Gait active intervention method and system based on plantar pressure

Abstract

The application relates to the technical field of gait recognition, and discloses a gait active intervention method and system based on plantar pressure, which comprises the following steps: taking the center coordinate of plantar pressure as the pressure action position, and dividing gait stages according to the pressure transfer relationship of foot areas; comparing the foot area pressure of adjacent stages, defining the foot area with higher pressure and pressure cut-in from the adjacent foot area as the initial target foot area, and setting the preceding stage as the intervention stage; outputting a prompt to guide the pressure to deviate from the target foot area, and obtaining an intervention migration state according to intervention data; comparing the two types of migration states to construct a pressure bearing path, taking the end of the path as the current target foot area; if new foot areas are cut in by pressure, the target is updated and the intervention direction is adjusted; if there is no new foot area, the intervention is maintained when the pressure rises, and the intervention is terminated when the pressure is stable. The application can accurately and dynamically regulate the plantar pressure to realize efficient gait active correction intervention.

Description

Technical Field

[0001] This invention relates to the field of gait recognition technology, and in particular to a method and system for active gait intervention based on plantar pressure. Background Technology

[0002] Existing active intervention technologies for plantar pressure gait mostly target the problem of excessive pressure in a single abnormal foot area, and improve the abnormal pressure state of the target foot area by outputting pressure reduction prompts. The overall intervention and control only rely on the pressure change effect of the initial abnormal foot area for judgment and adjustment. This intervention mode only focuses on the pressure correction effect of the initial abnormal area and does not track and analyze the dynamic transfer characteristics of plantar pressure, and cannot adapt to the dynamic redistribution of plantar pressure during gait.

[0003] Traditional fixed-point intervention methods, after initial pressure reduction in the foot area, are prone to pressure migrating to adjacent foot areas, leading to secondary pressure abnormalities in these areas and continuous pressure shifts. This results in incomplete gait pressure correction, poor sustainability of intervention effects, and a lack of precise identification and dynamic tracking of pressure transfer paths. Consequently, they fail to fundamentally suppress the gradual transfer of plantar pressure, significantly limiting the accuracy and overall corrective effect of active gait intervention. Therefore, how to accurately and dynamically control plantar pressure to achieve efficient active gait correction intervention has become an urgent problem to be solved. Summary of the Invention

[0004] This invention provides a gait active intervention method and system based on plantar pressure to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides a gait active intervention method based on plantar pressure, comprising: S1. Based on the plantar pressure data collected by the smart insole, the coordinates of the plantar pressure center are used as the pressure application position. The gait stages are divided according to the transfer relationship of the pressure application position between adjacent foot intervals to obtain the pressure migration state. S2. Compare foot pressure in adjacent gait phases. Take the foot area where the pressure in the next adjacent phase is higher than that in the current gait phase and the pressure application point enters from the adjacent foot area as the initial target foot area. Take the gait phase before the pressure application point enters the initial target foot area as the intervention phase. S3. During the intervention phase, output the corresponding intervention prompt for the initial target foot area to guide the pressure application position away from the initial target foot area, and obtain the intervention migration status based on the plantar pressure data after the intervention prompt. S4. Starting from the initial target foot area, compare the pressure migration state with the intervention migration state, connect the adjacent foot areas that the pressure application position enters sequentially according to the order in which the adjacent foot areas rise above the preset threshold, obtain the pressure receiving path, and take the end foot area of ​​the pressure receiving path as the current target foot area. S5. When a new adjacent foot area with increased pressure and the pressure application location continues to enter after the current target foot area, the new adjacent foot area is connected to the pressure receiving path and is used as the current target foot area. The intervention prompt is moved to the current target foot area and adjusted to a direction away from the current target foot area. If no new adjacent foot area appears, the current intervention prompt is maintained if the pressure of the current target foot area still exceeds the preset threshold. If the pressure of the current target foot area does not exceed the preset threshold, the intervention prompt is stopped.

