KR101674816B1 - Device and method for gait pattern analysis with imu - Google Patents

Device and method for gait pattern analysis with imu Download PDF

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KR101674816B1
KR101674816B1 KR1020150097381A KR20150097381A KR101674816B1 KR 101674816 B1 KR101674816 B1 KR 101674816B1 KR 1020150097381 A KR1020150097381 A KR 1020150097381A KR 20150097381 A KR20150097381 A KR 20150097381A KR 101674816 B1 KR101674816 B1 KR 101674816B1
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South Korea
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point
gait
walking
coordinate system
imu
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KR1020150097381A
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Korean (ko)
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김종현
송민수
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재단법인대구경북과학기술원
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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
    • A61B5/103—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
    • A61B5/1121—Determining geometric values, e.g. centre of rotation or angular range of movement
    • G06K9/00348—

Abstract

The present invention relates to a walking environment measuring device and a walking environment measuring method using the IMU. An apparatus for measuring gait using an IMU according to the present invention comprises an IMU (Inertia Measurement Unit) for measuring successive first and second points, the sole of which is parallel to the ground, and a tn coordinate system of the IMU, And analyzing the walking pattern of the pedestrian associated with the sole using the degree of angular movement at each of the first and second points, and measuring the walking environment data using the analyzed walking pattern.

Description

TECHNICAL FIELD [0001] The present invention relates to an apparatus and method for measuring a walking environment using an IMU,

The present invention relates to a walking environment measuring device and a walking environment measuring method using the IMU.

As a person gets older, his strength is weakened and his gait can be slowed down. Therefore, walking speed can be an important measure to evaluate the health of the elderly.

In the conventional technique, when walking speed is measured, a method of measuring the walking distance for 6 minutes or the walking time for 10 meters has been used. However, this method requires an environment having a large space, measurement time and manpower. Above all, the measuring method in the prior art may artificially walk to measure the walking speed, resulting in a difference from the walking speed of the usual pedestrian.

Therefore, there is a need for a device that can measure the walking speed in a normal environment, not a separate test environment, which is easily worn by a pedestrian. At this time, the daily environment may include various road forms such as flat roads, uphill roads, downhill roads, and stairs. The inclination of the road can affect the walking speed as acceleration occurs. For example, as the slope of the road increases, the walking speed can be reduced, and the walking speed can be accelerated on the downward slope of the road.

Therefore, it is required to develop a device capable of measuring and classifying an environment (e.g., an inclination, a staircase, etc.) that influences a walking speed and a walking speed of a pedestrian. In conclusion, there is a need for an apparatus and method that can measure and classify a gait pattern of a pedestrian, including the inclination of the road and the walking speed, using a wearable device in everyday life.

SUMMARY OF THE INVENTION The present invention has been conceived to solve the above-mentioned problems, and it is an object of the present invention to provide an IMU which is capable of detecting a point where a sole of a foot is in plane with a ground surface or a foot, The walking pattern of the pedestrian can be easily analyzed regardless of the environment and time.

In order to achieve the above object, an apparatus for measuring gait using an IMU includes an inertia measurement unit (IMU) measuring a first point and a second point in succession, the tangent plane of which is parallel to the ground, And a processor for analyzing the walking pattern of the pedestrian associated with the sole using the degree of angular movement at each of the first and second points and measuring the walking environment data using the analyzed walking pattern .

As a technical method for achieving the above object, there is provided a method for measuring gait using IMU, comprising the steps of: measuring a first point and a second point successive to the foot surface of a sole through the IMU; Analyzing a gait pattern of a pedestrian associated with the sole using the degree of angular movement at each of the first and second points, and measuring gait environment data using the analyzed gait pattern Step.

According to one embodiment of the present invention, by using the IMU, it is possible to identify a point at which the sole of the foot is in plane with the ground or a point at which the sole touches the ground and temporarily stops, and analyzes a gait pattern with respect to the point, It is possible to easily analyze the walking pattern of the pedestrian without being concerned.

