TW201717881A - Walking stick - Google Patents
Walking stick Download PDFInfo
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- TW201717881A TW201717881A TW105138860A TW105138860A TW201717881A TW 201717881 A TW201717881 A TW 201717881A TW 105138860 A TW105138860 A TW 105138860A TW 105138860 A TW105138860 A TW 105138860A TW 201717881 A TW201717881 A TW 201717881A
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- crutches
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- sensor
- central controller
- walker
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- A—HUMAN NECESSITIES
- A45—HAND OR TRAVELLING ARTICLES
- A45B—WALKING STICKS; UMBRELLAS; LADIES' OR LIKE FANS
- A45B3/00—Sticks combined with other objects
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
- G08B21/04—Alarms for ensuring the safety of persons responsive to non-activity, e.g. of elderly persons
Abstract
Description
本發明涉及拐杖,尤其是涉及帶有助行監控功能的拐杖助行器。 The present invention relates to crutches, and more particularly to crutches walkers with assisted monitoring functions.
拐杖可以讓老人、病人等腿腳不靈活甚至失去行走能力的用戶能夠自理,保持一定的活動能力,並且也可以輔助老人或病人增強活動能力以達到康復的目的。 Crutches can allow the elderly, patients, and other users with inflexible legs and even walking ability to take care of themselves, maintain a certain ability to move, and can also assist the elderly or patients to enhance their ability to achieve rehabilitation.
目前,對於需要康復訓練的病人或老人而言,通常是由康復醫師或康復工程人員對患者進行病理和生理學檢查,在康復醫師或康復工程人員指導下確定應選用的助行拐杖的種類,並確定輔助訓練方案。而病人則在康復師說明下進行部分助行拐杖的使用前訓練。同時,康復醫師還需要定期地隨訪,儘量準確地瞭解病人的恢復情況,從而進一步地改進訓練方案,以達到最佳的效果。 At present, for patients or elderly people who need rehabilitation training, the pathological and physiological examinations of the patients are usually performed by a rehabilitation physician or a rehabilitation engineer, and the types of walking aids to be used are determined under the guidance of a rehabilitation physician or a rehabilitation engineer. And determine the auxiliary training program. The patient is trained in the use of some of the walking sticks under the instructions of the rehabilitation teacher. At the same time, the rehabilitation physician also needs regular follow-up to accurately understand the patient's recovery, so as to further improve the training program to achieve the best results.
然而現實中,使用拐杖的用戶不能直觀地瞭解自己訓練的狀態及可能發生的危險;同時康復醫師也並不能一直與病人在一起,因此不可能即時地瞭解病人對拐杖的使用情況並康復水準,同時也不能及時地向病人提供建議,從而影響了康復的品質和進度。 However, in reality, users who use crutches cannot intuitively understand the state of their training and the dangers that may occur. At the same time, the rehabilitation doctor cannot always be with the patient, so it is impossible to immediately understand the patient's use of the crutches and the level of rehabilitation. At the same time, it is not possible to provide advice to patients in a timely manner, thus affecting the quality and progress of rehabilitation.
本發明提出一種拐杖助行器,其不但可以為用戶提供常規的輔助支撐功能,而且還可以即時地監測使用者的使用情況並適時提出警告。而且進一步地,還可以根據使用者的康復情況適時地接受訓練計畫的更新並應用於用戶的訓練中。 The present invention provides a crutches walker that not only provides the user with a conventional auxiliary support function, but also can monitor the user's usage and promptly warn. Moreover, it is also possible to receive the update of the training plan in a timely manner according to the rehabilitation situation of the user and apply it to the training of the user.
根據本發明,提供一種拐杖助行器,包括手柄、杖體及支撐在地面的多個支腳,所述助行器還包括:位於所述手柄或杖體中的第一感測器,用於檢測拐杖的狀態以提供第一運動參數;位於所述多個支腳中至少一個支腳中的至少一個第二感測器,用於檢測拐杖的狀態以提供第二運動參數;中央控制器,配置成基於所述第一運動參數與第二運動參數中的至少一個,確定使用者的運動狀態。 According to the present invention, there is provided a crutches walker comprising a handle, a wand body and a plurality of legs supported on the ground, the walker further comprising: a first sensor located in the handle or the stick body, Detecting a state of the crutch to provide a first motion parameter; at least one second sensor located in at least one of the plurality of legs for detecting a state of the crutch to provide a second motion parameter; a central controller And configured to determine a motion state of the user based on at least one of the first motion parameter and the second motion parameter.
優選地,其中所述中央控制器按照一預定的標準來確定所述運動狀態;所述中央控制器還配置成通過使用者終端從遠端伺服器接收訓練計畫,並根據該訓練計畫調整所述標準。 Preferably, wherein the central controller determines the motion state according to a predetermined criterion; the central controller is further configured to receive a training plan from the remote server through the user terminal, and adjust according to the training plan The standard.
