KR102377952B1 - System and method for evaluation of exercise capacity of lower limb - Google Patents

Abstract

The lower extremity exercise ability evaluation system according to an embodiment of the present invention comprises: an instruction unit for instructing a movement direction of a lower extremity to a subject; a measuring unit for measuring the force exerted on the subject's lower extremities; and an evaluation unit that evaluates the exercise ability of the subject's lower extremities based on the measured force, wherein the measuring unit measures the force exerted on the subject's left knee and outputs first data wealth; a second sensor unit for outputting second data by measuring the force exerted on the right knee of the subject; a third sensor unit for outputting third data by measuring the force exerted on the subject's left ankle; and a fourth sensor unit for outputting fourth data by measuring the force exerted on the right ankle of the subject, wherein the evaluation unit includes the indicated movement direction, the first data, the second data, and the third data. and evaluating the lower extremity exercise ability of the subject based on the fourth data.

Description

{System and method for evaluation of exercise capacity of lower limb}

The present invention relates to a system and method for evaluating lower extremity exercise capacity, and more particularly, to a system and method for evaluating lower extremity exercise capacity for stroke patients.

[Description of state-funded R&D]

This study was conducted with the support of the National Institute of Science and Technology Creative Convergence Research Project (No. CAP-18-01-KIST) under the supervision of the Korea Institute of Science and Technology.

Patients who have undergone knee or ankle surgery, stroke patients, etc., should undergo continuous lower extremity exercise ability tests for rehabilitation, and receive a prescription for rehabilitation or exercise therapy according to the test results.

Conventionally, medical staff have evaluated the knee condition of the patient by visually observing the movement of the patient. However, it was difficult to provide objective information in the evaluation of the medical staff.

Accordingly, by extracting objective data related to lower extremity exercise, diagnostic convenience for medical staff can be improved, and a lower extremity exercise ability evaluation method is being developed that minimizes the intervention of medical personnel in the exercise performance process.

delete

1. Unexamined Patent Publication No. 10-2019-0066221 (2019.06.13.) 2. Patent Publication No. 10-2018-0130834 (2018.12.10.) 3. Patent Publication No. 10-2015-0090355 (2015.08.06.)

Conventional methods for evaluating lower extremity exercise capacity have evaluated lower extremity exercise capacity through electromyography, joint angle estimated through IMU, and the like. However, it is difficult to evaluate in which direction the force is exerted on the ground only by electromyography and joint angle.

An object of the present invention is to solve the problems of the prior art described above, and to provide a more accurate lower extremity exercise ability evaluation system and method by simultaneously evaluating the force control ability in both legs, feet and knees.

The lower extremity exercise ability evaluation system according to an embodiment of the present invention comprises: an instruction unit for instructing a movement direction of a lower extremity to a subject; a measuring unit for measuring the force exerted on the subject's lower extremities; and an evaluation unit that evaluates the exercise ability of the subject's lower extremities based on the measured force, wherein the measuring unit measures the force exerted on the subject's left knee and outputs first data wealth; a second sensor unit for outputting second data by measuring the force exerted on the right knee of the subject; a third sensor unit for outputting third data by measuring the force exerted on the subject's left ankle; and a fourth sensor unit for outputting fourth data by measuring the force exerted on the right ankle of the subject, wherein the evaluation unit includes the indicated movement direction, the first data, the second data, and the third data. and evaluating the lower extremity exercise ability of the subject based on the fourth data.

According to an embodiment of the present invention, the measurement unit includes a seat portion on which the subject can be seated.

According to an embodiment of the present invention, the measuring unit includes a plate, and the first sensor part includes: a first support part fixed on the plate; a first force sensor connected to the support; and a first binding part connected to the force sensor and bound to the left shin of the subject, wherein the second sensor part includes: a second support part fixed on the plate; a second force sensor connected to the support; and a second binding part connected to the force sensor and coupled to the right shin of the subject.

According to an embodiment of the present invention, the measuring unit includes a plate, and the third sensor part includes: a third support part fixed on the plate; a third force sensor connected to the support; and a third binding part connected to the force sensor and binding the left ankle of the subject, wherein the fourth sensor part includes: a fourth support part fixed on the plate; a fourth force sensor connected to the support; and a fourth binding part connected to the force sensor and binding the right ankle of the subject.

According to an embodiment of the present invention, the first to fourth sensor units each include a force sensor for measuring a force in at least two or more directions among three directions perpendicular to each other.

