Gait analysis and rehabilitation monitoring system for stroke patients based on wearable devices

Abstract

The present invention relates to the field of data processing technology, and in particular to a gait analysis and rehabilitation monitoring system for stroke patients based on wearable devices, comprising a data acquisition module for acquiring gait information of at least two gait cycles of a stroke patient during any rehabilitation training of the stroke patient; a data analysis module for obtaining a gait symmetry index of each gait cycle according to a gait information difference between a left foot and a right foot in each gait cycle, and obtaining a gait stability index during rehabilitation training according to a gait symmetry index difference and a gait information difference between every two adjacent gait cycles; a rehabilitation evaluation module for obtaining a rehabilitation evaluation index of the stroke patient during rehabilitation training according to a gait symmetry index difference and a gait stability index difference between the stroke patient during rehabilitation training and the last rehabilitation training, and evaluating the rehabilitation level of the stroke patient according to the rehabilitation evaluation index.

Description

Technical Field

[0001] The present invention relates to the technical field of data processing, and in particular to a gait analysis and rehabilitation monitoring system for stroke patients based on wearable devices. Background Art

[0002] Combining technologies in the fields of sensing technology, medical rehabilitation, data analysis and mobile health management, wearable devices are used to analyze the gait of stroke patients, help stroke patients evaluate their rehabilitation progress, provide real-time feedback, and propose treatment plans for further rehabilitation training of stroke patients.

[0003] The existing technology for gait analysis and rehabilitation monitoring of stroke patients evaluates the rehabilitation level of stroke patients based on a single rehabilitation assessment indicator set during the rehabilitation training process, such as the walking distance within a fixed time. However, the degree of stroke and gait characteristics of different patients vary greatly, and the applicability of a single rehabilitation assessment indicator to the assessment effect of different individual patients varies. There is a lack of personalized analysis of the stroke condition of each stroke patient, resulting in poor accuracy in the assessment of the rehabilitation level of stroke patients.

[0004] Therefore, how to conduct personalized analysis of the gait of stroke patients and adaptively obtain rehabilitation assessment indicators for stroke patients in order to improve the accuracy of assessing the rehabilitation level of stroke patients has become an urgent problem to be solved. Summary of the invention

[0005] In view of this, an embodiment of the present invention provides a gait analysis and rehabilitation monitoring system for stroke patients based on wearable devices to solve the problem of how to perform personalized analysis on the gait of stroke patients and adaptively obtain rehabilitation assessment indicators for stroke patients to improve the accuracy of assessing the rehabilitation level of stroke patients.

[0006] An embodiment of the present invention provides a gait analysis and rehabilitation monitoring system for stroke patients based on a wearable device, comprising:

[0007] A data acquisition module, used for acquiring gait information of at least two gait cycles of the stroke patient in any rehabilitation training of the stroke patient through a wearable device;

[0008] A data analysis module, for obtaining a gait symmetry index of each gait cycle during the rehabilitation training according to a gait information difference between the left foot and the right foot in each gait cycle, and obtaining a gait stability index during the rehabilitation training according to a gait symmetry index difference and a gait information difference between every two adjacent gait cycles;

[0009] The rehabilitation assessment module is used to obtain the rehabilitation assessment index of the stroke patient during the rehabilitation training according to the difference in gait symmetry index and gait stability index of the stroke patient between the rehabilitation training and the last rehabilitation training, and to evaluate the rehabilitation level of the stroke patient according to the rehabilitation assessment index.

[0010] Furthermore, the gait information in the data acquisition module includes:

[0011] The left pressure value sequence and the right pressure value sequence of the left foot and the right foot respectively in the stance phase, the left acceleration sequence and the right acceleration sequence in the stepping phase, and the duration of each step of the left and right feet.

[0012] Furthermore, the data analysis module obtains the gait symmetry index of each gait cycle in the rehabilitation training process according to the gait information difference between the left foot and the right foot in each gait cycle, including:

[0013] For any gait cycle, according to the left acceleration sequence and the right acceleration sequence corresponding to the gait cycle, the absolute value of the difference between the acceleration value of each position in the left acceleration sequence and the acceleration value of the corresponding position in the right acceleration sequence is calculated to obtain the acceleration difference index of the corresponding position, and the number of the acceleration difference index is the minimum value between the number of elements included in the left acceleration sequence and the number of elements included in the right acceleration sequence;

[0014] Accumulating all acceleration difference indices to obtain an acceleration difference accumulation value, normalizing the reciprocal of the acceleration difference accumulation value to obtain the acceleration similarity of the gait cycle;

[0015] According to the left pressure value sequence and the right pressure value sequence corresponding to the gait cycle, all pressure difference indicators corresponding to the gait cycle are obtained, all pressure difference indicators are accumulated to obtain a pressure difference accumulated value, and the reciprocal of the pressure difference accumulated value is normalized to obtain the pressure similarity of the gait cycle;

[0016] A gait symmetry index of the gait cycle is obtained according to the acceleration similarity, the pressure similarity, and the duration of each step of the left and right feet in the gait cycle.

