KR102309199B1 - User adaptable wearable suit - Google Patents

Abstract

A user adaptive wearable suit according to the present invention includes a plurality of sensors attached to a user's body, a measurement unit that measures a signal for the user's movement to collect a measurement value, and a behavior pattern that can determine the user's movement and a determination unit that matches the measured value to the behavior pattern in real time to determine whether the user corresponds to either a walking state or a falling state, wherein the determination unit stores the measured value in the behavior pattern and By adding the behavior pattern, personalized information may be generated.

Description

USER ADAPTABLE WEARABLE SUIT

The present invention relates to a wearable suit, and more particularly, to a user adaptive wearable suit that personalizes the wearable suit by adapting to the user's movement worn by the wearable suit that assists the user's movement.

Recently, as an aging society deepens, people complaining of pain and discomfort due to joint problems are increasing, and interest in walking aids that can facilitate walking for the elderly or patients with joint problems is increasing. In addition, for the purpose of military use, etc., walking assistance devices for strengthening the muscular strength of the human body have been developed.

For example, the walking assistance device includes a body frame mounted on the user's torso, a pelvic frame coupled to the lower side of the body frame to surround the user's pelvis, a femoral frame mounted on the user's thighs, calves, and feet, and a calf frame , is composed of a foot frame. The pelvic frame and the femur frame are rotatably connected by the hip joint, the frame and the calf frame are rotatably connected by the knee joint, and the calf frame and the foot frame are rotatably connected by the ankle joint.

Recently, research to improve the usability of the walking assistance device has been continued, and devices for assisting the user with muscle strength assistance and walking in various shapes of an exoskeleton suit and a wearable suit have been developed.

However, these suits do not consider individual users, but move as they are basically set, so there is a problem that it may be awkward for people who wear auxiliary devices.

In this case, there is a problem that it may be harmful to the user's joints or muscles, and an accident may occur.
Application No. 2012-0033901 of the prior art literature

An object of the present invention is to provide a wearable suit capable of providing assistance according to user behavior by analyzing the movement of a user wearing the wearable suit to solve the above problems.

The problems of the present invention are not limited to the problems mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the following description.

In order to solve the above problems, according to one aspect of the present invention, a measurement unit including a plurality of sensors attached to the user's body and measuring a signal for the user's movement to collect a measurement value and the user's movement and a determination unit that includes a behavior pattern that can be determined, and matches the measured value to the behavior pattern in real time to determine whether the user corresponds to either a walking state or a falling state, wherein the determination unit determines the measured value Personalized information may be generated by storing and adding the behavior pattern to the behavior pattern.

In addition, when the user is in the falling state, the determination unit may store information on which the user's center of gravity is moved in the personalized information.

In addition, the determination unit may classify the fall state into a first fall in which the fall starts and a second fall in contact with the impact target.

In addition, the determination unit may determine a position to which the center of gravity of the user is moved.

Also, the determination unit may determine a direction in which the center of gravity of the user is moved.

In addition, when the user is in the walking state, the determination unit may store information on the user's gait cycle in the personalization information.

In addition, the determination unit may store the forward speed of the user's right leg and left leg in the personalized information.

In addition, the measurement unit may be provided with a plurality of sensors to be interlocked with each other to form a virtual center of gravity area for the movement of the user's center of gravity.

In addition, it may include a driving unit that assists the user's movement through the personalization information of the determination unit.

According to the user adaptive wearable suit of the present invention, there is an effect of assisting walking in response to the movement of the user who uses the wearable or quickly reacting to the start of a fall.

Effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description of the claims.

