WO2023204374A1

WO2023204374A1 - Gait guidance device and method

Info

Publication number: WO2023204374A1
Application number: PCT/KR2022/019217
Authority: WO
Inventors: 심우섭; 조민; 김태환; 채수정; 안동영; 이원재; 조하은; 최평화; 최희우; 이진복; 홍석민
Original assignee: 한국보훈복지의료공단; 한서대학교 산학협력단
Priority date: 2022-04-19
Filing date: 2022-11-30
Publication date: 2023-10-26
Also published as: KR102460866B1

Abstract

The present invention relates to a gait guidance device. The gait guidance device may comprise: a sensor unit for detecting a ground-touch time point of a cane by using an IMU sensor; a laser unit for projecting a laser beam onto the ground in a gait progress direction of a user by considering the ground-touch time point; a determination unit for calculating gait information about the user on the basis of the ground-touch time point and determining the next gait time point according to the gait information; an auditory signal unit for providing an auditory signal according to the next gait time point; a tactile signal unit for providing a tactile signal according to the next gait time point; and a central control unit for controlling whether to operate the laser unit, the auditory signal unit, and the tactile signal unit, and operating times thereof.

Description

Walking guidance device and method

The present application relates to a walking guidance device and method. More specifically, the present application relates to a device and method for providing external stimulation to induce and assist walking in Parkinson's disease patients.

Parkinson's disease is a chronic progressive degenerative disease of the nervous system caused by the loss of dopamine neurons, causing symptoms such as bradykinesia (slow movement), resting tremor, muscle rigidity, and postural instability. If Parkinson's disease patients do not receive appropriate treatment, their movement disorders gradually progress, making it difficult to walk and causing difficulties in performing daily activities.

Parkinson's disease patients experience freezing of gait, which is difficulty in taking the first step when walking, especially when walking. After patients with Parkinson's disease begin to walk, their walking speed increases and they face situations in which it is difficult to maintain their balance. As a result, they are at risk for musculoskeletal disorders due to falls and collisions, such as hitting a wall or falling due to centrifugal force when turning. are exposed frequently.

Therefore, in order to overcome the walking disability of Parkinson's disease patients and prevent secondary injuries, there is a need for an assistive device to assist Parkinson's disease patients in walking safely.

According to conventional technology, there are walking aids such as walking aids such as canes that project lasers or footprint marks that allow the user to step on or step over the ground in the walking direction of a Parkinson's disease patient to proceed with the next step, but these are used by the user. If the walking aid is shaken or tilted, there are disadvantages such as the laser or footprint indicator shaking or moving together.

In addition, the function of providing auditory and tactile (vibration) stimulation to keep the walking speed of Parkinson's disease patients stable is also required, and the detailed functions of the walking aid for patients can be adjusted according to each patient's disability characteristics and medical diagnosis evaluation. There is a need for walking assistance devices and methods.

The technology behind this application is disclosed in Korean Patent Publication No. 10-2026074.

The purpose of the present application is to solve the problems of the prior art described above, and to provide a walking assistance device and method that can provide stable walking-inducing visual stimulation by fixing (maintaining) the projection point even when the cane is tilted or shaken. Do it as

The present application is intended to solve the problems of the prior art described above, and includes a function that can provide not only visual stimulation but also auditory and tactile stimulation, thereby providing a walking assistance device that can help the user maintain stable walking and The purpose is to provide a method.

This application is intended to solve the problems of the prior art described above, and is a walking aid that can provide visual stimulation, auditory stimulation, and tactile stimulation in conjunction, and can set the combination of stimulation and the intensity or type of each stimulation depending on the user. The purpose is to provide devices and methods.

However, the technical challenges sought to be achieved by the embodiments of the present application are not limited to the technical challenges described above, and other technical challenges may exist.

As a technical means for achieving the above-described technical problem, a walking guidance device according to an embodiment of the present application includes a sensor unit that detects the point in time when the cane touches the ground using an IMU sensor; a laser unit that projects a laser onto the ground in the direction in which the user walks in accordance with the grounding point; a determination unit that calculates the user's walking information based on the grounding time and determines the next walking time according to the walking information; an auditory signal unit providing an auditory signal according to the next walking time; a tactile signal unit that provides a tactile signal according to the next walking time; And it may include a central control unit that controls whether or not the laser unit, the auditory signal unit, and the tactile signal unit are operated and the operation time.

According to an embodiment of the present application, the laser unit includes: a light transmitting unit that transmits a horizontal line laser; And it may further include an angle adjustment unit that adjusts the angle of the light transmitting unit.

According to an embodiment of the present application, the sensor unit detects the tilt of the wand, and the angle adjusting unit adjusts the angle of the light projector so that the projection point of the laser projected from the light projector to the ground is fixed despite the tilt. It may be.

According to an embodiment of the present application, the sensor unit further detects the point of separation of the cane from the ground using the IMU sensor, and the laser unit projects the laser when the ground point is detected by the sensor unit, and the When the separation point is detected by the sensor unit, the laser may not be projected.

According to an embodiment of the present application, the determination unit determines the grounding section and the non-grounding section based on the time interval between the grounding time and the separation time, and the walking section based on the time length of the grounding section and the non-grounding section. Information may be calculated, and based on the walking information, the moment of entering the grounded section after entering the non-grounded section may be predicted to determine the next walking time.

