KR101738678B1 - System for evaluating the ability of physical activity - Google Patents

Abstract

The present invention relates to a motility evaluation system capable of enabling a user to use a proper joint or muscular strength by inducing the movement of the joint or muscle based on a motion and its strength during rehabilitation treatment or exercise while at the same time inducing an accurate motion and muscular strength by simultaneously transmitting measurement data about the movement of the muscle and its muscular strength and measurement data about the strength of the user in the same cycle, thereby inducing the accuracy and suitability of an exercise posture as the user evaluates motility in real time through feedback on measurement and analysis. The system includes: an exercise module worn on the top or bottom of a human body for exercise and measurement; a sensor module attached to or worn on a part of the human body, which is directly associated with the exercise module, to sense a characteristic signal during the demonstration of the exercise; an exercise evaluation module evaluating joint and muscle motions and strength by receiving the characteristic signal sensed through the sensor module and the exercise module; an analyzing module indicating a recognizable result of analyzing the exercise evaluation module; and a feedback module diagraming the analysis data and the measurement data of the analyzing module, the sensor module, and the exercise module through a communication part of the analyzing module while feeding exercise strength, exercise time, an exercise improvement method, and changes of the muscle and joint back to the user in real time.

Description

[0001] SYSTEM FOR EVALUATION OF THE ABILITY OF PHYSICAL ACTIVITY [0002]

The present invention relates to a mobility evaluation system, and more particularly, to a mobility evaluation system in which a user utilizes appropriate joints or muscles by inducing movement of joints or muscles during rehabilitation of joints or muscles based on one operation and a force given thereto The measurement data of the user's force and the measurement data of the muscle motion and the muscle force given by the force are transmitted at the same time at the same time in the unit time during transmission so as to induce accurate muscle movement and muscle force, The present invention relates to a motion estimation system for evaluating real-time motions by a user through feedback of an analysis to induce accuracy and suitability of a motion posture.

In general, rehabilitation or exercise therapy refers to a series of treatments and exercises that are performed for damage to the body, such as sickness, accidents, or health, or for personal health, or for functional recovery of a damaged area or body.

For example, in patients suffering from an accident, physical function due to stroke, traumatic brain injury or cerebral palsy, or weakening of strength due to aging or impaired physical function by various adult diseases, some or all of the damaged physical functions may be restored Long-term, systematic physical rehabilitation treatment should be provided by specialists such as doctors and rehabilitation therapists.

However, a program provided by a doctor or a rehabilitation therapist requires the user to visit the rehabilitation center directly for physical rehabilitation treatment, that is, the patient to be rehabilitated, and the inconvenience that the rehabilitated patient, who is difficult to walk, .

In addition, since the physician or rehabilitation therapist must record and analyze the exercise prescription management for the patient to be rehabilitated, it is troublesome to obtain feedback on the appropriate exercise amount, and therefore, There is a limit to receiving rehabilitation treatment.

Therefore, in recent years, there has been proposed a method of collecting rehabilitation exercise data according to exercise prescription by using a rehabilitation exercise device through a ubiquitous network, so that a patient to be rehabilitated can perform rehabilitation treatment without help of another person.

However, even in such a case, it is troublesome for the patient to be rehabilitated to directly select and operate the rehabilitation exercise device in order to perform the rehabilitation exercise.

In addition, since rehabilitation therapy through only rehabilitation exercise requires a long time in the treatment period, effective rehabilitation treatment is limited to patients to be rehabilitated.

Also, there is a limit to requiring a user to customize rehabilitation and exercise through accurate data on the movement of a specific muscle or skeleton in a body part of a user during a rehabilitation or exercise process depending only on a specific device.

1. Korean Patent Registration No. 10-1635503 (Title of the Invention: Real Time Exercise Notification System and Method) 2. Korean Patent No. 10-1567859 entitled " Rehabilitation Exercise System Using User Action "

The present invention has been developed in order to solve the above-mentioned problems, and it is an object of the present invention to provide a pressure and tension device in which, when a user performs rehabilitation or strength exercise, By measuring the motion intention according to the measurement of force intensity, motion, strength and muscle activity, the user's motility is measured through the activity of the user while measuring the motion of the user according to the strength of the user, Accordingly, it is an object of the present invention to provide a motion estimation system that calibrates an optimal exercise characteristic and a movement attitude according to a user's strength and muscle activity based on stored information through feedback of measurement and analysis according to the user's motility.