[0006] To address the aforementioned problems, the present invention also provides a gait active intervention system based on plantar pressure, the system comprising: The migration segmentation module is used to divide the gait stages according to the pressure data collected by the smart insole, taking the center coordinates of the pressure as the pressure application position, and the transfer relationship of the pressure application position between adjacent foot intervals to obtain the pressure migration state. The target screening module is used to compare foot pressure in adjacent gait phases. The foot area with pressure in the next adjacent phase that is higher than the pressure in the current gait phase and whose pressure application point enters from the adjacent foot area is taken as the initial target foot area. The gait phase before the pressure application point enters the initial target foot area is taken as the intervention phase. The intervention output module is used to output intervention prompts corresponding to the initial target foot area during the intervention phase, guide the pressure application position away from the initial target foot area, and obtain the intervention migration status based on the plantar pressure data after the intervention prompt; The path construction module is used to start from the initial target foot area, compare the pressure migration state with the intervention migration state, connect the adjacent foot areas that the pressure application position enters in sequence according to the order in which the adjacent foot areas rise above the preset threshold, obtain the pressure receiving path, and take the end foot area of ​​the pressure receiving path as the current target foot area. The dynamic control module is used to connect the new adjacent foot area to the pressure receiving path and use it as the current target foot area when a new adjacent foot area with increased pressure appears after the current target foot area and the pressure application position continues to enter. The intervention prompt is moved to the current target foot area and adjusted to a direction away from the current target foot area. If no new adjacent foot area appears, the current intervention prompt is maintained if the pressure of the current target foot area still exceeds the preset threshold. If the pressure of the current target foot area does not exceed the preset threshold, the intervention prompt is stopped.

[0007] Compared with the prior art, the present invention has the following beneficial effects: 1. This invention divides gait stages based on the migration patterns of plantar pressure, accurately locates the initial target foot area where abnormal pressure occurs, and provides timely corrective prompts at the corresponding intervention stage, proactively guiding the location of plantar pressure away from the abnormal pressure area. This method achieves pre-emptive intervention and precise correction of gait pressure anomalies, effectively standardizing the initial distribution of plantar pressure, ensuring the effectiveness and stability of pressure regulation within a single gait cycle, and optimizing the overall fundamental conditions for gait pressure distribution from the source.

[0008] 2. This invention can dynamically compare the pressure migration status before and after intervention, construct a complete pressure transfer path based on the sequence of pressure increase and migration in the foot area, dynamically update the intervention target area according to the pressure transfer trend, and adaptively adjust the intervention prompt direction. By implementing continuous intervention following the gradual change pattern of pressure transfer, it can effectively suppress the secondary pressure problem caused by the diffusion of plantar pressure to adjacent foot areas, eliminate the phenomenon of continuous pressure shift, significantly improve the comprehensiveness and long-term effectiveness of gait intervention, and achieve precise closed-loop intervention that dynamically adapts to gait changes. Attached Figure Description

[0009] Figure 1 A flowchart illustrating an active gait intervention method based on plantar pressure, provided in an embodiment of the present invention; Figure 2 This is a functional block diagram of a gait active intervention system based on plantar pressure, provided in an embodiment of the present invention.

[0010] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0011] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0012] This application provides a gait active intervention method based on plantar pressure. The executing entity of this gait active intervention method based on plantar pressure includes, but is not limited to, at least one of the following electronic devices that can be configured to execute the method provided in this application embodiment: a server, a terminal, etc. In other words, the gait active intervention method based on plantar pressure can be executed by software or hardware installed on a terminal device or a server device. The server includes, but is not limited to, a single server, a server cluster, a cloud server, or a cloud server cluster. The server can be an independent server or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content delivery networks (CDNs), and big data and artificial intelligence platforms.