The summary set forth above as well as the detailed description of the preferred embodiments of the present application set forth below may be better understood when read in conjunction with the accompanying drawings. For the purpose of illustrating the invention, there are shown in the drawings preferred embodiments. It should be understood, however, that the present application is not limited to the precise arrangements and instrumentalities shown.
1 is a conceptual diagram illustrating the overall operation of a user adaptive wearable suit according to an embodiment of the present invention, FIG. 2 is a flowchart illustrating an algorithm for personalizing a user adaptive wearable suit according to an embodiment of the present invention, FIG. 3 is a diagram showing a state in which a soft sensor is attached in a user adaptive wearable suit according to an embodiment of the present invention, and FIG. 4 is a state in which an IMU sensor is attached in a user adaptive wearable suit according to an embodiment of the present invention. 5 is a view showing the area of the center of gravity for walking and falling in the user adaptive wearable suit according to an embodiment of the present invention, and FIG. 6 is a user adaptive wearable according to an embodiment of the present invention. It is a drawing showing the area of the center of gravity changed according to personalization in the suit,
7 is a diagram illustrating a process of determining and learning a measurement value in a user adaptive wearable suit according to an embodiment of the present invention;
8 is a diagram illustrating that personalized information is generated by adding data to a behavior pattern in a user adaptive wearable suit according to an embodiment of the present invention, and FIG. 9 is a user adaptive wearable according to a second embodiment of the present invention. It is a drawing showing the contents added to the personalization information in the suit.

Hereinafter, preferred embodiments of the present invention in which the object of the present invention can be specifically realized will be described with reference to the accompanying drawings. In the description of the present embodiment, the same names and reference numerals are used for the same components, and an additional description thereof will be omitted.

1 is a conceptual diagram illustrating the overall operation of a user (H) adaptive wearable suit according to an embodiment of the present invention, and FIG. 2 is a user (H) adaptive wearable suit personalization algorithm according to an embodiment of the present invention. 3 is a view showing a state in which the soft sensor 120 is attached in the user (H) adaptive wearable suit according to an embodiment of the present invention, and FIG. 4 is a user according to an embodiment of the present invention. (H) is a view showing a state in which the IMU sensor 140 is attached in the adaptive wearable suit, and FIG. 5 is a user (H) adaptive wearable suit according to an embodiment of the present invention. In addition, it is a view showing that personalized information 240 is generated, and FIG. 6 is a view showing the area of the center of gravity for walking and falling in the user (H) adaptive wearable suit according to an embodiment of the present invention, FIG. 7 is a diagram illustrating an area of a center of gravity changed according to personalization in a user (H) adaptive wearable suit according to an embodiment of the present invention.

The user (H) adaptive wearable suit according to an embodiment of the present invention may be provided in a form that the user (H) can wear, and may be in a form that can measure data necessary for the movement of the user (H).

Therefore, the wearable suit is provided with a plurality of sensors to measure the center of gravity of the user (H) and the movement of muscles or joints.

In addition, the wearable suit may be programmed with a pre-learned behavior pattern 220 .

The behavior pattern 220 is created by storing data while measuring the movement of the center of gravity in the movements of various users wearing the wearable suit. It refers to the data stored in the area and the center of gravity measurement values for the area where the center of gravity is located in the case of an irreversible fall.

This behavior pattern 220 is mounted on the wearable suit of the present invention to match the movement speed and movement position of the center of gravity according to the user's movement, and thus whether the user is walking, falling, or falling. can be used as a criterion for judging

Meanwhile, the user (H) adaptive wearable suit according to an embodiment of the present invention may largely include a measuring unit 100 and a determining unit 200 .

The measuring unit 100 includes a plurality of sensors attached to the user's body, and collects measurement values by measuring a signal for the user's movement.

And the determination unit 200 matches the measured value of the measurement unit 100 with the behavior pattern 220 in which the walking area and the falling area are divided according to the user's center of gravity, so that the user is in either the walking state or the falling state. The action obtained by learning the walking area and the fall area based on a pre-stored measurement value or a measurement value continuously collected by the measurement unit 100, including a determination unit 200 to determine whether it is applicable The pattern 220 is defined as the personalized information 240, and the behavior pattern 220 defined as the personalized information 240 is matched with the measurement value newly collected by the measurement unit 100 to respond to the user's movement, and determine The unit 200 determines that the user has any one of a walking state and a falling state, and stores the measurement values collected by the measuring unit 100 in the determining unit 200 to generate the personalized information 240 .

The measurement unit 100 includes a plurality of sensors attached to the body of the user H, and collects the measured values by measuring a signal for the movement of the user H.

