WO2019144869A1 - Système d'aide à la marche - Google Patents

Système d'aide à la marche Download PDF

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Publication number
WO2019144869A1
WO2019144869A1 PCT/CN2019/072712 CN2019072712W WO2019144869A1 WO 2019144869 A1 WO2019144869 A1 WO 2019144869A1 CN 2019072712 W CN2019072712 W CN 2019072712W WO 2019144869 A1 WO2019144869 A1 WO 2019144869A1
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WIPO (PCT)
Prior art keywords
visual
user
pointing device
assistance system
light source
Prior art date
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PCT/CN2019/072712
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English (en)
Chinese (zh)
Inventor
禤彦勳
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盖亚尔控股有限公司
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Publication of WO2019144869A1 publication Critical patent/WO2019144869A1/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1112—Global tracking of patients, e.g. by using GPS
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1116—Determining posture transitions
    • A61B5/1117—Fall detection
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/112—Gait analysis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
    • A61B5/6802—Sensor mounted on worn items
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/74—Details of notification to user or communication with user or patient ; user input means
    • A61B5/7465—Arrangements for interactive communication between patient and care services, e.g. by using a telephone network
    • A61B5/747—Arrangements for interactive communication between patient and care services, e.g. by using a telephone network in case of emergency, i.e. alerting emergency services
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0157—Constructive details portable

Definitions

  • the present invention relates to assisted medical rehabilitation techniques and, in particular, to a walking assist system that is preferably adapted for use in patients such as Parkinson's disease.
  • Parkinson's disease is a long-term degenerative disorder that primarily affects the central nervous system of the motor system.
  • Patients with Parkinson's disease usually have varying degrees of dyskinesia symptoms.
  • patients with Parkinson's disease often have a medical condition called "Freezing of Gait (FoG)", which is manifested in the fact that walking becomes hesitant and may even stop completely.
  • FluG Freezing of Gait
  • Approximately 26% of patients with mild Parkinson's disease and 80% of patients with severe Parkinson's disease are affected by a "frozen gait”, which is a common cause of falls in patients. This can happen when you are turning, starting to walk, reaching a destination in a narrow space such as a doorway or toilet, and when you are nervous about hearing a knock on the door or opening the elevator door. It may also occur in the unpredictable absence of any external triggers. These bad behaviors make patients less confident and unwilling to go outdoors. Some patients may have to use a wheelchair, although their legs can move, reducing their quality of life.
  • the patient's ability to act is related to cognitive function, especially executive function and attention. It has been suggested that cognitive function in PD patients with "frozen gait” is generally impaired compared to PD patients who do not have "frozen gait”.
  • the Cognitive Attention Clues strategy has been shown to improve in overcoming FoG by providing hints that can be in the form of auditory, visual, tactile, and the like. It helps the patient's motor learning to show significant improvement in balance, fall risk, freeze, speed and stride, even in terms of reduced rhythm (steps traveled in one minute).
  • a walking assistance system comprising: a first pointing device and a second pointing device, wherein the first pointing device comprises a light source for projecting a visual indication light sign on a ground front of the user walking, and the second indication The device includes a source of vibration that provides a vibration indication to the user's foot.
  • the walking assistance system further includes a third pointing device, wherein the third pointing device includes a sound source that provides an audible prompt to the user.
  • the first pointing device comprises a visual pointing device
  • the second pointing device comprises a haptic pointing device
  • the third pointing device comprises an audible indicating device
  • the visual pointing device comprises the light source
  • the haptic indicating device includes the vibration source and the audible indicating device includes the sound source.
  • the walking assistance system further includes an insole providing a support for a user's foot, the insole being coupled to the visual indicating device by a post.
  • the visual indication device is coupled to the haptic indication device and the audible indication device, respectively.
  • the visual indication device further includes a clamp and the tactile indication device disposed on the insole, wherein the clamp clamps the visual indication device to the user and the insole to the user's foot Touch.
  • the visual indication device further includes a light sensor that senses ambient light intensity and adjusts the light source output power light intensity automatic adjustment circuit based on the light sensor perception result.
  • the visual indication device further includes a tilt sensor that detects an inclination of the beam output of the light source to the ground.
  • the visual indication device further includes a processor, wherein the processor turns off the light source when the tilt sensor detects that the tilt angle is greater than a predetermined angle.
  • the visual indication device further includes a motion sensor that detects a user's motion posture.
  • the visual indication device further includes a GPS module that detects the geographic location of the user.
  • the visual indication device further includes a communication module including a Bluetooth module for short-range communication with other devices, and a SIM card module for long-distance communication with the background server.
  • a communication module including a Bluetooth module for short-range communication with other devices, and a SIM card module for long-distance communication with the background server.
  • the tactile indication device is in the form of an insole comprising a plurality of force sensors distributed on the tactile indication device in a predetermined distribution pattern.
  • the vibration source of the haptic indicating device includes an active vibration mode of timed vibration, and a passive vibration mode when a user's heel strike is found, the visual indication indicating device including a fall when a user is detected to fall
  • the fall alarm module for the alarm.
  • the walking assistance system further includes a smart mobile device connected to the visual indication device and/or the tactile indication device via Bluetooth, the smart mobile device collecting from the visual indication device and the tactile indication device All data and send data to the backend server via the internet.
  • the walking assistance system of the present invention provides a visual indication and a vibration indication for a user, such as a Parkinson's disease patient, by walking through a visual indication device and a trigger indication device, respectively, which can prompt the user to overcome, for example, freezing the gait and improving his movement.
  • FIGS. 1A and 1B are schematic diagrams showing the appearance of different directions of a visual pointing device of a walking assist system according to an embodiment of the present invention.