[0013] Reference Figure 1 The diagram shown is a flowchart illustrating an active gait intervention method based on plantar pressure according to an embodiment of the present invention. In this embodiment, the active gait intervention method based on plantar pressure includes: S1. Based on the plantar pressure data collected by the smart insole, the coordinates of the plantar pressure center are used as the pressure application position. The gait stages are divided according to the transfer relationship of the pressure application position between adjacent foot intervals to obtain the pressure migration state. In this embodiment of the invention, the step of dividing the gait into stages based on the plantar pressure data collected by the smart insole, using the coordinates of the plantar pressure center as the pressure application location, and obtaining the pressure migration state by dividing the gait into stages according to the transfer relationship of the pressure application location between adjacent foot intervals, includes: By mapping the coordinates of the plantar pressure center in the plantar pressure data to each foot zone in chronological order, a sequence of pressure application locations is obtained. The position change of the pressure application position from the current foot area to the adjacent foot area in the pressure application position sequence is taken as the transfer node, and the position change of the current foot area to the adjacent foot area corresponding to each transfer node is taken as the transfer relationship. The time period between adjacent transfer nodes, the time period before the first transfer node, and the time period after the last transfer node are respectively taken as gait stages. According to the foot region where the pressure is applied in each gait phase and the transfer relationship between adjacent gait phases, and arranged in chronological order, the pressure migration state is obtained.

[0014] In the process of collecting plantar pressure data, the smart insole uses a sampling interval of 10 milliseconds. This value is based on the fact that the maximum movement speed of the plantar pressure center during normal walking is about 0.5 meters per second, while the minimum size of the foot area is about 5 millimeters. If the sampling interval is greater than 10 milliseconds, the pressure center may cross a complete foot area between two samplings, resulting in the omission of transfer nodes. If the sampling interval is less than 10 milliseconds, the displacement of the pressure center between adjacent sampling points is less than the spatial resolution of the pressure sensor, and the resulting redundant data will not improve the accuracy of gait phase segmentation.

[0015] The method for calculating the coordinates of the plantar pressure center is as follows: the sole of the foot is divided into multiple discrete sensing points, and a pressure sensor is set at each sensing point. Each sensor outputs a voltage signal at a sampling time of 10 milliseconds. The voltage signal is converted into a force value through a calibration curve. The geometric position coordinates of each sensor are used as the horizontal and vertical coordinates, and the force value output by the sensor is used as the weight. The horizontal coordinates of all sensors are weighted and averaged to obtain the horizontal coordinates of the pressure center. The vertical coordinates of all sensors are weighted and averaged to obtain the vertical coordinates of the pressure center. The combination of the horizontal and vertical coordinates is the coordinate of the pressure application position.

[0016] In one feasible implementation, the foot regions are divided using the anatomical division method of the foot. The foot is divided along its length from back to front into four regions: the heel region, the arch region, the forefoot region, and the toe region. The heel region is defined as the area at the back of the foot that covers the projection range of the calcaneus. The arch region is defined as the area in the middle of the foot that covers the projection range of the base of the tarsal and metatarsal bones. The forefoot region is defined as the area at the front of the foot that covers the projection range of the metatarsal heads. The toe region is defined as the area at the foremost part of the foot that covers the projection range of the phalanges. The boundary lines of each foot region are perpendicular to the length direction of the foot.

[0017] Specifically, a reference point is set at the geometric center of each foot region. The Euclidean distance between the pressure application location coordinates and the reference point of each foot region is calculated. The Euclidean distances of all foot regions are compared, and the foot region with the closest distance is determined as the foot region where the pressure application location is located at that sampling time. According to the time sequence of each sampling time, the pressure application location coordinates and the corresponding foot region names at that time are recorded one by one to form a pressure application location sequence. Each record item in the sequence includes the sampling time, the horizontal and vertical coordinates of the pressure application location, and the name of the foot region.

[0018] In one feasible implementation, the foot area is divided using a pressure sensor array. The foot pressure sensor array is arranged in a grid of three rows and four columns, with a total of twelve sensors. The length direction of the foot is the column direction, and the width direction of the foot is the row direction. The area covered by the three sensors in the first column is merged into the heel area, the area covered by the six sensors in the second and third columns is merged into the arch area, and the area covered by the three sensors in the fourth column is merged into the forefoot area. The area in front of the forefoot area that extends beyond the sensor array is separately marked as the toe area. No sensors are set inside the toe area, and its pressure data is obtained by linear extrapolation of the force value change trend of the sensors in the forefoot area.