The present invention relates to a sensor module for sensing a characteristic signal at the time of exercise demonstration by being attached or worn to a part of a human body which is directly involved by the exercise module, A motion estimation module for receiving the characteristic signals sensed by the motion module and the sensor module and evaluating the intensity of the force and the motion of muscles and joints; an analysis module for analyzing the motion evaluation module and informing the result of the analysis; , The measurement data and the analysis data of the exercise module, the sensor module, and the analysis module are diagrammed through the communication module of the analysis module, and the exercise intensity, the exercise time, the supplementary method of the exercise method, the muscle change and the joint change are fed back to the real time user A motion estimation system including a feedback module is provided.

A data diagnosis module for diagnosing a pattern of data transmitted from the motion module and the sensor module before transmitting data through the motion module and the sensor module;

A time correction module for correcting time patterns among data sequentially transmitted per unit time at equal intervals while selecting a module for transmitting the minimum number of data per unit time among data patterns of the data diagnosis module,

And a data extracting module for extracting the number of data transmitted per unit time from another module according to a predetermined time pattern of the module selected through the time correction module.

Meanwhile, a pattern of data to be diagnosed by the data diagnosis module is a number of data transmitted per unit time.

The system further includes a power connection time module for sensing that the additional motion module or the sensor module is connected to the battery when the motion module or the sensor module is further installed.

As described above, according to the present invention, a user grasps the movement characteristics of a user through rehabilitation exercise or feedback information of measurement and analysis of a user's motion and exercise in a single operation, The strength of the force is used to judge whether there is proper movement of the muscles and joints. In addition, the measured data is fed back to the user in real time to determine whether the movement of the muscles and the movement of the muscle are properly activated or rotated In addition, since the accurate data regarding the force of the exercise used in the present invention and the predetermined time of the body detection data according to the force are collected, A quantified day for a given time so that an accurate judgment is determined There is the effect that the information to be collected.

1 is a schematic block diagram of a motion estimation system according to the present invention;
2 is a schematic block diagram for evaluating mobility through an external device in the mobility evaluation system according to the present invention.

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described in detail with reference to the drawings.

Note that the same or corresponding portions in the drawings are denoted by the same reference numerals and the description thereof will not be repeated.

As shown in FIG. 1, the motion estimation system according to an embodiment of the present invention includes a motion module 110 for performing motion and measurement by grasping or wearing the upper limb or the lower limb of the body, A sensor module 120 for sensing a characteristic signal at the time of exercise demonstration attached to or worn on a part of the body and a sensor module 120 for receiving a characteristic signal sensed through the motion module 110 and the sensor module 120, An analysis module 150 for analyzing the motion evaluation module 140 and informing the result thereof in a recognizable manner, and an analysis module 150 for analyzing the motion evaluation module 140 through a communication unit of the analysis module 150 The exercise data of the exercise module 110, the sensor module 120, the exercise evaluation module 140 and the analysis module 150 and the repeated data measured periodically are compared with each other or analyzed through comparison with standard data Also, Chemistry and provides for a feedback unit 160 for feeding back the exercise intensity, exercise time, complementary way of the movement methods, changes in the joint and change of the muscle real-time to the user.

The motion estimation system 10 includes a motion module 10 for measuring pressure or tension generated during exercise while grasping or wearing a body part selected from the upper or lower part of a human body, that is, an arm, a foot, And a motion module (110), which is provided on a body contact surface of the pad in the form of a pad that can be worn or attached to a skeleton or muscle directly involved in a user's motion through the motion module (110) A motion evaluation module 140 for receiving the characteristic signals sensed through the motion module 110 and the sensor module 120 and evaluating the strength of force and the motion of muscles and joints, An analysis module 150 for analyzing the motion estimation module 140 and transmitting motion data and operation data through the communication unit to inform the result of the analysis, The motion data, the motion data, and the analysis data transmitted through the communication unit of the base analysis module 150 are schematized, and feedback information such as the user's exercise amount, exercise intensity, exercise time, Module 160. The < / RTI >

The motion module 110 includes only an exercise device 111 and an exercise program or an exercise device 111. The exercise device 111 is, for example, gripped by a user's hand and repeatedly pulled or pressed The exercise device 111 includes a momentum measurement sensor 112 for measuring a pressure or a tension generated when a user performs a motion while the user holds the exercise device 111. When the user performs the exercise, May include an exercise program for a method of exercising.