[0017] Furthermore, the data analysis module obtains a gait symmetry index of the gait cycle according to the acceleration similarity, the pressure similarity, and the duration of each step of the left and right feet in the gait cycle, including:

[0018] In the gait cycle, calculating the time difference between the time it takes for the left foot to complete a step and the time it takes for the right foot to complete a step;

[0019] The acceleration similarity is added to the pressure similarity, and the result of the addition is multiplied by the inverse of the time difference to obtain a gait symmetry index of the gait cycle.

[0020] Furthermore, the data analysis module obtains a gait stability index during the rehabilitation training according to the gait symmetry index difference and the gait information difference between every two adjacent gait cycles, including:

[0021] Respectively calculating the absolute value of the difference between the gait symmetry indexes of each two adjacent gait cycles to obtain the gait symmetry difference index corresponding to the two adjacent gait cycles, accumulating all the gait symmetry difference indexes to obtain a gait symmetry difference cumulative value, and normalizing the reciprocal of the gait symmetry difference cumulative value to obtain a first stability index during the rehabilitation training;

[0022] obtaining a second stability index during the rehabilitation training according to a difference between a left pressure value sequence and a right pressure value sequence between every two adjacent gait cycles;

[0023] The first stability index and the second stability index are added to obtain a gait stability index during the rehabilitation training.

[0024] Furthermore, the data analysis module obtains a second stability index during the rehabilitation training according to the difference between the left pressure value sequence and the right pressure value sequence between every two adjacent gait cycles, including:

[0025] For any two adjacent gait cycles, in two left pressure value sequences corresponding to the two adjacent gait cycles, respectively calculate the average value of all left pressure values ​​contained in each left pressure value sequence to obtain a first average left pressure value and a second average left pressure value;

[0026] In two right pressure value sequences corresponding to the two adjacent gait cycles, respectively calculating the average of all right pressure values ​​contained in each right pressure value sequence to obtain a first average right pressure value and a second average right pressure value;

[0027] Calculating the absolute value of the difference between the first average left pressure value and the second average left pressure value to obtain a left pressure difference index, calculating the absolute value of the difference between the first average right pressure value and the second average right pressure value to obtain a right pressure difference index, and adding the left pressure difference index to the right pressure difference index to obtain an overall pressure difference index of the two adjacent gait cycles;

[0028] The overall pressure difference index corresponding to every two adjacent gait cycles is obtained, all the overall pressure difference indexes are accumulated, and the reciprocal of the accumulated result is normalized to obtain a second stability index during the rehabilitation training.

[0029] Furthermore, the rehabilitation assessment module obtains rehabilitation assessment indicators of the stroke patient during the rehabilitation training according to the difference in gait symmetry index and gait stability index of the stroke patient between the rehabilitation training and the last rehabilitation training, including:

[0030] During the rehabilitation training, the gait symmetry indexes of all gait cycles are accumulated to obtain an overall gait symmetry index during the rehabilitation training, and the product of the overall gait symmetry index and the gait stability index is normalized to obtain a first variable;

[0031] Obtaining a historical gait stability index and a historical overall gait symmetry index of the stroke patient during the last rehabilitation training, and normalizing the difference between the gait stability index and the historical gait stability index to obtain a second variable;

[0032] Normalizing the difference between the overall gait symmetry index and the historical overall gait symmetry index to obtain a third variable;

[0033] The second variable and the third variable are multiplied, and the result of the multiplication is added to the first variable to obtain a rehabilitation evaluation index of the stroke patient during the rehabilitation training.

[0034] Furthermore, the rehabilitation assessment module assesses the rehabilitation level of the stroke patient according to the rehabilitation assessment index, including:

[0035] If the rehabilitation assessment index of the stroke patient during the rehabilitation training is greater than or equal to a preset rehabilitation assessment index threshold, it is determined that the rehabilitation level of the stroke patient is excellent.

