KR102298633B1 - A gait rehabilitation device for home usage and its method - Google Patents

Abstract

The present invention relates to a household gait rehabilitation device and method and, more particularly, to a household gait rehabilitation device and method which a gait trainee can easily use at home. The household gait rehabilitation device comprises: a sensor unit installed on a pedestrian's shoe; a pedestrian mobile device; and a hospital server. Since there is no need for a separate treadmill or camera device, the structure of the household gait rehabilitation device is simple, and is inexpensive. Thus, the household gait rehabilitation device can be used at home.

Description

A gait rehabilitation device for home usage and its method

The present invention relates to a home gait rehabilitation apparatus and method, and more particularly, a gait trainer with a gait disorder can easily use it at home, even a gait trainer using gait assist devices, and the gait trainer The present invention relates to a gait rehabilitation apparatus and method for home use, which can increase the effect of gait training by performing gait training with a gait training pattern suitable for gait ability and induce a gait correcting motivation in gait trainers.

Upright gait, which supports body weight with two legs, is a highly developed exercise that only humans can do, and is a basic movement and function to maintain life as a human being. Therefore, when an upright walking disorder occurs due to various causes such as a traffic accident, a fall accident, a fall, a spinal cord injury, a stroke, a decrease in muscle strength, etc., not only physical movement is restricted, but also social activity is impaired, and further, mental problems may occur. can

Therefore, it is very important to use a gait rehabilitation apparatus that restores normal gait by gait training suitable for the situation of patients with gait disorders, the elderly, or trainees who need rehabilitation.

However, rehabilitation and training equipment used in medical institutions or rehabilitation facilities is expensive and complex, so professional personnel must continuously manage it, which incurs maintenance costs, and it is difficult to quickly respond to malfunctions of the equipment, so users' usability and accessibility There is a very limited problem with this.

In addition, equipment such as gait rehabilitation robots that have been recently released help users to conveniently and safely do gait rehabilitation, but they are very expensive products, so there is a problem that the economic burden may increase for many users to purchase and use.

As a prior art related to gait rehabilitation, Korean Patent Application Laid-Open No. 10-2006-0106907 (Prior Art 1, see FIG. 1) discloses a treadmill having a belt rotated by rollers installed so that the rotational speed is adjusted according to the walking speed. ; Signal means attached to the pedestrian's body to transmit a signal for the movement of the body to the outside; a control unit receiving data from the signal means and analyzing the gait motion; and a display unit for displaying data of the control unit to a pedestrian; discloses a gait training apparatus using motion analysis including a.

Prior art 1 attaches a plurality of markers for motion capture to the pedestrian's body and the camera captures them and analyzes the gait motion to adjust the treadmill belt speed according to the walking speed. Pedestrians using walking assistance devices such as walkers (walkers), wheeled walkers, table walkers, etc. In the case of belt speed control, there is a risk of overturning or falling, and the device is complicated to use the gait training device of the prior art 1 at home.

In addition, Korean Patent Application Laid-Open No. 10-2004-0004230 (Prior Art 2, see FIG. 2) discloses that when a disabled or rehabilitated person performs orthodontic treatment using a treadmill, his/her stride length, foot shape, foot angle, etc. It allows the person with disabilities or rehabilitation therapists who feel inconvenient to manually operate the treadmill to perform the correction while directly viewing the displayed foot shape, stride length, and angle of the foot for correction. Disclosed are a rehabilitation and correction device and a method thereof on a treadmill so that the operation can be easily performed.

In Prior Art 2, although pedestrians can perform correction while directly viewing their stride length, foot shape, and foot angle through a monitor, it is difficult to verify whether the corrective foot shape is selected appropriately for the user's rehabilitation level, so the gait training effect is halved. In the case of pedestrians using walking assistance devices such as walkers (walkers), wheeled walkers, table walkers, etc., there is a risk of overturning or falling due to incorrect belt speed control. There is a problem that the device is complicated to use, and there is no means for pedestrians to have any interest in walking training or to receive a reward.

Therefore, there is a great need to develop a novel gait rehabilitation apparatus capable of solving the problems of the prior art.

Korean Patent Publication No. 10-2006-0106907 (published on October 12, 2006) Korean Patent Publication No. 10-2004-0004230 (published on January 13, 2004)

In order to solve the above problems, the present invention provides a home gait rehabilitation device that is easy to use at home and is easy to use even for pedestrians using walking assistance devices such as crutches, walkers (walkers), wheeled walkers, table-type walkers, etc. It is a technical task to provide.

In addition, the present invention proposes a gait pattern in consideration of the gait ability or gait level of a gait trainer such as a disabled person or a rehabilitator, so that the gait trainer performs gait training suitable for his or her level, thereby increasing the gait training effect.

Another object of the present invention is to provide a home gait rehabilitation apparatus that enables gait trainers such as the disabled or rehabilitators to easily grasp and correct their gait pattern or gait balance state of both feet.

Another object of the present invention is to provide a home gait rehabilitation apparatus that encourages walking motivation by providing means for the disabled or rehabilitators to have interest in gait training or to receive compensation.

The present invention according to one embodiment

In the home gait rehabilitation apparatus 1000 configured to include a mobile device 100, a sensor unit 200, and a hospital server 300,

The sensor unit 200 includes a plantar pressure sensor unit 210 for measuring plantar pressure according to walking, a motion sensor unit 220 for measuring movement information of the foot according to walking, a plantar pressure sensor unit 210 and motion and a measurement data transmission unit 230 for transmitting the measurement value of the sensor unit 220 to the mobile device 100 through short-distance communication,

The mobile device 100 is

a measurement data receiving unit 160 for receiving the measured values of the plantar pressure sensor unit 210 and the motion sensor unit 220 through short-distance communication;

The measured values of the plantar pressure sensor unit 210 and the motion sensor unit 220 are stored according to the synchronized time, and based on the synchronized and stored plantar pressure and foot movement information, the dynamic change of plantar pressure and foot movement is measured in each step of walking. Measurement data analysis unit 110 to analyze;

The difference between the gait pattern for training and the actual gait pattern verified by a doctor or rehabilitation trainer is determined by determining the gait state of the gait trainer based on the change in plantar pressure and the dynamic change of the movement of the foot analyzed from the measurement data analysis unit 110 walking state analysis unit 120 to calculate;

The gait state analyzer 120 receives information on the gait state of the gait trainer and the difference between the training gait pattern and the actual gait pattern and informs the gait trainer through visual or auditory means, and when the pedestrian achieves the goal of gait training a feedback unit 130 for transmitting the result to the hospital server 300;

a display unit 140 for outputting visual information of the feedback unit 130;

a speaker unit 150 for outputting auditory information of the feedback unit 130;