The information included in the generated exercise program may be output through a screen of a terminal equipped in the real-time mobility evaluation system or a screen of a terminal connected to the exercise module 110 through a network. The exercise program output to the screen of the terminal connected to the exercise module 110 via the screen of the terminal or the network provided in the real-time mobility evaluation system may be executed several times a week, several times a day, Exercise intensity, and whether it should be continuous or not. Whether or not the exercise should be performed continuously indicates whether exercise should be continuous or discontinuous at the exercise intensity.

The exercise quantity measuring sensor 112 included in the exercise module 110 generates exercise data by measuring the exercise intensity (intensity of force) and exercise time according to the exercise with the exercise device 111 by the user. The momentum measurement sensor 112 may be included in the motion module 110 or may be provided as a separate device outside the real-time motion estimation system. At this time, the types of exercise intensity measured through the exercise amount measurement sensor 112 may include at least one of pressure, tension, exercise amount, exercise calorie consumption of the user, exercise oxygen amount of the user, and exercise heart rate of the user . Accordingly, the momentum measuring sensor 112 may be a pressure gauge, a tension gauge, or the like.

The sensor module 120 attaches to a user's body that is directly involved while performing the exercise module 110, and measures the direction, rotation, angle, and acceleration data according to bending, extension, and rotation movements of the segments and joints And the activity of the muscular force according to the movement of the muscles is measured to generate the operation data.

The sensor module 120 measures motion of the joints and muscles when the user performs the exercise through the exercise module 110 to determine whether the user exercises correctly with joints and muscles by the predetermined exercise program And the operation data is extracted through the sensor module.

The motion data and the motion data transmitted through the motion module 110 and the sensor module 120 are received and the motion data of the motion module 110 and the sensor module 120 are transmitted The data synchronization device 130 may provide a more accurate evaluation or identification by activating the data values extracted by the time correction of the same time for the module for transmitting the minimum data and the module for transmitting the maximum data for the same time, .

That is, for example, if the pressure gauge, which is the force of the movement module 110, extracts 20 pieces of data at 20 Hz per second, the muscle activity for sensing the movement of the muscle among the sensor modules 120 is 1,000 HZ Lt; / RTI >

Therefore, it can not be accurately evaluated because of the overlapping of data per second in the mobility evaluation of the present invention, that is, the number of extracted data per second of the motion module 110 and the sensor module 120 is collected in one second The number of data for one module is considerable, thereby lowering the reliability of the data.

For this, before the data extracted from the motion module 110 and the sensor module 120 are transmitted to the motion estimation module 140, a plurality of data are transmitted through the data synchronization device 130, And the extraction data of the motion module 110 and the sensor module 120 are activated for the predetermined time pattern.

The data synchronization apparatus 130 includes a data diagnosis module 131, a time correction module 132, and a data extraction module 133.

The data diagnosis module 131 analyzes the data transmitted from the motion module 110 and the sensor module 120 before transmitting the extracted data through the motion module 110 and the sensor module 120. [ And the data pattern is the number of data extracted or transmitted per unit time.

Here, the unit time corresponds to a second (sec). For example, a pressure gauge that measures the force of the motion module 110 may diagnose a data pattern that extracts 20 pieces of data at 1 second per 20 seconds.

The data pattern of the motion module 110 and the sensor module 120 is diagnosed through the data diagnosis module 131 to select a reference module among the motion module 110 and the sensor module 120, The time correction module 132 corrects the time pattern between the data sequentially transmitted per unit time for the selected module at equal intervals while selecting the module that transmits the minimum number of data per unit time among the data patterns.

That is, the time correction module 132 selects a module for extracting or transmitting a minimum amount of data per second among the motion module 110 and the sensor module 120, and the data extracted and transmitted per second from the previously selected module N1, N2, ...., N19, and N20 per second, data is transmitted while the N1 and N2 (N1, N2, ..., N19, Is activated by distinguishing and correcting the sequential data transmission pattern by a time difference equal to the time difference between N1 and N2.