[0019] Specifically, after obtaining the coordinates of the pressure application location at each sampling moment, the position of the coordinates in the sensor array grid is determined. If the position is within the sensing range of the first column of sensors, the pressure application location at that moment is assigned to the heel area; if the position is within the sensing range of the second or third column of sensors, it is assigned to the arch area; if the position is within the sensing range of the fourth column of sensors, it is assigned to the forefoot area; if the position is in front of the sensing range of the fourth column of sensors and adjacent to the forefoot area, it is assigned to the toe area. The results of assigning the positions at all sampling moments are arranged in chronological order to form a pressure application location sequence. Each record in this sequence includes the sampling time, the coordinates of the pressure application location, and the name of the foot area.

[0020] After obtaining the pressure application position sequence, each adjacent record pair is checked sequentially starting from the first record item in the sequence. An adjacent record pair refers to the pressure application position records of two consecutive sampling times that are close in time. If the foot region name in the previous record item is different from the foot region name in the next record item, it is determined that a foot region transfer has occurred within the time interval corresponding to the adjacent record pair. The foot region where the previous record item is located in the adjacent record pair is called the current foot region, and the foot region where the next record item is located is called the adjacent foot region. The position change event of the pressure application position moving from the current foot region to the adjacent foot region is defined as a transfer node, and the pairing relationship between the current foot region name and the adjacent foot region name corresponding to the transfer node is used as the transfer relationship corresponding to the transfer node.

[0021] After identifying all transfer nodes, the entire time period before the first transfer node is classified as the first gait phase. The start time of the first gait phase is the first sampling time of plantar pressure data acquisition, and the end time of the first gait phase is the sampling time before the next sampling time in the adjacent record pair corresponding to the first transfer node. The foot region corresponding to the first gait phase is the foot region where the previous record item defined in the first transfer node is located.

[0022] The entire time interval between any two adjacent transfer nodes is classified as the intermediate gait phases. For the nth transfer node and the (n+1)th transfer node, the start time of the intermediate time interval is the last sampling time in the adjacent record pair corresponding to the nth transfer node, and the end time of the intermediate time interval is the sampling time before the last sampling time in the adjacent record pair corresponding to the (n+1)th transfer node. The foot region corresponding to this intermediate time interval is the foot region where the last record item defined in the nth transfer node is located.

[0023] The entire time period after the last transfer node is classified as the final gait phase. The start time of the final gait phase is the last sampling time in the adjacent record pair corresponding to the last transfer node, the end time of the final gait phase is the last sampling time of the plantar pressure data acquisition, and the foot region corresponding to the final gait phase is the foot region where the last record item defined in the last transfer node is located.

[0024] Each gait phase is represented by a phase record item. Each phase record item contains the start time, end time, and foot region name of the phase. For each phase record item starting from the second phase record item, the foot region name of the phase is paired with the foot region name of the previous phase. This pairing relationship is used as the transition relationship between the phase and the previous phase. This transition relationship strictly corresponds in direction to the transition relationship extracted from the previous transition node.

[0025] Starting from the first gait stage, all gait stage records are arranged into an ordered list in chronological order. During the arrangement, each stage record carries not only the name of its own foot region but also the transition relationship between the current stage and the previous stage. This ordered list is the pressure migration state, which is used as benchmark data in subsequent steps to compare changes in the plantar pressure center transfer path before and after gait intervention.

[0026] S2. Compare foot pressure in adjacent gait phases. Take the foot area where the pressure in the next adjacent phase is higher than that in the current gait phase and the pressure application point enters from the adjacent foot area as the initial target foot area. Take the gait phase before the pressure application point enters the initial target foot area as the intervention phase. In this embodiment of the invention, foot pressure in adjacent gait phases is compared, and the foot region in which the pressure in the next adjacent phase is higher than that in the current gait phase and the pressure application point enters from the adjacent foot region is taken as the initial target foot region. The gait phase before the pressure application point enters the initial target foot region is taken as the intervention phase, including: Compare the pressure in each foot region during adjacent gait phases, and select the foot region whose pressure in the next adjacent gait phase is higher than that in the current gait phase as a candidate foot region; The transfer relationship before and after the pressure application position enters each candidate foot area is examined along the pressure migration state. The candidate foot area from the adjacent foot area is taken as the initial target foot area, and the transfer relationship into the initial target foot area is recorded. Tracing back along the transfer relationship from the point of pressure application into the initial target foot area, the gait phase corresponding to the period before entering the initial target foot area is taken as the intervention phase.