[0036] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0037] The present invention provides a gait analysis and rehabilitation monitoring system for stroke patients based on wearable devices, comprising a data acquisition module, used for obtaining gait information of at least two gait cycles of the stroke patient in any rehabilitation training of the stroke patient through the wearable device; a data analysis module, used for obtaining a gait symmetry index of each gait cycle in the rehabilitation training according to the gait information difference between the left foot and the right foot in each gait cycle, and obtaining a gait stability index in the rehabilitation training according to the gait symmetry index difference and the gait information difference between every two adjacent gait cycles; a rehabilitation evaluation module, used for obtaining a rehabilitation evaluation index of the stroke patient in the rehabilitation training according to the gait symmetry index difference and the gait stability index difference of the stroke patient between the rehabilitation training and the previous rehabilitation training, and evaluating the rehabilitation level of the stroke patient according to the rehabilitation evaluation index. Among them, during any rehabilitation training, based on the gait information of the stroke patient in each gait cycle, the symmetry of the stroke patient's two-foot gait in each gait cycle (gait symmetry index) is obtained, so as to conduct a personalized analysis of the stroke condition of the stroke patient; further, based on the difference in gait symmetry indicators and gait information between each two adjacent gait cycles of the stroke patient during the rehabilitation training, the gait stability index of the stroke patient during the rehabilitation training is obtained, so as to more accurately reflect the gait problems of the stroke patient; by comparing the difference in gait symmetry indicators and gait stability indicators of the stroke patient during the rehabilitation training and the previous rehabilitation training, the rehabilitation evaluation index of the stroke patient is obtained, so as to more accurately reflect the rehabilitation level of the stroke patient. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0039] Figure 1 is a structural block diagram of a gait analysis and rehabilitation monitoring system for stroke patients based on a wearable device provided in Embodiment 1 of the present invention;

[0040] Figure 2 It is a schematic diagram of the change of plantar pressure of the left foot and the right foot during walking provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0041] Embodiments of the present disclosure are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present disclosure, but should not be understood as limiting the present disclosure.

[0042] It should be noted that the terms "first", "second", etc. in the specification of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure.

[0043] In order to illustrate the technical solution of the present invention, specific embodiments are provided below for illustration.

[0044] See also Figure 1 , is a structural block diagram of a gait analysis and rehabilitation monitoring system for stroke patients based on a wearable device provided in the first embodiment of the present invention, such as Figure 1 As shown, the system may include:

[0045] The data acquisition module 11 is used to obtain gait information of at least two gait cycles of the stroke patient in any rehabilitation training of the stroke patient through a wearable device.

[0046] When monitoring the gait rehabilitation of stroke patients, due to the large differences in stroke severity and gait characteristics among different stroke patients, that is, different stroke patients have certain differences in their movements, weight, speed, step length, etc. when walking, and a unified analysis standard cannot adapt to the unique situation of each stroke patient. Therefore, it is necessary to conduct personalized analysis of stroke patients based on their gait characteristics in each gait cycle to obtain the gait problems of stroke patients in order to accurately reflect the unique situation of stroke patients. Among them, the gait cycle represents the process of a stroke patient taking one step with his left foot and one step with his right foot when walking.

[0047] At the beginning of each step, as one side of the sole is lifted, the pressure on the sole will gradually decrease until it reaches zero, that is, the patient's foot is completely lifted; after the patient takes a step, as the foot falls, the pressure on the sole will gradually increase until it stabilizes, that is, the patient's foot is completely on the ground. Figure 2 , which is a schematic diagram of the change in plantar pressure of the left and right feet during walking. Figure 2In the figure, the horizontal axis represents time, the vertical axis represents the plantar pressure value, the gray dotted line represents the change of the plantar pressure of the right foot when the left foot takes a step, the gray solid line represents the change of the plantar pressure of the left foot when the right foot takes a step, the length from the vertical axis to the first black vertical dotted line represents the duration of the left foot taking a step, and the length from the first black vertical dotted line to the second black vertical dotted line represents the duration of the right foot taking a step.

[0048] Therefore, during the rehabilitation training of stroke patients, monitoring equipment such as accelerometers and pressure sensors are installed on wearable devices. By monitoring the acceleration and pressure changes of the stroke patients' feet during the rising and falling process, the left pressure value sequence and the right pressure value sequence of the left and right feet of the stroke patients during the walking process are obtained, and the left acceleration sequence and the right acceleration sequence during the stepping phase are obtained, as well as the time it takes for the stroke patients' left and right feet to complete a step. Among them, the support phase refers to the time when the lower limbs are in contact with the ground and bear gravity, and the stepping phase refers to the time between the foot leaving the ground and taking a step forward to landing again.

