TR2024002590U5 - IN ORDER TO GET NUMERICAL RESULTS IN THE WALKING TEST. INSOLES - Google Patents

Abstract

Walking tests are used in examinations in various medical specialties, alcohol examinations by traffic police, etc. are carried out in the areas. Generally, a physical examination involves observation and completion of rating scales by the examiner. However, these scales are generally based on observation, not numerical data, and in this respect they are relative and may vary depending on the person performing the examination. This invention can be used to objectively measure and evaluate movement by obtaining numerical data on the movements of the feet that occur during walking; Inertial measurement units (IMU) (5) consisting of the combination of accelerometer (1), gyroscope (2) and magnetic sensors (3) with a fusion algorithm (4) and other necessary electronic units (6), (7), (8) ,It is about an insole (A) containing (9). Thanks to the use of this insole, the kinematic values of foot movements can be calculated in walking tests.

Description

DESCRIPTION technical field This invention obtained numerical data regarding the movements of the feet that occur during walking. It can be used to objectively evaluate the movement by; accelerometer, Inertial system consisting of the combination of gyroscope and magnetic sensors with a fusion algorithm. with an insole system that includes measurement units (IMU) and other necessary electronic units Prior Art Brief description of the invention Walking tests are performed by traffic police in examinations in various medical specialties. alcohol examinations etc. It is done in areas. Usually, the physical examination It involves observation by the performer and completion of rating scales.

However, these scales are generally based on observation, not numerical data, and in this respect, they do not support the examination. It may vary depending on the person doing it, it is relative.

Evaluation of movement during walking is the basic part of musculoskeletal system physiotherapy. tasi. When a person walks, this movement performed by multi-jointed legs has more than one On the other hand, it is difficult to evaluate when the speed factor is included. is the inspection process.

Three-dimensional optoelectronic technology developed to provide objective measurements in walking tests. (camera-based) motion systems are available. Istanbul University Rectorate and Nazif Ekin AKALAN titled "walking recording system and a related observational gait analysis method" In their patent numbered 201508166, it is stated that "to be used in the detection and diagnosis of gait disorders" A camera and the aforementioned equipment are used to record the walks of individuals. contains a walking path with defined boundaries within the field of view of the camera. They developed a gait recording system related to an observational gait analysis system.

However, these systems prevent light from being blocked, reflected, etc. in the environment they are in. possible To rule out problems, we usually require the patient to go to a specialized movement analysis laboratory. requires. In addition, the equipment in these laboratories is expensive, not portable and requires high It requires a high level of technical expertise and lengthy calibration processes. Therefore, these systems Its use is not widespread even in clinical practice and is not used to evaluate walking performance. Objective biomechanical information is needed for this. Walking in clinics and outdoor environments A more rigorous approach to measuring movement is required.

This invention was achieved by obtaining numerical data about the movements of the feet that occur during walking. can be used to objectively measure and evaluate movement; accelerometer, inertial system consisting of a combination of gyroscope and magnetic sensors with a fusion algorithm. It is about an insole containing measurement units (IMU) and other necessary electronic units.

Thanks to the use of this insole, the kinematics of foot movements in walking tests values can be calculated. It has more advantages over image processing systems. It is economical, does not require expert users and is portable.

Referance list A. Shoe Insoles 1. lvme meter 2. Gyroscope . magnetic sensors . Fusion algorithm .Inertial measurement units (IMU) .Sensor Unit .Kalman filter . particle filter . recording device Brief Description of Drawings Figure- 1 Position, speed and direction information of the foot in walking movement Figure- 2 Decision mechanism relationships Figure- 3 Sensor unit Figure- 4 Data bus and recording system Detailed description of the invention University of Twente (2002), ”Inertial Sensing of Human Movement.” PhD with title In his thesis, miniature inertial and magnetic sensors that can be placed on parts of the body There are studies on the movement adaptation of organs with modules. This In the studies, the world was measured with a magnetometer based on the Sabit - Earth reference system. the magnetic field, the speed changes of the organs in which they are placed with an accelerometer, and the gyroscope with They measured angular velocities. In this system, harmony is achieved as a result of adding different vectors together. errors, calibration errors and ultimately position errors may occur. Because human joints and The human body is a pure kinematic structure because the organs allow some slack. defined and the joints are spherical etc. It cannot be modeled as a joint. Because the joints in the body They are not absolutely rigidly connected joints. On the other hand, sensor modules are used to monitor movements, It must be attached to the organs very tightly. However, due to the elasticity of the skin during movement, There may be position shifts in the sensors due to muscle and fat structure. These are also measurements can be seen as sources of error in the system.

Inertia for 3D movement data within the insoles developed for each foot. sensor, digital signal processing (DSP) circuit, sensor data; kalaman filter or particle orientation and position through the fusion circuit using an estimation algorithm such as a filter. There is a microcontroller to achieve the predictions. Figure 1.

