KR100702898B1 - Gait training system using motion analysis - Google Patents

Gait training system using motion analysis Download PDF

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KR100702898B1
KR100702898B1 KR1020060047992A KR20060047992A KR100702898B1 KR 100702898 B1 KR100702898 B1 KR 100702898B1 KR 1020060047992 A KR1020060047992 A KR 1020060047992A KR 20060047992 A KR20060047992 A KR 20060047992A KR 100702898 B1 KR100702898 B1 KR 100702898B1
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walking
treadmill
motion
pedestrian
motion analysis
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KR20060106907A (en
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이양수
정순기
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경북대학교 산학협력단
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/45—For evaluating or diagnosing the musculoskeletal system or teeth
    • A61B5/4528—Joints
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
    • A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/1036—Measuring load distribution, e.g. podologic studies
    • A61B5/1038—Measuring plantar pressure during gait
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/112—Gait analysis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1126—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb using a particular sensing technique
    • A61B5/1127—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb using a particular sensing technique using markers
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
    • A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
    • A63B22/0235—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0003—Analysing the course of a movement or motion sequences during an exercise or trainings sequence, e.g. swing for golf or tennis
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0003—Analysing the course of a movement or motion sequences during an exercise or trainings sequence, e.g. swing for golf or tennis
    • A63B24/0006—Computerised comparison for qualitative assessment of motion sequences or the course of a movement
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0003—Analysing the course of a movement or motion sequences during an exercise or trainings sequence, e.g. swing for golf or tennis
    • A63B24/0006—Computerised comparison for qualitative assessment of motion sequences or the course of a movement
    • A63B2024/0009—Computerised real time comparison with previous movements or motion sequences of the user
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
    • A63B2024/0093—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load the load of the exercise apparatus being controlled by performance parameters, e.g. distance or speed
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
    • A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
    • A63B22/0235—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor
    • A63B22/0242—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor with speed variation
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/10—Positions
    • A63B2220/13—Relative positions
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/10—Positions
    • A63B2220/16—Angular positions
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/80—Special sensors, transducers or devices therefor
    • A63B2220/806—Video cameras

Abstract

본 발명은 트래드밀을 사용하여 측정대상이 보행하는 과정동안에 지속적으로 보행분석을 할 수 있는 동작분석을 이용한 보행훈련 장치에 관한 것이다. 본 발명은 보행속도에 따라 회전속도가 조절되도록 설치되는 롤러에 의해 회전하는 벨트를 구비한 트래드밀; 보행자의 신체에 부착되어 외부로 신체의 움직임에 대한 신호를 송출하는 신호수단; 상기 신호수단으로부터 데이터를 받아 보행동작을 분석하는 제어부; 및 보행자에게 상기 제어부의 데이터를 디스플레이하는 디스플레이부;를 포함하는 동작분석을 이용한 보행훈련 장치를 제공한다. The present invention relates to a gait training device using motion analysis that can continuously analyze the gait during the process of walking the measurement object using the treadmill. The present invention is a treadmill having a belt that is rotated by the roller is installed so that the rotational speed is adjusted according to the walking speed; Signaling means attached to the body of the pedestrian for transmitting a signal for the movement of the body to the outside; A controller which receives data from the signal means and analyzes a walking motion; And a display unit configured to display data of the controller to pedestrians.

트래드밀, 벨트, 압전소자, 보행 Treadmill, Belt, Piezoelectric Element, Walking

Description

동작분석을 이용한 보행훈련 장치{Gait training system using motion analysis}Gait training system using motion analysis

도 1은 본 발명의 동작분석을 이용한 보행훈련 장치의 사시도이다. 1 is a perspective view of a walking training apparatus using the motion analysis of the present invention.

도 2는 도 1의 트래드밀의 다른 실시예이다.FIG. 2 is another embodiment of the treadmill of FIG. 1.

도 3은 도 1의 트래드밀의 또다른 실시예이다. 3 is another embodiment of the treadmill of FIG.

도 4는 도 1의 신호수단의 다른 실시예이다. 4 is another embodiment of the signaling means of FIG.

도 5는 도 1의 신호수단의 또다른 실시예이다. 5 is another embodiment of the signaling means of FIG.

도 6은 본 발명의 동작분석의 사례를 설명하는 그래프이다. 6 is a graph illustrating an example of motion analysis of the present invention.