[0049] During the rehabilitation training of the stroke patient, the gait information of at least two gait cycles of the stroke patient is obtained, wherein the gait information is the left pressure value sequence and the right pressure value sequence of the left foot and the right foot in the stance phase, the left acceleration sequence and the right acceleration sequence in the stepping phase, and the time taken by each foot to complete a step. Then, the gait characteristics of the stroke patient in each gait cycle are analyzed based on the gait information, so as to conduct personalized analysis on the stroke patient and improve the accuracy of the assessment of the rehabilitation level of the stroke patient.

[0050] The data analysis module 12 is used to obtain the gait symmetry index of each gait cycle in the rehabilitation training process according to the gait information difference between the left foot and the right foot in each gait cycle, and to obtain the gait stability index in the rehabilitation training process according to the gait symmetry index difference and the gait information difference between every two adjacent gait cycles.

[0051] Because when a normal person walks, the gait of both feet is symmetrical, that is, the step length, speed, leg lift height, etc. of both feet are similar, which is reflected in the gait information as the similarity of the acceleration change and pressure change of the left and right feet. Therefore, based on the difference in gait information between the left and right feet of stroke patients in each gait cycle, the gait symmetry of stroke patients when walking can be obtained, which is used to reflect the gait characteristics of stroke patients.

[0052] For the jth gait cycle of the stroke patient in this rehabilitation training, the gait symmetry index of the jth gait cycle is obtained according to the pressure difference and acceleration difference between the left and right feet in the jth gait cycle. The gait symmetry index of the jth gait cycle is obtained as follows:

[0053] (1) According to the left acceleration sequence and the right acceleration sequence corresponding to the j-th gait cycle, the acceleration similarity of the j-th gait cycle is obtained.

[0054] Specifically, for any gait cycle, according to the left acceleration sequence and the right acceleration sequence corresponding to the gait cycle, the absolute value of the difference between the acceleration value of each position in the left acceleration sequence and the acceleration value of the corresponding position in the right acceleration sequence is calculated to obtain the acceleration difference index of the corresponding position, and the number of the acceleration difference index is the minimum value between the number of elements included in the left acceleration sequence and the number of elements included in the right acceleration sequence;

[0055] All acceleration difference indices are accumulated to obtain an acceleration difference accumulated value, and the reciprocal of the acceleration difference accumulated value is normalized to obtain the acceleration similarity of the gait cycle.

[0056] In one embodiment, the calculation formula for the acceleration similarity of the jth gait cycle is:

[0057]

[0058] in, represents the acceleration similarity of the jth gait cycle, represents the i-th left acceleration value in the left acceleration sequence corresponding to the j-th gait cycle, represents the i-th right acceleration value in the right acceleration sequence corresponding to the j-th gait cycle, represents the minimum value between the number of elements contained in the left acceleration sequence and the number of elements contained in the right acceleration sequence corresponding to the j-th gait cycle, represents the absolute value symbol, represents the linear normalization function.

[0059] It should be noted that It is the acceleration difference index, which is used to characterize the similarity between the left and right feet of stroke patients during the stepping phase. The smaller the acceleration difference index is, the stronger the similarity between the left and right feet of the stroke patient in the stepping phase is in the jth gait cycle. The smaller the acceleration difference cumulative value is, the greater the acceleration similarity is, which means that in the jth gait cycle, the symmetry between the left and right feet of the stroke patient in the stepping phase is stronger.

[0060] (2) According to the left pressure value sequence and the right pressure value sequence corresponding to the j-th gait cycle, the pressure similarity of the j-th gait cycle is obtained.

[0061] Specifically, according to the left pressure value sequence and the right pressure value sequence corresponding to the gait cycle, all pressure difference indicators corresponding to the gait cycle are obtained, all pressure difference indicators are accumulated to obtain the pressure difference accumulated value, and the inverse of the pressure difference accumulated value is normalized to obtain the pressure similarity of the gait cycle.

[0062] In one embodiment, the calculation formula for the pressure similarity of the j-th gait cycle is:

[0063]

[0064] in, represents the pressure similarity of the j-th gait cycle, represents the kth left pressure value in the left pressure value sequence corresponding to the jth gait cycle, represents the kth right pressure value in the right pressure value sequence corresponding to the jth gait cycle, represents the minimum value between the number of elements contained in the left pressure value sequence and the number of elements contained in the right pressure value sequence corresponding to the j-th gait cycle, represents the absolute value symbol, represents the linear normalization function.

[0065] It should be noted that It is a pressure difference index, which is used to characterize the similarity between the left and right feet of stroke patients during the stance phase. The smaller the pressure difference index is, the stronger the similarity between the left and right feet of the stroke patient in the support phase is in the jth gait cycle. The smaller the pressure difference cumulative value is, the greater the pressure similarity is, which means that the symmetry between the left and right feet of the stroke patient in the support phase is stronger in the jth gait cycle.