  • FIG. 2 is a schematic exploded view of a rotary joint of a visual pointing device of a walking assist system according to an embodiment of the present invention.
  • FIG. 3 is a system configuration diagram of a visual pointing device of a walking assistance system according to an embodiment of the present invention.
  • FIG. 4 is a flow chart of light source control in accordance with an embodiment of the present invention.
  • Figure 5 is a perspective view of a tactile indication device of the walking assistance system of the embodiment of the present invention.
  • FIG. 6 is a schematic diagram of a user wearing a walking assist system of an embodiment of the present invention.
  • FIG. 7 is a communication architecture diagram of a walking assistance system according to an embodiment of the present invention.
  • Figure 8 is a flow chart of a fall detection in accordance with an embodiment of the present invention.
  • FIG. 9 is a schematic view of a walking assist system for a footwear product according to another embodiment of the present invention.
  • FIG. 10 is a structural diagram of a visual indication device, a tactile indication device, and an audible indication device system of a walking assistance system according to another embodiment of the present invention.
  • Fig. 11 is a view showing the structure of a walking assistance main body of a walking assist system according to another embodiment of the present invention.
  • Figure 12a is a system configuration diagram of a walking assist system according to another embodiment of the present invention.
  • Figure 12b is a block diagram of another system of the walking assist system of another embodiment of the present invention.
  • Figure 13a shows a flow chart of a walking assistance system in accordance with another embodiment of the present invention.
  • Figure 13b shows a flow chart of another system of walking assistance in accordance with another embodiment of the present invention.
  • circuitry may be shown in block diagrams in order to avoid the following unnecessary detail mixing embodiments.
  • well-known circuits, procedures, algorithms, structures, and techniques may be shown without unnecessary detail to avoid obscuring the embodiments.
  • the embodiments may be described as a process, which is depicted as a flowchart, a flowchart, a data flow diagram, a structural diagram, or a block diagram. Although a flowchart may describe the operations as a sequential process, many of the operations can be performed in parallel or concurrently. In addition, the order of operations can be rearranged. The process terminates when its operation is complete, but may have additional steps not included in the diagram. Processes may correspond to methods, functions, programs, subroutines, subroutines, and the like. When corresponding to a function, the termination of the procedure corresponds to the function returning to the calling function or the main function.
  • FIG. 1A-3 illustrate a first pointing device (e.g., visual pointing device 10) in accordance with a preferred embodiment of the present invention.
  • the visual indication device 10 can be worn by a user, such as a Parkinson's disease patient, to provide a visual indication thereof.
  • the visual indicating device 10 can have a variety of wearing styles.
  • the visual indicating device 10 has a housing 11 that forms an accommodation space for receiving the components of the visual indicating device 10.
  • the housing 11 can be horizontally rotated on the base 15 by a rotary joint 70.
  • the swivel joint includes a cup 71 mounted on a base 15 for retaining the ball 72.
  • the ball 72 has a hole for the rod 74 to be inserted.
  • a cover 73 is mounted on the cup 71 to secure the ball 72 to the ball 72.
  • the light source 12 is disposed on the bracket 75, and the light source 12 is fixed in position to the bracket 75 by screws 76.
  • the bracket 75 is mounted on the rod 74.
  • the cup body 71, the ball 72, the cover 73 and the rod 74 provide three degrees of freedom (DOF), while the bracket 75 provides one degree of freedom such that the light source 12 has a total of four degrees of freedom.
  • a clamp 14 can be placed on the base 15 to clamp the visual indicating device 10 to the user's apparel, such as pants or belts.
  • the clamp 14 can be detached from the base 15.
  • the visual indicating device 10 can also provide a headband, for example, on the base 15 to wear the visual indicating device 10 to the user's head.
  • the visual indicating device 10 can also provide a clip or strap to hold or tie it to the crutches held by the user.
  • the power supply circuit of the visual indicating device 10, for example, including a lithium battery, and a charge and discharge circuit, may be disposed in the housing 11 or may be disposed on the base 15.
  • the visual indication device 10 may include a light source 12, a light sensor 13, a processor 16, a light intensity automatic adjustment circuit 16a, a tilt sensor 17a, a motion sensor 17b, a GPS module 18, and a communication module 19.
  • Light source 12 is used to project a visual indication beam onto the ground to form a visual indicator light sign on the ground. According to medical research, if a person with Parkinson's disease walks in front of an obstacle or a hint, it will stimulate the patient's brain to produce a desire to cross it, thus improving the patient's "freezing gait.”
  • the visual indicator light sign projected by the light source 12 can function in this manner.
  • the shape of the visual indicating light sign is not limited, and may be, for example, light (for example, a straight light perpendicular to the forward direction of the user, or a semi-arc light), a light spot, a halo (a ring, a square ring, etc.). shape).
  • the visual indication light sign is projected in front of the user of the visual indication device. The user can step on the light sign or step over the light sign. The distance between the user's foot and the light sign is adjustable. The light sign thus assists the user in starting to walk and maintaining the stride.
  • the visual intensity of the light beam emitted by the light source 12 can be adjusted by the light intensity automatic adjustment circuit 16a depending on the surrounding light intensity.
  • the light sensor 13 can detect the light intensity of the surrounding environment. For example, when in an outdoor sunny environment, based on the ambient light signal detected by the light sensor 13, the processor 16 can issue a control signal to control the light intensity automatic adjustment circuit 16a to raise the light source 12.
  • the emitted light indicates the light intensity of the beam to provide a visual indicator of sufficient brightness in a bright light environment so that the user can see the visual indication light sign in this environment.
  • the processor 16 can issue a control signal to control the light intensity automatic adjustment circuit 16a to reduce the light intensity of the visual indicating beam emitted by the light source 12, thereby reducing the indoor low light environment.
