KR20230068487A - Ankle joint vatiable pressure shoes and pressure control method of shoes - Google Patents

Abstract

The present invention relates to an ankle joint variable compression shoe and a compression force control method. More specifically, the ankle joint variable compression shoe comprises: a bottom part; an outer cover that covers the top of the foot, heel, and ankle when the shoe is worn by a user; a wire that is disposed on the outer cover structure; and a compression adjustment means that adjusts the compression force on the ankle joint by tightening and loosening the wire. In the case of active shoes, the shoe comprises: a pressure sensor that is provided inside the shoe to measure the pressure inside the shoe; a driving unit that is connected to the wire to tighten and loosen the wire; and a control unit that controls the driving unit to adjust the compression force on the ankle joint area based on a pressure value measured by the pressure sensor. The present invention can easily adjust the compression level to the ankle joint area and actively apply compression by using an electronic device.

Description

Ankle joint vatiable pressure shoes and pressure control method of shoes}

The present invention relates to an ankle joint variable compression shoe and a compression force control method.

As patents for conventional variable pressure shoes, Korean Patent Registration No. 10-1693750 (shoe-coupled wearer for assisting ankle stiffness), Korean Patent Registration No. 10-2263035 (lace driving structure for automated footwear platform), Korean Patent No. 10-1927593 (ankle support using wire), Korean Patent No. 10-1649335 (ankle joint orthosis), Korean Patent No. 10-0976256 (shoes with elastic ankle band attached), PCT/ US2017/021410 (Drive Mechanism for Automated Footwear Platform) and the like are described.

Existing ankle joint pressure mechanisms and clothing are largely worn inside shoes using elastic fibers, used in combination with shoes using a hard structure, or worn as a replacement for shoes.

Ankle joint compresses in the form of clothing are widely used for medical purposes, and are progressed through taping (taping therapy) of athletes. Such a compression material shows a fixed compression force by wearing it once, and in order to control the compression, it is inconvenient to take off the shoes and adjust the compression force to wear or attach again, or to wear a compression material with a different size of compression force.

Ankle joint compression devices with hard structures are worn as a substitute for shoes or worn inside shoes like clothing, and these devices (casts, foot drop aids, etc.) compress or fix the ankle joint to limit the range of motion of the ankle joint. There is a function.

These assistive devices can be used very effectively for patients, but it is inconvenient to limit the range of motion excessively to help the general public with ankle joint instability (when descending after climbing, walking for a long time, after exercising the lower extremities, etc.) due to low muscle strength. can cause more.

Shoes with Nike's automated shoelace tying system can use the electrical part to automatically tie shoelaces to create the level of pressure desired by the wearer. It is manually adjusted using an App) such as a mobile phone or tablet. However, even in this case, the shoes do not actively adjust the determined compressive force.

Republic of Korea Patent Registration No. 10-1693750 (shoe-coupled wearer for ankle stiffness support) Republic of Korea Patent Registration No. 10-2263035 (string driving structure for automated footwear platform) Republic of Korea Patent Registration No. 10-1927593 (ankle support using wire) Republic of Korea Patent Registration No. 10-1649335 (ankle joint orthosis) Republic of Korea Patent Registration No. 10-0976256 (shoes with elastic ankle band attached) International Application PCT/US2017/021410 (Drive Mechanism for Automated Footwear Platform)

Therefore, the present invention has been made to solve the above conventional problems, and according to an embodiment of the present invention, the level of pressure on the ankle joint can be easily adjusted according to the condition of the wearer, and the wearer can manually directly An object of the present invention is to provide an adjustable ankle joint variable compression shoe and a compression force control method that can be actively compressed by requesting an electronic device.

According to the embodiment of the present invention, in the case of passive shoes, the step for the wearer to adjust the compression force of the existing ankle joint compression can be very innovatively adjusted, and in the case of active shoes, sensors inserted inside (pressure sensor, inertial Ankle joint variable that reduces the disadvantages of existing fixed ankle joint compression devices and effectively utilizes the advantages by using a sensor (imu sensor) to measure the wearer's movement and shoe pressure, and the shoe actively adjusts the compression force according to the movement Its purpose is to provide a compression shoe and a compression force control method.

