TW201114408A - Wireless gait analysis system by using fabric sensor - Google Patents

Abstract

The present invention relates to a wireless gait analysis system by using fabric sensor, which includes: a socks-sensing system having a pair of socks and at least one fabric sensor to sense body's posture or motion; and a micro-processor to receive the signals coming from said fabric sensor.

Description

201114408 VI. Description of the invention: [Technical field of invention] Health and physical training 'long-term care, orthopedics and sports medicine, wearer ^ step ^^^^^^^^^^^^^^^^^^^^^^ Sensing Ding chat and into the sickle analysis to pay attention to the exercise physiology of the wearer. Ο 15 20

G 25 30 [Prior Art] Itching, (2): Patients who use the motor function, such as the laboratory of the brain industry, suffer from it. With the prior art 'gait analysis, the most ideal gait analysis system is often in the wood, and it should be able to continuously monitor i = t experts and patients need a low-cost system. , or in the doctor's office with visual observation. Clinicians - general users, breaks and treatments' are faced with many complex factors. Suitable for ί, ί is. However, traditional gait analysis equipment often requires field measurements to be unfavorable. Do a comprehensive urban full-age analysis experiment, and let the analysis system be carefully recorded, so it is possible to provide a large amount of re-readable capital in time, which will greatly help. However, the current gait analysis related equipment takes ', Xiao Xiaopan' or its phase _ product itself, there is no way to meet the Lie shoes ΐΓ 作 ^ ^ ^ 1 789331 and · 68185, its patent The content is all American (four) reading silk 'and can not be washed, resulting in user inconvenience. The burdock eight^2=52>7 series with a camera and shoes as a gait analysis sensor, who: ΐ ' ' can only be carried out indoors, allowing users to engage in gait analysis indoors, operation Inconvenience is not conducive to the promotion of gait analysis systems. US patent number warning material, #Using ultrasonic to test the user's posture and movement state and gait analysis related to the smear and obtain the ultrasonic related equipment is not expensive, it is not conducive to gait analysis related to the national patent number yeah 2G__3Ai Then use the pressure sensor to test the user's side, 'Ι51βΪ, each shoe or machine has an independent power supply and is not digitally sensed'. ί ί : Ϊ Signal processing needs feedback method (FeedbaCk) Signal analysis, the process is cumbersome, lengthy and complex, and it needs to use neuro-fuzzy to prevent 3 35 201114408 5 10Ο 15 20 Ο 25 30 , but it can not show the gait of the tester. The parameter does not sense the posture or movement of the body. This system only uses the data measured by the pressure sensor and the stable data (s1:ability pr〇file) to generate a feedback value, mainly in the ideal central mass prof ile (stability profile) and mass of Individual to prevent falls' in the text ooio inside, if there is an acceleration gauge can measure gait speed, step length, and gait time, and I, the current design to improve without acceleration gauge, only use switches, pressure Fabric sensors such as pull force can predict gait parameters at the same time, and predict the movement of knees, hip joints, hands, etc., and also measure the length of the pace, speed, acceleration, angle of the ankle joint, angular velocity, etc. The gait parameters, and no need to use the feedback value, but directly calculate the gait parameters or the posture by the sock sensor. US Patent No. US20090012433A1 requires a camera, a microphone, and a sensor to detect the user's gait analysis related information, but this analysis method is too cumbersome, which is not conducive to the promotion of the state analysis. US Patent No. US200610282021 A1 uses a sensor and a two-terminal monitoring system to analyze the posture and gait analysis of the side user, but the system is spaced, and when the user is far away from the monitoring, the monitor I can't handle i with ϊζγ. The 2287 A1 is used to hang on the subject with accelerometers and tactics to detect gait analysis related information, but it is not conducive to promotion because of the high cost. [Summary of the Invention] In the day of the day, it is necessary to put on clothes, sit in a chair or lie on the bed, so that the gait sensor can be connected to a physiological sensory soil. , , ai ^ and compassionate, sweaty 'blood oxygen, electrocardiogram and other sensors, can be in the limbs function' can make the invention further extended to every layer of daily life ί 前 ί ί ί ί ί ί ϊΤ ϊΤ ϊΤ ϊΤ Analyze 'to analyze the physiological state of the user. Ϋίϊίϊί Set the shoes of various y to match, the cost is too expensive and consumes electricity. And the feast jU can be washed in the 'once' side, and when the user wears the relevant information of the state analysis, 'the size that fits the level of the user is not silky? Cong precision, Xuan can be completely attached to the time can also know that 4 state analysis can be more cancerous. The weight sensor of the present invention is the same as the analysis of the shoes of the Bodhisattva, and can be connected to the body by the gait for a long time. 35 201114408 201114408 Ο 15 20 ❹ 25 30 With "M?? This technology has passed Cong, crisp c 2_ annual meeting review, will be published in September, titled A wireless gait analysis system by coffee plus IEEE, EMBC 2_ also passed, titled "Sensing 〇f such as 仙 Text Textile Sensor Wlth BodyMotion Analysis, and finally ' This is for the animal, for example, the behavior pattern of the jug and the dog can also monitor the purpose of the month for a long time - in addition to using the sensor on the sock, the clothes can be used, the 槺 degree ▲ the number of steps per knife and the 仃The rate of walking, or the heel of the heel or the arm, the change of the arm = the order of the cycle, etc., to observe the user's limbs, such as ί if if ί ί 疋 疋 疋 疋 疋 疋 疋 疋 疋 疋 疋 疋 疋 疋 疋 疋 疋 疋 疋 疋 疋 疋 疋 疋 疋 疋Steps, going up the stairs, going down the stairs, climbing the stairs, going downhill, going down, falling