KR101476889B1 - Walking assistance device and drive method - Google Patents

Abstract

The present invention discloses a walking assistance device and a driving method thereof. A method of driving a walking assist device includes: measuring a walking state of the normal leg based on sensor data from a normal leg attached with a sensor; And determining a first gait pattern of the normal leg using the measured gait state; And controlling a second gait pattern of the prosthesis leg in correspondence to the first gait pattern.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a walking assist device,

More particularly, the present invention relates to a walking assistance device for controlling a walking pattern of an artificial prosthesis leg in response to a walking pattern of a normal leg capable of a normal walking and a driving method thereof.

Artificial prosthesis legs are controlled by sensors attached to artificial prosthesis legs. And, artificial prosthesis legs use a hydraulic pump to adjust joints. At this time, the hydraulic pump is located near the joint of the prosthesis leg. And, artificial prosthesis legs can control joint angle and angular velocity using sensor. That is, a method of changing the speed or state of the gait is adjusted by adjusting the hydraulic pressure of the hydraulic pump in accordance with the angles and angular velocities of the joint prosthesis.

However, such a driving method requires a learning process for using an artificial prosthesis leg according to a user. Specifically, the artificial prosthesis legs should learn about various gait patterns such as walking, running, and obstacle avoidance of the user. Therefore, it is not easy to cope with the gait pattern other than the learned gait pattern. And, if the existing user is changed to another user, the prosthesis legs should be reset to the other user's walking pattern.

The present invention provides an apparatus and method for controlling a prosthesis leg with a walking pattern similar to that of a normal leg by calculating a gait pattern by measuring a walking state corresponding to muscles and joints according to the movement of the normal legs.

The present invention provides an apparatus and method for rapidly correcting a normal leg and an artificial prosthesis leg with a similar walking pattern by coping with various situations by calculating a walking parameter according to a change in a walking state.

The present invention provides a device and a method for driving the device capable of determining an unbalanced state of walking by comparing a gait pattern of a normal leg and an artificial prosthesis leg.

According to an embodiment of the present invention, there is provided a method of driving a walking assist device, comprising: measuring a walking state of the normal leg based on sensor data from a normal leg attached with a sensor; And determining a first gait pattern of the normal leg using the measured gait state; And controlling the second gait pattern of the prosthesis leg in correspondence to the first gait pattern.

According to an embodiment of the present invention, the step of measuring the gait state may measure the gait state based on the sensor data related to the muscles and joints of the normal leg, which changes according to the user's external environment.

According to an embodiment of the present invention, the step of judging the gait pattern includes a step width of the normal leg, a movement time taken to land on the landing surface starting from the sagittal plane, a joint angle of the normal leg, an angular velocity, One or more walking patterns of the center can be determined.

According to the embodiment of the present invention, the step of judging the walking condition can calculate the walking parameters in accordance with the change of the walking condition.

According to an embodiment of the present invention, the step of controlling the artificial prosthesis leg may include a step of adjusting the angle of the joint of the artificial prosthesis leg, the movement speed, the sequence of stepping the sole to the ground, The interval can be controlled.

A walking assist device according to an embodiment of the present invention includes a measurement unit for measuring a walking state of the normal leg based on sensor data from a normal leg attached with a sensor; And a determination unit for determining a first gait pattern of the normal leg using the measured gait state; And an artificial prosthesis leg control unit for controlling a second walking pattern of the artificial prosthesis leg in correspondence to the first gait pattern.

The step of measuring the walking state according to an embodiment of the present invention may measure the walking state based on the sensor data related to the muscles and joints of the normal leg which changes according to the user's external environment.

The step of determining a walking pattern according to an exemplary embodiment of the present invention may include determining a walking distance of the normal leg, a moving time taken to land on a landing surface starting from a sagittal plane, a joint angle of the normal leg, One or more walking patterns of the center can be determined.

The step of determining the walking state according to the embodiment of the present invention can calculate the walking variable in accordance with the change of the walking state.