On the other hand, the technical problems to be achieved in the present invention are not limited to the above-mentioned technical problems, and other technical problems that are not mentioned will become clear to those skilled in the art from the description below. You will be able to understand.

An object of the present invention is an ankle joint variable compression shoe, comprising: a bottom part; An outer shell that covers the instep, heel and ankle when wearing shoes; a wire disposed on the shell structure; and compression control means for adjusting compression force on the ankle joint by tightening and loosening the wire.

And it may be characterized in that it further comprises a coarse movement control unit provided in the vicinity of at least one of the ankle and the ankle of the outer shell to wrap and compress the ankle before the fine movement compression control by the compression control means.

In addition, the shell may include an instep cover, a heel cover, and a heel cover, and the wire may be installed to connect between the instep cover, the heel cover, and the heel cover.

In addition, the compression control means may be configured as a manual type dial or a BOA closure to adjust the compression force to the ankle joint by tightening and releasing the wire.

In addition, a pressure sensor provided inside the shoe to measure the pressure inside the shoe, a driving unit connected to the wire to tighten and loosen the wire, and a driving unit based on the pressure value measured by the pressure sensor to control the ankle joint. It may be characterized in that it includes a control unit for adjusting the pressing force.

And an inertial sensor provided inside the shoe, and an analysis means for determining a pressure level inside the shoe by recognizing a wearer's motion based on a measurement value of the inertial sensor, wherein the control unit further includes the pressure measured by the pressure sensor. Based on the value, it may be characterized in that the driving unit is controlled so that the pressure level is the determined pressure level.

In addition, the movement is a gait cycle and fatigue, and the control unit maintains the internal pressure within a first specific range when the wearer's fatigue level is low, and when the wearer's fatigue level is high, the internal pressure is set to a second specific range higher than the first specific range. It may be characterized in that the driving unit is controlled to increase the internal pressure level.

And it further includes a wireless communication module for transmitting data on the motion and the pressing force to the set user terminal, wherein the wearer, after putting on the shoes, determines the minimum pressing force and the maximum pressing force through the user terminal, remote controller, or an input means provided in the shoe. It can be characterized by setting.

In addition, the analysis means, based on the gait cycle, classified into a period in which the foot touches the ground (Heel Strike, HS), a period in which the foot rolls in the air (Swing phase, SP), and a period in which the ankle angle changes (Single Limb Support, SLS) And, the gait cycle detection variables are Heel strike (HS), Foot flat (FF), and Toe off (TO), and the gait progress rate is defined by Equation 1 below, and the control unit calculates from FF to TO as an SLS interval It can be characterized by lowering the pressure level by classifying the TO to GCP 85-90% as the SP section, and from the GCP 85-90% to FF as the HS section, and increasing the pressure level.

[Equation 1]

* 100Gait Progression Rate (Percent [%] from previous HS to next HS) = Gait Cycle Percent (GCP) =

* 100

In addition, if any one of the following conditions is satisfied, the analysis unit recognizes the high-intensity walking mode, and the control unit controls the driving unit to change the compression level of the ankle joint.

A When the average inclination of the axis parallel to the ground of the inertial sensor during walking is consistently more than 10 to 15 degrees on average for a set period of time, the uphill slope is defined as walking,

B When the average slope of an axis parallel to the ground of the inertial sensor during walking is continuously displayed for a set time of -10 to 15 degrees or more on average, downhill slope is defined as walking,

C Defined as unpaved road walking when the variability of Gyro, Acc values and stride time in the SP section between HS and TO increases.

D High-load walking is defined when the pressure sensor attached to the lower part of the heel continuously measures a value higher than the set body weight for a set time.

In addition, the analysis means predicts the gait state of the wearer according to the intersection of the conditions A, B, C, and D, and the control unit changes the pressure level of the ankle. When the conditions A and C are simultaneously satisfied, the unpaved uphill road Predicting walking, lowering the compression force in the SLS section, and satisfying the above conditions A and B at the same time, predicting the unpaved downhill walking, increasing the compression force in the SLS section, satisfying the above conditions A and C at the same time, and then satisfying the condition A If and B are satisfied, it may be characterized in that the control is performed to increase the pressure level in all sections by predicting descent after climbing.