1 is a block diagram illustrating an apparatus for measuring gait using an IMU according to an embodiment of the present invention.
FIG. 2 is a diagram for explaining a conversion process from a tn coordinate system to an xy coordinate system according to an embodiment of the present invention.
FIG. 3 is a view for explaining a point where a sole according to an embodiment of the present invention forms a plane with a ground.
FIG. 4 is a view for explaining a process of detecting a point where a sole of a foot is in plane with a ground according to an embodiment of the present invention.
5 is a diagram for explaining a process of detecting a point where the sole touches the ground and stops at the stairs according to an embodiment of the present invention.
6 is a view for explaining a walking cycle based on a point where the sole of the foot is in plane with the ground according to an embodiment of the present invention.
7 and 8 are views for explaining a process of analyzing a gait pattern on the ground according to an embodiment of the present invention.
FIG. 9 is a workflow diagram specifically illustrating a walking environment measuring method according to an embodiment of the present invention.
10 to 12 are diagrams for explaining a gait pattern analysis result using the gait measuring apparatus according to an embodiment of the present invention.

Hereinafter, embodiments according to the present invention will be described in detail with reference to the accompanying drawings. However, the present invention is not limited to or limited by the embodiments. Like reference symbols in the drawings denote like elements.

The gait environment measuring apparatus and the walking environment measuring method using the IMU described in this specification can analyze the inclination and the walking speed of the path according to the gait as a gait pattern by using the acceleration and the angular velocity acquired by the IMU.

1 is a block diagram illustrating an apparatus for measuring gait using an IMU according to an embodiment of the present invention.

The gait environment measuring apparatus 100 using the IMU of the present invention may include an IMU (Inertia Measurement Unit) 110 and a processor 120.

The IMU 110 measures successive first and second points, with the sole of the foot being in plane with the ground. That is, the IMU 110 can measure acceleration and angular velocity at a moment when the sole is in plane with the ground at the first and second points. Here, the IMU 110 includes an inertia measurement unit including an accelerometer for measuring linear motion in three axes (x axis, y axis, z axis) and a gyroscope for measuring rotational motion in three axes Device. In this specification, the IMU 110 is described as being attached to the heel of a pedestrian associated with the sole, but not limited thereto.

In this specification, a point at which the sole of the foot makes a plane with the ground (hereinafter referred to as a sole plane point) refers to a point in time when the sole comes into contact with (touches) . In other words, in the present specification, for example, a point at which the sole of the foot contacts the ground during walking and stops is a point at which the sole is in plane with the ground. A more detailed description of the point at which the soles of the sole form the ground surface will be described with reference to FIGS. 3 and 4, which will be described later.

The processor 120 analyzes the walking pattern of the pedestrian associated with the sole using the degree of angular movement of the tn coordinate system of the IMU 110 at each of the first and second points, To measure the walking environment data. That is, the processor 120 determines whether the foot is in a plane or a slope according to the difference in angles (tn coordinate system and angle difference in the xy coordinate system) generated at each of the first and second points, And the gait environment data for the gait pattern can be measured. Here, the walking environment data may be data for calculating the walking speed and the walking parameters. For example, the walking environment data may be data on walking and environment related to acceleration, angular velocity, tilt, altitude, and the like.

Further, the processor 120 may estimate the walking speed and the walking parameters using the walking pattern and the walking environment data. That is, the processor 120 may calculate the walking speed and the walking parameters using the measured walking pattern and the walking environment data.

  The processor 120 analyzes the walking pattern of the pedestrian, and the gait environment data is measured will be described with reference to FIGS. 2 to 8. FIG.

FIG. 2 is a diagram for explaining a conversion process from a tn coordinate system to an xy coordinate system according to an embodiment of the present invention.

