Gait monitoring system of multi-mode flexible wearable device

Abstract

The invention relates to a gait monitoring system of a multi-mode flexible wearable device, and belongs to the field of medical instruments. The insole body of the wearable device comprises an embedded layer and an FPCB, wherein the embedded layer is in contact with the foot end and used for embedding a data acquisition unit and an electrical stimulation unit, and the FPCB is attached to the embedded layer. A through hole is formed in the embedding layer so as to embed and fix the acquisition unit; an interface is arranged at a position corresponding to the through hole in the FPCB and is connected with the acquisition unit; the insole main body is simple to prepare, practical and portable; a flexible sensor is adopted to adapt to the fluctuation of the sole surface, and a good working state is kept; according to the gait monitoring system, data of multiple data acquisition units are fused, so that various data types are displayed in a multi-modal monitoring system; plantar pressure, temperature, center-of-gravity shift and acceleration information are monitored in real time, and support is provided for sports health monitoring and foot disease prevention; gait data in a real dynamic scene is displayed, electrical stimulation is given to positions with abnormal foot temperature, and foot diseases are prevented and improved.

Description

Technical Field

[0001] The invention belongs to the field of medical devices and relates to a gait monitoring system of a multi-modal flexible wearable device. Background Art

[0002] Among human behavioral characteristics, gait is the comprehensive result of the coordinated action of the central nervous system, peripheral nerves and multiple skeletal muscle groups in the lower limbs. Gait contains many physiological parameters, such as plantar pressure, acceleration, center of gravity offset, etc., and plantar pressure distribution is an important parameter reflecting human gait, posture and foot health status. Through the analysis of gait data, it can be used for clinical disease diagnosis, postoperative health rehabilitation and improving physical training effects. The existing gait data collection methods are mainly static collection, and most of the monitoring equipment is large-scale equipment, which is not convenient to carry and use daily, and is expensive. Sensors mostly use rigid sensors, but these sensors have shortcomings in fitting the surface undulations of the sole and avoiding deformation of the soft tissue of the sole. At the same time, the analysis of data is still in a simple arrangement and induction.

[0003] In recent years, the development of wearable devices has also made significant progress. However, the analysis of gait is focused on the collection and analysis of single information, such as plantar pressure, center of gravity, etc. Multimodal fusion is rarely used for analysis, and the few data analyses that use multimodal fusion are still in the stage of simple organization and induction. In addition, the partial rigidity or necrosis of the foot caused by some foot diseases (such as diabetic foot) cannot be improved or prevented. It can only be recorded when collecting information for subsequent processing. The latest research has confirmed that electrical stimulation can improve blood oxygen circulation and promote wound healing. Although it has made great progress compared with traditional gait detection methods, there is still room for improvement. In order to achieve more accurate gait analysis, we can no longer stick to a single parameter, but should refer to the fusion of multimodal deep learning, such as plantar pressure, acceleration, center of gravity offset, etc. The fusion classification of multi-sensor input data can achieve high-precision analysis. Summary of the invention

[0004] In view of this, it is necessary to provide a multimodal, flexible wearable device gait detection system to more conveniently detect gait data in real dynamic scenes and provide electrical stimulation to abnormal positions to prevent and improve foot diseases.

[0005] In order to achieve the above object, the present invention provides the following technical solutions:

[0006] A gait monitoring system for a multimodal flexible wearable device, comprising:

[0007] A wearable device housing wraps around the bottom of the wearer's foot;

[0008] A data collection unit is provided in the wearable device to collect the user's gait data in real time;

[0009] An electrical stimulation unit is provided on the insole body to electrically stimulate abnormal positions at the bottom of the foot;

[0010] The insole body is located inside the bottom of the wearable device housing, and includes: an embedding layer that contacts the foot end and is used to embed the data acquisition unit; a flexible printed circuit board (FPCB) attached to the embedding layer; a through hole is provided on the embedding layer to embed and fix the acquisition unit; an interface is provided at a position corresponding to the through hole on the FPCB; the acquisition unit is connected to the wiring and electrodes on the FPCB through the interface;

[0011] a hardware module, connected to the FPCB, comprising a microcontroller for transmitting the gait data to a multimodal monitoring system;

[0012] A multimodal monitoring system compares and analyzes the gait data and displays it visually;

[0013] The microcontroller receives the gait data through the interface on the FPCB.