The data extracting module 133 extracts the number of data transmitted per unit time from another module according to a predetermined time pattern of the selected module. For example, when the data transmission of the pressure gauge of the motion module 110 is performed using data N1 and N2 , ..., N19, and N20, the data of the muscle activity, which is the sensor module 120, is a data pattern between the data N1 and N2 in the order of data n1, n2, n3, n998, n999, and n1000, the data is extracted so as to be transmitted from n1 to n50 in a time pattern in which the data N1 and N2 are transmitted, and data of the muscle activity per second is extracted The number of data is divided into the same number of data and activated.

In addition, when a motion module or a sensor module is installed in addition to the body part to be measured by the user during the evaluation of the motility, the additional motion module or the sensor module is connected to the battery so as to set the starting point of the motion evaluation, And a power connection time module for sensing that the added motion module or the sensor module is connected to the battery so as to set the time point at which the motion is evaluated as the reference time point of the motility evaluation.

The motion module 110 and the sensor module 120 are operated by separate power supplies to transmit data. At this time, the operation of the motion module 110 and the sensor module 120 is started by the supply of power, And the power connection time module is controlled by being included in the exercise evaluation module 140 or the analysis module 150 or an individual power connection time module is added to the system to analyze, The evaluation module 140 or the analysis module 150 is instructed to start the motility evaluation.

The motion estimation module 140 includes a memory unit for receiving motion data of the motion module 110 and motion data of the sensor module 120 through communication and storing data, For example, when performing a pulling motion through the exercise device 111 held in the hand, the predetermined pressure value, the rotation angle of the arm, and the muscles of the arm to be used are stored in the exercise evaluation module 140 The user's previous exercise data is stored to evaluate the user's athletic performance.

The motion data and the motion data of the motion module 110 and the sensor module 120 may be transmitted to the analysis module 150 without considering the motion estimation module 140. However, , Motion data and motion data of the motion module 110 and the sensor module 120 are transmitted to the motion estimation module 140 to determine whether the current motion of the current user is an appropriate motion, It is judged whether it is a subject to be compared with the exercise and it is evaluated whether it can be used as accurate data.

That is, if the operation data of the sensor module 120 in the body part of the user is the current measurement data through the exercise data, which is the strength of the force performed by the user through the exercise module 110, and the strength of the force, If it is determined that the measured value of the exercise module 110 of the data and the measured value of the exercise module 110 of the measured data have the same value and it is determined that they have the same value, the comparison data previously performed by the user becomes the reference and is then measured The motion model determining unit 141 includes the motion data to determine whether the motion data is to be compared.

The pressure value that is determined and transmitted to the motion evaluation module 140 through the motion module 110 determined by the motion model determination unit 141 and stored by the current user is stored in the motion module 110, (112) of the body (111) refers to the exercise data measured by the user through the measurement sensor (112) by gripping and pulling.

The rotation angle of the arm and the muscle of the arm used are corresponding to the sensor module 120. The rotation angle of the arm is movement data measured through the gyro sensor, the geomagnetism sensor, or the inertial sensor, and the movement and activity of the muscle are measured by an electromyographic sensor Quot; operation data "

In this way, the user compares the motion data measured through the motion module 110 and the motion sensor 120 with the predetermined reference data through the pulling motion of the arm, The evaluation of whether the arm is correct and appropriate is performed by assessing whether the angle of rotation of the joint, the angle and direction of the joint, is appropriate, and whether the muscle activity is appropriate by moving the appropriate muscle by the motion of the arm.

In general conventional systems, there is a system for evaluating exercise by measuring data on joints and muscles according to a user's motion. Thus, it is difficult to maximize motility only by movement of joints and muscles, It is difficult to judge the effect on the user. However, since the motion performance of the user means that the movement of joints and muscles should be evaluated based on the force, The movement data of the joint angle and the muscle activity are measured through the sensor module 120 that simultaneously measures the movement of the user's joints and muscles through the exercise data measured according to the intensity, Accuracy and fitness of the patient.