And the determination unit 200 includes a behavior pattern 220 that can determine the movement of the user (H), and matching the measured value in the behavior pattern 220 in real time to the walking state or fall of the user (H) It can be determined whether any one of the states is applicable.

And the determination unit 200 may generate the personalized information 240 by storing and adding to the behavior pattern 220 through the measured value.

Here, the behavior pattern 220 obtained by learning the walking and falling areas may be a simple pattern, but a comprehensive formula (function) indicating the boundary of a specific area where measured values are grouped, including all types, areas, etc. will be

In addition, the meaning of learning may also be defined as a simple collection of measurement values, but is not limited thereto, and includes all of a series of processes for finding the above-described behavior pattern 220 (formula (function), type, area) from the measurement values. It can be defined as doing, which means that the scope of the present invention is not limited.

1 will be described in detail.

As shown in FIG. 1 , a plurality of measurement units 100 may be provided in the wearable suit of the present invention to collect data generated while the user H moves and acts.

In addition, the determination unit 200 indexes the measured values in the behavior pattern 220 based on the behavior pattern 220 to determine what kind of movement and what state the user H is currently in.

Also, information of the user H may be stored in the behavior pattern 220 .

In this case, the things stored in the behavior pattern 220 may include information of the user H in addition to the measured values measured through a plurality of sensors.

Here, the information of the user H refers to an object to wear the wearable suit, and may be a disease, age, habit, etc. of the user H.

The reason for storing the user (H) information in the wearable suit is that the wearable suit of the present invention assists the user (H) in walking and can help respond to a fall, so through the user (H) information It is possible to perform assistance suitable for the user H.

For example, when the user H is crippled in the right leg due to a disability in the right leg, the forward speed of the left leg and the right leg may be different. Accordingly, it is possible to store information about the right leg lame in the behavior pattern 220 .

And it is possible to control the wearable suit with the user (H) information and measurement values stored in the behavior pattern 220 .

The wearable suit according to an embodiment of the present invention may include a driving unit 300 .

The driving unit 300 assists the movement of the user H through the personalization information 240 of the determination unit 200, and is provided to assist the user H with muscle strength when walking and to prevent falling during a fall. can

The driving unit 300 may be provided in the form of an actuator or a module in which a fluid is accommodated to assist joints or muscle strength.

The user (H) adaptive wearable suit according to an embodiment of the present invention may be provided so that the user (H) can wear it to support the joint and assist the muscle strength, and the fluid is injected behind the knee to the knee joint It can assist in the extension, and it is possible to buffer the impact from the impact target in a situation in which the user (H) falls.

Next, the overall algorithm will be described with reference to FIG. 2 .

The user (H) adaptive wearable suit according to the present invention may include the IMU sensor 140 and the soft sensor 120 to measure the movement of the user H wearing the wearable suit.

The IMU sensor 140 measures the position, speed and direction in which the center of gravity of the user H is moved, and the soft sensor 120 measures the movement of a muscle or joint.

When the user H wears the wearable suit, the operation is performed (S01). First, the IMU sensor 140 and the soft sensor 120 are operated respectively (S02, S03).

The IMU sensor 140 measures the movement of the user H, and the determination unit 200 indexes it in the behavior pattern 220 to predict whether the user H is walking or falling (S05). When the measured value is indexed in the behavior pattern 220 and it is determined that the user H stands up or falls, a control signal may be transmitted to the driving unit 300 to assist the user H (S06).

And by storing the received measurement value of the IMU sensor 140 in the behavior pattern 220, it is possible to learn the movement of the user (H) for standing and falling (S07).

Through the same process as above, the measured value of the IMU sensor 140 is received in real time, the state of the user H is predicted through the behavior pattern 220, and the IMU measurement value is continuously received and learned in the behavior pattern 220. The personalization information 240 that can be suitably driven by the user H wearing the wearable suit is generated.

Continually, for the user (H) walking, when it is determined that the user (H) is walking, the soft sensor 120 grasps the user (H)'s gait pattern. At this time, it is measured by the IMU sensor 140 and A measurement value determined to be walking in the behavior pattern 220 may also be included (S08).

