WO2022234974A1

WO2022234974A1 - Apparatus and method for evaluating meridian muscle activity

Info

Publication number: WO2022234974A1
Application number: PCT/KR2022/005484
Authority: WO
Inventors: 이상관; 정지연; 서정우
Original assignee: 원광대학교산학협력단; 한국 한의학 연구원
Priority date: 2021-05-03
Filing date: 2022-04-15
Publication date: 2022-11-10
Also published as: KR20220150032A; KR102584715B1

Abstract

The objective of the present invention is to provide an apparatus and method for evaluating meridian muscle activity, wherein the activity of each of a plurality of meridian muscle groups is evaluated using measurement data measured using a sensor and a simulation model. More specifically, the present invention comprises: a measurement unit for measuring the gait of a user; a calculation unit for calculating lower extremity joint torque values of the user using measurement results of the measurement unit; and an evaluation unit for evaluating the activity for each of the meridian muscles of the lower extremities of the user on the basis of the lower extremity joint torque values. According to the invention, a user's asymmetrical gait can be detected using only an apparatus having a simple structure.

Description

Apparatus and method for evaluating carotid muscle activity

The present invention relates to an apparatus and method for evaluating carotid muscle activity, and more specifically, to an apparatus and method for providing an apparatus and method for evaluating carotid muscle activity for evaluating each activity for a plurality of muscle groups using measurement data and a simulation model using a sensor is about

Hemiplegic gait after stroke causes a decrease in gait speed and changes in gait temporal and spatial parameters. It becomes longer than the general population, causing an asymmetrical gait pattern.

In addition, weakness, stiffness, and loss of balance in the lower extremity of stroke patients lead to a decrease in the level of physical activity and an increase in gait using a gait aid, which aggravates the serious asymmetric gait pattern of gait due to asymmetric weight bearing. do.

In general, since gait symmetry and energy consumption are related to each other, systematic gait is the most efficient gait pattern. Stroke patients have high energy consumption efficiency when walking and have very low activity levels compared to the general population, and since the overall activity level decreases over time, the asymmetrical gait pattern of hemiplegic patients increases energy consumption and increases non-paralysis. Depending on the condition of the musculoskeletal system of the lateral extremities, it may negatively affect the asymmetrical gait pattern.

The temporal symmetry of stroke patients was positively related to the increase in the vertical ground repulsion force of the non-paraplegic limb. Therefore, as time goes by, the asymmetrical gait pattern of stroke patients is more greatly affected by the repeated and increased weight bearing of the non-paraplegic limb.

Therefore, it is very important to understand the relationship between gait speed and gait asymmetry. Some studies on asymmetrical gait in stroke patients have been reported, but the focus is on the characteristics and implications of asymmetry, and the sample size is relatively small in most studies. It is known that in patients with mild or moderate stroke, walking speed and symmetry are affected by the degree of physical disability.

However, in order to measure the conventional asymmetric gait, a method of projecting an image inducing a gait motion to the user, detecting the gait motion using an imaging device such as a camera, etc. for the projected image, and then analyzing the image is presenting

In the case of the above method, the measurement can be performed only at a specific place or institution containing expensive equipment and medical staff, and also, the activity of each cartilage muscle of the lower extremity composed of a plurality of cervical roots is evaluated only by analyzing the image. Therefore, a systematic treatment or rehabilitation method cannot be suggested.

The present invention has been devised to solve the problems of the prior art, and an object of the present invention is to provide an apparatus and method capable of analyzing a user's gait state using only an inertial sensor and a pressure sensor.

In addition, an object of the present invention is to provide information that can be used for rehabilitation or treatment by evaluating the activity of each cervical muscle of the lower extremity.

In addition, an object of the present invention is to provide a guide for oriental medicine treatment based on the activity of each light muscle based on oriental medicine.

In accordance with an embodiment of the present invention for solving the above technical problem, there is provided an apparatus for assessing cervical muscle activity, comprising: a measuring unit for measuring a user's gait; a calculation unit for calculating the user's lower extremity joint torque value by using the measurement result of the measuring unit; and an evaluation unit that evaluates the activity of each of the user's lower extremities based on the torque value of the lower extremity joint.