優選地,所述中央控制器根據所述第一運動參數與第二運動參數確定使用者行走的道路特徵,並基於該道路特徵及第一運動參數與第二運動參數,確定使用者的運動狀態是否正常。 Preferably, the central controller determines a road feature that the user walks according to the first motion parameter and the second motion parameter, and determines a motion state of the user based on the road feature and the first motion parameter and the second motion parameter. Is it normal?
優選地,所述使用者終端是行動終端,所述中央控制器通過無線或有線方式與該行動終端通信。 Preferably, the user terminal is a mobile terminal, and the central controller communicates with the mobile terminal by wireless or wired.
101‧‧‧手柄 101‧‧‧handle
102-1‧‧‧支腳 102-1‧‧‧ feet
102-2‧‧‧支腳 102-2‧‧‧ feet
102-3‧‧‧支腳 102-3‧‧‧ feet
102-4‧‧‧支腳 102-4‧‧‧ feet
103‧‧‧杖體 103‧‧‧ ‧ body
201‧‧‧第一感測器 201‧‧‧First sensor
202-1‧‧‧第二感測器 202-1‧‧‧Second sensor
202-2‧‧‧第二感測器 202-2‧‧‧Second sensor
202-3‧‧‧第二感測器 202-3‧‧‧Second sensor
202-4‧‧‧第二感測器 202-4‧‧‧Second sensor
203‧‧‧中央控制器 203‧‧‧Central controller
204‧‧‧警報器 204‧‧‧Alarm
205‧‧‧使用者終端 205‧‧‧User terminal
206‧‧‧遠端伺服器 206‧‧‧Remote Server
F1‧‧‧壓力 F1‧‧‧ pressure
F2‧‧‧壓力 F2‧‧‧ pressure
F3‧‧‧壓力 F3‧‧‧ pressure
F4‧‧‧壓力 F4‧‧‧ pressure
Q‧‧‧質心 Q‧‧‧Center of Mind
Q’‧‧‧質心 Q’‧‧‧ Center of Mind
圖1示出了根據本發明一個實例的拐杖助行器示意圖;圖2示出了根據本發明的一個實例的拐杖助行器中的助行監控系統的示意圖; 圖3示出根據本發明的一個實例的壓力模式圖。 1 shows a schematic view of a walking stick walker according to an example of the present invention; FIG. 2 shows a schematic diagram of a walking aid monitoring system in a walking stick walker according to an example of the present invention; Figure 3 shows a pressure mode diagram in accordance with one example of the present invention.
圖1示出了按照本發明一個實施例的拐杖100,其包括用於手握持的手柄101,支撐在地面上的四個支腳102-1、102-2、102-3、102-4,連接所述手柄101與支腳102的杖體103。 1 shows a crutches 100 including a handle 101 for hand grip, four legs 102-1, 102-2, 102-3, 102-4 supported on the ground, in accordance with one embodiment of the present invention. The handle body 101 and the rod body 103 of the leg 102 are connected.
此外,在拐杖100中還安裝有助行監控系統。如圖2所示,按照本發明的一個實例,在所述手柄101中裝入一種或多種感測器,例如壓力感測器、加速度感測器、陀螺儀等,為方便起見,在本文中以下統一簡稱為第一感測器201。該第一感測器201可以檢測拐杖的運動並提供第一運動力學測量參數,例如採用陀螺儀來確定重力方向、或採用電子羅盤確定拐杖移動的東南西北的哪個方向,或採用多軸度加速度感測器測量多維度加速度資訊。在所述四個支腳102-1、102-2、102-3、102-4的每個支腳中分別安裝有一種或多種感測器,例如壓力感測器、加速度感測器等,為方便起見,在本文中以下統一簡稱為第二感測器202。採用第二感測器202可檢測拐杖的支腳由於跌落、傾斜、運動、衝擊產生的力的變化,並提供第二運動力學測量參數。需要指出的是,雖然這裡採用的四支腳的拐杖,但顯然本發明並不限於四支腳,且所設置的感測器也可以根據需要安裝在所有支腳中或至少其中的一些中,只要能達到測量用戶的運動力學參數即可。 In addition, a walking aid monitoring system is also installed in the crutches 100. As shown in FIG. 2, in accordance with an embodiment of the present invention, one or more sensors, such as a pressure sensor, an acceleration sensor, a gyroscope, etc., are incorporated in the handle 101, for convenience, in this paper. Hereinafter, it is collectively referred to as the first sensor 201. The first sensor 201 can detect the movement of the crutches and provide first motion measurement parameters, such as using a gyroscope to determine the direction of gravity, or using an electronic compass to determine which direction of the southeast and northwest of the crutches movement, or using multi-axis acceleration. The sensor measures multi-dimensional acceleration information. One or more sensors, such as a pressure sensor, an acceleration sensor, etc., are respectively mounted in each of the four legs 102-1, 102-2, 102-3, and 102-4. For convenience, the second sensor 202 is hereinafter collectively referred to as hereinafter. The second sensor 202 is used to detect changes in the force of the foot of the crutches due to dropping, tilting, motion, and impact, and to provide second motion mechanics measurement parameters. It should be noted that although the four-legged crutches are used herein, it is obvious that the invention is not limited to four legs, and the sensors provided may be installed in all or at least some of the legs as needed. As long as the measurement of the user's motion mechanics parameters can be achieved.
