Intelligent insole for analyzing gait through magnetic beads

Abstract

The invention discloses an intelligent insole for analyzing gaits through magnetic beads, and relates to the technical field of rehabilitation. According to the specific implementation scheme, the shoe pad comprises a shoe pad body, a magnetic field signal acquisition module, a power management module, a main control module, a Bluetooth communication module and an upper computer; the power management module supplies power to the magnetic field signal acquisition module, the master control module sends data information acquired by the magnetic field signal acquisition module to the upper computer through the Bluetooth communication module, and the upper computer receives the data information and calculates and obtains magnetic field change according to a built-in machine learning algorithm so as to obtain distance change from the magnetic beads to the sensor. Current gait information is obtained and displayed based on the change of the distance from the magnetic beads to the sensor. The magnetic beads and the magnetic field array sensor are adopted for gait analysis, the magnetic bead distance change caused by plantar pressure is extracted through the insole body, the machine learning model is built, the information is input into the machine learning model to comprehensively evaluate and analyze the gait, and complete gait information can be rapidly analyzed.

Description

Technical Field

[0001] The present invention relates to the technical field of smart insoles, and in particular to a smart insole for analyzing gait using magnetic beads. Background Art

[0002] The demand for gait analysis technology in the field of rehabilitation is growing, especially in rehabilitation therapy and rehabilitation training. Understanding and monitoring the patient's gait changes is crucial for evaluating treatment effects and guiding rehabilitation plans. Traditional gait assessment methods are often limited by professional equipment and clinical environments, and cannot achieve long-term monitoring and tracking.

[0003] However, most existing solutions transmit plantar pressure information through pressure sensors distributed on the surface of the insole. The force sensor can only transmit plantar pressure information. The data obtained by this solution is relatively single, and it is difficult to fully analyze the complete gait information, resulting in a relatively one-sided analysis result. Summary of the invention

[0004] Based on this, the present invention provides a smart insole that uses magnetic beads to analyze gait in order to solve the problem that it is difficult to fully analyze complete gait information in the prior art.

[0005] The present invention provides a smart insole for analyzing gait using magnetic beads, comprising:

[0006] An insole body, a magnetic field signal acquisition module, a power management module, a main control module, a Bluetooth communication module and a host computer, wherein the magnetic field signal acquisition module, the power management module, the main control module and the Bluetooth communication module are all arranged in the insole body;

[0007] The power management module supplies power to the magnetic field signal acquisition module, and the main control module sends the data information collected by the magnetic field signal acquisition module to the host computer through the Bluetooth communication module. The host computer receives the data information and calculates the magnetic field change according to the built-in machine learning algorithm to obtain the distance change from the magnetic bead to the sensor, and obtains the current gait information based on the distance change from the magnetic bead to the sensor and displays it.

[0008] The magnetic field signal acquisition module uses 96 LIS3MDL magnetic field array sensors, and the magnetic field array sensor is connected to the main control module via an I2C communication method.

[0009] include,

[0010] A plurality of magnetic beads are embedded in the insole body, and 96 LIS3MDL magnetic field array sensors are implanted at a depth of less than 2 mm from the magnetic beads. The magnetic field array sensors are used to detect the magnetic field strength and direction of the magnetic beads to obtain the change in the distance from the magnetic beads to the sensors.

[0011] When the insole is at rest, the magnetic beads are embedded into the insole body according to the magnetic bead separation distance threshold.

[0012] The maximum force experienced between the two magnetic beads is solved according to the electromagnetic induction force between the two magnetic beads, the empirical separation distance threshold and the maximum resistance, and the separation distance threshold between the new magnetic beads is obtained.

[0013] The electromagnetic induction force F between the two magnetic beads is calculated as follows:

[0014] Assume that the distance between two spherical magnetic beads with the same geometric shape and magnetic moments m1 and m2 is d, and the directions of the two magnetic beads are aligned. The electromagnetic induction force F between the two magnetic beads is,

[0015]

[0016] Where μ0 represents the magnetic permeability of free space and π represents the circumference of a circle.

[0017] The implantation is based on the empirical separation distance threshold d0, and the magnetic head pair of magnetic beads m1 and m2 does not migrate. The maximum resistance of the elastic limit of the insole material during the entire study period is set to c. The maximum force F experienced between the magnetic beads during the entire study period is max for,

[0018]

[0019] Given two new magnetic beads with the same geometry and new magnetic moments m1' and m2', a new separation distance threshold d'0 is set. The relationship between the maximum force and the new separation distance threshold is:

[0020]

[0021] m1' = am1;

[0022] m2' = bm2;

[0023] Wherein, a and b represent the proportional factors of the magnetic moments of the new magnetic beads m1' and m2' respectively.