And, when the condition C and the difference between the left and right stride times are 20 to 30% at the same time, the analysis unit defines unstable walking, and the control unit gradually applies the compression force until the difference between the left and right stride times falls within the set normal range. It may be characterized in that it is controlled to increase to .

According to the ankle joint variable compression shoe and the compression force control method according to an embodiment of the present invention, the compression level of the ankle joint can be easily adjusted according to the wearer's condition, and the type that can be manually adjusted by the wearer, and the electronic It has the effect of allowing the device to be actively pressed.

According to the ankle joint variable compression shoe and the compression force control method according to an embodiment of the present invention, in the case of passive shoes, the step for the wearer to adjust the compression force can very dramatically adjust the existing ankle joint compression, and in the case of active shoes , Using internally inserted sensors (pressure sensor, inertial sensor (imu sensor) to measure the movement of the wearer and the pressure inside the shoe, the shoe actively adjusts the compression force according to the movement to overcome the disadvantages of the existing fixed ankle joint compression mechanism. You can reduce it and take advantage of it effectively.

On the other hand, the effects obtainable in the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description below. You will be able to.

The following drawings attached to this specification illustrate preferred embodiments of the present invention, and together with the detailed description of the invention serve to further understand the technical idea of the present invention, the present invention is limited only to those described in the drawings. and should not be interpreted.
1 and 2 are perspective views of a passive ankle joint variable compression shoe according to an embodiment of the present invention;
3 is a perspective view of an active ankle joint variable compression shoe according to an embodiment of the present invention;
4a and 4b are block diagrams and perspective views of a compression force control device for an active ankle joint compression shoe according to an embodiment of the present invention;
5 is a flowchart of a method for controlling compression force of a passive shoe according to an embodiment of the present invention;
6 is a flowchart of a compression force control method for an active shoe according to an embodiment of the present invention;
7 is a flowchart of a gait cycle analysis method according to an embodiment of the present invention.

The above objects, other objects, features and advantages of the present invention will be easily understood through the following preferred embodiments in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments described herein and may be embodied in other forms. Rather, the embodiments introduced herein are provided so that the disclosed content will be thorough and complete and the spirit of the present invention will be sufficiently conveyed to those skilled in the art.

In this specification, when an element is referred to as being on another element, it means that it may be directly formed on the other element or a third element may be interposed therebetween. Also, in the drawings, the thickness of components is exaggerated for effective description of technical content.

Embodiments described in this specification will be described with reference to cross-sectional views and/or plan views, which are ideal exemplary views of the present invention. In the drawings, the thicknesses of films and regions are exaggerated for effective explanation of technical content. Accordingly, the shape of the illustrated drawings may be modified due to manufacturing techniques and/or tolerances. Therefore, embodiments of the present invention are not limited to the specific shape shown, but also include changes in the shape generated according to the manufacturing process. For example, a region shown at right angles may be rounded or have a predetermined curvature. Accordingly, the regions illustrated in the drawings have attributes, and the shapes of the regions illustrated in the drawings are intended to illustrate a specific shape of a region of a device and are not intended to limit the scope of the invention. Although terms such as first and second are used to describe various elements in various embodiments of the present specification, these elements should not be limited by these terms. These terms are only used to distinguish one component from another. Embodiments described and illustrated herein also include complementary embodiments thereof.

Terminology used herein is for describing the embodiments and is not intended to limit the present invention. In this specification, singular forms also include plural forms unless specifically stated otherwise in a phrase. The terms 'comprises' and/or 'comprising' used in the specification do not exclude the presence or addition of one or more other elements.

In describing the specific embodiments below, several specific contents are prepared to more specifically describe the invention and aid understanding. However, readers who have knowledge in this field to the extent that they can understand the present invention can recognize that it can be used without these various specific details. In some cases, it is mentioned in advance that parts that are commonly known in describing the invention and are not greatly related to the invention are not described in order to prevent confusion for no particular reason in explaining the present invention.