According to an embodiment of the present invention, each of the first to fourth sensor units includes a force sensor for measuring a torque centered in at least one of the three directions perpendicular to each other.

According to an embodiment of the present invention, the evaluation unit determines a first association by comparing the first data and the third data, and determines a second association by comparing the second data and the fourth data do.

According to an embodiment of the present invention, the evaluation unit determines the third association by comparing at least one of the first data and the second data with at least one of the second data and the fourth data.

According to an embodiment of the present invention, the evaluation unit determines the direction of the force exerted on at least one of the left knee and the left ankle based on at least one of the first data and the third data, A fourth correlation is determined by comparing the direction of force with the direction of movement indicated by the indicator, and the evaluation unit is configured to determine one of the right knee and the right ankle based on at least one of the second data and the fourth data. The direction of the force exerted in at least one is determined, and the fifth association is determined by comparing the determined direction of the force and the direction of movement indicated by the indicator.

According to an embodiment of the present invention, the evaluation unit may compare the first data, the second data, the third data, and the fourth data measured from the first subject to the first data measured from the second subject. , the second data, the third data, and the fourth data are compared to evaluate the lower extremity exercise ability of the first test subject.

A method for evaluating lower extremity exercise ability according to an embodiment of the present invention, an instruction step of instructing an instruction unit to instruct a subject to exercise a lower extremity direction; a measuring step of measuring, by a measuring unit, a force exerted on the subject's lower extremities; and an evaluation step in which the evaluation unit evaluates the exercise ability of the subject's lower extremities based on the measured force, wherein the measuring step includes a first sensor unit measuring the force exerted on the subject's left knee to perform a first a first sensing step of outputting data; a second sensing step of outputting second data by a second sensor unit measuring a force exerted on the right knee of the subject; a third sensing step of outputting third data by measuring a force exerted by a third sensor unit on the subject's left foot; and a fourth sensing step of outputting fourth data by a fourth sensor unit measuring the force exerted on the right foot of the subject, wherein the evaluation step includes the indicated movement direction, the first data, and the second data , evaluates the lower extremity exercise ability of the subject based on the third data and the fourth data.

According to an embodiment of the present invention, the measurement unit includes a seat portion on which the subject can be seated.

According to an embodiment of the present invention, the measuring unit includes a plate, and the first sensor part includes: a first support part fixed on the plate; a first force sensor connected to the support; and a first binding part connected to the force sensor and bound to the left shin of the subject, wherein the second sensor part includes: a second support part fixed on the plate; a second force sensor connected to the support; and a second binding part connected to the force sensor and coupled to the right shin of the subject.

According to an embodiment of the present invention, the measuring unit includes a plate, and the third sensor part includes: a third support part fixed on the plate; a third force sensor connected to the support; and a third binding part connected to the force sensor and binding the left foot of the subject, wherein the fourth sensor part includes: a fourth support part fixed on the plate; a fourth force sensor connected to the support; and a fourth binding part connected to the force sensor and binding the right foot of the subject.

According to an embodiment of the present invention, the first to fourth sensor units each include a force sensor for measuring a force in at least two or more directions among three directions perpendicular to each other.

According to an embodiment of the present invention, each of the first to fourth sensor units includes a force sensor for measuring a torque centered in at least one of the three directions perpendicular to each other.

According to an embodiment of the present invention, in the evaluation step, a first correlation is determined by comparing the first data and the third data, and a second correlation is determined by comparing the second data and the fourth data. do.

According to an embodiment of the present invention, in the evaluating step, the third correlation is determined by comparing at least one of the first data and the second data with at least one of the second data and the fourth data.

According to an embodiment of the present invention, the evaluation step determines a direction of a force exerted on at least one of the left knee and the left foot based on at least one of the first data and the third data, A fourth correlation is determined by comparing the direction of the force with the direction of movement indicated by the indicator, and the evaluation step is performed on the basis of at least one of the second data and the fourth data among the right knee and the right foot. The direction of the force exerted by at least one is determined, and the fifth association is determined by comparing the determined direction of the force and the direction of movement indicated by the indicator.

According to an embodiment of the present invention, in the evaluation step, the first data measured from the first subject, the second data, the third data, and the fourth data measured from a second subject , the second data, the third data, and the fourth data are compared to evaluate the lower extremity exercise ability of the first test subject.

According to an embodiment of the present invention, the ability to independently control the force of the knee and the foot through the force exerted on the ankle and the knee may be evaluated.

Also, according to an embodiment of the present invention, the ability to independently control the right lower extremity and the left lower extremity may be evaluated.