down), another ϊ if if ^ input '❿ is not just a virtual game on the computer, because the player is not really with the game software interactive. It can also detect the posture of the user when driving (for example, the material:), the invention is a wearable gait analysis system, so as to be worn, comfortable and directly mounted on the pants or Lu bullets are retractable and squeezable, so they can be easily applied to the daily delivery to the Japanese (four) hall. The number of rounds and the Bluetooth interface are used, so that the measured data can be directly transmitted to the signal analysis. Such as: PDA or laptop. Therefore, the i-parameter can be used to test the user's posture and gait analysis related data and [implementation] effect, the invention is the technical means and the technical analysis of the purpose of achieving the intended invention. According to the present invention, the structure of the fabric sensor is as shown in the system architecture diagram of Figure 1. In the right or the clothing, the application is formed into a lightning early AZ.t/U/CN2〇〇5. /00 520 Electronic switch, PCT/CN2008/001571 The sensor is the patented towel for the sensor.) The non-metal & quality, such as conductive digital sensor, for example: metal material (such as: Iron sheet), ίίίί glue, transfer, foam) and conductive carbon material (such as: graphite). In addition, other elastic wealth can be added to the k-etched surface (eg: 郷, 发麟料, 将,海 5 35 201114408 旋转, spring, cotton, spandex, synthetic lycra, synthetic rubber (SBR, Styrene Butadience Rubber), and foam-based materials) to increase its elasticity. These woven sensors = wires are connected to the inputs of the microcontroller. When the sensor senses the attitude change, the digital k number is generated to the microcontroller, and the microcontroller includes a program processing module, and the digital number of each sensor output 5 is simultaneously analyzed, displayed, and stored. Or warning, or by the communication module to other personal digital devices 'such as: smart phones or computers for analysis, display, storage or warning., sensor, can be connected to a physiological sensor, such a When the wearer moves, the fabric sensor is reacted by the external force, and the physiological sensor also senses the physiological signal of the wearer, especially when the wearer stops moving, for example, when standing and lying down, the test is used. When the posture and gait of the person are not changed, the physiological sensor is used to sense the physiological signal of the wearer to detect the state of the user. The microcontroller can also be used to connect the camera acceleration gauge or gyroscope, camera & The speed gauge or the gyroscope is disposed on the clothes, the shoes, the socks, the control box or the mobile phone to increase the positive cancer of the sensing limb. 15 First preferred embodiment 20 25 FIG. 2 As shown in the detector architecture diagram, the present invention produces four digital sensors under the socks of the soles of the feet. When the external force is greater than the gram weight, the output will be changed from logic "1" to "0". Figure 3A shows the position of the sensor on the sock, and Figure 3B shows the position relative to the sole of the foot. (12) is the sole of the foot, (11) is the side of the foot, (丨 is the tibia, and (9) is the part of the thumb. More accurate gait information 'We have two Q-Qi pull sensors on the upper part of the knees of the trousers, and switch their output logic state at about 45 and 60 degrees respectively, as shown in the figure. 4B is a schematic diagram of the tension sensor on the trousers. The general health user outputs the logic state timing diagram of each digital sensor in front of FIG. 5, wherein the sensors i to 4 are drawn J45 sense, the device 1 to ΐ ί pressure ί? Detector 2 in Figure 5, the first switch between the two legs is the sensor 3' (right also (sensing H12 to 9 changed from logic "〇" to ""), the left foot sensor changes "Hey,". Next is the right leg lift higher sensor 1 full = (feel, to 8 are "〇"), while the left knee is straight (sensor 1 to 2 ' ί " ” The lower door begins to lay down the right foot and begins to land. 'The sensors 12 to 9 are successively' η,, - change 'r ' The suffocating leg begins to raise the left foot and starts to leave the ground, and the sensors 8 to 5 are gradually changed from 〇 to 1 . At the same time, the knees of the left leg begin to rise, the sensors i and 2 are alternated by "〇", and the left and right legs of the field are alternated. The present invention can obtain the gait timing diagram as shown in Fig. 5, by timing, 6 35 201114408 Ο 15 20 Ο 25 30 Generally, the gait timing is divided into seven phases, starting with the right heel touch, followed by loading response, mid_stance, terminai stance, pre-swing. , initial swing, mid_swing, terminal swing. The first four phases are referred to as the stance phase, and for the stance phase, the present invention can be accomplished with a two-foot toe and heel digital sensor (sensors 5, 8, 9, 12), As shown in Figure 6, take (a) and (f) for the right heel contact (initial contact) '(b) is the left toe off the ground, (c) is the right heel off the ground, (d) is the left heel touch the ground, left , pointed to the ground. From the sensors 5, 8, 9, 12', it is possible to measure (4) to (6) for the load reaction Cloadmg response), (6) to (c) for the mid-stance, and (c) to (4) for the standing f-phase (ierminal StanCe). ), (4) to (e) the pre-swing period (order-Nove (four)), and (e) to (1) for the swing period (detailed in the next paragraph). The time of the first four phases shown in 囷6 is in the order of 〇 〇 9, 〇 、, 0 卿 ( (four), each foot. The period and the mi; s sign sensor to know the angle of the knee joint. The swinging and moving direction of the left arm and the swinging of the right i before the left hand are also swinged from the back to the front. The right foot is changed from the heel to the toe. Because the person is a system, the center of gravity is balanced; '3 parts later Dynamic balance, so you can use the changes in the joints of the machine. If it is the left hand ί left: Vimmi Zhifeng Department Correction, Fu & Heng Shi left hand and right hand symmetrical swing 'that is the right son sensor ★ also buried part of the '13 this butterfly feels the 卩 evaluable person's line d β '? Precision. We can use the sensor of the foot to predict the angle of the joint or knee joint. 