KR20150073319A - Three dimentional wakling analysys device using foor base point - Google Patents

Three dimentional wakling analysys device using foor base point Download PDF

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KR20150073319A
KR20150073319A KR1020130160875A KR20130160875A KR20150073319A KR 20150073319 A KR20150073319 A KR 20150073319A KR 1020130160875 A KR1020130160875 A KR 1020130160875A KR 20130160875 A KR20130160875 A KR 20130160875A KR 20150073319 A KR20150073319 A KR 20150073319A
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joint
waist
sensor
gait
gait analysis
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KR1020130160875A
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Korean (ko)
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강민영
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주식회사 마이센
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/112—Gait analysis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/0002—Remote monitoring of patients using telemetry, e.g. transmission of vital signals via a communication network
    • A61B5/0015—Remote monitoring of patients using telemetry, e.g. transmission of vital signals via a communication network characterised by features of the telemetry system
    • A61B5/0024—Remote monitoring of patients using telemetry, e.g. transmission of vital signals via a communication network characterised by features of the telemetry system for multiple sensor units attached to the patient, e.g. using a body or personal area network
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/02—Details of sensors specially adapted for in-vivo measurements
    • A61B2562/0219—Inertial sensors, e.g. accelerometers, gyroscopes, tilt switches
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/02—Details of sensors specially adapted for in-vivo measurements
    • A61B2562/0247—Pressure sensors

Abstract

The present invention relates to a three-dimensional (3D) gait analysis device using a bottom reference point, and more specifically, to a 3D gait analysis device using a bottom reference point, which is configured to analyze a kind of gait by including multiple inertial sensors which is attached to joints to recognize movements of joints as relative data, and which is capable of reducing errors as many as possible by setting the bottom reference point. Since all of pressure sensors of bottom installation units send stop signals if a walking element is stopped, the 3D gait analysis device of the present invention stops detecting a movement, and accordingly, is not influenced by a noise. Since the pressure sensors send bottom-fixated signals if the soles of feet of the walking element is fixated on a floor, the 3D gait analysis device analyzes the movements of the joint inertial sensors again on the basis of a bottom sensor. Thus, an accurate gait analysis can be facilitated. Moreover, since a new position setting is carried out on consideration of positions of the inertial sensors and ankle units formed at the lowest parts of legs based on the detection by the pressure sensors of the bottom installation units, the movement of each of the joint inertial sensors can be reset more accurately.

Description

바닥기준점을 이용한 3차원 보행분석장치{THREE DIMENTIONAL WAKLING ANALYSYS DEVICE USING FOOR BASE POINT}TECHNICAL FIELD [0001] The present invention relates to a three-dimensional gait analyzing apparatus using floor reference points,

본 발명은 바닥기준점을 이용한 3차원 보행분석장치에 관한 것으로, 더욱 상세하게는 다수개의 관성센서를 관절에 부착하여 관절의 움직임을 상대적인 데이터로 인식할 수 있도록 하여 보행분석이 가능하도록 형성되되, 바닥기준점을 설정하여 오차를 최대한 줄일 수 있도록 한 바닥기준점을 이용한 3차원 보행분석장치에 관한 것이다.The present invention relates to a three-dimensional gait analyzer using floor reference points, and more particularly, to a gait analyzer capable of gait analysis by attaching a plurality of inertial sensors to joints and recognizing movement of joints as relative data, To a three-dimensional gait analyzing apparatus using a floor reference point so as to minimize errors by setting reference points.

다양한 센서의 발달로 인해서 많은 장치가 개발되었고, 이러한 장치들은 센서들을 통해서 입력되는 데이터를 분석하고 이를 통해서 각 부품들을 작동시킴으로써 형성된다. Due to the development of various sensors, many devices have been developed and these devices are formed by analyzing the data inputted through the sensors and operating the respective parts through them.

상기 센서들 중에 위치 및 움직이는 속도 등을 측정할 수 있는 관성센서가 많이 사용되는데, 상기 관성센서는 관성센서의 부착위치의 상대적인 움직임 데이터를 이용하여 각 관절의 실시간 움직이는 위치를 추적하고 있다.An inertial sensor capable of measuring a position and a moving speed among the sensors is often used. The inertial sensor tracks the moving position of each joint in real time using relative motion data of the attachment position of the inertial sensor.

이러한 관성센서를 이용한 관절의 위치 추적은 로봇의 움직임 제어나, 모션인식 등의 다양한 분야에서 활용되고 있다.Joint position tracking using inertial sensors is used in various fields such as motion control of robots and motion recognition.

