KR20140070044A - Method and apparatus for estimation of joint motions capable of bio-feedback - Google Patents

Abstract

The present invention relates to a method and an apparatus for estimating joint motions capable of bio-feedback. The method for estimating joint motions according to one embodiment of the present invention includes a step of receiving the motion information of joints; a step of generating the motion graph of the joints; and a step of estimating the motion of the joints. According to one embodiment of the present invention, the motion graph of the joints includes the graph of a primary motion and the graph of a secondary motion.

Description

[0001] METHOD AND APPARATUS FOR ESTIMATION OF JOINT MOTIONS [0002] CAPABLE OF BIO-FEEDBACK [0003]

Embodiments of the present invention relate to a method and apparatus capable of easily evaluating joint motion without using expensive equipment and capable of providing biofeedback to a diagnosis person or a diagnosis subject according to an evaluation result.

In general, X-ray, magnetic resonance imaging (MRI), and computerized tomography (CT) are used as equipment for diagnosing abnormalities of joints and muscles.

X-ray refers to a radiation (electromagnetic wave) with high penetrating power that is emitted when a fast electron collides with an object. By using this, the inside of the object which can not be seen by the eye can be photographed, and the abnormality inside the human body can be diagnosed.

MRI (Magnetic Resonance Imager) is a high-tech medical device that can obtain any tomographic image of a living body by using a magnetic field generated by magnetic force. It is harmless to the human body and enables 3-D imaging It has excellent contrast and resolution, and can be used for both coronal and sagittal images. It can be used to diagnose abnormalities in the human body in various areas such as the central nervous system, head and neck, spine and spinal cord.

Computed Tomography (CT) is a computed tomography (CT) method using a CT scanner that projects an X-ray or the like on a human body at various angles and reconstructs the image with a computer to process the image of the internal surface of the human body as an image. And is widely used for diagnosis.

However, according to the diagnostic methods described above, the diagnosis is performed on the basis of the result of imaging in a state where the operation of the human body is stopped, so that there is a problem that the disorder occurring when the joint moves can not be diagnosed .

Accordingly, various studies are being conducted to diagnose an abnormality that occurs when the joint moves.

As a representative example of the prior art for the diagnosis of abnormal movement of the joint, there is a method (optical image analysis method) of analyzing the movement of the subject by using the image equipment and analyzing the captured image, A method of analyzing the motion by analyzing the disturbance of the electromagnetic field caused by the movement of the subject in the space where the electromagnetic field is formed, and the like.

However, in order to carry out the above-described conventional method for diagnosing anomalies in joint motion, a certain dedicated space and a large number of expensive equipments are required. In addition, according to the above-described prior art, after the diagnostic subject completes all the movements in accordance with the induction of the diagnostic person, all the image data or ultrasound data related to the movement of the joint is collected and the corresponding data is analyzed to generate a graph related to the movement There was a limit to the ability to perform diagnostics.

In order to solve the problems of the prior art as described above, the present invention can easily determine whether or not the movement of the joints is abnormal without using expensive equipment. In addition, according to the evaluation result, And to provide a method and apparatus capable of providing biofeedback for correction of movement or the like.

Other objects of the invention will be apparent to those skilled in the art from the following examples.

In order to achieve the above object, according to a preferred embodiment of the present invention, there is provided a method of correcting a motion of a joint caused by a motion of a coronal plane motion, a sagittal plane motion, and a horizontal plane motion Receiving movement information of the joint; And generating a motion graph of the joint using time and motion angles as axes using the motion information of the joints, wherein the motion graph of the joints includes a graph of a motion of a pivoting motion generated by any one of the motions, A graph of motion and a graph of axis rotation, wherein one of the motion graphs is a graph of Primary Motion, which is a motion required by any one of the motions, A graph of secondary motion, which is a motion not required by any one motion; And evaluating motion of the joint by analyzing a pattern of at least one motion graph including the graph of the main motion among the motion graphs.

Analysis of the pattern of the motion graph may correspond to analysis of the area formed by the motion graph and the time axis.

Wherein the step of evaluating the motion of the joint comprises the steps of: using a graph of the main motion and a ratio of a first area formed by the axis of time and a second area formed by the axis of time and the graph of the sub- It is possible to judge whether or not the movement of the joint is abnormal.