Hereinafter, the configuration and function of the ankle joint variable compression shoe according to an embodiment of the present invention will be described. Ankle joint variable compression shoes according to embodiments of the present invention can be divided into passive and active types.

1 and 2 are perspective views of a passive ankle joint variable compression shoe according to an embodiment of the present invention. Basically, the ankle joint variable pressure shoe 100 according to an embodiment of the present invention includes a bottom portion 10 and an outer shell 20 that surrounds the instep, heel, and ankle when the shoe is worn, like a normal shoe, and the outer shell ( 20) and a wire 24 disposed on the wire 24, and a compression control means (fine movement control unit 40) for adjusting the compression force on the ankle joint by tightening and releasing the wire 24.

That is, the present invention adjusts the compressive force of the ankle joint by tightening and loosening the outer shell 20 surrounding the ankle joint in a shoe of a type that wraps up to the ankle using the wire 24. In order to tighten and loosen the wire, the passive type uses a pressure adjusting means 40 composed of a dial structure, etc., and the active type uses a pressure control device 50 with a sensor inserted in the outsole.

And, as shown in FIG. 1, the shell 20 may include an instep cover 21, a heel cover 23, and a heel cover 22, and the wire 24 is the instep cover 21 And, it is installed to connect between the heel cover 23 and the heel cover 22.

In addition, it is provided near the ankle of the shell 20 and at least one of the ankles, and may include a coarse motion control unit 30 for wrapping and compressing the ankle before fine motion compression control by the compression control means 40. .

This coarse adjustment is to adjust the spacing of the shell 20 structure including the fine movement control unit (compression control means) 40 attached to the instep, and is a passive type around the ankle using detachable members 31 such as hooks and straps. will be adjusted to suit

In the case of passive shoes, the compression control means 40 is a manual type and is composed of a dial or a BOA closure to adjust the compression force to the ankle joint by tightening and releasing the wire 24. That is, the fine movement control finely adjusts the spacing of the outer sheath 20 fixed by fine movement control to control the compression force in the shoe, and tightens and releases the wire 24 connected to both ends of the fixed sheath. Represents the compression force of the ankle joint.

5 is a flowchart of a method for controlling compression force of a passive shoe according to an embodiment of the present invention. Basically, after wearing the passive shoes (S1), and after applying the compression force primarily by the coarse adjustment unit 30, the wearer can adjust the desired level of compression force by turning the dial or the DOA closure 40 (S3). The location of compression is the entire area around the ankle joint, and the level of compression varies somewhat depending on the wearer's body size (foot size, shape, ankle circumference, etc.), but 10 to 90 mmHg is possible.

In general situations (light walking) and general physical conditions (states without injury, pain, fatigue, etc.), they are worn with low compression, and the passive shoe wearer's motion situation (mountain climbing, heavy walking, etc.) or wearer's physical condition (ankle injury, High fatigue, etc.), the size of the compression is increased and worn.

Hereinafter, the configuration and function of the ankle joint variable pressure active shoe according to an embodiment of the present invention will be described.

3 is a perspective view of an active ankle joint variable compression shoe according to an embodiment of the present invention, and FIGS. 4A and 4B are block diagrams and perspective views of a compression force control device for an ankle joint variable compression active shoe according to an embodiment of the present invention. is shown.

As shown in FIG. 3 , the active shoe 100 according to the embodiment of the present invention controls the active compression force instead of the compression control means 40 configured to finely adjust the pressure with a dial, BOA closure, etc. in the aforementioned passive shoes. It can be seen that device 50 is provided.

As shown in FIG. 4B, in the case of an active shoe, a pressure sensor 51 provided inside the shoe to measure the pressure inside the shoe and a drive unit 60 connected to the wire 24 to tighten and loosen the wire 24 And, it is configured to include a controller 63 that controls the driving unit 60 based on the pressure value measured by the pressure sensor 51 to adjust the compression force on the ankle joint, and is also provided inside the shoe Inertial sensor 52 ) and analysis means 70 for determining the pressure level inside the shoe by recognizing the movement of the wearer based on the measured values of the inertial sensor 52 and the pressure sensor 51. Further, the control unit 63 controls the driving unit 60 so that the pressure level determined by the analysis unit 70 is based on the pressure value measured by the pressure sensor 51.