상기 종래의 관성센서를 이용한 로보의 자세제어나 모션인식에 관한 기술은 대한민국 특허청 등록특허공보 제0835361호, 제0546447호 등에 개시된 바 있다.Techniques relating to the robot's attitude control and motion recognition using the conventional inertial sensor have been disclosed in Korean Patent Registration Nos. 0835361 and 0546447, for example.

종래의 모션인식 분야 중에서 로봇이나 사람의 보행에 관한 움직임 데이터를 얻기 위해서 고관절, 무릎관절, 발목관절에 각각 관성센서를 부착하고, 허리에 관성센서를 부착하여 데이터를 획득하고 있다.Among the conventional motion recognition fields, an inertial sensor is attached to each of the hip joint, knee joint, and ankle joint to acquire motion data related to walking of a robot or a person, and an inertial sensor is attached to the waist to acquire data.

이러한, 보행분석방법은 허리에 형성된 관성센서로부터 각 관절의 상대적 위치 및 속도데이터를 인식하여 3차원 데이터를 획득하여 이를 분석한다.The gait analysis method recognizes the relative position and velocity data of each joint from the inertial sensor formed at the waist, and acquires and analyzes the three-dimensional data.

그러나, 이러한 관성센서를 이용한 종래의 3차원 보행분석방법 및 그 장치는 다음과 같은 문제점이 이었다. However, the conventional three-dimensional gait analysis method using the inertial sensor and its apparatus have the following problems.

(1) 보행체가 고정되어 있어도 각 관성센서들의 노이즈에 의해서 계속적으로 움직임이 감지된다. (1) Even if the walking object is fixed, the movement is continuously detected by the noise of each inertial sensor.

(2) 보행체의 발바닥이 바닥에 고정되어 있어도 최하단의 관성센서의 오차로 인해서 계속적으로 데이터의 오차가 계속발생한다. (2) Even if the sole of the walker is fixed on the floor, the error of the data continuously occurs due to the error of the inertia sensor at the lowermost stage.

(3) 정지상태의 데이터 혹은 이동시의 데이터를 정확하게 인식하지 못하여 데이터 리셋이 어렵다.(3) It is difficult to reset the data because the data at the stop state or the data at the time of movement is not correctly recognized.

상기한 문제점을 해결하기 위해서 본 발명은 허리부분에 착용하는 허리관성센서와 데이터를 수신하여 송신하는 송수신장치가 형성된 허리장치부와; In order to solve the above-described problems, the present invention provides a haptic device comprising: a waist unit having a waist inertial sensor to be worn at a waist portion and a transceiver for receiving and transmitting data;

상기 허리부장치와 무선통신이 가능하고, 고관절부, 무릎부 및 발목부에 각각 관절관성센서가 형성되되, 각각 두개의 다리에 6개의 관절관성센서가 각각 형성되는 관절장치부와; A joint device part capable of wireless communication with the waist device and having a joint inertia sensor formed on each of a hip joint part, a knee part, and an ankle part, and six joint inertia sensors respectively formed on two legs;

상기 허리장치부와 무선통신이 가능하고, 발바닥의 전, 후방에 압력센서가 형성되는 바닥설치부로 구성된다.And a floor mounting portion capable of wireless communication with the waist portion and having pressure sensors formed on the front and rear of the sole.

본 발명의 바닥기준점을 이용한 3차원 보행분석장치에 의하면 다음과 같은 효과가 나타난다.The three-dimensional gait analysis apparatus using the floor reference point of the present invention has the following effects.

(1) 보행체가 고정되면, 바닥설치부의 각각의 압력센서가 모두 정지신호를 보내게 되어 더이상 움직임을 감지하지 않도록 되므로 노이즈의 영향이 없다.(1) When the walker is fixed, all the pressure sensors of the floor installation section send stop signals, so that no movement is detected, so there is no influence of noise.

(2) 보행체의 발바닥이 바닥에 고정되면, 압력센서에 의해서 바닥고정신호를 주게 되므로 관절관성센서들의 움직임을 바닥센서의 기준으로 움직임을 다시 분석하기 때문에 정확한 보행분석이 이루어진다.(2) When the soles of the walkers are fixed on the floor, they are given a floor fixing signal by the pressure sensor. Therefore, accurate gait analysis is performed because the movement of the joint inertia sensors is analyzed again based on the floor sensor.