First, the processor 120 rotates the tn coordinate system of the IMU 110 with respect to an axis that is parallel to the sole, and converts the coordinates into an xy coordinate system. At this time, the IMU 110 may be attached so that the z-axis of the IMU 110 is as large as possible to the ground. As shown in FIG. 2 (a), the IMU 110 may be attached to the heel to measure a measurement value (acceleration or angular velocity) about the point where the soles land on the tn coordinate system. Then, the processor 120 can compensate the tn coordinate system into a value obtained by converting the tn coordinate system into the xy coordinate system. For example, the measured value can be converted by rotating the t-axis with respect to the x-axis that is horizontal to the sole. That is, the processor 120 may initialize and adjust the slope of the sensor with respect to a measurement value including a pitch motion and a roll motion. This can be initialized through Equation (1).

Figure 112015066308261-pat00001

2 (b) is a diagram showing the result of converting the phases in the x-axis, y-axis, and z-axis into the phases in the t-axis, the n-axis, and the a-axis. Processor 120 may convert values in the t-axis, the n-axis, and the a-axis with respect to the x-, y-, and z-axes so that the transformed measurements on each axis can be set to initial values.

FIG. 3 is a view for explaining a point where a sole according to an embodiment of the present invention forms a plane with a ground.

The 'point at which the soles of the sole corresponds to the ground' described in this specification may refer to a point at which the soles of the sole form a plane with the ground or temporarily stop. In order to detect the 'point at which the sole of the foot is in plane with the ground or temporarily stops' (hereinafter, the point at which the sole is in plane with the ground), it is applied to the IMU 110 at the point where the sole is in plane with the ground A process of calculating an average measured value of gravitational acceleration will be described with reference to FIG.

When the square root of the square of the acceleration in the n axis among the tn coordinate system of the IMU 110 and the square of the sum of the acceleration of the t axis in the tn coordinate system coincides with the gravitational acceleration, , It can be determined that the sole is in contact with at least one of a flat surface and an inclined surface. That is, the processor 120 can detect the plant floor point when the calculated value for the acceleration on each axis is close to or coincides with the gravitational acceleration as shown in Equation (2).

Figure 112015066308261-pat00002

here, '

Figure 112015066308261-pat00003
'Is a universal value obtained experimentally and may differ slightly depending on the individual's walking pattern.

In addition, the processor 120 may set an initial angle to the plant floor point as an initial value when the plant floor point is planar (flat) before starting to walk. That is, the processor 120 calculates an initial angle (x, y) as shown in Equation (3) by using a value obtained by converting the acceleration values of the t axis and the n axis into the acceleration values of the x axis and the y axis

Figure 112015066308261-pat00004
) Can be calculated.

Figure 112015066308261-pat00005

The graph shown in FIG. 3 is a graph showing acceleration. As shown in FIG. 3, the processor 120 determines the gravitational acceleration (9.8

Figure 112015066308261-pat00006
Figure 112015066308261-pat00007
) (About 10
Figure 112015066308261-pat00008
Figure 112015066308261-pat00009
) Can be detected to have occurred at the plant floor point or momentarily stopped point. At this time, the processor 120 may calculate an initial angle or a measurement angle with respect to the plant floor point, and a more detailed description thereof will be described with reference to FIGS. 5 and 6 described later.

FIG. 4 is a view for explaining a process of detecting a point where a sole of a foot is in plane with a ground according to an embodiment of the present invention.

The upper graph of FIG. 4 is a graph showing acceleration and time, and the lower graph of FIG. 4 is a graph showing angular velocity and time. A may represent the fastest angular moment in the swing phase. B may represent the moment when the foot is turning to the ground and turning at its fastest before it is converted from the angular phase to the stance phase. C may represent the moment when the foot hits the ground. A circle mark (o) on the graph may be the moment when the foot contacts the ground and the plant floor point occurs.

5 is a diagram for explaining a process of detecting a point where the sole touches the ground and stops at the stairs according to an embodiment of the present invention.

The upper graph of FIG. 5 is a graph showing acceleration and time, and the lower graph of FIG. 5 is a graph showing angular velocity and time. A may represent the fastest angular moment in the angular period. B may represent the moment when the foot rotates fastest to the ground before it switches from the angular to the stance. C may represent the moment when the foot hits the ground. The circle mark o on the graph may indicate the moment when the foot contacts the ground and temporarily stops (substitution of the plant floor point).

