TWI788721B - Walking assist device - Google Patents

Abstract

The present invention discloses a walking assist device comprising a sensing module, a step module, a control module, and an output module. The sensing module generates a sensing signal when a user is walking. The step module calculates a stepping distance. The control module connecting to the sensing module and the sensing module determines a step state according to the sensing signal, and generates a controlling signal by the stepping distance and the step state. The output module which is disposed in a shoe and connects to the control module outputs a stepping line by the controlling signal.

Description

walking guidance device

The invention relates to a walking guiding device, in particular to a walking guiding device for helping users to perform gait reconstruction and striding training.

There are many diseases, such as stroke, Parkinson's disease, cerebral palsy, etc., which will cause the problem of "stepping disorder", which will greatly reduce the ability and quality of life. Gait rehabilitation training is an important process for people with striding disabilities to regain their independent walking ability. Most of the current clinical gait training relies on the therapist to supervise and subjectively judge the patient's ability to give corresponding external reminders to induce correct gait. However, when the therapist is not supervised, the patient may In the absence of reminders, walking with bad posture and developing wrong striding habits will not be conducive to future gait rehabilitation.

A common visual reminder of stepping obstacles is to install a laser light transmitter on the crutches used by patients to emit a laser light to the ground to remind patients to step forward. However, with only one laser beam, the patient will only take the first step, and the patient's other foot will not be able to take the correct distance, resulting in the patient not being able to move forward; in addition, there may be gait freezing or striding Impaired patients do not necessarily need to use crutches. Therefore, when gait freezing or striding impairment occurs, if the crutches with guiding devices are not around, it will not be possible for the patient to get out of the freeze and make correct striding movements.

Moreover, assistive devices attached to the outside of the body, such as walking aids, crutches, wheelchairs, etc., are likely to cause confusion and inappropriate stepping prompts due to changes in the user's behavior in operating the assistive devices. In addition, walking aids are used to support and assist people with walking disabilities to maintain balance while walking. For people with walking disabilities, There is actually a big difference between the striding state with and without the use of walking aids. For those who do not need to use crutches, using crutches in order to obtain the guiding function may instead cause difficulty in walking.

Therefore, there is an urgent need in the field for a walking guide device that can assist people with walking disabilities to walk stably without the use of external equipment, allowing users to recover their daily walking ability.

The present invention proposes a walking guidance device, comprising: a sensing module, which senses a user's progress to generate a sensing signal; a step distance module, which calculates a stride distance of the user; a control module , connected with the sensing module and the stride distance module, the control module judges a stride state according to the sensing signal, and generates a control signal according to the stride state and the stride distance; and a The output module is set on a shoe body and connected with the control module.

Wherein, the output module further includes a signal receiving unit and at least one light emitting unit. The signal receiving unit receives the stride distance of the stride module and the stride state of the control module to drive the at least one light emitting unit to output a stride prompt.

Further, the control module judges that the striding state is a stance phase according to a pressure change in a front sole sensing area, an inner sole sensing area, an outer sole sensing area, and a rear sole sensing area or a swing period. .

Further, the control module includes at least one control mode, and the at least one control mode further includes a straight-going control mode, a left-turn control mode, a right-turn control mode, and a voice control mode. Wirelessly transmit to the output module and output the corresponding step reminder through the at least one light emitting unit.

The purpose of the above brief description of the present invention is to make a basic description of several aspects and technical features of the present invention. The summary of the invention is not a detailed description of the invention, so it is not intended to specifically list the key or important elements of the invention, nor is it used to define the scope of the invention, but to present several concepts of the invention in a concise manner.

10: step prompt

11: Prompt to go straight and stride

12: Tips for stepping when turning left

13: Tips for stepping when turning right

20: Stride state

21: Heel touches the ground

22a: Feet flat

22: mid standing

22b: Heel off the ground

23: Standing period

24: Toes off the ground

25: swing period

30: Stride distance

100: Walking guide device

110: Control device

200: Sensing module

210: Forefoot sensing area

211: Forefoot sensing unit

212: Forefoot sensing unit

220: Medial sole sensing area

221: Medial sole sensing unit

222: Medial sole sensing unit

230: outer sole sensing area

231: Outer sole sensing unit

232: Outer sole sensing unit

240: rear foot sensing area

241: Rear foot sensor unit

300: control module

310: state judging unit

320: Status output signal unit

400: step distance module

410: step calculation unit

420: step output signal unit

500: output module

510: Signal receiving unit

520: light emitting unit

520a: the first light emitting unit

520b: the second light emitting unit

520c: the third light emitting unit

521: Shell

530: Adjustment unit

Fig. 1 is a schematic diagram of a preferred embodiment of the walking guide device of the present invention

