KR20200027650A - System for analyzing walking motion - Google Patents

Abstract

The present invention relates to a system for analyzing a walking posture by measuring the foot pressure of a pedestrian. According to an embodiment of the present invention, a gate analysis device may comprise: a sensor unit mounted on a shoe and including at least one pressure sensor for measuring the foot pressure of a pedestrian; and a control unit for calculating a probability for a fall by using information on the measured foot pressure.

Description

Walking Posture Analysis System {SYSTEM FOR ANALYZING WALKING MOTION}

The present invention relates to a walking posture analysis system, and more particularly, to a system for analyzing a walking posture by measuring the foot pressure of a pedestrian.

In general, walking upright with both legs and supporting weight is a highly developed exercise that only humans can perform, and is a basic motion and function to maintain life as a human. Therefore, when an obstacle such as a fall causes an obstacle in upright walking, physical limitations are exercised, as well as social activity, and further mental problems may occur.

Therefore, when climbing or descending slopes, such as mountain climbing, or walking on uneven grounds, the pedestrian's gait is analyzed to prevent falls, or the elderly, arthritis patients, obese patients, and uncomfortable walking disabled people walk in the correct posture. It is being asked to do so.

[Patent Document 1] Korean Registered Patent No. 10-0894895

The present invention was created to solve the above-mentioned problems, and an object thereof is to provide a system for analyzing a walking posture by analyzing foot pressure of a shoe wearer.

In addition, an object of the present invention is to display fall risk information through an external terminal device.

In addition, an object of the present invention is to assist the walking posture using an exoskeleton device according to the analysis result of the walking posture.

The objects of the present invention are not limited to the objects mentioned above, and other objects not mentioned will be clearly understood from the following description.

In order to achieve the above objects, the walking analysis apparatus according to an embodiment of the present invention is equipped with a shoe, a sensor unit including at least one pressure sensor for measuring the foot pressure (foot pressure) of a pedestrian; And a control unit calculating a fall probability using the measured foot pressure information.

In an embodiment, the sensor unit detects a sensor value including at least one of a foot pressure, a pressure distribution, a foot acceleration, an angular velocity, and an azimuth value, and the control unit, based on the sensor value, the foot trajectory, step count, A gait element including at least one of a step frequency, a step length, a toe direction, and a pressure change amount may be calculated, and the fall probability may be calculated based on the gait element.

In an embodiment, the gait analysis device may further include a communication unit that transmits information about the fall probability to a terminal device or an exoskeleton device.

In an embodiment, the walking analysis device further includes a communication unit that receives angular velocity information of the terminal device from the terminal device carried by the pedestrian, and the control unit weights the angular velocity information of the terminal device, and the The fall probability of the pedestrian may be calculated by applying a weight.

In an embodiment, the gait analysis device further includes a communication unit that receives fall probability information of another pedestrian from a server or another gait analysis device, and the control unit weights the fall probability information of the other pedestrian, and The fall probability of the pedestrian may be calculated by applying a weight.

In an embodiment, if the external information including the fall probability information of the other pedestrian is less than a first threshold, a weight less than 1 is assigned, and the external information is greater than a first threshold and less than a second threshold. 1 is assigned as a weight, and when the external information is greater than a second threshold, a weight greater than 1 is assigned, and the first threshold may be smaller than the second threshold.

In an embodiment, the terminal device includes a communication unit that receives information on the probability of falling of a pedestrian from a walking analysis device; And an output unit that displays the fall probability.

In an embodiment, the output unit may display the fall probability of the pedestrian for each time period in a graph format using information on the fall probability.

In an embodiment, the output unit may display the current fall probability as a percentage value using the information about the fall probability.

In an embodiment, when the probability of falling of the pedestrian is greater than or equal to a threshold, the output unit may display a screen for recommending a break.

In an embodiment, the communication unit may transmit a rescue request signal to an external rescue system when the probability of falling of the pedestrian is greater than or equal to a threshold and movement of the pedestrian is not detected for a predetermined period of time.

In an embodiment, when the fall probability of the pedestrian is greater than or equal to a threshold, the output unit may display a screen for selecting whether to search for a walking path having a fall probability below the threshold.

In an embodiment, when the search request input by the pedestrian is detected, the output unit may display a walking path having a fall probability below the threshold.