값이 기 설정된 값보다 작은 경우 상기 관절 움직임에 이상이 없는 것으로 판단하고,

값이 상기 기 설정된 값보다 큰 경우 상기 관절 움직임에 이상이 있는 것으로 판단할 수 있다. The step of evaluating the motion of the joint

When the value is smaller than the predetermined value, it is determined that there is no abnormality in the joint movement,

If the value is greater than the predetermined value, it can be determined that the joint movement is abnormal.

Wherein evaluating the motion of the joint comprises determining whether the movement corresponding to the graph of the sub-motion forming the second area is any of the coronal plane motion, the sagittal plane motion, and the horizontal plane motion, It is possible to further determine the cause of the motion of the joint based on the position on the axis of the time at which the peak point of the graph of the sub-movement occurred.

Wherein the main motion graph has a pattern of repeating rising and falling about a horizontal axis and the step of evaluating motion of the joints comprises calculating a positive peak value, a negative peak value and a positive peak value And a ratio of the negative peak value to the negative peak value.

Wherein the main motion graph has a pattern repeatedly rising and falling about a horizontal axis, and the step of evaluating the movement of the joints includes determining whether the movement of the joints is abnormal or not by using the degree of change of the slope of the main movement graph Can be determined.

Wherein the main motion graph has a pattern of repeating rising and falling about a horizontal axis, and the step of evaluating the motion of the joint may include calculating a motion of the joint using a degree of symmetry of a rising part and a falling part of the graph of the main movement, It is possible to judge whether or not there is an abnormality.

Wherein the main motion graph has a pattern of repeating rising and falling about a horizontal axis, and the step of evaluating the motion of the joint is based on whether or not a fluctuation occurs at a peak point of the graph of the main motion, It is possible to judge whether or not the movement of the joint is abnormal.

The method of evaluating the joint movement may include generating a warning message for warning that an abnormality has occurred in the joint movement or a guidance message for guiding movement of the joint as biofeedback information when it is determined that the joint movement is abnormal Step;

According to another embodiment of the present invention, there is provided a method of controlling movement of a joint, the method comprising: receiving a motion information of the joint generated by any one of a coronal motion, a sagittal motion, and a horizontal motion with respect to a joint; A graph generating unit for generating a motion graph of the joint using time and motion angles as axes based on the motion information of the joints, wherein the motion graph of the joint is a graph of coronal surface motion generated by any one of the motions, A sagittal plane motion graph and a horizontal plane motion graph, wherein a motion graph of any of the motion graphs is a graph of a main motion that is a motion required by any one of the motions, A graph of motion that is not required by motion; And a joint motion estimator for analyzing a pattern of at least one motion graph including the graph of the main motion among the motion graphs to evaluate motion of the joint.

The method and apparatus for evaluating joint motion according to the present invention have an advantage that it is possible to easily judge whether or not the joint movement is abnormal without using expensive equipment.

In addition, the method and apparatus for evaluating joint motion according to the present invention have an advantage in that biofeedback for calibrating exercise or movement can be provided to a diagnosis person or a diagnosis subject according to the evaluation result of joint motion.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a diagram showing a schematic configuration of an apparatus for evaluating joint motion according to an embodiment of the present invention; Fig.
FIG. 2 is a flowchart showing an overall flow of a joint motion evaluation method according to an embodiment of the present invention.
3 is a diagram showing an example in which an inertial measurement device is attached to a site where motion estimation is to be performed, according to an embodiment of the present invention.
4 is a diagram illustrating an example of a motion graph according to an embodiment of the present invention.

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail. It should be understood, however, that the invention is not intended to be limited to the particular embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention. Like reference numerals are used for like elements in describing each drawing.

Hereinafter, embodiments according to the present invention will be described in detail with reference to the accompanying drawings.

In general, when diagnosing an abnormality of a joint, a diagnosis requires a coronal plane motion, a sagittal plane motion, and a horizontal plane motion to the subject, respectively, Move the joints according to the type of movement.