In addition, the measuring unit is mounted on the segment (pelvis, femur, lower leg and foot) of the user's lower extremity, the inertial sensor for measuring the joint angle, acceleration and yaw rate (yaw rate); and a pressure sensor capable of measuring a ground reaction force caused by the walking of the user.

Also, the calculator may calculate the torque value of the lower extremity joint based on a Lagrange equation of motion.

In addition, the evaluation unit evaluates the activity based on a dynamic dynamics-based simulation model, and the simulation model measures the lower extremity joint angle, ground reaction force, and electromyography to generate dynamic dynamics analysis and muscle activity estimate, and between the estimated value and the measured value. Models can be created by comparison.

In addition, as for the activity of each ligament, the activation ratio of the unaffected side and the affected side may be evaluated for each activity of the pedimentary muscle, the pediculus pedis, and the pedicle pole.

In addition, the tibialis plantar muscle starts from the little toe and goes up to the outer ankle bone and knee, leads to the heel outward of the leg, and goes up from the heel again to the gluteus maximus, hamstring and calf muscles. Including (Gastrocnemius), the pediculus femoris muscle rises from the third toe to the outside of the instep, fibula, and knee, and is divided into the anterior thigh and the outer thigh, and includes the rectus femoris and tibialis anterior And, the sphincter of the foot goes up to the outside of the knee from the fourth toe through the malleolus and tibia, and is a gluteus minimus, Vastus lateralis, and Tibialis anterior muscle passing through the outside of the thigh. ) may be included.

A cartilaginous muscle activity evaluation model according to another embodiment includes: a measurement unit measuring a user's lower extremity joint angle, ground reaction force, and lower extremity EMG using a plurality of sensors; a calculation unit for calculating an estimate of the cartilaginous muscle activity by using the joint angle of the lower extremity and the ground reaction force measured by the measuring unit, and calculating an actual measured value of the carotid muscle activity based on the electromyogram of the lower extremity; and a model forming unit that develops a simulation model by comparing the estimated value with the measured value.

In addition, the calculator may calculate a lower extremity joint torque value based on the lower extremity joint angle and ground reaction force data to calculate the cartilaginous muscle activity estimate.

In addition, the calculation unit and the model forming unit calculate and compare the muscle group consisting of three groups: gluteus maximus, hamstring, and gluteus maximus. It includes (Hamstring) and the calf muscle (Gastrocnemius), and the sphincter of the foot includes the rectus femoris (Rectus femoris) and the tibialis anterior (Tibialis anterior). It may include the muscle (Vastus lateralis) and the tibialis anterior (Tibialis anterior).

In addition, the simulation model can be configured based on statistics for each individual, age, gender, and symptom, and uses any one of a parameter-based mathematical model, deep learning, neural network, decision tree, and SVM (Support Vector Machine). Thus, learning and action can be performed.

The method for evaluating carob activity according to another embodiment includes: measuring movement data of a user's lower extremities using an inertial sensor and a pressure sensor; calculating an activity estimate for each cartilage muscle of the lower extremity based on the lower extremity movement data; measuring the user's EMG and calculating an actual measured value for each hard muscle; and generating a simulation model based on the estimated value and the measured value. may include.

In addition, the method may further include evaluating the activity of the user for each cartilage muscle by using the user's lower extremity movement data and the simulation model.

In addition, the lower extremity movement data may be mounted on the thigh, shin, and ankle, respectively, with the inertial sensor to calculate joint angle and acceleration values based on the measured data, and measure the ground reaction force using the pressure sensor.

In addition, the sphincter of the foot includes the sphincter of the foot, the sphincter of the foot, and the sphincter of the foot, the gluteus maximus of the foot includes a gluteus maximus, a hamstring, and a gastrocnemius, and the foot sphincter of the foot includes the sphincter of the foot It includes the rectus femoris and the tibialis anterior, and the levator sphincter muscle may include the gluteus minimus, the vastus lateralis (Vastus lateralis) and the tibialis anterior.