In an embodiment, the terminal device may further include a sensor unit including a gyro sensor for measuring the angular velocity of the terminal device, and the communication unit may transmit information about the angular velocity of the terminal device to the gait analysis device. have.

In an embodiment, the exoskeleton device comprises a hydraulic actuator; Exoskeleton; A communication unit that receives information about a fall probability of a pedestrian from a walking analysis device; And a control unit controlling the exoskeleton by adjusting the amount of hydraulic oil supplied or discharged from the hydraulic actuator based on the information about the fall probability.

In an embodiment, the exoskeleton device may further include a fixing part for fixing the exoskeleton device to the gait analysis device.

Specific details for achieving the above objects will be clarified with reference to embodiments to be described later in detail with the accompanying drawings.

However, the present invention is not limited to the embodiments disclosed below, but may be configured in various different forms, to make the disclosure of the present invention complete and to those skilled in the art to which the present invention pertains ( Hereinafter, it is provided to fully inform the scope of the invention to "ordinary technical person").

According to an embodiment of the present invention, a fall probability is calculated by analyzing a foot pressure of a pedestrian, and a pedestrian's risk of falling can be reduced by assisting pedestrians to walk based on the fall probability.

The effects of the present invention are not limited to the above-described effects, and the potential effects expected by the technical features of the present invention will be clearly understood from the following description.

1 is a diagram illustrating a gait analysis device according to an embodiment of the present invention.
2 is a diagram showing the functional configuration of a gait analysis device according to an embodiment of the present invention.
3 is a view showing the interlocking of the sensor unit and the control unit of the gait analysis apparatus for calculating the gait element according to an embodiment of the present invention.
4 is a diagram showing the functional configuration of a control unit of a gait analysis device for calculating a fall probability according to an embodiment of the present invention.
5A and 5B are diagrams illustrating a screen configuration of a terminal device according to an embodiment of the present invention.
6 is a diagram showing a functional configuration of a terminal device according to an embodiment of the present invention.
7 is a view showing an exoskeleton device according to an embodiment of the present invention.

The present invention can be applied to various changes, and may have various embodiments, and specific embodiments will be illustrated in the drawings and described in detail.

Various features of the invention disclosed in the claims may be better understood in view of the drawings and detailed description. The devices, methods, manufacturing methods and various embodiments disclosed in the specification are provided for illustrative purposes. The disclosed structural and functional features are intended to enable those skilled in the art to specifically implement various embodiments and not to limit the scope of the invention. The terms and sentences disclosed are intended to illustrate various features of the disclosed invention in an easy-to-understand way, and not to limit the scope of the invention.

In describing the present invention, when it is determined that a detailed description of related known technologies may unnecessarily obscure the subject matter of the present invention, the detailed description will be omitted.

Hereinafter, a system for assisting pedestrians in walking will be described by calculating a fall probability by analyzing a foot pressure of a pedestrian according to an embodiment of the present invention.

In order to analyze the walking posture, first, basic data must be collected from the pedestrian's gait. The sensor unit 110 is required for this, and the sensor unit 110 used in the gait analysis device of the present invention will be described below.

1 is a view showing a sensor unit 110 of the gait analysis apparatus according to an embodiment of the present invention.

Referring to FIG. 1, the sensor unit 110 may be positioned on an outsole or sole of a shoe (eg, athletic shoes, hiking boots, work shoes, shoes, etc.), but the position of the sensor unit 110 is not limited. It may be located on any part of the shoe, and may include at least one sensor module 10 and at least one pressure sensor 20.

In one embodiment, the pressure sensor 20 may be located at the front and rear of the shoe outsole or sole, that is, the toe and heel, respectively. That is, as illustrated in FIG. 1, since the multiple pressure sensors 20 are evenly distributed, foot pressure and pressure distribution according to each part can be accurately measured.

The pressure sensor 20 may detect foot pressure by measuring changes in resistance, capacitance, and the like. The pressure sensor 20 may detect a pressure distribution for each part on the sole of the foot at the moment when the walking shoe touches the ground or falls off the ground.

The sensor module 10 includes an inertial sensor 11 and a geomagnetic sensor 12, and the inertial sensor 11 may be composed of a 3-axis accelerometer 11a and a 3-axis angular accelerometer 11b. However, the configuration of the inertial sensor 11 is not necessarily limited to this, and if necessary, a 2-axis sensor or 3 1-axis sensors may be used.