[0014] Furthermore, the data acquisition unit includes: a flexible sensor located in the embedding layer and used for collecting temperature and pressure; the gait data includes: temperature data and pressure data acquired by the flexible sensor.

[0015] Furthermore, the microcontroller includes: a main microcontroller and a slave microcontroller respectively located on two independent printed circuit boards; the slave microcontroller receives gait data transmitted from the FPCB interface of one foot end and transmits it to the main microcontroller; the main microcontroller receives gait data transmitted from the FPCB interface of the other foot end, and transmits the gait data and the gait data transmitted by the slave microcontroller to the multimodal fusion monitoring system through the printed circuit board.

[0016] Furthermore, the multimodal monitoring system comprises:

[0017] A data processing module receives and processes the gait data transmitted by the main microcontroller, and transmits the processing result of the gait data to a receiving unit;

[0018] A receiving unit, receiving data from the data processing module and transmitting the data to a display unit;

[0019] The display unit visually displays the data transmitted from the receiving unit.

[0020] Furthermore, the data processing module also sends an electrical stimulation signal according to the processing result of the gait data, and sends the electrical stimulation signal to the main microcontroller; the electrical stimulation unit is arranged in the embedded layer, and the FPCB is connected to the electrical stimulation unit through the interface; the main microcontroller also receives the electrical stimulation signal through the printed circuit board, and transmits the electrical stimulation signal to the slave microcontroller; the main microcontroller and the slave microcontroller transmit the electrical stimulation signal to the electrical stimulation unit through the interface on the FPCB to electrically stimulate the foot.

[0021] Furthermore, the data acquisition unit also includes a gyroscope and an acceleration sensor located in the wearable device; the gait data also includes: center of gravity offset data obtained by the gyroscope, and acceleration data obtained by the acceleration sensor.

[0022] Furthermore, the data processing module uses a machine learning algorithm to extract features from the gait data and capture long-term dependencies to evaluate the user's gait characteristics.

[0023] Furthermore, the FPCB is provided with interdigital electrodes, which transmit the electrical stimulation signal to the electrical stimulation unit through the interface.

[0024] Furthermore, the display unit displays the gait characteristics using charts or images.

[0025] The beneficial effects of the present invention are:

[0026] The data from multiple data acquisition units are integrated to achieve unified representation of multiple data types and display in a multimodal monitoring system; the insole body in the wearable device is simple to prepare, simple in structure, practical in function, portable and easy to use; real-time monitoring of plantar pressure and temperature information, center of gravity offset and acceleration information, and provides strong support for sports health monitoring and foot disease prevention; the use of flexible sensors with high compressibility and flexibility enables the wearable device to adapt to the surface undulations of the plantar surface, avoid deformation of the soft tissue of the plantar, and maintain a good working condition during exercise; when the pressure sensor senses the temperature difference of the test point of the foot, it will give it electrical stimulation to improve the blood oxygen circulation of the part and promote the temperature of the part to return to normal, so as to achieve the cause of foot diseases. The multimodal detection system no longer relies on a single plantar pressure or a single signal to analyze gait in isolation, but integrates a variety of biomechanical and physiological parameters and relies on machine learning algorithms, such as CNN-LSTM networks, to achieve high-precision analysis by fusing and classifying multi-sensor input data; a comprehensive, multimodal gait monitoring system is constructed; the application of this multimodal gait monitoring system significantly improves the accuracy and reliability of gait analysis; enhances the ability to identify complex gait abnormalities, and provides strong support for clinical diagnosis and treatment; and based on the results of the multimodal detection system, medical personnel can more accurately understand the patient's gait characteristics and potential problems, and then develop a more personalized rehabilitation plan.