7 35 201114408 Ο 15 20 Ο 25 30 ί The result of our sensor is used to predict the posture change of the foot. With the scorpion to pre-strict walking money, elbows or #MU 仏 pendulum = complete t into a complete gait analysis, see Figure 8A. With the same state, there is a sampling frequency of 1 00 times to read the logic gait of each sensor, ^ίίί==ϊί度, the time occupied by each stage of the f state, in which all the feet use the same method. The method flow of -I 'stay as an example is shown in Figure 8B. For the left, first, the timer is reset to zero at the beginning; wait until the right heel touches the ground to start timing (A). Move; wait for the left talk tip off the ground (6) The recording time is the load response, and then the timer is reset to zero after the ίί=Ϊ5, the recording time is the standing period, and then the timer is reset to zero and then started. Then the timing If is reset to zero / the output is The cap point of 1 is the initial swing, and after returning to zero, the output of the pull sensor is changed from 1 to 0, the recording time is the midpoint of the swing, and the right heel touches the ground, and the recording time is the end of the swing. ; Repeat the entire process above. Each of the two phases of Wei is more or less different. The invention can continuously record the period of each step of the knife and the mother-step, and find the average value of each parameter and the average value of the I-speaking and the 7-swing period of the standing period, the average value of the swing period: the standard: There may be injuries to the motor function, which is very clear and can be done with very low cost and very simple operation. This ^, poor' ίί is not flat, such as on a treadmill or i is injured or shoes are not fit. Under normal circumstances, the left foot and the right side of the conversation are both ^ legs and may be a fall or other unexpected situation, the B chat can be reported, the factory changes, otherwise the parameters (Temporal Parametprg^·^· Acoustic wave, RF (radio wave or radar system) has a launch and pick-up on the Luzi-electromagnetic wave, right-handed and then returned to the left socks, or directly from the right H, on #$ 8 35 201114408 Cutting length (Stride length ), Cadence and Walki speed are three important interrelated time parameters. From the timing diagram, we can get the cadence of the mother. As for the stride length , you can use GPS (Global Positioning System), acoustic RF (infinite wave) system or radar system, the distance of 5 by using f to divide by the record, or by the user to measure, or by the statistics Y The average step length obtained by height or leg length check is set. The number of steps per minute (Cader Stride Length multiplied is the walking speed. First use,

The GfS (Global Positioning System) and RF (Infinite Wave) systems allow the user to walk ten meters freely, and the length of the step. He used 16 steps, and the available length is 10/16=〇. 625 meters. In autumn 10, the number of steps is measured by the time series diagram, as shown in Fig. 9. The time of taking the right foot and touching the ground is 5.27, and the number of steps of the mother is 6〇*2* (5/5· 27)=113. 8 times/min (Because each time the right heel touches the ground, it is a step of the right and left foot, so the number of steps per minute is calculated by 60*2). The walking speed is multiplied by the step length per minute, ie 〇. 625*113. 8=71.125 m/min m/sec), and one stride length is step length. Use the sound detector or light for each of the right and left feet, that is, use electromagnetic waves to measure the parameters of the left and right feet. Central of pressure (COP) and center mass analysis of the θ gait timing diagram clearly illustrates the sequence of each sensor switching, but for analysts who want to analyze 0 ^ gait information The timing chart is not easy to navigate. Therefore, the present invention specifically defines the center of pressure (COP) and the center of mass (Center j Mass) is also a center of gravity analysis method, so that analysts can quickly and easily analyze A lot of gait information. The pressure center cop gets the user's left or right foot moving away 〇 the pressure center changes and the center of gravity COM sees the entire body as a point on the ground changes. 25 The timing diagram generated by the two-legged digital sensor, see Figure 10Λ, where (a) shows that the left foot is stepping on the ground and the right foot is off the ground, and then (b) shows that the left foot is halfway away from the ground only The toe and the foot touch the ground, then (c) more than (b) one more right foot sparse to touch the ground, the change of the pressure center can be seen a person's walking gait stability, for example: even if the user feet are not moving The pressure center still changes with time, so the user's sense of balance and the ability of the brain to control the feet can be known. When the user has one foot on the ground, the 'Central of pressure (COP) indicates the human body. weight. The invention defines the sensing-signal of the left foot touched ground as positive, and the sensor signal of the right foot touched ground is defined as negative, and the sum of the two can be approximated to indicate that the quality center of the human body is also the center of gravity (Center 〇f gravity ) is left-left f-right, as shown in Figures 10B and 10A (a), (b), (c), (d), (e) represent the same person's line of gait 'visible pressure and quality center ( The center of gravity is analyzed, for example, when the left foot 35 Yuan touches the ground and the right foot is completely off the ground, the two add up to +4, which means the center of the body quality is left. When both feet are completely touched, the two add up to 〇, which means that the center of the body is in the middle, and