As described above, the apparatus and method for evaluating cervical muscle activity of the present invention can detect the user's asymmetrical gait with only a device having a simple structure.

In addition, it is possible to provide a specific guide for treatment by evaluating the activity of each cervical muscle.

In addition, oriental medicine treatment such as acupuncture or moxibustion can be performed using the activity of each light root.

In addition, it can be helpful in predicting surgical results and performing surgery in a virtual environment by using the activity of each cervical muscle.

1 is a block diagram of an apparatus for measuring carotid muscle activity according to an embodiment of the present invention.

2 is a block diagram for forming a simulation model of an apparatus for measuring carotid muscle activity according to an embodiment of the present invention.

3 is a diagram of a sensor configuration and measurement data of an apparatus for measuring carotid muscle activity according to an embodiment of the present invention.

4 is a view related to a method for calculating muscle activity in the apparatus for measuring cervical muscle activity according to an embodiment of the present invention.

5A to 5D are diagrams illustrating a degree of similarity between EMG data and measured data for each age.

6A to 6C are diagrams showing the cervical root used in an embodiment of the present invention.

7 is a flowchart of a method of forming a simulation model for measuring carotid muscle activity according to an embodiment of the present invention.

8 is a flowchart of a method for measuring carotid muscle activity according to an embodiment of the present invention.

Since the present invention can have various changes and can have various embodiments, specific embodiments are illustrated in the drawings and described in detail.

However, this is not intended to limit the present invention to specific embodiments, and should be understood to include all modifications, equivalents and substitutes included in the spirit and scope of the present invention.

The terms used in the present application are only used to describe specific embodiments, and are not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly dictates otherwise. In the present application, terms such as “comprise” or “have” are intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, but one or more other features It is to be understood that this does not preclude the possibility of the presence or addition of numbers, steps, operations, components, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related art, and should not be interpreted in an ideal or excessively formal meaning unless explicitly defined in the present application. does not

Hereinafter, preferred embodiments of the present invention will be described in more detail with reference to the accompanying drawings. In describing the present invention, in order to facilitate the overall understanding, the same reference numerals are used for the same components in the drawings, and duplicate descriptions of the same components are omitted.

The present invention is an invention for a patient whose asymmetrical gait occurs when walking due to cerebral hemorrhage, traffic accident, and congenital disorder / deformity, etc. It can also be applied to animals. In addition, although animals are included below, since the invention is generally applicable to humans, it will be collectively referred to as 'users' to be described.

The apparatus for measuring carotid muscle activity may include a measurement unit 110 , a calculation unit 120 , an evaluation unit 130 , and a simulation model 140 .

The measurement unit 110 is for measuring the user's gait information, and may include an Inertial Measurement Unit (IMU) sensor 111 and a pressure sensor 112 .

The IMU sensor 111 as shown in FIG. 3 (a) in order to measure the movement of the lower extremity joint of 5 degrees of freedom generated according to the configuration of the ankle, knee, and hip joint where the pelvis, thigh, lower leg and foot are connected while the user walks. The IMU sensor 111 is mounted on the pelvis, thigh, lower leg, and foot, but is not limited thereto, and may have various forms, such as locating each joint or locating a plurality of sensors at each position.

The angle, acceleration, and yaw rate of the joint may be measured using the IMU sensor 111 .

The pressure sensor 112 may measure the force that the user presses on the ground (ground reaction force, force plate). The pressure sensor 112 is attached to the user's sole to measure the ground reaction force as shown in FIG. 3 (a), or a mat type including the pressure sensor is placed in the pedestrian's walking path to perform general walking and rehabilitation exercise. The ground reaction force generated by walking, etc. can be measured.