According to one embodiment of the present invention, the coronal plane motion may be a lateral bending motion, the sagittal plane motion may be an extension / flexion motion, the horizontal plane motion may be an axial rotation motion Lt; / RTI > For example, in the case of the neck joint, the sagittal movement corresponds to the movement of lifting the head to the left and right so that the ear contacts the side of the shoulder, the extension / flexion movement corresponds to the movement of the head being lowered and lifted up, It corresponds to the movement of turning the head to the left and right as when denying "no".

When such a motion is performed, the diagnostic person observes joint movements (i.e., movements of the joints and peripheral muscles) according to the movement of the subject and evaluates the movement of the joints (for example, . ≪ / RTI >

However, even if the subject performs the motion according to the request of the diagnosis person, not only the motion required by the motion but also the motion not required by the motion occur to some extent together. For example, when a subject performs a coronal plane motion, the coronal plane motion occurs in the corresponding joint, but the sagittal plane movement and the horizontal plane movement occur together to some extent.

If there is no abnormality in the movement of the joint, when the person to be diagnosed performs the specific movement, the movement that is not required by the specific movement in the joint rarely occurs. However, if there is an abnormality in the movement of the joint, a relatively large amount of motion is not required by the specific movement in the joint.

In addition, the motion required by a particular motion may cause a different movement pattern when compared to a case where there is no abnormality in the movement of the joint if there is an abnormality in movement of the joint.

The apparatus and method for evaluating joint motion according to an embodiment of the present invention measures information on motion that occurs when performing a specific motion using a relatively low-cost motion measurement device such as an inertial measurement unit (IMU) And determines whether or not the movement of the joint is abnormal by analyzing the degree of occurrence of motion that is not required by the motion of the joint using the measured motion information and the pattern of occurrence of the required motion.

FIG. 1 is a view showing a schematic configuration of an apparatus for evaluating joint motion according to the above description.

1, an apparatus 100 for evaluating joint motion according to an exemplary embodiment of the present invention includes a receiving unit 110, a graph generating unit 120, a joint motion evaluating unit 130, a message generating unit 140, A display unit 150 and a sound output unit 160.

2 is a flowchart showing an overall flow of a joint motion evaluation method according to an embodiment of the present invention.

Hereinafter, the function of each component of the apparatus 100 for evaluating joint motion and the operation thereof (the method of evaluating joint motion) according to an embodiment of the present invention will be described in detail with reference to FIG. 1 and FIG.

First, in step S210, the receiving unit 110 receives joint motion information generated by any one of a coronal plane motion, a sagittal plane motion, and a horizontal plane motion with respect to a joint.

Here, the motion information of the joint may be acquired by a motion measurement apparatus and transmitted to the receiving unit 110 through wired or wireless communication. As described above, the motion information of the joint includes not only the information about the motion required by the motion but also information about the motion that is not required.

According to an embodiment of the present invention, the motion measurement device may be an inertial measurement unit. The inertial measurement device includes at least one of a plurality of accelerometers, a gyroscope, and a magnetometer, and a communication module. The inertial measurement device is attached to a portion adjacent to the joint, and generates velocity information and acceleration information , Geomagnetism change information, and the like, and transmits it to the outside. Here, the communication module may be a wireless communication module capable of wireless transmission.

For example, when motion information on the neck joint (cervical vertebrae) is generated in joints, the wireless inertial measurement device 300 may be attached to the forehead region of the subject to be diagnosed, as shown in FIG.

Next, in step S220, the graph generating unit 120 generates a graph related to the movement of the joints, each axis being time and motion angle, using the motion information of the received joint. The generated motion graph can be displayed through the display unit 150.

Here, the graph related to the motion of the joint can be generated with the time on the horizontal axis (x axis) and the motion angle on the vertical axis (y axis). In addition, as described above, the graph relating to the motion of the joint may include a coronal plane motion (for example, a pivotal motion), a sagittal plane motion (e.g., extension / flexion movement) caused by a specific motion performed by the subject, And a horizontal plane motion (e.g., axial rotation movement), respectively.

The motion graphs are classified into a graph for one primary motion and a graph for two secondary motions. Here, the main motion is a motion required by a specific motion (i.e., when the subject performs coronal motion, the main motion corresponds to coronal motion), and the minor motion is motion that is not required by a particular motion Coupling Motion (that is, when the subject performs coronal motion, the secondary motion corresponds to sagittal and horizontal motion).