the figure of the quality center changes with time. It can also analyze whether the gait of the person is normal and regular, such as drinking, The change of the center of mass (center of gravity) is completely irregular. Similarly, the sensor signal that touches the left foot is defined as 9 201114408. The sensor signal of the right foot touch is defined as positive. It can be said that the center of gravity of the human body is also the center of gravity, which is left or right. The user's feet touch the ground, the sensor signal of the left foot touches the ground is defined as positive, and the sensor signal of the right foot touches the ground is defined as positive, and the sum of the two represents the weight of the human body. When the sensor is analog or multi-level digital sensing, then the center of mass (center of gravity) or pressure center is more accurate. For example, the three-stage digital sensor is 〇, 丨, 2, 3, 〇 finger gram, 1 finger 2000 grams, 2 refers to 4000 grams, 3 refers to 6000 grams. Another point of view is that the pressure center cop gets the user's left or right foot pressure center, if the pressure center c〇p or the center of gravity c〇M is projected on the second leg In the range on the ground, the user is stable, the pressure center c〇p or the center of gravity c〇M is the center of the range where the two feet are projected on the ground, and the more stable the user is, the more the pressure center c〇p or the weight = the more The two feet are projected on the edge of the area on the ground. The more unstable the user is, the more likely it is to fall. Ο 15 ^The pressure center cop or the center of gravity COM is more unstable when the two feet are projected on the edge of the range on the ground. The more likely it falls, especially when the pressure center c〇P or the center of gravity COM is on the edge of the Fan®1 on the two feet, the more unstable the user, the more secret it is. If it is the foot base, not the left side is positive, the right side is negative, and the left thumb has a corpse, the left rear heel has a reaction time, and so on, you can pay the person's three-dimensional, center of gravity change and three-dimensional space Gait analysis and its parameters. Total pressure (total 2 〇 析 析 * * * * * * * * * * * to to to to to to to to to to to to to to to to to to to to to to to to to to to to to to to to to to to 25 irt all as "0,", can not be distinguished. Therefore, the present invention determines the H pressure), posture state (posture state, and moving mass) analysis methods, as follows: ^-lUotal if. The total number of detector signals is not divided into right and left feet, regardless of whether it is positive or negative, and the larger the area of contact with the ground or the 30 changes in contact between the feet and the ground. The user's feet are not moving 'full pressure ίίίί,:, body When the sensor on the upper part is stressed and changes, the posture is separated from the use of iSS; now, there is a force on the human body model and the value of the household = 2 = 2 is set to be negative when the force changes (3) = The heel of the right arm #π祖, the value is not close to a stable value, indicating that the left f right hand # swing while moving, the right heel swings with the left hand f while transporting 201114408, if the value randomly changes not close to a stable value of zero means no Stable, the user will fall on the valley. The user does not move, full pressure Total pressure) indicates the weight of the human body. Luquan's action quality: the total number of sensor values of the foot pressure plus all the sensor signals (such as knee or elbow) on the body' The change is set to positive. The larger the value, the more effective the user is to use the muscles of the body, that is, the whole body is moving. The gait analysis of running, up and down the ladder 10 ο 15 20 Ο 25 30 For going upstairs, running, going downstairs You can also get the pressure center (c〇p) and the quality (C) round 10Ct visible running pressure and quality center = map, to h is the time point of the gait analysis of the upstairs; a point is the right foot just Stepping on the stairs is the starting point for this analysis definition. The vertical line drawn from this time point can be timed. The knee of the right foot is f curved more than 6G degrees, while the left foot knee is almost Left foot _ open ground signal, at this time the left foot knee just bent more than the 睥όΓ too foot, noisy lc time point is the left foot knee bending just more than 60 degrees of the signal 'this right foot knee just returned to a small angle time Point, point e is the left ί f 冈〗% on the ladder, the left at this time The knee angle is greater than 6 degrees, and the right is less than 45. The point f is that the right heel has been off the ground and the knee is just greater than 6. The degree of the foot is the signal from the ground. The h point is the right foot just stepped on. On the ladder of the building, the time of the body; the time from point b to point e is the support of the right foot alone e and pressure, and the quality center analysis, and _ can be seen, a to sub-point a is the right heel Step on the signal on the ground, while bending more than 60 degrees of .h ϋ Β ^·ΒΧη, Ι, ankle all 4 work, and the left foot knee is just greater than 60 degrees, the left foot just left the ground signal 'this time The signal of the right foot knee just bent 6^ degree, the right knee is still larger than β left, and the 盍f curvature is greater than 45 degrees less than 60 degrees, although it is still; the angle is away, the left knee just bends more than 6 The right knee and the corner kernel are in a state of returning to less than 45 degrees, and the point e is the signal when the right heel is just 11 35 201114408, which is also the end point of this analysis definition. -ί;?;:ϊίί 5 The letter on the ladder of the building "J/, the point is that the right toe just stepped on = vertical line can be clearly seen, the time point pull out 〇 «.