The analysis module 150 is evaluated by a motion evaluation module 140 that measures motion data and motion data generated when a user performs motion through the real-time motion device 111, And analyzes the data by comparing with standard data to analyze the user's motion characteristics. For example, the exercise characteristics of the user that can be analyzed by the analysis module 150 may include a normal state of a specific exercise posture, a muscle force change due to exercise, a joint change due to exercise, and the like. And is stored in the analysis module 150 as standard data with accuracy as a reference, and a specific method of analyzing the motion characteristics of the user will be described later. The feedback module 160 notifies the analysis module 150 of the result of the analysis of the motion characteristics. For example, the feedback module 160 may control the operation of the motion module 110 through an image such as a graph, a number, a character, or the like displayed on a display screen of a terminal, or through a voice or a beep sound, It can be included in the results of the analysis of the motion characteristics.

The feedback module 160 transmits the motion data to the motion module 110 through the motion module 110 and the sensor module 120, which measure the data, using the exercise intensity, the joint change, and the muscle change. The sensor modules 120 mounted on the body part of the user through the intensity of the force applied to the momentum measurement sensor 112 included in the exercise device 111 of the exercise module 110 satisfy the pre- ) To analyze whether the user's muscles and joints are moving accurately, and feed back the results to the user in real time. This feedback may include a supplementary generation unit 161 that suggests a method for supplementing the deficient portion of the user. In an embodiment of the present invention, the feedback module 160 transmits data and messages to the exercise module 160 in order to induce appropriate muscle movements while providing appropriate angle, rotation, and acceleration of the joints according to changes in joints and muscles, To feedback to the user at specific time intervals until it is suitable for the user.

The method of any one of claims 1 to 3, wherein the measured exercise intensity, muscle change, and joint change are used to determine whether the user's exercise satisfies the exercise program or whether the measured exercise intensity, And judging whether or not the number of motions in the exercise program and the continuity of motion are satisfied using the measured exercise intensity, muscle change, and joint change.

In addition, the exercise module 110 determines whether the accuracy of the exercise data is analyzed through the standard data or the exercise program stored in the analysis module 150 based on the strength of the user's strength, While the force is applied, the movement of the muscles corresponding to the force and the angles of the joints transmit data and messages that require movement so that accuracy is induced.

The feedback module 160 further includes a supplementary generation unit 161 for providing supplementary information to request a normal exercise of the user so that standard data of the motion measurement sensor 112 of the exercise module 110, 120 and the sensor module 120 based on the standard data of the muscles and joints of the subject 120 and the sensor module 120. The data analyzing module 150 compares the extracted data with the standard data, A supplementary generation unit 161 for providing information to the user to perceive the supplementary information as information on the exercise intensity of the user's exercise device 111, And thus the change of the joints and muscles of the body is recognized by the user.

The analysis module 150 may be combined with an analysis information generation unit 151 for analyzing at least two or more movements of the body extracted from the sensor module 120, .

That is, when two or more sensor modules 120 of the same kind are installed in the muscles or joints of the user's body parts according to the purpose or method of exercising the user, and when the operation data for two or more motions are measured, And an analysis information generation unit 151 for generating analysis information so as to exercise the muscles or joints of the weighted body by giving weights to the movements and providing diagnostic information.

The analysis information generating unit 151 may include at least two sensor modules 120 of the same kind as the user's specific muscles or joints of the arm during exercise. That is, for example, The motion data of the sensor modules 120 to analyze the motion data of the angles or the movement of the wrist muscles and the cuff muscles in the wrists and the wrist muscles and the cuff muscles, The analysis information of the movement of the joint is generated to judge whether the joint or the muscle is abnormal and to provide diagnostic information.

Here, the analysis information includes information on whether or not joints or muscles that measure motion data of the sensor module 120, motion range of joints or muscles, positional information of joints or muscles, and joints or muscles Diagnostic information (abnormality etc.), and the like. Since the classification information can be generated by determining and classifying whether the operation data is normal in the analysis module 150, the analysis information can include such classification information. Further, based on the classification information, whether or not joints or muscles are operated, Or a comprehensive range of diagnostic information (abnormality, etc.) of joints or muscles measuring the movement range of the muscles, position information of joints or muscles, and each operation data.

The analysis information generating unit 151 of the analysis module 150 may be matched to one or more motions in one or more sensor modules 120 on a part of the body directly applied by the motion module 110, A reference value is set so that it can be manipulated and other parameters obtained through the data coming in through the sensor module 120 other than the sensor module 120 attached to the body part of the user or the relative values of the two sensor modules .

