A method and device for realizing gait feedback

Abstract

The present application relates to the field of motion assistance technologies, and provides a gait feedback implementation method and device. The gait feedback implementation method obtains in real time the pressure data of each sole of a user through a pressure sensor, processes in real time a preset sound resource according to the pressure data to obtain corresponding gait sound information, and plays the gait sound information so that the user can determine the stepping state at the corresponding moment according to the gait sound information. By helping the user perceive the stepping state and understand in real time the situation of the safe transfer of the center of gravity to the supporting leg, the present application can prevent the user from falling, thereby improving the user's quality of life.

Description

Technical Field

[0001] The present invention relates to the technical field of motion assistance, and in particular, to a method and device for realizing gait feedback. Background Art

[0002] Deep sensory disturbance is a neurological disease in which the position sense, kinesthesia, and vibration sense of muscles and joints are abnormal. Abnormal gait is one of the main manifestations. Due to the sensory disturbance of the patient, walking feels like stepping on cotton, and the patient does not know the depth and distance of the steps. Often bends down, looks at the ground with both eyes, and walks forward with a cane. Falls are common complications. Clinically, the treatment is mainly for the primary disease, and most patients are not easily cured. Long-term continuous examination, monitoring, and medication are required in daily life, and the prognosis is poor. If the primary disease does not endanger life, it generally does not affect the natural lifespan, but most of these patients will have varying degrees of depression. Because they are prone to trauma and are not convenient to go out alone, their quality of life will be severely affected. Summary of the Invention

[0003] The purpose of the present invention is to provide a method and device for realizing gait feedback.

[0004] In a first aspect, the present invention provides a method for realizing gait feedback, the method comprising:

[0005] Real-time acquiring pressure data of each sole of a user through a pressure sensor;

[0006] Performing real-time processing on a preset sound resource according to the pressure data to obtain corresponding gait sound information;

[0007] Playing the gait sound information so that the user can determine the stepping state at the corresponding moment according to the gait sound information.

[0008] In an alternative embodiment, the performing real-time processing on a preset sound resource according to the pressure data to obtain corresponding gait sound information includes:

[0009] Determining a corresponding ground reaction force according to the pressure data, and substituting the ground reaction force into a preset loudness formula and a preset pitch formula respectively to obtain corresponding dynamic parameters;

[0010] Performing real-time adjustment on a preset sound resource according to the dynamic parameters to obtain corresponding gait sound information.

[0011] In an alternative embodiment, the dynamic parameters include a loudness parameter and a pitch parameter. Among them, the ground reaction force is simulated by the loudness parameter, and the foot touchdown impulse is simulated by the pitch parameter. The performing real-time adjustment on a preset sound resource according to the dynamic parameters to obtain corresponding gait sound information includes:

[0012] Adjust the loudness and pitch of the preset sound resource based on the loudness parameter and the pitch parameter respectively to obtain the adjusted sound data as the gait sound.

[0013] In an alternative embodiment, when the user's swinging foot touches the ground with the heel, a corresponding heel strike pulse will be generated. Determine the corresponding first response parameter and first pitch parameter according to the heel strike pulse, and adjust the preset sound resource based on the first response parameter and the first pitch parameter to obtain the corresponding first pulse conversion sound.

[0014] When the user's swinging foot reaches the flat-foot position, a corresponding flat-foot pulse will be generated. Determine the corresponding second response parameter and second pitch parameter according to the flat-foot pulse, and adjust the preset sound resource based on the second response parameter and the second pitch parameter to obtain the corresponding second pulse conversion sound.

[0015] In an alternative embodiment, the preset loudness formula is:

[0016]

[0017] where N is the loudness parameter, a is the overall volume adjustment coefficient, and F is the ground reaction force.

[0018] In an alternative embodiment, the preset pitch formula is:

[0019]

[0020] where T is the pitch parameter, t is the touchdown time, t1 is the initial touchdown time, t2 is the end touchdown time, b is the overall pitch adjustment coefficient, and F is the ground reaction force.

[0021] In an alternative embodiment, at least one pressure acquisition point is provided on each foot, and a pressure sensor is provided at each pressure acquisition point for acquiring the pressure data of the corresponding plantar position when the user is in different stepping states. The pressure data of the plantar surface includes heel pressure data and / or lateral longitudinal arch pressure data of the foot.

[0022] where the pressure sensor includes a first resistor, a first capacitor, a second resistor, an operational amplifier, a third resistor, a first filter capacitor, a fourth resistor, and a second capacitor.