According to an embodiment of the present application, the auditory signal unit and the tactile signal unit are. The auditory signal and the tactile signal may be provided at the next walking time, but if the grounding time is detected before the next walking time, the auditory signal and the tactile signal may not be provided, respectively.

According to an embodiment of the present application, the central control unit may control the size or type of the auditory signal and the tactile signal.

As a technical means for achieving the above technical problem, the walking guidance system according to an embodiment of the present application includes the walking guidance device of claim 1; It may include a user terminal that is linked with the walking guidance device and receives and provides signals for controlling the operation of the walking guidance device from the user.

As a technical means for achieving the above-described technical problem, the walking guidance method according to an embodiment of the present application includes the steps of detecting the point in time when the cane touches the ground using an IMU sensor; Projecting a laser onto the ground in the user's walking direction in accordance with the grounding point; Calculating the user's walking information based on the grounding time and determining the next walking time according to the walking information; Providing an auditory signal according to the next walking time; providing a tactile signal according to the next walking time; and controlling operation status and operation time of the steps of projecting the laser, providing the auditory signal, and providing the tactile signal.

According to an embodiment of the present application, the step of projecting the laser includes projecting a horizontal line laser; And it may further include adjusting the angle of the light emitting unit that emits the laser.

According to an embodiment of the present application, the step of detecting the point in time when the cane touches the ground further includes the step of detecting a tilt of the cane, and the angle adjusting unit is configured to project the light projected onto the ground from the light transmitting unit despite the tilt. The angle of the light projection unit may be adjusted so that the projection point of the laser is fixed.

According to an embodiment of the present application, the method further includes detecting the point of separation of the cane from the ground using the IMU sensor, and the step of projecting the laser includes: projecting the laser when the point of ground is detected, and If the viewpoint is detected, the laser may not be projected.

According to an embodiment of the present application, the step of determining the next walking time includes determining a grounding section and an ungrounded section based on the time interval between the grounding time and the separation time, and the time of the battery section and the ungrounded section. The walking information may be calculated based on the length, and the moment of entering the grounded section after entering the non-grounded section may be determined as the next walking time based on the walking information.

According to an embodiment of the present application, the step of providing the auditory signal and the step of providing the tactile signal include providing the auditory signal and the tactile signal, respectively, at the next walking time, but before the next walking time, If the grounding point is detected first, the auditory signal and the tactile signal may not be provided, respectively.

According to an embodiment of the present application, the step of controlling whether to operate and the operation time may include controlling the size or type of the auditory signal and the tactile signal.

The above-described means of solving the problem are merely illustrative and should not be construed as intended to limit the present application. In addition to the exemplary embodiments described above, additional embodiments may be present in the drawings and detailed description of the invention.

According to the above-described means of solving the problem of the present application, stable walking-inducing visual stimulation can be provided by fixing the projection point even when the cane is tilted or shaken.

According to the above-described means of solving the problem of the present application, it is possible to help the user maintain stable walking by providing not only visual stimulation but also auditory and tactile stimulation.

According to the problem-solving means of the present application described above, visual stimulation, auditory stimulation, and tactile stimulation can be provided in conjunction, and the combination of stimulation and the intensity or type of each stimulation can be set according to the user.

However, the effects that can be obtained herein are not limited to the effects described above, and other effects may exist.

1 is a schematic configuration diagram of a walking assistance system including a walking assistance device according to an embodiment of the present application.

Figure 2 is a block diagram of a walking assistance device according to an embodiment of the present application.

Figure 3 is an exemplary diagram for explaining the projection point fixation function of the walking assistance device according to an embodiment of the present application.

FIG. 4 is an exemplary diagram illustrating the next walking time and provision of auditory and tactile stimulation accordingly by the walking assistance device according to an embodiment of the present application.

Figure 5 is an operation flowchart of a walking assistance method according to an embodiment of the present application.

Figure 6 is an operation flowchart of a method for providing laser stimulation according to an embodiment of the present application.

Figure 7 is an operation flowchart of a method for providing auditory stimulation and tactile stimulation according to an embodiment of the present application.

Below, with reference to the attached drawings, embodiments of the present application will be described in detail so that those skilled in the art can easily implement them. However, the present application may be implemented in various different forms and is not limited to the embodiments described herein. In order to clearly explain the present application in the drawings, parts that are not related to the description are omitted, and similar reference numerals are assigned to similar parts throughout the specification.

Throughout this specification, when a part is said to be “connected” to another part, this means not only “directly connected” but also “electrically connected” or “indirectly connected” with another element in between. "Includes cases where it is.

Throughout this specification, when a member is said to be located “on”, “above”, “at the top”, “below”, “at the bottom”, or “at the bottom” of another member, this means that a member is located on another member. This includes not only cases where they are in contact, but also cases where another member exists between two members.

Throughout the specification of the present application, when a part "includes" a certain component, this means that it may further include other components rather than excluding other components unless specifically stated to the contrary.

Referring to FIG. 1, the walking assistance system 1 according to an embodiment of the present application includes a cane 10 including a walking assistance device 100, a network 20, a user terminal 30, and an auditory stimulation providing device ( 200) and a tactile stimulation providing device 300.

According to an embodiment of the present application, the walking assistance device 100 may communicate with the user terminal 30, the auditory stimulation providing device 200, and the tactile stimulation providing device through the network 20.