Wired/wireless network communication unit 170 for transmitting at least one of the output of the measurement data analysis unit 110, the walking state analysis unit 120, and the feedback unit 130 to the hospital server 300 through a wired/wireless network; including,

The hospital server 300 receives and processes information about at least one of the gait trainer's gait state, gait pattern, the difference between the training gait pattern and the actual gait pattern, and achievement of the goal of gait training from the mobile device 100, and performs training a gait trainer management unit 310 for generating a gait pattern;

A gait trainer database 311 for storing at least one of a personal record, a treatment record, and an insurance record of a gait trainer;

A reference correction pattern database 312 that stores the gait pattern of a normal person divided by age, sex, height, and weight;

A training gait pattern database 313 for storing the training gait patterns generated by the gait trainer management unit 310 for each gait trainee;

A gait training database that stores at least one of the information on the gait trainer's gait state, gait pattern, the difference between the training gait pattern and the actual gait pattern, and the goal of gait training transmitted from the mobile device 100 for each gait trainer (314) and

It is characterized by including a message database 315 for storing at least one of a voice message, music, and regular sound to be delivered to the walking trainee.

In addition, the measurement data analysis unit 110 of the present invention receives the total sensor value of the sole of the plantar pressure sensor unit 210,

Among the received foot pressure measurement data, as the pressure increases for a certain period, the section with the largest increase in the slope with respect to time is determined as the grounding stage,

Among the received foot pressure measurement data, as the pressure decreases for a certain period, the section with the greatest decrease in the inclination with respect to time is determined as the advance stage.

In addition, the measurement data analysis unit 110 of the present invention obtains the trajectory of the center of pressure on the sole of the foot during the stance phase, and by the trajectory of the center of pressure on the sole of the foot, the walking trainee can grasp the position where the sole of the foot contacts the ground during the grounding phase or advance phase. It is characterized by calculating the weight movement speed (Wv) during the stance phase and the traction force (F _{t ) of the foot during the stance phase.}

In addition, the walking state analysis unit 120 of the present invention includes the balance (Btw) of both feet with respect to the weight movement speed (Wv), the balance of both feet with respect to the stance time (St) (Bts), and the balance of the traction force of both feet during the stance phase (Bf), CoP total error during stance phase (ECoP), CoP error at grounding (ECoP _t=1 ), CoP error at entry (ECoP _t=N ), stance for the difference between gait pattern and training gait pattern It is characterized in that one or more information among the weight movement speed during the period and the weight movement speed error rate (EWv), the stride error rate (ESR), and the stride speed error rate (ESRV) of the training gait pattern is calculated and transmitted to the feedback unit 130 .

In addition, the feedback unit 130 of the present invention groups each item of the gait training result into two-leg gait balance level, dynamic pressure state, and gait speed based on the above information received from the gait state analysis unit 120, and each It is characterized in that the level of the group is divided into stages and displayed.

In addition, the method of using the home gait rehabilitation apparatus 1000 of the present invention,

Step 1: When the gait trainer runs the gait training app installed on the mobile device 100 and logs in, the gait trainer management unit 310 of the hospital server 300 is based on the gait trainer login information of the gait trainer database 311 Human information or treatment history information and previous training gait pattern information of the training gait pattern database 313 and previous gait training information of the gait training database 314 are identified, and if the gait trainer management unit 310 is notifying the mobile device so that a setting menu for newly setting the home gait rehabilitation apparatus is activated if the training information is not grasped;

Step 2: When the gait trainer executes the gait device setting menu, the gait trainer management unit 310 of the hospital server 300 stores the gait trainer's age and physical condition in the reference gait pattern database 312 based on the gait trainer's personal information. selecting a reference gait pattern that is a gait pattern of a normal person and transmitting it to the measurement data analysis unit 110 and the gait state analysis unit 120 of the mobile device 100;

Step 3: After the gait trainer checks the reception of the reference gait pattern through the app of the mobile device, when the sensor unit 200 and the mobile device 100 run the gait test start menu wearing the shoes installed with the sensor unit 200 Steps that are connected to each other, the gait trainer is ready to carry out gait training;

Step 4: If the gait trainer executes the gait test end menu of the app on the mobile device after performing the gait test for at least 10m, the app on the mobile device displays the center of pressure trajectory, weight transfer speed (Wv), and weight detected during the gait test. On the balance of both feet with respect to movement speed (Wv) (Btw), the balance of both feet against the stance phase time (St) (Bts), the balance of the grip force of both feet against the stance phase (Bf), and the difference between the gait pattern and the reference gait pattern Total CoP error (ECoP) during stance phase, CoP error at touchdown (ECoP _t=1 ), CoP error at entry point (ECoP _t=N ), weight movement speed during stance phase and weight movement speed of reference gait pattern Transmitting one or more of the error rate (EWv), the stride error rate (ESR), and the stride speed error rate (ESRV) to the gait trainer management unit 310 of the hospital server 300;

Step 5: Based on the gait test information transmitted to the gait trainer management unit 310, a training gait pattern suitable for a gait trainer is set and transmitted to the mobile device, and the set training gait pattern is a training gait pattern database 313 The training gait pattern is the center of pressure trajectory, weight movement speed (Wv), stride length, stride speed, total CoP error during stance phase (ECoP), CoP error at grounding time (ECoP _t=1 ), advance Step including one or more of the CoP error at the time point (ECoP _t=N ), the weight movement speed during the stance phase and the weight movement speed error rate (EWv), the stride error rate (ESR), and the stride speed error rate (ESRV) of the reference gait pattern ;

Step 6: When the gait trainer logs into the gait training app again, the gait trainer management unit 310 of the hospital server compares the stored training gait pattern based on the login information to the measurement data analysis unit 110 of the mobile device 100 and the gait state The method of using the home gait rehabilitation apparatus 1000, characterized in that it includes; transmitting to the analysis unit 120 so that the gait trainee performs gait training.

The present invention is composed of a sensor unit installed on a pedestrian's shoe, a pedestrian's mobile device, and a hospital server, so a separate treadmill or camera device is unnecessary, so the configuration is simple and inexpensive, so it can be used at home, and also uses walking assistance devices. There is an effect that even a pedestrian can do gait training alone at home.

In addition, the present invention provides a training gait pattern in consideration of the gait ability or gait level of the gait trainer before the gait training, and the gait training effect is improved by the gait trainer performing gait training suitable for his/her level. has the effect of being

In addition, in the present invention, the sensor unit detects the pedestrian's foot pressure, motion information of both feet, etc. in real time, and the mobile device processes the sensor unit signal in real time and informs the pedestrian through the mobile device through visual or auditory means, so that the pedestrian can use his/her own It has the effect of easily grasping and correcting the gait pattern or the gait balance of both feet.