According to an embodiment of the present invention, in the case of patients with poor posture control ability in clinical practice, it is possible to stably evaluate force control in a sitting posture.

According to an embodiment of the present invention, the force control ability of a normal person and a patient can be quantitatively evaluated and compared by inducing the exertion of force in the foot and knee in a specific direction in a sitting posture through visual feedback.

1 is a block diagram of a lower extremity exercise ability evaluation system according to an embodiment of the present invention.
Figure 2 shows an embodiment of the lower extremity exercise ability evaluation system.
3 is a perspective view of a measurement unit according to an embodiment of the present invention;
4 to 6 are flowcharts of a lower extremity exercise ability evaluation method according to an embodiment of the present invention.

Advantages and features of the present invention and methods of achieving them will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but will be implemented in a variety of different forms, and only these embodiments allow the disclosure of the present invention to be complete, and common knowledge in the technical field to which the present invention belongs It is provided to fully inform the possessor of the scope of the invention, and the present invention is only defined by the scope of the claims. Accordingly, in some embodiments, well-known process steps, well-known device structures, and well-known techniques have not been specifically described in order to avoid obscuring the present invention. Like reference numerals refer to like elements throughout.

The terminology used herein is for the purpose of describing the embodiments and is not intended to limit the present invention. In this specification, the singular also includes the plural unless specifically stated otherwise in the phrase. As used herein, "comprises" and/or "comprising" refers to the presence of one or more other components, steps, operations and/or elements mentioned. or addition is not excluded.

In this specification, terms such as first, second, third, etc. may be used to describe various components, but these components are not limited by the terms. The above terms are used for the purpose of distinguishing one component from other components. For example, without departing from the scope of the present invention, a first component may be referred to as a second or third component, and similarly, the second or third component may be alternately named.

Unless otherwise defined, all terms (including technical and scientific terms) used herein may be used with the meaning commonly understood by those of ordinary skill in the art to which the present invention belongs. In addition, terms defined in a commonly used dictionary are not to be interpreted ideally or excessively unless clearly defined in particular.

In order to clearly explain the present invention, parts irrelevant to the description are omitted, and the same reference numerals are given to the same or similar components throughout the specification.

Hereinafter, embodiments of the present invention will be described with reference to FIGS. 1 to 4 .

1 is a block diagram of a lower extremity exercise ability evaluation system according to an embodiment of the present invention.

Referring to FIG. 1 , the lower extremity exercise ability evaluation system includes an instruction unit 100 , a measurement unit 200 , and an evaluation unit 300 .

The instruction unit 100 instructs the subject to move the lower extremities in an image or sound. More specifically, the instruction unit 100 selects a specific part and a specific motion to instruct the subject. For example, the instruction unit 100 selects at least one of a left knee, a right knee, a left ankle, and a right ankle, and notifies the subject. In addition, the instruction unit 100 selects and informs an operation to be performed with respect to the selected portion and a direction thereof. For example, motions such as bending/extension of the knee, raising/lowering the knee, opening/closing the knee, rotating the ankle, twisting the ankle, and stretching/folding the ankle, and the direction thereof may be displayed. The direction may be visually displayed by an arrow or the like, and the arrow or the like may be displayed by being rotated at an angle corresponding to the direction in which it should be moved.

The sensor unit 200 is a first sensor unit (left knee sensor unit, 210) that measures the force exerted on the subject's left knee and outputs first data, and measures the force exerted on the subject's right knee to output second data The second sensor unit (right knee sensor unit, 220) that outputs and a fourth sensor unit (right ankle sensor unit, 240) for outputting fourth data by measuring the force exerted in the .

Each of the sensor units 210 , 220 , 230 , and 240 may measure the magnitude of the force exerted in the X-axis, Y-axis, and Z-axis directions at the corresponding portion, respectively. In addition, each of the sensor units 210 , 220 , 230 , and 240 may measure the magnitude of torque exerted around the X-axis, Y-axis, and Z-axis at the corresponding portion, respectively.

The evaluation unit 300 receives the first, second, third, and fourth data output from each of the sensor units 210 , 220 , 230 , and 240 , and performs the operation indicated by the instruction unit 100 and the output second data. Based on the first, second, third, and fourth data, the subject's lower extremity motor ability is evaluated. A detailed operation of the evaluation unit 300 will be described later.