此外,所述拐杖100中還包含有一個中央控制器203,其可以位於所述拐杖的手柄、杆體或支腳的任一部分中,該中央控制器203與第一感測器201、多個第二感測器203通信。該中央控制器203可分析第一與第二感測器提供的即時測量資料,從而確定使用者的運動狀態等,運動 狀態可以包括傾斜、摔倒、速度過快、過慢、行走步數等。此外,所述拐杖100還可以包括一個警報器204,例如一個揚聲器,中央控制器203可通過該警報器204向使用者報告運動資訊,也可以在確定使用者運動有異常情況例如有摔倒傾向時,輸出聲音提醒用戶。 In addition, the crutches 100 further includes a central controller 203, which may be located in any part of the handle, the rod body or the legs of the crutches, the central controller 203 and the first sensor 201, multiple The second sensor 203 communicates. The central controller 203 can analyze the instantaneous measurement data provided by the first and second sensors to determine the motion state of the user, etc. The status may include tilt, fall, speed too fast, too slow, number of walking steps, and the like. In addition, the crutch 100 may further include an alarm 204, such as a speaker, through which the central controller 203 may report motion information to the user, or may determine an abnormal situation in the user's motion, such as a tendency to fall. When the output sounds to alert the user.
此外,所述中央控制器內部具有存儲裝置(圖中未示出),用於存儲系統應用資料、使用者資訊、來自第一、第二感測器的記錄資料等。所述應用資料包括例如與外部通信的參數設置、位址資訊,而使用者資訊可以包括使用者帳戶資訊、為該使用者定制的訓練計畫等。作為一個優選方案,控制器203根據該訓練計畫制訂使用者運動狀態的確定標準。例如,在腿傷康復初期,按照訓練計畫建議用戶以慢速行走,因此設定慢速閾值標準。但在過一段時間後,根據記載的感測器歷史資料確定達到預定效果後,則允許並指示使用者加快行走速度以達到更好的訓練步驟,因此應設定快速閾值標準。因此,在慢速時期,如果使用者的速度過快,大於慢速閾值,則中央控制器就會發出警告,通過警報器204提示用戶進行調整。同樣如果在應當在快速行走鍛煉時期,如果用戶步速過低,低於所述快速閾值標準,則同樣要發出警告,提示用戶應加快步速。 In addition, the central controller has a storage device (not shown) for storing system application data, user information, recorded data from the first and second sensors, and the like. The application data includes, for example, parameter settings and address information for communication with the outside, and the user information may include user account information, a training plan customized for the user, and the like. As a preferred solution, the controller 203 formulates a determination criterion of the user's motion state based on the training plan. For example, in the early stage of leg injury rehabilitation, the user is advised to walk at a slow speed according to the training plan, so the slow threshold standard is set. However, after a period of time, after determining the predetermined effect according to the recorded sensor history data, the user is allowed and instructed to speed up the walking speed to achieve a better training step, so the fast threshold criterion should be set. Therefore, during a slow period, if the user's speed is too fast, which is greater than the slow threshold, the central controller will issue a warning and prompt the user to make an adjustment through the alarm 204. Similarly, if during the fast walking workout period, if the user's pace is too low, below the fast threshold criteria, a warning is also issued indicating that the user should speed up the pace.