Specifically, the walking assistance device 100 may receive preset data from the user terminal 30 through the network 20. At this time, the preset data includes data on whether the laser unit 120 is operating, which will be described later, the color of the laser (red and green, etc.), the brightness of the laser, the set angle of the laser, the set distance between at least two lasers, and the hearing signal, which will be described later. Data on whether the signal unit 140 operates, type of auditory signal, set operation time of the auditory signal, size of the auditory signal, data on whether the tactile signal unit 150, which will be described later, operates, type of tactile signal, tactile signal It may include, but is not limited to, the set operation time of the signal and the size of the tactile signal.

For example, the walking assistance device 100 receives, from the user terminal 30, data on the activation of the operation of the laser unit 120 and the tactile signal unit 150, data on the deactivation of the operation of the auditory signal unit 140, This may be receiving an input for selecting a red laser and a 1-second vibration, and may be maintaining an initial value for preset data not received from the user terminal 30.

Additionally, the walking assistance device 100 may transmit device status data such as remaining battery capacity and walking data to the user terminal 30 through the network 20. At this time, the walking data may refer to data representing the evaluation of the user's walking, including the time, distance, and speed that the user walked using the walking assistance device 100, the degree of shaking in walking accordingly, and the positive response stimulus. It may include types, etc. In other words, the walking assistance device 100 may provide walking data representing an evaluation of walking to the user terminal 30.

Specifically, the degree of gait shaking may mean the degree to which the user's body or gait shakes (degree of shaking) determined based on the shaking of the cane 10 according to the time, distance, and speed of the user's walking. In other words, the degree of shaking of the cane 10 according to the time, distance, and speed of the user's walking can be interpreted as the degree of shaking of the user's body, that is, the degree of shaking of walking. For example, the walking assistance device 100 provides the degree of shaking when the user walks a distance of 200 m in 10 minutes and the degree of shaking when the user walks a distance of 200 m in 8 minutes, allowing the user to select a certain speed. This makes it possible to determine whether the shaking in walking increases or decreases when walking a certain distance.

In addition, the type of positive response stimulus may refer to the type that had a positive effect on the user's walking among detailed types according to the laser stimulus, auditory stimulus, tactile stimulus, and preset data of each stimulus provided to the user. . For example, the walking assistance device 100 receives a green laser, an auditory stimulus of size 5, and a vibration stimulus of size 8, and when the user walks for more than 10 minutes and less than 30 minutes, the user's gait (tremor) If it is determined that the degree of speed maintenance) has improved the most, the preset data at this time can be provided to the user terminal 30 as a type of positive response stimulus.

By providing the user's walking data through the user terminal 30, the walking assistance device 100 can help the user determine his or her own walking status and identify the best preset data for improving walking.

However, communication between the walking guidance device 100 and the user terminal 30 is not limited to the above-mentioned preset data and walking data, and various specific examples may exist.

The user terminal 30 may be a device that is linked with the walking guidance device 100 and receives and provides signals from the user for controlling the operation of the walking guidance device. For example, a smartphone, a smart pad, etc. Pad), tablet PC, wearable devices, etc., PCS (Personal Communication System), GSM (Global System for Mobile communication), PDC (Personal Digital Cellular), PHS (Personal Handyphone System), PDA (Personal Digital Assistant), IMT (International Mobile) Telecommunication)-2000, CDMA (Code Division Multiple Access)-2000, W-CDMA (W-Code Division Multiple Access), all kinds of wireless communication devices such as Wibro (Wireless Broadband Internet) terminals and fixed devices such as desktop computers and smart TVs. It could be a dragon terminal.

Additionally, the walking assistance device 100 may transmit an auditory signal for providing auditory stimulation to the auditory stimulus providing device 200 through the network 20. In other words, the auditory stimulation providing device 200 may receive an auditory signal from the walking assistance device 100 and provide an auditory stimulus according to the received auditory signal to the user.

The auditory stimulation providing device 200 may include, for example, wireless earphones, wired earphones, hearing aids, a speaker attached to the cane 10 or the walking guidance device 100, a wireless speaker, etc., and uses the user terminal 30. It may be provided through, but is not limited to, various sound devices that can provide auditory stimulation to the user.

Additionally, the walking assistance device 100 may transmit a tactile signal for providing tactile stimulation to the tactile stimulation providing device 300 through a network. In other words, the tactile stimulation providing device 300 may receive a tactile signal from the walking assistance device 100 and provide tactile stimulation according to the received tactile signal to the user.

The tactile stimulation providing device 300 may include, for example, a wearable device that can be worn on the user's wrists and ankles, a separate wrist band, ankle band, neck band, etc., and may include the handle 11 of the cane 10 and the user. It may be provided through the terminal 30, but is not limited to this, and various devices capable of providing auditory stimulation to the user may be included.

Examples of the above-described network 20 include 3rd Generation Partnership Project (3GPP) network, Long Term Evolution (LTE) network, 5G network, World Interoperability for Microwave Access (WIMAX) network, wired and wireless Internet, and LAN (Local Area). Network), Wireless LAN (Wireless Local Area Network), WAN (Wide Area Network), PAN (Personal Area Network), Bluetooth network, Wifi network, NFC (Near Field Communication) network, satellite broadcasting network, analog broadcasting network , DMB (Digital Multimedia Broadcasting) networks, etc. may be included, but are not limited thereto.

Referring to FIG. 1, the cane 10 may include a handle 11 and a stick 12, and the walking assistance device 100 may be provided in a detachable form on the stick 12 of the cane 10. , It may be provided in a form that is fixedly attached to the stick 12, and may be provided inside the handle 11 and the stick 12.