2 shows an embodiment of the lower extremity exercise ability evaluation system. 3 is a perspective view of a measurement unit according to an embodiment of the present invention;

As described above, the lower extremity exercise ability evaluation system according to an embodiment of the present invention includes an instruction unit 100 and a measurement unit 200 . Referring to FIG. 2 , in a state in which the foot and shin of the subject are bound to the measurement unit 200 according to an embodiment of the present invention, the force exerted on the ankle and knee may be measured.

As shown in FIG. 2 , the measurement unit 200 may include a seat unit 250 on which a subject can be seated. The seat unit 250 may include a belt for fixing the upper body of the subject. The seat unit 250 may be fixed to a floor or a plate 260 to which the sensor units 210 , 220 , 230 , and 240 are fixed. Alternatively, the seat unit 250 may include wheels to be movable. The height of the seat unit 250 may be changed according to the physical condition of the subject or circumstances to be provided. The seat unit 250 may rotate in a left and right direction. Alternatively, the seat unit 250 may be fixed so as not to rotate.

As shown in FIG. 2 , the instruction unit 100 may work with the image output device 110 located in front of the subject. For example, the subject operates according to the motion part, motion type, and motion direction output from the image output device 110 in the front, and the measurement unit 200 measures the force issued from each part accordingly and evaluates it as an evaluation unit (300).

Referring to FIG. 3 , the measurement unit 200 according to an embodiment of the present invention includes a left knee sensor unit (first sensor unit, 210), a right knee sensor unit (second sensor unit, 220), and a left ankle sensor unit. (third sensor unit 230), the right ankle sensor unit (fourth sensor unit, 240) and includes a plate (260). Left knee sensor unit (first sensor unit, 210), right knee sensor unit (second sensor unit, 220), left ankle sensor unit (third sensor unit, 230), and right ankle sensor unit (fourth sensor unit, 240) ) measures the force exerted on the corresponding part of the subject at the same time.

The left knee sensor unit 210 measures the force exerted on the subject's left knee.

The left knee sensor unit 210 is connected to a first support portion 211 fixed on the plate 260 , a first force sensor 212 connected to the first support portion 211 , and a first force sensor 212 , and the test subject and a first binding part 213 to which the left shin of the shank is bound. The lower end of the first support 211 is fixed to the plate 260 , and the upper end is connected to the first force sensor 212 . The first force sensor 212 is located at the height of the subject's knee. The upper end of the first binding unit 213 is connected to the first force sensor 212 and the lower end is not fixed. The left shin of the subject is bound to the first binding unit 213 .

Accordingly, the force exerted on the left knee may be transmitted to the first force sensor 212 through the first coupling portion 213 . The first binding part 213 may further include a reporting binding part capable of reliably binding the shin according to the thickness and length of the subject's shin.

The first force sensor 212 may measure the magnitude of the force exerted in one, two or three directions of the X-axis, the Y-axis, and the Z-axis on the left knee, respectively. In addition, the first force sensor 212 may measure the magnitude of the torque exerted in one, two or three directions of the X-axis, the Y-axis, and the Z-axis in the left knee, respectively. The first force sensor 212 may include a 6-axis force/torque sensor. The X axis may refer to a direction parallel to the plate 260 and facing the front of the subject, the Y axis may refer to a direction parallel to the plate 260 and perpendicular to the X axis, and the Z axis may refer to a direction perpendicular to the plate 260 .

The first force sensor 212 measures the force exerted on the subject's left knee and transmits first data thereto to the evaluation unit 300 . The first data may include the magnitude of the aforementioned force/torque in each axial direction.

The right knee sensor unit 220 measures the force exerted on the subject's right knee. The right knee sensor unit 210 is connected to the second support portion 221 fixed on the plate 260 , the second force sensor 222 connected to the second support portion 221 , and the second force sensor 222 , and the test subject and a second binding part 223 to which the right shin of the shin is bound. Since the right knee sensor unit 220 has a symmetric structure with the left knee sensor unit 210 , a detailed description thereof will be omitted.

The left ankle sensor unit 230 measures the force exerted on the subject's left ankle.

The left ankle sensor unit 230 is connected to the third support portion 231 fixed on the plate 260 , the third force sensor 232 connected to the third support portion 231 and the third force sensor 232 , and the test subject It includes a third binding portion 233 to which the left foot of the is bound. The lower end of the third support 231 is fixed to the plate 260 , and the upper end is connected to the third force sensor 232 . The third force sensor 232 is located below the third coupling part 233 . Accordingly, the force exerted by the left ankle may be transmitted to the third force sensor 232 through the third coupling part 233 . The third binding part 233 may further include a reporting binding part that can be reliably bound according to the thickness and length of the subject's foot.