[0027] Other advantages, objectives and features of the present invention will be described in the following description to some extent, and to some extent, will be obvious to those skilled in the art based on the following examination and study, or can be taught from the practice of the present invention. The objectives and other advantages of the present invention can be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be described in detail below in conjunction with the accompanying drawings, wherein:

[0029] Figure 1 A schematic diagram of a gait monitoring system for a multi-modal flexible wearable device according to an embodiment of the present invention;

[0030] Figure 2 This is a schematic diagram of the distribution of multiple collection points of an insole according to an embodiment of the present invention;

[0031] Figure 3 This is a schematic diagram of the main structure of an insole according to an embodiment of the present invention;

[0032] Figure 4A schematic diagram of hardware modules of a gait monitoring system for a multi-modal flexible wearable device according to an embodiment of the present invention;

[0033] Figure 5 A schematic diagram of data transmission of a multimodal monitoring system according to an embodiment of the present invention;

[0034] Figure 6 This is a schematic diagram of a dynamic real-time simulation of plantar pressure and temperature when wearing a wearable device while walking according to an embodiment of the present invention. DETAILED DESCRIPTION

[0035] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments only illustrate the basic concept of the present invention in a schematic manner, and the following embodiments and features in the embodiments can be combined with each other without conflict.

[0036] Among them, the drawings are only used for illustrative explanations, and they only represent schematic diagrams rather than actual pictures, and should not be understood as limitations on the present invention. In order to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of actual products. For those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0037] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right", "front", "rear", etc. indicate the orientation or position relationship, they are based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the position relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting the present invention. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0038] See also Figure 1, is a schematic diagram of a gait monitoring system of a multimodal flexible wearable device according to an embodiment of the present invention; the system mainly includes: a wearable device housing, an insole body, a data acquisition unit, an electrical stimulation unit, a hardware module, and a multimodal monitoring system for processing the collected data of the data acquisition unit and providing electrical stimulation signal feedback. The wearable device housing wraps the sole of the wearer's foot; the insole body is arranged on the inner side of the bottom of the wearable device housing, and the insole body includes: an embedding layer that contacts the foot end and is used to embed the sensor and the electrical stimulation unit, and a flexible printed circuit board (Flexible Printed Circuit Board, FPCB) that is bonded to the embedding layer, and the flexible printed circuit board is connected to the sensor and the electrical stimulation unit. The data acquisition unit includes: a temperature / pressure sensor distributed on the insole body; a gyroscope and an acceleration sensor (accelerometer) located in the wearable device for collecting gait information. The electrical stimulation unit is located in the embedding layer of the insole body. The temperature / pressure sensor used in this embodiment is a material that can sense temperature, such as graphene. It has temperature acquisition and pressure acquisition functions. The hardware module is connected to the FPCB to transmit the gait data to the multimodal monitoring system.

[0039] The gait information is also transmitted wirelessly in real time to transmit the data packaged in the microcontroller in the hardware module, and the data is sent to a multimodal monitoring system, which is used to fuse, compare and analyze the data from each sensor and display it.

[0040] The working mechanism of the whole system is to collect the user's gait data in real time through the sensors on the wearable device, and transmit the data wirelessly to the multimodal monitoring system for processing and analysis, and finally provide users with comprehensive and accurate movement status information. This information can not only be used for gait analysis and balance control; but also combined with electrical stimulation to improve the blood oxygen circulation of the feet, and play a role in preventing and improving the stiffness and necrosis of the feet caused by foot diseases; it can also be further expanded to health monitoring, rehabilitation training, sports training and other fields, providing users with more personalized and intelligent services.

[0041] Since the commonly used pressure collection devices can only collect plantar pressure in a fixed location while standing or in a restricted walking state, they cannot collect plantar pressure of the subject in real dynamic scenes such as normal exercise and long-term walking, and cannot meet the application of real scenes. Based on this, this patent proposes a wearable plantar pressure detection distribution scheme. Through this embodiment, the plantar pressure and temperature data of the subject in real dynamic scenes can be collected, and only the pressure data of specific monitoring points on the sole of the foot can be collected to reduce the amount of data and improve the accuracy of the plantar pressure data. Furthermore, this embodiment can prevent the front and back soles of the foot from sliding during exercise, which causes inaccurate data collection, thereby accurately collecting pressure data at specific monitoring points.

[0042] See also Figure 2 , is a schematic diagram of the distribution of multiple collection points of an insole according to an embodiment of the present invention; a temperature / pressure sensor is arranged on the insole body; 4 temperature / pressure sensors are arranged at the heel, 2 temperature / pressure sensors are arranged at the arch, and 10 temperature / pressure sensors are arranged at the sole; through holes are arranged at the corresponding positions of each temperature / pressure sensor on the embedding layer of the insole body to embed and fix the temperature / pressure sensor, and independent temperature / pressure sensor channels (or interfaces) are arranged at the positions corresponding to these through holes on the FPCB bonded to the embedding layer, and these interfaces are connected to the wiring and electrodes embedded in the flexible FPCB to transmit the data collected by the temperature / pressure sensor and ensure the independence and accuracy of the data. In order to facilitate the subsequent display, processing and reading of data, the positions measured by the temperature / pressure sensor can also be numbered one by one.