The inertial sensor 11 can measure acceleration in three axes and angular velocity in three axes. Therefore, the inertial sensor 11 can be used to calculate the movement trajectory of the foot. In addition, the inertial sensor 11 may be used to calculate the step frequency and the number of steps to obtain the stride.

The geomagnetic sensor 12 may perform a function such as a kind of electronic compass by sensing the Earth's magnetism and sensing the orientation. That is, the geomagnetic sensor 12 may be used to measure the absolute direction of the toe regardless of the direction in which the foot moves.

2 is a diagram showing a functional configuration of the gait analysis apparatus 100 according to an embodiment of the present invention.

Referring to FIG. 2, the gait analysis apparatus 100 may include a sensor unit 110, a storage unit 120, a control unit 130, and a communication unit 140.

The sensor unit 110 may include the sensor module 10 and the pressure sensor 20 described in FIG. 1, and may detect sensor values. Here, the sensor value may include at least one of a foot pressure, pressure distribution, foot acceleration, angular velocity, and azimuth value. A detailed description of the linkage between the sensor unit 110 and the control unit 130 will be described later with reference to FIG. 3.

The storage unit 120 may store an element reference value of a correct pedestrian stance used as a standard for pedestrians. The element reference value may be preset reference step data to be compared with a walking element. Therefore, the element reference value can correspond one-to-one with the walking element to be compared. In one embodiment, the storage unit 120 may store information about a walking factor and a fall probability of other pedestrians from each of the other walking analysis devices.

The control unit 140 may measure the gait motion in multiple ways and calculate a gait element using various techniques from the measured values. Here, the walking element may include a movement trajectory of the foot, the number of steps, the step frequency and stride, the direction of the toe, and the amount of pressure change. In addition, the control unit 140 may determine the problem of pedestrian stance based on the calculated walking element and compare the element reference value with the walking element to calculate a fall probability.

The control unit 130 may include one or more of a central processing unit, an application processor, or a communication processor (CP). The control unit 130 may perform, for example, an operation or data processing related to control and / or communication of at least one other component of the gait analysis device 100.

The communication unit 140 may transmit information about a walking element and information about a fall probability to an external terminal device or an exoskeleton device. The communication unit 140 may receive information on a 3D angular velocity from an external terminal device. The communication unit 140 may receive information about a walking factor and a fall probability of other pedestrians calculated by each of the other walking analysis devices from a server or other walking analysis devices. In one embodiment, the communication unit 140 may perform wireless communication or wired communication such as cellular communication, WiFi, Bluetooth, NFC, and RF communication.

FIG. 3 is a diagram illustrating interlocking of the sensor unit 110 and the control unit 130 of the walking analysis apparatus 100 for calculating the walking element according to an embodiment of the present invention.

Referring to FIG. 3, the sensor unit 110 may include a pressure sensor 20, an inertial sensor 11, and a geomagnetic sensor 12. The control unit 130 may include a pressure change detection module 310, a movement trajectory detection module 320, a step detection module 330, and an absolute direction detection module 340.

The pressure change detection module 310 may detect a pressure change for each part on the sole of the foot using the foot pressure and pressure distribution detected through the pressure sensor 20. In the gait, which is generally known as the correct posture, the pressure distribution occurs when the heel hits the floor first, and then the toe side touches the floor. Accordingly, the pressure change detection module 310 can detect not only the pressure distribution for each region but also the pressure variation for each region over time.

The movement trajectory detection module 320 may calculate a 3D movement trajectory (eg, position, velocity, and posture) of the foot using the acceleration and angular velocity detected from the inertial sensor 11. In one embodiment, the movement trajectory detection module 320 may detect the landing moment of the foot using the foot pressure and pressure distribution detected from the pressure sensor 20.

Since the acceleration change occurs largely at the moment of landing while walking, the walk detection module 120 may determine whether to walk and measure the number of steps by using the acceleration and angular velocity detected from the inertial sensor 11. In addition, the step detection module 120 may calculate the number of steps per reference hour, that is, the step frequency by dividing the number of steps by time. The step detection module 120 may obtain a step length by inputting a standard deviation of the acceleration data and a step frequency into the step length estimation model.