The calculator 120 may calculate a lower extremity joint torque value, which is a joint moment generated from lower extremity muscles, based on the gait data measured by the measurer 110 . Specifically, the gait data measured for joint motion of the lower extremity with 5 degrees of freedom is converted into a two-dimensional sagittal plane form, and the Lagrange equation of motion viewed from the converted two-dimensional sagittal plane is obtained. It can be used to calculate the torque value, which is the joint moment of each joint of the lower extremity.

The right side of FIG. 3 is a simplified configuration of the left side, and the movement of the knee and ankle joints around the hip joint is expressed in a two-dimensional sagittal plane.

Torque values for the hip joint (M _H ), knee ( _M _K ), and ankle (MA ) using the Lagrangian equation of motion may be calculated through Equations 1 to 3 below.

In Equations 1 to 3, θ ₁ is the femoral joint angle, θ ₂ is the movement angle of the lower leg, θ ₃ is the absolute angle of the foot, F _GRF is the ground reaction force, d is each segment (thigh, lower leg and is the position of the center of gravity of the proximal joint of the foot), x and y are the position of the center of gravity of each segment, r is the distance between the points of application of the ground reaction force at the ankle, m is the weight, and c is the position of the center of gravity , I may be the weight moment of inertia.

In Equations 1 to 3, the weight (m), the center of gravity position (c), and the weight moment of inertia (I) cannot be measured through the IMU sensor 111 and the pressure sensor 112 of the measuring unit 110 . , in order to measure the weight (m), the center of gravity position (c), and the weight moment of inertia (I), the length of each segment and the user's weight may be additionally required.

When information on the length and weight of each segment of the user is obtained, the weight (m), the position of the center of gravity (c), and the weight moment of inertia (I) can be calculated using Equation 4 below.

In Equation 4, P, R, and K are a weight coefficient, a center of gravity coefficient, and a weight moment of inertia coefficient, respectively, and the values of these coefficients are determined as experimental values, and may be exemplified as shown in Table 1 below.

In the subscripts of Table 1, d may mean the thigh, p the lower leg, and CG may mean the center of gravity.

When the lower extremity joint torque value is calculated, the calculator 120 may classify the joint moment for each time point for a general gait event of a person.

When the joint moment is calculated for each time point, the calculator 120 may calculate the activity of each muscle according to an anatomical position by using a vector operation.

The activity of each muscle can be obtained by calculating a vector value based on the origin and insertion of the muscle by using the method of obtaining the moment arm of the muscle using vector operation.

4 is a method for calculating muscle activity in the apparatus for measuring cervical muscle activity according to an embodiment of the present invention, illustrating muscle activity for hamstring muscles.

The activity for the hamstring muscles can be calculated using Equation 5 below.

In Equation 5 above

is a vector value for the hamstring muscle, meaning the muscle activity for the hamstring muscle, θ is the rotation angle, l means the length of the segment, T is the homogeneous transformation matrix for the rotation angle (θ) and the length of the segment (l) (homogeneous transformation matrix).

In other words, in one embodiment of the present invention, the muscle activity for each muscle can be obtained by performing a vector operation based on data measured through the IMU sensor 111 and the pressure sensor 112, and other locations other than the hamstring muscle. It can be calculated by using a vector arithmetic method of calculating a vector value in the form of Equation 5 above in consideration of attachment positions (origin, insertion) for each muscle in .

The evaluation unit 130 may evaluate the user's activity for each cervical muscle by using the lower extremity joint torque value calculated by the simulation model 140 and the calculation unit 120 .

Activity refers to the gait ratio generated by asymmetric gait, and is the gait ratio of the affected side (paralyzed leg) compared to the gait on the unaffected side (healthy leg).

In oriental medicine, it is said that the gyeonggeun is not connected to the five internal organs but is connected to the motor organ, and it is a trending anatomical physiology theory that several warp threads are woven to bind the bones. do.

The human body is composed of a total of 12 hard muscles, which are made up of muscles and connect the skeleton to enable various movements.