根據本發明的一個方面,中央控制器203可以與外部的使用者終端205進行通信,將其存儲的運動歷史資料上傳到該使用者終端,該使用者終端可以是使用者自己的手機、家人的手機、家用電腦等外部設備,該使用者終端進而可以與其它外部設備例如歸屬於醫療服務公司的遠端伺服器206進行通信,上傳使用者運動歷史資料到遠端伺服器。在本發明的一個實施例中,中央控制器203可以整合行動營運商的SIM卡,從而可以 通過行動通信網路如3G、4G網路與上述外部設備進行通信。由於行動通信網路的廣域特性,中央控制器203可以將使用者運動歷史資料即時地上傳到使用者終端或直接上傳到遠端伺服器206。中央控制器也可以整合藍牙模組或無線模組,從而通過藍牙或WiFi網路與使用者終端、路由器等外部設備進行通信。因此,中央控制器203可以將使用者運動歷史資料臨時地存儲在本機存放區裝置中,當使用者通過藍牙或WiFi網路可連接到外部設備例如家用路由器、用戶手機或電腦時,再通過這些設備將運動歷史資料上傳到遠端伺服器206中。在另一個實施例中,中央控制器203也可以通過有線方式例如USB標準與外部設備進行通信。利用拐杖上的USB埠,還可以對拐杖中的監控系統的內置電池進行充電。 According to an aspect of the present invention, the central controller 203 can communicate with the external user terminal 205 to upload the stored motion history data to the user terminal, and the user terminal can be the user's own mobile phone and family members. An external device such as a mobile phone or a home computer, which in turn can communicate with other external devices, such as a remote server 206 belonging to the medical service company, uploading user motion history data to the remote server. In an embodiment of the present invention, the central controller 203 can integrate the SIM card of the mobile operator, thereby Communicate with the above external devices through a mobile communication network such as a 3G or 4G network. Due to the wide-area nature of the mobile communication network, the central controller 203 can upload the user's motion history data to the user terminal or directly to the remote server 206. The central controller can also integrate a Bluetooth module or a wireless module to communicate with external devices such as user terminals and routers via Bluetooth or WiFi networks. Therefore, the central controller 203 can temporarily store the user motion history data in the local storage area device, and then pass through the Bluetooth or WiFi network to connect to an external device such as a home router, a user's mobile phone, or a computer. These devices upload athletic history data to the remote server 206. In another embodiment, the central controller 203 can also communicate with external devices via a wired method such as a USB standard. The built-in battery of the monitoring system in the crutches can also be charged using the USB port on the crutches.
醫療服務公司的康復師們在分析了上傳的使用者的運動歷史資料後,對原先的康復計畫進行調整,將更新的康復計畫發送給使用者的通信終端205,通信終端205再用該康復計畫更新拐杖的記憶體中預存的康復計畫。例如,在上述腿傷康復期間,如果康復師通過上傳的歷史資料發現使用者康復得比預想要好,需要提高使用者的步行速度,則修改使用者的康復計畫。中央控制器203在接收到該修改後的康復計畫後就可更新用於確定使用者運動狀態的標準,例如提高前面所述的快速閾值標準以加強訓練等。 After analyzing the motion history data of the uploaded user, the rehabilitation service of the medical service company adjusts the original rehabilitation plan, and transmits the updated rehabilitation plan to the communication terminal 205 of the user, and the communication terminal 205 reuses the The rehabilitation program updates the pre-existing rehabilitation program in the memory of the crutches. For example, during the above-mentioned leg injury rehabilitation, if the rehabilitation engineer finds that the user recovers better than expected by the uploaded historical data and needs to increase the walking speed of the user, the user's rehabilitation plan is modified. The central controller 203 can update the criteria for determining the state of motion of the user after receiving the modified rehabilitation program, such as increasing the fast threshold criteria described above to enhance training and the like.
[實例1] [Example 1]
在該實例中,在所述拐杖的手柄中安裝有現有技術已知的陀螺儀,用於提供重力方向參考G1;而在四個支腳中安裝有四個壓力感測器,用於檢測到作用到四個支腳上壓力F1,F2,F3,F4。如圖3所示,按照平 衡演算法可知,在拐杖正常使用的情況下,在四個支腳上檢測到的壓力是基本均勻分佈的,即F1,F2,F3,F4基本相等,由此中央控制器203可根據感測器資料建立一個感測器資料模式圖,如圖3A所示,該圖的質心Q基本位於中心,且與重力方向G1重合,或可在一預定的偏離範圍內,該感測器資料模式圖作為基準圖。 In this example, a gyroscope known in the prior art is provided in the handle of the crutches for providing a gravity direction reference G1; and four pressure sensors are mounted in the four legs for detecting Acted on the four legs on the pressure F1, F2, F3, F4. As shown in Figure 3, according to the level According to the balance algorithm, in the case of the normal use of the crutches, the pressures detected on the four legs are substantially evenly distributed, that is, F1, F2, F3, and F4 are substantially equal, whereby the central controller 203 can sense according to the sensing. The device data establishes a sensor data pattern diagram, as shown in FIG. 3A, the center of mass Q of the figure is substantially at the center, and coincides with the gravity direction G1, or may be within a predetermined deviation range, the sensor data pattern The figure serves as a baseline map.