[0023] One end of the first capacitor is respectively connected to the working voltage, one end of the first resistor, and one end of the second resistor, and the other ends of the first resistor and the first capacitor are both grounded.

[0024] The other end of the second resistor is connected to the positive input terminal of the operational amplifier. The negative input terminal of the operational amplifier is respectively connected to one end of the third resistor and one end of the fourth resistor. The power supply terminal of the operational amplifier is respectively connected to the working voltage and one end of the first filter capacitor. The ground terminal of the operational amplifier, the other end of the first filter capacitor, and the other end of the third resistor are all grounded;

[0025] The other end of the fourth resistor is respectively connected to the output terminal of the operational amplifier and one end of the second capacitor.

[0026] In a second aspect, the present invention provides a gait feedback implementation device, and the device includes:

[0027] An acquisition module, configured to acquire the pressure data of each foot sole of the user in real time through a pressure sensor;

[0028] A processing module, configured to perform real-time processing on a preset sound resource according to the pressure data to obtain corresponding gait sound information;

[0029] A playback module, configured to play the gait sound information so that the user can determine the stepping state at the corresponding moment according to the gait sound information.

[0030] In a third aspect, the present invention provides a terminal device, including a memory and a processor. The memory stores a computer program, and when the computer program runs on the processor, it executes the gait feedback implementation method described above.

[0031] In a fourth aspect, the present invention provides a readable storage medium, which stores a computer program, and when the computer program runs on a processor, it executes the gait feedback implementation method described above.

[0032] The beneficial effects of the embodiments of the present invention are:

[0033] The embodiments of the present application provide a gait feedback implementation method. This gait feedback implementation method acquires the pressure data of each foot sole of the user in real time through a pressure sensor, performs real-time processing on a preset sound resource according to the pressure data to obtain corresponding gait sound information, and plays the gait sound information so that the user can determine the stepping state at the corresponding moment according to the gait sound information. By helping the user perceive the stepping state and understand the situation of the center of gravity safely transferring to the supporting leg in real time, the present application can prevent the user from falling, and can better protect the user's privacy and free the hands by wearing earphones and other means, thereby improving the user's quality of life.

[0034] To make the above objects, features, and advantages of the present application more obvious and understandable, the following specifically enumerates preferred embodiments and, in conjunction with the accompanying drawings, makes a detailed description as follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] To more clearly illustrate the technical solution of the present invention, the following will briefly introduce the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present invention and should not be regarded as limiting the protection scope of the present invention. In each drawing, similar components are numbered similarly.

[0036] Figure 1 Fig. shows a schematic flow chart of a gait feedback implementation method proposed in an embodiment of the present application;

[0037] Figure 2 Fig. shows a schematic structural diagram of a pressure sensor in a gait feedback implementation method proposed in an embodiment of the present application;

[0038] Figure 3 Fig. shows a schematic structural diagram of a data communication interface circuit in a gait feedback implementation method proposed in an embodiment of the present application;

[0039] Figure 4 Fig. shows a schematic flow chart of determining gait sound information in a gait feedback implementation method proposed in an embodiment of the present application;

[0040] Figure 5 Fig. shows a schematic diagram of a double pulse in a gait feedback implementation method proposed in an embodiment of the present application;

[0041] Figure 6 Fig. shows a schematic structural diagram of a voice synthesis circuit in a gait feedback implementation method proposed in an embodiment of the present application;

[0042] Figure 7 Fig. shows a schematic structural diagram of a gait feedback implementation device provided in an embodiment of the present application.

[0043] Main element symbol description:

[0044] 10 - Gait feedback implementation device; 11 - Acquisition module; 12 - Processing module; 13 - Playback module. Detailed implementation manners

[0045] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments.

[0046] The components of the embodiments of the present invention that are generally described and illustrated in the accompanying drawings herein may be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0047] Hereinafter, the terms "comprising", "having" and their cognates that may be used in various embodiments of the present invention are only intended to indicate a specific feature, number, step, operation, element, component or combination of the foregoing items, and should not be construed as precluding the existence of one or more other features, numbers, steps, operations, elements, components or combinations of the foregoing items or the possibility of adding one or more features, numbers, steps, operations, elements, components or combinations of the foregoing items.

[0048] In addition, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and should not be construed as indicating or implying relative importance.

[0049] Unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as commonly understood by those of ordinary skill in the art to which the various embodiments of the present invention belong. The terms (such as those defined in a commonly used dictionary) will be construed to have the same meaning as the contextual meaning in the relevant technical field and will not be construed to have an idealized meaning or an overly formal meaning unless clearly defined in the various embodiments of the present invention.