  • Visually indicating the brightness of the light sign to protect the user's eyes.
  • Such automatic adjustment of the light intensity also ensures that the power of the visual indicating device 10, such as the energy storage in the lithium battery, is properly used.
  • the switching interval of the light source 12 can also be adjusted. For example, the light source 12 can be turned on for 5 seconds and then turned off for 5 seconds, or the light source 12 can be turned on for 10 seconds and then turned off for 5 seconds. Referring to the following, these adjustments can be made, for example, by an APP on a smart mobile device, and there can be multiple modes to reset the "on" or "off” time interval.
  • a tilt sensor 17a is also provided in the visual indicating device 10 for detecting the inclination of the beam output port of the light source 12 to the ground.
  • the visual indication beam is projected to the front of the user, that is, the visual indication beam is at an angle to the vertical direction of the human body.
  • the angle between the visual indication beam and the vertical direction of the human body is 0 degrees, that is, the visual indication beam is perpendicular to the ground.
  • the position of the ground indicating that the light sign is projected is getting farther and farther away from the user, but usually the distance between the position of the visual indicating light sign and the user should be kept within an appropriate range, which may prompt " The user who freezes the gait is on the other hand, and on the other hand, it is not too far away to cause the user to give up because of the disappointment that it is impossible to reach, or the risk of falling due to forcible steps.
  • the angle between the visual indication beam and the vertical direction of the human body is 90 degrees or even greater than 90 degrees, the visual indication beam is parallel to the ground or even to the sky, so that not only the visual cue effect is lost, but also the emitted light beam is Pedestrians cause interference.
  • the light source should also be turned off.
  • the light source by detecting the inclination of the beam output port of the light source 12 to the ground by the tilt sensor 17a, the light source can be turned on in a suitable range of tilt angles, for example, greater than 0 degrees, less than 45 degrees, and the light source is turned off in other tilt ranges. It can act as a reminder and protect the safety of users and others.
  • the longitudinal axis of the clamp can be in the same plane as the direction of beam projection by rotation of the rotary joint; see Figure 2, the longitudinal axis of the clamp can also be perpendicular to the direction of beam projection. It should be understood that Figures 1 and 2 are merely an example, and the jig can be rotated to an arbitrary angle with respect to the direction in which the beam is projected.
  • the visual indication device 10 can also include a motion sensor 17b.
  • the motion sensor 17b may preferably be an IMU (Inertial Measurement Unit) sensor of 9 axes (multiple axes including, but not limited to, 9 axes).
  • the motion sensor can detect the motion posture of the user. For example, it can include: a 3-axis accelerometer detects the acceleration when the user walks, a 3-axis gyroscope detects the step angle when the user walks, and a 3-axis inclinometer detects the body inclination when the user walks.
  • Motion sensor 17b may transmit the detected data to processor 16 of visual pointing device 10 for gait analysis, including heel strike detection, step size quantization, left and right foot recognition, and the like.
  • the visual indication device 10 may also include a GPS module 18 to detect the geographic location in which the user is located.
  • the visual indication device 10 can also include a communication module 19 to communicate with other devices.
  • the communication module may include a Bluetooth module to perform short-range communication with other devices, and the communication module may further include a SIM card module to perform long-distance with a network such as GSM/GPRS/3G/4G, for example, the background server. Communicate or provide an Internet connection so that data can be uploaded to or downloaded from a backend server.
  • Fig. 4 shows a light source control flow of an embodiment of the present invention.
  • the light source control flow begins with a state check of the tilt sensor of the visual pointing device (S401). Based on a preset, it is checked whether the inclination of the beam output port of the light source to the ground is greater than a specific angle (for example, 45 degrees) (S402). If so, the light source is turned off (S403), and the flow returns to step S401. If not, data is received from the motion sensor and/or the force sensor (see later) (S404), and the regularity of the user's gait is checked based on the data (S405). According to whether the gait irregularity is determined (S406), the flow is processed differently.
  • S401 state check of the tilt sensor of the visual pointing device
  • the flow continues to determine whether the light source is turned on (S407), if turned on, the light source is turned off (S408), and then the flow returns to step S401; if not, the flow directly returns to step S401.
  • the gait is irregular
  • data is received from the photosensor (S409), then the ambient light intensity is checked (S410), and the power to the light source is adjusted by the light intensity automatic adjustment circuit according to the ambient light intensity (S411) Then, if the light source is not turned on, the light source is turned on (S412), and the flow returns to step S401.
  • FIG. 5 illustrates a second pointing device (eg, haptic pointing device 20) in accordance with a preferred embodiment of the present invention.
  • a second pointing device eg, haptic pointing device 20
  • it may be in the form of a pair of insoles.
  • the base 24 of the insole fits the user's foot size and provides support for the user's foot.
  • a power supply circuit of the tactile indicating device 20 may be provided at the base 24, typically including a lithium battery and a charge and discharge circuit.
  • the charging socket 23 is located at the heel portion of the insole.
  • the tactile indication device 20 further includes a processor 21, a vibration source 22, and a force sensor 25. There may be a plurality of force sensors 25, and FIG. 3 is exemplarily shown as three.
  • a plurality of force sensors 25 may be distributed on the insole in a certain pattern, and the pressure of different parts of the foot is measured during the movement, so that the pressure distribution can be provided. Detection of contours. It should be understood that FIG. 3 is only an exemplary predetermined distribution mode, and the number of force sensors 25 and their distribution positions may be preset by a user, for example, it may be an array of force sensors covering the entire insole area for accurate measurement. Pressure on different parts of the foot.