當用戶有要摔倒跡象時,拐杖的使用必然發生異常。因此在四個支腳上檢測到的壓力F1,F2,F3,F4就會出現明顯不同。以圖3B為例,當由於拐杖的前伸幅度過大時,使用者拄拐杖的力必然更多地集中於後二個支腳102-2、102-4上,因此導致在前二個支腳102-1、102-2上檢測到的力F1、F2小於後二個支腳的壓力F3、F4。由此,由中央控制器203合成的模式圖的質心Q必然向後二個支腳方向偏移即如Q’所示,根據偏移量Q-Q’可計算出該拐杖與原重力方向G的偏移角度。顯然,當偏移角度超一定界限後,必然導致摔倒。因此,在本例中,設置一個角度閾值和壓力差閾值,當偏移角度超出該角度閾值且同時前後壓力差(即F3-F1、F4-F2)大於該壓力差閾值時就可知發生了傾斜,則中央控制器203觸發警報器204輸出提示音,提示用戶正確使用拐杖,防止摔倒等。設置壓力差閾值的目的在於避免誤判。例如當行走在上坡路段或下坡路段時,偏移角度必然比平路時加大,因此單純地利用偏移角度則可能會誤判;但由於此時四個支腳上的壓力卻是基本均勻的,因此採用壓力差閾值可有效地避免這種誤判。利用即時監測的感測器壓力資料F1、F2、F3、F4,中央控制器還可以確定用戶的摔倒方向。例如,當F1、F3大於F2、F4時,質心Q向左偏移,此時用戶存在向左摔倒的可能;而當F1、F3小於F2、F4時,質心Q向右 偏移,此時用戶存在向右摔倒的可能。 When the user has an indication of falling, the use of the cane must be abnormal. Therefore, the pressures F1, F2, F3, and F4 detected on the four legs will be significantly different. Taking FIG. 3B as an example, when the forward extension of the crutches is too large, the force of the user's crutches is more concentrated on the rear two legs 102-2, 102-4, thus resulting in the first two legs. The forces F1 and F2 detected on 102-1 and 102-2 are smaller than the pressures F3 and F4 of the latter two legs. Therefore, the centroid Q of the pattern map synthesized by the central controller 203 is necessarily shifted toward the rear two legs, as indicated by Q', and the crutches and the original gravity direction G can be calculated according to the offset Q-Q'. Offset angle. Obviously, when the offset angle exceeds a certain limit, it will inevitably lead to falling. Therefore, in this example, an angle threshold and a pressure difference threshold are set, and when the offset angle exceeds the angle threshold and the front-back pressure difference (ie, F3-F1, F4-F2) is greater than the pressure difference threshold, the tilt occurs. Then, the central controller 203 triggers the alarm 204 to output a prompt tone, prompting the user to correctly use the crutches, preventing the fall, and the like. The purpose of setting the pressure difference threshold is to avoid false positives. For example, when walking on an uphill section or a downhill section, the offset angle is necessarily larger than that on a flat road, so simply using the offset angle may be misjudged; however, since the pressure on the four legs is substantially uniform at this time Therefore, the use of the pressure difference threshold can effectively avoid such misjudgment. Using the instantaneously monitored sensor pressure data F1, F2, F3, F4, the central controller can also determine the user's direction of fall. For example, when F1 and F3 are greater than F2 and F4, the center of mass Q is shifted to the left. At this time, the user may fall to the left; and when F1 and F3 are smaller than F2 and F4, the center of mass Q is to the right. Offset, at this point the user has the possibility of falling to the right.
同時控制器203將使用者行走過程中記錄的感測器壓力資料作為歷史資料匯總並存儲起來,然後定期地或根據外部指示提供給遠端伺服器206,供醫師或康復師監控用戶的康復程度。例如,如果醫師發現用戶經常性發生往一側摔倒的可能,則可能用戶的機能存在問題,因此可向用戶提供進一步就醫的建議。如果醫師發現使用者近一段時間使用拐杖情況良好,則認為有必要建議用戶增加活動強度或力度等,因此通過遠端伺服器將更新的康復計畫下發到中央控制器203的記憶體中。中央控制器收到該更新的康復計畫後,提示用戶改變活動的強度,例如增加行走距離,同時改變例如確定使用者運動狀態的基準,例如增大上述角度閾值、壓力差閾值,從而避免誤警報。 At the same time, the controller 203 summarizes and stores the sensor pressure data recorded during the user's walking as historical data, and then provides it to the remote server 206 periodically or according to external instructions, for the physician or the rehabilitation engineer to monitor the degree of rehabilitation of the user. . For example, if the physician finds that the user is likely to fall to one side frequently, there may be a problem with the user's function, and thus the user may be provided with further medical advice. If the physician finds that the user has used the crutches in a good condition in the near future, it is considered necessary to suggest that the user increase the intensity or strength of the activity, etc., so that the updated rehabilitation plan is sent to the memory of the central controller 203 through the remote server. After receiving the updated rehabilitation plan, the central controller prompts the user to change the intensity of the activity, for example, increases the walking distance, and changes the reference, for example, to determine the motion state of the user, for example, increasing the angle threshold and the pressure difference threshold, thereby avoiding mistakes. alarm.