The third force sensor 232 may measure the magnitude of the force exerted in one, two or three directions of the X-axis, the Y-axis, and the Z-axis at the left ankle, respectively. In addition, the third force sensor 232 may measure the magnitude of the torque exerted around one, two or three directions of the X-axis, the Y-axis, and the Z-axis in the left ankle, respectively. The third force sensor 232 may include a 6-axis force/torque sensor.

The third force sensor 232 measures the force exerted on the subject's left ankle and transmits third data thereto to the evaluation unit 300 . The third data may include the magnitude of the aforementioned force/torque in each axial direction.

The right ankle sensor unit 240 measures the force exerted on the subject's right ankle. The right ankle sensor unit 210 is connected to a fourth support part 241 fixed on the plate 260 , a fourth force sensor 242 connected to the fourth support part 241 , and a fourth force sensor 242 , and the test subject and a fourth binding part 243 to which the right foot of the right ankle Since the sensor unit 240 has a symmetric structure with the left ankle sensor unit 230 , a detailed description thereof will be omitted.

4 to 6 are flowcharts of a lower extremity exercise ability evaluation method according to an embodiment of the present invention.

First, the instruction unit 100 instructs the subject to move the lower extremities in an image or sound (S100). More specifically, the instruction unit 100 selects at least one part of a left knee, a right knee, a left ankle, and a right ankle, and selects an operation to be performed on the selected part and a direction thereof, and the image output device 110 . to be displayed in The direction of movement may be visually indicated by an arrow, etc., and the arrow may be displayed by being rotated at an angle corresponding to the direction in which the movement is to be performed.

Next, the sensor unit 200 measures the respective forces exerted on the subject's left knee, right knee, left ankle, and right ankle, and outputs first to fourth data ( S200 ).

Referring to Figure 5, the force measurement step (S200) is a step of outputting first data by the left knee sensor unit 210 measuring the force exerted on the subject's left knee (S210), the right knee sensor unit 220 A step of measuring the force exerted on the subject's right knee and outputting second data (S220), the left ankle sensor unit 230 measuring the force exerted on the subject's left ankle and outputting the third data ( S230) and the right ankle sensor unit 240 measures the force exerted on the subject's right ankle and outputs fourth data (S240). Each step ( S210 , S220 , S230 , and S240 ) is simultaneously performed by the sensor units 210 , 220 , 230 , and 240 independent of each other. Accordingly, each force exerted on the left knee, the right knee, the left ankle, and the right ankle can be independently and simultaneously measured while the subject performs one motion.

Next, the evaluation unit 300 receives the first, second, third, and fourth data output from each of the sensor units 210 , 220 , 230 , and 240 , and performs the operation indicated by the instruction unit 100 and Based on the output first, second, third, and fourth data, the exercise ability of the subject's lower extremities is evaluated ( S300 ).

6 , the evaluation step (S300) includes the knee/ankle independent control ability evaluation step (S310), the left/right lower extremity independent control ability evaluation step (S320), the force direction accuracy evaluation step (S330), and multiple It may include at least one of the data comparison step (S340) of the subject.

In the knee/ankle-to-ankle independent control capability evaluation step ( S310 ), the evaluation unit 300 evaluates the left knee on the basis of the first data on the force exerted on the left knee and the third data on the force exerted on the left ankle and how independent control of the left ankle is. The evaluation unit 300 compares the first data regarding the force exerted on the left knee with the third data regarding the force exerted on the left ankle to determine a first association, and based on the determined first association, the examinee selects the left knee and how independent control of the left ankle is.

For example, the instruction unit 100 instructs a specific motion to the left lower extremity, and measures the force exerted on the left knee and left ankle. The force exerted by each repetition for various motions may be measured. A first association indicating how independently the knee and the foot are controlled may be determined based on the indicated motion, the first data, and the third data. The higher the correlation, the lower the independent control ability can be evaluated.

Similarly, the evaluation unit 300 determines how independently the subject can control the right knee and the right ankle based on the second data on the force exerted on the right knee and the fourth data on the force exerted on the right ankle Evaluate. The evaluation unit 300 compares the second data regarding the force exerted on the right knee with the fourth data regarding the force exerted on the right ankle to determine a second association, and based on the determined second association, the examinee selects the left knee and how independent control of the left ankle is.