(3) 바닥설치부의 압력센서의 감지로 인해서 다리의 맨 하단에 형성된 발목부의 관성센서와의 위치를 고려하여 새로운 위치설정이 이루어지므로 보다 정확하게 각 관절관성센서의 움직임이 리셋된다.(3) The movement of each joint inertia sensor is reset more precisely because a new position is set in consideration of the position of the ankle part located at the bottom of the leg with respect to the inertial sensor due to the sensing of the pressure sensor of the floor mount part.

도 1은 본 발명의 바람직한 실시예로 형성된 바닥기준점을 이용한 3차원 보행분석장치의 로봇 보행체에 부착된 개념도.
도 2는 본 발명의 바람직한 실시예로 형성된 바닥기준점을 이용한 3차원 보행분석장치의 관절 개념도 및 작동 개념도.FIG. 1 is a conceptual diagram of a three-dimensional gait analyzing apparatus using a floor reference point formed as a preferred embodiment of the present invention.
FIG. 2 is a conceptual diagram of a joint and operation concept of a three-dimensional gait analyzing apparatus using a floor reference point formed as a preferred embodiment of the present invention. FIG.

본 발명은 허리부분에 착용하는 허리관성센서(110)와 데이터를 수신하여 송신하는 송수신장치(120)가 형성된 허리장치부(100)와; The present invention includes a waist insole (100) having a waist inertial sensor (110) worn on the waist and a transceiver (120) for receiving and transmitting data;

상기 허리부장치(100)와 통신이 가능하고, 고관절부, 무릎부 및 발목부에 각각 관절관성센서(210)가 형성되되, 각각 두개의 다리(20)에 6개의 관절관성센서(210)가 각각 형성되는 관절장치부(200)와; A joint inertial sensor 210 is provided on each of the hip, knee, and ankle, and six joint inertial sensors 210 are provided on each of the legs 20, A joint device part 200 formed respectively;

상기 허리장치부(100)와 통신이 가능하고, 발바닥(30)의 전, 후방에 압력센서(310)가 각각 형성되는 바닥설치부(300)로 구성된다.
And a floor mounting part 300 capable of communicating with the waist part 100 and having pressure sensors 310 formed on the front and rear of the sole 30, respectively.

상기 허리장치부(100)는 허리관성센서(110)와 송수신장치(120)가 형성되는데, 송수신장치(120)는 이격되어 있는 분석장치(40)로 데이터들을 송출할 수 있도록 형성된다.The waist unit 100 includes a waist inertial sensor 110 and a transceiver 120. The transceiver 120 is configured to transmit data to the analyzer 40 that is spaced apart.

상기 허리장치부(100)는 허리관성센서(110)의 위치와 속도를 각각 데이터를 송출하고, 이는 허리장치부(100)의 데이터처리장치에서 변환하여 송수신장치(120)를 이용하여 분석장치(40)로 송출한다.The waist apparatus 100 transmits data on the position and speed of the waist inertial sensor 110 and converts the position and the velocity of the waist inertial sensor 110 by the data processing apparatus of the waist apparatus 100, 40).

상기 허리장치부(100)는 관절장치부(200)의 각 관절관성센서 및 바닥설치부(200)의 압력센서들과 유선 또는 무선으로 통신할 수 있도록 형성될 수 있다. The waist apparatus 100 may be formed to be capable of wired or wireless communication with the joint inertial sensors of the joint apparatus unit 200 and the pressure sensors of the floor mount unit 200.

상기 관절장치부(200)는 보행체(10)의 다리(20)의 각 관절에 부착되는 관절관성센서(210)로 구성되는데, 다리(20)의 각 관절부인 고관절부, 무릎부, 발목부에 각각 관절관성센서(210)가 형성된다. The joint device unit 200 includes a joint inertial sensor 210 attached to each joint of the leg 20 of the gait body 10 and includes a hip joint 20, The joint inertia sensor 210 is formed.

상기 관절관성센서(210)는 각각 가속도센서 및 위치센서를 모두 갖추고 있어서 관절의 움직임 속도와 위치데이터를 실시간으로 측정하여 허리장치부(100)로 전송한다. The joint inertial sensor 210 is equipped with an acceleration sensor and a position sensor, respectively, so that movement speed and position data of the joint are measured in real time and transmitted to the waist apparatus 100.

상기 바닥설치부(300)는 각 다리(20)의 발바닥(30)에 부착되고, 발바닥(30)의 전, 후방에 적어도 하나씩 압력센서(310)가 형성된다. The floor installation part 300 is attached to the soles 30 of the legs 20 and at least one pressure sensor 310 is formed on the front and rear sides of the soles 30.