도 7은 종래의 동작분석장치를 도시한 도면이다. 7 is a diagram illustrating a conventional motion analysis apparatus.

* 도면의 주요 부분에 대한 부호의 설명 *Explanation of symbols on the main parts of the drawings

10 : 트래드밀 11 : 벨트10: treadmill 11: belt

21,22: 카메라 41 : 가속감지부21,22: camera 41: acceleration detection unit

42 : 감속감지부 50 : 마커42: deceleration detection unit 50: marker

본 발명은 트래드밀을 사용하여 측정대상이 보행하는 과정동안에 지속적으로 보행분석을 할 수 있는 동작분석을 이용한 보행훈련 장치에 관한 것이다. The present invention relates to a gait training device using motion analysis that can continuously analyze the gait during the process of walking the measurement object using the treadmill.

보행은 인간이 이동을 위한 가장 효율적인 방법이며, 또한 가장 많이 사용되는 방법이다. 이러한 보행에 어려움이 있는 상태에 있는 사람을 치료하기 위해 보행을 분석하는 것이 전제되어야 한다. Walking is the most efficient way for humans to move and is also the most used way. Analysis of gait should be premised on the treatment of a person in such a walking difficulty condition.

보행분석 방법은 인체 여러부분의 동작을 운동 형상학적 정보(Kinematic data), 운동역학적 정보(Kinetic data), 동적 근전도 정보(Dynamic EMG data)를 이용한다. 과거에는 임상에서 신경 근 골격계 질환 환자의 보행을 의사가 육안으로 반복 관찰하는 것이 사실상 유일한 보행분석 방법이었으나 이는 비정상적인 보행양상을 초래할 수 있는 많은 요인들과 보행양상의 변화를 객관적으로 밝혀내기는 불가능하였다. 이에 따라 비정상보행에 관련된 객관적인 정보를 얻어내어 정확한 치료가 가능하도록 하기 위하여 첨단의 전자, 컴퓨터 기술이 집약된 보행분석 시스템이 필요하게 되었으며, 현재까지 전세계의 많은 재활의학과, 정형외과, 스포츠의학 및 산업의학과 관련된 병원과 연구소에서 이러한 시스템을 도입하여 활발한 활동을 보이고 있고, 앞으로도 그 보급이 확산될 추세에 있다.The gait analysis method uses kinematic data, kinematic data, and dynamic EMG data for various parts of the human body. In the past, it was virtually the only pedestrian analysis method to visually observe the gait of patients with neuromuscular skeletal disease, but it was impossible to objectively identify many factors and changes in gait that could lead to abnormal gait patterns. Accordingly, in order to obtain objective information related to abnormal walking and to enable accurate treatment, a pedestrian analysis system intensively equipped with advanced electronic and computer technologies is needed.To date, many rehabilitation medicine, orthopedic, sports medicine and industry Hospitals and research institutes related to medicine have introduced such systems and are showing active activity.

도 7은 종래의 보행 동작 분석장치를 도시한 도면이다. 7 is a diagram illustrating a conventional gait motion analysis apparatus.

종래의 보행 동작 분석장치는 적외선 스트로브, 비디오 카메라(101~103), 압력감지판(111), 및 환자의 관절 등에 부착하여 감지가 가능하도록 하는 센싱장치들과 데이터 분석 소프트웨어 등으로 구성된다. The conventional gait motion analysis apparatus includes an infrared strobe, video cameras 101 to 103, a pressure sensing plate 111, and sensing devices and data analysis software for attaching to a patient's joint and sensing.

이와 같은 보행 분석장치는 카메라의 촬영영역에서 분석이 가능한 것으로, 보행자의 보행 동작을 한 지점에서만 분석하게 된다. 그러나, 실시간으로 보행자의 보행동작을 분석하고 이를 피드백하여 보행 자세 교정 등, 보행 훈련에는 사용할 수 없는 시스템인 문제가 있다. 또한 보행이 이루어지는 위치가 특정되지 않아 보행정보를 분석하는데 많은 데이터가 필요하게 되며, 이러한 데이터를 처리하는데 많은 시간이 필요하게 되는 문제가 있다. The gait analysis device as described above can be analyzed in the photographing area of the camera, and analyzes the pedestrian's walking motion only at one point. However, there is a problem in that it is a system that cannot be used for walking training, such as walking posture correction by analyzing and feedbacking the walking motion of a pedestrian in real time. In addition, there is a problem that a lot of data is required to analyze the walking information because the location where the walking is not specified, and a large amount of time is required to process such data.

