for displaying a result processed by the program module. A first joint sensor attached to the hip joint of the pedestrian, a second joint sensor attached to the knee joint, and third joint sensors attached to the ankle joint, The first to third joint sensors may be perpendicular to a plane formed by a first rotational axis and a second rotational axis that are orthogonal to each other and rotate about another axis that is orthogonal to each other, and the first rotational axis and the second rotational axis. A potentio is installed at each of the first and third rotating shafts for rotating the first and third rotating shafts and the second and second rotating shafts, respectively . Including a meter, the rotation angle of the hip, knee, and ankle joint of the pedestrian during walking is output as analog data through potentiometers respectively installed on the first and second rotation shafts of the first to third joint sensors. The direction of rotation of the hip, knee, and ankle joints of the pedestrian may be analog through a potentiometer installed on the third rotation axis of the first to third joint sensors. Outputting analog data about a rotation angle and a rotation direction of the hip, knee, and ankle joints of the pedestrian through an amount of motion measured by the joint; Converting an analog signal output from the joint moment amount measuring unit into a digital signal; Receiving the digitally converted signal and removing noise from the data; Converting the data from which the noise is removed to obtain an angle value; Adjusting the scale of each data to be a scale suitable for gait analysis for each joint part; Calculating three-dimensional coordinates of each joint from the scaled angle value; And Gait analysis method comprising the step of generating data for gait analysis from the three-dimensional coordinates of each joint. The method according to claim 6, wherein after the three-dimensional coordinate calculation step, the three-dimensional coordinates, which are located at the lowest of the three-dimensional coordinates of the joints, are regarded as coordinates of the ground, using the three-dimensional coordinates, and the three-dimensional coordinates of the respective joints. Recomputing the coordinates to the coordinates considering the ground. The method of claim 6, wherein the data required for gait analysis includes pelvic tilt of the pelvis, pelvic obliquity, pelvic rotation of the pelvis, and the degree of forward and backward movement of the thigh relative to the pelvis. (hip flex / extension), hip ab / adduction relative to the pelvis, hip rotation relative to the pelvis, and calf flexion relative to the knee. / extension), the degree of movement in and out of the calf (knee valgus / varus) relative to the knee, the foot alignment of the foot, the degree of folding and extension of the ankle (foot dosri / plantar) and the degree of foot rotation Walk analysis method, characterized in that at least one or more.

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