Fig. 2 is a schematic diagram of the first embodiment of the sensing module of the walking guidance device of the present invention

Fig. 3 is a schematic diagram of three implementation states of the step prompt of the walking guidance device of the present invention

Figure 4 is a schematic diagram of the complete stride state when the human body is walking

Figure 5a is a schematic diagram of a preferred embodiment of the walking guidance device of the present invention in use (straight travel)

Figure 5b is a schematic diagram of a preferred embodiment of the walking guidance device of the present invention in use (left turn)

Figure 5c is a schematic diagram of a preferred embodiment of the walking guidance device of the present invention in use (right turn)

Fig. 6 is another schematic diagram of a preferred embodiment of the walking guidance device of the present invention

Figure 7 is a schematic diagram of the position of the light emitting unit of the walking guidance device of the present invention

Fig. 8 is a schematic diagram of a preferred embodiment of the light emitting unit of the walking guidance device of the present invention.

In order to be able to understand the technical features and practical effects of the present invention, and to implement according to the contents of the description, the preferred embodiment shown in the figure is further described in detail as follows: Please refer to Figure 1, which is the basic A schematic diagram of a preferred embodiment of the walking guidance device of the invention. The walking guidance device 100 is to help the user output a stride prompt when walking. Walking guide device of the present invention The device 100 includes a sensing module 200 , a control module 300 , a step module 400 and an output module 500 .

Please also refer to FIG. 2 , which is a schematic diagram of the first embodiment of the sensing module of the walking guidance device of the present invention. The sensing module 200 can also be subdivided into a forefoot sensing area 210, an inner sole sensing area 220, an outer sole sensing area 230, and a rear sole sensing area 240; the sensing module 200 also includes a plurality of sensing units (211, 212, 221, 222, 231, 232, 241), each sensing unit (211, 212, 221, 222, 231, 232, 241) is used to sense the sole of the user's foot on the bottom of the shoe body. One of the pressures produced by different regions.

In this embodiment, the plurality of sensing units (211, 212, 221, 222, 231, 232, 241) are pressure sensors. The plurality of sensing units are arranged in the insole to form a pressure pad, and the pressure pad is placed inside the shoe body.

In other embodiments of the sensing module 200 of the present invention, the sensing module 200 may be a gyroscope, an accelerometer, or the like. The gyroscope and accelerometer are not necessarily placed on the insole.

The step distance module 400 includes a step distance calculation unit 410 and a step distance output signal unit 420. The step distance signal is sent to the output module 500 or the control module 300 to directly or indirectly control the distance of the step prompt.

In this embodiment, the striding distance is calculated by measuring the acceleration or turning of the user when walking with a gyroscope, an accelerometer, or a magnetometer. Slight body speed changes, calculated to be more in line with the user's own step length, Cadence and pace distance. Wherein, the selection of the acceleration gauge can be a space accelerator, a uniaxial accelerator, a biaxial accelerator or a triaxial accelerator. The calculation method of striding distance will be explained later.

The control module 300 is connected with the sensing module 200, and includes a status judging unit 310 and a status signal output unit 320. The status judging unit 310 is based on the sensing module 200 sensing the sole of the user's foot on the bottom of the shoe body. The generated pressure change or/and the acceleration change of the foot are judged by a predetermined algorithm in a stride state of the user, and the signal of the stride state is passed through the state output signal unit 320 (or according to the A control signal determined by the stride state) is sent to the output module 500 . In addition, the control modules 300 located on the left and right feet transmit and/or receive related data through wireless communication. The implementation of the stride state will be described later.

Please also refer to FIG. 4 , which is a schematic diagram of a complete striding state (gait cycle) when a human body is walking. As shown in FIG. 4 , in this embodiment, the stepping state of the user's gait cycle is divided into two stages: a stance phase 23 (Stance phase) and a swing phase 25 (Swing phase). Wherein, the stance phase 23 (Stance phase) also includes the heel strike (Heel Strike) 21 , the stance mid-phase (Mid Stance) 22 and the toe off the ground (Toe off/push off) 24 . Wherein, the period of the mid-stand period 22 starts from the flat laying of the feet 22a to the end of the heels off the ground 22b.