Hereinafter, a detailed description of the walking guidance device 100 according to an embodiment of the present application will be disclosed.

Referring to FIG. 2, the walking assistance device 100 may include a sensor unit 110. The sensor unit 110 includes an IMU sensor and can detect the point in time when the cane 10 touches the ground using the IMU sensor. Specifically, the sensor unit 110 can determine whether the cane 10 is in contact with the ground based on the vertical acceleration signal of the IMU sensor, and can detect the point in time when it touches the ground as the point in time when it touches the ground. Additionally, the sensor unit 110 can detect not only the time when the cane 10 touches the ground but also the time when the cane 10 falls off the ground using the vertical acceleration signal of the IMU sensor. In other words, the sensor unit 110 can detect the ground contact point at the moment the cane 10 touches the ground and the ground separation point at the moment the cane 10 falls off the ground.

According to one embodiment of the present application, the sensor unit 110 can detect the inclination of the cane 10. More specifically, the sensor unit 110 can measure and obtain the degree of inclination or rotation of the cane 10 in real time based on the tilt signal and the acceleration signal. At this time, the signal from the IMU sensor can be filtered by analyzing the frequency using FFT (Fast Fourier Transform). As a specific example, the sampling frequency of the IMU sensor may be set to 200Hz, and the signal of the IMU sensor may be filtered through low-pass filtering based on 20Hz for linear acceleration, using the angular component mainly being 20Hz or less. there is.

Referring to Figure 2, the walking assistance device 100 may include a laser unit 120. The laser unit 120 may project a laser onto the ground in the user's walking direction by considering the grounding point detected by the sensor unit 110. Additionally, the laser unit 120 may project a laser to a grounded section determined by a determination unit to be described later, but may not project a laser to a non-grounded section. In other words, the laser unit 120 projects a laser when the user places the staff 10 on the ground, and when the user lifts the staff 10 from the ground, the laser unit 120 turns off the power of the projected laser and does not project the laser. . Additionally, the laser unit 120 may include a light transmitting unit 121 that projects a horizontal line laser and an angle adjusting unit 122 that adjusts the angle of the light transmitting unit 121.

The light transmitting unit 121 projects a laser toward the ground in front of the user to encourage the user to walk by overcoming frozen gait (FoG) by stepping or crossing, and is perpendicular to the user's walking direction. It may include a light projection module that projects a laser onto the ground in front of the user. Hereinafter, the laser is disclosed as being projected as two horizontal lines according to an embodiment of the present application, but the present invention is not limited thereto, and the laser may be projected as one or a plurality of horizontal lines. Two or more lasers are projected onto the ground in a horizontal line at an interval that matches the user's guarantee (step length), and the interval can be preset and adjusted by the user using preset data.

Additionally, as described above, the light emitting unit 121 may emit a laser when the sensor unit 110 detects the ground contact point. In other words, the light emitting unit 121 may emit a laser when the user places the cane 10 on the ground, and when the user lifts the cane 10 from the ground, the light transmitting module is turned off and the laser is not transmitted.

The angle adjusting unit 122 adjusts the angle of the light transmitting unit 121 so that the projection point (P) of the laser projected from the light transmitting unit 121 to the ground is fixed (maintained) despite the tilt detected by the sensor unit 110. It may be. Specifically, the angle adjusting unit 122 includes a motor, and by driving the motor, the angle of the light emitting unit 121 (front and back angle, up and down angle, left and right angle, etc.) is adjusted to determine the projection direction and projection angle of the laser. , projection distance, etc. can be adjusted, and two or more light projection modules can be adjusted separately. When the sensor unit 110 detects the point of contact with the ground, the angle adjustment unit 122 adjusts the angle of the light projection unit 121 so that the projection point (P) of the laser is fixed to the projection point (P) at the point of contact with the ground. You can. In other words, the angle adjusting unit 122 adjusts the angle of the light transmitting unit 121 according to a preset angle when the wand 10 is away from the ground, and when the wand 10 touches the ground, the projection is performed on the ground. The angle of the light projection unit 121 may be adjusted against the shaking of the wand 10 so that the projection point P of the laser is fixed. The projection point fixation function related to the projection point P will be described in detail later through an example with reference to FIG. 3.

According to one embodiment of the present application, when the angle adjusting unit 122 determines that the user is changing direction while walking based on the degree of tilt and rotation obtained by the sensor unit 110, The angle of the light projection unit 121 may be adjusted so that the laser is projected in the user's walking direction according to the direction and degree of change determined by the determination unit 130, but is not limited to this.

Referring to Figure 2, the walking assistance device 100 may include a determination unit 130. The determination unit 130 may calculate the user's walking information based on the ground contact time detected by the sensor unit 110 and determine the next walking time according to the walking speed. Specifically, the determination unit 130 determines the grounding section, which is the section where the cane 10 was in contact with the ground, and the cane ( 10) Determine the ungrounded section, which is the section where the step was away from the ground, calculate walking information based on the time length of the grounded section and the ungrounded section in the entire stride section, and determine the ungrounded section based on the walking information. The moment of entering the grounding section after entering may be judged as the next walking point. In other words, the determination unit 130 may determine when the user will next place the cane 10 on the ground based on the user's previous walking. At this time, the walking information includes the speed and acceleration during walking, and may be interpreted as corresponding to the walking speed, and the next walking time may be interpreted as the time when the next foot touches the user's walking. there is.