The absolute direction detection module 130 calculates the direction of the toe using the direction detected by the geomagnetic sensor 12. In addition, the absolute direction detection module 130 may calculate the direction of the toe using the initial position of the foot calculated from the movement trajectory estimation module 110 and the acceleration and angular velocity detected from the inertial sensor 11.

4 is a diagram showing the functional configuration of the control unit 130 of the gait analysis apparatus 100 for calculating the fall probability according to an embodiment of the present invention.

Referring to FIG. 4, the controller 130 may include an external information processing module 410 and a fall probability derivation module 420.

The fall probability derivation module 420 may calculate a fall probability using a walking element including at least one of a foot pressure change, a foot movement trajectory, a step number, a walking frequency, a step length, and a toe direction. In one embodiment, the fall probability derivation module 420 may calculate the fall probability in proportion to the foot pressure change. That is, the fall probability derivation module 420 may match the foot pressure change and the fall probability one-to-one, so that the higher the foot pressure change, the higher the fall probability.

In addition, in order to calculate a more accurate fall probability, various external information (eg, a terminal) received from external devices (eg, a terminal device, a server carried by a pedestrian) as well as a walking element calculated by the walking analysis device 100 The angular velocity of the device and the fall probability of other pedestrians) may be considered, and an external information processing module 410 may be used for this.

In the first embodiment, the external information processing module 410 may assign a weight to the three-dimensional angular velocity of the terminal device carried by the pedestrian, and then apply the weighted weight to calculate the probability of falling of the pedestrian. For example, a large angular velocity of the terminal device means that the body of a pedestrian carrying the terminal device is greatly shaken, so the external information processing module 410 weights less than 1 when the angular speed of the terminal device is less than the first threshold value. When the angular velocity of the terminal device is greater than the first threshold and less than the second threshold, 1 is assigned as a weight, and when the angular velocity of the terminal device is greater than the second threshold, a weight greater than 1 may be assigned. In this case, the first threshold may be smaller than the second threshold.

In the second embodiment, the external information processing module 410 may assign a weight to the average fall probability of a plurality of other pedestrians, and then apply the weighted weight to calculate the fall probability of the pedestrian. For example, if the average fall probability of a plurality of other pedestrians is low, it may be considered that a pedestrian is also less likely to fall, so the external information processing module 410 is less than 1 when the average fall probability of other pedestrians is less than the first threshold value. A small weight may be assigned, and if the average fall probability is greater than the first threshold and less than the second threshold, 1 is assigned as a weight, and if the average fall probability is greater than the second threshold, a weight greater than 1 may be assigned. In this case, the first threshold may be smaller than the second threshold.

Thereafter, the external information processing module 410 may finally calculate the fall probability of the pedestrian by applying (eg, multiplying) the weight assigned to the fall probability calculated from the walking element.

5A is a diagram illustrating a screen configuration of a terminal device 500 according to an embodiment of the present invention.

Referring to FIG. 5A, a terminal device 500 carried by a pedestrian may receive information about a fall probability from the walking analysis device 100. The terminal device 500 may display the fall probability of a pedestrian by time zone in a graph format using fall probability information. In addition, the terminal device 500 may display the current fall probability as a percentage value using the received fall probability information. Through this, the pedestrian can intuitively check the fall probability and the current fall probability, thereby recognizing that there is a problem in the current walking and correcting the walking posture.

In one embodiment, when the probability of falling of a pedestrian is greater than or equal to a threshold, the terminal device 500 may display a screen for recommending a break. In another embodiment, the terminal device 500 may transmit a rescue request signal to the external rescue system 501 when the pedestrian's fall probability is greater than or equal to a threshold value and the movement of the pedestrian is not detected for a predetermined period of time.

5B is a diagram illustrating another screen configuration of the terminal device 500 according to an embodiment of the present invention.

Referring to FIG. 5B, the terminal device 500 may receive information about a fall probability from the gait analysis device 100.

When the fall probability is greater than or equal to a threshold, the terminal device 500 may display a screen for selecting whether to search for a walking path having a fall probability below the threshold.

Thereafter, when a search request input by a pedestrian (eg, “YES” UI touch in FIG. 5A) is detected, the terminal device 500 may search for and display a walking path having a fall probability of less than or equal to a threshold. Through this, the pedestrian can reduce the risk of falling by walking on a path with a low probability of falling. For example, when a pedestrian climbs or descends an inclined surface or climbs an uneven surface, the risk of injury or distress can be reduced by walking through a climbing course having a low probability of falling.