In this case, the reference value, the additional value, and the weight may be adjusted in real time according to a user's exercise condition.

A sensor module (120) attached to a body part of a user to move or operate muscles or joints on a body part of a user applied through the exercise module (110) In addition to the extension and flexion movements of the arms, pronation of the arms and supination of the arms can be used as input data for manipulating the exercise information, , Legs and the like can also be utilized as input data for manipulating exercise information.

In addition, a rechargeable battery unit for supplying power to the motion module 110 and the sensor module 120 is provided. In order to charge the battery unit, external power supply and data of the motion module 110 and the sensor module 120 And an input / output terminal unit is further provided so as to be able to collect data.

The power source applied to the motion module 110 supplies power to the momentum measurement sensor 112 included in the motion module 110 to measure pressure, tension, etc., which are strengths of the user by the exercise device 111 And the sensor module 120 may include gyro, acceleration, and geomagnetic sensor, and may use the data provided from the sensors to more accurately check the user's motion. For example, data provided from a gyro sensor or a geomagnetic sensor can be used to confirm the direction in which the user's joint moves.

Further, the sensor module 120 further includes an electromyogram (EMG) sensor to detect the degree of activation of the muscle, which is a movement part of the user, to determine whether the user actually exercises using the corresponding muscle, And a motion error of the robot is detected.

In addition, the following system is provided so that an external institution or a specific observer as well as a user can analyze, judge and observe the motion of a real time user.

2, the data received by the motion module 110 and the sensor module 120 is analyzed from the analysis module 150 to calculate data results according to the user's body movements, The external device 200 transmits the rotation angle of the joint through the data transmitted through the analysis module 150 or the distance between the body and the arm or the leg and the joint movement speed And a calculation module 210 for calculating the muscle activity.

The standard data of the exercise selected from the exercise evaluation module 140 or the analysis module 150 which receives the measurement data calculated through the calculation module 210 and stores the standard data according to the type of the body movement is transmitted through the communication unit The control module 220 is included in the external device 200 to analyze the activity of the muscles that move the joints, whether the body posture is normal, the joint changes due to the movement, or the like, by comparing the measurement data with the standard data.

The analysis module 150 analyzes the motion characteristics of the user through the measurement data transmitted from the calculation module 210. For example, the motion characteristics of the user, which can be analyzed by the control module 220, may be determined based on operation data of the sensor module 120, such as whether the body posture is normal according to standard data, Muscle activity, and the like. The feedback module 160 of the analysis module 150 notifies the analysis result of the analysis module 150 of the motion characteristics. For example, the feedback module 160 may be connected to the analysis module 150 through an image of a graph, a number, a character, or the like displayed on a display screen, or through a voice or a beep sound, It is possible to inform the result of the motion characteristic analysis through the vibration module constituting the exercise device 111.

For example, the exercise evaluation system according to another embodiment of the present invention can be used to rehabilitate the body or to exercise at the exercise site to correct the exercise attitude of a specific exercise.

First, a plurality of motility evaluation systems are attached to or worn on a selected part of a body such as an arm, a leg, or a waist. Then, a motion is started through one motion, and the rotation is performed in real time through the sensor module 120 of the motion estimation system Acceleration, and muscle activity, and transmits the measured data to the analysis module 150 to perform analysis. As described above, the rotation angle, the acceleration and the muscle activity measured through one operation are performed by the sensor module, and the analysis module 150 performs the acquisition and analysis of the measurement data.

The collected measurement data is transmitted to the external device 200 via the communication unit. The measurement data is transmitted to the calculation module 210 to analyze the data, and the measured data is displayed in numerical values or graphs according to time.

As an example of acceleration measurement results, it can be expressed in graphs in an easy-to-understand manner and can be expressed in acceleration in three directions of X, Y and Z. When the acceleration measurement results of the three directions are combined, the positional change of a specific part of the human body detected by the acceleration signal with time can be determined. The sensor module 120 of the motility evaluation system attached to each part of the human body The measured acceleration measurement result can be grasped.