  • the force sensor 25 can transmit the data to the processor 21 so that the processor 21 maps and analyzes the force distribution at different stages of the gait.
  • the processor 21 can analyze the data from the force sensor 25 to control the output of the vibration source 22.
  • the tactile indication device 20 can also include a communication module to communicate with other devices.
  • the communication module can include a Bluetooth module to communicate with other devices, such as visual pointing device 10, in short range.
  • the vibration source 22 comprises a vibration motor.
  • the vibration motor can provide tactile cues to the user. There are two modes of prompting. One is a passive reminder that the motor vibrates when a heel strike is found. The other is the active prompt, that is, the vibration motor actively vibrates once every other time. It can be alternately vibrated by two insoles to create a walking beat. The user can walk around the left and right feet according to the vibration prompt, and maintain the Popper gait cycle and speed.
  • the tactile indication device 20 can also include a motion sensor to detect motion of the user's foot and communicate data to the processor 21 for gait analysis.
  • the visual indicating device 10 is mounted on the waistband 51 of the user 50 by the clamp 14, and the tactile indicating device 20 is mounted in the shoe of the user 50.
  • the light source 12 of the visual indicating device 10 When the light source 12 of the visual indicating device 10 is turned on, it projects a visual indication light sign 60 to the front ground of the user 50's walking direction to provide a visual indication to the user.
  • the tactile indication device 20 generates vibrations at regular intervals or when a heel strike is detected to provide the user with a tactile indication.
  • the user 50 follows the visual and tactile cues described above during walking, thereby reducing the occurrence of "frozen gait" and improving the performance of his gait.
  • Figure 7 illustrates communication between devices of a walking assistance system in accordance with a preferred embodiment of the present invention.
  • the walking assistance system can also include the smart mobile device 30.
  • the smart mobile device 30 can be, for example, an intelligent computing device such as a smartphone or tablet loaded with an Android system or an Apple iOS system.
  • the visual indication device 10 and the tactile indication device 20 can then transmit data to the smart mobile device 30 via Bluetooth.
  • the data may be first transmitted by the tactile instructing device 20 to the visual pointing device 10, and the data is transmitted by the visual pointing device 10 to the smart mobile device 30. .
  • the user's input on the smart mobile device 30 can be processed and communicated to the visual indication device 10 and the tactile indication device 20 via Bluetooth, or first to the visual indication device 10, and then transmitted to the tactile indication device 20 by the visual indication device 10.
  • the smart mobile device 30 collects all data from the visual indication device 10 and the tactile indication device 20 and then transmits it to the background server 40 over the Internet.
  • the smart mobile device 30 can also request past data from the background server 40 for data visualization.
  • Data visualization for example, includes displaying the battery status of each device so that the user knows when charging is needed. Users can also read history, real-time data and performance reports. The performance report shows the user if there is a frozen gait, whether there is an improvement in gait and advice.
  • the smart mobile device 30 can also customize settings and networking capabilities.
  • the user can set the laser intensity range, the vibration mode of the vibration source 22, and the vibration interval.
  • the smart mobile device 30 can also be a smart kit or smart watch, and the data of the gait analysis can be combined with the data of the smart mobile device to obtain more valuable information about the patient's condition, for example, continuous monitoring to determine the patient's condition. Is it improved or not?
  • the visual pointing device in the walking assistance system can recognize the user's walking posture with high precision, while also performing the fall detection function (for example, by a fall alarm module in the processor).
  • the fall detection can be achieved, for example, by the detection of the force sensor and the IMU sensor described above.
  • the processor determines that it is a fall condition.
  • the fall alarm and the current location of the user are transmitted to a pre-registered telephone number such as a family member or a friend.
  • the fall detection process of the embodiment of the present invention includes: the visual indication device receives data from the motion sensor (S801), and then performs pattern recognition (S802) to confirm whether it is a fall detection mode (S803), and if not, the flow returns. Go to step S801. If so, the data is received from the force sensor (S804), and the abnormal force distribution is checked (S805), and it is determined whether or not there is an abnormal force distribution (S806). If not checked, the flow returns to step S801.
  • the paired smart mobile device uploads the fall warning signal and the GPS location information to the background cloud server (S811) via, for example, a GSM/GRPS network, and the cloud server can drop the warning signal through, for example, the GSM/GRPS network.
  • the GPS location information is passed to the pre-registration number device (S812). For example, if the user's family member or friend has previously registered their mobile phone number in the cloud server, the cloud server correspondingly transmits the fall warning signal and the GPS location information to the device such as the mobile phone carrying the pre-registration number.
  • the fall warning is turned on on the pre-registered number device (S813), and GPS location information can be provided for the pre-registered number device user to know the walking assistance system user in time (eg, Parkinson's disease patient) The current location of ).
  • the walking assistance system may also not include the smart mobile device 30.
  • the tactile indication device 20 transmits data to the visual indication device 10
  • the visual indication device 10 combines its own data with the data from the tactile indication device 20, and transmits all data to the background server 40 via the Internet. The data is then stored in the database of the background server 40.
  • a walking assist system for a footwear product according to another embodiment of the present invention.
  • a walking assist system is used for an article of footwear (eg, shoe 200).
  • the shoe 200 includes an upper 202 and a sole 204 secured to the upper 202 with a first indicating device (eg, visual indicating device 110) disposed on a side surface of the upper 202.
  • a first indicating device eg, visual indicating device 110
  • FIG. 10 is a structural diagram of a first pointing device, a second pointing device, and a third pointing device of the walking assistance system of FIG. 9.
  • the walking assistance system includes a walking assisting body 100.
  • the walking assistance body 100 includes a first pointing device (eg, the visual pointing device 110), a second pointing device (eg, the haptic pointing device 120), and a third pointing device (eg, the audible indicating device 140).