Additionally, the determination unit 130 may determine whether the user is walking based on walking information. That is, the determination unit 130 may determine whether the user has stopped walking based on the walking information. Specifically, according to an embodiment of the present application, the determination unit 130 determines that the user has stopped walking when the calculated walking information, that is, the walking speed slows down by more than a preset ratio compared to the average of the previous walking speeds. You can. In other words, when the determination unit 130 compares the gait information calculated for n strides (n steps), which are the user's previous steps for a preset number of times (n), with the average of the gait information calculated immediately before, the average If the user's walking appears to have slowed down by more than a preset rate, it may be determined that the user has stopped walking.

For example, the average walking speed calculated and stored for the user's previous steps is 50 stride/min, the standard value for determining that the user has stopped walking is 80% of the average walking speed, and the walking speed is 80% of the average walking speed. Assuming that the number of steps used for calculation is 3 (n = 3), and the stride speed calculated by the judgment unit 130 for the most recent 3 strides (3 steps) is 10 strides/min, the stride speed is the average stride speed Since the speed has slowed to more than 80% of the water speed, the determination unit 130 may determine that the user has stopped walking at this time.

In addition, according to another embodiment of the present application, the determination unit 130 determines the time between the current ground contact time (s _m ) and the previous ground contact time (s _m-1 ) and the previous ground contact time (s _m-2 ). If it slows down by more than 50% compared to the interval, it can be determined that the user has stopped walking. For example, the time interval between the previous ground contact (s _m-1 ) and the previous ground contact (s _m-2 ) is 0.5 seconds, and the current ground contact time (s _m ) and the previous ground contact (s m-2) are 0.5 seconds (sec). If the time interval between viewpoints (s _m-1 ) is 0.1 seconds (sec), the determination unit 130 may determine that the user has stopped walking, but is not limited to this and determines whether walking has stopped (stopping walking). The standard may be set according to various embodiments, such as estimating the walking distance using the acceleration measurement value of the IMU and using the speed calculated using the estimated walking distance.

Additionally, the determination unit 130 may distinguish between shaking of the cane 10 and change of direction while walking based on the degree of tilt and rotation measured by the sensor unit 110. Specifically, the determination unit 130 compares the degree of change in the sensor value measured by the sensor unit 110 and the length of time when the change occurred based on a preset reference value for the sensor value due to a change in direction while walking with the reference value. , it can be determined whether the movement of the cane 10 is due to shaking while walking or a change in direction by the user.

Referring to FIG. 2, the walking assistance device 100 may include an auditory signal unit 140. The auditory signal unit 140 may provide an auditory signal according to the next walking time. In other words, the auditory signal unit 140 can inform the user when to take the next step by providing an auditory signal according to the user's average walking speed. At this time, the auditory signal may be a simple notification sound or a voice guidance message, but is not limited thereto. As described above, the type of auditory signal, the set operation time of the auditory signal, the speed of the auditory signal, the size of the auditory signal, etc. may be preset through the user terminal 30 as preset data. Types of auditory signals may include notifications, announcements, pitches, etc., and the set operation time of the auditory signal refers to the length of time for providing the auditory signal, such as 0.5 seconds (sec), 1 second (sec). It may be set in a format, and the speed of the auditory signal may be set in a bpm (beats per minute) format. Additionally, the auditory signal may be provided through the auditory stimulation providing device 200 described above.

Referring to FIG. 2, the walking assistance device 100 may include a tactile signal unit 150. The tactile signal unit 150 may provide a tactile signal according to the next walking time. In other words, the tactile signal unit 150 can inform the user when to take the next step by providing a tactile signal according to the user's average walking speed. At this time, the tactile signal may be a vibration signal, but is not limited thereto. As described above, the type of tactile signal, the setting operation time of the tactile signal, the speed of the tactile signal, the size of the tactile signal, etc. may be preset through the user terminal 30 as preset data. The type of tactile signal may include a pattern of vibration, etc., and the set operation time of the tactile signal refers to the length of time for providing the auditory signal, and is set in the form of 0.5 seconds (sec), 1 second (sec), etc. It may be that the speed of the tactile signal is set in bpm (beats per minute). Additionally, the tactile signal may be provided through the tactile stimulation providing device 300 described above.

According to an embodiment of the present application, the walking assistance device 100 can help the user maintain a constant walking speed and continue walking by providing not only visual stimulation but also auditory and tactile stimulation. The process of acquiring the specific next walking time point and the process of auditory and tactile stimulation accordingly will be described in detail later through an example with reference to FIG. 4.

Referring to FIG. 2, the walking assistance device 100 may include a central control unit 160. The central control unit 160 can control whether and the operation time of the laser unit 120, the auditory signal unit 140, and the tactile signal unit 150. Specifically, the central control unit 160 operates the light emitting unit 121, the angle adjusting unit 122, the auditory signal unit 140, and the tactile signal unit 150 according to the preset data received from the user terminal 30. You can control availability, operation time, operation settings, etc. For example, the central control unit 160 switches the operations of the laser unit 120, the auditory signal unit 140, and the tactile signal unit 150 to activation according to the preset data received from the user terminal 30. , can be switched to inactive, can limit the operation time, or can control the brightness of the laser, spacing, size or type of auditory and tactile signals, etc.

In other words, the walking assistance device 100 can provide visual stimulation, auditory stimulation, and tactile stimulation in conjunction, and can set the combination of stimulation and the intensity or type of each stimulation depending on the user. Additionally, the walking assistance device 100 can modify preset data through communication with the user terminal 30, and thereby control laser stimulation, auditory stimulation, and tactile stimulation in real time.