[0066] (3) Based on the acceleration similarity, pressure similarity, and the duration of each step of the left and right feet in the j-th gait cycle, the gait symmetry index in the j-th gait cycle is obtained.

[0067] Specifically, in the gait cycle, the time difference between the time it takes for the left foot to complete a step and the time it takes for the right foot to complete a step is calculated;

[0068] The acceleration similarity is added to the pressure similarity, and the result of the addition is multiplied by the inverse of the time difference to obtain a gait symmetry index of the gait cycle.

[0069] In one embodiment, the calculation formula of the gait symmetry index of the jth gait cycle is:

[0070]

[0071] in, represents the gait symmetry index of the jth gait cycle, represents the acceleration similarity of the jth gait cycle, represents the pressure similarity of the j-th gait cycle, It represents the time difference between the duration of the left foot taking a step and the duration of the right foot taking a step in the jth gait cycle.

[0072] It should be noted that The smaller the value of is, the more similar the time required for the left and right feet of the stroke patient to take a step in the jth gait cycle is. The higher the reliability of the symmetry of the left and right feet of the stroke patient when walking is reflected by the acceleration similarity and pressure similarity, and thus The larger the value of The larger the value of is, the stronger the gait symmetry of the stroke patient in the jth gait cycle during this rehabilitation training is; The larger the value of is, the stronger the similarity between the left and right feet of the stroke patient in the stepping phase is in the jth gait cycle. The larger the value of is, the stronger the gait symmetry of the stroke patient in the jth gait cycle during this rehabilitation training is; The larger the value of is, the stronger the similarity between the left and right feet of the stroke patient in the stance phase is in the jth gait cycle. The larger the value of , the stronger the gait symmetry of the stroke patient in the jth gait cycle during this rehabilitation training.

[0073] Similarly, the gait symmetry index of each gait cycle of the stroke patient during the rehabilitation training is obtained to characterize the gait characteristics of the stroke patient during the rehabilitation training.

[0074] Since normal gait should be continuous and stable, that is, the gait information of each gait cycle should be consistent. However, the gait stability of stroke patients is poor, which is specifically manifested in the large difference in gait information between each gait cycle. Therefore, the gait symmetry of each gait cycle cannot fully reflect the severity of the gait problem of stroke patients. It is necessary to further obtain the first stability index of stroke patients during this rehabilitation training based on the relationship between gait characteristics of different gait cycles, which is used to reflect the consistency of stroke patients between different gait cycles. The specific method of obtaining the first stability index is:

[0075] The absolute values ​​of the differences between the gait symmetry indices of each two adjacent gait cycles are calculated respectively to obtain the gait symmetry difference indices corresponding to the two adjacent gait cycles, all the gait symmetry difference indices are accumulated to obtain the gait symmetry difference accumulated value, the inverse of the gait symmetry difference accumulated value is normalized to obtain the first stability index in the rehabilitation training process.

[0076] In one embodiment, the calculation formula of the first stability index is:

[0077]

[0078] in, represents the first stability indicator, represents the gait symmetry index of the j+1th gait cycle, represents the gait symmetry index of the jth gait cycle, N represents the number of gait cycles during rehabilitation training, represents the absolute value symbol, represents the linear normalization function.

[0079] It should be noted that is the gait symmetry difference index. That is, the cumulative value of gait symmetry difference. The smaller the value of gait symmetry difference index, the smaller the cumulative value of gait symmetry difference, which indicates that the similarity between different gait cycles of stroke patients is high, and thus The larger the value is, the better the continuity and stability of the stroke patient's gait is during this rehabilitation training.

[0080] Considering that under normal conditions, affected by each person's walking habits, the plantar pressure of the left and right feet may be inconsistent in the support phase of each gait cycle, but the plantar pressure of the same foot is basically the same between different gait cycles. Although the gait symmetry of stroke patients in each gait cycle is low, that is, the acceleration changes and pressure changes of the left and right feet during movement are quite different, if the gait of stroke patients shows regular changes, that is, the similarity between different gait cycles is high, it means that the low symmetry of stroke patients may be affected by their own walking habits, physical functions and other factors, and their gait is still continuous and stable. Therefore, based on the difference in plantar pressure changes of the same foot of stroke patients in different gait cycles, the second stability index of stroke patients in the process of this rehabilitation training is obtained, which is used to reflect the similarity of stroke patients between different gait cycles. The specific method of obtaining the second stability index is:

[0081] For any two adjacent gait cycles, in two left pressure value sequences corresponding to the two adjacent gait cycles, respectively calculate the average value of all left pressure values ​​contained in each left pressure value sequence to obtain a first average left pressure value and a second average left pressure value;

[0082] In two right pressure value sequences corresponding to the two adjacent gait cycles, respectively calculating the average of all right pressure values ​​contained in each right pressure value sequence to obtain a first average right pressure value and a second average right pressure value;

[0083] Calculating the absolute value of the difference between the first average left pressure value and the second average left pressure value to obtain a left pressure difference index, calculating the absolute value of the difference between the first average right pressure value and the second average right pressure value to obtain a right pressure difference index, and adding the left pressure difference index to the right pressure difference index to obtain an overall pressure difference index of the two adjacent gait cycles;

[0084] The overall pressure difference index corresponding to every two adjacent gait cycles is obtained, all the overall pressure difference indexes are accumulated, and the reciprocal of the accumulated result is normalized to obtain a second stability index during the rehabilitation training.

[0085] In one embodiment, the calculation formula of the second stability index is:

[0086]

[0087] in, represents the second stability index, represents the first average left pressure value of all left pressure values ​​in the left pressure value sequence corresponding to the j-th gait cycle, represents the second average left pressure value of all left pressure values ​​in the left pressure value sequence corresponding to the j+1th gait cycle, represents the first average right pressure value of all right pressure values ​​in the right pressure value sequence corresponding to the j-th gait cycle, represents the second average right pressure value of all right pressure values ​​in the right pressure value sequence corresponding to the j+1th gait cycle, N represents the number of gait cycles during the rehabilitation training process, represents the absolute value symbol, represents the linear normalization function.

[0088] It should be noted that It is the left pressure difference index, which is used to characterize the pressure difference of the left foot during the stance phase between different gait cycles of stroke patients. It is the right pressure difference index, which is used to characterize the pressure difference of the right foot in the stance phase between different gait cycles of stroke patients. The smaller the overall pressure difference index is, the smaller the difference in plantar pressure changes in stroke patients during different gait cycles is. The larger the value is, the more regular changes there are between different gait cycles of stroke patients during this rehabilitation training, and the better the continuity and stability of the gait of stroke patients.

[0089] Furthermore, by combining the first stability index and the second stability index, the gait stability index of the stroke patient during this rehabilitation training is obtained to reflect the severity of the gait problem of the stroke patient. The calculation formula of the gait stability index is:

[0090]

[0091] in, It represents the gait stability index of stroke patients during this rehabilitation training. represents the first stability indicator, Represents the second stability indicator.

[0092] It should be noted that The larger the value of is, the higher the similarity between different gait cycles of stroke patients is. The larger the value is, the better the gait stability of the stroke patient is during this rehabilitation training; The larger the value of is, the more similar the changes in plantar pressure of stroke patients in different gait cycles are. The larger the value is, the better the gait stability of the stroke patient during the rehabilitation training.

[0093] At this point, the symmetry index of each gait cycle and the gait stability index of the stroke patients during this rehabilitation training were obtained.

[0094] The rehabilitation assessment module 13 is used to obtain the rehabilitation assessment index of the stroke patient during the rehabilitation training according to the difference in gait symmetry index and gait stability index of the stroke patient between the rehabilitation training and the last rehabilitation training, and evaluate the rehabilitation level of the stroke patient according to the rehabilitation assessment index.

[0095] Combining the gait symmetry index and gait stability index of stroke patients during this rehabilitation training, the severity of gait problems of stroke patients can be analyzed. However, the results of only one rehabilitation training cannot reflect the rehabilitation effect of stroke patients. Therefore, it is necessary to refer to the gait symmetry index and gait stability index of stroke patients during the last rehabilitation training. According to the difference between the two rehabilitation trainings of stroke patients, the rehabilitation evaluation index of stroke patients is obtained to reflect the rehabilitation effect of stroke patients, and then accurately evaluate the rehabilitation level of stroke patients. The specific method of obtaining rehabilitation evaluation index is:

[0096] During the rehabilitation training, the gait symmetry indexes of all gait cycles are accumulated to obtain an overall gait symmetry index during the rehabilitation training, and the product of the overall gait symmetry index and the gait stability index is normalized to obtain a first variable;

[0097] Obtaining a historical gait stability index and a historical overall gait symmetry index of the stroke patient during the last rehabilitation training, and normalizing the difference between the gait stability index and the historical gait stability index to obtain a second variable;

[0098] Normalizing the difference between the overall gait symmetry index and the historical overall gait symmetry index to obtain a third variable;

[0099] The second variable and the third variable are multiplied, and the result of the multiplication is added to the first variable to obtain a rehabilitation evaluation index of the stroke patient during the rehabilitation training.