상기 압력센서(310)는 스프링스위치등 발바닥(30)이 바닥에 닿았을 때 신호를 발생할 수 있는 정도면 어떠한 스위치나 센서들도 무방하다. The pressure sensor 310 may be any switch or sensor that can generate a signal when the soles 30 touch the floor, such as a spring switch.

상기 압력센서(310)는 압력의 분포를 계산하여 보행자의 보행자세를 관측하거나, 보행자의 잘못된 발바닥 압력분포를 개선하여 걸음걸이 개선에도 활용될 수 있도록 정밀한 압력센서가 채용될 수 있다.
The pressure sensor 310 can employ a precise pressure sensor so as to measure the walking posture of the pedestrian by calculating the distribution of the pressure or to improve the erroneous foot pressure distribution of the pedestrian so that the pedestrian can be utilized for the improvement of the walking.

이하, 본 발명의 바람직한 실시예로 형성된 바닥기준점을 이용한 3차원 보행분석장치의 작동 및 보행분석방법을 설명하면 다음과 같다. Hereinafter, an operation and a gait analysis method of a three-dimensional gait analyzing apparatus using a floor reference point formed as a preferred embodiment of the present invention will be described.

각 관절의 관성데이터를 이용하여 보행을 분석하는 방법은 종래의 공개특허들에서 많이 나와 있는 부분이므로 이는 생략한다. The method of analyzing the gait by using the inertial data of each joint is a part of many conventional patent publications, so it is omitted.

본 발명의 3차원 보행분석장치가 형성된 슈트를 보행체(10)에 착용시키거나, 각각의 허리장치부(100), 관절장치부(200) 및 바닥설치부(300)를 보행체(10)에 부착하고, 분석장치(40)와 허리장치부(100)를 유선 또는 무선으로 연결한다. The three-dimensional gait analysis apparatus of the present invention is worn on the walking body 10 or the waist unit 100, the joint apparatus unit 200 and the floor mounting unit 300 are mounted on the walking body 10, And the analytical device 40 and the waist part 100 are wired or wirelessly connected.

상기 분석장치(40)는 보행체(10)가 다리(20)를 움직이지 않고, 서 있을 때 허리관성센서(110)로부터 각 관절관성센서(210)의 상대위치를 초기위치데이터로 센팅한다. The analyzer 40 centrals the relative position of each joint inertial sensor 210 from the waist inertial sensor 110 to the initial position data when the waist 10 does not move the leg 20.

또한, 분석장치(40)는 각 압력센서(310)의 압력을 초기압력으로 셋팅하고, 초기압력 이상의 압력이 센싱되면 이는 바닥고정상태로 인식될 수 있도록 초기압력데이터로 셋팅한다. In addition, the analyzer 40 sets the pressure of each pressure sensor 310 to the initial pressure, and when the pressure beyond the initial pressure is sensed, it is set to the initial pressure data so that it can be recognized as the bottom fixed state.

만약, 보행체(10)가 보행을 시작하게 되면, 어느 하나의 발바닥(30)의 전방 압력센서(310)의 압력이 증가하기 시작하고, 후방 압력센서(310)의 압력이 감소하기 시작하면서, 다른 쪽의 바닥(30)의 전,후방 압력센서(310)들의 압력이 전체적으로 증가하게 되고, 이 시점을 출발시점으로 인식하여 허리장치부(100)에서는 분석장치(40)에 출발신호를 송출한다. When the walking body 10 starts to walk, the pressure of the front pressure sensor 310 of one of the sole 30 starts to increase, and as the pressure of the rear pressure sensor 310 starts to decrease, The pressure of the front and rear pressure sensors 310 of the other floor 30 increases as a whole and recognizes this point as the starting point so that the waist apparatus 100 sends a start signal to the analyzer 40 .

이후, 연속하여 압력센서(310)의 압력변화에 따라 보행 중임을 인식하는 상태에서 각 관절관성센서(210)의 위치 및 속도 데이터를 허리관성센서(100)의 위치 및 속도 데이터와 상대적인 데이터로 수신하여 송수신장치(120)를 통해서 분석장치(40)로 전송한다. Thereafter, the position and velocity data of each joint inertia sensor 210 are received as data relative to the position and velocity data of the hip inertia sensor 100 in a state of recognizing that the robot is in a walk state in accordance with the pressure change of the pressure sensor 310 And transmits it to the analysis apparatus 40 through the transmission / reception apparatus 120.