Then, the gait period is calculated based on the gait data received from the soft sensor 120 (S09), and the gait period is transmitted to the driving unit 300 (S10) to learn information about the gait from the behavior pattern 220 . can do.

The measured value of the soft sensor 120 for walking is reflected in the behavior pattern 220 in real time to learn, and it is possible to control the driving unit 300 to appropriately assist the user H in the suit.

In conclusion, after receiving information about the center of gravity and walking information in real time through the IMU sensor 140 and the soft sensor 120 , and determining the current state of the user H as walking or falling in the behavior pattern 220 , By additionally learning the measured value of the default value of the existing behavior pattern 220, it can become a wearable suit that fits the user H.

Next, the attachment positions of the sensors are shown in FIGS. 3 and 4 .

FIG. 3 is a position of the soft sensor 120 , and FIG. 4 is a position of the IMU sensor 140 .

As shown, the soft sensor 120 may use a signal generated while the pelvic and thigh muscles are stretched or contracted as a measurement value.

Since it is provided on both legs, it is possible to measure the forward and backward speed and time of each leg, and it is possible to store even the time and speed at which the user H crosses each other while walking.

Meanwhile, the IMU sensor 140 may be provided on both sides of the waist, thigh, and calf.

The reason why the IMU sensor 140 is provided as described above is that each IMU sensor 140 is interlocked with each other to simultaneously measure the center of gravity of the user H and to figure out where the entire center of gravity is moved.

In the present embodiment, the behavior pattern 220 classifies falling situations into two categories.

The user H includes a first fall in which it is determined that a fall has started and a second fall in contact with the impact target.

This can form a boundary between walking and falling.

5 and 6 are a virtual user (H) center of gravity area formed through the IMU sensor (140).

As shown, a virtual center of gravity sphere may be formed through the action pattern 220 with respect to the center of gravity of the user (H).

According to an embodiment of the present invention, the gait, the first fall, and the second fall are divided in the behavior pattern 220 .

In addition, a virtual walking area, a virtual first fall area, and a virtual second fall area may be set to fit the user H wearing the wearable suit.

As described above, the values measured through the IMU sensor 140 and the soft sensor 120 are stored in the behavior pattern 220 in real time. And as the user H moves, the boundary of the center of gravity of the behavior pattern 220 may be changed.

This is because the position and inclination of the center of gravity are different for each person.

For example, it is assumed that the boundary between the virtual walking area and the virtual first fall area is 5 in the behavior pattern 220 .

In the behavior pattern 220 , the center of gravity from 1 to 4 may be the walking area, and the center of gravity from 5 may be the first fall area.

However, as the user H wears the wearable suit and performs various actions, the area of the center of gravity is changed.

If the user H walks at 1 to 3, the first falls at 4 to 8, and the second falls at 9 to 10, the virtual area may be changed as shown in FIGS. 5 to 6 .

This is because, in the behavior pattern 220 , values measured from each sensor are added to the behavior pattern 220 while the user H wears a wearable suit and moves.

As described above, the determination unit 200 according to the present invention generates personalized information by adding a measurement value measured by the user's movement from the wearable suit W to the behavior pattern.

Specifically, the measured values (S2-1. S2-2, S2-3, S2-4, S2-5) measured by the five IMU sensors create a region of the center of gravity where the measured values are distributed over time. do.

Assume that the area of the center of gravity is for user 1.

As the measured values of 1 by the user are distributed among the measured values corresponding to the gait, the first fall, and the second fall, a virtual boundary may be naturally formed as the gait, the first fall, and the second fall.

As described above, the determination unit 200 may store the measured values in real time to generate an area for user 1 only for the user's gait, the first fall, and the second fall. Through this, the user's behavior is judged based on the values measured from L+1 to M in the area of gait, 1st and 2nd falls generated from the 1st to L cycles, and then gait, 1st and 2nd falls The measured values corresponding to are saved and learning is carried out.

Therefore, the longer the user wears the wearable suit W, the more personalized information that can be driven to suit the user can be built.

As shown in FIG. 8, by adding measurement values for walking speed and center of gravity in real time through the user (H)'s gait, the first fall (fall prevention), and the second fall (fall), personalization of only the user (H) Information 240 may be generated.

