KR101637439B1 - Faster detection apparatus of step initiation with vertical grf events and method therefor - Google Patents

Faster detection apparatus of step initiation with vertical grf events and method therefor Download PDF

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KR101637439B1
KR101637439B1 KR1020140105411A KR20140105411A KR101637439B1 KR 101637439 B1 KR101637439 B1 KR 101637439B1 KR 1020140105411 A KR1020140105411 A KR 1020140105411A KR 20140105411 A KR20140105411 A KR 20140105411A KR 101637439 B1 KR101637439 B1 KR 101637439B1
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South Korea
Prior art keywords
intention
walking
reaction force
ground reaction
recognizing
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KR1020140105411A
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Korean (ko)
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KR20160020279A (en
Inventor
김홍철
차도완
강대원
오성남
김갑일
김수현
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국방과학연구소
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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00Detecting, measuring or recording for diagnostic purposes; Identification of persons
    • A61B5/103Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/112Gait analysis
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00Detecting, measuring or recording for diagnostic purposes; Identification of persons
    • A61B5/103Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00Detecting, measuring or recording for diagnostic purposes; Identification of persons
    • A61B5/103Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1113Local tracking of patients, e.g. in a hospital or private home
    • A61B5/1114Tracking parts of the body
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00Detecting, measuring or recording for diagnostic purposes; Identification of persons
    • A61B5/103Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1116Determining posture transitions
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00Detecting, measuring or recording for diagnostic purposes; Identification of persons
    • A61B5/103Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1121Determining geometric values, e.g. centre of rotation or angular range of movement
    • A61B5/1122Determining geometric values, e.g. centre of rotation or angular range of movement of movement trajectories
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00Detecting, measuring or recording for diagnostic purposes; Identification of persons
    • A61B5/103Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1124Determining motor skills

Abstract

The present invention relates to an apparatus and a method for recognizing a walking start intention through a vertical ground reaction force. The apparatus for recognizing a walking start intention based on a vertical ground reaction force according to the present invention includes a measuring unit 10 for measuring a ground reaction force (GRF) of both the big toe and the heel of both feet; And a recognition unit (20) for recognizing the walking start intention by analyzing the ground reaction force (GRF) measured by the measuring unit (10). According to the present invention, it is possible to recognize the walking intention before the conventional walking start intention recognizing apparatus. In addition, the measurement point can be minimized by two points of the toe and the heel when compared with the conventional device for recognizing the intention to start walking. In addition, the walking intention obtained through the present invention can be used as a walking control of a wearing robot such as an exoskeleton robot for strengthening muscle strength or a muscle-assisted robot, thereby enabling the user to quickly start the initial walking.

Description

FIELD OF THE INVENTION [0001] The present invention relates to a device and method for recognizing intent to start walking based on vertical ground reaction force,

The present invention relates to an apparatus and method for recognizing the intention to start walking on the basis of a vertical ground reaction force, and more particularly, to a method and apparatus for recognizing intention to start a walk using a feature of a vertical ground reaction force measured at a toe and a heel And more particularly,

Vertical ground reaction force is widely used in gait analysis. It is mainly measured by force plate (Force Plate) or FSR (Force Sensing Resistor). The measurement value changes according to the measurement position of the foot floor, and is used for various types of gait analysis according to the change of the value. When measuring from the heel, the heel strike at the first contact with the ground and the magnitude of the force at that time can be measured. Also, when measuring from the big toe, it is possible to measure the point of time (Toe Off) when the foot finally falls from the ground during walking and the magnitude of the force at that time. It can be divided into Heel Strike and Toe Off by the Stance Phase where the foot touches the ground, and can be divided into the Swing Phase before the next heel strike after the Toe Off.

An object of the present invention is to recognize the intention of starting to walk in advance by characterizing the vertical ground reaction force before starting the walking. Yet another object of the present invention is to minimize the measurement point of the vertical ground surface repulsive force to two points of the toe and the heel through the method of recognizing the intention to start walking.

According to an embodiment of the present invention, the apparatus for recognizing the intention to start walking with a vertical ground reaction force includes a measuring unit 10 for measuring a ground reaction force (GRF) of both the toe and the heel of both feet; And a recognition unit (20) for recognizing the walking start intention by analyzing the ground reaction force (GRF) measured by the measuring unit (10).

The measuring unit 10 may be a Force Plate or a Force Sensing Resistor (FSR) sensor having a force sensor attached thereto.

The recognition unit 20 crosses the magnitudes of the ground reaction force (GRF) of both feet measured by the measuring unit 10 and the vertical ground reaction force of the leading leg When the size of the Reaction Force (GRF) becomes maximum (Peak), it is recognized that there is an intention to start walking.

The walking start intention recognizing apparatus includes a torque command unit 30 for transmitting a torque command to the wearable robot when the recognition unit 20 recognizes the intention to start walking, .

According to another embodiment of the present invention, a method of recognizing intent to start walking with a vertical ground reaction force includes a measuring step (S100) of measuring a ground reaction force (GRF) of both the big toe and the heel; And recognizing the walking start intention by analyzing the ground reaction force (GRF) measured in the measuring step (S100).