6 is a view for explaining a walking cycle based on a point where the sole of the foot is in plane with the ground according to an embodiment of the present invention.

As shown in Fig. 6, the walking stance is a form in which the heel touches the plane (heel strike), the toe touches the plane (toe strike), the heel falls (heel off) . At this time, the sole plane point may be between the toe strike and the heel off. That is, the processor 120 regards a point regarded as a foot-flat as a pedestrian's walking, as a first point, and measures a second continuously measured foot plane point after the first point is regarded as a second point Can be regarded as a point. In other words, the processor 120 may reduce the error to the measured value at the IMU 110 by setting the first and second points with respect to the plant floor point that occurs consecutively in the walking cycle.

At this time, the processor 120 may calculate the time for the plant floor point. At this time, the time for the sole plane point may be the time obtained by subtracting the toe strike time from the heel off time. This can be expressed by Equation (4).

Figure 112015066308261-pat00010

7 and 8 are views for explaining a process of analyzing a gait pattern on the ground according to an embodiment of the present invention.

The processor 120 sets the difference angle occurring between the tn coordinate system of the IMU 110 and the xy coordinate system associated with the axis that is horizontal to the sole as an initial angle, In each of these, the degree of angular movement can be calculated by subtracting the initial angle from the measured angle measured by the IMU 120. That is, the processor 120 determines the initial angle

Figure 112015066308261-pat00011
), The difference angle generated while converting from the tn coordinate system to the xy coordinate system is set, and the measurement angle measured at the first and second points at the initial angle (
Figure 112015066308261-pat00012
) Is subtracted from the inclination angle
Figure 112015066308261-pat00013
). This can be expressed by Equation (5).

Figure 112015066308261-pat00014

Fig. 7 (a) is a view showing a plant plane point in a plane for setting an initial angle. Fig.

The processor 120 may calculate the initial angle to the plant floor point using Equation (3).

7 (b) is a view for explaining the measurement angle of the plant floor point on the inclined plane. As shown in FIG. 7 (b), the processor 120 can move the tn coordinate axis in the positive direction with respect to the xy coordinate axis in which the initial angle is set on the inclined plane. That is, the processor 120 may calculate the inclination angle of the inclined plane according to Equation (4).

8 is a diagram for explaining a gait pattern according to the calculated degree of angular movement.

When the tn coordinate system is angularly moved in the positive direction with respect to the xy coordinate system and is maintained at the first and second points, the processor 120 analyzes the gait pattern by tilting up the tilting angle, And when the tn coordinate system is angularly moved in a negative direction with respect to the xy coordinate system and is maintained at the first and second points, the gait pattern is analyzed as inclining down and the degree of inclination lowering Can be measured.

In addition, the IMU 110 may measure altitudes of the first point and the second point, respectively. At this time, the processor 120 analyzes the walking pattern of the pedestrian in consideration of the degree of the angular movement when the tn coordinate system does not perform the angular movement, And the step of the flat ground can be analyzed as the walking pattern of the pedestrian.

8, the processor 120 determines whether the initial angle and the measured angle at each of the first and second points match (i.e.,

Figure 112015066308261-pat00015
= 0). If there is no altitude change, it can be analyzed that the first and second points are flat and the gait pattern is a normal gait. Also, when the processor 120 calculates a value in which the difference between the initial angle and the measured angle is angularly moved in the positive direction, the first and second points are inclined, and the gait pattern is considered to be oblique. At this time, the IMU 110 may measure an altitude having a positive value. In addition, if the difference between the initial angle and the measured angle is a value that is angularly moved in the negative direction, the processor 120 can analyze the first and second points as inclined surfaces and the gait pattern inclined downward. At this time, the altitude can be measured by the IMU 110 as a negative value.