In addition, the present invention provides a means of receiving a reward when the pedestrian achieves the goal of gait training divided by stages, or provides a visual or auditory signal in the process of gait training for the pedestrian to inspire interest in gait training for home gait rehabilitation It has the effect of providing a device.

1 is a view related to the gait training apparatus of the prior art 1.
Figure 2 is a view related to the gait training apparatus of the prior art 2.
3 is an exemplary gait for explaining the steps of gait according to an embodiment of the present invention.
4 is a view of a home gait rehabilitation apparatus according to an embodiment of the present invention.
5 is a view of the plantar pressure sensor unit 210 according to an embodiment of the present invention.
Fig. 6 is an explanatory view of the pressure distribution on the sole of the foot during the stance phase.
Fig. 7 is an explanatory view of the dynamic change of plantar pressure during the stance phase.
Fig. 8 is an explanatory view of the trajectory of the center of pressure on the sole of the foot during the stance phase.
9 is a flowchart illustrating a process of using the home gait rehabilitation apparatus of the present invention.

Hereinafter, the present invention will be described in detail with reference to the drawings. It should be understood that the present invention includes various modifications, various forms, and all modifications, equivalents and substitutes included in the spirit and scope of the present invention.

In general, the human body continuously produces neurologically patterned movements and movements according to the unique angles of the joints. It has been studied for a long time to analyze the pathological gait of patients suffering from neurological and musculoskeletal disorders.

To this end, many studies have been conducted on anatomical phenomena that occur when a person walks on two legs, and studies have been conducted to distinguish a series of gait stages in which a normal person or a patient who is walking moves his or her legs and steps.

As shown in Fig. 3, one gait cycle of bipedal gait of a normal person can be largely divided into a stance phase (the period in which the foot touches) and a swing phase (the period in which the foot falls). It accounts for 60% of the gait cycle, and the swing phase is the time when the foot moves off the ground and accounts for 40% of the gait cycle. Alternatively, the gait cycle consists of four gait phases: Heel strike phase or early stance phase, Mid-stance phase, Toe-off phase, and Swing phase. phase) can be distinguished.

Indices for quantitative or qualitative analysis of gait include cadence, gait speed, stride length, step time, single support, and amount. There is a double support, a step width, and the like.

Techniques for identifying a user's gait stage in a gait analysis device or a gait assist device, which are equipped with motion sensors on a leg, ankle, arm, waist, knee, etc. and analyze acceleration values detected in each part to identify the gait phase methods have been studied.

As another method, methods of mounting a pressure sensor on an insole of a foot module designed to allow a user to stand up while wearing shoes, that is, an insole in contact with the user's sole, are also being studied. In this way, based on the pressure applied to the insole in the heel region, the sole region, and the big toe region when the user walks in this way, whether the user's foot is currently on the heel only, the sole of the foot, only the heel, or the foot is on the ground It is possible to identify the distance from the

The home gait rehabilitation apparatus 1000 of the present invention is configured to include a mobile device 100, a sensor unit 200, and a hospital server 300 as shown in FIG. 4, and the sensor unit 200 is for human walking. The measured values of the plantar pressure sensor unit 210 for measuring the plantar pressure according to the foot pressure, the motion sensor unit 220 for measuring movement information of the foot according to walking, the plantar pressure sensor unit 210 and the motion sensor unit 220 and a measurement data transmitter 230 for transmitting to the mobile device 100 through short-distance communication.

As shown in FIG. 5 , the plantar pressure sensor unit 210 is configured to include a plurality of pressure sensors disposed on the shoe sole or shoe insole, and is arranged horizontally and vertically so as to be applied to the entire area of the shoe sole or shoe insole. It is a configuration that detects the pressure magnitude and pressure distribution applied through the user's sole. In addition, XY coordinate information is allocated to each pressure sensor of the plantar pressure sensor unit 210 in the foot width direction (x-axis) and the foot length direction (y-axis), so that the center of pressure (COP) calculation, weight It is used to calculate movement speed.

In addition, the weight of the user may be sensed through the plantar pressure sensor unit 210 , and may be used to calculate the amount of exercise through the impact force or amount of impact of the plantar pressure sensor unit 210 during walking.

In addition, the motion sensor unit 220 of the present invention includes an acceleration sensor, a gyro sensor, a GPS sensor and a geomagnetic sensor, and the acceleration sensor and the gyro sensor are the acceleration and gyro sensors according to the three-axis (x, y, z) movement of the foot, respectively. As a sensor for measuring the angular velocity according to the 3-axis (x, y, z) inclination, it calculates the stride length, stride speed, movement distance, etc. of the walking trainee, and also measures the impact force or amount of impact together with the plantar pressure sensor unit 210 . It is used specifically for calculations.

In addition, the GPS sensor can provide accurate information to the user by re-correcting the stride length, stride speed, and movement distance calculated by the acceleration sensor and the gyro sensor based on the actual movement distance.

The mobile device 100 of the present invention is configured to provide various information to a walking trainee by calculating the signal detected by the sensor of the shoe 100 through an application installed in the device itself, such as a mobile phone, tablet, notebook, augmented reality device, etc. It is a device such as

a measurement data receiving unit 160 for receiving the measured values of the plantar pressure sensor unit 210 and the motion sensor unit 220 through short-range communication such as Bluetooth or Wi-Fi;

The measured values of the plantar pressure sensor unit 210 and the motion sensor unit 220 are stored according to the synchronized time, and based on the synchronized and stored plantar pressure and foot movement information, the dynamic change of plantar pressure and foot movement is measured in each step of walking. Measurement data analysis unit 110 to analyze;

The gait state of the gait trainer is determined based on the change in plantar pressure and the dynamic change of foot movement analyzed from the measurement data analysis unit 110, and the difference between the training gait pattern and the actual gait pattern verified by the doctor or rehabilitation trainer a gait state analysis unit 120 to calculate;

The gait state analyzer 120 receives information on the gait state of the gait trainer and the difference between the training gait pattern and the actual gait pattern and informs the gait trainer through visual or auditory means, and when the pedestrian achieves the goal of gait training a feedback unit 130 that transmits the result to the hospital server 300 and provides a visual or auditory signal to pedestrians to inspire interest in gait training;

a display unit 140 for outputting visual information of the feedback unit 130;

a speaker unit 150 for outputting auditory information of the feedback unit 130;

Wired/wireless network communication unit 170 for transmitting at least one of the output of the measurement data analysis unit 110, the walking state analysis unit 120, and the feedback unit 130 to the hospital server 300 through a wired/wireless network; include

The hospital server 300 of the present invention receives and processes information on the gait state of the gait trainer, the gait pattern, the difference between the training gait pattern and the actual gait pattern, and the achievement of the goal of gait training from the mobile device 100, and is used for training And a gait trainer management unit 310 to generate a gait pattern;

A gait trainer database 311 for storing personal records, treatment records, insurance records, etc. of the gait trainer;

A reference correction pattern database 312 that stores the gait pattern of a normal person divided by age, sex, height, and weight;

A training gait pattern database 313 for storing the training gait patterns generated by the gait trainer management unit 310 for each gait trainee;

A gait training database that stores at least one of the information on the gait trainer's gait state, gait pattern, the difference between the training gait pattern and the actual gait pattern, and the goal of gait training transmitted from the mobile device 100 for each gait trainer ( 314) and

It includes a message database 315 for storing at least one of a voice message, music, and regular sound to be delivered to the walking trainee.