The step of controlling the artificial prosthesis leg according to an embodiment of the present invention may include controlling the angle of the joint of the artificial prosthesis leg, the speed of movement of the artificial prosthesis leg, the sequence of descending the sole of the foot on the ground, The interval can be controlled.

According to an embodiment of the present invention, there is provided a method of evaluating a gait evaluation device, comprising: receiving a first gait pattern of a normal leg from a gait; Determining a second walking pattern according to the control from the artificial prosthesis leg attached with the sensor; And comparing the first gait pattern and the second gait pattern to evaluate a gait unevenness.

According to an embodiment of the present invention, the step of receiving the first gait pattern may include a step of changing the distance of the legs of the legs from the sideways of the legs corresponding to the changes of muscles and joints caused by the movement of the legs, A walking time for landing on the normal leg, a height and a distance for moving the normal leg in the vertical and horizontal directions, and a center of gravity of the normal leg.

According to an embodiment of the present invention, the step of determining the second gait pattern may include determining an angle of the joint, a stride distance, a moving time taken to land on the landing surface starting from the sagittal plane, A height and a distance of the body in the vertical and horizontal directions, and a center of gravity of the artificial prosthesis leg.

According to the embodiment of the present invention, the step of evaluating the unbalance of the gait can evaluate the imbalance of the gait by comparing the parameters representing the gait pattern of the first gait pattern and the second gait pattern.

A walking evaluation apparatus according to an embodiment of the present invention includes: a receiving unit that receives a first walking pattern of a normal leg from a walking aid; A judging unit for attaching a sensor to the prosthesis leg to judge a second gait according to the control; And an evaluation unit for comparing the first gait pattern and the second gait pattern to evaluate an unbalance in walking.

 According to an embodiment of the present invention, the gait pattern corresponding to the muscles and the joints is measured according to the movement of the normal legs, and the gait pattern is calculated, so that the prosthesis legs can be controlled in a gait pattern similar to that of the normal legs.

According to the embodiment of the present invention, by calculating the walking parameters according to the change of the walking state, it is possible to quickly correct the normal legs and the prosthesis legs to a similar walking pattern by coping with various situations.

According to one embodiment of the present invention, the unbalanced state of the walking can be determined by comparing the walking pattern of the normal legs and the prosthesis legs.

1 is a view for explaining an operation of a walking aid according to an embodiment.
FIG. 2 is a view for explaining details of a walking aid according to an embodiment.
FIG. 3 is a flowchart for explaining a driving method of the walking aid apparatus according to the instantaneous example.
FIG. 4 is a view for explaining details of a walking evaluation apparatus according to an embodiment.
5 is a flowchart for explaining an evaluation method of the walking evaluation apparatus according to the embodiment.
FIG. 6 is a diagram illustrating a magnitude change of an electromyogram according to a stride according to an embodiment.

Hereinafter, a walking assistance device and a driving method thereof according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings. Meanwhile, the embodiments described below are merely illustrative, and various modifications are possible from these embodiments.

1 is a view for explaining an operation of a walking aid according to an embodiment.

1, the sensor 101 can be attached to a normal leg 102 capable of a normal walking. At this time, the sensors 101 and 104 may include sensor data relating to muscles, joints, etc., which are used in accordance with the movement of the normal leg 102. For example, the sensors 101 and 104 may be an electromyographic sensor, a pressure sensor, and a sensor capable of measuring joint motion. Therefore, the sensors 101 and 104 can be attached to the normal leg 102 to measure the electromyogram, the intensity of the pressure, the angle of the joint, etc. according to the movement of the normal leg 102.

The sensors 101 and 104 can measure the walking state of the user who changes according to the user's walking. In addition, the sensors 101 and 104 may include sensor data according to the user's walking state. That is, the walking aiding device can measure the walking state of the normal leg 102 based on the sensor data. Then, the walking assist device can determine the walking pattern of the normal leg using the measured walking state. The walking assist device can control the walking pattern of the prosthesis foot 103 in accordance with the walking pattern of the normal leg.