In addition, a situation in which the user H's gait changes according to the weather may be reflected in the personalized information 240 .

For example, walking speed on a rainy day may be, on average, slower than walking speed on a sunny day.

And because you use an umbrella, your center of gravity can change.

In addition, when the user H walks, the center of gravity of walking and falling may be changed. This can be received by GPS or the like whether the location of the user H is located in the mountain.

By reflecting this personal user (H) information in the personalized information 240, the personalized information 240 of the user (H) may be classified according to a situation.

As shown in FIG. 9 , if the weather is clear and the location is a mountain in the morning, the personalized information 240 of type A may be provided to the driving unit 300 in the personalized information 240 .

Alternatively, if the weather is rainy and it is located in the city center in the afternoon, typeB may be provided to the driving unit 300 in the user (H) personalized information 240 .

In this way, the measured value is reflected in real time while the user (H) wears the wearable suit and moves in the pre-learned behavior pattern 220, and the information of the user (H) is reflected to assist walking and the weight set according to the situation The state of the user (H) can be grasped at the center.

As described above, preferred embodiments according to the present invention have been described, and the fact that the present invention can be embodied in other specific forms without departing from the spirit or scope of the present invention in addition to the above-described embodiments is one of ordinary skill in the art. It is obvious to them. Therefore, the above-described embodiments are to be regarded as illustrative rather than restrictive, and accordingly, the present invention is not limited to the above description, but may be modified within the scope of the appended claims and their equivalents.

100: measurement unit
200: judgment unit
220: behavior pattern
240: personalization information
300: drive unit

Claims (10)

It includes an IMU sensor that is attached to the user's body and measures the position, speed, and direction of the movement of the center of gravity, and a soft sensor that measures the movement of the user's muscles or joints, and measures a signal for the user's movement to measure the measured value a measurement unit to collect and
a determination unit that determines whether the user corresponds to either a walking state or a falling state by matching the measured value with a behavior pattern in which a walking area and a falling area are divided according to the user's center of gravity; and
Including a driving unit that is provided so as to support the user's joints and assist the user with muscle strength, so that the user can wear it,
The determination unit learns the user's own gait area and fall area based on the measurement value that is continuously collected by the measurement unit for the center of gravity generated according to the movement of the user through the measurement unit in the stored measurement value. A behavior pattern is defined as personalized information, and the behavior pattern defined as the personalized information corresponds to the user's movement by storing the measurement value newly collected by the measurement unit and matching the measurement value,
When the user's center of gravity corresponds to the gait region, the gait period is calculated through the measured value from the soft sensor, the gait period is transmitted to the driving unit, and the driving unit responds to the gait period so that the user's knee moves It assists joints or muscle strength to be stretched or contracted, and when the user's center of gravity is moved to the fall region, it is characterized in that the driving unit is stretched to prevent a fall,
User adaptive wearable suit.
According to claim 1,
The judging unit,
When the user is in the falling state,
characterized in that the information on which the user's center of gravity is moved is stored in the personalized information in real time,
User adaptive wearable suit.
3. The method of claim 2,
The personalization information is
characterized in that the boundary between the gait region in which the measured values are collected in the gait state and the fall region in which the measured values are collected in the fall state is changed in real time,
User adaptive wearable suit.
3. The method of claim 2,
The judging unit,
It is characterized in that by determining the position where the user's center of gravity is moved, the fall state is divided into a first fall in which a fall starts and a second fall in contact with the impact object,
User adaptive wearable suit.
4. The method of claim 3,
The judging unit,
Characterized in determining the direction in which the user's center of gravity moves,
User adaptive wearable suit.
delete According to claim 1,
The judging unit,
characterized in that the forward speed of the user's right leg and left leg is stored in the personalized information,
User adaptive wearable suit.
According to claim 1,
The measurement unit,
A plurality of sensors are provided to be interlocked with each other to form a virtual center of gravity area for the movement of the user's center of gravity,
User adaptive wearable suit.
According to claim 1,
characterized in that it comprises a driving unit that assists the user's movement through the personalization information of the determination unit,
User adaptive wearable suit.
delete

Images