또한, 보행을 한 지점에서만 분석하게 됨으로써 데이터의 신뢰성이 떨어지며, 이에 따라 반복적으로 환자가 보행영역을 걸어야 하는 문제가 있다. 이 경우 보행 분석에 걸리는 시간이 길어지며, 환자의 피로도 누적 및 넓은 측정공간이 필요하게 되는 문제가 있게 된다. In addition, the analysis of the walking only at one point, the reliability of the data is low, accordingly there is a problem that the patient repeatedly walks the walking area. In this case, the time required for gait analysis becomes long, and there is a problem in that patient fatigue is accumulated and a large measurement space is required.

본 발명은 상기와 같은 문제점을 해결하기 위한 것으로, 환자가 보행할 때의 관절 각도 데이터를 실시간으로 측정하여, 이를 환자에게 피드백 해줌으로서 보행훈련이 가능하도록 하는 보행훈련 장치를 제공하는 것을 목적으로 한다. The present invention is to solve the above problems, an object of the present invention is to provide a gait training device that enables walking training by measuring the joint angle data when the patient walks in real-time, feedback to the patient. .

또한 본 발명은, 보행속도에 따라 회전속도가 조절되는 트래드밀을 사용하여 동일한 지점에서 반복적인 보행이 가능하도록 하여 반복적인 보행상태 분석이 가능하도록 하고, 실시간으로 보행데이터를 제공하여 피드백이 가능하도록 함으로써 보행분석에 따른 훈련이 가능하도록 하는 보행훈련 장치를 제공하는 것을 목적으로 한다. In addition, the present invention, by using a treadmill that is adjusted in accordance with the walking speed to enable repeated walking at the same point to enable repeated walking analysis of the analysis, and to provide feedback data by providing walking data in real time The purpose of the present invention is to provide a gait training device that enables training based on gait analysis.

또한 본 발명은 비교적 간단하고 좁은 장소에도 설치하여 사용할 수 있으며, 보행 분석의 시간을 줄일 수 있고, 보행 분석뿐 아니라 실시간 입력되는 데이터를 통해 보행 훈련을 가능하도록 하는 장치를 제공하는 것을 목적으로 한다. In addition, an object of the present invention can be installed and used in a relatively simple and narrow place, it is possible to reduce the time of gait analysis, and to provide an apparatus for enabling gait training through real-time input data as well as gait analysis.

상기와 같은 목적을 달성하기 위하여 본 발명은, 보행속도에 따라 회전속도가 조절되도록 설치되는 롤러에 의해 회전하는 벨트를 구비한 트래드밀; 보행자의 신체에 부착되어 외부로 신체의 움직임에 대한 신호를 송출하는 신호수단; 상기 신호수단으로부터 데이터를 받아 보행동작을 분석하는 제어부; 및 보행자에게 상기 제어부의 데이터를 디스플레이하는 디스플레이부;를 포함하는 동작분석을 이용한 보행훈련 장치를 제공한다. In order to achieve the above object, the present invention, a treadmill having a belt that rotates by the roller is installed so that the rotational speed is adjusted according to the walking speed; Signaling means attached to the body of the pedestrian for transmitting a signal for the movement of the body to the outside; A controller which receives data from the signal means and analyzes a walking motion; And a display unit configured to display data of the controller to pedestrians.

바람직하게는, 상기 신호수단은 하지 관절 및 관절의 상하부에 부착되어 모션 캡쳐 가능한 마커; 및 상기 트래드말에 인접하게 배열되어 트래드밀 상에서 보행하는 보행자의 동작을 상기 마커의 위치를 인식하는 것에 의해 감지하기 위한 카메라;를 포함한다. 또한 바람직하게는, 상기 신호수단은 관절의 구부러짐에 따라 같이 구부러질 수 있는 플렉시블 바; 및 상기 플렉시블 바(72)를 하지에 와 연결되는 부착 지지대;를 포함하는 전기측각계가 될 수 있다. 또한, 상기 신호수단은 관절의 각도에 따라 저항값이 변화하는 가변저항(82); 및 상기 가변저항(82)을 하지에 고정시키는 부착지지대(83);를 포함하는 가변저항 측각계가 될 수 있다. Preferably, the signal means is attached to the lower and upper joints of the lower joint and the joint capable of capturing motion; And a camera arranged adjacent to the trailing end to detect motion of the pedestrian walking on the treadmill by recognizing the position of the marker. Also preferably, the signal means may be a flexible bar that can be bent together as the joint is bent; And an attachment support for connecting the flexible bar 72 to the lower surface. In addition, the signal means includes a variable resistor 82, the resistance value changes according to the angle of the joint; And an attachment support 83 for fixing the variable resistor 82 to the lower surface.