[0050] Embodiment 1

[0051] Please refer to Figure 1 , an embodiment of the present application proposes a gait feedback implementation method. Exemplarily, the gait feedback implementation method includes steps S100 to S300.

[0052] Step S100: Real-time obtain the pressure data of each sole of the user through a pressure sensor.

[0053] In this application, at least one pressure acquisition point will be set on each foot of the user, and a pressure sensor will be set at each pressure acquisition point. That is, the pressure sensors are respectively set on the user's left foot and right foot. The pressure sensors can be set on the insole or sole of the user's shoes as the pressure acquisition points for collecting pressure data, or can be attached to the sole of the user's foot as the pressure acquisition points for collecting pressure data. Among them, the pressure acquisition points include, but are not limited to, the heel and the lateral longitudinal arch of each foot. When the user is walking, each pressure sensor will collect the pressure at the corresponding sole position of the pressure acquisition point when the user is in different stepping states, and obtain the corresponding pressure data. The pressure data of the sole can be heel pressure data, lateral longitudinal arch pressure data, and heel pressure data and lateral longitudinal arch pressure data, etc. In this application, the collected pressure data will also be uploaded to the processor through the data communication interface circuit. The processor can be a separate processing device, set on the user's shoes or insole, or can be set on the terminal device connected to the pressure sensor. For example, it can be set on mobile terminals such as mobile phones and tablets.

[0054] Among them, the human walking gait includes the double-support phase. That is, when one heel touches the ground, the pressure at the heel quickly reaches the first peak value from zero, and then gradually flattens the foot. The resultant force of the sole pressure decreases, and the pressure at the lateral longitudinal arch of the foot gradually increases. After the foot is flattened, the resultant force of the sole pressure will reach the second peak value, and this side of the limb can fully support the body weight. At the same time, the force on the sole of the other foot will transfer forward to the forefoot and gradually transition to toe-off. At this time, it is in the double-support phase, and the body center of gravity is safely transferred to the supporting leg, and the non-supporting leg swings and steps.

[0055] As Figure 2 shown, the pressure sensor includes a first resistor R1, a first capacitor C1, a second resistor R2, an operational amplifier U1, a third resistor R3, a first filter capacitor C2, a fourth resistor R4, and a second capacitor C3.

[0056] P2 is the interface of the pressure sensor. The second end of the interface P2 (corresponding to Figure 2 the 2 end of P2 in Figure 2 ) is connected to the 3.3V working voltage. One end of the first capacitor C1 is respectively connected to the first end of the interface P2 (corresponding to Figure 2 the 1 end of P2 in

[0057] ), one end of the first resistor R1, and one end of the second resistor R2. The other end of the first resistor R1 and the other end of the first capacitor C1 are both grounded.

[0057] The other end of the second resistor R2 is connected to the positive input terminal of the operational amplifier U1 (corresponding to Figure 2 the 3rd terminal of U1 in Figure 2 ), and the negative input terminal of the operational amplifier U1 (corresponding to Figure 2 Figure 2 the 4th terminal of U1 in Figure 2The 5th terminal of U1 is respectively connected to the operating voltage of 3.3V and one end of the first filter capacitor C2. The grounded terminal of the operational amplifier U1 (corresponding to Figure 2 the 2nd terminal of U1 in the text), the other end of the first filter capacitor C2 and the other end of the third resistor R3 are all grounded; the other end of the fourth resistor R4 is respectively connected to the output terminal of the operational amplifier U1 (corresponding to Figure 2 the 1st terminal of U1 in the text) and one end of the second capacitor C3. In addition, it is connected to the corresponding PA terminal of the main controller. Among them, the resistance value of the first resistor R1 can be 15 kΩ, the capacitance values of the first capacitor C1 and the second capacitor C3 can both be 100 pF, the resistance values of the second resistor R2, the third resistor R3 and the fourth resistor R4 can all be 1 kΩ, with an accuracy of 1%. The operational amplifier U1 can be an MCP6001 chip, and the capacitance value of the first filter capacitor C2 can be 0.1 μF. It can be understood that the above parameter values are only an example, and can be adjusted adaptively according to actual needs, which are not limited here.