The output module 500 includes a signal receiving unit 510 , a light emitting unit 520 and a regulating unit 530 . In one embodiment, the output module 500 is connected to the control module 300 and the step distance module 400, and the signal receiving unit 510 is simultaneously based on the stride distance signal transmitted by the step distance module 400 and the stride distance signal transmitted by the control module 300. to drive the light-emitting unit 520 of the output module 500 to output a stride reminder in line with the user's stride distance to the front of the shoe body, thereby helping the user to confirm the stride position according to the stride reminder to continue March. In another embodiment, the control module 300 receives the step distance module 400 stride distance signal, and according to the stride distance signal and the stride status signal, determine a control signal to the output module 500, and the output module 500 generates the stride prompt according to the control signal.

The step prompt generated by the light emitting unit 520 has many implementation forms. The first embodiment is shown in Figure 3, which is a schematic diagram of three implementation states of the stepping prompt of the walking guidance device of the present invention. The stepping prompt generated by the light-emitting unit 520 can be a 3x3, 4x4, 3x4 and other multi-grid array of lights. or image. In this embodiment, through the light or image of the MxN multi-grid array, short, medium or long-distance step prompts such as going straight 11, turning left 12, and turning right 13 can be formed to guide the user to go straight, left Turn or turn right. Wherein, the illustration of the prompting 11 of straight walking and striding in FIG. 3 is the prompting 11 of straight walking and striding at a long distance.

In another embodiment, the light-emitting unit 520 can generate three types of step prompts, namely, long-distance straight travel, short-distance straight travel, and turning. Please refer to FIG. 7. FIG. 7 is a schematic diagram of an embodiment of the placement position of the light emitting unit 520 of the walking guidance device of the present invention. The position and quantity of the light emitting unit 520 in FIG. invention. In the embodiment in FIG. 7 , the three light emitting units 520 included in the output module 500 are respectively arranged on the inner side of the foot (the first light emitting unit 520 a ) and the inner front side of the foot (the second light emitting unit 520 b ) at the front end of the shoe body. and directly in front of the foot (the third light emitting unit 520c). Among them, the first light-emitting unit 520a and the third light-emitting unit 520c are used to respectively emit short-distance and long-distance straight line lights or images (that is, the step reminder 10), while the second light-emitting unit 520b is used to emit turning guidance. The striding prompt 10 of the three light-emitting units (520a, 520b, 520c) can generate the striding prompt 11 of short-distance straight travel (through the first light-emitting unit 520a), and the long-distance straight stride prompt 11 ( The third light-emitting unit 520c), the step reminder 12 of the left turn (the second light-emitting unit 520b positioned at the left foot) and the step reminder 13 of the right turn (the second light-emitting unit 520b positioned at the right foot), to prevent the user from turning , stepping indicates that the oblique light or image is deviated. In one embodiment, if a stroke patient user only needs a single-leg stepping prompt, Or the step prompting distances (one far and one near) of the two feet are different. The three light emitting units 520 included in the output module 500 can also be adjusted to meet user needs.

In addition, the adjusting unit 530 can change the brightness level or color of the light or image output by the light emitting unit according to the brightness of the environment, and can also change the output frequency of the light emitting unit 520 according to user requirements. In a possible implementation mode, the present invention can further adjust the light-emitting unit 530 to turn off the light-emitting unit according to the disease or user's needs, and only output the stepping prompt of one side of the foot for stepping guidance.

In this embodiment, the light emitting unit 520 may be a light emitting diode (LED), a laser emitter, an image emitter, a group of light emitting diodes (LED) or a group of laser emitters, but it should not be so Enumeration is limited. Furthermore, please refer to FIG. 8 , which is a schematic diagram of a preferred embodiment of the light emitting unit 520 of the walking guidance device of the present invention, wherein the light emitting unit 520 is spherical and installed in a casing 521, so that the light emitting unit The 520 can be rotated 360 degrees in the housing 521 and output a stride prompt (which can be an image or light), thereby providing a wide range of stride prompts. In other possible implementations, circular holes (not shown) may be provided around the casing 521 to provide a wider range of output angles of the light emitting unit 520 .

The walking guidance device of the present invention further includes a power supply unit (not shown) arranged on the shoe body, which is respectively connected to the sensing module 200, the control module 300, the step distance module 400 and the output module 500. The supply unit includes but is not limited to a rechargeable battery (Secondary battery) or a general battery (Primary Battery). Any available power supply method at the present stage can also be transferred to the power supply unit of the present invention.