The recognizing step S200 is a step of recognizing the magnitude of the vertical ground reaction force (GRF) of the two legs measured in the measuring step S100 and the magnitude of the vertical ground reaction force of the leading leg And when there is a peak (Peak), it is recognized that there is an intention to start walking.

The method of recognizing a walking start intention through the vertical ground reaction force includes a torque command step (S300) for transmitting a torque command to the wearing robot when walking is recognized as an intention to start walking in the recognition step (S200) .

According to the present invention, it is possible to recognize the walking intention before the conventional walking start intention recognizing apparatus. In addition, the measurement point can be minimized by two points of the toe and the heel when compared with the conventional device for recognizing the intention to start walking. In addition, the walking intention obtained through the present invention can be used as a walking control of a wearing robot such as an exoskeleton robot for strengthening muscle strength or a muscle-assisted robot, thereby enabling the user to quickly start the initial walking.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a graph illustrating the shape of a vertical ground reaction force measured in a force plate according to the present invention. FIG.
2 is an illustration of a force sensor used for vertical ground reaction force measurement according to the present invention.
3 is a graph illustrating the shape of the vertical ground reaction force measured by the FSR sensor according to the present invention.
4 is a control block diagram of a walking start intention recognizing device according to the present invention.
5 is a photograph of a worn robot;
6 is a block diagram of a walking start intention recognizing device according to the present invention.
FIG. 7 is a flowchart of a walking start intention recognizing method according to the present invention. FIG.

It is to be understood that the words or words used in the present specification and claims are not to be construed in a conventional or dictionary sense and that the inventor can properly define the concept of a term to describe its invention in the best way And should be construed in accordance with the meaning and concept consistent with the technical idea of the present invention. Therefore, the embodiments described in the present specification and the configurations shown in the drawings are merely the most preferred embodiments of the present invention and are not intended to represent all of the technical ideas of the present invention. Therefore, various equivalents It should be understood that water and variations may be present. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail. Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a graph illustrating a shape of a vertical ground reaction force measured in a force plate according to the present invention, FIG. 2 is an exemplary view of a force sensor used in vertical ground reaction force measurement according to the present invention, FIG. 4 is a control block diagram of a pre-start walking intention recognizing apparatus according to the present invention, and FIG. 5 is a photograph of a worn robot. Referring to FIGS. 1 to 5, the present invention is a recognition technique of walking initiation intention through a ground reaction force (GRF) measured at a toe and a heel before a start of a walk, wherein (a) The point at which the magnitude of the Ground Reaction Force (GRF) of the leading leg that occurs continuously after the intersection of the magnitude of the ground reaction force (GRF) and the magnitude of the ground reaction force (GRF) It is a technique to recognize the intention to start walking with the feature. As shown in FIG. 5, the walking intention obtained through the present invention can be utilized as a walking control of a wearing robot such as a muscle-strengthening exoskeleton robot and a muscle-force-assisted robot to quickly start an initial walking.

The present invention preliminarily recognizes the walking start intention through the two features by measuring the vertical ground reaction force at the two toe of the sole and the heel. FIG. 1 shows that a point at which the magnitude of the vertical ground reaction force measured in the force plate crosses and a point at which the magnitude of the perpendicular ground reaction force of the foot successively occurs occurs in accordance with the embodiment of the present invention will be. Conventionally, it is difficult to acquire the information to move until movement of the joint occurs when moving in the stop state. However, in the case of the present invention, when the gait characteristic of the human body is analyzed by using a force plate, a specific pattern is shown in vertical ground reaction force before the joint moves as shown in Fig. When you start walking, you will see the intersection of the Ground Reaction Force (GRF) of the leading leg and the Ground Reaction Force (GRF) of the trailing leg, It was confirmed that the ground reaction force (GRF) peak of the leading leg was generated. These two patterns can be perceived as the intention to start walking.

FIG. 2 is an exemplary view of a force sensor used for measurement of a vertical ground reaction force. FIG. 2 is a view showing an example of a force sensor using FSR (Force Sensing Resistor) sensor according to another embodiment of the present invention, And a recognition sensor. The intention of the initial walking can be recognized by the pattern difference of the ground reaction force (GRF) simply by using the 2-channel FSR (Force Sensing Resistor) information alone.

FIG. 3 is a graph illustrating the shape of the vertical ground reaction force measured by the FSR sensor. FIG. 3 is a graph illustrating the vertical ground reaction force measured by the FSR sensor. In FIG. 3, The ground reaction force (GRF) indicates that the two feature points exist.

FIG. 4 is a control block diagram used for initial walking control of a wearing robot, such as a muscle-strengthening robot or a muscle-powered robot, by using a result of recognizing the intention of starting a preceding gait using a vertical ground reaction force according to an embodiment of the present invention. The insole FSR mounted on the wearable robot as shown in FIG. 5 recognizes the intention to start walking and uses it to switch from a stopped state to a driveable state, so that a corresponding torque command is generated and can be walked.