The evaluation unit 300 may evaluate the lower extremity exercise ability by comparing the first association with the second association. For example, if the difference between the first association and the second association is relatively large, it may be determined that the motor ability of at least one of the lower extremities is reduced due to hemiplegia or the like.

The evaluation unit 300 may compare the first association and the second association of the first examinee with the first association and the second association of the second examinee to evaluate the lower extremity exercise ability. For example, the second test subject may be a normal person who does not have a stroke.

The evaluation unit 300 may include a model machine-learned by the first to fourth data measured by a plurality of stroke patients and settlers. The evaluation unit may evaluate the independent control ability between the knee/ankle of each lower extremity, using the machine-learned model.

In the evaluation step (S320) of independent control ability between the left and right lower extremities, the evaluation unit 300 compares the first and third data on the force exerted on the left knee and ankle with the second data on the force exerted on the right knee and ankle and the fourth data to evaluate how independently the subject can control the left and right lower extremities. The evaluation unit 300 compares the first and third data regarding the force exerted on the left lower extremity with the second and fourth data regarding the force exerted on the right lower extremity to determine a third association, and determines the third association according to the determined first association. Based on the evaluation, how independently the subject can control the left and right lower extremities is evaluated.

The force exerted by each repetition for various motions may be measured. A third association indicating how independently the left lower extremities and the right lower extremities are controlled may be determined based on the indicated motion and the first to fourth data. The higher the correlation, the lower the independent control ability can be evaluated.

For example, the instruction unit 100 instructs a specific motion to the left lower extremity, measures the force exerted in the left lower extremity and the right lower extremity to determine the third association. In addition, the instruction unit 100 instructs a specific motion to the right lower extremity, and measures the force exerted in the left lower extremity and the right lower extremity to determine the third association. If the difference between the third correlation determined in the two cases is relatively large, it may be determined that the motor ability of at least one of the lower extremities is reduced due to hemiplegia or the like.

The evaluation unit 300 may compare the third association of the first examinee with the third association of the second examinee to evaluate the lower extremity exercise ability. For example, the second test subject may be a normal person who does not have a stroke.

The evaluation unit 300 may include a model machine-learned by the first to fourth data measured by a plurality of stroke patients and settlers. The evaluation unit may evaluate the independent control ability between the left lower extremity and the right lower extremity, using the machine-learned model.

In the force direction accuracy evaluation step (S330), the evaluation unit 300 determines how accurate the left lower extremity is by the evaluation unit 300 based on the first data regarding the force exerted on the left knee and the third data regarding the force exerted on the left ankle. to evaluate if it can be controlled. The evaluation unit 300 compares the first data on the force exerted on the left knee and the third data on the force exerted on the left ankle with the direction of the motion indicated by the instruction unit 100 to determine a fourth association, , it is evaluated how accurately the subject can control the left lower extremity based on the determined first association.

For example, the instruction unit 100 instructs an operation to extend the left foot at an angle of 45 degrees to the left in the X-axis direction, and measures the force exerted on the left knee and the left ankle. The direction of the force actually exerted on the ankle and the knee is compared with the indicated direction based on the first data and the third data. As the two directions coincide, it may be determined that the fourth correlation is higher. The force exerted by each repetition for various motions may be measured. The higher the fourth correlation, the higher the left lower extremity motor ability can be evaluated.

Similarly, the evaluation unit 300 evaluates how accurately the subject can control the right lower extremity based on the second data on the force exerted on the right knee and the fourth data on the force exerted on the right ankle . The evaluation unit 300 compares the second data on the force exerted on the right knee and the fourth data on the force exerted on the right ankle with the direction of the motion indicated by the instruction unit 100 to determine a fifth association, , evaluates how accurately the subject can control the left lower extremity based on the determined fifth association.

The evaluation unit 300 may evaluate the lower extremity exercise ability by comparing the fourth association with the fifth association. For example, if the difference between the fourth association and the fifth association is relatively large, it may be determined that the motor ability of at least one of the lower extremities is reduced due to hemiplegia or the like.

The evaluation unit 300 may compare the fourth association and the fifth association of the first examinee with the fourth association and the fifth association of the second examinee to evaluate the lower extremity exercise ability. For example, the first examinee may be a stroke patient, and the second examinee may be a normal person.

The evaluation unit 300 may include a model machine-learned by the first to fourth data measured by a plurality of stroke patients and settlers. The evaluation unit may use the machine-learned model to evaluate the force direction accuracy control ability of each lower extremity.