Any known means in the present invention can be used to arrange the control module 300 , the stride module 400 , the output module 500 and the power supply unit (not shown) on the shoe body. In the present invention In an embodiment, the air cushion at the bottom of the shoe body is provided with an accommodating space for installing or taking out the stride module, the control module, the output module and the power supply unit.

The following will describe in detail the algorithm for the control module 300 to determine the stepping state of the user when the sensing module 200 senses that the user is walking.

In this embodiment, the state judging unit 310 included in the control module 300 judges the striding state of the user through an internal algorithm when the sensing module 200 senses that the user is walking, and according to the striding The signal of the step state transmits a control signal to the output module 500 through the state output signal unit 320, thereby driving the light emitting unit 520 of the projection module to output a step prompt in front of the shoe body at a more correct time point to complete the traveling route guide.

Please refer to FIG. 2, FIG. 3 and FIG. 4 at the same time. In this embodiment, the judgment method of the state judging unit 310 algorithm is as follows: Taking the left foot as an example, the current sole sensing area 210 and the rear sole sensing area 240 , the inner sole sensing area 220 and the outer sole sensing area 230 (sensing units 211, 212, 221, 222, 231, 232, 241 in Fig. 2) all measure partial pressure, and the state judging unit 310 will judge the The striding state 20 is in the stance phase (Stance phase) 23 ; when no obvious pressure is detected in the plurality of sensing areas, the state judging unit 310 judges that the striding state 20 is in the swing phase (Swing phase) 25 . Furthermore, when only the rear sole sensing area 240 (such as the sensing unit 241 in Figure 2) detects significant pressure, the state judging unit 310 will judge that the striding state 20 is a heel strike (Heel Strike) 21 The current sole sensing area 210, the rear sole sensing area 240, the inner sole sensing area 220 and the outer sole sensing area 230 (sensing units 211, 212, 221, 222, 231, 232, 241 in Fig. 2) There are a plurality of sensing areas to measure obvious pressure, and the state judging unit 310 can judge that the striding state 20 is the mid-stance (Mid Stance) 22; the rear foot sensing area 240 (sensing unit 241 in Fig. When there is no obvious pressure and the pressure measured by the forefoot sensing area 210 gradually decreases to no obvious pressure, it is Toe off 24 . Regarding "obviousness or not", it can be seen through and at least Compared with a critical value, when the value is greater than at least one critical value, it is obvious; otherwise, it is not obvious or not obvious.

Taking the left foot as an example, further speaking, the current sole sensing area 210 (sensing units 211, 212 in Fig. 2 ) measures obvious pressure and the outer sole sensing area 230 (sensing unit 231 in Fig. 2 ) , 232) when the measured pressure increase is close to the pressure increase measured by the inner sole sensing area 220 (sensing units 221, 222 as in Fig. 2), the state judging unit 310 will judge that the striding state 20 is Standing mid-stage (Mid Stance) 22 of the straight line 11; when in a plurality of sensing areas, the forefoot sensing area 210 (such as sensing units 211, 212 in Figure 2) measures the user's apparent pressure and the outer sole sensing area 230 (sensing units 231, 232 as in Fig. 2) the pressure increase measured is greater than the pressure increase measured in the inner sole sensing area 220 (sensing units 221, 222 as in Fig. 2), then the state judging unit 310 It will be judged that the striding state 20 is a mid-stance (Mid Stance) 22 of a left turn 12; similarly, taking the right foot as an example, the state judging unit 310 judges that the striding state 20 is a mid-stance (Mid Stance) 22, According to the slight difference in the pressure sensed by the multiple sensing areas, it can be further divided into two directions of travel: straight ahead and right turn. Among the plurality of sensing areas, the forefoot sensing area 210 (such as the sensing units 211, 212 in Figure 2) measures the obvious pressure of the user and the lateral foot sensing area 230 (such as the sensing units 231, 232 in Figure 2) ) is greater than the pressure increase measured by the inner sole sensing area 220 (such as the sensing units 221, 222 in Figure 2), the state judging unit 310 will judge that the striding state 20 is a right turn 13's mid stance (Mid Stance) 22.

Please refer to Figs. 5a, 5b and 5c together with Fig. 4. Figs. 5a, 5b and 5c are schematic diagrams of preferred embodiments of the walking guidance device of the present invention in use (going straight, turning left and turning right). Firstly, Fig. 5a shows how the walking guidance device 100 of the present invention guides the user to walk straight. During the user's walking process, when the right foot is in the mid-stance 22 in the stepping state 20, the light emitting unit 520 on the right foot emits Straight forward stride prompt 11 to guide the left foot to step forward; and when the left foot is in the stride state During the mid-stand stage 22 in 20, the light-emitting unit 520 on the left foot emits a straight forward stride prompt 11 to guide the right foot to step forward, so that the user can walk straight forward along the stride prompt.