Referring to FIG. 3, the walking assistance device 100 can fix the projection point P by adjusting the angle of the light transmitting unit 121 using the angle adjusting unit 122. At this time, the light transmitting unit 121 and the angle adjusting unit 122 shown in FIG. 3 are in an exemplary form for convenience of explanation, and the light transmitting unit 121 and the angle adjusting unit 122 are of the walking assistance device 100. It can be installed on the inside, the top of the outside, or the bottom of the outside, and the location and installation form of the light transmitting part 121 and the angle adjusting part 122 are not limited to those shown in FIG. 3.

Referring to FIG. 3, it can be seen that as the inclination of the stick 12 of the cane 10 changes, the angle of the light transmitting part 121 is adjusted and the projection point P of the laser is fixed. Specifically, according to an embodiment of the present application, as shown in FIG. 3, the tilt of the stick 12 and the angles (θ ₁ , θ ₂ , θ formed by the vertical line from the light transmitting portion 121 to the projection point P) ₃ ), that is, it can be confirmed that the angle of the light transmitting unit 121 is adjusted so that the angles (θ ₁ , θ ₂ , θ ₃ ) between the stick 12 and the projection axis appear at different angles depending on the inclination of the stick 12. You can.

Accordingly, the walking assistance device 100 can provide stable walking-inducing visual stimulation by fixing the projection point P even when the walking stick 10 is tilted or shaken.

Additionally, the angle adjusting unit 122 may adjust the angle of the light transmitting unit 121 in a rotational direction about the projection axis other than the direction shown in FIG. 3 . In other words, the angle adjusting unit 122 can adjust the angle of the light transmitting unit 121 three-dimensionally, in addition to the two-dimensional example shown in FIG. 3. In addition, as shown in FIG. 3, the angle adjusting unit 122 operates not only when the part of the stick 12 in contact with the ground is shaken in a fixed state, but also when the stick 12 slips or moves on the ground. It may be implemented to adjust the angle of the light projection unit 121 to fix the projection point (P), and when the stick 12 is completely separated from the ground, the projection unit 130 determines that it has entered a non-contact section. The miner 121 can be adjusted back to a preset angle.

As described above, the determination unit 130 may determine the time point at which the user will next place the cane 10 on the ground based on the user's previous walking.

Figure 4 shows that when the determination unit 130 determines the next walking time according to the walking information (walking speed, etc.) calculated based on the user's previous three walking steps (n = 3), the auditory stimulus (A1) is generated according to the next walking time. , A2) and tactile stimulation (T1, T2) are provided.

Specifically, with reference to FIG. 4 , when the user's current ground contact point (s _m ) with the cane 10 is d, the immediately previous ground contact point (s _m-1 ) is c, and the determination unit 130 The next walking time point (s _m+1 ) determined by ) may be e. At this time, the determination unit 130 determines the grounding time of a (s _m _-3 ) and the grounding time of b (s) with respect to the three strides (a, b, c) immediately before d, which is the current grounding time (s m). _m-2 ), time interval (g _ab ) between b's grounding point (s _m-2 ) and c's grounding point (s _m-1 ) (g _bc ), and c's grounding point (s _m-1). Calculate the user's current walking speed as the average ((g _ab + g _bc + g _cd )/3) of the time interval (g _cd ) of the contact point (s _n ) of d and the calculated walking speed. Using this, the next walking time (s _m+1 ) is predicted and determined, and the auditory signal unit 140 and the tactile signal unit 150 provide an auditory stimulus (A1) according to e, which is the next walking time (s _m+1 ). and tactile stimulation (T1).

As above, if the user's current ground contact time (s _m ) with the cane 10 is e, the immediately previous ground contact time (s _m-1 ) is d, and the next walking time (s) determined by the determination unit 130 is _{m + 1} ) becomes f, and at this time _, the determination unit 130 determines the grounding point of b (s _m- ₃ ) and the time interval between the grounding point of c (s _m-2 ) (g _bc ), the time interval between the grounding point of c (s _m-2 ) and the grounding point of d (s _m-1 ) (g _cd ), and The user's current walking speed is calculated as the average ((g _bc + g _cd + g _de )/3) of the time interval (g _de ) between the contact point of d (s _m-1 ) and the contact point of e (s _n ). Calculate and use the calculated walking speed to predict and determine the next walking time (s _m+1 ), and the auditory signal unit 140 and the tactile signal unit 150 predict and determine the next walking time (s _m+1 ). Auditory stimulation (A2) and tactile stimulation (T2) can be provided according to f.

Accordingly, the determination unit 130 may determine the next walking time in a manner that adapts to the user's walking speed by considering the user's walking speed during the user's most recent n walking steps (n steps). Specifically, when the user's average walking speed is fast, the determination unit 130 may determine that the next walking time is also relatively fast, and when the average walking speed is slow, the determination unit 130 may determine the next walking time as also a relatively slow time.

However, the process of providing the next walking time point at which the auditory stimulation (A1, A2) and the tactile stimulation (T1, T2) are provided is not limited to what is shown in FIG. 4, and the walking speed considered to obtain the walking speed (n) can be set differently, and various methods suitable for calculating the stride speed other than averaging the time interval at each contact point can be applied.