바람직하게는, 상기 트래드밀은 상기 벨트에 대하여 폭방향으로 놓여지고 윗면에 상기 압전소자가 간격을 두고 배열된 적어도 하나 이상의 감지부를 포함한다. 또한 바람직하게는, 상기 감지부는 상기 트래드밀의 앞쪽에 위치하여 사용자의 가속 주행 및 위치이동을 감지하기 위한 제1 감지부와, 상기 트래드밀의 뒤쪽에 위치하여 사용자의 감속 주행 및 위치이동을 감지하기 위한 제2 감지부를 포함한다. Preferably, the treadmill includes at least one sensing unit placed in the width direction with respect to the belt and arranged at intervals on the piezoelectric element. Also preferably, the detection unit is located in front of the treadmill and the first detection unit for detecting the acceleration and position movement of the user, and located behind the treadmill for detecting the deceleration and position movement of the user It includes a second sensing unit.

도 1은 본 발명의 동작분석을 이용한 보행훈련 장치의 사시도이다. 1 is a perspective view of a walking training apparatus using the motion analysis of the present invention.

본 발명의 보행훈련 장치는 트래드밀(10)을 포함한다. 트래드밀(10)은 롤러(도시하지 않음)에 의해 회전하는 벨트(11)를 포함하고 있다. 트래드밀(10)은 일정 속도로 롤러를 회전시켜 벨트를 이동시키는 것으로, 벨트 위에서 사용자는 평지에서 걷는 것과 같은 보행을 할 수 있다. 본 발명의 보행훈련 장치는 트래드밀(10) 위에서 보행을 하도록 하여 한 지점에서 연속적인 보행이 이루어질 수 있도록 구성한 것을 하나의 특징으로 한다. The walking training apparatus of the present invention includes a treadmill 10. The treadmill 10 includes a belt 11 that is rotated by a roller (not shown). The treadmill 10 moves the belt by rotating the roller at a constant speed, and the user can walk on the belt such as walking on a flat surface. The walking training apparatus of the present invention is characterized in that it is configured to walk on the treadmill 10 so that continuous walking can be made at one point.

도 2는 본 발명의 트래드밀에 감지부가 설치된 것을 도시한 것이다. 보행자가 보행속도를 높이게 되면 트래드밀 상에서 전방으로 움직이게 된다. 이를 벨트 하부에 설치되어 있는 압전소자가 감지하여 가속신호를 구동모터에 보내게 되며, 이에 따라 모터는 가속하여 벨트를 좀더 빠르게 이동시키게 된다. 이와 같은 기능을 하도록 압전소자를 서로 간격을 두고 배열되도록 하여 감지부를 형성하게 되며, 제1 감지부(41)는 트래드밀의 앞쪽에 설치하여 보행자의 가속주행을 감지할 수 있도록 한다. Figure 2 shows that the sensing unit is installed in the treadmill of the present invention. As pedestrians speed up, they move forward on the treadmill. The piezoelectric element installed in the lower part of the belt detects this and sends an acceleration signal to the driving motor. Accordingly, the motor accelerates and moves the belt more quickly. The piezoelectric elements are arranged to be spaced apart from each other so as to function as described above, and a sensing unit is formed, and the first sensing unit 41 is installed in front of the treadmill to detect acceleration driving of the pedestrian.

반대로, 보행속도가 낮아지는 경우 후방측에 상기와 같은 압전소자를 배열한 감지부를 형성하여 보행자의 발이 딛는 것을 감지하도록 하고, 그에 따라서 구동모 터의 속도를 낮추도록 한다. 이와 같이 감속을 감지하기 위하여 제2 감지부(42)를 형성한다. 한편, 상기 제1 및 제2 감지부는 가속 및 감속 감지기능 외에도, 보행자의 보행위치 이동을 감지하는 기능을 할 수 있다. On the contrary, when the walking speed is lowered, a sensing unit arranged with the piezoelectric elements as described above is formed at the rear side to detect the foot of the pedestrian, thereby lowering the speed of the driving motor. As such, the second sensing unit 42 is formed to detect the deceleration. The first and second detectors may serve to detect movement of a pedestrian's walking position, in addition to acceleration and deceleration detection functions.