3D data based on accelerometer, gyroscope and magnetic field data in each insole. Inertial sensor information is collected. The position of each foot and its corresponding movement It is found by integrating gyroscope data over time. integrate lever Ignoring gravitational acceleration to calculate the displacement of the sensor by must. For this, the vertical component of the acceleration must be known. To provide direction information gyroscope was used. The gyroscope measures angular velocity and if integrated over time initially Angular displacement is found according to its known position. After the gravity component is removed The first integration of the acceleration gives the velocity, and the second integration gives the position information. Digital Signal processing (DSP) circuitry may be built into each sensor module or can be edited outside. Sensor data is processed by a computing device such as a microcontroller Direction and location information is calculated. Over time, electronic noise, sensor orientation, and signal For reasons such as slipping; inertial sensor data, including acceleration and angular velocity integration errors may occur. For this reason, direction, speed and location information can be stored at certain times. may need to be corrected at intervals. These corrections are made in sensor data processing. This can be achieved by making measurement updates using assumptions and boundary conditions. Also foot The friction between the sole and the shoe sole is also taken into account as a factor in the calculation. receivable. Biomechanical properties of various people, types of joints V. M. Zatsiorsky ”Kinematics of Human Motion.” (1998) In his work titled "Kinematics of Human Movements" has been explained. This work has been used and taken as a reference here in its entirety. Acceleration Body kinematics calculation using only direction information without integration of data Movements cannot be determined through it. Staircase thanks to the integration of all acceleration data Jumping, jumping and irregular movements can be evaluated. However, integration of acceleration data If this were not done, such movements would be detected only with directional information and body kinematic calculation. It cannot be done.

Measurement of the resulting force and moment with sensors on the sole of the shoe IEEE Trans. by Veltinket et al. Neural Systems (2005), ”Ambulatory Measurement of Ground Reaction Forces.” Reference the work in its entirety here was taken as .

Sensor fusion circuit to obtain an estimate of position, speed and direction information Hardware that implements a Kalman filter, particle filter, or similar estimation algorithm, a digital signal, in the form of a microcontroller, which can be software or a combination of these processor (DSP). Analog Devices, Inc. ADSP-BF531 Blackfin processor manufactured by In addition, the Intel Core 2 processor produced by Intel Corporation can be used for this purpose.

The fusion circuit uses this to correct the initial estimates of the sensor and body kinematics. feedback by updating measurements as well as external and auxiliary sensor data. uses editing. Real-time over time to increase forecast accuracy It is possible to process data forward and backward. by sensor fusion circuit In a central filter used, all sensor signals are processed in one place. Figure 2.

The motion tracking system consists of a set of inertial and magnetic sensor modules for each tracked foot. Contains. Sensors provide data sampling as well as power supply for all sensors. synchronization and transfer of all sensor data and processed data to an external computer or It is connected to a bus module that provides wireless transmission to the recorder. Figure 3.

It contains a battery and a wireless communication module in each sensor unit within the insole.

In embodiments, the wireless communication module includes Bluetooth, WiFi, UWB or a similar wireless device. uses technology. Sensor sampling module, 3D gyroscope unit of the sensor unit, 38 signals from the accelerometer unit and each of the 38 magnetometer units to the corresponding leg. It transmits the direction and position estimates to the DSP module to calculate the direction and location estimates for the target. wireless communication module, the sensor data as well as the calculated direction and position estimates, the sensors for synchronization of sensor information between sensors and optional additional processing of data transmits to an external computer or recorder.

The bus system contains one or more cables to connect sensor modules. cables and sensors are built into the insoles. The insoles mechanically detect the sensors. fixes it to the body and hides the associated cables.

Claims (7)

STEMS 1-A method for capturing each foot movement through a plurality of motion sensors located on the sole of the shoe (A); each shoe has at least one sensor unit on its sole; Each sensor unit captures 3D position data and 3D direction data associated with the foot it is on; the method includes: collecting 3D sensor data at each sensor unit via at least one 3D accelerometer sensor (1) and at least one 3D angular velocity sensor (2) and calculating the 3D orientation and 3D position integrating the 3D angular velocity data It involves each foot having a sensor unit (6) by integrating the accelerometer data 38 twice in time. 2-It is a method in accordance with claim 1, and its feature is that it includes a magnetic sensor (3), a pressure sensor and an RF-based local position sensor or more auxiliary sensors to update the 3D direction and 38 position calculations. 3-A method according to claim 1, further comprising updating the 3D direction and 3D position calculation by detecting the external contact of the foot in a predetermined environment based on at least one of the position, speed and acceleration of both feet. 4. A method according to claim 1, wherein the predetermined environment is characterized by one or more predetermined assumptions or the assumption of a simultaneous localization and mapping technique path. The method also includes updating them. 5-To capture the movement of a foot, the system consists of the following: At least one motion sensor unit, sensors located in each of the two shoes adapted to detect 3D inertia, motion sensor data containing 3D position and direction information of both feet, and 3D At least one sensor fusion circuit (4) that estimates 3D position using inertial sensor data includes updating the 3D direction and position calculation based on deviations arising from a predetermined biomechanical modeling. It includes an accelerometer sensor 38 (1) and an angular velocity sensor (2) 38 for collecting 3D inertial sensor data and associated with a sensor fusion circuit (4) for position and direction estimation 38. Here, the sensor fusion circuit updates the 3D position and direction data based on the 3D inertial sensor (5) data, and by applying many methods, the 3D direction estimates make corrections for deviations caused by modeling using constraints based on predetermined environment properties. 6-A system according to claim 5, where at least one sensor fusion circuit (4) performs 3D position and 38 direction estimation through one of the Kalman filter (7) and the particle filter (8). 7-It is a system in accordance with claim 5, and also includes a recording device (9) adapted to ensure synchronization of information between sensor modules and further processing of sensor data through at least one sensor fusion circuit (4).