According to the light muscle theory, the human body uses the foot yang jyeonggeun (足太阳筋), the foot yangmyunggyeong muscle (足阳明经筋), and the foot yangjingyeong muscle (足少阳經筋) for walking, and in the present invention, the muscles of the lower extremities are used. It can be used as a guide for oriental medicine treatment such as acupuncture, moxibustion, meridian, chuna, etc. by evaluating the activity of each root by grouping them into three groups: the foot sphenoid muscle, the pediculus pedis, and the foot sphenoid muscle.

Fig. 6a shows the calcaneus of the foot, which is also called the calcaneus of the foot, which starts at the little toe and leads to the outer malleolus, goes up obliquely to the knee, and then to the heel along the outside of the leg. It rises again at the heel and leads to the popliteal (the part of the back of the leg where the knee bends). According to the muscle classification of veterinary medicine, these plantar tibialis muscles may include gluteus maximus, hamstring, and gastrocnemius.

Figure 6b shows the quadriceps leg muscle, which is also called the quadriceps leg muscle, starts at the tip of the fourth toe and leads to the outer malleolus, along the outside of the tibia. It goes up to the outside of the knee and then passes through the outside of the thigh. According to the muscle classification of veterinary medicine, the sphincter of the foot may include the rectus femoris and the tibialis anterior.

Figure 6c shows the jogyang myeonggyeonggeun, also called jogyangmyungjigeun (足阳明之筋), starts at the third toe and leads to the dorsum of the foot, and ascends obliquely outward to the fibula (

), and after going up to the outside of the knee again, it splits into the front thigh and the outer thigh

) and goes up along the isthmus and leads to the spine. According to the muscle classification of western medicine, the jojoyangmyeonggyeong muscle may include the gluteus minimus, the vastus lateralis (Vastus lateralis), and the tibialis anterior.

In addition, classification and activity can also be evaluated based on the torque value for the foot piriformis muscle (足太陰筋筋), the foot piriformis muscle (足少陰經筋), and the foot piriformis muscle (足厥陰經筋).

Although not shown in the drawing, the activity of each ligament may be provided to the user in various forms such as score form, graph form, percentage, absolute value, etc. can be used for

For example, when the evaluation unit 130 completes the evaluation of the activity for each cervical muscle, the user is provided with measured and calculated information on the torque value and the joint angle for each joint through a display (not shown), while the human body After the information on each spongy muscle appears in the model, the activity of each spongy muscle is shown, while the detail view function is added to graph the gait information and activation ratio of the healthy side and the affected side according to the gait time of the hard muscle according to the gait flow. information can be provided.

The simulation model 140 may include a model measuring unit 210 , a model calculating unit 220 , and a model forming unit 230 .

Here, the model measurement unit 210 and the model calculation unit 220 can use the same equipment as the measurement unit 110 and the calculation unit 120 shown in the apparatus for measuring carotid muscle activity of FIG. 1 , so an embodiment of the present invention In the example, the same name is used, but it can be created using different equipment.

The model measurement unit 210 may include an IMU sensor 211 , a pressure sensor 212 , and an EMG sensor 213 .

The IMU sensor 211 measures the movement of the lower extremity joint of 5 degrees of freedom generated according to the configuration of the ankle, knee, and hip joint where the pelvis, thigh, lower leg, and foot are connected while the user walks, as shown in FIG. 3 . Although the IMU sensor 211 is mounted on the lower leg and the foot, it is not limited thereto, and may have various forms, such as locating each joint or locating a plurality of sensors at each position.

The angle, acceleration, and yaw rate of the joint may be measured using the IMU sensor 211 .

The pressure sensor 212 may measure the force that the user presses on the ground (ground reaction force, force plate). The pressure sensor 212 is attached to the user's sole of the foot as shown in FIG. 3 to measure the ground reaction force, or a mat including the pressure sensor is placed on the pedestrian's walking path and is caused by general walking or walking performed through rehabilitation exercise. The ground reaction force can be measured.

The EMG sensor 213 may measure the user's lower extremity EMG. Electromyography can diagnose the pathology of a muscle by measuring the electrical activity inside a specific muscle and the nerve conduction speed due to electrical stimulation using electrodes, so that the movement of the muscles of the lower extremities of the actual user can be measured.