When the user is ready to turn left, the left foot in the mid-stance 22 can first play the left-turn step prompt 12 to guide the right foot to step forward to the left, and the right foot will enter the mid-stance 22 of the right foot after the step is completed. Then play the prompt 11 of straight stride and guide the left foot to step forward, thereby allowing the user to turn left along the stride prompt.

Conversely, when the user is about to turn right, the right foot in the mid-stance 22 can first play the right-turn step prompt 13 to guide the left foot to step forward to the right, and the left foot will enter the mid-stance 22 of the left foot after the stride is completed. At this time, the left foot prompts 11 to step straight ahead to guide the right foot to step forward, so that the user can turn right along the step prompt. In the above-mentioned embodiment, the stepping-impaired person is guided by the above-mentioned left-right inconsistent stepping prompt, which can help the stepping-impaired person to maintain balance better while walking.

In the above-mentioned embodiment, the prompt 11 for straight stride and the prompt 12 (or 13) for turning left (or right) can be played when one side of the foot is on the ground (standing stage), so as to avoid shaking the foot to cause striding Prompt deviation.

In addition, in the above-mentioned embodiment, the walking guidance device 100 can also guide the user to turn the size of the turning radius by controlling the distance of the step reminder issued by the light emitting unit 520. When step prompt 11, the turning radius of the user is larger during the turning process; on the contrary, when the light-emitting unit 520 will play a straight forward step prompt 11 with a shorter distance, the user's turning radius is smaller.

Wherein, the state judging unit 310 and the algorithm can be implemented by a programmable logic device, a logic circuit, a processor, and firmware (Firmware) or software.

In addition, when the user's two feet are in the mid-stance (Mid Stance) 22 for a long time, and the pressure value measured by at least one of the front sensing area 210 and the rear sensing area 240 of at least one of the left and right feet has obvious vibration ( shaking amount is greater than a shaking threshold), the state judging unit 310 will judge that the user has a stepping intention, and the user is in a freezing gait (Gaiting freeze) state, and the signal of the stepping state 20 is transmitted by the state output signal unit 320 Send it to the output module 500 of a foot with a small amount of vibration (no stride intention), so as to drive the output module 500 to output the stride prompt 10 in front of the shoe body, thereby guiding the use of the frozen gait (Gaiting freeze) The patient will step forward with a foot with a large amount of shaking (with the intention of stepping), so as to prompt the patient with Parkinson's disease to step forward. Again, when the basis of the judgment of the state judging unit 310 is that when the user's two feet are in the standing phase (Mid Stance) 23 and the pressure measured by the front side sensing area 210 and the rear side sensing area 240 of the left and right feet has no obvious vibration (jitter amount is less than a shaking threshold), the state judging unit 310 judges that the user is standing, and disables the output module 500 to reduce power consumption.

In the following, a more detailed description will be given for the stride distance determined by the stride calculation unit 410 of the stride module 400 .

Please refer to Fig. 4 again, the stride distance can be when the human body moves from the swing phase (Swing phase) 25, that is, the toe off the ground 24 (Toe off), and enters the next heel strike (Heel Strike) 21 single foot The time interval (referred to as "the time interval of the swing period (or suspension period)" in the present invention). This series of actions is the time interval of one foot movement. The time interval of the oscillation period can be obtained from the output signal of the corresponding sensing unit of the sensing module 200 . The stride distance calculation unit 410 can calculate the user's single-step stride distance according to the swing period time interval. And the measuring step mode of the step calculation unit 410 has many implementations:

The first embodiment: Utilize the two-axis accelerometer to obtain the change of the acceleration component in the X and Y axis directions of the time interval in the oscillation period, and use the components of the X and Y axis direction acceleration to calculate (synthesize) the XY The acceleration curve of the plane, and then integrate the acceleration curve once to calculate the forward speed, and then integrate again to calculate the stride distance.