For example, if the joint is a neck joint and the exercise performed by the subject is an extension / flexion exercise (a head lowering or lifting action), as shown in FIG. 4, the main / A graph 420 for the pivotal motion and a graph 430 for the pivotal motion can be generated. At this time, the main motion graph 410 has a pattern of repeating rising and falling about the horizontal axis.

Meanwhile, according to an embodiment of the present invention, the graph generating unit 120 may receive the motion information of the joint through the receiving unit 110 and may generate a motion graph in real time, Can be displayed on the display unit 150.

More specifically, in the case of a conventional technique for judging whether or not joint motion is abnormal by using an imaging device or an ultrasound device, the diagnosis subject completes all motions according to induction of a diagnosis person, There is a limitation in that it is possible to analyze the data only after the data is collected and to generate a graph related to the motion or perform a diagnosis.

However, according to the present invention, the motion information is received in real time from the motion measurement device, and the motion graph is generated with the time axis as the horizontal axis. Accordingly, the motion graph can be displayed in real time And may be displayed on the display unit 150.

Accordingly, the diagnoser can induce the motion of the subject by utilizing the motion graph displayed in real time. This will be described in more detail below.

Subsequently, in step S230, the joint motion estimation unit 130 analyzes the pattern of the at least one motion graph including the graph of the main motion among the motion graphs to evaluate the motion of the joint.

That is, the joint motion evaluating unit 130 analyzes the main motion graph to determine whether the movement of the joint is abnormal, or evaluates the movement of the joint by analyzing the main motion graph and the sub motion graph together.

According to an embodiment of the present invention, the joint motion estimation unit 130 can determine whether or not the joint motion is abnormal. Hereinafter, various embodiments will be described in detail with reference to FIG. 4, in which the joint motion estimation unit 130 analyzes the motion graph to determine whether or not the joint motion is abnormal.

1. Analysis of area or area ratio of motion graph

Referring to FIG. 4, the area formed by each motion graph and the time axis indicates the amount of rotation in the movement direction according to the corresponding motion. Accordingly, the joint motion estimation unit 130 can determine whether the movement of the joint is abnormal by analyzing the area formed by each motion graph and the time axis.

Here, the area defined by the main graph 410 and the time axis (hereinafter referred to as "first area") corresponds to the amount of rotation due to the motion required by the specific motion, And the area formed by the time axis (hereinafter referred to as "second area") correspond to the amount of rotation due to motion not required by the specific motion.

Therefore, according to an embodiment of the present invention, in step S230, the joint motion estimation unit 130 may determine whether or not the joint motion is abnormal using the ratio of the first area and the second area.

More specifically, as described above, as the joint motion for a specific motion becomes normal, a motion required by the motion (hereinafter referred to as "main motion" Quot;) occurs less frequently.

값을 산출한 후,

값이 기 설정된 값보다 작은 경우 관절 움직임에 이상이 없는 것으로 판단하고,

값이 기 설정된 값보다 큰 경우 상기 관절 움직임에 이상이 있는 것으로 판단할 수 있다. 여기서, 기 설정된 값은 관절의 종류에 따라 실험적으로 결정될 수 있다. Therefore, according to an embodiment of the present invention, in step S230, the joint motion estimation unit 130 calculates a first area by the main motion graph 410 and a second area by the second motion graph 420, Non-human

After calculating the value,

If the value is smaller than the preset value, it is judged that there is no abnormality in joint movement,

If the value is greater than the preset value, it can be determined that the joint movement is abnormal. Here, the preset value can be determined experimentally according to the kind of the joint.

There is an advantage that it is possible to more accurately determine whether or not an abnormality occurs in the joint when the abnormality of the joint motion is judged using the area based on the angular motion graph as compared with the case of using the motion angle value of each motion graph itself.

More specifically, when the motion angle value of the main motion graph has a small value, the motion angle value of the sub motion graph is also a small value. When the motion angle value of the main motion graph has a large value, It is also common to have a large value. In the case of performing diagnosis using the motion angle value of the sub motion graph itself, it is determined that there is no abnormality in the motion motion when the motion angle value of the sub motion graph is smaller than the predetermined angle value, Is greater than the preset angle value, it is judged that there is an abnormality in joint movement.