[實例2] [Example 2]
在該實例中,所述第一感測器或第二感測器還可以同時包括壓力感測器和加速度感測器或單獨的加速度感測器。現有技術的發展,使得可以利用加速度感測器實現精確的運動檢測,檢測由於跌落、傾斜、運動、位置、衝擊和振動產生的力的變化,並且可以實現計步功能。使用者在單位或一段時間內的步數對判斷用戶的健康狀況是非常有利的。而且利用加速度感測器來計算步數要比電子設備中通常使用的GPS成本低、且不受GPS精度的影響。當然本發明不限於加速度感測器,仍可以採用GPS來實現定位及路程計算等功能。例如,可以在拐杖中單獨設置像GPS接收器、北斗定位系統接收器這樣的定位裝置,其可以位於拐杖的任一位置。中央控制器203可以將該定位裝置提供的位置資訊即時地上傳到外部設備,例 如家人或護工的手機,從而可以方便家人、護工進行跟蹤並及時地瞭解用戶的位置。當然,中央控制器203也可以回應外部指令傳送該使用者的位置資訊。 In this example, the first sensor or the second sensor may also include a pressure sensor and an acceleration sensor or a separate acceleration sensor. The development of the prior art makes it possible to achieve accurate motion detection using an acceleration sensor, detecting changes in force due to drop, tilt, motion, position, impact, and vibration, and implementing a step function. The number of steps by the user in the unit or period of time is very advantageous for judging the health of the user. Moreover, the use of an acceleration sensor to calculate the number of steps is lower than the cost of GPS commonly used in electronic devices, and is not affected by GPS accuracy. Of course, the invention is not limited to the acceleration sensor, and GPS can still be used to implement functions such as positioning and distance calculation. For example, a positioning device such as a GPS receiver, a Beidou positioning system receiver, which can be located at any position of the crutches, can be separately provided in the crutches. The central controller 203 can upload the location information provided by the positioning device to the external device in an instant, for example. Such as family or carer's mobile phone, so that family members, carers can be tracked and the user's location can be known in time. Of course, the central controller 203 can also transmit the location information of the user in response to an external command.
作為一個實施例,可在拐杖中提供一個三軸加速度感測器,來檢測步行中拐杖三個方向上的加速度變化。該三軸加速度感測器既可以放置在手柄中、也可以放置在任一個支腳中。根據拐杖的使用特點可知,拐杖的抬起與落下過程可以相對地準確地反映使用者的步伐特徵。一般地,用戶在水平步行運動中,垂直與前進二個加速度會呈現週期性變化。例如在拐杖抬起的動作中,重心向上,垂直方向加速度是呈正向增加的趨勢,之後繼續向前,重心下移拐杖觸地,加速度相反。水平加速度在抬起拐杖至高點時是減小、在下落時是增加。由此可見,在步行運動中,垂直與前進的加速度相對於時間是波浪前進,在某個時間點出現一個峰值。其中垂直方向的加速度變化最大。因此通過對峰值的檢測計算並與設定的加速度閾值進行比較,就可以即時地計算出用戶步行的步數,同時根據系統計量的時間,就可估算用戶步行的距離和步速。而這裡的加速度閾值會因人而異,可設為實驗值,設立該閾值在於判斷運動是否有效,只有有效的運動才進行計步。對峰值的檢測可通過判斷測量到的加速度方向並與記錄的上一次加速度方向進行比較來實現,例如如果是二次記錄的方向是相反的,則表明剛過峰值狀態,則計步,否則繼續測量下一值,通過累積峰值的步伐就可以得到用戶的步數。 As an example, a three-axis acceleration sensor can be provided in the crutch to detect acceleration changes in three directions of walking crutch. The triaxial acceleration sensor can be placed either in the handle or in any of the legs. According to the use characteristics of the crutches, the lifting and falling process of the crutches can relatively accurately reflect the user's step characteristics. Generally, in the horizontal walking motion, the user's vertical and forward accelerations will exhibit periodic changes. For example, in the action of lifting the crutches, the center of gravity is upward, and the acceleration in the vertical direction is a tendency to increase in the positive direction, and then continues to move forward, and the center of gravity moves the crutches down to touch the ground, and the acceleration is reversed. The horizontal acceleration is reduced when the crutches are raised to the high point, and is increased when falling. It can be seen that in the walking movement, the vertical and forward accelerations are wave advances with respect to time, and a peak appears at a certain point in time. The acceleration in the vertical direction changes the most. Therefore, by calculating the peak value and comparing with the set acceleration threshold, the number of steps of the user walking can be calculated instantaneously, and the distance and pace of the user walking can be estimated according to the time measured by the system. The acceleration threshold here varies from person to person and can be set as an experimental value. The threshold is set to determine whether the motion is valid, and only effective motion is performed. The detection of the peak value can be realized by judging the measured acceleration direction and comparing with the recorded previous acceleration direction. For example, if the direction of the secondary recording is opposite, it indicates that the peak state is just over the step, otherwise it continues. The next value is measured, and the number of steps of the user can be obtained by accumulating the peak value.