  • the visual indication device 110 is coupled to the audible indication device 140.
  • the visual indication device 110 includes a light source 112.
  • the audible indicating device 140 includes a sound source 145. Sound source 145 includes a speaker 148.
  • the walking assisting body 100 is coupled to the insole 162 by a post 164.
  • the base of the insole 162 fits the user's foot size and provides support for the user's foot.
  • the position of the visual indicating device 110 is the side of the upper 202.
  • the haptic indicating device 120 can include a vibration source 122. In another embodiment, the haptic indicating device 120 can include a vibration source 122 and a force sensor 125. In one embodiment, the insole 162 can include a vibration source 122 and a force sensor 125. In another embodiment, the insole 162 can include a force sensor 125 and the vibration source 122 is disposed at the visual indicating device 110. Referring to Figure 10, visual pointing device 110 is coupled to haptic indicating device 120. The vibration source 122 of the tactile indication device 120 is disposed at the visual indication device 110. The vibration source 122 includes a vibration motor 128. The force sensor 125 may be plural, and FIG. 10 is exemplarily shown as five.
  • the plurality of force sensors 125 may be distributed on the insole 162 in a certain pattern, and the pressure of different parts of the foot is measured during the movement, thereby providing pressure. Detection of distributed contours. It is to be understood that FIG. 10 is merely an exemplary predetermined distribution mode, and the number of force sensors 125 and their distribution positions may be preset by a user, for example, it may be an array of force sensors covering the entire insole 162 area in order to accurately Measure the pressure on different parts of the foot.
  • the force sensor 125 can transmit data to the processor 116 of the visual indication device 110 (or other processor disposed within the insole 162) such that the processor 116 maps and analyzes the force distribution at different stages of the gait.
  • Processor 116 can analyze the data from force sensor 125 to control the output of vibration source 122.
  • the data of the sensor 125 can be transmitted to other devices via the communication module 119 of the visual pointing device 110 (or other communication module disposed within the insole 162).
  • the communication module 119 can include a Bluetooth module to communicate with other devices in short range.
  • the communication module 119 can include a WIFI module to communicate with other devices in short range.
  • Fig. 11 is a view showing the structure of a walking assistance main body of a walking assist system according to another embodiment of the present invention.
  • the walking assist body 100 has a housing 170.
  • the mount 172 is disposed on the housing 170.
  • the light source 112 of the visual indicating device 110 is disposed at one end of the tubular connector 174, and the other end of the tubular connector 174 is secured within the fixed seat 172.
  • light source 112 includes a laser emitter 126.
  • light source 112 can include a light emitting diode or a light bulb.
  • the tubular connector 174 is made of a deformable material (such as plastic or soft metal).
  • Light source 112 can also be rotated about axis 190 (see Figure 10).
  • Light source 112 also has a light source focus adjuster 129 that adjusts the focus of light source 112 by light source focus adjuster 129.
  • the housing 170 is further provided with one or more operation buttons, and may include a main switch 176, a light source switch 177a, a light source mode selection button 177b, a light source adjustment button 177c, a vibration source switch 178a, a vibration source mode selection button 178b, and a vibration source adjustment.
  • the above mentioned buttons are connected to the operating circuit.
  • the operational circuit can include a control circuit and/or an adjustment circuit.
  • the power supply circuit of the walking assisting body 100 for example, including the lithium battery 300, and the charging and discharging circuit, may be disposed in the housing 170, and the power supply circuit of the walking assisting body may supply power to the force sensor 25 in the insole 162.
  • Figure 12a is a system configuration diagram of a walking assist system according to another embodiment of the present invention.
  • the visual indication device 110 can include a light source 112, a light sensor 113, a processor 116, a light intensity auto-adjustment circuit 116a, a tilt sensor 117a, a motion sensor 117b, a GPS module 118, and a communication module 119.
  • the processor 116 is coupled to the vibration source 122 of the haptic indicating device 120 and the sound source 145 of the audible indicating device 140, respectively.
  • Light source 112 is used to project a visual indication beam onto the ground to form a visual indicator light sign on the ground.
  • the visual indicator light sign projected by the light source 112 can function as such.
  • the visual indicator light sign is projected in front of the user of the visual pointing device 110.
  • the user can step on the light sign or step over the light sign.
  • the distance between the user's foot and the light sign is adjustable. The light sign thus assists the user in starting to walk and maintaining the stride.
  • the visual intensity of the light beam emitted by the light source 112 can be adjusted by the light intensity auto-adjustment circuit 116a, depending on the ambient light intensity.
  • the light sensor 113 can detect the light intensity of the surrounding environment. For example, when in an outdoor sunny environment, based on the ambient light signal detected by the light sensor 113, the processor 116 can issue a control signal to control the light intensity automatic adjustment circuit 116a to increase the light source 112.
  • the emitted light indicates the light intensity of the beam to provide a visual indicator of sufficient brightness in a bright light environment so that the user can see the visual indication light sign in this environment.
  • the processor 116 can issue a control signal to control the light intensity automatic adjustment circuit 116a to reduce the light intensity of the visual indicating beam emitted by the light source 112, thereby reducing the indoor low light environment.
  • Visually indicating the brightness of the light sign to protect the user's eyes.
  • Such automatic adjustment of the light intensity also ensures that the power of the visual indicating device 110, such as the energy storage in the lithium battery, is properly used.
  • the switching interval of the light source 112 can also be adjusted. For example, the light source 112 can be turned on for 5 seconds and then turned off for 5 seconds, or the light source 12 can be turned on for 10 seconds and then turned off for 5 seconds.