[0024] The new separation distance threshold d'0 is calculated as,

[0025]

[0026] When the magnetic beads are implanted so that the distance between the magnetic beads is less than d'0, the magnetic beads are subjected to magnetic induction force, thus affecting gait detection and analysis;

[0027] When the magnetic beads are implanted so that the distance between the magnetic beads is greater than d'0, the magnetic bead pair is not affected by the magnetic induction force.

[0028] Beneficial effects: The present invention uses magnetic beads and magnetic field array sensors to perform gait analysis, extracts the change in magnetic bead distance caused by plantar pressure through the insole body, builds a machine learning model, and inputs the above information into the machine learning model to comprehensively evaluate and analyze the gait, which can quickly parse out complete gait information.

[0029] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings are used to better understand the present invention and do not constitute a limitation of the present invention.

[0031] Figure 1 is a structural block diagram of a smart insole provided according to the present invention;

[0032] Figure 2 1. is a schematic diagram of the pins of the LIS3MDL array sensor provided by the present invention;

[0033] Figure 3 is a schematic diagram of a 6×8 induction board provided according to the present invention;

[0034] Figure 4 is a schematic diagram of a lattice insole provided according to the present invention;

[0035] Figure 5 The figure is a schematic diagram of the structure of the insole provided according to the present invention. DETAILED DESCRIPTION

[0036] The following is a description of exemplary embodiments of the present invention in conjunction with the accompanying drawings, including various details of the embodiments of the present invention to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present invention. Similarly, for clarity and conciseness, the description of well-known functions and structures is omitted in the following description.

[0037] like Figure 1 As shown, the present invention provides a smart insole for analyzing gait using magnetic beads, comprising:

[0038] An insole body, a magnetic field signal acquisition module, a power management module, a main control module, a Bluetooth communication module and a host computer, wherein the magnetic field signal acquisition module, the power management module, the main control module and the Bluetooth communication module are all arranged in the insole body;

[0039] The power management module supplies power to the magnetic field signal acquisition module, and the main control module sends the data information collected by the magnetic field signal acquisition module to the host computer through the Bluetooth communication module. The host computer receives the data information and calculates the magnetic field change according to the built-in machine learning algorithm to obtain the distance change from the magnetic bead to the sensor, and obtains the current gait information based on the distance change from the magnetic bead to the sensor and displays it. The main control module uses an STM32 microcontroller as the main control, and 96 LIS3MDL array sensors (such as Figure 2 The magnetic bead distance display is written by Qt software.

[0040] The main control module is used to receive the collected signal of the analyzed magnetic beads and transmit it to the host computer through the first Bluetooth communication module.

[0041] The Bluetooth module includes a first Bluetooth module and a second Bluetooth module. The main control module sends data information to the second Bluetooth module through the first Bluetooth module, and the host computer obtains the data information through the second Bluetooth module and processes the data information.

[0042] The host computer includes a magnetic bead distance display module, a gait analysis module and a second Bluetooth module. The magnetic bead distance display module is used to display the change trend of human muscle tissue. The gait analysis module is used to display the patient's gait cycle, stride, speed, support phase duration, swing phase duration, load distribution, posture stability and other gait information.

[0043] The magnetic field signal acquisition module uses 96 LIS3MDL magnetic field array sensors, and the magnetic field array sensor is connected to the main control module via an I2C communication method.

[0044] In order to track the position of the magnet and adapt to the shape of the shoe, the present application uses two sensor arrays with a grid size of 6×8 (eg Figure 3 shown) were implanted at a depth of less than 2 mm from the magnetic beads.

[0045] A plurality of magnetic beads are embedded in the insole body, and 96 LIS3MDL magnetic field array sensors are implanted at a depth of less than 2 mm from the magnetic beads. The magnetic field array sensors are used to detect the magnetic field strength and direction of the magnetic beads to obtain the change in the distance from the magnetic beads to the sensors.

[0046] When the insole is at rest, the magnetic beads are embedded into the insole body according to the magnetic bead separation distance threshold.

[0047] The maximum force experienced between the two magnetic beads is solved according to the electromagnetic induction force between the two magnetic beads, the empirical separation distance threshold and the maximum resistance, and the separation distance threshold between the new magnetic beads is obtained.