按照該實施例,在預存的訓練計畫中,康復師可為用戶預先設定訓練的標準步速或步數。在中央控制器確定實際步速過慢小於標準步 速時,則向使用者發出警報信號,提示使用者加快行走速度。同樣當用戶的實際步速過快不利於康復時,也向使用者發出減慢速度的警報信號。而當用戶的在某一時間段內的步數小於預設的步數時,則向用戶發出加強運動的警報信號。同樣,這些運動資料可以上傳到遠端伺服器206,康復師可以據此對訓練計畫做出調整並發送回用戶的拐杖的中央控制器中。此外,中央控制器203也可以將用戶的行走的步數通過警報器204播放給用戶,以便用戶能隨時瞭解自己的運動情況。 According to this embodiment, in a pre-existing training program, the rehabilitation engineer can pre-set the standard pace or number of steps for the training for the user. The central controller determines that the actual pace is too slow to be less than the standard step At the time of the speed, an alert signal is sent to the user to prompt the user to speed up the walking. Similarly, when the user's actual pace is too fast for rehabilitation, the user is also given a warning signal to slow down the speed. When the number of steps of the user in a certain period of time is less than the preset number of steps, an alert signal for enhancing the motion is sent to the user. Again, these athletic data can be uploaded to the remote server 206, where the rehabilitation engineer can adjust the training plan and send it back to the central controller of the user's crutches. In addition, the central controller 203 can also play the number of steps of the user's walking through the alarm 204 to the user so that the user can know his or her movement at any time.
進一步地,通過判斷加速度的波浪曲線的變化也可以判斷使用者的摔倒狀態,可以據此向使用者提出警告。 Further, by determining the change of the wave curve of the acceleration, the user's fall state can also be judged, and the user can be warned accordingly.
進一步地,利用設置在手柄中的加速度感測器,可以測量與用戶的手密切相關的加速度變化,例如通過確定所測量的加速度方向的變化程度,中央控制器203可以確定用戶握持拐杖的穩定性,例如當方向變化過於頻繁超過某一閾值時則判定拐杖不穩定。另外,如果手柄中的加速度感測器測量到的加速度變化大,而位於支腳中的加速度感測器測量到的加速度變化不大則說明拐杖本身發生較大搖晃。而如果手柄與支腳中的加速度感測器感知的加速度數據相差不大,則說明拐杖本身比較穩定。當檢測到拐杖不穩定時,中央控制器203通過警報器204向用戶發出提醒。 Further, with the acceleration sensor disposed in the handle, the acceleration change closely related to the user's hand can be measured, for example, by determining the degree of change of the measured acceleration direction, the central controller 203 can determine the stability of the user holding the crutches Sex, for example, when the direction changes too frequently beyond a certain threshold, the crutches are determined to be unstable. In addition, if the acceleration measured by the acceleration sensor in the handle changes greatly, and the acceleration measured by the acceleration sensor located in the leg does not change much, the crutches themselves are greatly shaken. If the acceleration data sensed by the acceleration sensor in the handle and the foot is not much different, the stick itself is relatively stable. When the crutches are detected to be unstable, the central controller 203 issues a reminder to the user via the alarm 204.
在本發明的另一實施例中,利用拐杖中的第一與第二感測器,可以對路況進行判斷,從而為使用者的運動狀態的確定提供更好參考。如前所述,可以利用手柄或支腳中的加速度感測器判斷拐杖的上下移動方向或額外地判斷使用者或拐杖的移動速度,通過支腳中的壓力感測器判斷拐杖的落下與抬起的方向與節奏,通過手柄中的陀螺儀感測器判斷重力方 向。綜合以上傳感資料,可以判斷當前行走的路面是上坡或下坡。因此,中央控制器203可即時調整運動狀態判定中採用的各閾值標準。例如,如果通過分析手柄中的加速度感測器提供的資料確定拐杖的上移方向大於下移方向行程或時間和/或使用者的移動速度變慢、如前所述的支腳中的壓力感測器檢測到拐杖與重力方向形成較大偏移角,而且拐杖在移動方向後側的兩個支腳受力較大且均勻,則可判斷此時處於上坡。因此,中央控制器203可即時調整所述角度閾值,增大閾值以避免誤警報。同樣,在下坡時,可以允許拐杖落下的方向與重力方向發生較大偏離。另外在下坡情況下如果拐杖移動過快或者步速過快則將觸發警報;如果移動方向不穩定,頻繁發生變化也會觸發警報等。 In another embodiment of the present invention, the first and second sensors in the crutch can be used to determine the road condition, thereby providing a better reference for determining the motion state of the user. As described above, the acceleration sensor in the handle or the foot can be used to judge the upward and downward movement direction of the crutches or to additionally determine the moving speed of the user or the crutches, and the pressure sensor in the legs can be used to judge the falling and lifting of the crutches. Direction and rhythm, the gravitational side is judged by the gyroscope sensor in the handle to. Based on the above sensing data, it can be judged that the current walking road is uphill or downhill. Therefore, the central controller 203 can instantly adjust the respective threshold criteria employed in the motion state determination. For example, if the information provided by the acceleration sensor in the analysis handle is used to determine that the upward movement direction of the crutches is greater than the downward movement direction or time and/or the movement speed of the user is slow, the pressure sense in the legs as described above The detector detects that the crutches form a large offset angle with the direction of gravity, and the two legs on the rear side of the crutches in the moving direction are subjected to a large and uniform force, and it can be judged that the vehicle is uphill. Therefore, the central controller 203 can instantly adjust the angle threshold and increase the threshold to avoid false alarms. Similarly, when going downhill, the direction in which the crutches fall can be allowed to deviate significantly from the direction of gravity. In addition, if the crutches move too fast or the pace is too fast in the case of downhill, an alarm will be triggered; if the direction of movement is unstable, frequent changes will trigger an alarm.