In addition, according to an embodiment of the present application, the auditory signal unit 140 and the tactile signal unit 150 provide an auditory signal and a tactile signal, respectively, at the next walking time, but the grounding time is detected first before the next walking time. If so, it may mean that the auditory signal and the tactile signal are not provided, respectively. Specifically, when the current ground contact point (s _m ) is _e , the user first uses the cane (10 ) is placed on the ground, subsequent stimulation is likely to cause confusion in improving the user's walking speed, so the auditory signal unit 140 and the tactile signal unit 150 omit providing stimulation, and the judgment unit ( 130) can again calculate the walking speed and determine the next walking time. However, it is not limited to this.

As described above, the walking assistance device 100 considers the user's average walking speed through the auditory signal unit 140 and the tactile signal unit 150 and then guides the walking timing, allowing the user to continue walking stably. can help you

Below, we will briefly look at the operation flow of the present application based on the details described above.

Figure 5 is an operation flowchart of a walking guidance method according to an embodiment of the present application.

The walking guidance method shown in FIG. 5 can be performed by the walking guidance device 100 described above. Therefore, even if the content is omitted below, the content described with respect to the walking guidance device 100 can be equally applied to the description of the walking guidance method.

Referring to FIG. 5 , in step S11, the sensor unit 110 may detect the point in time when the cane 10 touches the ground using an IMU sensor. Additionally, in step S11, the sensor unit 110 may further detect the point in time when the cane separates from the ground using an IMU sensor. Additionally, in step S11, the sensor unit 110 may detect the inclination of the cane 10.

Next, in step S12, the central control unit 160 controls whether or not to operate and the operation time of the step of projecting the laser (S13), the step of providing an auditory signal (S15), and the step of providing a tactile signal (S16). You can. Specifically, in step S12, the central control unit 160 may control the size or type of the auditory signal and the tactile signal.

Next, in step S13, the laser unit 120 may project a laser onto the ground in the user's walking direction, considering the grounding point. Additionally, in step S13, the light projector 121 can emit a horizontal line laser, and the angle adjuster 122 can adjust the angle of the light projector 121 that emits the laser. Specifically, the angle adjustment unit 122 can adjust the angle of the light projection unit so that the projection point (P) of the laser projected from the light projection unit 121 onto the ground is fixed even if it is tilted. Additionally, in step S13, the laser unit 120 may project a laser when a grounding point is detected in the sensor unit, and may not project a laser when a separation point is detected in the sensor unit.

Next, in step S14, the determination unit 130 may calculate the user's walking information based on the grounding time and determine the next walking time according to the walking information. Specifically, in step S14, the determination unit 130 may determine the grounding section and the non-grounding section based on the time interval between the grounding point and the non-grounding section. In addition, walking information can be calculated based on the time length of the grounding section and the non-grounding section, and grounding time after entering the non-grounding section can be calculated and predicted based on the walking information to determine the next walking time.

Next, in step S15, the auditory signal unit 140 may provide an auditory signal according to the next walking time. Specifically, in step S15, the auditory signal unit 140 may provide an auditory signal at the next walking time, but may not provide the auditory signal if the grounding time is first detected before the next walking time.

Next, in step S16, the tactile signal unit 150 may provide a tactile signal according to the next walking time. Specifically, in step S16, the tactile signal unit 150 may provide a tactile signal at the next walking time, but may not provide the tactile signal if the grounding time is detected before the next walking time.

In the above description, steps S11 to S16 may be further divided into additional steps or combined into fewer steps, depending on the implementation of the present disclosure. Additionally, some steps may be omitted or the order between steps may be changed as needed.

Referring to FIG. 6, in step S21, the determination unit 130 may determine whether the cane 10 is grounded to the ground or not based on the ground contact point and the ground separation point detected by the sensor unit 110. .

If the wand 10 is grounded on the ground, following step S21, the light projector 121 turns on the laser (or keeps it turned on) in step S22, and the angle adjuster 122 turns on the laser in step S23. The projection point can be fixed.

If the wand 10 is not grounded to the ground, following step S21, the light projector 121 turns off the laser (or maintains the light off state) in step S24, and the angle adjuster 122 turns the laser off in step S25. The angle of the miner 121 can be returned to the preset angle.

Next, in step S26, the determination unit 130 may determine whether the user has stopped walking or is walking using walking information (walking speed, etc.). At this time, if it is determined that the walking assistance device 100 is walking, the walking assistance device 100 may return to step S21 and repeat the above-described steps.

In the above description, steps S21 to S26 may be further divided into additional steps or combined into fewer steps, depending on the implementation of the present disclosure. Additionally, some steps may be omitted or the order between steps may be changed as needed.

Referring to FIG. 7, in step S31, the determination unit 130 may continuously calculate and obtain the user's average walking speed.

Next, in S32, the determination unit 130 may determine the next walking time based on the calculated walking speed.

When the next walking time has been reached, the auditory signal unit 140 may provide auditory stimulation in step S33, and the tactile signal unit 150 may provide tactile stimulation in step S34.

If the next walking time has not yet arrived, in step S35, the determination unit 130 determines whether the cane 10 is grounded, that is, whether the cane 10 is grounded on the ground before the next walking time, and determines whether the cane is grounded and If so, the walking speed during walking can be recalculated, and if not, the step S32 can be returned to check or determine again whether the next walking time has been reached.

Next, in step S36, the determination unit 130 may determine whether the user has stopped walking or is walking using the walking speed (gait information). At this time, if it is determined that the walking assistance device 100 is walking, the walking assistance device 100 may return to step S31 and repeat the above-described steps.