6 is a block diagram of a walking start intention recognizing apparatus according to the present invention. Referring to FIG. 6, the apparatus for recognizing a walking start intention through a vertical ground reaction force includes a measurement unit 10, a recognition unit 20, and a torque command unit 30. The measurement unit 10 measures the ground reaction force (GRF) of the both toes and the heels of both feet. The measuring unit 10 may be a Force Plate or a Force Sensing Resistor (FSR) sensor to which a force sensor is attached.

The recognition unit 20 recognizes the walking start intention by analyzing the ground reaction force (GRF) measured by the measuring unit 10. More specifically, (1) the magnitude of the ground reaction force (GRF) of both feet measured by the measuring unit 10 intersects, (2) the vertical plane of the leading leg after the intersection When the magnitude of the Ground Reaction Force (GRF) becomes maximum (Peak), it is recognized that there is an intention to start walking. Whether or not the conditions (1) and (2) are satisfied is determined by using the characteristics of the vertical ground reaction force measured by the measuring unit 10.

When the recognition unit 20 recognizes that there is an intention to start walking, the torque command unit 30 transmits a torque command to the wearable robot so as to control the robot so that walking can be performed. That is, when the present invention is applied to a wearable robot, the wear robot makes a walk by the torque command portion.

7 is a flowchart of a method of recognizing the intention to start a walk according to the present invention. Referring to FIG. 7, the walking start intention recognizing method based on the vertical ground reaction force includes a measuring step S100, a recognizing step S200, and a torque commanding step S300. The measuring step S100 is a step of measuring the ground reaction force GRF of both the big toe and the heel, and the recognizing step S200 is a step of measuring the vertical ground reaction force measured at the measuring step S100 Reaction Force, GRF) to identify the intention to start walking. In the recognition step S200, the magnitude of the ground reaction force (GRF) of both feet measured in the measurement step S100 is crossed, and the magnitude of the vertical ground reaction force of the leading leg after the intersection is the maximum (Peak), it is recognized that there is an intention to start walking. If it is recognized that there is an intention to start walking in the recognition step S200, the torque command step S300 is a step of transmitting a torque command to the wearable robot such as a muscle-strength-enhancing robot or a muscle-power-assisted robot so as to be able to walk.

It is to be understood that both the foregoing general description and the following detailed description of the present invention are exemplary and explanatory only and are not restrictive of the invention, as claimed, and will be fully understood by those of ordinary skill in the art. The present invention is not limited thereto. It will be apparent to those skilled in the art that various substitutions, modifications and variations are possible within the scope of the present invention, and it is obvious that those parts easily changeable by those skilled in the art are included in the scope of the present invention .

10 measuring part
20 recognition unit
30 Torque command section
S100 measurement step
S200 recognition step
S300 torque command phase

Claims (7)

  1. A measurement unit 10 for measuring the ground reaction force (GRF) of the toes and the heels of both feet; And
    A recognition unit 20 for recognizing a walking start intention by analyzing a ground reaction force (GRF) measured by the measuring unit 10;
    Wherein the walking start intention recognizing device comprises:
    The recognition unit 20 crosses the magnitudes of the ground reaction force (GRF) of both feet measured by the measuring unit 10 and the vertical ground reaction force of the leading leg Wherein when the size of the reaction force (GRF) reaches a maximum (Peak), it is recognized that there is an intention to start walking.
  2. The method according to claim 1,
    Wherein the measurement unit 10 is any one of a force plate having a force sensor attached thereto and a force sensor resistor having a force sensing resistor (FSR) attached thereto.
  3. delete
  4. 3. The method according to any one of claims 1 to 2,
    And a torque command unit (30) for transmitting a torque command to the wearable robot so as to be able to walk when the recognition unit (20) recognizes the intention to start walking. Intention recognition device.
  5. A measurement step S100 of measuring the ground reaction force (GRF) of both the toe of the feet and the heel; And
    A recognition step S200 of recognizing a walking start intention by analyzing a ground reaction force (GRF) measured in the measuring step S100;
    The method comprising the steps of: recognizing a walking start intention through a vertical ground reaction force,
    The recognizing step S200 is a step of recognizing the magnitude of the vertical ground reaction force (GRF) of the two legs measured in the measuring step S100 and the magnitude of the vertical ground reaction force of the leading leg And a step of recognizing that there is an intention to start a walk when the maximum value of the walking start intention becomes the maximum value (Peak).
  6. delete
  7. 6. The method of claim 5,
    And a torque command step (S300) for transmitting a torque command to the wearable robot so as to be able to walk when it is recognized that there is an intention to start walking in the recognition step (S200) Intention recognition method.
KR1020140105411A 2014-08-13 2014-08-13 Faster detection apparatus of step initiation with vertical grf events and method therefor KR101637439B1 (en)

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Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013116546A (en) 2011-12-05 2013-06-13 Hyundai Motor Co Ltd Module and method for measuring repulsive force for walking robot

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101772972B1 (en) * 2010-12-22 2017-09-01 삼성전자주식회사 Walking robot and control method thereof
KR101357208B1 (en) * 2012-07-03 2014-02-03 현대로템 주식회사 Walking robot

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013116546A (en) 2011-12-05 2013-06-13 Hyundai Motor Co Ltd Module and method for measuring repulsive force for walking robot

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