  • the light source switch 177a is set to be on, first setting the light source mode selection button 177b to mode one (mode one is adjusting the time interval for turning on the light source 112), followed by setting the light source 112 by the light source adjustment button 177c. Interval.
  • the time interval for turning off the light source 112 is set by the light source adjustment button 177c.
  • the light intensity auto-adjustment circuit 116a can also automatically adjust the switching interval of the light source 112.
  • the intensity of the light source 112 can also be manually adjusted by the light source switch 177a, the light source mode select button 177b, and the light source adjustment button 177c.
  • the light source mode selection button 177b is set to mode three (mode three is to adjust the intensity of the light source 112), and the intensity of the light source 112 is adjusted by the light source adjustment button 177c.
  • the processor 116 can issue a control signal through the temperature sensor 117e.
  • the light intensity automatic adjustment circuit 116a is controlled to automatically turn off the light source 112.
  • a tilt sensor 117a is further disposed in the visual indicating device 110 for detecting the inclination of the beam output port of the light source 112 to the ground.
  • the visual indication beam is projected to the front of the user, that is, the visual indication beam is at an angle to the vertical direction of the human body.
  • the angle between the visual indication beam and the vertical direction of the human body is 0 degrees, that is, the visual indication beam is perpendicular to the ground.
  • the position of the ground indicating that the light sign is projected is getting farther and farther away from the user, but usually the distance between the position of the visual indicating light sign and the user should be kept within an appropriate range, which may prompt " The user who freezes the gait is on the other hand, and on the other hand, it is not too far away to cause the user to give up because of the disappointment that it is impossible to reach, or the risk of falling due to forcible steps.
  • the angle between the visual indication beam and the vertical direction of the human body is 90 degrees or even greater than 90 degrees, the visual indication beam is parallel to the ground or even to the sky, so that not only the visual cue effect is lost, but also the emitted light beam is Pedestrians cause interference.
  • the light source should also be turned off.
  • the light source by detecting the inclination of the beam output port of the light source 112 to the ground by the tilt sensor 117a, the light source can be turned on in a suitable range of tilt angles, for example, greater than 0 degrees, less than 45 degrees, and the light source is turned off in other tilt ranges. It can act as a reminder and protect the safety of users and others.
  • the visual indication device 110 can also include a motion sensor 117b.
  • the motion sensor 117b may preferably be an IMU (Inertial Measurement Unit) sensor of 9 axes (multiple axes including, but not limited to, 9 axes).
  • the motion sensor can detect the motion posture of the user. For example, it can include: a 3-axis accelerometer detects the acceleration when the user walks, a 3-axis gyroscope detects the step angle when the user walks, and a 3-axis inclinometer detects the body inclination when the user walks.
  • Motion sensor 117b may transmit the detected data to processor 116 of visual pointing device 110 for gait analysis, including heel strike detection, step size quantization, left and right foot recognition, and the like.
  • the vibration source 122 includes a vibration motor 128.
  • the vibration motor 128 can provide tactile cues to the user (user's foot). There are two modes of prompting. One is a passive reminder that the motor vibrates when a heel strike is found. The other is the active prompt, that is, the vibration motor actively vibrates once every other time. It is possible to alternately vibrate by two vibration sources 122 (corresponding to the left and right feet of the user) to generate a walking beat. The user can walk around the left and right feet according to the vibration prompt, and maintain the Popper gait cycle and speed. In addition, the switching interval of the vibration source 122 can also be adjusted.
  • the vibration source 122 can be turned off for 10 seconds and then turned off for 10 seconds, or the vibration source 122 can be turned on for 15 seconds and then turned off for 5 seconds.
  • These adjustments can be made, for example, by an APP on the smart mobile device, there can be multiple modes to reset the "on" or “off” time interval, or by the vibration source switch 178a, the vibration source mode selection button 178b, and the vibration source. Adjust button 178c to adjust manually.
  • the vibration source switch 178a is set to be on, first setting the vibration source mode selection button 178b to mode one (mode one is adjusting the time interval for turning on the vibration source 122), followed by setting the vibration source adjustment button 178c. The time interval at which the vibration source 122 is turned on.
  • the vibration source mode selection button 178b is set to mode two (the mode is to adjust the time interval at which the vibration source 122 is turned off), and the time interval at which the vibration source 122 is turned off is set by the vibration source adjustment button 178c.
  • the intensity of the vibration source 122 can also be manually adjusted by the vibration source switch 178a, the vibration source mode selection button 178b, and the vibration source adjustment button 178c.
  • the vibration source mode selection button 178b is set to mode three (mode three is to adjust the intensity of the vibration source 122), and the intensity of the vibration source 122 is adjusted by the vibration source adjustment button 178c.
  • the vibration intensity indicated by the vibrations emitted by the vibration source 122 can be adjusted by the vibration source automatic adjustment circuit 116b (see Fig. 12b). For example, when the user wears thicker socks on both feet in winter, the user's feet are less sensitive to vibration. Using the temperature sensor 117e, the processor 116 can issue a control signal to control the vibration source automatic adjustment circuit 116b to increase the vibration intensity emitted by the vibration source 122. In one example, the vibration source automatic adjustment circuit 116b can also automatically adjust the switching interval of the vibration source 122.
  • the user is in a moving car
  • the user's body is shaking in the moving car due to the uneven road surface, or the car is accelerating or decelerating on the road, thereby reducing the sensitivity of the user's feet to vibration.
  • the processor 116 can issue a control signal to control the vibration source automatic adjustment circuit 116b to increase the vibration intensity emitted by the vibration source 122.
  • Sound source 145 includes a speaker 148.
  • Sound source 145 can provide an audible prompt to the user.
  • the audible prompts may include human-sounding sounds, animal-sounding sounds, or other sounds.