On the other hand, if an example of the result of EMG measurement is easily understood in a graph, it appears as an irregular wave that fluctuates intermittently. When a force is applied to a specific part of the human body and the muscle is contracted, a part which swings abruptly is formed.

Next, a method of applying the sensor module 120 of the motion estimation system according to another embodiment of the present invention is a method of using the motion standard data, that is, a reference acceleration measurement result obtained through a body motion of a normal person and a reference EMG measurement result, And analyzing the problem of the current motion of the user in comparison with it. That is, the user motion measurement data of the calculation module 220 is transmitted to the analysis module 150 in the motion estimation module 140 or the analysis module 150 in which the motion standard data is stored according to the type of the body movement of the normal person, The result is judged.

In other words, for example, comparing the acceleration measurement result of the user with the reference acceleration measurement result, it is possible to grasp how the user's motion differs from the motion of the normal person and try the exercise posture so as to match the motion with that of the normal person. In addition, the result of EMG measurement of the user and the reference EMG measurement result of the normal person may be compared with the EMG measurement result obtained through the stored exercise evaluation module 140, and calibration may be attempted to apply the force to the corresponding muscle for the user's selected exercise have. Therefore, the user can easily grasp such a problem in his / her exercise and intentionally try to correct it.

The feedback module 160 feedbacks the analysis result through the analysis module 150 to inform the user.

If the reference acceleration measurement result and the reference electromyogram measurement result are stored in the analysis module 150 of the motion estimation system, the analysis module 150 may perform the step performed by the control module 220, Can also be informed to the user through the feedback module 160. [

The bio-electrical signals measured by the bio-electrical signal measurement and analysis unit of the sensor module 120 of the mobility evaluation system for measuring and analyzing the bio-electrical signals of the user through the sensor module 120, And the results obtained by analyzing the results may be displayed on the screen of the user or the expert so that they can be confirmed by the user or the expert.

The motion flow of the real-time analysis module 150 is performed through the sensor module 120 to the motion for one operation performed by the user, and the state of the muscles and joints is grasped in real- To control the standard data of the sensor module so as to prevent the muscles and joints from being overtightened and overturned and to prevent the compensating action to other muscles and the overturning of the joints, So that it can be reset to the appropriate value.

For this purpose, for example, during the exercise, the muscles and joints are measured in real time, the symmetry of the joints and muscle fatigue are analyzed to control and analyze the movement data against the standard data according to the result.

Specifically, in the skeleton symmetry analysis step, it is determined whether the muscle activity deviation of the right and left muscles is out of the setting range when the muscle activity of the muscle to be reinforced, that is, the RMS value is equal to or greater than a predetermined value, Such as the angle of the sensor module 120, to be within the set range.

If the muscular fatigue of the muscle to be strengthened is equal to or greater than a predetermined value, it is determined whether the muscle fatigue is out of the set range. If the muscle fatigue is out of the set range, the sensor module 120, the user's operation change, and the like.

Thereafter, in the analysis step, the sensor module 120 is controlled and driven according to the adjusted value until the muscle activity or the myofascial degree reaches the set range through the feedback module 160 that presents complementary information, And then the sensor module 120 and the user's exercise are performed according to the exercise module 110 set by the exercise program.

By using the above-described feedback motility evaluation system according to the present invention, it is possible to improve the function of the soft tissues (muscles, ligaments, etc.) recognized academically in the suture medicine field, Muscle Energy Techniques (MET), a method for solving the problem, can be performed mechanically and actively according to objective judgment.

Also, for example, when the magnitude of the EMG signal measured in real time in the elbow muscle generated by one operation exceeds the preset standard data, the motion of the user is adjusted through the image of the graph, the numerical value, Respectively. The developed system can act as an active exercise evaluation system reflecting the user's will, so that even if the user's weakness is weak and the weak EMG signal is acquired, the user can set the standard data value from the lowest ability value and proceed the exercise. It is expected that it will be able to more effectively restrain the movement of the user such as posture by making it possible to adjust the strength by reflecting the user's will.