Next, analysis of changes in plantar pressure in the measurement data analysis unit 110 of the mobile device 100 of the present invention will be described in detail.

As shown in FIG. 3, the normal person's gait phase is divided into a stance phase and swing phase, and the stance phase is composed of a folding phase, intermediate stance phase, end stance phase, and advance phase in which heel impact occurs again rapidly. The applied pressure varies depending on the center of gravity movement.

6 shows the pressure acting on the sole during the stance phase, and the black part shows the pressure acting on the sole. 5 is a folding stage where pressure starts to act on the heel, an intermediate stance phase in which the pressure is applied to the entire sole as the weight is moved forward, a terminal stance phase in which the pressure is applied to the front part of the foot as the opposite foot becomes a stance phase, and the pressure is toe The exit mechanism acting in the vicinity is well explained.

7 shows the change in the pressure magnitude during the stance phase of a normal person, the plantar pressure starts to increase in the folding phase when the pressure starts to act on the heel, the slope with time is large, and the pressure is in the advanced phase when the toe is applied. indicates that the slope with respect to time also decreases as the plantar pressure decreases.

When a foot pressure is measured, when a pedestrian starts walking while wearing shoes with a plurality of sensors installed, the plantar pressure sensor unit 210 measures the pressure of the corresponding sole, and the measured pressure measurement value of each part of the sole is transmitted to the measurement data transmitter ( 230), and the pressure measurement data is transmitted to the measurement data receiver 160 of the mobile device 100 by making it a wireless signal. Here, for transmitting and receiving measurement data, Bluetooth, Zigbee, Wi-Fi, etc. are used as short-range communication methods.

The measurement data receiving unit 160 transmits the foot pressure measurement data received from the plantar pressure sensor unit 210 to the measurement data analysis unit 110 .

The measurement data analysis unit 110 of the present invention extracts only the sole pressure corresponding to the stance period in which the center of the foot is in close contact with the ground from the received foot pressure measurement data. In the foot pressure measurement data received here, sensor location and area information that distinguishes each sensor and pressure data measured using the corresponding sensor are mapped.

If it is a normal person, the measurement data analysis unit 110 determines the folding phase as an increase in pressure and an increase in inclination of the heel region, and determines the advance phase as a decrease in pressure and a decrease in inclination near the toes, and extracts only the plantar pressure corresponding to the stance phase. .

However, in the case of a pedestrian with a walking disorder, since the side of the sole or the toe region may first contact the ground, the present invention measures the total sensor value of the plantar pressure sensor unit 210 at every sampling step, and the measurement data analysis unit ( 110) determines a section in which the pressure change, that is, the slope increase with respect to time, is the largest as the pressure increases for a certain period of time among the received foot pressure measurement data as the grounding unit.

In addition, in the case of a pedestrian with a walking disorder, since the foot can be separated from the ground while pushing the ground with the side of the sole or the heel region, the present invention relates to the pressure change, that is, the time The section with the largest slope decrease is judged as the advance stage.

At this time, the measurement data analysis unit 110 may determine the time when the folding machine started from the grounding machine section, and also the location where the grounding started at the sole of the foot may be determined from the position information of each pressure sensor.

Similarly, the last time point of the advance stage can also be grasped from the last time point of the advance stage section, and the position where the departure started from the sole can also be grasped from the position information of each pressure sensor.

In addition, the present invention further considers the Z-direction acceleration, speed, and impact force perpendicular to the ground measured by the motion sensor unit 220 of the sensor unit for the grounding point of the folding machine and the advancing point of the outgoing machine, and the rotational angular velocity of the X and Y axes, It can be determined by considering the rotational speed further.

In addition, pedestrians using walking aids such as crutches, walkers, wheeled walkers, table walkers, etc. have different walking patterns from normal people, so the position of the soles of the foot in the folding phase or advance phase is different from that of a normal person, in this case Even in the present invention, as described above, it is possible to grasp the position or viewpoint of the sole of the grounding phase of the stance phase or the forward phase.

Therefore, according to the present invention, not only normal people but also pedestrians with abnormal gait can easily grasp the gait state or gait pattern.

The measurement data analysis unit 110 not only grasps the pressure distribution and dynamic pressure fluctuations during the stance phase as shown in FIGS. 6 and 7 , but also can determine the center of pressure (COP) during the stance phase using the following equation .

(수식 1)

(Formula 1)

(수식 2)

(Equation 2)

where n is the total number of pressure sensors, X _i and Y _i are the X-axis and Y-axis positions of the i-th pressure sensor, Pi is the pressure measurement value of the i-th pressure sensor, COP _x is the center of pressure in the X-axis direction, COP _y is the Y-direction center of pressure.

Since the measurement data analysis unit 110 of the present invention _{can calculate COP x} and COP _y for every sampling using the above equation, it is possible to obtain the trajectory of the center of pressure on the sole of the foot during the stance period as shown in FIG. 8 .

According to FIG. 8 , the trajectory of the center of pressure on the sole of the foot is different for each pedestrian. In the case of pedestrians 1 and 2, the weight is mainly applied to the second toe in the advancing phase, whereas in pedestrian 3, the weight is mainly applied to the first toe in the advancing phase. It can be seen that there is

In this way, by the trajectory of the center of pressure on the sole of the foot, it is possible to grasp the position of the foot of the foot in contact with the ground during the grounding phase or the advance phase, and it is possible to easily grasp which part of the sole of the foot mainly concentrates the weight on during the stance phase, so that each pedestrian has a different gait. The pattern can be easily recognized.

If the trajectory of the center of pressure on the sole of the foot is identified and prepared for both feet, the degree of gait balance of both feet can be grasped.

In addition, the measurement data analysis unit 110 of the present invention may calculate the weight movement speed during the stance phase by the following equation.

Wv=(Outgoing CoPy - Ground CoPy)/St (Equation 3)

Here, Wv is the weight movement speed, advancing CoPy is the Y-direction center of pressure at the time of advancing, grounding CoPy is the Y-direction center of pressure at the time of touchdown, and St is the time interval between advancing and touching, that is, stance period.