  • the speaker plays a song with a strong beat or some monotonous sound, rhythmically stimulating the user's hearing, thereby giving the user a walking rhythm.
  • the switching interval of the speakers can also be adjusted. For example, the speaker can be turned off for 10 seconds and then turned off for 10 seconds, or the speaker can be turned on for 15 seconds and then turned off for 5 seconds.
  • the sound source switch 179a is set to be on, first setting the sound source mode selection button 179b to mode one (mode one is adjusting the time interval for turning on the sound source 145), followed by setting the sound source adjustment button 179c. The time interval at which the sound source 145 is turned on. Following the setting of the sound source mode selection button 179b to mode two (mode 2 is to adjust the time interval for turning off the sound source 145), the time interval for turning off the sound source 145 is set by the sound source adjustment button 179c.
  • the intensity of the sound source 145 can also be manually adjusted by the sound source switch 179a, the sound source mode selection button 179b, and the sound source adjustment button 179c.
  • the sound source mode selection button 179b is set to mode three (mode three is to adjust the intensity of the sound source 145), and the intensity of the sound source 145 is adjusted by the sound source adjustment button 179c.
  • the sound source 145 can be connected to a peripheral earphone or speaker via Bluetooth or other wireless means (eg, infrared) to hear an audible prompt.
  • the housing 170 can also include a headphone jack for connection to a wired earphone plug to hear an audible prompt.
  • the intensity of the sound indicated by the sound emitted by the speaker 148 can be adjusted by the sound source auto-adjustment circuit 116c (see Figure 12b). For example, when the user is in a noisy environment, the sensitivity of the user's hearing is reduced. Using the acoustic sensor 117d, the processor 116 can issue a control signal that controls the sound source auto-adjustment circuit 116c to increase the intensity of the sound emitted by the speaker 148. In one example, the sound source auto-adjustment circuit 116c can also automatically adjust the switching interval of the sound source 145.
  • the visual indication device 110 can also include a GPS module 118 to detect the geographic location in which the user is located.
  • the visual indication device 110 can also include a communication module 119 to communicate with other devices.
  • the communication module may include a Bluetooth module and/or a WIFI module to communicate with other devices, and the communication module may further include a SIM card module to communicate with, for example, a background server via a network such as GSM/GPRS/3G/4G. Long-distance communication or an Internet connection allows data to be uploaded to or downloaded from a back-end server.
  • Figure 13a shows a flow chart of a walking assistance system in accordance with another embodiment of the present invention.
  • the flow begins with a status check of the tilt sensor of the visual pointing device (S1301). Based on a preset, it checks whether the inclination of the beam output port of the light source to the ground is greater than a specific angle (for example, 45 degrees) (S1302). If so, the light source is turned off (S1303), and the flow returns to step S131. If not, data is received from the motion sensor and/or the force sensor (S1304), and the regularity of the user's gait is checked based on the data (S1305). According to whether the gait irregularity is determined (S1306), the process performs different processing.
  • a specific angle for example, 45 degrees
  • the flow continues to determine if all of the cue functions have been turned on (S1307), and the cue functions include visual cue (light source 112), tactile cue (vibration source 122), and audible cue (sound source 145). If yes, the prompt function is turned off (S1308). If not, the flow directly returns to step S1305. On the other hand, when it is determined that the gait is irregular, the walking assistance system checks the prompt function state (S1309), and turns on the selected prompt function (S1310). The walking assistance system checks parameters indicating the interval time and intensity of the function switch (S1311).
  • the switch interval between the light source 112 is manually adjusted by the light source switch 177a, the light source mode selection button 117b, the light source adjustment button 177c, and the operation circuit, and The intensity of the light source 112 is manually adjusted (S1312), and the flow returns to step S1301.
  • the prompted prompt function is a tactile cue
  • the switching interval between the vibration source 122 is manually adjusted by the vibration source switch 178a, the vibration source mode selection button 178b, the vibration source adjustment button 178c, and the operating circuit, and the vibration source 122 is manually adjusted.
  • the intensity (S1313), the flow returns to step S1301.
  • the switching interval between the sound source 145 is manually adjusted by the sound source switch 179a, the sound source mode selection button 179b, the sound source adjustment button 179c, and the operation circuit, and the sound source 145 is manually adjusted.
  • the intensity (S1314), the flow returns to step S1301.
  • the prompted prompt function is a visual cue, a tactile cue, and an audible cue, (S1312), (S1313), and (S1314) can be performed in synchronization.
  • the prompted cue function is two of a visual cue, a tactile cue, and an audible cue, (S1312) and (S1313), (S1312), and (S1314) or (S1313) and (S1314) may be synchronized. Conducted.
  • Figure 13b shows a flow chart of another system of walking assistance in accordance with another embodiment of the present invention.
  • Figure 13b includes S1301 through S1310 of Figure 13a. Then, if the prompted feature is a visual cue,
  • the flow continues to receive data from the light sensor 113 (S1315), then checks the ambient light intensity (S1316), and automatically adjusts the intensity of the light source by the light intensity automatic adjustment circuit 116a according to the ambient light intensity (S1317), and the flow returns to step S1301. .
  • the flow continues to receive data from the vibration sensor 117c and/or the temperature sensor 117e (S1318), and then checks the ambient vibration intensity and/or the ambient temperature (S1319), and according to the ambient vibration intensity, The intensity of the vibration source is automatically adjusted by the vibration source automatic adjustment circuit 116b (S1320), and the flow returns to step S1301.
  • the flow continues to receive data from the sound sensor 117d (S1321), then checks the ambient sound intensity (S1322), and automatically adjusts the sound by the sound source automatic adjustment circuit 116c according to the ambient sound intensity.