값과 기 설정된 임계값을 비교하여 관절 움직임의 이상 여부를 판단한다. However, if the diagnosis is performed using the motion angle value itself of the sub-motion graph as described above, even if there is an abnormality in the motion of the joint, even if the diagnosis subject moves the joint a little and the motion angle value of the sub- An error may be generated which is judged that there is no abnormality in the motion of the user. Accordingly, in the present invention, in order to minimize the occurrence of the error,

Value is compared with a predetermined threshold value to determine whether or not the joint motion is abnormal.

Meanwhile, in step S230, the joint motion estimation unit 130 determines whether the motion corresponding to the sub-motion graphs 420 and 430 forming the second area is any of the coronal plane motion, the sagittal plane motion, and the horizontal plane motion, It is possible to determine the cause of the movement of the joint based on the position on the time axis where the peak point of the sub motion graph 420 and 430 forming the second area occurs.

For example, in the case of FIG. 4, when the motion angle value of the main motion graph 410 has a negative value, all of the sub motion graphs 420 and 430 have a positive motion angle value of a relatively large size, When the motion graph 410 has a positive value of the motion angle value, all the sub motion graphs 420 and 430 have a motion angle value close to zero. Here, the main motion is an extension / refraction movement that tilts the head down (positive motion angle value) and tilts it up (negative motion angle value). Accordingly, the joint motion evaluating unit 130 can determine that an anomaly occurs in the movement of the joint, which is caused by the muscles causing the sagittal movement in the neck joint and the muscle causing the shaft rotation movement when the head is lifted up.

2. Analysis of the ratio of the peak value to the peak value of the motion graph

The maximum value and the minimum value (i.e., the positive peak value and the negative peak value) in the motion graph mean the maximum value of the ROM (Range Of Movement) in each rotation direction, that is, the movable property. For example, if the positive peak value and the negative peak value of the main motion graph 410 in FIG. 4 are smaller than the average value of a general person, the extensor and the flexor of the subject do not work properly Or pain caused by the structural problems of the joint itself.

Therefore, according to an embodiment of the present invention, in step S230, the joint motion estimation unit 130 calculates the positive peak value of the main motion graph, the negative peak value, and the positive peak value The motion of the joint can be judged by using at least one of the ratios of the joints.

As an example, the joint motion estimation unit 230 may determine that there is an abnormality in the joint motion when the positive peak value of the main motion graph / the negative peak value is smaller than the preset average peak value. In another example, the joint motion estimation unit 9230 may determine that the joint motion is abnormal when the ratio of the positive peak value to the positive peak value in the graph of the main motion is out of a predetermined range. Here, the predetermined average peak value and range may be determined experimentally.

3. Analysis of slope of motion graph

The slope of the motion graph is associated with proprioception. In other words, when the muscles move, they regulate their speed and accuracy by constantly feedbacking with their own receptive senses. Therefore, if the slope of the motion graph rises sharply or rises too slowly, it can be judged that a problem has occurred in the feedback system, which can be judged to occur mainly due to the abnormality of the inherent sensory receptors existing in the muscles.

Therefore, according to an embodiment of the present invention, in step S230, the joint motion estimation unit 130 can determine whether the motion of the joint is abnormal using the degree of change of the slope of the main motion graph.

For example, if there is a region where the absolute value of the slope in the main motion graph deviates from a predetermined range, the joint motion estimation unit 130 can determine that the muscle movement is abnormal. The predetermined range may be determined experimentally.

4. Analysis of symmetry of motion graph

The symmetry of the motion graph is also related to the proprioceptive sense similar to the slope described above. In particular, comparing the rising and falling states of the motion graph is a comparison of muscle contraction and relaxation, so if the rising and falling portions of the motion graph are not symmetrical, It can be judged that there is a problem in relaxation.

Therefore, according to an embodiment of the present invention, in step S230, the joint motion evaluating unit 130 can determine whether the motion of the joint is abnormal using the degree of symmetry of the rising part and the falling part of the main motion graph have.

As an example, if there is a region where the degree of symmetry of the rising portion and the falling portion is out of a predetermined range, the joint motion evaluating unit 130 can judge that there is an abnormality in muscle movement. The predetermined range may be determined experimentally.