The second embodiment: Utilize the three-axis accelerometer to obtain the change of the acceleration component in the X, Y, and Z axis directions of the time interval of the oscillation period, because the Z axis of the accelerometer is not always maintained on the Z axis, and the accelerometer is used The Z-axis acceleration and the gravitational acceleration g (a fixed value of 9.8), find the angle (inclination angle) between the Z-axis of the accelerometer and the gravitational acceleration g, which is used to compensate the X-axis acceleration signal and the Y-axis acceleration signal, and use the compensated The acceleration components in the X and Y axis directions are obtained (synthesized) to obtain (synthesize) the acceleration curve in the XY plane, and the forward speed can be calculated by one integration, and then the stride distance can be calculated by another integration. In this embodiment, the sensing module 200 of the present invention uses the Z-axis acceleration as the basis for detecting the user's stepping state. In other words, only one three-axis accelerometer can be used in this embodiment. Wherein, the Z-axis acceleration data is used as a basis for judging the user's striding state, and the XY-axis acceleration data is used to calculate the user's striding distance.

The third embodiment: an infrared emitting element is arranged on the first shoe body, that is, the inner side of one of the shoes, and an infrared receiving element is respectively arranged on the front and rear of the second shoe body, that is, the inner side of the other shoe, and the two infrared receiving elements For the relative distance D of the components, the forward speed is calculated by dividing the distance D by the time difference between the two infrared receiving components receiving infrared rays, and then the stride distance is estimated by multiplying the forward speed by the swing period time.

The adjustment of the distance of the step prompt 10 of the output module 500 by using various feedback control methods will be described in detail below.

One: use the stride distance to adjust whether it is successful or not: by comparing the stride distance calculated by the stride module 400 and the distance of the stride prompt 10 of the output module 500 (for example: the stride distance and the stride prompt Whether the distance of 10 is greater than the distance of striding to prompt 10) to feedback and adjust the distance of striding to prompt 10 next time of the output module 500; Second: if the control module 300 determines that the user has gait variation characteristics, adjust (i.g. reduce) the distance of the next step prompt 10 of the output module 500 according to these variation characteristics. And these variation characteristics include at least one of the following: the pressure variability in the stance phase between each step (left and right feet), the variability in the bias distance of the single foot center of gravity, the stance period or the swing period or the stance period between each step (the left and right feet) Ratio variability with swing phase, change in left/right foot pressure ratio, left/right foot stance phase or swing phase ratio change. For example, when the user's stride distance is still greater than the distance of the stride prompt 10, the above-mentioned gait variation characteristics may still appear. The above-mentioned gait variation characteristics can be regarded as the user's poor gait and unstable center of gravity, so the distance of the next step prompt 10 should be adjusted (reduced) by feedback to avoid possible falls of the user. Wherein, if the sensing module 200 uses a plurality of sensing units, the control module 300 can obtain all the above-mentioned gait variation characteristics according to the previous striding state and this striding state; When the measurement module 200 is an accelerometer, the control module 300 can obtain the above-mentioned standing period or swinging period or standing period between each step (left and right feet) according to the previous striding state and this striding state The gait variation characteristics of the ratio variability of the swing period and the ratio variability of the homogamy stance period and the swing period. In another preferred embodiment, if the sensing module 200 uses a plurality of sensing units, the above-mentioned single-foot stance pressure variability and single-foot center-of-gravity deviation variability are based on the inner sensing area 220 and the outer sensing area. The pressure change in the measuring area 230 is calculated.

In the present embodiment, the output mode of striding prompt 10 can also output the stride prompt 10 corresponding to the pin (that is, after the left foot outputs the stride prompt 10, swing to the position of the stride prompt 10 by the right foot; change the right foot to output stride prompt 10; When the step prompts 10, the left foot swings to the position of the stride prompt 10).

In a possible implementation, the present invention may also include a memory unit (not shown) connected to the output module 500, when the user completes a complete stride of the left and right feet through the walking guidance device of the present invention After a step cycle, the memory unit can store the time interval of each state of the user's stepping state and the The user's habitual stride distance is used to record and analyze and adjust the relevant parameters of the output module 500, and then output the stride prompt 10 more suitable for the user (such as the distance or angle of the stride prompt 10, etc.).

Please refer to FIG. 6 , which is another schematic diagram of a preferred embodiment of the walking guide device of the present invention. In this embodiment, the walking guidance device 100 of the present invention can also be wirelessly connected to a control device 110. The control device 110 includes three control modes: straight ahead, left turn and right turn, and the user can decide on his own according to the needs of the user. Carry out directions. For example, when the user selects the control method of turning right, the control device 110 will wirelessly transmit the signal of turning right to the output module 500, and output the step reminder 10 of turning right 13 through the light-emitting unit 520, thereby guiding the user Go right. Wherein, the wireless connection between the control device 110 and the output module 500 may be a Bluetooth connection, a wireless network connection, or an infrared connection. In another embodiment, the control module 300 of the present invention also includes a voice control function, which is used to handle the user's voice input (for example: go straight, turn left, turn right, freeze) and other voice controls to control and change the output Output of module 500.