In the data comparison step ( S340 ) of the plurality of subjects, the evaluation unit 300 compares the first data, the second data, the third data, and the fourth data measured from the first subject to the first data measured from the second subject, the second The second data, the third data, and the fourth data may be compared to evaluate the lower extremity exercise ability of the first test subject.

The data comparison step (S340) of multiple subjects includes the aforementioned knee/ankle independent control ability evaluation step (S310), left/right lower extremity independent control ability evaluation step (S320), force direction accuracy evaluation step (S330) and multiple subjects may be included in the data comparison step (S340) of

The evaluation unit 300 may include a machine-learned model based on measurement data for a plurality of subjects. A plurality of subjects may include stroke patients and settlers. Each measurement data may include first to fourth data and data related to an operation indicated by the instruction unit 300 . The machine-learning model may determine characteristics related to lower extremity motor ability by learning with measurement data for a plurality of subjects.

The evaluation unit 300 may evaluate the degree of similarity by comparing the measured data of the first subject with the measured data of the stroke patient. Alternatively, the evaluation unit 300 may evaluate the degree of similarity by comparing the measurement data of the first subject with the measurement data of the normal patient.

On the other hand, in the embodiments of the present invention, in particular, the evaluation unit 300 can be implemented as a computer-readable code on a computer-readable recording medium. The computer-readable recording medium includes all types of recording devices in which data readable by a computer system is stored.

Examples of computer-readable recording media include ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, etc. include In addition, the computer-readable recording medium is distributed in a computer system connected to a network, so that the computer-readable code can be stored and executed in a distributed manner. And functional programs, codes, and code segments for implementing the present invention can be easily inferred by programmers in the technical field to which the present invention pertains.

In the above, embodiments of the present invention have been described with reference to the accompanying drawings, but those of ordinary skill in the art to which the present invention pertains may be embodied in other specific forms without changing the technical spirit or essential features of the present invention. You will understand that you can. Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive.

instruction unit (100)
measuring unit (200)
Left knee sensor unit 210
Right knee sensor unit 220
Left ankle sensor unit 230
Right ankle sensor unit 240
evaluation unit (300)
Knee/ankle-to-ankle independent control ability evaluation unit 310
Independent control ability evaluation unit 320 between left and right lower extremities
Force direction accuracy evaluation unit (330)
Data comparison unit 340 of multiple subjects

Claims (20)