由此可以看到,按照本發明的方案,可以不需要康復師上門來指導用戶訓練,節省了費用;同時利用內嵌有智慧系統的拐杖,康復師可以更及時、更準確地獲取使用者的康復水準資料、從而可以提供更具針對性、更及時的訓練計畫。 It can be seen that, according to the solution of the present invention, the rehabilitation teacher can be required to guide the user to train and save the cost; and the crutches embedded with the intelligent system can be used to obtain the user's time in a more timely and accurate manner. Rehabilitation standards, which can provide a more targeted and timely training program.
以上結合具體的實施例描述了本發明。需要指出的是,上面討論的實施例其目的僅僅是為了更好地闡述本發明。不難理解,本領域人員可對上述各方案進行任意組合、刪除或修改,均不超出由所附的申請專利範圍限定的本發明的保護範圍。 The invention has been described above in connection with specific embodiments. It is to be noted that the embodiments discussed above are for the purpose of illustrating the invention. It is to be understood that any combination, deletion or modification of the above-described embodiments may be made by those skilled in the art without departing from the scope of the invention as defined by the appended claims.
101‧‧‧手柄 101‧‧‧handle
102-1‧‧‧支腳 102-1‧‧‧ feet
102-2‧‧‧支腳 102-2‧‧‧ feet
102-3‧‧‧支腳 102-3‧‧‧ feet
102-4‧‧‧支腳 102-4‧‧‧ feet
103‧‧‧杖體 103‧‧‧ ‧ body
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CN104690746A (en) * | 2013-12-10 | 2015-06-10 | 布法罗机器人科技(苏州)有限公司 | Intelligent elbow stick used for exoskeleton system |
TWI551284B (en) * | 2014-02-20 | 2016-10-01 | Univ Nat Yang Ming | Gait training tools |
CN204521462U (en) * | 2014-11-25 | 2015-08-05 | 时会娟 | Be placed in the pressure sensitive heavy burden monitor controller that crutch bottom is applied to the rehabilitation stage |
CN204581889U (en) * | 2015-01-22 | 2015-08-26 | 重庆交通大学 | Multifunctional intellectual blind guiding system and multifunctional intellectual blind guiding stick |
CN104688498A (en) * | 2015-03-29 | 2015-06-10 | 杜秀枫 | Intelligent guide walking stick for blind people |
CN204742879U (en) * | 2015-06-11 | 2015-11-11 | 深圳市华海技术有限公司 | Intelligence walking stick and intelligent walking stick alarm system |
CN104921425A (en) * | 2015-07-09 | 2015-09-23 | 苏州市瑞晟医疗器械有限公司 | Detachable four-leg walking stick |
-
2015
- 2015-11-27 CN CN201510847663.1A patent/CN106805392B/en active Active
-
2016
- 2016-11-25 TW TW105138860A patent/TWI677337B/en active
- 2016-11-25 WO PCT/CN2016/107261 patent/WO2017088817A1/en active Application Filing
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
TWI691328B (en) * | 2018-07-25 | 2020-04-21 | 南臺學校財團法人南臺科技大學 | Smart aid system for visually impaired |
TWI714118B (en) * | 2019-06-06 | 2020-12-21 | 朝陽科技大學 | Crutch device with pressure sensing mechanism |
TWI735114B (en) * | 2019-12-23 | 2021-08-01 | 長庚學校財團法人長庚科技大學 | Sensing multifunctional crutches |
Also Published As
Publication number | Publication date |
---|---|
WO2017088817A1 (en) | 2017-06-01 |
CN106805392B (en) | 2020-11-17 |
TWI677337B (en) | 2019-11-21 |
CN106805392A (en) | 2017-06-09 |
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