For example, the walking assist device can control the prosthesis foot 103 with a gait pattern similar to a gait pattern such as a walking pace or walking speed of the normal leg 102. At this time, the walking aiding device can provide the prosthesis foot 103 optimized for the user by measuring and controlling the walking of the changing user through the sensor in real time.

Further, the walking assist device can calculate the walking variable in accordance with the walking state that changes according to the user's walking. For example, the walking aiding device can calculate walking parameters such as changes in joint angles and angular velocities that occur in a process of changing from a walking state of a user to a beating state of a user.

The prosthesis leg 103 may include a sensor 105. The sensor 105 can measure the walking state of the controlled prosthesis foot 103. [ Then, the gait evaluating apparatus can judge the gait pattern by using the measured state of the prosthesis foot 103 as a gait.

Further, the gait evaluation apparatus may exist separately from the gait assisting apparatus, and may be interlocked with the gait assisting apparatus. The walking evaluation apparatus can evaluate the walking imbalance of the user by comparing the walking pattern of the normal leg 102 with the walking pattern of the prosthesis foot 103. [

FIG. 2 is a view for explaining details of a walking aid according to an embodiment.

2, the walking assistant 201 may include a walking state measurement unit 202, a walking pattern determination unit 203, and a prosthodontic foot control unit 204.

The walking state measuring unit 202 can measure the electromyogram corresponding to the movement of the normal leg in cooperation with the electromyogram sensor attached to the normal leg. At this time, the walking state measuring unit 202 can measure changes in muscles and joints caused by the movement. That is, the walking state measuring unit 202 can measure the walking state of the normal leg by measuring the change of the muscles and joints according to the movement. For example, the gait measuring unit 202 measures walking information such as walking information such as contraction information of muscles, intensity of muscle force, angle of bending of joints, etc. in response to various cases such as when the normal legs are walking, The state can be measured.

In addition, the gait measuring unit 202 can measure changes of muscles and joints moving in a continuous process in which the normal leg is landed on the sagittal plane at each position. The reason for this may be to control the operation of the prosthesis legs in a pattern similar to that of the normal legs.

In addition, the walking state measuring unit 202 can measure different EMGs according to various cases, such as when the user is walking, stopping, standing, talking, or walking at a fast pace. This can be for the purpose of stably using the artificial prosthesis leg by changing the gait pattern of the artificial prosthesis legs by measuring the change of the muscles and joints that are sometimes used.

In addition, the walking state measuring unit 202 can measure the walking state of the normal leg using a pressure sensor attached to the sole. Specifically, the walking state measuring unit 202 can measure the walking state of the normal leg by measuring the magnitude of the pressure applied to the pressure sensor. The walking state measuring unit 202 can measure an integrated walking state using an electromyogram sensor and a pressure sensor.

The gait pattern determining unit 203 can determine the gait pattern based on the measured gait state of the normal leg. That is, the gait pattern determining unit 203 can determine a gait pattern corresponding to each state occurring due to movement of muscles and joints of the normal legs. The state may refer to the state of the user's movement such as walking, stopping, talking, walking, and the like. In addition, the gait pattern determination unit 203 can determine the gait pattern through the proportional relationship between the size of the muscle, the size of the joint, and the size of the walking stride. Specifically, the walking pattern determination unit 203 can determine that the larger the size of the measured muscle and the size of the joint, the larger the size of the walking creep. In addition, the gait pattern determining unit 203 can determine the gait pattern by calculating the speed and time at which the normal leg moves, vertical, horizontal distance, and the like.