In addition, the processor 120 may determine that the initial angle matches the measured angle at the first and second points (

Figure 112015066308261-pat00016
= 0), but when the altitude measured by the IMU 110 is a positive value, the gait pattern can be analyzed as a step up. In addition, the processor 120 may determine that the initial angle matches the measured angle at the first and second points (
Figure 112015066308261-pat00017
= 0), and when the altitude is a negative value, it can be analyzed that the gait pattern is stepped down.

In addition, the processor 120 may analyze the pedestrian pattern to be stopped or a pattern other than the above-described gait pattern when the measurement angle is not measured and the walking time T at which the plant floor point is maintained is 2 seconds (s) or more .

The gait environment measuring apparatus 100 can analyze the altitude as the gait pattern using the altitude measured by the above-described IMU 110 or the altitude calculated by the processor 120 (see Equation 11 described later) have.

Referring again to FIG. 1, the processor 120 may calculate the speed-related data of the pedestrian using the time interval at which the first and second points are calculated and the distance between the first and second points have. That is, the processor 120 may calculate the speed-related data related to the gait pattern using the measured values for the first and second points. Here, the speed-related data may include at least one of speed, acceleration, etc. related to the gait pattern.

Further, the processor 120 may calculate, as the time interval, from the time point at which the sole comes into contact with the ground at the first point to the point at which the sole comes into contact with the ground at the second point, From the time when the arbitrary sole of the foot touches the ground surface to the time when the other sole different from the arbitrary sole at the second point touches the ground surface as the time interval. At this time, the point of contact with the ground may be the point where the sole comes into contact with the ground and stops. For example, in terms of the walking posture described in FIG. 6, the processor 120 may set the reference of the time interval between the heel off at the first point and the heel off at the second point, The time interval can be calculated by setting between the toe strike at the second point in the strike.

In addition, the processor 120 may calculate the displacement using the distance value in each axis calculated by converting the tn coordinate system to the xy coordinate system.

First, the processor 120 can calculate the velocity and the distance at a specific time in each axis by dividing Equation (6) and Equation (7) into two.

Figure 112015066308261-pat00018

Figure 112015066308261-pat00019

At this time, the processor 120 calculates the distances calculated along the x-axis, the y-axis, and the z-

Figure 112015066308261-pat00020
The displacement can be calculated using the value. That is, the processor 120 can calculate the displacement synthesized by using the displacement according to the normal step on the x-axis, the displacement according to the altitude in the y-axis, and the displacement according to the degree to which the toe in the z- . This can be expressed by Equation (8).

Figure 112015066308261-pat00021

At this time,

Figure 112015066308261-pat00022
Is the displacement,
Figure 112015066308261-pat00023
Is the displacement along the altitude and
Figure 112015066308261-pat00024
Indicates the displacement of the toe from the center line.

Further, the processor 120 may calculate the synthesized displacement using Equation (9). That is, in the case of a walk where the swaying pattern occurs and the displacement of the z-axis is very large and the swaying motion sideways, the processor 120 can extract only the displacements appearing in the forward direction using Equation (9).

Figure 112015066308261-pat00025

Further, the processor 120 may calculate a value obtained by dividing the displacement by the time rate as the moving speed of the pedestrian among the speed-related data. That is, the processor 120 may calculate the moving speed according to one step of the pedestrian as shown in Equation (10) using the displacement and the time interval.

Figure 112015066308261-pat00026

Further, the processor 120 can calculate the altitude during one step using the displacement using the equation (11).

Figure 112015066308261-pat00027

For reference, the gait environment measuring apparatus 100 can analyze the altitude as a gait pattern using the altitude measured by the IMU 110 or the altitude calculated by the processor 120. [

The gait environment measuring apparatus 100 according to the present invention can identify a point where the sole of the foot makes a plane with the ground using the IMU and analyze the gait pattern for the point so that the gait pattern of the pedestrian Can be easily analyzed.

FIG. 9 is a workflow diagram specifically illustrating a walking environment measuring method according to an embodiment of the present invention.