[0027] After obtaining the pressure migration state, extract the foot region name corresponding to the first stage record item and the start time of the stage from the pressure migration state, use the start time as the current comparison time, and use the foot region name as the current comparison foot region.

[0028] Extract the foot region name and the start time of the second stage record from the pressure migration state, use the start time as the subsequent comparison time, and use the foot region name as the subsequent comparison foot region.

[0029] Take the pressure value recorded in the pressure migration state of the current comparison foot area as the pressure value of the current gait stage, take the pressure value recorded in the pressure migration state of the subsequent comparison foot area as the pressure value of the next adjacent stage, and compare the magnitude relationship between the pressure value of the current gait stage and the pressure value of the next adjacent stage.

[0030] If the pressure value of the next adjacent stage is greater than the pressure value of the current gait stage, then the subsequent comparison foot area is marked as a candidate foot area, and the position index of the stage record item corresponding to the candidate foot area in the pressure migration state is recorded.

[0031] Assign the subsequent comparison time to the current comparison time, assign the subsequent comparison foot area to the current comparison foot area, extract the start time corresponding to the next stage record item from the pressure migration state as the new subsequent comparison time, and extract the foot area name corresponding to the next stage record item as the new subsequent comparison foot area.

[0032] Repeatedly compare the current gait stage pressure value of the current foot region with the next adjacent stage pressure value of the subsequent foot region until all stage records in the pressure transition state have been compared as subsequent foot regions. Arrange all stage records marked as candidate foot regions in ascending order of their position index in the pressure transition state to form a candidate foot region sequence.

[0033] In one feasible implementation, the screening of candidate foot regions is accomplished by comparing the pressure values ​​of adjacent stage records in the pressure migration state one by one. Adjacent stage records refer to two stage records whose position indices differ by one in the pressure migration state.

[0034] Specifically, the stage record item with position index 1 and the stage record item with position index 2 are taken from the pressure migration state. The pressure value corresponding to the stage record item with position index 1 is recorded as the previous value, and the pressure value corresponding to the stage record item with position index 2 is recorded as the subsequent value. If the subsequent value is greater than the previous value, the stage record item with position index 2 is determined to be a candidate foot region. Then, the stage record item with position index 2 and the stage record item with position index 3 are taken and compared. If the subsequent value of the stage record item with position index 3 is greater than the previous value of the stage record item with position index 2, the stage record item with position index 3 is determined to be a candidate foot region. This process is repeated. After each pair of adjacent stage record items is compared, the comparison position is moved one index position to the right until the last pair of adjacent stage record items in the pressure migration state is compared. All stage record items determined to be candidate foot regions are arranged into a candidate foot region sequence according to their position index from smallest to largest.

[0035] After obtaining the candidate foot region sequence, the stage record item corresponding to the first candidate foot region is extracted from the candidate foot region sequence, the foot region name in the stage record item is read, and the foot region name is recorded as the foot region name to be verified.

[0036] Find the position index of the stage record item corresponding to the first occurrence of the foot region name to be verified in the pressure migration state, record this position index as the first occurrence index, and compare the first occurrence index with the position index of the stage record item corresponding to the foot region name to be verified.

[0037] If both point to the same stage record, it means that the first appearance of the candidate foot region in the pressure migration state is the candidate foot region itself. At this time, the candidate foot region is not entered from the adjacent foot region, and the candidate foot region is deleted from the candidate foot region sequence.

[0038] If the index is less than the position index of the stage record corresponding to the foot region name to be verified for the first time, it means that the foot region name to be verified already has an earlier stage record in the pressure migration state, that is, the foot region was transferred in by other foot regions. At this time, read the foot region name in the previous stage record of the stage record corresponding to the foot region name to be verified, and record the foot region name in the previous stage record as the adjacent foot region name.

[0039] Read the transition relationship between the stage record item corresponding to the foot area name to be verified and its previous stage record item from the pressure migration status. This transition relationship records the relationship between the pressure application position and the foot area to be verified from the previous foot area. Check this transition relationship with the pairing relationship from the adjacent foot area name to the foot area name to be verified. If the two are consistent in direction, the candidate foot area is confirmed as the initial target foot area.