As shown in FIG. 4A, the driving unit 60 may include a motor 65, a motor driver 64, and a regulator 67, and a user terminal 1 set by a wearer or the like through a wireless communication module 68. ) side, it can be configured to transmit data on movement and compression force, and at this time, after wearing the shoes, the wearer can set the minimum compression force and maximum compression force through the user terminal 1, the remote controller, or the input means provided in the shoes. Able to know.

In addition, the battery 61 can be wirelessly charged through the wireless charging module 62, and the battery 61 is powered by a regulator 67, a motor driver 64, a wireless communication module 68, an inertial sensor 52, It is supplied to the pressure sensor 51.

The movement of the wearer analyzed by the analysis unit 70 may include a gait cycle and degree of fatigue, and the control unit 63 maintains the internal pressure within a first specific range when the wearer's degree of fatigue is low, and when the degree of fatigue of the wearer is high. The driving unit 60 is automatically controlled to increase the internal pressure level to a second specific range higher than the first specific range.

6 is a flowchart of a method for controlling compression force of an active shoe according to an embodiment of the present invention. After putting on the shoes (S10) and applying the first pressure by the coarse adjustment unit 30 (S20), the wearer uses the user terminal 1, the input means provided in the shoes, the remote control, etc. is set (S30), and when walking is started, the analysis means 70 analyzes the gait cycle and the gait road (S40), and determines the mode (S50). And to match this mode, the control unit 63 automatically controls the driving unit 60 to adjust the compressive force of the ankle (S60).

Hereinafter, a method of determining the gait cycle and a method of automatically adjusting compression force according to the gait cycle will be described in more detail. In addition, detailed methods for classifying and determining high-intensity walking mode, unstable walking mode, and maintenance mode, and control methods in each mode will be described.

7 is a flowchart of a gait cycle analysis method according to an embodiment of the present invention.

First, as mentioned above, after wearing the shoes, the minimum compression force and the maximum compression force are adjusted and set using the App of the user terminal 1, the remote control, the input button attached to the shoe, and the initial input value.

For example, the lowest compression force may be the level of tying shoelaces when wearing normal shoes or 10 to 20 mmHg, and the highest compression force may indicate physical discomfort, but the state before severe pain appears to the wearer, It can be the best pressure you want, etc.

And according to each sub-mode, based on the internal sensor of the shoe (pressure sensor 51, inertial (IMU) sensor 52), the compression force of the shoe is actively and automatically adjusted.

Hereinafter, a control method for adjusting the compression force according to the gait cycle will be described. Using the inertial sensor 52 built into the shoe, the analysis unit 70 detects the gait cycle in real time (S41), and the control unit 60 adjusts the ankle compression force according to the detected time point, and the magnitude of the compression force is The user sets directly or uses the default setting value. That is, the analysis means 70 determines the compressive force in the gait cycle based on the value measured by the inertial sensor 52 at the moment the foot lands on the ground (HS), the moment the foot rolls in the air (Swing phase, SP), and the angle of the ankle It is classified into the single limb support (SLS) section that changes the most (S42).

In addition, the compression force is high at the moment the foot touches the ground (HS) and the moment the foot rolls in the air (Swing phase, SP), and at the moment of single limb support (SLS), when the angle of the ankle changes the most, the compression force of the ankle is reduced. It becomes (S43, S44).

Through this, it is possible to show a decrease in the impact amount of the ankle and an improvement in stability in a state in which the disturbance of the ankle movement is minimized.

The real-time gait cycle detection variables are heel strike (HS), foot flat (FF), and toe off (TO), and are used as follows.

Gait progress rate calculation using HS can be calculated by Equation 1 below.

[Equation 1]

* 100Gait Progression Rate (Percent [%] from previous HS to next HS) = Gait Cycle Percent (GCP) =

* 100

The analysis means 70 classifies FF to TO as SLS, and in the SLS section, the control unit 63 controls to maintain a low pressure level, and from TO to GCP 85 to 90% from SP and GCP 85 to 90% Up to FF is classified as an HS section, and at this time, it is controlled to maintain a high compression level.