[0043] See also Figure 3 , is a schematic diagram of the main structure of the insole of an embodiment of the present invention; because the sensing principle of the flexible sensor is piezoresistive, the thickness of the flexible sensor is about 5mm. If the flexible sensor is directly installed on the FPCB to collect data in a way that withstands foot pressure, it will not only easily damage the flexible sensor but also reduce the user's comfort. Therefore, in order to protect the flexible sensor and improve the comfort of use, an insole with a thickness approximately equal to the thickness of the sensor can be selected as the embedding layer of the insole body; according to the attached Figure 2 The designed sensor collection point distribution pattern punches holes on the embedded layer to set through holes, and the flexible sensor is installed and fixed in the corresponding through holes; the positions corresponding to these through holes on the FPCB are provided with interfaces of the flexible sensor, and the punched insole and the FPCB provided with the flexible sensor interface are pasted to obtain the insole body with the flexible sensor, and the insole body can be used to detect the pressure and temperature of the sole of the foot. There are also interdigital electrodes on the FPCB, and the interdigital electrodes are connected to the electrical stimulation unit through the above interface to electrically stimulate the sole of the foot. Since the FPCB is a flexible device, it is not only easy to wear, but also can transmit data. In order to sense and collect the pressure of the sole of the foot, a sensitive layer with a stepped mesh structure is specially provided on the flexible sensor. Selecting a foam insole with a buffering effect can protect the sensor to extend the service life of the sensor.

[0044] Insole body preparation steps:

[0045] 1. Use a punching machine to punch holes in sequence according to the designed sensor distribution pattern to obtain a porous insole;

[0046] 2. Mount the sensor on the FPCB using medical pressure-sensitive tape to obtain an FPCB with a flexible sensor installed;

[0047] 3. Use double-sided tape to bond the bottom surface of the porous insole to the FPCB collection surface where the flexible sensor is installed.

[0048] See also Figure 4 , is a schematic diagram of the hardware module of the gait monitoring system of the multimodal flexible wearable device of one embodiment of the present invention; the core of the hardware module is a microcontroller and a printed circuit board (PCB), the microcontroller includes a master microcontroller and a slave microcontroller, and the printed circuit board is two independent printed circuit boards; the master microcontroller and the slave microcontroller are respectively located on the two independent printed circuit boards. The slave microcontroller collects the data continuously collected by the foot-end sensor on one side through the interface on the FPCB and transmits the data to the master microcontroller; the master microcontroller collects the data continuously collected by the foot-end sensor on the other side through the interface system on the FPCB, and transmits the gait data and the data transmitted by the slave microcontroller to the multimodal fusion monitoring system through the printed circuit board. The hardware module uses a lithium battery as a power source to power the sensor components and embedded hardware. The main microcontroller is not only responsible for transmitting the packaged data to the multimodal fusion monitoring system, but also receives the electrical stimulation signal issued by the multimodal monitoring system to the abnormal test point after comparing the temperature data collected by the sensor; and transmits the electrical stimulation signal to the slave microcontroller; the main microcontroller and the slave microcontroller transmit the electrical stimulation signal to the electrical stimulation unit through the interface on the FPCB to electrically stimulate the foot.

[0049] See also Figure 5 , is a data transmission diagram of a multimodal monitoring system according to an embodiment of the present invention; the system mainly includes: a receiving unit, a data processing module, and a display unit. The data processing module receives and processes the gait data transmitted by the printed circuit board, and sends the electrical stimulation signal to the printed circuit board. The gait information is collected by the sensor assembly. The sensor assembly includes: a flexible sensor for collecting temperature and pressure, a gyroscope, and an acceleration sensor, which are distributed on the wearable device and are used to perceive the user's gait information in real time. These sensors provide the basic data required by the system and provide support for subsequent decision-making and planning.