In addition, the measurement data analysis unit 110 of the present invention multiplies the pressure value sensed by the pressure sensor at every sampling time by the area of each pressure sensor and sums them up to calculate the _{grip force (F t ) of the foot at every sampling time as shown in the following equation} can do.

(수식 4)

(Equation 4)

Here, n is the total number of pressure sensors, P _i is the pressure measurement value _{of the i-th pressure sensor, and A i} is the area of the i-th pressure sensor.

In addition, the measurement data analysis unit 110 of the present invention may calculate the total traction force (F) generated during the stance period of the pedestrian as shown in the following equation by summing the _{traction force (F t ) of the foot for every sampling time during the stance period.} .

(수식 5)

(Equation 5)

where t is the number of samples, N is the total number of samples during the stance period, and F _t is the grip force of the t-th sampling.

All numerical values calculated by the measurement data analysis unit 110 of the present invention are transmitted to the gait analysis unit 120 and the hospital server 300 .

In addition, the measured data analysis unit 110 of the present invention receives the speed, acceleration, GPS measurement value, etc. of the motion sensor unit 220, and the pedestrian's stride length (distance of one step; stride), stride speed (speed per step), condense ( walking speed per minute) and moving distance are calculated and transmitted to the gait analysis unit 120 and the hospital server 300 .

Next, the analysis of the gait state or the gait pattern by the gait state analyzer 120 of the mobile device 100 of the present invention using the calculation value of the measured data analyzer 110 will be described in detail.

The walking state analysis unit 120 of the present invention may obtain the weight movement speed (Wv) for the right foot and the left foot, respectively, and determine whether both feet are balanced in terms of time.

Btw = 1 - (Left Wv/Right Wv) (Equation 6)

Here, Equation 6 is written on the assumption that the right foot is close to the normal gait state among both feet, and the balance of both feet (Btw) with respect to the weight movement speed (Wv) approaches 0, the more evenly the balance of both feet is maintained.

Alternatively, according to the present invention, the standing period time (St), which is a time interval between the advancing time and the grounding time, is obtained for the right foot and the left foot, respectively, so that the balance of both feet can be grasped in terms of time.

Bts = 1 - (Left Foot St/Right Foot St) (Equation 7)

Here, Equation 7 is written on the assumption that the right foot is close to the normal gait state among both feet, and the balance of both feet (Bts) with respect to the stance period time (St) approaches 0, the more evenly the balance of both feet is maintained.

In addition, in the present invention, the total traction force (F) generated during the stance phase of the pedestrian can be obtained for the right foot and the left foot, respectively, so that the balance of both feet can be grasped in terms of traction force.

Bf = 1 - (Left F/R Right F) (Equation 8)

Here, Equation 8 is written on the assumption that the right foot is close to the normal gait state among both feet.

In addition, the gait state analysis unit 120 of the present invention receives the reference gait pattern or training gait pattern data to be described later from the hospital server 300 , and the sensor unit 200 and the measurement data analysis unit 110 of the gait trainer In comparison with the gait pattern data, the level of achievement or gait level of pedestrians is identified for each gait cycle.

First, the walking state analysis unit 120 of the present invention calculates the error value between the center of pressure determined by the measurement data analysis unit 110 and the center of pressure of the reference/training gait pattern by using the following equation for each sampling step.

ECoPx = TCoPx - CoPx (Equation 9)

ECoPy = TCoPy - CoPy (Equation 10)

(수식 11)

(Equation 11)

(수식 12)

(Equation 12)

where ECoPx is the X-direction CoP error at t sampling time, ECoPy is the Y-direction CoP error at t sampling time, ECoPt is the vector sum of the X-direction CoP error and the Y-direction CoP error at t sampling time, and ECoP is the total CoP error during the stance period. Error, N is the total number of samples, TCoPx is X-direction training/reference CoP at t sampling time, TCoPy is Y-direction training/reference CoP at t sampling time, CoPx is X-direction CoP at t sampling time, CoPy at t sampling time Y-direction CoP.

In the present invention, the smaller the ECoP, which is the total error of CoP during the stance phase, in the present invention, the trajectory of the center of pressure of the gait trainee coincides with the trajectory of the center of pressure of the training gait pattern.

Next, the walking state analysis unit 120 calculates the CoP error at the grounding point, which is the ECoP _t=1 value when t=1 in Equation 11.

Next, the walking state analysis unit 120 calculates the CoP error at the time of entry, which is the ECoP _t=N value when t=N in Equation 11.

Both the ECoP _t=1 value and the ECoP _t=N value coincide with the grounding and advancing positions of the training gait pattern as the values are smaller.

In addition, the walking state analysis unit 120 of the present invention may calculate the weight movement speed during the stance phase calculated in Equation 3 and the weight movement speed error of the training gait pattern by the following equation.

EWv = 1 - (Wv/TWv) (Equation 13)

Here, Wv is the weight movement speed of the gait trainer, TWv is the weight movement speed of the training gait pattern, and EWv is the weight movement speed during the stance phase and the weight movement speed error rate of the training gait pattern.

In addition, the walking state analysis unit 120 of the present invention can calculate the error by comparing the stride length and stride speed of the gait trainee with the stride length and stride speed of the training gait pattern by the following equation.

ESR = 1 - (SR/TSR) (Equation 14)

ESRV = 1 - (SRV/TSRV) (Equation 15)

where SR is the stride length of the gait trainer, TSR is the stride length of the training gait pattern, ESR is the stride error rate, SRV is the stride velocity of the gait trainer, TSRV is the stride velocity of the training gait pattern, and ESRV is the stride velocity error rate.

In addition, the gait state analysis unit 120 of the present invention transmits all gait state information of the gait trainer identified for each gait cycle to the feedback unit 130 and the hospital server 300 .

Next, the feedback unit 130 of the present invention will be described in detail.

The feedback unit 130 receives information about the gait state of the gait trainer and the difference between the training gait pattern and the actual gait pattern from the gait state analyzer 120 and informs the gait trainer through visual or auditory means, When the goal of gait training divided by

In addition, all information of the feedback unit 130 of the present invention is transmitted to the hospital server (300).

First, it will be described that the feedback unit 130 receives information on the gait trainer's gait state and the difference between the training gait pattern and the actual gait pattern and informs the gait trainer through visual means.

The feedback unit 130 of the present invention displays on the display unit 140 the balance (Btw) of both feet with respect to the weight movement speed (Wv), the balance of both feet with respect to the stance time (St) (Bts), and the balance of the feet with respect to the stance period (St). By displaying the traction balance (Bf), the gait trainer's two-leg gait balance is fed back in a variety of ways in terms of weight movement speed, stance period, and traction with both feet. Through this, the gait trainer can quantitatively recognize which foot has more force or which foot is slower among both feet, so that the traction force or movement time of both feet can be matched, and the gait pattern of the gait trainer can be quantitatively evaluated. It is easy for doctors or rehabilitation trainers to evaluate the gait level of gait trainers.