The motion estimation system of the present invention includes a motion module 110 for performing one motion and a sensor module 110 for measuring changes in the body and a sensor module 110 such as a muscle change signal and a joint change signal, A feedback module 160 for providing supplementary information to the user to designate a range of motion of a specialist by using the numerical data information obtained by the user and provide the user with effective exercise recovery ability based on the exercise standard, It differs from a conventional passive exercise apparatus that does not take the user's exercise characteristics into consideration and a system through the same. In addition, since the physical condition or mood that greatly affects the exercise therapy or correction is reflected in the user's own exercise intention, the strength of the exercise can be controlled, so that the performance improvement is higher than the discretionary exercise of the expert or the user. Therefore, by inducing the active motion reflecting the user's will, the exercise effect is more effective than the conventional passive exercise, and since the present invention is operated by the user's strength, the continuous exercise can give fatigue and burden to the user. Therefore, it is possible to induce the user's interest by appropriately combining rest and training.

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. Therefore, the disclosed embodiments should be considered in an illustrative rather than a restrictive sense. Therefore, the scope of the present invention is not limited to the above-described embodiments, but should be construed to include various embodiments within the scope of the claims and equivalents thereof.

Motion estimation system 10 Motion module 110 Motion device 111
Momentum measurement sensor 112 Sensor module 120 Data synchronization device 130
Data diagnosis module 131 Time information module 132 Data extraction module 133
Motion estimation module 140 motion model determination unit 141 analysis module 150
Analysis information generator 151 Feedback module 160 Complement generator 161

Claims (7)

A motion module including a motion device for moving the robot by grasping or wearing the upper limb of the body or the lower limb of the body, and a motion sensor for detecting movement of the robot,
A sensor module for detecting motion of the user's joints and muscles with respect to the intensity of force generated by the motion module at the time of exercise demonstration and being attached to or worn on a part of the body directly involved by the motion module,
A data diagnosis module for diagnosing a pattern of data transmitted from the motion module and the sensor module before the data is transmitted through the motion module and the sensor module; A time correction module for correcting a time pattern between data sequentially transmitted per unit time while selecting a module and a number of data transmitted per unit time from another module according to a predetermined time pattern of the module selected through the time correction module And a data extracting module for extracting the extracted data,
A motion evaluating module that receives motion data and motion data sensed through the motion module and the sensor module and evaluates the intensity of the force and the motion of the muscles and joints to determine the accuracy and suitability of the motion of the user;
An analysis module for analyzing the motion evaluation module and informing the result thereof in a recognizable manner; And
The motion data, the motion data, and the analysis data of the motion module, the sensor module, the motion evaluation module, and the analysis module are graphically displayed through the communication unit of the analysis module and the motion intensity, the exercise time, the supplementary method of the exercise method, And a feedback module for feedback to the real-time user. The motion estimation system according to claim 1, wherein the pattern of data to be diagnosed by the data diagnosis module includes a number of data to be transmitted per unit time. 3. The method according to claim 1 or 2, wherein, when the exercise module or the sensor module is installed in addition to the body part of the user to be measured during the exercise evaluation, Further comprising a power connection time module connected to the battery for sensing a battery connection of the added motion module or the sensor module so as to set a time point when the power source is applied as a reference time point of the motility evaluation. . The analysis module according to claim 1, wherein the analysis module analyzes data received by the sensor module and transmits a data result according to a user's body movement to an external device through a communication unit, A calculation module for calculating the rotation angle of the joint through the calculation module, the distance between the body and the arm, or the distance between the legs, the joint movement speed and the muscle activity, The standard data of the selected exercise from the exercise evaluation module in which the data is stored is received through the communication unit, and the received measurement data is compared with the standard data to determine whether the body posture is normal, the joint change due to the exercise, or the muscle activity that moves the joint And a control module for controlling the motion of the vehicle. The method according to claim 1, further comprising: comparing movement data, which is a strength of a force performed by the user through the motion module, and operation data of the sensor module in the body part of the user through current intensity of the force, And the motion data of the measurement data are compared with each other to determine whether they have the same value. If it is determined that the comparison data has the same value, And a determination unit is further included. The method according to claim 1, wherein, when two or more sensor modules of the same kind are installed on the muscles or joints of the body part of the user to measure motion data for two or more movements, Wherein the analysis module further includes an analysis information generation module that generates analysis information and provides diagnostic information so that the muscles or joints of the body can be more intensively exercised. 2. The system of claim 1, wherein the feedback module further comprises a supplementary generator that provides supplementary information to request a normal motion of the user.

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