  • the intensity of the source (S1323), and the flow returns to step S1301.
  • the user may also set the switching interval of the light source 112, the switching interval of the vibration source 122, and the switching interval of the sound source 145, and the intensity of the light source 112, the vibration source 122, respectively, in terms of personal physical condition or preference.
  • the intensity and intensity of the sound source 145 may also set the switching interval of the light source 112, the switching interval of the vibration source 122, and the switching interval of the sound source 145, and the intensity of the light source 112, the vibration source 122, respectively, in terms of personal physical condition or preference.
  • the intensity and intensity of the sound source 145 may also set the switching interval of the light source 112, the switching interval of the vibration source 122, and the switching interval of the sound source 145, and the
  • the flow receives data S from the motion sensor 117b and/or the force sensor 125 (1324). Based on the data from the sensor 117b and/or the force sensor 125, the pedaling time (the length of time the user's foot on the ground) and the lifting time (the length of the user's foot in the swinging motion) can be obtained. Subsequently, the parameter of the switch interval time is checked (S1325), the user's walking speed and the appropriate time for the user to follow the next step when moving the previous step are calculated, so the parameter of the closing time is automatically set.
  • the dynamics of the pressure from the foot to the ground as well as the linear acceleration, angular acceleration and position dynamics can tell the user when they need to take the next step. Then calculate the on time based on the off time. Subsequently, based on the parameters, the switching intervals of the light source, the vibration source, and the sound source are adjusted by the light intensity automatic adjustment circuit 116a, the vibration source automatic adjustment circuit 116b, and the sound source automatic adjustment circuit 116c, and the flow returns to step S1301.
  • the walking assistance system includes a walking assisting subject.
  • the walking assist body has a housing.
  • the housing may include a visual indication device, a tactile indication device, and an audible indication device (including all or part of the features described in Figures 8-13).
  • a clamp is also provided on the housing to clamp the visual indicating device to a user's apparel, such as a trouser or a belt.
  • the walking aid body can also be clamped to other walking aids, such as a walking stick or walking frame.
  • the walking assistance system can also include a smart mobile device 30.
  • the smart mobile device 30 can be, for example, an intelligent computing device such as a smartphone or tablet loaded with an Android system or an Apple IOS system.
  • the visual indication device 110, the tactile indication device 120, and/or the audible indication device 140 can then transmit data to the smart mobile device 30 via Bluetooth.
  • the user's input on the smart mobile device 30 can be processed and communicated to the visual indication device 110, the tactile indication device 120, and/or the audible indication device 140 via Bluetooth.
  • the smart mobile device 30 collects all data from the visual pointing device 110 and from the force sensor 125 and then transmits it to the backend server 40 over the Internet.
  • the smart mobile device 30 can also request past data from the background server 40 for data visualization.
  • Data visualization includes displaying the battery status of each device so that the user knows when charging is needed. Users can also read history, real-time data and performance reports. The performance report shows the user if there is a frozen gait, whether there is an improvement in gait and advice.
  • the smart mobile device 30 can also customize settings and networking capabilities. The user can set the laser intensity range, the vibration mode of the vibration source 122, and the vibration interval.
  • the smart mobile device 30 can also be a smart kit or smart watch, and the data of the gait analysis can be combined with the data of the smart mobile device to obtain more valuable information about the patient's condition, for example, continuous monitoring to determine the patient's condition. Is it improved or not?
  • the visual pointing device in the walking assistance system can recognize the user's walking posture with high precision, while also performing the fall detection function (for example, by a fall alarm module in the processor).
  • Fall detection can be achieved, for example, by detection of a force sensor and/or an IMU sensor as described above.
  • the processor determines that it is a fall condition.
  • the fall alarm and the current location of the user are transmitted to a pre-registered telephone number such as a family member or a friend.

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Abstract

La présente invention concerne un système d'aide à la marche, comprenant un premier dispositif d'indication, un second dispositif d'indication et un troisième dispositif d'indication, le premier dispositif d'indication comprenant une source de lumière utilisée pour projeter un signe lumineux d'indication visuelle sur le sol devant un utilisateur marchant, et le second dispositif d'indication comprenant une source de vibration utilisée pour fournir un indicateur de vibration pour les pieds de l'utilisateur. La présente invention peut améliorer le mouvement de l'utilisateur.
PCT/CN2019/072712 2018-01-23 2019-01-22 Système d'aide à la marche WO2019144869A1 (fr)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021079127A1 (fr) * 2019-10-22 2021-04-29 Oxford University Innovation Limited Système de fourniture de repère ciblé pour la régulation de la démarche

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CN114917534B (zh) * 2022-06-22 2023-07-18 河南中医药大学第一附属医院 光学引导康复训练装置及其训练方法

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US20070203435A1 (en) * 2004-03-26 2007-08-30 Peter Novak System And Method For Gait Synchronized Vibratory Stimulation Of The Feet
CN106913341A (zh) * 2017-03-22 2017-07-04 上海谦益生物科技有限公司 一种用于帕金森患者步态训练和监测评估的可穿戴设备、系统及方法

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Publication number Priority date Publication date Assignee Title
US20070203435A1 (en) * 2004-03-26 2007-08-30 Peter Novak System And Method For Gait Synchronized Vibratory Stimulation Of The Feet
CN106913341A (zh) * 2017-03-22 2017-07-04 上海谦益生物科技有限公司 一种用于帕金森患者步态训练和监测评估的可穿戴设备、系统及方法

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021079127A1 (fr) * 2019-10-22 2021-04-29 Oxford University Innovation Limited Système de fourniture de repère ciblé pour la régulation de la démarche

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