[0100] In one embodiment, the calculation formula of the rehabilitation assessment index is:

[0101]

[0102] Among them, Q represents the rehabilitation evaluation index of stroke patients during this rehabilitation training. It represents the gait stability index of stroke patients during this rehabilitation training. represents the gait symmetry index of the jth gait cycle of the stroke patient during this rehabilitation training, N represents the number of gait cycles during this rehabilitation training, It represents the historical gait stability index of stroke patients during the last rehabilitation training. represents the number of gait cycles during the last rehabilitation training. represents the historical gait symmetry index of the zth gait cycle of the stroke patient during the last rehabilitation training, represents the absolute value symbol, represents the linear normalization function.

[0103] It should be noted that This is the first variable. The larger the value of the first variable, the stronger the symmetry of each gait cycle of the stroke patient and the better the overall gait stability of the walking. The larger the value of Q, the higher the rehabilitation level of the stroke patient. This is the second variable. The larger the value of the second variable, the greater the difference in the stability of the stroke patients during the two training sessions. The stroke patients have a better rehabilitation effect in this rehabilitation training than in the previous rehabilitation training. The larger the value of Q, the higher the rehabilitation level of the stroke patients. It is the overall gait symmetry index. is the historical overall gait symmetry index, That is the third variable. The larger the value of the third variable, the greater the difference in the similarities between the stroke patients during the two training sessions. The stroke patients have better rehabilitation effects in this rehabilitation training than in the previous rehabilitation training. Therefore, the larger the value of Q, the higher the rehabilitation level of the stroke patients.

[0104] The preset rehabilitation assessment index threshold is set to 0.5. There is no restriction here. The implementer can set it according to the implementation scenario. When the rehabilitation assessment index of a stroke patient is greater than or equal to 0.5, it means that the rehabilitation level of the stroke patient is excellent. At the same time, a rehabilitation curve can be constructed based on the rehabilitation assessment index of the stroke patient during multiple rehabilitation trainings, and the rehabilitation effect of the stroke patient can be analyzed based on the rehabilitation curve.

[0105] In summary, the present invention provides a gait analysis and rehabilitation monitoring system for stroke patients based on wearable devices, including a data acquisition module, used to obtain gait information of at least two gait cycles of the stroke patient in any rehabilitation training of the stroke patient through the wearable device; a data analysis module, used to obtain a gait symmetry index of each gait cycle in the rehabilitation training according to the difference in gait information between the left foot and the right foot in each gait cycle, and to obtain a gait stability index in the rehabilitation training according to the difference in gait symmetry index and gait information between every two adjacent gait cycles; a rehabilitation evaluation module, used to obtain a rehabilitation evaluation index of the stroke patient in the rehabilitation training according to the difference in gait symmetry index and gait stability index of the stroke patient between the rehabilitation training and the previous rehabilitation training, and to evaluate the rehabilitation level of the stroke patient according to the rehabilitation evaluation index. Among them, during any rehabilitation training, based on the gait information of the stroke patient in each gait cycle, the symmetry of the stroke patient's two-foot gait in each gait cycle (gait symmetry index) is obtained, so as to conduct a personalized analysis of the stroke condition of the stroke patient; further, based on the difference in gait symmetry indicators and gait information between each two adjacent gait cycles of the stroke patient during the rehabilitation training, the gait stability index of the stroke patient during the rehabilitation training is obtained, so as to more accurately reflect the gait problems of the stroke patient; by comparing the difference in gait symmetry indicators and gait stability indicators of the stroke patient during the rehabilitation training and the previous rehabilitation training, the rehabilitation evaluation index of the stroke patient is obtained, so as to more accurately reflect the rehabilitation level of the stroke patient.

[0106] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention.