Furthermore, the walking guidance device 100 of the present invention can also be connected to an external mobile device (not shown in the figure), and the mobile device can receive the pressure change of the user measured by the walking guidance device 100, the striding state 20 , the stride distance 30 and the stride prompt 10, and output the information on the display of the mobile device, and the user can clearly understand his own stride record through the mobile device and adjust and correct it; the mobile device can also Including a detection mechanism, the detection mechanism detects whether the user has successfully stepped according to the step prompt 10, if so, the mobile device sends a reward signal (such as: pleasant ringtones) to encourage the user to perform correct stride exercises; if not, The mobile device sends out a reminder signal (for example: warning sound or vibration) to remind the user of the failed step.

Based on the above, the walking guidance device of the present invention cooperates with the sensing module, the step distance module, the control module and the output module, so that the user's training with step prompts is similar to normal Walking, to further judge the user's striding state and the user's habitual striding distance, and then adjust and output the striding prompts that match the user's stride distance, which can help people with striding disabilities recover their ability to walk in daily life, and can also When applied to athlete training, the stride distance is improved.

But what is described above is only a preferred embodiment of the present invention, and should not limit the scope of implementation of the present invention, that is, the simple changes and modifications made according to the patent scope and description of the present invention still belong to the present invention within the scope covered.

100: Walking guide device

200: Sensing module

300: control module

310: state judging unit

320: Status output signal unit

400: step distance module

410: step calculation unit

420: step output signal unit

500: output module

510: Signal receiving unit

520: light emitting unit

530: Adjustment unit

Claims (15)