One or more EMG sensors 213 may be mounted and measured at positions capable of measuring the actual movement of each of the above-described cervical muscles.

In addition, the EMG sensor 213 can be worn on both the unaffected side and the unaffected side to measure gait information on the unaffected side and gait information on the affected side. It can only be measured and used as an actual measured value.

The model calculator 220 may generate an actual measured value of the activity of each cervical muscle based on the measurement result of the EMG sensor 213 .

Also, the model calculation unit 220 may calculate a lower extremity joint torque value for the user's lower extremity joint by using the measurement result of the model measuring unit 210 in the same manner as the calculation unit 120 of FIG. 1 . The model calculation unit 220 may calculate an estimate of the activity of each cartilage muscle based on the joint torque value of the lower extremity.

The model forming unit 230 may receive the estimated value and the actual measured value from the model calculating unit 220 to form the simulation model 140 .

5A to 5D are comparison graphs between actual EMG data and estimated values calculated using data from a measurement unit.

Figures 5a and 5b are about the electromyography (EMG) and estimates of the outer thigh muscle (Vastus lateralis) in the 20s and 70s, and Figures 5c and 5d are the anterior thigh muscles in the 20s and 70s. It is about electromyography (EMG) and measurements of the tibialis anterior.

As can be seen from FIGS. 5A to 5D , it can be confirmed that the EMG (actual value) is constant, although the estimated values when the muscle performs a forward motion and when the muscle performs an inverse motion are different. In addition, it can be confirmed that although there is a similar pattern between the estimated value and the measured value, it does not overlap precisely, so correction is required.

Various methods can be used to assign weights to be similar to the actual values through correction of the estimated values. Specifically, a simulation model is developed through learning using a mathematical model using a look up table (LUT), specific parameters, etc., or learning models such as deep learning, neural network, machine learning, decision tree, and SVM (Support Vector Machine). All methods can be used as long as the activity of each muscle can be presented by explaining the proportional relationship between the estimated value and the actual value.

The simulation model 140 may form a customized muscle activity model for each user after the first EMG measurement for each user.

Motion data of the lower extremities may be collected by using the IMU sensor, the pressure sensor, and the EMG sensor (S110).

For movement data of the lower extremities, the IMU sensor places one or more of the lower extremity segments (pelvis, thigh, lower leg, and foot) to measure joint angle, acceleration, and yaw rate, and uses a pressure sensor to measure ground reaction force. , an EMG sensor can be used to measure the EMG of each muscle.

It is possible to calculate an activity estimate for each cartilage with respect to the movement of the lower extremity using joint angle, acceleration, yaw rate, and ground reaction force data among the motion data (S120).

To estimate the activity of each cartilage muscle, the Lagrangian motion equation is used, and the joint angle, acceleration, yaw rate, and ground reaction force data are substituted into the Lagrangian motion equation to calculate the torque value for the lower extremity joint, and each An estimate of activity for the ligaments can be calculated.

The kyphoid muscle is a grouping of the muscles of the human body, and there are a total of 12 pedicles in the human body. Among them, estimates can be calculated for the calcaneus foot, calcaneus foot, and calcaneus foot muscle, which form the movement of the lower body.

The sphincter of the foot includes the gluteus maximus, hamstring, and gastrocnemius, the sphincter of the foot includes the rectus femoris and and the tibialis anterior, and the tibialis anterior The gluteus minimus (Gluteus minimus), the vastus lateralis (Vastus lateralis) and the tibialis anterior (Tibialis anterior) may be included.

Based on the EMG data for each muscle measured through the EMG sensor among the movement data, an actual value for each hard muscle may be calculated (S130).

Since the EMG sensor can measure the movement of muscles based on the EMG of each muscle, based on the movements of the muscles attached to the sphincter of the foot, the sphincter of the foot, and the sphincter of the foot It is possible to calculate the actual measured value of the activity of the cervical muscle.