Claims

1. A gait analysis and rehabilitation monitoring system for stroke patients based on wearable devices, characterized in that: The wearable device-based gait analysis and rehabilitation monitoring system for stroke patients includes: A data acquisition module, used for acquiring gait information of at least two gait cycles of the stroke patient in any rehabilitation training of the stroke patient through a wearable device; A data analysis module, for obtaining a gait symmetry index of each gait cycle during the rehabilitation training according to a gait information difference between the left foot and the right foot in each gait cycle, and obtaining a gait stability index during the rehabilitation training according to a gait symmetry index difference and a gait information difference between every two adjacent gait cycles; a rehabilitation assessment module, for obtaining a rehabilitation assessment index of the stroke patient during the rehabilitation training according to a difference in a gait symmetry index and a gait stability index of the stroke patient between the rehabilitation training and the last rehabilitation training, and assessing the rehabilitation level of the stroke patient according to the rehabilitation assessment index; The gait information in the data acquisition module includes: The left and right pressure value sequences of the left and right feet in the stance phase, the left and right acceleration sequences in the stepping phase, and the duration of each step of the left and right feet; The data analysis module obtains the gait symmetry index of each gait cycle in the rehabilitation training process according to the gait information difference between the left foot and the right foot in each gait cycle, including: For any gait cycle, according to the left acceleration sequence and the right acceleration sequence corresponding to the gait cycle, the absolute value of the difference between the acceleration value of each position in the left acceleration sequence and the acceleration value of the corresponding position in the right acceleration sequence is calculated to obtain the acceleration difference index of the corresponding position, and the number of the acceleration difference index is the minimum value between the number of elements included in the left acceleration sequence and the number of elements included in the right acceleration sequence; Accumulating all acceleration difference indices to obtain an acceleration difference accumulation value, normalizing the reciprocal of the acceleration difference accumulation value to obtain the acceleration similarity of the gait cycle; According to the left pressure value sequence and the right pressure value sequence corresponding to the gait cycle, all pressure difference indicators corresponding to the gait cycle are obtained, all pressure difference indicators are accumulated to obtain a pressure difference accumulated value, and the reciprocal of the pressure difference accumulated value is normalized to obtain the pressure similarity of the gait cycle; Obtaining a gait symmetry index of the gait cycle according to the acceleration similarity, the pressure similarity, and the duration of each step of the left and right feet in the gait cycle; The data analysis module obtains the gait stability index during the rehabilitation training according to the gait symmetry index difference and the gait information difference between every two adjacent gait cycles, including: Respectively calculating the absolute value of the difference between the gait symmetry indexes of each two adjacent gait cycles to obtain the gait symmetry difference index corresponding to the two adjacent gait cycles, accumulating all the gait symmetry difference indexes to obtain a gait symmetry difference cumulative value, and normalizing the reciprocal of the gait symmetry difference cumulative value to obtain a first stability index during the rehabilitation training; obtaining a second stability index during the rehabilitation training according to a difference between a left pressure value sequence and a right pressure value sequence between every two adjacent gait cycles; Adding the first stability index and the second stability index to obtain a gait stability index during the rehabilitation training; The calculation formula of the second stability index is: in, represents the second stability index, represents the first average left pressure value of all left pressure values ​​in the left pressure value sequence corresponding to the j-th gait cycle, represents the second average left pressure value of all left pressure values ​​in the left pressure value sequence corresponding to the j+1th gait cycle, represents the first average right pressure value of all right pressure values ​​in the right pressure value sequence corresponding to the j-th gait cycle, represents the second average right pressure value of all right pressure values ​​in the right pressure value sequence corresponding to the j+1th gait cycle, N represents the number of gait cycles in this rehabilitation training process, represents the absolute value symbol, represents the linear normalization function; The calculation formula of the rehabilitation evaluation index is: Among them, Q represents the rehabilitation evaluation index of stroke patients during this rehabilitation training. It represents the gait stability index of stroke patients during this rehabilitation training. represents the gait symmetry index of the jth gait cycle of the stroke patient during this rehabilitation training. It represents the historical gait stability index of stroke patients during the last rehabilitation training. represents the number of gait cycles during the last rehabilitation training. Represents the historical gait symmetry index of the zth gait cycle of the stroke patient during the last rehabilitation training.

2. The gait analysis and rehabilitation monitoring system for stroke patients based on wearable devices according to claim 1, characterized in that: The data analysis module obtains a gait symmetry index of the gait cycle according to the acceleration similarity, the pressure similarity, and the duration of each step of the left and right feet in the gait cycle, including: In the gait cycle, calculating the time difference between the time it takes for the left foot to complete a step and the time it takes for the right foot to complete a step; The acceleration similarity is added to the pressure similarity, and the result of the addition is multiplied by the inverse of the time difference to obtain a gait symmetry index of the gait cycle.

3. The gait analysis and rehabilitation monitoring system for stroke patients based on wearable devices according to claim 1, characterized in that: The rehabilitation assessment module assesses the rehabilitation level of the stroke patient according to the rehabilitation assessment index, including: If the rehabilitation assessment index of the stroke patient during the rehabilitation training is greater than or equal to a preset rehabilitation assessment index threshold, it is determined that the rehabilitation level of the stroke patient is excellent.

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