도 3에서, 환자가 발을 딛는 좌우측에 비교적 큰 압전 플레이트(61)를 설치하여 환자의 하지가 바닥에 접촉하고 있는 시간을 측정하도록 할 수 있다. 이 경우, 압전 플레이트(61)는 벨트 하부와 가속 및 감속 감지부 사이에 설치되며, 환자의 오른편 및 왼편 하지가 발을 딛는 공간에 배열되도록 할 수 있다. 이와 같은 압전 플레이트는 환자가 발을 딛는 압력의 크기를 감지하도록 하여 하지에 실리는 하중을 측정하도록 할 수도 있다. 또한 하지가 바닥에 접촉하고 있는 시간을 측정하는 것은, 일측으로 보행이 치우쳐서 절뚝이는 것을 파악할 수 있는 방법이 될 수 있다. In FIG. 3, a relatively large piezoelectric plate 61 may be installed on the left and right sides of the patient's foot to measure the time when the patient's lower limb is in contact with the floor. In this case, the piezoelectric plate 61 may be installed between the lower part of the belt and the acceleration and deceleration detection part, and the right and left lower extremities of the patient may be arranged in the space where the foot is placed. Such piezoelectric plates may allow the patient to sense the amount of pressure on the foot to measure the load on the lower limbs. In addition, measuring the time that the lower limbs are in contact with the floor, it can be a way to determine the limping due to the bias on one side.

한편, 환자의 다리에 마커를 부착하고, 이와 동시에 트래드밀의 지지부 측면에 마커를 부착하여 두 마커의 위치를 비교하는 방식도 가능하다. 도 2는 이와 같은 마커를 부착한 트래드밀을 도시한 것이다. 환자의 다리에 부착되어 있는 마커(50)가 트래드밀의 지지부 측면(31)에 부착되어 있는 마커(51) 보다 앞쪽으로 이동하게 되면 트래드밀을 가속시키고, 반대의 경우 트래드밀을 감속시키는 작업을 하게 된다. 이때 트래드밀에 부착되는 마커(51)는 여러개가 부착될 수 있으며, 환자의 다리에 부착되는 마커(50)가 최초 위치하는 지점과 근접한 마커(51)가 감속 및 가속을 위한 위치판단의 기준이 될 수 있다. Meanwhile, a marker may be attached to the leg of the patient, and at the same time, a marker may be attached to the side of the support of the treadmill to compare the positions of the two markers. Figure 2 shows a treadmill with such a marker attached. When the marker 50 attached to the leg of the patient moves forward than the marker 51 attached to the support side 31 of the treadmill, the treadmill is accelerated and vice versa. do. In this case, a plurality of markers 51 attached to the treadmill may be attached, and the marker 51 close to the point where the marker 50 attached to the leg of the patient is initially located has a reference for determining the position for deceleration and acceleration. Can be.

상기한 바와 같은 트래드밀의 속도조절 방식은 일 예일뿐, 이에 한정되는 것 은 아니며, 본 발명은 이와 같이 보행속도에 따라 회전속도가 조절되는 트래드밀을 제공하게 된다. Speed control method of the treadmill as described above is only one example, and the present invention is not limited thereto, and the present invention provides a treadmill in which the rotational speed is adjusted according to the walking speed.

본 발명은 트래드밀 상에서 보행하는 보행자의 신체의 움직임에 대한 신호를 송출하는 신호수단을 포함하게 된다. 본 발명은 도 1 내지 도 3에서와 같이, 외부의 카메라를 이용하여 모션캡쳐를 할 수 있도록 신호수단으로써 모션 캡쳐 가능한 마커(50)를 사용한다. The present invention includes a signal means for transmitting a signal for the movement of the body of the pedestrian walking on the treadmill. In the present invention, as shown in Figs. 1 to 3, the motion capture marker 50 is used as a signal means to enable motion capture using an external camera.