First, the walking environment measuring method according to the present embodiment can be performed by the walking environment measuring apparatus 100 described above.

First, the gait measuring apparatus 100 measures 910 the first and second consecutive points of the foot, which are in plane with the ground, through the IMU. Here, the IMU can be an inertial measurement device including an accelerometer for measuring linear motion in three axes (x axis, y axis, z axis) and a gyroscope for measuring rotational motion in three axes have. In the present specification, the IMU is described as being attached to the heel of a pedestrian associated with the sole, but not limited thereto. Further, a point at which the sole of the foot is in plane with the ground (hereinafter referred to as the floor point of the sole) may refer to a point of time when the sole comes into contact with the ground during the process of touching the ground again.

Next, the gait environment measuring apparatus 100 analyzes the walking pattern of the pedestrian associated with the sole using the degree of angular movement of the tn coordinate system of the IMU at each of the first and second points (920 ). That is, the step 920 may be a process of analyzing the walking pattern of the pedestrian by detecting whether the floor of the sole corresponds to the difference of angles generated at the first and second points, that is, a plane or a slope.

In step 920, when the tn coordinate system is angularly moved in the positive direction with respect to the xy coordinate system and is maintained at the first and second points, the gait pattern is analyzed as a slope-up and the slope- And the tn coordinate system is angularly moved in a negative direction with respect to the xy coordinate system and is maintained at the first and second points so as to analyze the gait pattern by slanting down and analyzing the gait downward Can be measured.

For example, in the gait environment measuring apparatus 100, when the initial angle coincides with the measured angle at the first and second points and there is no altitude change, the first and second points are flat and the gait pattern is normal It can be analyzed as a step. In addition, when the gait environment measuring apparatus 100 calculates a value in which the difference between the initial angle and the measured angle is angularly moved in the positive direction, the first and second points are inclined surfaces and the gait pattern is analyzed as being oblique . In addition, if the difference between the initial angle and the measured angle is a value that is angularly moved in the negative direction, the gait environment measuring apparatus 100 can analyze the first and second points as inclined surfaces and the gait pattern as inclined downward.

Next, the gait environment measuring apparatus 100 may measure the gait environment data using the analyzed gait pattern (930). Here, the walking environment data may be data for calculating the walking speed and the walking parameters. For example, the walking environment data may be data on walking and environment related to acceleration, angular velocity, tilt, altitude, and the like.

According to the embodiment, the walking environment measurement apparatus 100 can estimate the walking speed and the walking parameters using the walking pattern and the walking environment data. That is, the walking environment measuring apparatus 100 can calculate the walking speed and the walking parameters using the measured walking pattern and the walking environment data.

According to the embodiment, the gait environment measuring apparatus 100 can measure the altitude of each of the first point and the second point through the IMU. If the tn coordinate system does not perform the angular movement, considering the degree of the angular movement, the step 920 determines whether the tn coordinate system is one of the step-up, the step-down, and the step- , And analyzing it with the walking pattern of the pedestrian.

For example, the gait environment measuring apparatus 100 can analyze the gait pattern as a step-up when the initial angle and the measured angle at the first and second points coincide with each other and the altitude measured by the IMU is a positive value have. In addition, the gait environment measuring apparatus 100 can analyze that the gait pattern is stepwise lowered when the initial angle coincides with the measurement angle at the first and second points, and the altitude is negative.

According to the embodiment, the walking environment measuring apparatus 100 sets the difference angle occurring between the tn coordinate system of the IMU and the xy coordinate system associated with the axis that is horizontal to the sole as an initial angle, At each of the first and second points, the degree of angular movement can be calculated by subtracting the initial angle from the measured angle measured by the IMU.

That is, the gait environment measuring apparatus 100 measures the initial angle (

Figure 112015066308261-pat00028
), The difference angle generated while converting from the tn coordinate system to the xy coordinate system is set, and the measurement angle measured at the first and second points at the initial angle (
Figure 112015066308261-pat00029
) Is subtracted from the inclination angle
Figure 112015066308261-pat00030
). This can be expressed by Equation (12).