ϊΐί;ίΓΛ7^ ; ZllT^lT^ Ο ❹ 25 30 Cover is greater than 60 degrees, point e is the right toe just left the lower floor; 45 degrees, right knee angle is greater than 60 degrees, left knee is still less than The shape of the milk f is the right foot knee and the legs touch the ground at the same time (6) L, ' = ^ neutral ^ see) =, , the simplified front walking gait timing is shown in Figure 12. Jumping is even more easy. The gait of the gait is Ϊ 正 右 right ίί foot ft step is the heel ((6) in Figure 13), also a ί ^ 15 than the flat ^ when the knee 6g sensor produces "i" Time, the amount of ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ The higher the community downstairs or the ups and downs of the reverse 35 201114408 should be. The shoes worn by the user are different, and the gait analysis signal can be used to know the style of the shoes worn. Such as: high heels, flat shoes, slippers, sports shoes, skates, etc.贞 gait phase group; £ bang, reverse, upper and lower zen synthesis, the gait phase timing of the four steps of walking, reversing, and going up and down have significant differences, and Benchuan = can identify the A, B in the table below. The user is walking, retreating, going up the stairs or going down the ladder. The 'prepared' up and down slope is the same as the principle of up and down the stairs, so the ground can be estimated by the sensor. 》儿个15 〇 Table 1: #, backwards, upstairs or downstairs 耝 耝 钹矣 钹矣 钹矣 上 ΐ ΐ ABA ABA ABA ABA ABABABAB Left foot knee (60°) 0 0 0 0 0 1 1 1 Left Foot thumb 1 0 1 1 1 1 0 1 Left foot heel 0 0 0 1 1 1 1 1 Right foot knee (60°) 0 1 0 0 1 0 0 0 Right foot thumb 0 1 0 0 0 0 0 0 Right foot heel 1 1 1 0 0 0 1 0 You can install more sensors on your trousers or socks or clothing to improve your identification. For example, if two sensors are installed on the hips of the pants, the sensors of the two-leg socks are 20, and the sensors of the two pants are "1", and the hip sensor is also "1". ” means that the user is seated, and the height of the chair is greater than the length of the leg, causing the legs to hang without touching the ground. Because in the day, the user wears shorts, and the sensor of the fixed knee joint is changed to the thigh. Part of the pants put the device or pants in the abridged (hip jGnit) set ❹im to replace, Wei side people's movements, of course, if on the trousers, all the detectors put the sensor to measure the attitude is better. The sensor on the upper side cannot be connected to the controller or mobile phone on the trousers, so the socks are sensed and combined with the shoes or insole, as shown in Fig. 16, in which four conductive wires ai, 1/3, a4 are sewn on the socks. The conductive material corresponds to the conductive material of bl, b2, b3, b4 on the shoe or the insole. When the heel touches the ground, the al will connect the two ends of the bl, so that the "丨" state of the bl becomes "' , 13 25 201114408 There is a microprocessor in the shoes or hard to analyze, show, save, war or The 5-side monitoring system wireless transmission transmits the unicorn green control or the mobile phone interaction. Finally, the sensor formed by the socks and the shoes or the shoe last is also shown. The socks have a hemispherical convex guide ship. , product = horse multi-stage, for example, U-concentric two sets of conductive wire f between the shoe or the insole of the insole, so when the hind leg is pressed down, first the conductive material of al, m distance is less than the wire !〇^ Μ Conduction, so there is _ Ρ on the same point on the heel, 沾 Yinshan main al and b2 at both ends of the wire can be on the machine and shoes ^ shoes" T = c 〇 _ dynamic variable = Therefore, every change can be seen 'and there is something, 'can more express the human heart _ change pressure (she 1 Pressure), posture state (posture s ^ king mo nt nt嶋) can be wealthy _ New miscellaneous·. Wang Zhuan (10) quality (her 1 ^ can also use the original b b2 is a multi-section pressure sensor using two separate conductive wires to make the sock 20, to make a more accurate analysis, as shown in Figure u, The more Hi ί el to take the La Lu 25 Ϊ ί ί ί ί ί ί ί ί al al al al al al al al al al al al al al al al al al al al al al al al al al al al al al al al al al al al al al Analog letter ί We separate the original Luzi sensor, some on the shoe or insole, ϋ 30 inside and the inside of the sock; or the surface of the machine and the inside of the shoe or shoe last; surface with shoes or shoes The surface of the cymbal; or the interior of the scorpion and the watch on the shoe or insole, the user's gait changes, such as the variable material or piezoelectric material shown in Figure 1S can also be set. A camera accelerometer or gyroscope can be placed to detect the additivity and j speed of the action to help us to detect the information more accurately. In order to summarize the timing of the above various gaits, the following rules can be obtained, and can also be used for identification. Walking, going backwards, going up the stairs or going down the stairs. * Walking: 1 General words '正正Walking is usually the heel first, so the heel signal will appear first than the toe. 2 When the heel is on the ground, the knee of the foot will be less than 45 degrees. 35 201114408 Lu back: 1 In general, the back is usually the toes First touch the ground' so the toe signal must appear earlier than the heel signal. 2 The signal that the knee bends more than 60 degrees is usually closer to the toe signal. 5 Lu upstairs: 1 Before the foot's foot signal appears, the foot will bend. Signals exceeding 6 degrees. 2 When the pedal signal appears, 'the knee signal will remain above 6 degrees. 3 The signal that the knee has just straightened will appear in the foot signal of the foot. 4 Usually The heel touches the ground first, so the heel signal will appear first. 10 *Under the floor: 1 The tip of the toe will touch the ground first. So the toe signal will appear first. When the 脚2 toe message appears, the knee signal of the foot will be less than 45 degrees. 