5. Analysis of fluctuation in peak of motion graph

At the peak of the motion graph, there may be a fluctuation in the value of the motion angle, which means that the muscles can not sustain sufficient strength and the spasticity occurs, which means weakness of the specific muscle.

At this time, it is possible to judge the type of muscle that causes the joint motion abnormality depending on whether a variation occurs at a peak point of the motion graph. For example, in FIG. 4, if a change occurs at the negative peak point of the main motion graph 410, it can be determined that a problem has occurred in the extensor group muscles lifting the head up.

Therefore, according to one embodiment of the present invention, in step S230, the joint motion estimation unit 130 determines whether or not the motion of the joint is abnormal based on whether fluctuation occurs at the peak point of the graph of the main motion Can be determined.

Here, the determination as to whether or not a variation has occurred can be performed using the number of peak points in the peak portion of the main motion graph, the average peak value thereof, and the like.

Meanwhile, according to another embodiment of the present invention, acceleration information may be included in the motion information measured by the motion measurement device. In this case, the joint motion evaluating unit 130 may use the acceleration information to determine whether the muscle movement is abnormal.

More specifically, when moving a particular muscle, there are muscles that should not move as far as possible, and if these muscles move, it can be judged that the human body's left-right mechanical balance is not correct.

For example, if the joint is a pelvic joint, when the left and right movements are alternately raised when the left and right legs are lifted alternately, it may be judged that the psoas muscle is abnormal. If the movement occurs beyond the right and left movements, (Gluteus Muscle) may be judged to be abnormal.

Hereinafter, an apparatus 100 for evaluating joint motion and a method according to an embodiment of the present invention will be described with reference to FIGS. 1 and 2. FIG.

If it is determined in step S230 that there is an abnormality in the joint movement, in step S240, the message generator 140 generates a predetermined message related to the movement of the joint.

Here, the message related to the motion of the joint may be a video message that can be displayed through the display unit 150, or a sound message that can be outputted through the sound output unit 160. [

 More specifically, according to an embodiment of the present invention, when it is determined that the joint motion estimation unit 130 has an abnormality in joint movement, the message generation unit 140 generates a message for warning that an abnormality has occurred in the joint movement Lt; / RTI >

For example, when it is determined that the axis rotation movement has occurred over the threshold value or the critical range in the process of performing the measurement, the message generation unit 140 determines that the " You can generate a warning message.

According to an embodiment of the present invention, when it is determined that the movement of the joint is abnormal in the joint motion estimation unit 130, the message generation unit 140 corrects the movement ). ≪ / RTI >

For example, in the case where the axis of rotation rotates in the process of performing the angular motion for the neck joint, the message generation unit 140 generates a message "Do not turn your face but turn your neck, Quot; to "move "

As described above, the apparatus and method for evaluating joint motion 100 according to an embodiment of the present invention can provide a message for warning a correct movement of a joint, . In addition, the warning message or the guidance message described above can be utilized as real-time biofeedback information in combination with the characteristic feature of the present invention capable of generating the motion graph in real-time as described above.

In other words, as described above, according to the present invention, since the graphs related to the movement of the joint are generated / displayed in real time while the subject performs the motion, when the abnormality of the joint movement is detected, The abnormalities of the joint movement can be promptly fed back to the diagnosis person. Therefore, the diagnosis person can induce the subject who is performing the exercise to perform the exercise correctly from the subsequent point of time.

As described above, the apparatus and method for evaluating joint motion 100 according to an embodiment of the present invention can easily measure movement of joints using a relatively inexpensive inertial measurement device without using expensive equipment And it is possible to provide information for correcting the motion of the subject to be diagnosed in real time.

In addition, embodiments of the present invention may be implemented in the form of program instructions that can be executed through various computer means and recorded on a computer readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like, alone or in combination. The program instructions recorded on the medium may be those specially designed and constructed for the present invention or may be available to those skilled in the art of computer software. Examples of computer-readable media include magnetic media such as hard disks, floppy disks, and magnetic tape; optical media such as CD-ROMs and DVDs; magnetic media such as floppy disks; Examples of program instructions, such as magneto-optical and ROM, RAM, flash memory and the like, can be executed by a computer using an interpreter or the like, as well as machine code, Includes a high-level language code. The hardware devices described above may be configured to operate as one or more software modules to perform operations of one embodiment of the present invention, and vice versa.