마커(50)는 관절과 관절의 상하부에 부착할 수 있으며, 하지가 움직이면서 변화되는 관절의 각도, 위치 등을 인식할 수 있다. 보행시 하지가 움직이면서 변화되는 관절의 각도 및 위치 등을 하지에 부착된 마커(50)의 위치를 인식수단인 카메라를 통해 인식하는 것에 의해 측정할 수 있는 것이다. 마커의 위치는 슬관절, 족관절 및 고관절 각도 측정부에 따라 다르다. 예를 들면 슬관절 각도 측정일 경우 슬관절과 슬관절의 상하부인 허벅지와 종아리에 부착되며, 족관절 각도 측정일 경우 족관절과 발과 종아리에 부착된다. 고관절 각도 측정일 경우, 마커는 고관절과 허리와 허벅지에 부착한다. 또한 상기 마커(50)는 카메라(20)가 인식할 수 있도록, 카메라가 보이는 쪽에 부착하는 것이 바람직하다. The marker 50 may be attached to the upper and lower portions of the joint and the joint, and may recognize an angle, a position, and the like of the joint, which changes as the lower limb moves. It is possible to measure the angle and position of the joint, which is changed while the lower limb is moving, by recognizing the position of the marker 50 attached to the lower limb through a camera as a recognition means. The position of the marker depends on the knee, ankle and hip angle measurements. For example, the knee angle measurement is attached to the knee and the upper and lower thighs and calves, and the ankle angle measurement is attached to the ankle, foot and calf. For hip angle measurements, markers are attached to the hips, waist and thighs. In addition, the marker 50 is preferably attached to the camera side, so that the camera 20 can recognize.

본 발명에서 촬영수단은 적외선 등의 감지수단을 포함하고 있는 카메라(20,21)를 사용하였으며, 트래드밀(10)에 인접하게 설치하여 트래드밀 상에서 보행하는 보행자의 동작을 감지할 수 있도록 하였다. 상기 카메라(20,21)는 한개 또는 두개 이상이 설치될 수 있으며, 카메라의 배치 및 개수는 사용환경 및 환자의 상태에 따라 다르게 된다. In the present invention, the photographing means used cameras 20 and 21 including sensing means such as infrared rays, and installed adjacent to the treadmill 10 to detect the motion of pedestrians walking on the treadmill. One or two or more cameras 20 and 21 may be installed, and the arrangement and number of cameras vary depending on the use environment and the condition of the patient.

본 발명에서 트래드밀 상에서 보행하는 보행자의 신체에 외부로 신체의 움직임에 대한 신호를 송출하는 신호수단으로서, 전기측각계(71)를 사용할 수도 있다. 도 4에 도시한 바와 같이, 전기 측각계(71)는 관절이 구부러짐에 따라 같이 구부러질 수 있도록 유연성이 있는 소재로 형성되는 플렉시블 바(72)와, 상기 플렉시블 바(72)가 관절과 함께 구부러질 수 있도록 하지의 일부분 및 플렉시블 바(72)와 연결되는 부착 지지대(73)를 포함한다. 상기 전기 측각계(71)의 부착 지지대(73)는 측정하고자 하는 관절의 상하부에 부착되고, 또한 측정하고자 하는 관절과 같은 방향으로 위치한 플렉시블 바(72)에 연결된다. In the present invention, as a signal means for transmitting a signal for the movement of the body to the outside of the body of the pedestrian walking on the treadmill, an electric goggometer 71 may be used. As shown in FIG. 4, the electric goniometer 71 has a flexible bar 72 formed of a flexible material so that the joint can be bent together as the joint is bent, and the flexible bar 72 is bent together with the joint. And an attachment support 73 connected with the flexible bar 72 and a portion of the lower extremity. The attachment support 73 of the electric goniometer 71 is attached to the upper and lower portions of the joint to be measured, and is connected to the flexible bar 72 located in the same direction as the joint to be measured.

도 5은 상기 신호수단으로 사용될 수 있는 가변저항 측각계(81)를 나타낸 것이다. 도 5에 도시한 바와 같이, 가변저항 측각계(81)는 관절의 각도에 따라 저항값이 변화하는 가변저항(82)과 상기 가변저항(82)을 하지에 고정시키는 부착지지대(83)를 포함한다. 상기 부착 지지대(83)는 전기측각계(71)의 부착지지대(73)와 같이, 관절의 상하부에 위치하게 된다. 상기 가변저항 측각계(81)에 포함되는 가변 저항(82)은 저항값을 변화하는 저항조절부가 관절과 같이 움직이도록 형성하며, 관절의 각도가 변화함에 따라 가변 저항(82)의 저항값이 변함으로써, 상기 관절의 각도에 따라 변화하는 저항값을 통해 관절의 각도를 측정할 수 있다.5 shows a variable resistance goniometer 81 that can be used as the signal means. As shown in FIG. 5, the variable resistance goniometer 81 includes a variable resistor 82 whose resistance value changes according to the angle of the joint, and an attachment support 83 for fixing the variable resistor 82 to the lower surface. do. The attachment support 83 is positioned above and below the joint, like the attachment support 73 of the electrometer. The variable resistor 82 included in the variable resistance goniometer 81 is formed so that the resistance adjusting unit for changing the resistance moves together with the joint, and the resistance value of the variable resistor 82 changes as the angle of the joint changes. As a result, the angle of the joint may be measured through a resistance value that changes according to the angle of the joint.