3 The signal when the knee is just greater than 60 degrees will appear in the pedaling signal period of the foot. In addition, 'heartbeat, body temperature, sweat, blood oxygen, electrocardiogram, blood can be added to clothes and socks. The physiological sensor such as 15 pressure, breathing, etc. is connected to the fabric sensor, and can also sense the physiological function. The second preferred application is 20. In order to make the invention as washable and comfortable to wear as the general cloth, the present invention Use the non-recorded wire connection sensor and the microcontroller, which can be used to record the transmission line, the machine, the clothes, the pants as the circuit board, between the Dina and the Difficulty, or the socks rotor Use the snap button or mother-and-pin buckle to see. Consider the comfort of the clothes. 'There is not too much wire on the clothes. ・If there are multiple sensors to be installed in the actual application, the hair detector is 25 Install a resistor next to it, the resistance ratio is 2, and then connect in series (Figure 19B). This principle is similar to binary encoding, as shown in the circuit of Figure 19B, four sensors can have y, 2r, 3r, 4r, 5r ,································································································ , the microcontroller is divided into 30 states. This can greatly reduce the wire and snap or mother and child buckle. Do not record silver wire 'copper wire, conductive Shi Xijiao and other conductive materials for the secret transmission line. Similarly, a capacitor or inductor or resistor is connected in series or in parallel to achieve the effect. The third best will engage you. You 丨 15 35 201114408 Ο 15 20 Ο 25 30 For the time used by the processor, you can know that the β-therapy of the invention is equipped with 4G and 9-degree digital sensors, riding on both knees. For Figure 20 and Figure 21, right and left! For 4 degrees of J sense = car sequence diagram, respectively, 40 «, , ΒΛΒ 2ΐΤ: ί; Ι〇Ϊ ^ ΓΛΤ ? degree sub-sensor switch, because when riding, only 90 of the sole is conductive "〇" , the state, so I have to use the 1Sf device of the ankle and t self-determination ^ the user's gait analysis while walking and the degree of riding of the bicycle, 2 reaction 'number can go or ride separately, because double chat Cycle 2 and the letter from the knee can also be (4) the state of the phase behavior. = snail, know the road condition, and can improve the gait discrimination " = Acceleration gauge or gyroscope will get a considerable acceleration (such as a difference of four佳会施你丨π/ίί要1 A digital sensor can have three stages of output 'see Figure 22. This number of two 5 ring conductive rubber or Shishi gum ball sticks i guide U ί lower conductor, Therefore, there are two sets of conductors conducting 'when heavier, the convexity of the spherical bulge in the gait analysis is the same point as the heel, not only the "〇,, or 睹, 可林# performance according to the force or force, for example When the pressure is greater than 20 kg, the second group is turned on. When the gravity is greater than 40 kg, the two groups of spherical protrusions are turned on, if 6° on the \ The three sets of conductive materials of the ball are all connected, so that the analysis of the gait can be more meaningful. The performance of ίί恩中/^, is more meaningful, and the change of 4 forces at each point in Fig. 10Α, for example, & external force For G, the weight is 20 when the pressure is 20 to 40 kg, the weight is 2 when the weight is heavy, and the weight is 3 when the force is greater than 60 kg, then there are 4 changes instead of “0”. "Or T. Quality Center (9) M) is also the second, because the meaning of the center of quality (C0M) or the center of the house (c〇p) is not only the change of the sole of the tester, but also the sole of the foot. The difference is the change in the gait cycle. Therefore, when performing quality center (C〇M), full pressure (cut (6) pressure), posture: ^) 〇 sture state), and t动作 tai movement mass analysis, each point is weighted (for example, pressure) In 4〇 to 6〇kg, the weight is 2). In addition, we can also be detained = 16 35 201114408, the heel will add gravity, from 〇tf thousand I ^^):;mv in the foot Time analysis of time, F, f force,. The analysis can also obtain the time analysis graph of rushing ma, a "-degree, and the gas diagram of momentum's momentum P(_ent), so we can get the change of momentum, etc. _ Ο 巧 巧 疋 疋 脚Injury or lesions, the same reason can be placed in the Luzi ^ ^ then I m side gait analysis of the silk department - the two feet of the line ^ for the performance of the overall foot gait analysis of the three-dimensional plane.疋 两 两 农 农 农 农 农 农 农 农 农 农 农 农 农 较佳 较佳 较佳 较佳 较佳 较佳 较佳 较佳 较佳 较佳 较佳 较佳 较佳 较佳 较佳 较佳 较佳 较佳 较佳 较佳For example, at the same time, the signal of the arm and the body is felt by the top; Κ== ίίϊ 发生 occurs in the play 'for example, going left or right' four touches or off the ground; for example, jumping high, knees bent, but both feet The four sensors are red? If you sit down, the knees are bent at the same time and the sensors on the feet are abnormal; for example, falling, in the elderly, ί often f. Therefore, the secret can be refined or secretly; if the money is in danger, it can be used for such applications. It can be used on clothes, machines, shoes, control 5 machine acceleration gauges, geomagnetic weaving (4) instruments, and increase the play ratio. The strength of the feeling, insufficient, at the same time in the real gait analysis or exercise physiology can also be ambiguous: and the acceleration gauge, geomagnetic instrument or gyroscope should have a reference, the bottom of the sensing signal is, 〇,, a -. - Only at this time is a double-footed 15 20 25 30 'that is, both feet are on the ground and the center of gravity is at the center of the left and right feet." Preferred Embodiments In the implementation of the present invention, it is inevitable that it will be unsatisfactory. Conditions, such as soil 2 when not wearing positive, or strenuous exercise, clothing, pants or socks off-site, causing 'if / most common is similar to mechanical common bounce (bQunce), the form period is extremely short (less than (). (leap second) pulse. In order to reduce the malfunction, the present invention considers that the positive ship is summarized in order to pre-process the minus-output number. ^Although the large-angle closed detector is pulled apart, the small-angle joint senses 2. Cleverness, inertia and general human muscle strength, and the leg stretches in the young. .1 second, the elderly = the rules of the ethics, the program for pre-processing each sensor signal, such as ΣΓ ;; job secret κ _ positive 贞 _ law, in the settable degree is better Will apply the speed of your similar push/walk, get the speed of the near touch ν 'approximate to walking H 'We predict its "ground connection At. I ·]; ^hm ® S2 ^ S1 speed, t is left chat and By v" = v, +at, where a is measured by adding the right foot to the ground, then the speed 'v' measured by the wire I, Na is the next detectable displacement, distance, step , = can also be moved, distance, the same reason for the analysis of these information can also be obtained; ^ = degree "variability", the time required for a step is 〇8, , . 