A walking guidance device, comprising: a sensing module, which senses a user's progress to generate a sensing signal; a one-step distance module, which calculates a forward speed, and obtains a swing period according to the sensing signal time interval, and obtain a stride distance according to the forward speed and the oscillation period time interval; a control module is connected with the sensing module and the step distance module, and the control module is based on the sensing signal A step state is judged, and a control signal is generated according to the step state and the step distance; and an output module is connected to the control module; wherein, the output module further includes a signal receiving unit and At least one light-emitting unit; the signal receiving unit receives the stride distance of the stride module and the stride state of the control module to drive the at least one light-emitting unit to output a stride reminder; wherein, the walking guidance device The at least one light-emitting unit is used to output the distance of the step prompt to guide the user to turn the radius of rotation. The walking guidance device according to claim 1, wherein the control module is based on a pressure change of a forefoot sensing area, an inner sole sensing area, an outer sole sensing area, and a rear sole sensing area It is judged that the striding state is a standing period or a swinging period. The walking guidance device as described in claim 2, wherein the stance stage further includes a heel-on-the-ground stage, a mid-stance stage, or a toe-off stage. The walking guidance device as described in claim 3, wherein the stride distance module calculates the time interval of the swing period according to the time interval of the user moving from the toe off the ground to the next movement of the heel touching the ground. The walking guidance device according to any one of claims 1 to 4, wherein the stride module is provided with an infrared emitting element inside a first shoe body, and is arranged at a distance from the front and rear of a second shoe body There is an infrared receiving element. The walking guidance device as described in claim 5, wherein the step distance module calculates the advancing speed by dividing the distance by the time difference between the two infrared receiving elements receiving the infrared rays emitted by the infrared emitting element, and then using the advancing The stride distance is estimated by multiplying the velocity by the oscillation period time interval. The walking guidance device as described in claim 1, wherein the step prompt generated according to the settings of different positions of the at least one light-emitting unit further includes a long-distance straight line, a short-distance straight line, a left turn, a right turn, or combination. A walking guidance device, comprising: a sensing module, which senses a user's progress to generate a sensing signal; a one-step distance module, which calculates a forward speed, and obtains a swing period according to the sensing signal time interval, and obtain a stride distance according to the forward speed and the oscillation period time interval; a control module is connected with the sensing module and the step distance module, and the control module is based on the sensing signal A step state is judged, and a control signal is generated according to the step state and the step distance; and an output module is connected to the control module; wherein, the output module further includes a signal receiving unit and At least one light-emitting unit; the signal receiving unit receives the stride distance of the stride module and the stride state of the control module to drive the at least one light-emitting unit to output a stride reminder; Wherein, the stride module is provided with an infrared emitting element inside a first shoe body, and an infrared receiving element is respectively arranged at a distance from the front and rear of a second shoe body. A walking guidance device, comprising: a sensing module, which senses a user's progress to generate a sensing signal; a step distance module, which calculates a stride distance of the user according to the sensing signal; A control module is connected with the sensing module and the step distance module, the control module judges a step state according to the sensing signal, and generates a step according to the step state and the step distance control signal; and an output module, which is arranged on a shoe body and is connected with the control module, and the output module outputs a step prompt according to the control signal; wherein, the sensing module includes a three-axis acceleration According to regulations, the sensing signal includes an X-axis acceleration signal, a Y-axis acceleration signal, and a Z-axis acceleration signal. The control module judges the stride state according to the Z-axis acceleration signal. The acceleration signal and the Y-axis acceleration signal determine the stride distance; wherein, the stride module compensates the X-axis acceleration signal and the Y-axis acceleration signal according to the Z-axis acceleration signal; wherein, the walking guidance device uses the output The distance of the stride prompt guides the user to turn the radius of rotation. A walking guidance device, comprising: a sensing module, which senses a user's progress to generate a sensing signal; a step distance module, which calculates a stride distance of the user according to the sensing signal; A control module is connected with the sensing module and the step distance module, the control module judges a step state according to the sensing signal, and generates a step according to the step state and the step distance control signal; and an output module, which is arranged on a shoe body and is connected with the control module, and the output module outputs a step prompt according to the control signal; wherein, the control module determines a step according to the sensing signal gait variation characteristics, and adjust the distance of the stride prompt of the output module according to the feedback of the gait variation characteristics; wherein, the walking guidance device guides the user to turn by using the distance of the stride prompt to guide the user to turn size. The walking guidance device as described in claim 10, wherein the gait variation characteristics include the variability of pressure in the stance phase between each step, the variability of the deviation distance of the center of gravity of a single foot, and the variability of the ratio of the stance phase or swing phase between each step , Changes in the pressure ratio of the left and right feet or changes in the ratio of the left and right feet in the stance phase or swing phase. A walking guidance device, comprising: a sensing module, which senses a user's progress to generate a sensing signal; a step distance module, which calculates a stride distance of the user according to the sensing signal; A control module is connected with the sensing module and the step distance module, the control module judges a step state according to the sensing signal, and generates a step according to the step state and the step distance control signal; and an output module, which is arranged on a shoe body and is connected with the control module, and the output module outputs a step prompt according to the control signal; Wherein, the control module adjusts the distance of the next step prompt of the output module according to the stride distance output by the stride module and the distance feedback of the previous step prompt of the output module; wherein, the walking The guiding device guides the user to turn the size of the radius of rotation by using the distance of the step prompt output. A walking guidance device, comprising: a sensing module, which senses a user's progress to generate a sensing signal; a step distance module, which calculates a stride distance of the user according to the sensing signal; A control module is connected with the sensing module and the step distance module, the control module judges a step state according to the sensing signal, and generates a step according to the step state and the step distance control signal; and an output module, which is arranged on a shoe body and is connected with the control module, and the output module outputs a step prompt according to the control signal; wherein, the control module compares one of the sensing signals Shaking amount and a shaking threshold value, and judging a freezing gait (Gaiting freeze) state or a standing state according to the comparison result. A walking guidance device, comprising: a sensing module, which senses a user's progress to generate a sensing signal; a step distance module, which calculates a stride distance of the user according to the sensing signal; A control module is connected with the sensing module and the step distance module, the control module judges a step state according to the sensing signal, and generates a step according to the step state and the step distance control signal; and an output module, which is arranged on a shoe body and is connected with the control module, and the output module outputs a step prompt according to the control signal; Wherein, the walking guidance device determines whether the stepping prompt is a straight forward stepping prompt or a turning stepping prompt according to the pressure increase of the inner sensing area and the outer sensing area; wherein, the walking guiding device The system guides the user to turn the radius of rotation by outputting the distance of the stride prompt. A walking guidance device, comprising: a sensing module, which senses a user's progress to generate a sensing signal; a step distance module, which calculates a stride distance of the user according to the sensing signal; A control module is connected with the sensing module and the step distance module, the control module judges a step state according to the sensing signal, and generates a step according to the step state and the step distance control signal; and an output module, which is arranged on a shoe body and is connected to the control module, and the output module outputs a stride prompt according to the control signal; wherein, the stride prompt includes: a straight stride Prompt and a prompt for turning and stepping; wherein, the walking guidance device guides the user to turn by using the stepping prompt that is inconsistent between left and right.

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