Figure 112015066308261-pat00031

According to the embodiment, the gait environment measuring apparatus 100 calculates the speed-related data of the pedestrian using the time interval at which the first and second points are calculated and the distance between the first and second points . That is, the gait environment measuring apparatus 100 can calculate the speed-related data related to the gait pattern by using the measured values for the first and second points. Here, the speed-related data may include at least one of speed, acceleration, etc. related to the gait pattern.

In addition, the gait environment measuring apparatus 100 sets the reference of the time interval between the heel off at the first point and the heel off at the second point, or between the toe strike at the first point and the toe strike at the second point Time can be calculated.

In addition, the gait environment measuring apparatus 100 can calculate the velocity and the distance at a specific point by dividing Equation (13) and Equation (14) into two.

Figure 112015066308261-pat00032

Figure 112015066308261-pat00033

At this time, the gait environment measuring apparatus 100 measures the distance (x), the y-axis

Figure 112015066308261-pat00034
The displacement can be calculated using the value. In other words, the gait environment measuring apparatus 100 calculates the displacement resulting from the normal stepping on the x-axis, the displacement according to the altitude in the y-axis, and the displacement according to the degree of deviation of the toe from the center line in the z- can do. This can be expressed by Equation (15).

Figure 112015066308261-pat00035

At this time,

Figure 112015066308261-pat00036
Is the displacement,
Figure 112015066308261-pat00037
Is the displacement along the altitude and
Figure 112015066308261-pat00038
Indicates the displacement of the toe from the center line.

In addition, the gait environment measuring apparatus 100 may calculate a value obtained by dividing the displacement by the time interval as the moving speed of the pedestrian among the speed-related data. That is, the processor 120 may calculate the moving speed according to one step of the pedestrian as shown in Equation (16) using the displacement and the time interval.

Figure 112015066308261-pat00039

The gait environment measuring method of the present invention can easily analyze the walking pattern of the pedestrian regardless of the environment and time by analyzing the gait pattern of the point by grasping the point where the sole of the sole forms a plane with the ground using the IMU can do.

10 to 12 are diagrams for explaining a gait pattern analysis result using the gait measuring apparatus according to an embodiment of the present invention.

10 is a diagram showing conditions for four subjects. Four subjects walked on treadmills with 0 degree slopes at 0.6, 0.8, 1.0 and 1.2 m / s and walked on treadmills with 3, 5 and 10 degrees of inclination at 1.0 m / s. At this time, the tilt angle and the velocity can be measured using the gait environment measuring apparatus 100.

11 is a view showing the speed measured from the subject according to the set speed of the treadmill. As shown in Fig. 11, the walking environment measuring apparatus 100 can calculate the pedestrian's speed in a treadmill set at 0.6, 0.8, 1.0, and 1.2 m / s at 0 degree. In addition, the gait environment measuring apparatus 100 can calculate the measured pedestrian's speed in a treadmill having slopes of 3, 5, and 10 degrees. At this time, the error range is 0.0208

Figure 112015066308261-pat00040
0.0106 m / s.

12 is a diagram showing the results of calculating the inclination of the treadmill and the angle of the inclined surface measured from the subject. As shown in Fig. 12, the gait environment measuring apparatus 100 can calculate a slope approximating each of 3, 5 and 10 degrees at a speed of 1.0 m / s set by the subject. At this time, the error range is 0.8749

Figure 112015066308261-pat00041
0.4674 degrees.

The method according to an embodiment of the present invention may be implemented in the form of a program command 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 to be recorded on the medium may be those specially designed and configured for the embodiments or may be available to those skilled in the art of computer software. Examples of computer-readable media include magnetic media such as hard disks, floppy disks and magnetic tape; optical media such as CD-ROMs and DVDs; magnetic media such as floppy disks; Magneto-optical media, and hardware devices specifically configured to store and execute program instructions such as ROM, RAM, flash memory, and the like. Examples of program instructions include machine language code such as those produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. For example, it is to be understood that the techniques described may be performed in a different order than the described methods, and / or that components of the described systems, structures, devices, circuits, Lt; / RTI > or equivalents, even if it is replaced or replaced.