[0058] As Figure 3 shown, the data communication interface circuit includes a communication chip U2, a second filter capacitor C4, a fifth resistor R5, a sixth resistor R6 and a seventh resistor R7. Among them, the communication chip U2 can be a MAX485 communication chip. The first pin of the communication chip U2 (corresponding to Figure 3 the 1st terminal of U2 in the text) is the RO terminal, which is connected to the RXD3 terminal of the main controller. The second pin (corresponding to Figure 3 the 2nd terminal of U2 in the text) is the / RE terminal, which is connected to the PB1 terminal of the main controller. The third pin (corresponding to Figure 3 the 3rd terminal of U2 in the text) is the DE terminal, which is directly connected to pin 2. The fourth pin (corresponding to Figure 3 the 4th terminal of U2 in the text) is the DI terminal, which is connected to the TXD3 of the main controller. The fifth pin (corresponding to Figure 3 the 5th terminal) is the grounded terminal, which is connected to GND. The sixth pin (corresponding to Figure 3 the 6th terminal of U2 in the text), the seventh pin (corresponding to Figure 3 the 7th terminal of U2 in the text) are respectively the data A and B terminals, which are the data inputs of the communication circuit. The eighth pin (corresponding to Figure 3 the 8th terminal of U2 in the text) is the VCC terminal, which is connected to the power supply VCC_485. The eighth pin is also connected to the second filter capacitor C4. The capacitance value of the second filter capacitor C4 is 100 nF, and the other end of the second filter capacitor C4 is grounded.

[0059] The A and B ends of the data are respectively connected to the third end and the first end of the interface terminal P7. The second end of the interface terminal P7 is the ground terminal, that is, it is connected to GND. The first end of the interface terminal P7 is connected to the sixth resistor R6. The sixth resistor R6 is a TVS tube, and the other end of the sixth resistor R6 is grounded; the third end of the interface terminal P7 is connected to the fifth resistor R5. The fifth resistor R5 is a TVS tube, and the other end of the fifth resistor R5 is grounded; both ends of the seventh resistor R7 are connected between the 3rd end and the 1st end of the interface terminal P7. The seventh resistor R7 is a TVS tube.

[0060] Step S200: Perform real-time processing on the preset sound resources according to the pressure data to obtain corresponding gait sound information.

[0061] It can be understood that people's perception of sound has three subjective auditory perception elements: loudness, pitch, and timbre. The subjective auditory perception elements are closely related to the objective physical quantities of sound waves: sound pressure, frequency, and spectral components. Among them, the loudness of sound is also called volume, and its size is determined by the amplitude of sound wave vibration. The pitch depends on the frequency. Timbre is also called tone quality, and the spectral components of sound waves determine the timbre. Therefore, in this application, the force of foot landing will be simulated in real time through the loudness of sound, that is, the ground reaction force will be simulated, and the impulse of foot touching the ground will be simulated in real time through the change of sound pitch. In addition, in this application, the change of ground reaction force can also be simulated only through the pitch.

[0062] In this application, the dynamic parameters include loudness parameters and pitch parameters. The preset sound resources are pre-set sound resources. The processor will process the received pressure data and use the processed pressure data as dynamic parameters to adjust the preset sound resources in real time, that is, the preset sound resources will be adjusted according to the loudness parameters and pitch parameters, so as to synthesize gait sound information reflecting the progress of the user's gait cycle.

[0063] In one implementation, as Figure 4 shown, step S200 includes sub-steps S210 to step S220.

[0064] Sub-step S210: Determine the corresponding ground reaction force according to the pressure data, and substitute the ground reaction force into the preset loudness formula and the preset pitch formula respectively to obtain corresponding dynamic parameters.

[0065] In this application, the pressure data can be heel pressure data, lateral longitudinal arch pressure data of the foot, etc. According to the respective pressure data of each sole of the user, the corresponding ground reaction force will be determined. For example, when the heel pressure data and the lateral longitudinal arch pressure data of the user are obtained, the corresponding ground reaction force will be determined based on the heel pressure data and the lateral longitudinal arch pressure data of the foot. In other words, the ground reaction force includes the heel pressure data and the lateral longitudinal arch pressure data of the user's sole. The ground reaction force corresponding to each foot of the user is respectively substituted into the preset loudness formula and the preset pitch formula to obtain the corresponding dynamic parameters, that is, the corresponding loudness parameter and pitch parameter are obtained. Among them, the loudness parameter changes with the sole pressure, and the pitch parameter changes with the foot touchdown impulse.