[0050] The data processing module is the core of the system, which receives the raw data from the printed circuit board through the microcontroller and performs calculations and analysis. In particular, machine learning algorithms such as Convolutional Neural Network (CNN) for feature extraction and Long Short-Term Memory (LSTM) for capturing long-term dependencies are used. The machine learning algorithm can achieve high-precision analysis by fusing and classifying multi-sensor input data. The plantar pressure parameters and the center of gravity offset parameters obtained by the gyroscope are used to evaluate the user's gait characteristics; among them, the center of gravity offset parameters reflect the dynamic changes of the body's center of gravity during walking, and the plantar pressure parameters provide information about speed and force changes; using the above information, the multimodal monitoring system can accurately identify the user's gait pattern, and can also use the temperature data collected by the flexible sensor to compare the abnormal points and then electrically stimulate the abnormal points, thereby alleviating the symptoms of foot stiffness caused by foot diseases or accelerating the healing of wounds.

[0051] The advantage of a multimodal monitoring system is that the machine learning algorithm fuses data from multiple sensors and achieves a unified representation of multi-source data types. It can simultaneously process data from different sources and different types, and organically fuse these data together to provide a more comprehensive and accurate analysis of the user's motion status.

[0052] The receiving unit is responsible for receiving various information from the data processing module, such as plantar pressure. This information is transmitted wirelessly to the display unit. The processed data is finally transmitted to the display unit, which uses this data to generate a visual representation of plantar pressure. This representation can be presented in the form of a chart or image, allowing users to intuitively understand the distribution of plantar pressure during walking or exercise.

[0053] Since the current analysis of gait focuses on the collection and analysis of a single piece of information, the multimodal monitoring system proposed in this embodiment can obtain all-round information about the user's gait by receiving and fusing data from different sensors, such as plantar pressure, acceleration, etc. At the same time, the analysis results are displayed on the display unit in a visual manner, providing users with instant gait feedback and plantar pressure distribution, which helps users to self-assess and correct gait problems and is beneficial to doctors in the diagnosis and treatment of foot diseases.

[0054] The basis for determining temperature abnormality is that when the tester has a foot disease or wound, the temperature of this part will be lower than the normal part due to muscle stiffness or wound. At this time, the flexible sensors distributed at the test points can collect the temperature. When the original data is transmitted to the data processing module, the original data can be processed to analyze the temperature abnormality point. In this implementation, since multiple flexible sensors are arranged on the embedded layer of the insole body, these flexible sensors can independently sense the temperature and pressure of the area where they are located. When the temperature sensed by different flexible sensors in the same area is different, the monitoring point where the flexible sensor with the lowest temperature is located will be marked as the temperature abnormality point. At the same time, the corresponding position of the flexible sensor on the embedded layer of the insole body is also arranged with an electric stimulation unit. In this embodiment, since the thickness of the electric stimulation unit used is extremely thin, the above-mentioned electric stimulation unit is arranged above the flexible sensor to contact the sole of the foot, which does not affect the temperature transfer and does not need to punch holes in the embedded layer to embed the electric stimulation unit. When the abnormal temperature point is compared, the data processing module will send an electrical stimulation signal to the microcontroller through the printed circuit board. After receiving the electrical stimulation signal, the microcontroller transmits it to the electrical stimulation unit corresponding to the abnormal point through the interface on the FPCB to electrically stimulate the corresponding position of the sole of the foot, improve the blood oxygen circulation in that part, and promote the temperature of that part to return to normal, so as to prevent and improve foot stiffness and necrosis caused by foot diseases.

[0055] See also Figure 6 , is a dynamic real-time simulation diagram of the plantar pressure when wearing a wearable device according to an embodiment of the present invention; this embodiment records the pressure thermodynamic diagram when the left foot touches the ground and the right foot tip walks on flat ground. The diagram records the three stages from left to right, from the foot lifting to the heel touching the ground, from the heel touching the ground to the entire sole touching the ground, and from the entire sole touching the ground to the heel leaving the ground. The first stage: when the right foot just starts to contact the ground, the right heel contacts the ground first, the resistance value of the heel part obviously decreases, and it bears a large plantar pressure; the second stage: the heel and the sole of the foot support the weight of the human body at the same time, at this time the sole of the foot bears the plantar pressure, and the heel has not yet left the ground; the third stage: the sole of the foot bears pressure, the heel is off the ground, and when walking, the static friction with the ground in the third stage is large, which allows us to continue walking forward.