[0048] The electromagnetic induction force F between the two magnetic beads is calculated as follows:

[0049] Assume that the distance between two spherical magnetic beads with the same geometric shape and magnetic moments m1 and m2 is d, and the directions of the two magnetic beads are aligned. The electromagnetic induction force F between the two magnetic beads is,

[0050]

[0051] Where μ0 represents the magnetic permeability of free space and π represents the circumference of a circle.

[0052] The implantation is based on the empirical separation distance threshold d0, and the magnetic head pair of magnetic beads m1 and m2 does not migrate. The maximum resistance of the elastic limit of the insole material during the entire study period is set to c. The maximum force F experienced between the magnetic beads during the entire study period is max for,

[0053]

[0054] Given two new magnetic beads with the same geometry and new magnetic moments m1' and m2', a new separation distance threshold d'0 is set. The relationship between the maximum force and the new separation distance threshold is:

[0055]

[0056] m1' = am1;

[0057] m2' = bm2;

[0058] Wherein, a and b represent the proportional factors of the magnetic moments of the new magnetic beads m1' and m2' respectively.

[0059] The new separation distance threshold d'0 is calculated as,

[0060]

[0061] When the magnetic beads are implanted so that the distance between the magnetic beads is less than d'0, the magnetic beads are subjected to magnetic induction force, thus affecting gait detection and analysis;

[0062] When the magnetic beads are implanted so that the distance between the magnetic beads is greater than d'0, the magnetic bead pair is not affected by the magnetic induction force.

[0063] like Figure 4As shown, the insole body of the present invention is composed of a cascade of regular tetradecahedral lattices. The tetradecahedral porous structure is composed of a plurality of tetradecahedral units tightly stacked, and these units are interconnected by shared faces, edges or vertices. The tetradecahedral porous structure has a high porosity and specific surface area, and its compressive resistance is relatively weak. When subjected to pressure, the pores in the structure will be compressed and deformed, thereby absorbing part of the energy and playing a role in buffering and shock absorption. Through this structural characteristic, good support, buffering and shock absorption effects and sensor integration can be achieved.

[0064] like Figure 5 As shown, the insole body of the present invention includes an upper surface suede cloth T1, a supporting structure thermoplastic polyurethane lattice T2, magnetic beads T3, a filling layer hydrogel T4, an array sensor placement grid T5, an intelligent gait analysis mechanism T6, and a bottom support layer carbon fiber reinforced polymer T7.

[0065] The velvet surface T1 is the upper surface of the smart insole. It uses fiber velvet to be hot-pressed and fixed on the top of the insole to provide a comfortable contact surface, while absorbing sweat and moisture to prevent the impact on impedance detection; the thermoplastic polyurethane lattice T2 is made into a regular tetradecahedron lattice connector by injection molding, which provides support and structural stability for the insole, so that it can withstand the pressure and weight during walking; the magnetic beads T3 are implanted in the thermoplastic polyurethane lattice T2, and the distance between each magnetic bead is extracted and calculated to reserve the position space; the sensor placement slot T5 is reserved in the insole design stage, and the installation slot is made by precise cutting and processing. It is used to place the magnetic field array sensor to realize the collection of gait information; the hydrogel T4 is filled in the gap of the thermoplastic polyurethane lattice by injection molding and fixed by hot pressing, providing additional comfort and cushioning effect, while reducing the impact and pressure on the foot during walking, and reducing the pressure on the foot; the gait analysis mechanism T6 includes a Bluetooth communication module, a main control module, a power management module and a magnetic field signal acquisition module integrated on a flexible PCB. Carbon fiber reinforced polymer T7 is combined with the polymer matrix through injection molding compression to provide strength and durability for the smart insole, while ensuring lightweight while increasing stability and compression resistance.

[0066] The filling layer of the insole, hydrogel T4, is made of PVA / CMC conductive hydrogel with good elasticity and softness and a silicone elastomer, ensuring comfortable protection when worn.

[0067] The insole body is made of thermoplastic polyurethane material with a lattice structure as the main body, and hydrogel is filled in the lattice structure to provide comfort and support for the insole. Part of the insole is hollowed out to embed a magnetic field array sensor and a micro-control circuit. A velvet surface structure is covered on the upper surface of the insole to improve foot comfort and reduce wear. A layer of carbon fiber reinforced polymer (CFRP) is covered on the bottom layer of the insole as a high-strength and wear-resistant bottom surface.