[0066] It can be understood that the sole reaction force range is 0 - 1200N, the sound pressure levels of the sound of leaves and quiet breathing are 10dB, and the sound pressure level of normal conversation is 40 - 60dB. By conversion and substitution into the initial loudness formula, the corresponding preset loudness formula will be obtained:

[0067]

[0068] In the formula, Lp is the sound pressure level, N is the loudness parameter, a is the overall volume adjustment coefficient, and F is the pressure data.

[0069] In addition, the sole impulse range is 0 - 10000N·S. The human ear can hear sounds in the range of 20 - 20000Hz, and the most sensitive sounds are in the range of 200 - 800Hz. After conversion and substitution into the initial pitch formula, the corresponding preset pitch formula is obtained, which is specifically as follows:

[0070]

[0071] In the formula, T is the pitch parameter in the dynamic parameters, f is the sound frequency, I is the foot touchdown impulse, t is the touchdown time, t1 is the initial touchdown time, t2 is the end touchdown time, b is the overall pitch adjustment coefficient, F is the ground reaction force, and the ground reaction force F includes but is not limited to the pressure data F1 at the heel and the lateral longitudinal arch pressure data F2 of the foot.

[0072] Sub-step S220: According to the dynamic parameters, the preset sound resources are adjusted in real time to obtain the corresponding gait sound information.

[0073] It can be understood that, in order to have certain advantages in terms of sound quality, running speed, performance consumption, etc., the preset sound resources can be in the form of sample materials, that is, the preset sound resources are selected according to the actual situation from the preset sound resource sample materials, that is, the basic timbre is determined, and the attributes such as loudness, pitch, and timbre of the preset sound resources are adjusted in real time according to dynamic parameters to obtain the corresponding gait sound information. In other words, taking the preset sound resources as the reference sound source, according to the sound parameter and pitch parameter calculated from the pressure data generated when the user walks, the loudness and pitch of the preset sound resources are adjusted according to the sound parameter and pitch parameter to obtain the gait sound information. It can be understood that when the user is in different stepping states, each pressure data is different, that is, the gait sound information is different. For example, when the user's heel touches the ground, a sudden pulse will be generated. At this time, the loudness of the adjusted gait sound information becomes larger, and the pitch will also change.

[0074] The preset sound resources can also be modulated by digital frequency modulation, and the prompt sounds are designed in multiple styles with different timbres for the user to choose from, so as to improve the user experience. Demonstratively, when the user's left and right feet, heel touches the ground, and foot is flat, different styles of prompt sounds can be selected according to needs. For example, when the user's left foot touches the ground, one style of prompt sound is selected, and when the right foot touches the ground, another style of prompt sound is selected.

[0075] Demonstratively, as Figure 5 shown, when each side of the user's leg touches the ground with the heel, a sudden pulse will be generated, and when the foot is flat, another sudden pulse will be generated. The peak values of the two pulses before and after, that is, the heel touch pulse and the foot flat pulse, reflect the ground reaction force pulses at different positions on the sole of the foot. The time difference between the two pulse signals is related to the user's foot length, step length, and walking speed, etc. Among them, the step length affects the foot flat angle, and the walking speed affects the impact force. Therefore, the user can determine whether the center of gravity has shifted to the safe area or whether the center of gravity has shifted outwards and lost balance by combining the changes in the sound loudness and pitch of the gait sound information, and determine the step length and walking speed through the speed and length of the gait sound information.

[0076] It can be understood that different pulses will be generated when the user is in different stepping states. That is, when the user's swinging foot touches the ground until the heel lands, two burst pulses will be generated. Different pulses correspond to different loudness and pitch. In this application, when the heel of one foot of the user lands, a corresponding heel strike pulse will be generated. According to the heel strike pulse, the corresponding first response parameter and the first pitch parameter are determined. Based on the first response parameter and the first pitch parameter, the preset sound resource is adjusted to obtain the corresponding first pulse conversion sound. In other words, the gait sound information is the first pulse conversion sound, that is, M1(N1,T1). When the user's foot on this side is flat, when the user's swinging foot reaches the flat position, a corresponding foot flat pulse will be generated. According to the foot flat pulse, the corresponding second response parameter and the second pitch parameter are determined. Based on the second response parameter and the second pitch parameter, the preset sound resource is adjusted to obtain the corresponding second pulse conversion sound. In other words, the gait sound information is the second pulse conversion sound, that is, M2(N2,T2). The gait sound information corresponding to the heel strike and foot flat of each side of the user's foot is a complete step sound, denoted as M(N,T). A complete step sound can be expressed as M(N,T)=M1(N1,T1)+M2(N2,T2).

[0077] Step S300: Play the gait sound information so that the user can determine the stepping state at the corresponding moment according to the gait sound information.