6 is a diagram showing a functional configuration of a terminal device 500 according to an embodiment of the present invention.

Referring to FIG. 6, the terminal device 500 may include a communication unit 510, a storage unit 520, a sensor unit 530, a control unit 540, and an output unit 550.

The communication unit 510 may receive information about a walking element and information about a fall probability from the walking analysis device 100. The communication unit 510 may transmit information about the 3D angular velocity detected from the sensor unit 530 to the gait analysis device 100. In one embodiment, the communication unit 140 may perform wireless communication or wired communication such as cellular communication, WiFi, Bluetooth, NFC, and RF communication.

The storage unit 520 may store information on a fall probability for each time zone. The storage unit 520 may include volatile (eg, DRAM, SRAM, or SDRAM) and / or non-volatile memory (eg, ROM, flash memory, hard drive, or SSD). The storage unit 520 may store, for example, commands or data related to at least one other component of the terminal device 500. According to an embodiment, the storage unit 520 may store software and / or programs.

The sensor unit 530 may include a gyro sensor, and when the terminal device 500 rotates, the three-dimensional angular velocity of the x-axis, y-axis, and z-axis of the terminal device 500 may be measured.

The controller 540 may determine the location of the terminal device 500 through the GPS (not shown) included in the terminal device 500 and determine a suitable walking path for the pedestrian. The control unit 540 may include one or more of a central processing unit, an application processor, or a communication processor (CP). The control unit 540 may perform, for example, calculation or data processing related to control and / or communication of at least one other component of the terminal device 500.

The output unit 550 may inform the pedestrian of the fall probability through various means such as text, graphics, images, videos, and voices. In one embodiment, the output unit 400 may include a display and a speaker.

7 is a view showing an exoskeleton device 700 according to an embodiment of the present invention.

Referring to FIG. 7, the exoskeleton device 700 may include a body 710, an exoskeleton 720, a hydraulic actuator 730, and a fixing part 740. In one embodiment, the exoskeleton device 700 may be applied to a wearable robot.

The body 710 may include a control unit, a communication unit, an electric motor, a hydraulic pump, a flow control valve, and an oil tank in which hydraulic oil is stored. The communication unit may receive information about the probability of falling of the pedestrian from the walking analysis device 100. The control unit may control the electric motor and the hydraulic pump based on the received information about the fall probability so that hydraulic oil stored in the oil tank is supplied to the hydraulic actuator 730. In addition, the control unit may control the flow rate control valve based on the received information about the fall probability to allow the hydraulic oil acting on the hydraulic actuator 730 to be discharged to the oil tank.

The exoskeleton 720 may be composed of an upper leg part and a lower leg part. The hydraulic actuator 730 may have both ends connected to the upper leg part and the lower leg part of the exoskeleton 720. In this case, when hydraulic oil is supplied to the hydraulic actuator 730, the hydraulic actuator 730 causes the upper leg part and the lower leg part to rotate away from each other, thereby generating a force that causes the exoskeleton device 700 to stand up, and vice versa. When the hydraulic oil is discharged from the actuator 730, the force provided by the hydraulic actuator 730 is removed to allow the upper leg part and the lower leg part to rotate in a direction closer to each other, thereby allowing the exoskeleton device 700 to sit. That is, the control unit may control the exoskeleton 720 by adjusting the amount of hydraulic oil supplied or discharged to the hydraulic actuator 730 based on the information on the fall probability.

The exoskeleton device 700 may be fixed to the gait analysis device 100 included in the pedestrian's shoe through the fixing part 740. In one embodiment, the fixing part 740 may be configured in an Eisen form. In another embodiment, the fixing part 740 is composed of a U-shaped frame and can be combined with shoes through a fixing screw or a buckle. In another embodiment, the fixing part 740 may be configured in a screw shape without a separate frame to fit into the groove of the shoe and be combined with the shoe.

That is, the exoskeleton device 700 is controlled based on the information on the fall probability received from the gait analysis device 100 in conjunction with the gait analysis device 100 mounted on the shoe, thereby supporting pedestrian strength and walking. By assisting, the probability of falling can be reduced.

The above description is merely illustrative of the technical spirit of the present invention, and those skilled in the art will be able to make various changes and modifications without departing from the essential characteristics of the present invention.