Hereinafter, a method for determining the high-intensity walking mode and a compression force control method at this time will be described. High-intensity walking corresponds to high load walking, mountain climbing, slope walking, and unpaved road walking.

When at least one of the following conditions A, B, C, and D is satisfied, high-intensity walking is defined, and the ankle pressure level is controlled to be changed.

A. If the average inclination of the axis parallel to the ground of the IMU sensor continuously appears at an average of 10 to 15 degrees or more during walking, the uphill slope is also defined as walking.

B. If the average slope of the axis parallel to the ground of the IMU sensor continuously appears over -10 to 15 degrees during walking, the downhill slope is also defined as walking.

C. Between HS and TO, if the variability of the Gyro, Acc values and stride time of the swing phase increases, it is defined as walking on an unpaved road.

D. When the pressure sensor attached to the lower part of the heel continuously measures a value higher than the set weight, it is defined as high load walking.

In addition, according to the intersection of A, B, C, and D conditions, the walking state of the wearer is predicted and the pressure level of the ankle is changed.

For example, if conditions A and C are satisfied, it is predicted as walking on an unpaved uphill road (for example, during mountain climbing), and the compression force is controlled to be lowered during Single Limb Support.

And if conditions A and B are satisfied, it is predicted as unpaved downhill walking (for example, downhill), and the compression force during Single Limb Support is additionally controlled to increase.

In addition, after satisfying the A+C condition, if the A+B condition is satisfied, it is predicted as descending after climbing, and control is performed to increase all pressure levels.

In addition, when at least one of the above conditions A, B, and C is satisfied and condition D is added, the pressure level is controlled to increase in proportion to the increased load.

Hereinafter, a case in which it is determined as an unstable walking mode and a compression force control method in the unstable walking mode will be described.

When the following two characteristics appear, it is detected and defined as an unstable gait.

(1) When there is a large difference (20~30%) in the left and right stride times

(2) When the condition C of the definition of high-intensity gait determination is applicable

If these conditions are satisfied, the active compression control is turned on if it is off, and the compression force is controlled to gradually increase until the difference between the left and right stride times is reduced.

For example, the level of compression is set to a maximum of 60 to 80% of the maximum compression force defined by the user, and the compression force is increased between 1 and 3 minutes in 5 to 10 steps.

When the difference in stride time between the left and right sides is within the normal range, the pressure level is gradually lowered, and it is lowered step by step between 30 seconds and 1 minute.

Next, a fixed maintenance mode (manual mode) in which the compression force set by the wearer is maintained regardless of walking will be described.

Manual mode is controlled by dividing it into two main states as follows.

go. By fixing the tightened wire based on the set compression force, it shows the same effect as a passive shoe. or

me. Based on the set compression force, even if the internal pressure changes, the shoe wire is actively controlled to be loosened and tightened to maintain the set compression force (PID control).

In addition, the device and method described above are not limited to the configuration and method of the above-described embodiments, but all or part of each embodiment is selectively combined so that various modifications can be made. may be configured.

10: Bottom
20: outer skin
21: foot cover
22: back ankle cover
23: heel cover
24: wire
30: coarse adjustment unit
31: detachable member
40: Fine movement control unit
50: active compression force control device
51: pressure sensor
52: inertial sensor
60: driving unit
61: battery
62: wireless charging module
63: control unit
64: motor driver
65: motor
66: Pulley
67: regulator
68: wireless communication module
70: analysis means
100: ankle joint variable compression shoes

Claims (12)