[0056] Increased plantar pressure is an independent risk factor for foot diseases. Plantar pressure heat maps can identify disease conditions early and can also be used for gait analysis to reflect the gait characteristics of individuals during walking or running. After obtaining the sensor mean, current change rate and plantar pressure of each foot part in different time periods at the other foot end, the distribution data of both soles can be obtained, and foot diseases can be evaluated based on the difference in data between the two feet.

[0057] The above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution, which should be included in the scope of the claims of the present invention. Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution, which should be included in the scope of the claims of the present invention.

Claims

1. A gait monitoring system for a multimodal flexible wearable device, characterized in that: include: A wearable device housing wraps around the bottom of the wearer's foot; A data collection unit is provided in the wearable device to collect the user's gait data in real time; An electrical stimulation unit is provided on the insole body to electrically stimulate abnormal positions at the bottom of the foot; The insole body is located inside the bottom of the wearable device housing, and includes: an embedding layer that contacts the foot end and is used to embed the data acquisition unit; a flexible printed circuit board (FPCB) attached to the embedding layer; a through hole is provided on the embedding layer to embed and fix the acquisition unit; an interface is provided at a position corresponding to the through hole on the FPCB; the acquisition unit is connected to the wiring and electrodes on the FPCB through the interface; a hardware module, connected to the FPCB, comprising a microcontroller for transmitting the gait data to a multimodal monitoring system; A multimodal monitoring system compares and analyzes the gait data and displays it visually; The microcontroller receives the gait data through the interface on the FPCB.

2. The gait monitoring system for a multimodal flexible wearable device according to claim 1, characterized in that: The data acquisition unit includes: a flexible sensor located in the embedding layer and used for collecting temperature and pressure; the gait data includes: temperature data and pressure data acquired by the flexible sensor.

3. The gait monitoring system of the multimodal flexible wearable device according to claim 2, characterized in that: The microcontroller includes: a main microcontroller and a slave microcontroller respectively located on two independent printed circuit boards; the slave microcontroller receives gait data transmitted from the FPCB interface of one foot end and transmits it to the main microcontroller; the main microcontroller receives gait data transmitted from the FPCB interface of the other foot end, and transmits the gait data and the gait data transmitted by the slave microcontroller to the multimodal fusion monitoring system through the printed circuit board.

4. The gait monitoring system of the multimodal flexible wearable device according to claim 3, characterized in that: The multimodal monitoring system comprises: A data processing module receives and processes the gait data transmitted by the main microcontroller, and transmits the processing result of the gait data to a receiving unit; A receiving unit, receiving data from the data processing module and transmitting the data to a display unit; The display unit visually displays the data transmitted from the receiving unit.

5. The gait monitoring system for a multimodal flexible wearable device according to claim 4, characterized in that: The data processing module also sends an electrical stimulation signal according to the processing result of the gait data, and sends the electrical stimulation signal to the main microcontroller; the electrical stimulation unit is arranged in the embedded layer, and the FPCB is connected to the electrical stimulation unit through the interface; the main microcontroller also receives the electrical stimulation signal through the printed circuit board, and transmits the electrical stimulation signal to the slave microcontroller; the main microcontroller and the slave microcontroller transmit the electrical stimulation signal to the electrical stimulation unit through the interface on the FPCB to electrically stimulate the foot.

6. The gait monitoring system for a multimodal flexible wearable device according to claim 5, characterized in that: The data acquisition unit also includes a gyroscope and an acceleration sensor located in the wearable device; the gait data also includes: center of gravity offset data obtained by the gyroscope and acceleration data obtained by the acceleration sensor.

7. The gait monitoring system of the multimodal flexible wearable device according to claim 4 or 6, characterized in that: The data processing module uses a machine learning algorithm to extract features from the gait data and capture long-term dependencies to evaluate the user's gait characteristics.

8. The gait monitoring system for a multimodal flexible wearable device according to claim 5, characterized in that: The FPCB is provided with interdigital electrodes, which transmit the electrical stimulation signal to the electrical stimulation unit through the interface.

9. The gait monitoring system for a multimodal flexible wearable device according to claim 4, characterized in that: The display unit displays the gait characteristics in a chart or image.

Images