도 4 및 도 5에서와 같이 전기측각계 및 가변저항 측각계를 사용하는 경우 외부에 설치된 카메라는 생략할 수 있다. 제어부에서는 상기와 같이 촬영수단을 통해 보행동작에 대한 데이터를 수신하거나, 전기측각계 또는 가변저항 측각계를 통해 보행동작에 대한 데이터를 수신하고, 이를 정상적인 보행일 때의 수치들과 비교하여 이를 보행의 이상여부를 판단하는데 사용하거나, 보행자에게 디스플레이하여 스스로 보행의 이상을 감지하고 수정할 수 있도록 훈련시킬 수 있다. 이를 위하여 보행자의 전방에 수치결과를 도식화하여 보여줄 수 있는 디스플레이부(70)를 추가적으로 포함할 수 있다. When using an electric goniometer and a variable resistance goniometer as shown in FIGS. 4 and 5, an externally installed camera may be omitted. The control unit receives the data on the walking operation through the photographing means as described above, or receives the data on the walking operation through the electric measuring meter or the variable resistance measuring meter, and compares it with the values when the normal walking is walking. It can be used to determine the abnormality of the pedestrian, or it can be displayed to pedestrians and trained to detect and correct the abnormality of walking by themselves. To this end, it may further include a display unit 70 to show the numerical results in front of the pedestrian.

도 6은 슬관절 부분에 마커를 붙이고 정상일 때의 슬관절의 위치와 비정상인 경우 측정된 위치값을 화면에 디스플레이한 경우의 그래프이다. 이와같은 방식으로 정상값과 비정상값을 실시간으로 보여줄 수 있으며, 이에 따라 보행자는 트래드밀 상에서 계속 보행을 하면서 스스로 정상적인 보행동작을 따라가도록 훈련할 수 있게 된다. FIG. 6 is a graph of a case where a marker is attached to a knee joint and the position of the knee joint is normal and the measured position value is abnormally displayed on the screen. In this way, the normal and abnormal values can be shown in real time, thereby allowing pedestrians to train themselves to follow the normal walking motion while walking on the treadmill.

본 발명의 보행훈련 장치는, 트래드밀 상에서 보행하도록 하여 보행 동작 분석이 계속적으로 끊임없이 수행될 수 있도록 하는 것으로, 보행자의 보행동작을 실시간으로 분석하여 보행자에게 그 정보를 제공함으로써 정상보행으로 유도할 수 있는 훈련장치를 제공하는 효과가 있다. The walking training apparatus of the present invention is to allow walking on a treadmill so that the walking motion analysis can be continuously and continuously performed. The walking training device analyzes the walking motion of a pedestrian in real time and provides the information to the pedestrian to lead to normal walking. It is effective in providing a training apparatus.

또한, 본 발명은 비교적 좁은 공간에도 보행 분석 및 훈련 기능을 갖는 장치를 설치할 수 있고, 보행 분석을 단시간에 실시할 수 있으며, 보행훈련이 가능한 장치를 제공하는 효과가 있다. In addition, the present invention can provide a device having a gait analysis and training function in a relatively narrow space, it is possible to perform a gait analysis in a short time, there is an effect to provide a device capable of walking training.

본 발명은 특정한 실시예에 관련하여 도시하고 설명하였지만, 이하의 특허청구범위에 의해 마련되는 본 발명의 정신이나 분야를 벗어나지 않는 한도 내에서 본 발명이 다양하게 개조 및 변화될 수 있다는 것을 당업계에서 통상의 지식을 가진 자는 용이하게 알 수 있음을 밝혀두고자 한다. While the invention has been shown and described with respect to particular embodiments, it will be understood that various changes and modifications can be made in the art without departing from the spirit or scope of the invention as set forth in the claims below. It will be appreciated that those skilled in the art can easily know.