[0078] In this application, the stepping states include the heel strike state of the user's left foot, the foot flat state of the left foot, the heel strike state of the right foot, and the foot flat state of the right foot, etc. The processor will send the synthesized gait sound information to the player to play the received gait sound information through the player, so that the user can know the corresponding stepping state according to the gait sound information, that is, determine the stepping state of each foot of the user. For example, it is determined that the user's left foot is in the heel strike state. Among them, when the processor is set on the terminal device, the gait sound information will be directly played through the speaker of the terminal device, or the gait sound information will be played through the player such as headphones, speakers, and speakers connected to the terminal device; when the processor is a separate processing device, the player includes a voice synthesis circuit.

[0079] As Figure 6 shown, the voice synthesis circuit includes a storage chip U3, an audio decoding chip U4, an audio interface USB1, an eighth resistor R8, a ninth resistor R9, a tenth resistor R10, a third capacitor C5, a fourth capacitor C6, a fifth capacitor C8, a sixth capacitor C7, a seventh capacitor C13, a third filter capacitor C11, a fourth filter capacitor C12, a fifth filter capacitor C9, and a sixth filter capacitor C10.

[0080] In this application, the storage chip U3 is a flash chip, which can be a W25Q64 chip. The audio decoding chip U4 can be a YS6525 chip. The audio interface USB1 is for audio update. The MP3 file or WAV file to be played will be copied to the storage chip U3 through the audio interface USB1. The audio interface USB1 will be connected to a computer and simulate a USB flash drive to achieve this. Specifying the audio decoding chip U4 to decode the file will play the corresponding gait sound information.

[0081] Pin 1 of the audio decoding chip U4 is the DACL terminal, which is connected to the third capacitor C5. The capacitance value of the third capacitor C5 can be 10 μF. Pin 2 of the audio decoding chip U4 is the DACR terminal, which is connected to the fourth capacitor C6. The capacitance value of the fourth capacitor C6 can be 10 μF. The other ends of the third capacitor C5 and the fourth capacitor C6 are connected to the speaker J1. The grounding terminal of the speaker J1 is grounded. The speaker J1 includes but is not limited to headphones, speakers, etc. Pin 3 of the audio decoding chip U4 is the V33_OUT terminal, which is connected to a 3V voltage. Pin 4 of the audio decoding chip U4 is the LDO5 terminal, which is connected to a 5V voltage. Pin 5 of the audio decoding chip U4 is the VSSIO terminal, which is grounded. Pin 6 of the audio decoding chip U4 is the P23 / 4 terminal, which is connected to one end of the eighth resistor R8. Pin 7 of the audio decoding chip U4 is the P25 terminal, which is connected to one end of the ninth resistor R9. The resistance values of the eighth resistor R8 and the ninth resistor R9 can both be 10 KΩ. The other ends of the eighth resistor R8 and the ninth resistor R9 are respectively connected to the RXD and TXD terminals of the main controller. The RXD and TXD terminals are the audio input and output interfaces of the main controller. Pins 8, 9, 10, and 11 of the audio decoding chip U4 are left floating. Pin 12 of the audio decoding chip U4 is the P16 terminal, which is connected to the PSPI_CS terminal of the storage chip U3. Pin 13 of the audio decoding chip U4 is the P01 terminal, which is connected to the SPI_DIO terminal of the storage chip U3. Pin 14 of the audio decoding chip U4 is the P00 terminal, which is connected to the SPI_SCK terminal of the storage chip U3. Pins 15, 16, 17, 18, and 19 of the audio decoding chip U4 are left floating. Pin 20 of the audio decoding chip U4 is the USB / DM terminal, which is connected to the USB_DM terminal of the audio interface USB1. Pin 21 of the audio decoding chip U4 is the USB / DP terminal, which is connected to the USB_DP terminal of the audio interface USB1. Pin 22 of the audio decoding chip U4 is the RTCVDD terminal, which is connected to one end of the fifth capacitor C8. The capacitance value of the fifth capacitor C8 can be 1 μF. The other end of the fifth capacitor C8 is grounded. Pin 23 of the audio decoding chip U4 is the VCOM terminal, which is connected to one end of the sixth capacitor C7. The capacitance value of the sixth capacitor C7 is 1 μF. The other end of the sixth capacitor C7 is grounded. Pin 24 of the audio decoding chip U4 is the DACVSS terminal, which is grounded.