In addition, the feedback unit 130 displays the trajectory of the center of pressure during the stance phase from the gait state analysis unit 120 on the display unit 140, and at the same time, for the difference between the gait pattern of the gait trainer and the training gait pattern, during the stance phase Through the CoP total error (ECoP), the CoP error at the grounding point (ECoP _t=1 ), and the CoP error at the entry point (ECoP _t=N ), the gait pattern of the gait trainer is fed back from the viewpoint of the dynamic pressure of the sole. Through this, the gait trainer can visually confirm whether his gait has a problem during the gait phase, and also quantitatively evaluate the gait pattern of the gait trainer, making it easy for doctors or rehabilitation trainers to evaluate the gait level of the gait trainer. .

In addition, the feedback unit 130 displays the weight movement speed error rate (EWv), the stride error rate (ESR), and the stride speed error rate (ESRV) of the weight movement speed during the stance phase and the training gait pattern on the display unit 140, A gait trainer can quantitatively and easily grasp his gait speed or stride error to improve gait speed or stride length, and it is also easy for a doctor or rehabilitation trainer to quantitatively evaluate the gait level of a gait trainer.

In this way, the feedback unit 130 quantitatively quantifies information on the difference between the training gait pattern and the actual gait pattern from the gait state analysis unit 120 in terms of the gait balance level, dynamic pressure state, and gait speed of the walking trainee. Therefore, it is easy to correct the level or level of gait training by easily identifying the level or level at which the doctor or rehabilitation therapist has achieved the training gait pattern of the gait trainer based on this.

In addition, the feedback unit 130 may display quantitative numerical information on the training level of the walking trainee in numbers or letters, as well as display the error value or error rate value of each item by step.

For example, the error value or error rate value of each item is displayed in three levels of “high, medium, low,” and when the “high” level with the smallest error or error rate is achieved, a compliment or encouragement phrase or emoticon is displayed, and the result is displayed. It may notify the hospital server 300 .

In addition, the feedback unit 130 may group each item of the gait training result into two-leg gait balance level, dynamic pressure state, and gait speed point of view, and display the level of each group by dividing it into stages such as “upper, middle and lower”.

Next, it will be described that the feedback unit 130 receives information about the gait state of the gait trainer and the difference between the training gait pattern and the actual gait pattern, and informs the gait trainer through auditory means.

The feedback unit 130 may notify the quantitative numerical information on the training level of the gait trainer by voice, but since it is difficult and inefficient to notify a lot of information by voice during gait training, the feedback unit 130 provides quantitative numerical information of the gait trainer In order to correct the item with the largest error or error rate among them, an audible message for inducing correction of the item may be generated and outputted to the speaker unit 150 of the mobile device.

In the present invention, the output of the auditory message may be output to other output means such as earphones, headphones, bone conduction earphones, and the like.

In other words, after a doctor or a rehabilitation trainee confirms the training information notified by the feedback unit 130 to the hospital server 300, a message suitable for correcting the item with the largest error or error rate is directly recorded by voice or already recorded. A suitable message is transmitted back to the feedback unit 130 . Thereafter, the feedback unit 130 may repeatedly generate a message at a certain period in accordance with the walking pattern of the gait trainer, that is, the gait cycle, gait speed, or stride speed to induce the gait trainee to listen to and follow the message during gait training.

For example, when a gait trainer performs gait training, the feedback unit 130 classifies and displays the training results in stages for every gait cycle and notifies the gait trainer, and the feedback unit 130 displays the CoP error ( If ECoP _{t = 1} ) is indicated as the worst, the result is notified to the hospital server 300 and stored in the gait training database.

A doctor or a rehabilitation trainer analyzes the training results for a certain period stored in the gait training database with the gait trainer management unit 310 of the hospital server 300, and the CoP error (ECoP _{t = 1} ) at the time of grounding of the gait trainer's right foot is improved. If deemed necessary, the doctor or rehabilitation trainer records voice messages such as “rear foot” or “heel” in order to induce the gait trainee to first contact the rear foot of the right foot with the ground, or selects from a previously stored message database and selects the feedback unit of the mobile device. (130).

Alternatively, the gait trainer management unit 310 of the hospital server 300 automatically analyzes the training result of the feedback unit 130 and selects a voice message for the item requiring improvement from the already recorded message data, and the feedback unit of the mobile device It can be transmitted to (130).

The feedback unit 130 of the mobile device stores the voice message transmitted from the hospital server 300 and periodically generates it according to the walking cycle, walking speed, or stride speed of the walking trainee. The gait trainee walks according to the periodically occurring voice messages such as “rear foot” and “heel”, while at the same time following the voice message, try to first contact the rear foot or heel of the right foot with the ground.

At this time, if necessary, the gait trainer management unit 310 of the hospital server 300 transmits a separate guide message to the mobile device stating that the _{gait trainer needs to improve the CoP error (ECoP t = 1 ) at the grounding point of the right foot, so that a voice message is transmitted.} It can be displayed on the display unit 140 .

In another embodiment, if the feedback unit 130 indicates that at least one of the weight movement speed error rate (EWv) and the stride speed error rate (ESRV) is bad as a result of the walking trainee performing gait training, the result is sent to the hospital server 300 It is notified and stored in the gait training database.

A doctor or a rehabilitation trainer analyzes the training results for a certain period stored in the gait training database with the gait trainer management unit 310 of the hospital server 300, and at least one of weight movement speed error rate (EWv) or stride speed error rate (ESRV) is When it is determined that improvement is required, the doctor or rehabilitation trainer selects from the message database one of regular sounds such as music or metronome with a beat tempo equal to or similar to the weight movement speed or stride speed of the training gait pattern. It is transmitted to the feedback unit 130 .

Or, the gait trainer management unit 310 of the hospital server 300 automatically determines that at least one of the weight movement speed or the stride speed of the training gait pattern needs improvement, and the weight movement speed or the stride speed of the training gait pattern and One of regular sounds such as music or metronome having the same or similar beat tempo is selected from the message database and transmitted to the feedback unit 130 of the mobile device.

Thereafter, the gait trainer performs gait training according to the beat or tempo of one of regular sounds such as music or a metronome output through a speaker or earphone of a mobile device.

Next, when the feedback unit 130 evaluates each item of the gait training result or the level of each group divided by the balance level of walking on both feet, the dynamic pressure state and the gait speed step by step, when the gait trainer achieves a certain level or more than a certain step Explain about financial compensation.