Then, the gait pattern determining unit 203 can determine the gait pattern in response to the situation based on the electromyogram measured differently according to various situations. For example, the walking pattern determination unit 204 can determine that the walking pattern of the normal leg is slow, the stride width is small, the degree of stance of the sole is large, etc. according to the movement of the electromyogram corresponding to the user's conversation . The walking pattern can correspond to the walking state according to the movement of the user. For example, the gait pattern determining unit 203 can determine a gait pattern such as a bend of the joint by 23 degrees and a velocity of 13 kilometers in response to the user's walking state. Then, the gait pattern determining unit 203 can calculate the gait variable according to the change of the gait state. Specifically, the gait pattern determining unit 203 may calculate variables that may occur in the course of the user's walking state changing from walking to running. For example, the walking parameter may mean the user's stride walking at 30 cm and the size and speed of the user changing as the user starts talking.

In addition, the gait pattern determining unit 203 can adjust the gait pattern of the prosthesis leg in response to the change of the normal leg by judging the gait pattern.

The artificial prosthesis leg control unit 204 can control the walking pattern of the prosthesis legs in accordance with the walking pattern of the normal legs. In other words, the prosthodontic foot control unit 204 can control the walking pattern of the prosthesis legs in accordance with the gait pattern including the angle of the knee, the angular speed, the walking stride, the speed, etc. along the normal legs. For example, the prosthodontic foot control unit 204 can control the walking pattern of the prosthesis foot in the same walking pattern corresponding to the walking pattern of 45 cm of the walking pace and 15 degrees of the knee.

The artificial prosthesis leg control unit 204 can immediately apply the artificial prosthesis leg to the prosthesis as the gait pattern of the normal leg changes. Therefore, the walking aid does not require any learning work for the user to use, and the operation of the prosthesis leg is not difficult, so that it can be used conveniently and easily.

FIG. 3 is a flowchart for explaining a driving method of the walking aid apparatus according to the instantaneous example.

Referring to FIG. 3, in step 301, a change in a walking state due to muscles, joints, and torques due to movement of a normal leg can be measured using an electromyogram sensor and a pressure sensor attached to a normal leg .

In step 302, the gait pattern can be determined according to the measured EMG and pressure. Specifically, the gait pattern can be determined by calculating how far the motion of the normal leg is located on the sagittal plane, or by calculating the formula and the horizontal distance.

In step 303, a variable that can be generated when the person is walking can be calculated. For example, the variable can be a variable that can affect walking due to user's walking, downhill or uphill, water on the ground, have. These variables can be a cause of gait disbalance. Thus, the walking aiding device can calculate the variable causing the unbalance of walking, and adjust the artificial prosthesis leg so that it is balanced.

In step 304, the gait pattern of the prosthesis leg can be controlled in accordance with the gait pattern of the normal leg. Since the artificial prosthesis device judges the walking pattern of the normal leg in real time, the walking pattern of the prosthesis leg can be appropriately controlled in various situations. This allows the user to apply the motion of the user's normal legs to the artificial prosthesis legs without any special operation or process in order to use the artificial prosthesis legs.

FIG. 4 is a view for explaining details of a walking evaluation apparatus according to an embodiment.

4, the walking evaluation apparatus 401 may include a receiving unit 402, a judging unit 403, and an evaluating unit 404.

The receiving unit 402 can receive the walking pattern of the normal leg from the walking assist device. For example, the receiving unit 402 may measure the walking distance of the normal leg, the traveling time taken to land on the landing surface starting from the sagittal plane, the vertical and horizontal A height and a distance moving in the direction of the normal leg, and a center of gravity of the normal leg. The gait pattern of the normal leg can correspond to the gait state of the normal leg.

Then, the determination unit 403 can determine the walking pattern of the prosthesis leg controlled according to the walking pattern of the normal leg. At this time, the prosthesis leg may include a sensor. The sensor can measure the joint angle, angular velocity, etc. of the prosthesis leg. The sensor may include an acceleration sensor, a position sensor, a gyro sensor, a proximity sensor, an infrared sensor, and the like.

The judging unit 403 can measure the walking state of the prosthesis using the sensor attached to the prosthetic foot. Then, the determination unit 403 can determine the gait pattern in accordance with the measured gait state. For example, the judging unit 403 determines the angle of the joint according to the movement of the artificial prosthesis, the walking distance of the artificial prosthesis, the walking time taken to land on the landing surface starting from the sagittal plane, Distance, and the center of gravity of the prosthesis leg can be evaluated.