상기와 같이 분석장치(40)로 전송된 데이터들을 분석하면 보행패턴을 분석할 수 있고, 보행시 발생하는 돌발사태에 대해서도 대처하는 보행시스템의 개발, 보행교정을 통한 교정시스템 개발 등 다양한 분야에 활용될 수 있다.
Analysis of the data transmitted to the analysis device 40 as described above can analyze the gait pattern, develop a gait system to cope with an unexpected accident occurring in the gait, and develop a correction system by walking gait .

본 발명의 바닥기준점을 이용한 3차원 보행분석장치에 의하면 보행체가 고정되면, 바닥설치부의 각각의 압력센서가 모두 정지신호를 보내게 되어 더이상 움직임을 감지하지 않도록 되므로 노이즈의 영향이 없고, 보행체의 발바닥이 바닥에 고정되면, 압력센서에 의해서 바닥고정신호를 주게 되므로 관절관성센서들의 움직임을 바닥센서의 기준으로 움직임을 다시 분석하기 때문에 정확한 보행분석이 이루어지며, 바닥설치부의 압력센서의 감지로 인해서 다리의 맨 하단에 형성된 발목부의 관성센서와의 위치를 고려하여 새로운 위치설정이 이루어지므로 보다 정확하게 각 관절관성센서의 움직임이 리셋되는 등의 효과가 발생한다. According to the three-dimensional gait analyzing apparatus using the floor reference point of the present invention, when the gait is fixed, each pressure sensor of the floor mounting unit sends a stop signal so that it does not detect motion any more, When the sole is fixed to the floor, since the floor fixing signal is given by the pressure sensor, the motion of the joint inertia sensors is analyzed again based on the floor sensor, so that accurate gait analysis is performed. Since the new position is set in consideration of the position of the inertial sensor of the ankle formed at the lower end of the leg, the movement of each joint inertial sensor is reset more effectively.

본 발명은 첨부된 도면을 참조하여 바람직한 실시예를 중심으로 기술되었지만 당업자라면 이러한 기재로부터 후술하는 특허청구범위에 의해 포괄되는 본 발명의 범주를 벗어남이 없이 다양한 변형이 가능하다는 것은 명백하다.
While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is evident that many alternatives, modifications and variations will be apparent to those skilled in the art without departing from the scope of the invention as defined by the appended claims.

10 : 보행체 20 : 다리
30 : 발바닥 40 : 분석장치
100 : 허리장치부 110 : 허리관성센서
120 : 송수신장치 200 : 관절장치부
210 : 관절관성센서 300 : 바닥설치부
310 : 압력센서10: pedestal 20: leg
30: soles 40: analyzer
100: waist unit 110: waist inertial sensor
120: transceiver 200: joint unit
210: joint inertia sensor 300: floor mounting part
310: Pressure sensor

Claims (2)

허리부분에 착용하는 허리관성센서와 데이터를 수신하여 송신하는 송수신장치가 형성된 허리장치부와;
상기 허리부장치와 통신이 가능하고, 고관절부, 무릎부 및 발목부에 각각 관절관성센서가 형성되되, 각각 두개의 다리에 6개의 관절관성센서가 각각 형성되는 관절장치부와;
상기 허리장치부와 통신이 가능하고, 발바닥의 전, 후방에 압력센서가 각각 형성되는 바닥설치부로 구성되는 것을 특징으로 하는 바닥기준점을 이용한 3차원 보행분석장치.A back waist unit having a waist inertial sensor worn on the waist and a transceiver for receiving and transmitting data;
A joint device part capable of communicating with the waist device and having a joint inertia sensor formed on each of a hip joint, a knee joint, and an ankle, and having six joint inertial sensors on two legs, respectively;
And a floor mounting part capable of communicating with the waist part and having pressure sensors on the front and rear of the sole, respectively. 제 1항에 있어서,
상기 압력센서는 스프링 스위치로 형성되는 것을 특징으로 하는 바닥기준점을 이용한 3차원 보행분석장치.The method according to claim 1,
Wherein the pressure sensor is formed of a spring switch.
KR1020130160875A 2013-12-21 2013-12-21 Three dimentional wakling analysys device using foor base point KR20150073319A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107121128A (en) * 2017-05-27 2017-09-01 中国北方车辆研究所 A kind of measuring method and system of legged type robot terrain parameter
CN107253202A (en) * 2017-06-15 2017-10-17 重庆柚瓣科技有限公司 A kind of method that robot of supporting parents wakes up

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107121128A (en) * 2017-05-27 2017-09-01 中国北方车辆研究所 A kind of measuring method and system of legged type robot terrain parameter
CN107253202A (en) * 2017-06-15 2017-10-17 重庆柚瓣科技有限公司 A kind of method that robot of supporting parents wakes up

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