When the calculation of the estimated value and the actual value is completed, a simulation model may be generated using the estimated value and the actual value data ( S140 ).

The simulation model can use a method of weighting the estimate so that the estimate can provide a result that is as similar to the actual value as possible. can utilize

When a simulation model is generated as shown in FIG. 7 , the activity of each user's lower extremity tendons can be measured using the simulation model as shown in FIG. 8 .

Movement data of the lower extremities may be collected using the IMU sensor and the pressure sensor (S210).

For movement data of the lower extremities, the IMU sensor is positioned on one or more segments of the lower extremities (pelvis, thigh, lower leg and foot) to measure joint angle, acceleration and yaw rate, and the pressure sensor is used to measure ground reaction force. can

When the measurement of the motion data of the lower extremities is completed, the joint torque value of the lower extremities may be calculated using the motion data of the lower extremities (S220).

The joint torque value of the lower extremity may be calculated using the Lagrangian motion equation, and the detailed information thereof has been described in detail in the calculation unit 120 , so a description thereof will be omitted.

When the calculation of the joint torque value of the lower extremity is completed, the activity of each cartilage muscle of the lower extremity can be calculated using the simulation model (S230).

Activity is the walking ability of the affected side compared to the unaffected side, and may be expressed as a percentile or a score.

In addition, although not disclosed in the drawings, the calculated activity for each hard muscle may provide information through a display (not shown). The information provided may include all of the lower extremity movement data measured in step S210, the joint torque value of the lower extremities calculated in step S220, and activity data for each cartilage calculated in step S230, and if necessary, a human body model, graph, It can be provided using various methods such as diagrams and images, and all of the provided data is stored in a storage device (not shown) and can be used for collecting big data through continuous recording and observation in the future.

As described above, by using the apparatus and method for evaluating cervical muscle relief according to a preferred embodiment of the present invention, the user's asymmetrical gait can be detected only with a simple structure and device that does not use the conventional EMG sensor and camera.

Features, structures, effects, etc. described in the above-described embodiments are included in at least one embodiment of the present invention, and are not necessarily limited to one embodiment. Furthermore, features, structures, effects, etc. illustrated in each embodiment can be combined or modified for other embodiments by those of ordinary skill in the art to which the embodiments belong.

Accordingly, the contents related to such combinations and modifications should be interpreted as being included in the scope of the present invention. In addition, although the embodiments have been described above, these are merely examples and do not limit the present invention, and those of ordinary skill in the art to which the present invention pertains are exemplified above in a range that does not depart from the essential characteristics of the present embodiment. It can be seen that various modifications and applications that have not been made are possible. For example, each component specifically shown in the embodiments may be implemented by modification. And differences related to these modifications and applications should be construed as being included in the scope of the present invention defined in the appended claims.

110: measurement unit

120: calculator

130: evaluation unit

140: simulation model

210: model measurement unit

220: model calculation unit

230: model forming unit

Claims

a measurement unit for measuring the user's gait;

a calculation unit for calculating the user's lower extremity joint torque value by using the measurement result of the measuring unit; and

an evaluation unit that evaluates the activity of each of the user's lower extremities based on the torque value of the lower extremity joint;

A device for evaluating cervical muscle activity comprising a.
According to claim 1,

The measurement unit,

an inertial sensor for measuring joint angle, acceleration, and yaw rate by being mounted on the user's lower limb segments (pelvis, thigh, lower leg and foot); and

a pressure sensor capable of measuring a ground reaction force caused by the walking of the user;

A device for evaluating cervical muscle activity comprising a.
According to claim 1,

wherein the calculator calculates the torque value of the lower extremity joint based on the Lagrange equation of motion.
According to claim 1,

The evaluation unit evaluates the activity based on a dynamic dynamics-based simulation model,

The simulation model measures the joint angle of the lower extremities, the ground reaction force, and the electromyography to generate dynamic dynamics analysis and muscle activity estimates,