In the above description, steps S31 to S36 may be further divided into additional steps or combined into fewer steps, depending on the implementation of the present disclosure. Additionally, some steps may be omitted or the order between steps may be changed as needed.

The walking guidance method according to an embodiment of the present application may be implemented in the form of program instructions that can be executed through various computer means and recorded on a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, etc., singly or in combination. Program instructions recorded on the medium may be specially designed and constructed for the present invention or may be known and usable by those skilled in the art of computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, and magnetic media such as floptical disks. -Includes optical media (magneto-optical media) and hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, flash memory, etc. Examples of program instructions include machine language code, such as that produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter, etc. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the present invention, and vice versa.

Additionally, the above-described walking guidance method may also be implemented in the form of a computer program or application executed by a computer stored in a recording medium.

The description of the present application described above is for illustrative purposes, and those skilled in the art will understand that the present application can be easily modified into other specific forms without changing its technical idea or essential features. Therefore, the embodiments described above should be understood in all respects as illustrative and not restrictive. For example, each component described as unitary may be implemented in a distributed manner, and similarly, components described as distributed may also be implemented in a combined form.

The scope of the present application is indicated by the claims described below rather than the detailed description above, and all changes or modified forms derived from the meaning and scope of the claims and their equivalent concepts should be construed as being included in the scope of the present application.

Claims

In the walking guidance device,

A sensor unit that detects the point when the stick touches the ground using an IMU sensor;

a laser unit that projects a laser onto the ground in the user's walking direction in consideration of the grounding point;

a determination unit that calculates the user's walking information based on the grounding time and determines the next walking time according to the walking information;

an auditory signal unit providing an auditory signal according to the next walking time;

a tactile signal unit that provides a tactile signal according to the next walking time; and

A central control unit that controls operation status and operation time of the laser unit, the auditory signal unit, and the tactile signal unit,

A walking guidance device comprising a.
According to paragraph 1,

The laser unit,

A light emitting unit that transmits a horizontal laser beam; and

An angle adjustment unit that adjusts the angle of the light transmitting unit,

which further includes,

Walking guidance device.
According to paragraph 2,

The sensor unit,

Detecting the tilt of the cane,

The angle adjusting unit,

Adjusting the angle of the light projector so that the projection point of the laser projected from the light projector to the ground is fixed despite the tilt,

Walking guidance device.
According to paragraph 1,

The sensor unit,

Further detecting the point at which the cane separates from the ground using the IMU sensor,

The laser unit,

Projecting the laser when the grounding point is detected by the sensor unit,

When the separation point is detected in the sensor unit, the laser is not projected,

Walking guidance device.
According to paragraph 4,

The judgment department,

Determine a grounded section and a non-grounded section based on the time interval between the grounding time and the separation time,

Calculate the walking information based on the time length of the grounded section and the non-grounded section,

Based on the walking information, predicting the moment of entering the grounding section after entering the non-grounding section and determining the next walking time,

Walking guidance device.
According to clause 5,

The auditory signal unit and the tactile signal unit.

Providing the auditory signal and the tactile signal respectively at the next walking time,

If the grounding time is first detected before the next walking time, the auditory signal and the tactile signal are not provided, respectively,

Walking guidance device.
According to paragraph 1,

The central control unit,

Controlling the size or type of the auditory signal and the tactile signal,

Walking guidance device.
As a walking guidance system,

The walking guidance device of claim 1;

A user terminal that is linked with the walking guidance device and receives input from the user and provides a signal for controlling the operation of the walking guidance device,

A walking guidance system comprising:
In the walking induction method,

Detecting when the cane touches the ground using an IMU sensor;

Projecting a laser onto the ground in the user's walking direction in consideration of the grounding point;

Calculating the user's walking information based on the grounding time and determining the next walking time according to the walking information;

Providing an auditory signal according to the next walking time;

providing a tactile signal according to the next walking time; and

Controlling operation status and operation time of the steps of projecting the laser, providing the auditory signal, and providing the tactile signal;

A walking induction method comprising:
According to clause 9,

The step of projecting the laser is,

Projecting a horizontal laser beam; and

Adjusting the angle of the light emitting unit that emits the laser,

which further includes,

Walking guidance method.
According to clause 10,

The step of detecting the point when the stick touches the ground is,

Detecting the tilt of the cane,

The step of adjusting the angle of the light transmitting unit is,

Adjusting the angle of the light projector so that the projection point of the laser projected from the light projector to the ground is fixed despite the tilt,

Walking guidance method.
According to clause 9,

Detecting the point at which the cane separates from the ground using the IMU sensor,

It further includes,

The step of projecting the laser is,

Projecting the laser when the grounding point is detected,

When the separation point is detected, the laser is not projected,

Walking guidance method.
According to clause 12,

The step of determining the next walking time is,

Determine a grounded section and a non-grounded section based on the time interval between the grounding time and the separation time,

Calculate the walking information based on the time length of the grounded section and the non-grounded section,

Based on the walking information, the moment of entering the grounded section after entering the non-grounded section is determined as the next walking time,

Walking guidance method.
According to clause 13,

Providing the auditory signal and providing the tactile signal include:

Providing the auditory signal and the tactile signal respectively at the next walking time,

If the grounding time is first detected before the next walking time, the auditory signal and the tactile signal are not provided, respectively,

Walking guidance method.
According to paragraph 1,

The step of controlling the operation status and operation time is,

Controlling the size or type of the auditory signal and the tactile signal,

Walking guidance method.