Therefore, other implementations, other embodiments, and equivalents to the claims are also within the scope of the following claims.

100: Walking environment measuring device using IMU
110: IMU
120: Processor

Claims (11)

An IMU (Inertia Measurement Unit) for measuring the first and second consecutive points where the sole of the foot contacts the ground during walking; And
Analyzing a walking pattern of a pedestrian associated with the sole by using a degree of angular movement of the tn coordinate system of the IMU at each of the first and second points and analyzing the walking environment data using the analyzed walking pattern Measuring Processor
Lt; / RTI >
The processor comprising:
Wherein when the tn coordinate system is angularly moved in a positive direction with respect to the xy coordinate system and is maintained at the first and second points, the gait pattern is analyzed to be inclined and the degree of inclination is measured,
When the tn coordinate system is angularly moved in a negative direction with respect to the xy coordinate system and is maintained at the first and second points, the gait pattern is analyzed as inclining down and the degree of inclination lowering is measured
Measurement system for gait using IMU. The method according to claim 1,
The processor comprising:
Using the walking pattern and the walking environment data to estimate a walking speed and a walking parameter
Gait environment measuring device. The method according to claim 1,
The processor comprising:
The speed related data of the pedestrian is calculated using the time interval at which the first and second points are calculated and the displacement between the first and second points
Gait environment measuring device. The method of claim 3,
The processor comprising:
Calculating from the time point at which the soles contact with the ground at the first point to a point at which the soles contact the ground at the second point to a point at which the soles stop at the second point as the time interval,
From the time point at which the arbitrary soles contact the ground at the first point to a point at which the other soles different from the arbitrary soles at the second point contact the ground and stop at the second point are calculated as the time
Gait environment measuring device. The method of claim 3,
The processor comprising:
The displacement is calculated using the distance value in each axis calculated by converting the tn coordinate system into the xy coordinate system
Gait environment measuring device. The method of claim 3,
The processor comprising:
The value obtained by dividing the displacement by the time rate is calculated as the moving speed of the pedestrian among the speed related data
Gait environment measuring device. delete The method according to claim 1,
The IMU comprises:
Measuring an altitude of each of the first point and the second point,
The processor comprising:
If the tn coordinate system does not perform angular movement,
According to the measured altitude, any one of step-up, step-down, and level-step walking is analyzed as a gait pattern of the pedestrian
Gait environment measuring device. The method according to claim 1,
The processor comprising:
The difference angle occurring between the tn coordinate system of the IMU and the xy coordinate system associated with the axis that is horizontal to the sole is set as an initial angle,
Calculating the degree of angular movement by subtracting the initial angle from the measured angle measured by the IMU at each of the first and second points
Gait environment measuring device. The method according to claim 1,
The processor comprising:
When the square root of the square of the acceleration in the n axis of the IMU and the square of the acceleration in the t axis of the tn coordinate system coincides with the acceleration of gravity, It is judged that at least one of the inclined surfaces is contacted
Gait environment measuring device. Measuring a first point and a second point in succession through the IMU, wherein the sole of the foot is in contact with the ground during walking;
Analyzing a walking pattern of a pedestrian associated with the sole by using a degree of angular movement of the tn coordinate system of the IMU at each of the first and second points; And
I) when the tn coordinate system is angularly moved in the positive direction with respect to the xy coordinate system and is maintained at the first and second points, when the gait pattern is analyzed as a tilt, Or ii) when the gait pattern is analyzed as sloping down as the tn coordinate system is angularly moved in the negative direction with respect to the xy coordinate system and held at the first and second points, Measuring the degree of descent as the walking environment data
Wherein the gait environment is measured.
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KR102277292B1 (en) 2020-12-24 2021-07-15 근로복지공단 Measuring device for walking state

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