[0082] There are two filter capacitors between the 3V voltage and the ground GND, namely the third filter capacitor C11 and the fourth filter capacitor C12. The third filter capacitor C11 is a 104 capacitor, and the fourth filter capacitor C12 is a 106 capacitor. There are two filter capacitors between the 5V voltage and the ground GND, namely the fifth filter capacitor C9 and the sixth filter capacitor C10. The fifth filter capacitor C9 is a 104 capacitor, and the sixth filter capacitor C10 is a 106 capacitor.

[0083] Pin 1 of the storage chip U3 is the enable terminal / CS, connected to PSPI_CS. Pin 2 of the storage chip U3 is the SO terminal, connected to one end of the tenth resistor R10. The resistance value of the tenth resistor R10 is 100Ω. The other end of the tenth resistor R10 is connected to pin 5 of the storage chip U3. Pin 5 of the storage chip U3 is the SI terminal, connected to SPI_DIO. Pin 6 of the storage chip U3 is the SCK terminal, connected to SPI_SCK. Pin 7 of the storage chip U3 is the high-level maintenance terminal / HOLD. Pin 8 of the storage chip U3 is the power supply terminal VCC. Pin 8 of the storage chip U3 is connected to the 3V voltage. After pin 8 of the storage chip U3 is connected to pin 7 of the storage chip U3, it is then connected to one end of the seventh capacitor C13. The seventh capacitor C13 is a 104 capacitor, and the other end of the seventh capacitor C13 is grounded.

[0084] The audio interface USB1 is a USB interface. Pin 1 of the audio interface USB1 is the GND terminal, grounded. Pin 4 of the audio interface USB1 is the power supply terminal VCC, connected to VCC. Pin 2 of the audio interface USB1 is the UD+ terminal, connected to USB_DP. Pin 3 of the audio interface USB1 is the UD- terminal, connected to USB_DM. It can be understood that the above parameter sizes are only examples, and can be adjusted adaptively according to actual needs, which are not limited here.

[0085] In this application, by obtaining the pressure data of each sole in real time, it can help the user perceive the stepping state through different gait sound information, and understand the situation of the user's center of gravity safely transferring to the supporting leg in real time, so as to keep the knee joint of the supporting leg stable for the user, thereby preventing falling due to weak knees and preventing falling due to excessive outward movement of the center of gravity. The user will also perform toe-off and swinging steps of the non-supporting leg to successfully transfer the center of gravity, complete a step, and repeat in a cycle to realize the normal walking of the user, thereby improving the user's quality of life, and can better protect the user's privacy and liberate the user's hands by wearing headphones and other means.

[0086] Based on the gait feedback implementation method of the above embodiment Figure 7 The structural schematic diagram of a gait feedback implementation device 10 provided by an embodiment of the present application is shown. The gait feedback implementation device 10 includes:

[0087] An acquisition module 11 for obtaining, in real time via a pressure sensor, the pressure data of each sole of a user;

[0088] A processing module 12 for processing, in real time, a preset sound resource according to the pressure data to obtain corresponding gait sound information;

[0089] A playback module 13 for playing the gait sound information so that the user can determine the stepping state at the corresponding moment according to the gait sound information.

[0090] The gait feedback implementation device 10 of this embodiment is used to execute the gait feedback implementation method of the above embodiment. The implementation solutions and beneficial effects involved in the above embodiment are equally applicable in this embodiment and will not be elaborated here.

[0091] An embodiment of the present application further provides a terminal device, including a memory and a processor. The memory stores a computer program, and when the computer program runs on the processor, it executes the above-mentioned gait feedback implementation method.

[0092] An embodiment of the present application further provides a readable storage medium, which stores a computer program. When the computer program is executed on a processor, it implements the above-mentioned gait feedback implementation method.

[0093] In several embodiments provided by the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely illustrative. For example, the flowcharts and structure diagrams in the accompanying drawings show the possible architectures, functions, and operations of devices, methods, and computer program products according to multiple embodiments of the present invention. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, and the module, program segment, or part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in an alternative implementation, the functions marked in the blocks may occur in a different order from that marked in the accompanying drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the structure diagram and / or flowchart, as well as the combination of blocks in the structure diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0094] In addition, in each embodiment of the present invention, the various functional modules or units may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0095] When the above-mentioned functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a smart phone, a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs.

[0096] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered by the protection scope of the present invention.