Therefore, the embodiments disclosed in this specification are not intended to limit the technical spirit of the present invention, but to illustrate, and the scope of the present invention is not limited by these embodiments.

The scope of protection of the present invention should be interpreted by the claims, and it should be understood that all technical spirits within the scope equivalent thereto are included in the scope of the present invention.

11: inertial sensor
12: Geomagnetic sensor
20: pressure sensor
100: gait analysis device
110: sensor unit
120: storage unit
130: control unit
140: communication unit
310: pressure change detection module
320: moving trajectory detection module
330: step module
340: absolute direction detection module
410: external information processing module
420: Fall Probability Derivation Module
500: terminal device
501: rescue system
510: communication unit
520: storage
530: sensor unit
540: control unit
550: output
700: exoskeleton device
710: body
720: exoskeleton
730: hydraulic actuator
740: fixing part

Claims (16)

A sensor unit mounted on a shoe and including at least one pressure sensor for measuring a foot pressure of a pedestrian; And
A control unit for calculating a fall probability using the measured foot pressure information;
Containing,
Gait analysis device.
According to claim 1,
The sensor unit,
A sensor value including at least one of foot pressure, pressure distribution, foot acceleration, angular velocity and azimuth value is detected,
The control unit,
Calculating a walking element including at least one of a movement trajectory, a step, a walking frequency and a stride, a toe direction, and a pressure change amount of the foot based on the sensor value, and calculating the fall probability based on the walking element,
Gait analysis device.
According to claim 1,
A communication unit transmitting information on the fall probability to a terminal device or an exoskeleton device;
Further comprising,
Gait analysis device.
According to claim 1,
A communication unit that receives angular velocity information of the terminal device from the terminal device carried by the pedestrian;
Further comprising,
The control unit,
Weighting the angular velocity information of the terminal device, and applying the weight to calculate the fall probability of the pedestrian,
Gait analysis device.
According to claim 1,
A communication unit that receives fall probability information of another pedestrian from a server or another walking analysis device;
Further comprising,
The control unit assigns a weight to the fall probability information of the other pedestrian, and applies the weight to calculate the fall probability of the pedestrian,
Gait analysis device.
The method of claim 5,
The control unit,
If the external information including the fall probability information of the other pedestrian is less than the first threshold value, a weight less than 1 is assigned,
When the external information is greater than the first threshold and less than the second threshold, 1 is assigned as a weight,
If the external information is greater than the second threshold, a weight greater than 1 is assigned,
The first threshold is smaller than the second threshold,
Gait analysis device.
A communication unit that receives information about a fall probability of a pedestrian from a walking analysis device; And
An output unit that displays the fall probability;
Containing,
Terminal device.
The method of claim 7,
The output unit,
Using the information on the fall probability, to display the fall probability of the pedestrian for each time in a graph format,
Terminal device.
The method of claim 7,
The output unit,
Using the information on the fall probability, to display the current fall probability in percent,
Terminal device.
The method of claim 7,
The output unit,
When the probability of falling of the pedestrian is greater than or equal to a threshold, displaying a screen for recommending a break,
Terminal device.
The method of claim 7,
The communication unit,
When the probability of falling of the pedestrian is greater than or equal to a threshold, and the movement of the pedestrian is not detected for a certain period of time, a rescue request signal is transmitted to the external rescue system
Terminal device.
The method of claim 7,
The output unit,
When the fall probability of the pedestrian is greater than or equal to a threshold, a screen for selecting whether to search for a walking path having a fall probability below the threshold is displayed.
Terminal device.
The method of claim 12,
The output unit,
When a search request input by the pedestrian is detected, displaying a walking path having a fall probability below the threshold value,
Terminal device.
The method of claim 7,
A sensor unit including a gyro sensor for measuring the angular velocity of the terminal device;
Further comprising,
The communication unit,
Transmitting information about the angular velocity of the terminal device to the walking analysis device,
Terminal device.
Hydraulic actuators;
Exoskeleton;
A communication unit that receives information about a fall probability of a pedestrian from a walking analysis device; And
A control unit controlling the exoskeleton by adjusting the amount of hydraulic oil supplied or discharged to the hydraulic actuator based on the information on the fall probability;
Containing,
Exoskeleton device.
The method of claim 15,
A fixing part fixing the exoskeleton device to the gait analysis device;
Further comprising,
Exoskeleton device.

Images