'In addition, these six steps 9 ^ 3. 39 : 4 26 V. 0 : L 15 # cutting (step lengh) is 〇. 52, 〇j H6Km / hr. sec corresponding to the calculated step can also see the acceleration of the step added by the second step The value is 3.39,, 35 201114408 Ο production, can provide warning, on the contrary, we can also measure -^= shift, the same reason, the sensor is ΐ=ί W horns knee setting is set at 45 degrees And a feeling of 65 degrees i = 动自则# ^ 贝 il is the distance between the swing of 45 degrees to 60 degrees, the stability of the parameters and the variability of the attitude change of the ffiJ speed swing period. Pendulum 4 Xiao speed or swinging Xiao acceleration, come Evaluate the ss srs% of the subject's side, the variability of the sensor, the sway or the yaw rate acceleration. The variability ( angular) and the angular acceleration. Other positions such as the rib joint, knee joint! ΐϊϊ-£26 Ϊίϊ~Έ—The difference between the two times after landing is 1 degree 31; or the borrowing measurement ^ can estimate the speed of the left foot _ twice landing S SV3=2=t2 'pre=off ί 2 speed, acceleration two 10 ϋ: ίί "irj is very large, and the gait is abnormal. It may be necessary to raise an alarm, for example, 15 15 Ο 30 35 201114408 5 Ο 15 20 Ο 25 pm or fall into other people or things. S= MV gets the impulse change, where ρ is the action speed, At is the action time, the result FMt is the quality, V is the time analysis graph of the UL force of the graph, and the time analysis of the impulse of p(moment)^^3^1L With me ^ to confirm a again, so and f = ma, the same reason can also be at least two paragraphs of the Qing Department ^ Indeed...〆f, using the value of this and the next angular velocity and the time difference of the joint angle of the joint, if the angular acceleration or angular velocity variability is ^ («). Such θ is the angle of change, the swing length L can be obtained. · The variability of the foot or arm is low, then swing the length! ^ can be predicted. The right angular velocity and angular acceleration remain stable (ie we can get, S=S〇+V〇t+l/2 alf ^=Vi + 2a(SS〇) ύϋ=ύΰο iat ^=^〇+ω〇ΐ+1 /2 af ύΰζ=ω〇+2α (θ-0〇) iw*At = 0, so we can get the angle versus time analysis graph and the motion k: system f?, the potential energy U (ΔEmec) contains Δκ ( The amount of change in kinetic energy) "return. -丄/土二土土, Yes, the change in energy we can get high in the daily life: HI variation) is a constant, so the law of conservation of momentum, Use P to represent momentum,

N : constant or

d ^ Jt^Pi = D i=l 3〇 In a rotating system, the relationship between the moment and the moment (1); the momentum (8) and the angular momentum (6) are the angular momentum of the system when the external torque (r) of the system is zero (6) Keep alive - unchanged. "^ = 1*XF is on the right 20 201114408 The total kinetic energy of the rolling body is the kinetic energy of the centroid movement that can be rotated around the centroid. U Κ = 1/2 Ι ω2 / 1/2 m γ2 The temple has rotation and movement, and the representation of the work can be written as W = Κ (moving kinetic energy) + KR (the comparison of the translational kinetic energy of the rotation to the rotation of a fixed axis ~ IT^lTFu/ balance ττ = 〇 Newton second 棣Σ τ = Ια Newton second species: _Χτ = dL/dt Momentum L = Ι ω Conservative theorem Li = if power P = τ ω K = 1/2 ib^ ΣΓ = 0 Σ/1 = ma

Pi = pt Ρ = Fv Ο 15 卞 咖 咖 咖 咖 ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ Approximate values are obtained by up and down (four) h down and slope. When the slope is steeper, the higher the leg must be lifted, the more the knee is curved, 21 201114408: When the thieves can also set the multi-segment on the pants / j 2 "!,, and & two paragraphs, when the knee joint Starting straight, at the beginning, only if the + + preferred embodiment is in the 'we know that when the user advances, the heel of the foot is also Ο 15 and the information provided by the sensor to receive open or ^ on / off Related to No. 5, B represents the relevant signal that provides a resource οη/^ff 'to determine the user's posture change; c provides the user table 2: 20

The left elbow is the middle of the squat shell. The middle digit of the squat is from the right to the left, which represents the right squat, the right elbow, the left squat, and the knee, which is biased toward the foot. For example, when the high-heeled shoes are on the ground, the thumb is first landed and the center of gravity is ❹ 25. When the person wears the shoes and the shoes are on the ground, the thumb is the first to carry the 3, skates. For example, high-heeled, pull, pressure sensor, for example, brakes are mostly digital open capacitors or upper and lower conductive materials (such as - Lee cloth and body formation - and can be alone in socks Under the action of force, a variable capacitance switch and a tensile force sensor are generated. The shoes or insole are formed to form a feeling of PCT/CN2GG8/GG1571, such as PCT/CN2G_〇1520, under external force, the power line _ magnetic flux alone, Induction electric 22 30 201114408 Energy generated by the action. The shoe says ^ can be used for the sensor, part of the early μ 3 can be analogous sun, tension or diligent m' "part in the shoe or switch" Tensile force or pressure sensing ϋ. For example, capacitive or inductive difference soil is preferred.