Claims

1. A gait feedback implementation method, characterized in that, The method includes: Obtaining the pressure data of each user's sole in real time through a pressure sensor; Performing real-time processing on a preset sound resource according to the pressure data to obtain corresponding gait sound information, including: Determining the corresponding ground reaction force according to the pressure data, and substituting the ground reaction force into a preset loudness formula and a preset pitch formula respectively to obtain corresponding dynamic parameters; wherein, the dynamic parameters include a loudness parameter and a pitch parameter, and the ground reaction force is simulated through the loudness parameter, and the foot touchdown impulse is simulated through the pitch parameter; Performing real-time adjustment on the preset sound resource according to the dynamic parameters to obtain corresponding gait sound information, including: Adjusting the loudness and pitch of the preset sound resource respectively based on the loudness parameter and the pitch parameter to obtain adjusted sound data as the gait sound; playing the gait sound information so that the user can determine the stepping state at the corresponding moment according to the gait sound information.

2. The gait feedback implementation method according to claim 1, wherein When the user's swinging foot touches the ground with the heel, a corresponding heel touchdown pulse will be generated, determining corresponding first response parameters and a first pitch parameter according to the heel touchdown pulse, and adjusting the preset sound resource based on the first response parameters and the first pitch parameter to obtain a corresponding first pulse conversion sound; When the user's swinging foot is flat on the ground, a corresponding foot flat pulse will be generated, determining corresponding second response parameters and a second pitch parameter according to the foot flat pulse, and adjusting the preset sound resource based on the second response parameters and the second pitch parameter to obtain a corresponding second pulse conversion sound.

3. The gait feedback implementation method according to claim 1, wherein The preset loudness formula is: Wherein, N is the loudness parameter, a is the overall volume adjustment coefficient, and F is the ground reaction force.

4. The gait feedback implementation method according to claim 1, characterized in that, The preset pitch formula is: Wherein, T is the pitch parameter, t is the touchdown time, t1 is the initial touchdown time, t2 is the end touchdown time, b is the overall pitch adjustment coefficient, and F is the ground reaction force.

5. The gait feedback implementation method according to claim 1, characterized in that At least one pressure acquisition point is provided on each foot, and a pressure sensor is provided at each pressure acquisition point for collecting the pressure data of the corresponding sole position when the user is in different stepping states, and the pressure data of the sole includes heel pressure data and / or lateral longitudinal arch pressure data of the foot; Wherein, the pressure sensor includes a first resistor, a first capacitor, a second resistor, an operational amplifier, a third resistor, a first filter capacitor, a fourth resistor and a second capacitor; One end of the first capacitor is respectively connected to the working voltage, one end of the first resistor and one end of the second resistor, and the other ends of the first resistor and the first capacitor are both grounded; The other end of the second resistor is connected to the positive input terminal of the operational amplifier, the negative input terminal of the operational amplifier is respectively connected to one end of the third resistor and one end of the fourth resistor, the power supply terminal of the operational amplifier is respectively connected to the working voltage and one end of the first filter capacitor, and the ground terminal of the operational amplifier, the other end of the first filter capacitor and the other end of the third resistor are all grounded; The other end of the fourth resistor is respectively connected to the output terminal of the operational amplifier and one end of the second capacitor.

6. A gait feedback implementation device, characterized in that, The device includes: An acquisition module, configured to acquire the pressure data of each user's sole in real time through a pressure sensor; A processing module, configured to perform real-time processing on a preset sound resource according to the pressure data to obtain corresponding gait sound information, including: Determining a corresponding ground reaction force according to the pressure data, and substituting the ground reaction force into a preset loudness formula and a preset pitch formula respectively to obtain corresponding dynamic parameters; Performing real-time adjustment on the preset sound resource according to the dynamic parameters to obtain corresponding gait sound information; Wherein, the dynamic parameters include a loudness parameter and a pitch parameter, the ground reaction force is simulated by the loudness parameter, and the foot touchdown impulse is simulated by the pitch parameter. The performing real-time adjustment on the preset sound resource according to the dynamic parameters to obtain corresponding gait sound information includes: Adjusting the loudness and pitch of the preset sound resource respectively based on the loudness parameter and the pitch parameter to obtain adjusted sound data as the gait sound; A playback module, configured to play the gait sound information so that the user can determine the stepping state at the corresponding moment according to the gait sound information.

7. A terminal device, characterized in that, It includes a memory and a processor. The memory stores a computer program, and when the computer program runs on the processor, it executes the gait feedback implementation method according to any one of claims 1 to 5.

8. A readable storage medium, characterized in that, It stores a computer program, and when the computer program runs on the processor, it executes the gait feedback implementation method according to any one of claims 1 to 5.

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