In the ankle joint variable compression shoe,
bottom part;
An outer shell that covers the instep, heel and ankle when wearing shoes;
a wire disposed on the shell structure; and
An ankle joint variable compression shoe comprising a compression control means for adjusting compression force on the ankle joint by tightening and loosening the wire.
According to claim 1,
Ankle joint variable compression shoe, characterized in that it further comprises a coarse movement control unit provided near at least one of the ankle and ankle of the outer shell to wrap and compress the ankle before the fine movement compression control by the compression control means.
According to claim 2,
The shell includes an instep cover, a heel cover, and a back ankle cover,
Ankle joint variable pressure shoe, characterized in that the wire is installed to connect between the instep cover, the heel cover, and the rear ankle cover.
According to claim 2,
Ankle joint variable compression shoe, characterized in that the compression adjusting means is configured to be a manual type and composed of a dial or a BOA closure to tighten and release the wire to adjust the compression force to the ankle joint.
According to claim 2,
A pressure sensor provided inside the shoe to measure the pressure inside the shoe, a driving unit connected to the wire and tightening and loosening the wire, and a compression force on the ankle joint by controlling the driving unit based on the pressure value measured by the pressure sensor. Ankle joint variable compression shoe, characterized in that it comprises a control unit for adjusting the.
According to claim 5,
Further comprising an inertial sensor provided inside the shoe, and analysis means for determining a pressure level inside the shoe by recognizing a wearer's movement based on a measurement value of the inertial sensor,
The control unit controls the driving unit so that the pressing force reaches the determined pressure level based on the pressure value measured by the pressure sensor.
According to claim 6,
The movement is a gait cycle, and fatigue,
The control unit controls the drive unit to maintain the internal pressure in a first specific range when the wearer's fatigue is low, and to increase the internal pressure level to a second specific range higher than the first specific range when the wearer's fatigue is high. Ankle joint variable compression shoe, characterized in that.
According to claim 7,
To the set user terminal side, further comprising a wireless communication module for transmitting data on the movement and the pressing force,
Ankle joint variable compression shoe, characterized in that the wearer sets the minimum compression force and the maximum compression force through the user terminal, remote controller, or input means provided in the shoe after wearing the shoes.
According to claim 8,
The analysis means, based on the gait cycle, classified into a period in which the foot touches the ground (Heel Strike, HS), a period in which the foot rolls in the air (Swing phase, SP), and a period in which the ankle angle changes (Single Limb Support, SLS), ,
The gait cycle detection variables are heel strike (HS), foot flat (FF), and toe off (TO), and the gait progress rate is defined by Equation 1 below,
The control unit classifies FF to TO as an SLS section to lower the level of compression, classifies TO to GCP 85 to 90% as an SP section, and GCP 85 to 90% to FF as an HS section, and increases the compression level Ankle joint variable compression shoe, characterized in that:
[Equation 1]
Gait Progression Rate (Percent [%] from previous HS to next HS) = Gait Cycle Percent (GCP) =

* 100
According to claim 8,
Ankle joint variable compression shoe, characterized in that the analysis unit recognizes a high-intensity walking mode when any one of the following conditions is satisfied, and the control unit changes the compression level of the ankle joint by controlling the driving unit:
A When the average inclination of the axis parallel to the ground of the inertial sensor during walking is consistently more than 10 to 15 degrees on average for a set time, uphill slope is also defined as walking.
B When the average slope of an axis parallel to the ground of the inertial sensor during walking is continuously displayed for a set time of -10 to 15 degrees or more on average, downhill slope is defined as walking,
C Defined as unpaved road walking when the variability of Gyro, Acc values and stride time in the SP section between HS and TO increases.
D High-load walking is defined when the pressure sensor attached to the lower part of the heel continuously measures a value higher than the set weight for a set time.
According to claim 10,
The analysis means predicts the gait state of the wearer according to the intersection of the conditions A, B, C, and D, and the control unit changes the compression level of the ankle,
When the above conditions A and C are simultaneously satisfied, the unpaved uphill walking is predicted to lower the compression force in the SLS section, and when the above conditions A and B are simultaneously satisfied, the unpaved downhill walking is predicted and the compression force is increased in the SLS section , Ankle joint variable compression shoe, characterized in that after satisfying the conditions A and C at the same time, if the conditions A and B are satisfied, the control is performed to increase the level of compression in all sections by predicting climbing and descending.
According to claim 10,
When the condition C and the difference between the left and right stride times are 20 to 30% at the same time, the analysis unit defines unstable walking, and the control unit gradually applies the compression force until the difference between the left and right stride times falls within the set normal range. An ankle joint variable compression shoe, characterized in that the control so as to rise.

Images