[0068] The smart insole for gait analysis based on the magnetic bead method provided by the present invention is equipped with a magnetic field array sensor to ensure that comprehensive and accurate gait information of the patient can be collected when walking in a variety of environments. At the same time, the insole structure is optimized, and the lattice structure made of thermoplastic polyurethane is used to increase softness and comfort. While achieving gait analysis, the patient's use experience is improved and the rehabilitation effect is improved.

[0069] The smart insole can accurately identify gait parameters such as gait cycle, stride, gait speed, support phase, swing phase duration, plantar load distribution, gait symmetry, postural stability, dynamic balance and energy consumption, and then evaluate the patient's gait rehabilitation.

[0070] In the design of the insole body, we optimized the materials and structure, using thermoplastic polyurethane material to form a lattice structure and filling the lattice with hydrogel as a supporting layer, thus giving the insole excellent elasticity, flexibility, wear resistance and processability, making it an ideal carrier for implanted sensors and small circuits.

[0071] In the several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of the modules or units is only a logical function division, and there may be other division methods in actual implementation, for example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed.

[0072] The units may or may not be physically separated, and the components displayed as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0073] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0074] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present invention is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store program codes.

[0075] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A smart insole for analyzing gait using magnetic beads, characterized in that: include: An insole body, a magnetic field signal acquisition module, a power management module, a main control module, a Bluetooth communication module and a host computer, wherein the magnetic field signal acquisition module, the power management module, the main control module and the Bluetooth communication module are all arranged in the insole body; The power management module supplies power to the magnetic field signal acquisition module, and the main control module sends the data information collected by the magnetic field signal acquisition module to the host computer through the Bluetooth communication module. The host computer receives the data information and calculates the magnetic field change according to the built-in machine learning algorithm to obtain the distance change from the magnetic bead to the sensor, and obtains the current gait information based on the distance change from the magnetic bead to the sensor and displays it.

2. The smart insole for analyzing gait using magnetic beads according to claim 1, characterized in that: The magnetic field signal acquisition module uses 96 LIS3MDL magnetic field array sensors, and the magnetic field array sensor is connected to the main control module via I2C communication.

3. The smart insole for analyzing gait using magnetic beads according to claim 2, characterized in that: include, A plurality of magnetic beads are embedded in the insole body, and 96 LIS3MDL magnetic field array sensors are implanted at a depth of less than 2 mm from the magnetic beads. The magnetic field array sensors are used to detect the magnetic field strength and direction of the magnetic beads to obtain the change in the distance from the magnetic beads to the sensors.

4. The smart insole for analyzing gait using magnetic beads according to claim 3, characterized in that: When the insole is at rest, the magnetic beads are embedded into the insole body according to the magnetic bead separation distance threshold.

5. The smart insole for analyzing gait using magnetic beads according to claim 4, characterized in that: The maximum force experienced between the two magnetic beads is solved according to the electromagnetic induction force between the two magnetic beads, the empirical separation distance threshold and the maximum resistance, and the separation distance threshold between the new magnetic beads is obtained.

6. The smart insole for analyzing gait using magnetic beads according to claim 5, characterized in that: The electromagnetic induction force F between the two magnetic beads is calculated as follows: Assume that the distance between two spherical magnetic beads with the same geometric shape and magnetic moments m1 and m2 is d, and the directions of the two magnetic beads are aligned. The electromagnetic induction force F between the two magnetic beads is, Where μ0 represents the magnetic permeability of free space and π represents the circumference of a circle.

7. The smart insole for analyzing gait using magnetic beads according to claim 6, characterized in that: The implantation is based on the empirical separation distance threshold d0, and the magnetic head pair of magnetic beads m1 and m2 does not migrate. The maximum resistance of the elastic limit of the insole material during the entire study period is set to c. The maximum force F experienced between the magnetic beads during the entire study period is max for, Given two new magnetic beads with the same geometry and new magnetic moments m1' and m2', a new separation distance threshold d'0 is set. The relationship between the maximum force and the new separation distance threshold is: m1' = am1; m2' = bm2; Wherein, a and b represent the proportional factors of the magnetic moments of the new magnetic beads m1' and m2', respectively.

8. The smart insole for analyzing gait using magnetic beads according to claim 7, characterized in that: The new separation distance threshold d'0 is calculated as, When the magnetic beads are implanted so that the distance between the magnetic beads is less than d'0, the magnetic beads are subjected to magnetic induction force, thus affecting gait detection and analysis; When the magnetic beads are implanted so that the distance between the magnetic beads is greater than d'0, the magnetic bead pair is not affected by the magnetic induction force.

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