an instruction unit for instructing the subject in a direction of motion of the lower extremities;
a measuring unit for measuring the force exerted on the subject's lower extremities; and
Including; an evaluation unit for evaluating the lower extremity exercise ability of the subject based on the measured force;
The measurement unit is
a first sensor unit that measures the force exerted on the subject's left knee and outputs first data;
a second sensor unit for outputting second data by measuring the force exerted on the right knee of the subject;
a third sensor unit for outputting third data by measuring the force exerted on the subject's left ankle; and
and a fourth sensor unit for outputting fourth data by measuring the force exerted on the right ankle of the subject,
the evaluation unit evaluates the lower extremity exercise ability of the subject based on the indicated movement direction, the first data, the second data, the third data, and the fourth data;
and the evaluation unit includes a model machine-learned by the first, second, third and fourth data for a plurality of subjects. According to claim 1,
The measurement unit includes a seat portion on which the test subject can sit, the lower extremity exercise ability evaluation system. According to claim 1,
The measuring unit comprises a plate,
The first sensor unit,
a first support fixed on the plate;
a first force sensor connected to the support; and
It is connected to the force sensor and includes a first binding part to which the left shin of the subject is bound,
The second sensor unit,
a second support fixed on the plate;
a second force sensor connected to the support; and
and a second coupling part connected to the force sensor and coupled to the right shin of the subject. According to claim 1,
The measuring unit comprises a plate,
The third sensor unit,
a third support fixed on the plate;
a third force sensor connected to the support; and
It is connected to the force sensor and includes a third binding part to which the left ankle of the subject is bound,
The fourth sensor unit,
a fourth support fixed on the plate;
a fourth force sensor connected to the support; and
A system for evaluating lower extremity exercise ability, which is connected to the force sensor and includes a fourth binding part to which the right ankle of the subject is bound. According to claim 1,
The first to fourth sensor units each include a force sensor for measuring a force in at least two of three directions perpendicular to each other, lower extremity exercise ability evaluation system. 6. The method of claim 5,
Each of the first to fourth sensor units comprises a force sensor for measuring a torque centered in at least one of the three directions perpendicular to each other, the lower extremity exercise ability evaluation system. According to claim 1,
and the evaluation unit determines a first association by comparing the first data with the third data, and determines a second association by comparing the second data with the fourth data. According to claim 1,
and the evaluation unit compares at least one of the first data and the second data with at least one of the second data and the fourth data to determine a third association. According to claim 1,
The evaluation unit determines a direction of a force exerted on at least one of the left knee and the left ankle based on at least one of the first data and the third data, and the determined direction of the force and the instruction unit indicate determining a fourth association by comparing the direction of movement,
The evaluation unit determines a direction of a force exerted on at least one of the right knee and the right ankle based on at least one of the second data and the fourth data, and the determined direction of the force and the instruction unit indicate and determining a fifth association by comparing the movement directions. According to claim 1,
The evaluation unit compares the first data, the second data, the third data, and the fourth data measured from a first subject to the first data, the second data, and the third data measured from a second subject. and comparing the fourth data to evaluate the lower extremity exercise ability of the first test subject, the lower extremity exercise capacity evaluation system. an instruction step of instructing, by the instruction unit, the movement direction of the lower extremity to the subject;
a measuring step of measuring, by a measuring unit, a force exerted on the subject's lower extremities; and
An evaluation step of evaluating, by an evaluation unit, the lower extremity exercise ability of the subject based on the measured force;
The measuring step is
a first sensing step of measuring the force exerted by the first sensor unit on the subject's left knee and outputting first data;
a second sensing step of measuring the force exerted by the second sensor unit on the right knee of the subject and outputting second data;
a third sensing step of outputting third data by a third sensor unit measuring a force exerted on the subject's left foot; and
a fourth sensing step of outputting fourth data by measuring the force exerted by the fourth sensor unit on the right foot of the subject;
The evaluation step evaluates the lower extremity exercise ability of the subject based on the indicated movement direction, the first data, the second data, the third data, and the fourth data,
wherein the evaluation unit includes a model machine-learned by the first, second, third and fourth data for a plurality of subjects. 12. The method of claim 11,
The measuring unit includes a seat portion on which the test subject can sit, the lower extremity exercise ability evaluation method. 12. The method of claim 11,
The measuring unit comprises a plate,
The first sensor unit,
a first support fixed on the plate;
a first force sensor connected to the support; and
It is connected to the force sensor and includes a first binding part to which the left shin of the subject is bound,
The second sensor unit,
a second support fixed on the plate;
a second force sensor connected to the support; and
A method for evaluating lower extremity exercise ability, which is connected to the force sensor and includes a second binding part to which the right shin of the subject is bound. 12. The method of claim 11,
The measuring unit comprises a plate,
The third sensor unit,
a third support portion fixed on the plate;
a third force sensor connected to the support; and
and a third binding part connected to the force sensor and binding the left foot of the subject;
The fourth sensor unit,
a fourth support fixed on the plate;
a fourth force sensor connected to the support; and
A method for evaluating lower extremity exercise ability, which is connected to the force sensor and includes a fourth coupling part to which the right foot of the subject is bound. 12. The method of claim 11,
The first to fourth sensor units each include a force sensor for measuring a force in at least two or more of three directions perpendicular to each other, the lower extremity exercise ability evaluation method. 16. The method of claim 15,
Each of the first to fourth sensor units comprises a force sensor for measuring a torque centered on at least one of the three directions perpendicular to each other, the lower extremity exercise ability evaluation method. 12. The method of claim 11,
In the evaluating step, the first correlation is determined by comparing the first data and the third data, and the second correlation is determined by comparing the second data and the fourth data. 12. The method of claim 11,
The evaluation step compares at least one of the first data and the second data with at least one of the second data and the fourth data to determine a third association. 12. The method of claim 11,
The evaluation step determines a direction of a force exerted on at least one of the left knee and the left foot based on at least one of the first data and the third data, wherein the determined direction of the force and the instruction unit indicate determining a fourth association by comparing the direction of movement,
The evaluation step determines a direction of a force exerted on at least one of the right knee and the right foot based on at least one of the second data and the fourth data, wherein the determined direction of the force and the instruction unit indicate A method for evaluating lower extremity exercise ability to determine a fifth association by comparing the movement directions. 12. The method of claim 11,
In the evaluation step, the first data, the second data, the third data, and the fourth data measured from a first subject are the first data, the second data, and the third data measured from a second subject. and comparing the fourth data to evaluate the lower extremity exercise ability of the first test subject, the lower extremity exercise capacity evaluation method.

Images