For example, after the feedback unit 130 groups the gait training results into two-leg gait balance level, dynamic pressure state, and gait speed, the level of each group is evaluated in three stages of “high, medium, low” for a certain period of time, and then the level of each group When all of these achieve the “upper” stage or two or more “upper” stages are achieved, the feedback unit 130 notifies the result to the gait trainer management unit 310 of the hospital server 300 .

Thereafter, the gait trainer management unit 310 of the hospital server 300 stores the result in the gait training database, and at the same time transmits it to the server of an insurance institution such as an insurance company or the National Health Insurance Corporation along with the personal information of the gait trainer ( subject to prior consent).

The insurance institution's server identifies the gait trainer's medical history or treatment history, reflects the notified gait training result, adjusts the gait trainer's insurance rate, or identifies products that offer preferential insurance, and sends these details to the gait trainer's mobile device. send.

On the other hand, the hospital doctor or rehabilitation trainer checks the gait training result through the gait trainer management unit 310 and, if necessary, adjusts the training level or step of the gait trainee to a higher level or to improve the items with poor training results to provide the gait trainer to the gait trainer. A suitable training gait pattern is directly or automatically generated, stored in a training gait pattern database, and transmitted to the gait state analysis unit 120 of the mobile device at the same time.

Next, a flow chart of the use of the home gait rehabilitation apparatus shown in FIG. 9 will be described.

First, in step 1, when the gait trainer executes the gait training app installed in the mobile device 100 and logs in, the gait trainer management unit 310 of the hospital server 300 performs the gait trainer database 311 based on the gait trainer login information. ) of human information or treatment history information and previous training gait pattern information of the training gait pattern database 313 and previous gait training information of the gait training database 314 .

If the gait trainer management unit 310 fails to grasp the previous gait training information, it notifies the mobile device so that the setting menu for setting the new walking device is activated.

If the gait trainer management unit 310 grasps the previous gait training information, it proceeds to step 6 of the gait training start.

When the gait trainer executes the walking device setting menu in step 2, the gait trainer management unit 310 of the hospital server 300 stores the gait trainer's age and physical condition in the reference gait pattern database 312 based on the gait trainer's personal information. A standard gait pattern that is a gait pattern of a normal person corresponding to the gait pattern is selected and transmitted to the measurement data analysis unit 110 and the walking state analysis unit 120 of the mobile device 100 .

Here, the reference gait pattern includes information such as the trajectory of the center of pressure during the stance phase of the normal person, the weight movement speed, the stance phase time, the stride length, and the stride speed.

Next, in step 3, the gait trainer checks the reception of the reference gait pattern through the app of the mobile device, and then puts on the shoes in which the sensor unit 200 is installed and executes the gait test start menu. When the gait test start menu is executed, the sensor unit 200 and the mobile device 100 are connected to each other so that the gait trainer is ready to perform gait training.

Next, in step 4, if the gait trainer executes the gait test end menu of the app on the mobile device after performing the gait test for at least 10 m, the app on the mobile device displays the center of pressure trajectory and weight movement speed (Wv) detected during the gait test. , the balance of both feet against the weight movement speed (Wv) (Btw), the balance of both feet against the stance time (St) (Bts), the balance of the grip force of both feet against the stance phase (Bf), the difference between the gait pattern and the reference gait pattern For , total CoP error (ECoP) during stance phase, CoP error at touchdown (ECoP _t=1 ), CoP error at entry point (ECoP _t=N ), body weight movement speed during stance phase and body weight of reference gait pattern One or more pieces of information among the movement speed error rate (EWv), the stride error rate (ESR), and the stride speed error rate (ESRV) are transmitted to the walking trainer management unit 310 of the hospital server 300 . These information are stored in the gait training database 314 of the hospital server 300 .

Next, in step 5, the hospital doctor or rehabilitation trainer sets a training gait pattern suitable for the gait trainer based on the gait pattern or information of the gait trainer identified during the gait test and transmits it to the mobile device, and the app on the mobile device The confirmation of receipt of the training gait pattern is transmitted to the gait trainer management unit 310 of the hospital server.

Here, the training gait pattern is the center of pressure trajectory, weight movement speed (Wv), stride length, stride speed, total CoP error during stance phase (ECoP), CoP error at ground contact (ECoP _t=1 ), and CoP error at entry point. (ECoP _{t = N} ), including one or more of weight movement speed during stance phase and weight movement speed error rate (EWv), stride error rate (ESR), and stride speed error rate (ESRV) of the reference gait pattern, and set training gait The pattern is stored in the gait pattern database 313 for training.

After that, in step 6, when the gait trainer logs in to the gait training app again to perform gait training, the gait trainer management unit 310 of the hospital server uses the previously stored training gait pattern on the basis of the login information of the mobile device 100. When the measurement data analysis unit 110 and the gait state analysis unit 120 are transmitted, and the gait training app activates the gait training start menu, the gait trainer wears the sensor unit 200 installed shoes and executes the gait training start menu. do. When the gait training start menu is executed, the sensor unit 200 and the mobile device 100 are connected to each other so that the gait trainer can perform gait training.

Next, in step 7, the gait trainer executes gait training, and the measurement data analysis unit 110 and the gait state analysis unit 120 of the mobile device measure and analyze the gait state or gait pattern of the gait trainee to provide feedback to the hospital server and feedback. send to the

Next, in step 8, the app of the mobile device transmits the gait training information on the gait state of the gait trainer and the difference between the training gait pattern and the actual gait pattern to the feedback unit 130 at every gait cycle, and the feedback unit transmits the gait Based on the training information, the training result of the gait trainer is notified to the gait trainer by visual or auditory means, and also transmitted to the gait trainer management unit 310 of the hospital server 300 .

Next, in step 9, the hospital doctor or rehabilitation trainer checks the gait training result through the gait trainer management unit 310 . In the confirmation step, the walking trainer management unit 310 is automatically confirmed based on the information notified from the feedback unit of the mobile device and notified to a doctor or a rehabilitation trainer, or a doctor or a rehabilitation trainer may directly check and confirm the notification information.

In step 10, if the gait trainer consistently achieves the training goal above a certain level for a certain period of time, the doctor or rehabilitation trainer directly adjusts the training gait pattern to a higher level or step of the gait trainer or to improve the items with poor training results. Adjusted or automatically adjusted through the gait trainer management unit (310). The adjusted training gait pattern is stored in the training gait pattern database and transmitted to the measurement data analysis unit 110 and the gait state analysis unit 120 of the mobile device at the same time.

In addition, the gait trainer management unit 310 of the hospital server 300 transmits the training result that has achieved a training goal of a certain level or higher to the server of an insurance institution such as an insurance company or the National Health Insurance Corporation along with the personal information of the gait trainer (in advance). subject to consent).