An apparatus for evaluating cervical muscle activity, characterized in that the model is generated by comparing the estimated value and the measured value.
According to claim 1,

The activity of each root muscle is,

An apparatus for evaluating shin muscle activity, characterized in that the activation ratio of the unaffected side and the affected side is evaluated for each activity of the pediculus serratus muscle, the pediculus pedis, and the pediculus pedis.
6. The method of claim 5,

The tibialis plantar muscle starts from the little toe, goes up to the outer ankle bone, goes up to the knee, and continues to the outside of the leg, and then goes up from the heel and connects to the popliteal muscle. ), including

The pediculus femoris is a cervical muscle that rises from the third toe to the outside of the instep, fibula, and knee and splits up into the front thigh and the outer thigh, and includes the rectus femoris and Tibialis anterior,

The quadriceps muscle rises from the fourth toe to the outside of the knee through the malleolus and tibia, and is a gluteus minimus, Vastus lateralis, and Tibialis anterior as a ligament that passes outside the thigh. Gyeong muscle activity evaluation device, characterized in that it comprises.
a model measurement unit for measuring a user's lower extremity joint angle, ground reaction force, and lower extremity EMG using a plurality of sensors;

a model calculation unit that calculates an estimate of cervical muscle activity by using the measured value of the joint angle and ground reaction force of the measurement unit, and calculates an actual measured value of cervical muscle activity based on the electromyogram of the lower extremity; and

a model forming unit for developing a simulation model by comparing the estimated value with the measured value;

A cartilaginous muscle activity evaluation model comprising a.
8. The method of claim 7,

Wherein the calculator calculates the lower extremity joint torque value based on the lower extremity joint angle and ground reaction force data to calculate the estimate of the kinematic activity.
8. The method of claim 7,

The calculation unit and the model forming unit

Calculations and comparisons are performed on the muscle groups consisting of three groups: the tibialis foot, sphincter of the foot, and sphincter of the foot.

The plantar clavicle muscle includes a gluteus maximus (Gluteus maximus), a hamstring (Hamstring) and a calf muscle (Gastrocnemius),

The foot yangmyeonggyeong muscle includes the rectus femoris (Rectus femoris) and the tibialis anterior (Tibialis anterior),

The sphincter of the foot is a gluteus minimus (Gluteus minimus), a large lateral muscle (Vastus lateralis) and a tibialis anterior muscle activity evaluation model, characterized in that it includes.
8. The method of claim 7,

The simulation model can be configured based on statistics for each individual, age, gender, and symptom, and is learned using any one of a parameter-based mathematical model, deep learning, neural network, decision tree, and SVM (Support Vector Machine). And carotid activity evaluation model, characterized in that performing the action.
measuring the user's lower extremity movement data using an inertial sensor and a pressure sensor;

calculating an activity estimate for each cartilage muscle of the lower extremity based on the lower extremity movement data;

measuring the user's EMG and calculating an actual measured value for each hard muscle; and

generating a simulation model based on the estimated value and the measured value;

includes,

evaluating the activity of each of the user's cervical muscles using the user's lower extremity movement data and the simulation model;

A method for evaluating cervical muscle activity further comprising a.
12. The method of claim 11,

The lower extremity movement data is

A method for evaluating carob muscle activity, characterized in that by mounting the inertia sensor on the thigh, shin and ankle, respectively, calculating the joint angle and acceleration value based on the measured data, and measuring the ground reaction force using the pressure sensor.
12. The method of claim 11,

The light root includes a foot yanggyeonggeun, a foot yangmyeonggyeonggeun, and a foot yanggyeonggeun,

The plantar clavicle muscle includes a gluteus maximus (Gluteus maximus), a hamstring (Hamstring) and a calf muscle (Gastrocnemius),

The foot yangmyeonggyeong muscle includes the rectus femoris (Rectus femoris) and the tibialis anterior (Tibialis anterior),

The sphincter of the foot is gluteus minimus (Gluteus minimus), the vastus lateralis (Vastus lateralis) and the tibialis anterior (Tibialis anterior).