The evaluating unit 404 can evaluate the walking imbalance by comparing the walking pattern of the normal leg with the walking pattern of the prosthesis foot. For example, the evaluating unit 404 can compare the gait pattern of the normal leg with the parameter indicating the gait pattern of the prosthetic foot. Then, the evaluation unit 404 can evaluate the walking imbalance of the user according to the error range of the parameter.

Then, the evaluating unit 404 can evaluate the walking imbalance using the walking pattern measured through the pressure sensor. For example, the evaluation unit 404 may be configured such that the pressure sensor 104 is attached to a region where the foot is torn, so that the order of the pressure applied from the heel to the toe, the degree of uniformity of the pressure when the foot is torn, Can be measured.

5 is a flowchart for explaining an evaluation method of the walking evaluation apparatus according to the embodiment.

In step 501, the walking evaluation apparatus can receive the walking pattern of the normal leg. At this time, the gait pattern of the normal leg can be a reference for the gait pattern of the prosthesis leg.

In step 502, the gait evaluating apparatus can determine the gait pattern of the prosthesis using the sensor attached to the prosthesis foot.

In step 503, the walking evaluation apparatus can evaluate the walking imbalance of the user by comparing the walking pattern of the normal leg with the walking pattern of the prosthesis leg. Then, the walking evaluation apparatus can evaluate the walking imbalance by comparing the walking patterns such as the walking pace, speed, vertical and horizontal distance of the normal legs and the prosthesis legs.

The methods according to embodiments of the present invention may be implemented in the form of program instructions that can be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like, alone or in combination. The program instructions recorded on the medium may be those specially designed and constructed for the present invention or may be available to those skilled in the art of computer software.

While the invention has been shown and described with reference to certain preferred embodiments thereof, it will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. This is possible.

Therefore, the scope of the present invention should not be limited to the described embodiments, but should be determined by the equivalents of the claims, as well as the claims.

101: EMG sensor
102: normal bridge
103: artificial prosthesis bridge

Claims (15)