As described above, the present invention has been described with reference to particular embodiments, such as specific elements, and limited embodiments and drawings. However, it should be understood that the present invention is not limited to the above- Various modifications and variations may be made thereto by those skilled in the art to which the present invention pertains. Accordingly, the spirit of the present invention should not be construed as being limited to the embodiments described, and all of the equivalents or equivalents of the claims, as well as the following claims, belong to the scope of the present invention .

Claims (12)

Receiving movement information of the joint generated by any one of a coronal plane motion, a sagittal plane motion, and a horizontal plane motion with respect to a joint;
And generating a motion graph of the joint using time and motion angles as axes using the motion information of the joints, wherein the motion graph of the joint is a graph of coronal motion generated by any one of the motions, Wherein the motion graph includes a graph of motion and a graph of horizontal motion, wherein one of the motion graphs is a graph of Primary Motion, which is a motion required by any one of the motions, A graph of secondary motion that is not required by one motion; And
And evaluating movement of the joint by analyzing a pattern of at least one motion graph including the graph of the main motion among the motion graphs. The method according to claim 1,
Wherein the analysis of the pattern of the motion graph corresponds to the analysis of the area formed by the motion graph and the time axis. 3. The method of claim 2,
Wherein the step of evaluating the motion of the joint comprises the steps of: using a graph of the main motion and a ratio of a first area formed by the axis of time and a second area formed by the axis of time and the graph of the sub- And judging whether or not the movement of the joint is abnormal. The method of claim 3,
The step of evaluating the motion of the joint

When the value is smaller than the predetermined value, it is determined that there is no abnormality in the joint movement,

And determining that the joint movement is abnormal when the value is greater than the predetermined value. 5. The method of claim 4,
The step of evaluating the motion of the joint
A peak point of a graph of a sub-motion in which the movement corresponding to the sub-motion graph forming the second area is any of the coronal plane motion, the sagittal plane motion, and the horizontal plane motion and the sub- And determining the cause of the movement of the joint based on the position on the axis of the time. The method according to claim 1,
The main motion graph has a pattern of repeating rising and falling about a horizontal axis,
Wherein the step of evaluating the movement of the joint is performed by using at least one of a positive peak value of the graph of the main motion, a negative peak value, and a ratio of the positive peak value and the negative peak value, And judging whether or not the joint movement has occurred. The method according to claim 1,
The main motion graph has a pattern of repeating rising and falling about a horizontal axis,
Wherein the evaluation of the movement of the joint determines whether the movement of the joint is abnormal by using the degree of change of the slope of the graph of the main movement. The method according to claim 1,
The main motion graph has a pattern of repeating rising and falling about a horizontal axis,
Wherein the evaluation of the movement of the joint determines whether the movement of the joint is abnormal by using the degree of symmetry of the rising portion and the falling portion of the graph of the main movement. The method according to claim 1,
The main motion graph has a pattern of repeating rising and falling about a horizontal axis,
Wherein the evaluation of the motion of the joint determines whether or not the movement of the joint is abnormal based on whether a fluctuation occurs at a peak point of the graph of the main motion. The method according to claim 1,
The method of evaluating joint motion
Generating a warning message for warning that an abnormality has occurred in the joint movement or a guidance message for guiding the movement of the joint as biofeedback information when it is determined that the movement of the joint is abnormal, A method for evaluating joint motion. 11. A computer-readable recording medium recording a program for performing the method of any one of claims 1 to 10. A receiving unit for receiving motion information of the joint generated by any one of a coronal plane motion, a sagittal plane motion, and a horizontal plane motion with respect to the joint;
A graph generating unit for generating a motion graph of the joint using time and motion angles as axes based on the motion information of the joints, wherein the motion graph of the joint is a graph of coronal surface motion generated by any one of the motions, A sagittal plane motion graph and a horizontal plane motion graph, wherein a motion graph of any of the motion graphs is a graph of a main motion that is a motion required by any one of the motions, A graph of motion that is not required by motion; And
And a joint motion evaluating unit for analyzing a pattern of at least one motion graph including the graph of the main motion among the motion graphs to evaluate motion of the joints.

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