Claims (7)

보행속도에 따라 회전속도가 조절되도록 설치되는 롤러에 의해 회전하는 벨트를 구비한 트래드밀;A treadmill having a belt that rotates by a roller installed to adjust a rotational speed according to a walking speed; 보행자의 신체에 부착되어 외부로 신체의 움직임에 대한 신호를 송출하는 신호수단;Signaling means attached to the body of the pedestrian for transmitting a signal for the movement of the body to the outside; 상기 신호수단으로부터 데이터를 받아 보행동작을 분석하는 제어부; 및A controller which receives data from the signal means and analyzes a walking motion; And 보행자에게 상기 제어부의 데이터를 디스플레이하는 디스플레이부;A display unit configured to display data of the controller to a pedestrian; 를 포함하는 동작분석을 이용한 보행훈련 장치. Gait training device using a motion analysis comprising a. 제 1항에 있어서, 상기 신호수단은,The method of claim 1, wherein the signal means, 하지 관절 및 관절의 상하부에 부착되어 모션 캡쳐 가능한 마커; 및Markers attached to the lower and upper joints of the lower extremities and capable of motion capture; And 상기 트래드말에 인접하게 배열되어 트래드밀 상에서 보행하는 보행자의 동작을 상기 마커의 위치를 인식하는 것에 의해 감지하기 위한 카메라;를 포함하는 것을 특징으로 하는 보행훈련 장치. And a camera arranged to sense the position of the marker by recognizing the position of the pedestrian walking adjacent to the treadmill walking on the treadmill. 제 1항에 있어서, 상기 신호수단은,The method of claim 1, wherein the signal means, 관절의 구부러짐에 따라 같이 구부러질 수 있는 플렉시블 바; 및Flexible bar that can be bent together as the joint is bent; And 상기 플렉시블 바를 하지에 와 연결되는 부착 지지대;를 포함하는 전기측각계인 것을 특징으로 하는 보행훈련 장치. Gait training device, characterized in that the electric barometer including; the support for attaching the flexible bar to the base. 제 1항에 있어서, 상기 신호수단은, The method of claim 1, wherein the signal means, 관절의 각도에 따라 저항값이 변화하는 가변저항; 및A variable resistor whose resistance value changes according to the angle of the joint; And 상기 가변저항을 하지에 고정시키는 부착지지대;를 포함하는 가변저항 측각계인 것을 특징으로 하는 보행훈련 장치. Walking support apparatus, characterized in that the variable resistance goniometer comprising a fixed support; 제 1 항에 있어서, 상기 트래드밀은The method of claim 1, wherein the treadmill 상기 벨트에 대하여 폭방향으로 놓여지고 윗면에 상기 압전소자가 간격을 두고 배열된 적어도 하나 이상의 감지부를 포함하는 것을 특징으로 하는 동작분석을 이용한 보행훈련 장치. Gait training device using the motion analysis characterized in that it comprises at least one sensing unit placed in the width direction with respect to the belt and the piezoelectric elements are arranged at intervals on the upper surface. 제 5항에 있어서, The method of claim 5, 상기 감지부는 상기 트래드밀의 앞쪽에 위치하여 사용자의 가속 주행 및 위치이동을 감지하기 위한 제1 감지부와, 상기 트래드밀의 뒤쪽에 위치하여 사용자의 감속 주행 및 위치이동을 감지하기 위한 제2 감지부를 포함하는 것을 특징으로 하는 동작분석을 이용한 보행훈련 장치. The detection unit includes a first detection unit located at the front of the treadmill to detect the acceleration and position movement of the user, and a second detection unit located at the rear of the treadmill to detect the deceleration driving and position movement of the user Gait training device using a motion analysis, characterized in that. 제 1항에 있어서, 상기 트래드밀은, The method of claim 1, wherein the treadmill, 환자의 양 하지가 접촉하는 바닥면에 한쌍으로 설치되는 압전 플레이트를 포함하여, 환자의 하지가 바닥에 접촉하고 있는 시간을 측정하도록 하는 것을 특징으로 하는 동작분석을 이용한 보행훈련 장치. Including a pair of piezoelectric plates installed on the bottom surface contacting both the lower limbs of the patient, the walking training apparatus using a motion analysis, characterized in that for measuring the time the patient's lower limbs contact the floor.
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