A driving method of a walking aid device for assisting a user including a prosthesis foot in walking,
Measuring a walking state of the normal leg based on sensor data received from a sensor attached to a normal leg of the user's leg different from the prosthesis leg;
Determining a gait pattern of the normal leg using the measured gait of the normal leg; And
Controlling a gait pattern of the prosthesis leg in accordance with the gait pattern of the normal leg
Lt; / RTI >
The step of determining the gait pattern of the normal leg may include:
Calculating a walking variable indicating the state of the walking ground in response to a change in the walking state of the normal leg;
Lt; / RTI >
Wherein the step of controlling the gait pattern of the prosthesis bridge comprises:
And controlling the walking posture of the prosthesis legs to change in accordance with the state of the walking floor based on the walking parameters. The method according to claim 1,
The step of measuring the walking state of the normal leg may include:
And measuring the walking state of the normal leg based on the sensor data related to the muscles and joints of the normal leg which changes according to the user's walking. The method according to claim 1,
The step of determining the gait pattern of the normal leg may include:
Wherein the walking pattern of the normal leg includes at least one of a stride length of the normal leg, a moving time of landing on a landing surface starting from a sagittal plane, a joint angle of the normal leg, an angular velocity, Step to judge
And a driving unit for driving the walking assist device. delete The method according to claim 1,
Wherein the step of controlling the gait pattern of the prosthesis bridge comprises:
Controlling the angle of the joint of the artificial prosthesis so as to be similar to the determined gait pattern of the normal legs, the speed of movement, the sequence of stepping the sole to the ground, and the gait interval of the user
And a driving unit for driving the walking assist device. A walking assist device for assisting a user including a prosthesis foot in walking, comprising:
A gait state measuring unit for measuring a gait state of the normal leg based on sensor data received from a sensor attached to a normal leg different from the prosthesis leg of the user;
A gait pattern determination unit for determining a gait pattern of the normal leg using the measured gait state of the normal leg; And
An artificial prosthesis leg control section for controlling the gait pattern of the artificial prosthesis leg in accordance with the gait pattern of the normal leg,
Lt; / RTI >
Wherein the gait pattern determination unit
Calculating a walking variable indicating a state of the walking ground in response to a change in the walking state of the normal leg,
The artificial prosthetic leg control unit includes:
And controls the walking posture of the artificial prosthesis legs to be balanced so as to be changed in accordance with the state of the walking floor on the basis of the walking parameters. The method according to claim 6,
Wherein the walking state measuring unit comprises:
And measures the walking state of the normal leg on the basis of sensor data related to the muscles and joints of the normal leg which changes according to the user's walking. The method according to claim 6,
Wherein the gait pattern determination unit
Wherein the walking pattern of the normal leg includes at least one of a stride length of the normal leg, a moving time of landing on a landing surface starting from a sagittal plane, a joint angle of the normal leg, an angular velocity, A walking aiding device to judge. delete The method according to claim 6,
The artificial prosthetic leg control unit includes:
A walking speed of the joint of the artificial prosthesis so as to be similar to the determined gait pattern of the legs, a sequence of walking the sole of the foot on the ground, and a gait interval of the user. A method for evaluating a gait evaluation device interlocked with a gait assisting device for assisting a user including a prosthesis foot to evaluate the gait of the user,
Receiving a gait pattern of a normal leg different from the prosthesis legs of the user's legs from the walking aid;
Receiving a gait pattern of the prosthesis leg controlled by the walking aid device from a sensor attached to the prosthesis leg and judging it; And
Comparing the gait pattern of the normal leg with the gait pattern of the prosthesis leg to evaluate imbalance of the user's gait
Lt; / RTI >
Wherein the walking-
Calculating a walking parameter indicative of a state of the walking ground in accordance with a change in the walking state of the normal leg and calculating a walking variable indicating a state in which the walking posture of the artificial prosthesis leg, And evaluating the walking evaluation apparatus. 12. The method of claim 11,
Wherein the step of receiving the gait pattern of the normal leg comprises:
A walking time taken for landing on the landing surface starting from the sagittal plane, a walking time taken for landing on the landing surface in the vertical and horizontal directions of the normal legs in accordance with the change of the muscles and joints caused by the movement of the normal legs from the walking- Receiving the gait pattern of the normal leg including at least one of a moving height and a distance and a center of gravity of the normal leg,
And evaluating the walking evaluation apparatus. 12. The method of claim 11,
The step of determining a gait pattern of the prosthesis leg may include:
An artificial prosthesis leg, an artificial prosthesis leg, an artificial prosthesis leg, an artificial prosthesis leg, an artificial prosthesis leg, an artificial prosthesis leg, Determining a gait pattern of the prosthesis leg including at least one of the center and the center
And evaluating the walking evaluation apparatus. 12. The method of claim 11,
Wherein the step of evaluating the imbalance of the user '
Evaluating an imbalance of the user's gait by comparing parameters relating to the gait pattern of the normal legs and parameters related to the gait pattern of the prosthesis legs with each other
And evaluating the walking evaluation apparatus. A walking evaluation device for interlocking with a walking assistance device for assisting a user to walk including one of the prosthetic legs to evaluate the walking of the user,
A receiving unit for receiving a walking pattern of a normal leg different from the legs of the user from the walking assist device;
A judging unit for receiving a gait pattern of the prosthesis leg controlled by the walking aid device from a sensor attached to the prosthesis leg and judging it; And
And an evaluation unit for comparing the gait pattern of the normal leg with the gait pattern of the prosthesis leg to evaluate an imbalance of the user's walking,
Lt; / RTI >
Wherein the walking-
Calculating a walking parameter indicative of a state of the walking ground in accordance with a change in the walking state of the normal leg and calculating a walking variable indicating a state in which the walking posture of the artificial prosthesis leg, And a control unit for controlling the vehicle.

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