When the training gait pattern is adjusted in step 10, the gait trainer management unit 310 notifies the training app of the mobile device of this fact, and the training app of the mobile device sends a acknowledgment message of the adjusted training gait pattern to the gait trainer management unit ( 310).

Thereafter, the gait trainer repeats steps 6 to 8 with the adjusted training gait pattern.

If the gait trainer does not achieve the training goal of a certain level or more, steps 6 to 8 are repeated again without modifying the existing training gait pattern.

As described above, the present invention is composed of a sensor unit installed on a pedestrian's shoe, a pedestrian's mobile device, and a hospital server, so a separate treadmill or camera device is unnecessary, so the configuration is simple and inexpensive, so it can be used at home, and also a walking assistance device There is an effect that even pedestrians who use these are able to do gait training alone at home.

In addition, the present invention provides a training gait pattern in consideration of the gait ability or gait level of the gait trainer before the gait training, and the gait training effect is improved by the gait trainer performing gait training suitable for his/her level. has the effect of being

In addition, in the present invention, the sensor unit detects the pedestrian's foot pressure, motion information of both feet, etc. in real time, and the mobile device processes the sensor unit signal in real time and informs the pedestrian through the mobile device through visual or auditory means, so that the pedestrian can use his/her own It has the effect of easily grasping and correcting the gait pattern or the gait balance of both feet.

In addition, the present invention provides a means of receiving a reward when the pedestrian achieves the goal of gait training, or provides a home gait rehabilitation device that stimulates interest in gait training by providing a visual or auditory signal in the process of gait training for the pedestrian. It works.

Although the present invention has been described in detail through specific examples, this is for the purpose of describing the present invention in detail, and the present invention is not limited thereto. It is clear that it can be modified or improved.

100: mobile device 110: measurement data analysis unit 110
120: walking state analysis unit 130: feedback unit
140: display unit 150: speaker unit
160: measurement data receiving unit 170: wired and wireless network
200: sensor unit 210: plantar pressure sensor unit 210
220: motion sensor unit 230: measurement data transmission unit
300: gait trainer management unit 311: gait trainer database
312: reference gait pattern database 313: gait pattern database for training
314: gait training database 315: message database

Claims (6)

In the home gait rehabilitation apparatus 1000 configured to include a mobile device 100, a sensor unit 200, and a hospital server 300,
The sensor unit 200 includes a plantar pressure sensor unit 210 for measuring plantar pressure according to walking, a motion sensor unit 220 for measuring movement information of the foot according to walking, a plantar pressure sensor unit 210 and motion and a measurement data transmission unit 230 for transmitting the measurement value of the sensor unit 220 to the mobile device 100 through short-distance communication,
The mobile device 100 is
a measurement data receiving unit 160 for receiving the measured values of the plantar pressure sensor unit 210 and the motion sensor unit 220 through short-distance communication;
The measured values of the plantar pressure sensor unit 210 and the motion sensor unit 220 are stored according to the synchronized time, and based on the synchronized and stored plantar pressure and foot movement information, the dynamic change of plantar pressure and foot movement is measured in each step of walking. Measurement data analysis unit 110 to analyze;
The difference between the gait pattern for training and the actual gait pattern verified by a doctor or rehabilitation trainer is determined by determining the gait state of the gait trainer based on the change in plantar pressure and the dynamic change of the movement of the foot analyzed from the measurement data analysis unit 110 walking state analysis unit 120 to calculate;
The gait state analyzer 120 receives information on the gait state of the gait trainer and the difference between the training gait pattern and the actual gait pattern and informs the gait trainer through visual or auditory means, and when the pedestrian achieves the goal of gait training a feedback unit 130 for transmitting the result to the hospital server 300;
a display unit 140 for outputting visual information of the feedback unit 130;
a speaker unit 150 for outputting auditory information of the feedback unit 130;
Wired/wireless network communication unit 170 for transmitting at least one of the output of the measurement data analysis unit 110, the walking state analysis unit 120, and the feedback unit 130 to the hospital server 300 through a wired/wireless network; including,
The hospital server 300 receives and processes information about at least one of the gait trainer's gait state, gait pattern, the difference between the training gait pattern and the actual gait pattern, and achievement of the goal of gait training from the mobile device 100, and performs training a gait trainer management unit 310 for generating a gait pattern;
A gait trainer database 311 for storing at least one of a personal record, a treatment record, and an insurance record of a gait trainer;
A reference correction pattern database 312 that stores the gait pattern of a normal person divided by age, sex, height, and weight;
A training gait pattern database 313 for storing the training gait patterns generated by the gait trainer management unit 310 for each gait trainee;
A gait training database that stores at least one of the information on the gait trainer's gait state, gait pattern, the difference between the training gait pattern and the actual gait pattern, and the goal of gait training transmitted from the mobile device 100 for each gait trainer (314) and
Containing a message database 315 for storing at least one of a voice message, music, and regular sound to be delivered to a walking trainee,
The gait state analysis unit 120 includes a balance (Btw) of both feet with respect to a weight movement speed (Wv), a balance (Bts) of both feet with respect to a stance phase time (St), a balance of traction force of both feet during a stance phase (Bf), Regarding the difference between the gait pattern and the training gait pattern, the total CoP error (ECoP) during the stance phase, the CoP error at the grounding point (ECoP _t=1 ), the CoP error at the entry point (ECoP _t=N ), the body weight during the stance phase One or more information among movement speed and weight movement speed error rate (EWv), stride error rate (ESR), and stride speed error rate (ESRV) of the training gait pattern is calculated and transmitted to the feedback unit 130,
The feedback unit 130 groups the gait training results into two-leg gait balance level, dynamic pressure state, and gait speed perspective based on the above information received from the gait state analysis unit 120, and divides the level of each group into stages. A home gait rehabilitation apparatus 1000 characterized in that it is displayed. The method according to claim 1, wherein the measurement data analysis unit 110 receives the total sensor value of the sole of the plantar pressure sensor unit 210,
Among the received foot pressure measurement data, as the pressure increases for a certain period, the section with the largest increase in the slope with respect to time is determined as the grounding stage,
The home gait rehabilitation apparatus 1000, characterized in that, among the received foot pressure measurement data, a section in which the decrease in inclination with respect to time is the greatest as the pressure decreases for a certain period is determined as the advance stage. The method according to claim 2, wherein the measurement data analysis unit 110 obtains the trajectory of the center of pressure on the sole of the foot during the stance phase, and the gait trainee grasps the position of the sole in contact with the ground during the grounding or advancing phase by the trajectory of the center of pressure on the sole of the foot. The home gait rehabilitation apparatus 1000, characterized in that it calculates the weight movement speed (Wv) during the stance phase, and the traction force (F _{t ) of the foot during the stance phase.} delete delete delete

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