15 hole edge conductive material f al. corresponding to the practice or _ on the - perforation dl wear Zhou ί ф conductive material. Material interaction, especially when ai is magnetic m di is a coil, although people can generate an induced current when they are walking. Take 3,. The sensing assembly on the sock of Figures 17 and 18 and the sensing assembly on the shoe or insole are intended to more clearly describe the features and spirit of the present invention by the detailed description of the preferred embodiments above. The scope of the invention is limited by the preferred embodiments disclosed above. On the contrary, the object of the invention is to cover various changes and equivalences within the scope of the patent application scope of the present invention. 23 201114408 [Simplified Schematic] FIG. 1 is a use of a fabric sensor of the present invention. The architecture diagram of the gait analysis system. /rack = 1 is the sensing of the first embodiment of the gait analysis system utilizing the fabric sensor of the present invention. Figure 3 is a sensor position map on the sock. Figure 3 is a schematic view of the relative position of the sensor on the sock. Figure 4 is a sensor position map on the knee joint. Figure 4 is a schematic view of the position where the tension sensor is mounted on the pants. Figure 5, typical, gait timing diagram and sensor position. Figure 6. The first four phases of the phase 〇f gait analysis. Ο Ο Figure 7. The phase of the gait (phase 〇f gait) is analyzed after the three phases. Figure 8A is a completed gait analysis diagram. Figure 8 is a flow chart of the method of the phase of the gait. Figure 9 is a schematic diagram of the analysis of Temp parameters. Figure 10A is a pressure center analysis diagram of a normal walk. Figure 10B is a quality center analysis diagram of normal walking. Figure 10C is an analysis of the pressure center and quality center of the upper floor. Figure 10D is an analysis of the pressure center and quality center of the running. Figure 10E is an analysis of the pressure center and quality center of the lower floor. Figure 11 is a timing diagram of the running gait. Figure 12 is a timing diagram of the forward walking gait. Figure 13 is a timing diagram of the reverse gait. Figure 14 is a timing diagram of the gait upstairs. Figure 15 is a timing diagram of the gait of the lower building. Figure 16 is a schematic diagram of a first-peri sensor system. Figure 17 is a schematic illustration of a second sock sensing system. Figure 18 is a schematic illustration of a third sock sensing system. Figure 19A shows the power after the sensor is mounted - the resistors are connected in parallel. Figure 19B 旁 Installed next to the sensor – Figure 20 is a timing diagram of the Cavaliers walking. Figure 21 is a timing diagram of a rider riding a bicycle. Schematic diagram of the output pressure sensor. =3⁄4 inverse: A schematic diagram of the difference of 3⁄43⁄4. Figure 25: Figure on the treadmill (speed set to 2km/hr). 29 201114408 Figure 26A and Figure 26B are schematic diagrams of slope detection. Figure 27 is a flow chart of gait analysis. Fig. 28 is a schematic diagram of posture discrimination. Figure 29 is another embodiment of a sock and insole. [Main component symbol description] None

30

Claims (1)

201114408 VII. Patent application scope: 1 · A gait analysis system using a fabric sensor 'characterized by its human pressure system' containing a machine and at least - sensing the pulling force of the body's posture or motion, a processor, receiving The signal from the fabric sensor is analyzed by a number of steps. 2. The step of utilizing a fabric sensor according to claim 1; wherein the machine sensing system further comprises a shoe or an insole. The bamboo display is characterized in that the step of using the fabric sensor according to claim 2 is installed in the sensor and installed in the socks and the shoes or the insole, wherein the The same amount of electrically conductive material is mounted on the material, on the shoe or in the corresponding position of the insole.夕一导Ο Ο 4. The gait analysis system of the fabric sensing cymbal according to claim 2, the feeling _ is installed in the sock static wire, the towel, the sock m Ϊ or ΪίΪΐ should be inside the shoe or insole The lining is mounted with a variable electric group, a piezoelectric material or 5. The gait using the fabric sensor according to claim 1 is capable of generating a step, speed, plus, return or step (four) system, The feature of the vehicle according to claim 1 is that the gait analysis using the fabric sensor can generate an off-degree, an angular velocity, an angular acceleration, a wobble velocity, or a wobble angular acceleration. Which is the degree of swinging angle 7. The gait analysis using the fabric sensor according to claim 1 The Li Yu·fabric sensor is a digital switch, a tensile force, and a pressure sensor. The gait analysis system using the fabric sensor described in the emblem 1 or 2, its special ίϊΐϊίί 敝, is the gait analysis of the 9-type _ fabric sensor of the Xinxian to the 1 The method comprises the following steps: a 遂 or a truncate and a sensing system of a shoe or a sock and a shoe, and a body analysis produced by a body analysis of the processor. The gait analysis method is characterized in that the gait analysis method of the fabric sensor is characterized in that the signal is a touch processing module, and the socks have at least one sensor.