[0040] Record the position index of the stage record item corresponding to the initial target foot region, and at the same time record the pairing transfer relationship of the initial target foot region from the adjacent foot region name to the foot region name to be verified, as the transfer relationship for entering the initial target foot region.

[0041] Take the next candidate foot region from the candidate foot region sequence, and repeat the operations of reading the name of the foot region to be verified, checking the first occurrence index, confirming the names of adjacent foot regions, and checking the direction of the transfer relationship until all candidate foot regions in the candidate foot region sequence have been verified. Arrange all the candidate foot regions that have been confirmed as the initial target foot regions in ascending order of their position index in the pressure migration state to form the initial target foot region sequence.

[0042] After obtaining the transition relationship to enter the initial target foot region, read the name of the starting foot region recorded in the transition relationship, record the name of the starting foot region as the trace starting foot region, and find the position index of the stage record item where the trace starting foot region is located in the pressure migration state.

[0043] Starting from the position index of the stage record entry where the tracing start foot region is located, the stage record entries are read one by one in the direction of decreasing position index. When reading each stage record entry, it is checked whether the foot region name in that stage record entry is the same as the name of the tracing start foot region.

[0044] If the foot region name in the read stage record is the same as the starting foot region name, continue reading the next stage record in the direction of smaller position index, until the first stage record with a foot region name different from the starting foot region name is read.

[0045] The previous stage record item corresponding to the stopping moment is taken as the tracing endpoint. This tracing endpoint is the last gait stage before the pressure application position enters the initial target foot area. The time period defined by the start and end times in the stage record item corresponding to the tracing endpoint is determined as the intervention stage. This intervention stage is located on the time axis before and adjacent to the stage record item corresponding to the initial target foot area.

[0046] The location index of the stage record item corresponding to the intervention stage, the start time, end time, foot area name in the stage record item, and the transfer relationship between the stage record item and the initial target foot area stage record item are combined into an intervention information record item. This intervention information record item is used by subsequent steps as a time reference and location reference for outputting intervention prompts.

[0047] S3. During the intervention phase, output the corresponding intervention prompt for the initial target foot area to guide the pressure application position away from the initial target foot area, and obtain the intervention migration status based on the plantar pressure data after the intervention prompt. In this embodiment of the invention, during the intervention phase, an intervention prompt corresponding to the initial target foot area is output to guide the pressure application location away from the initial target foot area. The intervention migration state is obtained based on the plantar pressure data after the intervention prompt, including: Based on the positional relationship between the adjacent foot area where the pressure applied before entering the initial target foot area and the initial target foot area, the direction of pressure migration is obtained, and the positional change from the adjacent foot area to the initial target foot area is used as the transfer relationship. The direction deviating from the direction of pressure migration is used as the prompting direction. During the intervention phase, an intervention prompt is output according to the prompting direction to guide the pressure application position away from the initial target foot area. Based on the plantar pressure data after the intervention prompt, the transfer relationship of the pressure application position in adjacent foot intervals is arranged according to the gait stage to obtain the intervention migration state.

[0048] At the start of the intervention phase, the foot region name and the pressure application location coordinates corresponding to that phase's record are read from the intervention information record. The location of these pressure application location coordinates is marked as the intervention initiation location. The starting foot region name recorded in the transfer relationship section of the intervention information record is read and used as the name of the pre-migration foot region. The initial target foot region name is read and used as the name of the post-migration foot region. The geometric center coordinates corresponding to the pre-migration foot region name are found in the foot region location distribution table and used as the first location coordinates. The geometric center coordinates corresponding to the post-migration foot region name are found in the foot region location distribution table and used as the second location coordinates. A ray is drawn from the first location coordinates to the second location coordinates. The direction of this ray is the pressure migration direction, which represents the predetermined trend direction of the pressure application location moving from the pre-migration foot region to the initial target foot region in the absence of intervention.

[0049] Draw a ray starting from the intervention initiation position. The direction of this ray is opposite to the direction of pressure migration, that is, the ray points 180 degrees in the opposite direction of the direction of pressure migration. The direction of this opposite ray is used as the cue direction, which indicates the direction in which the pressure application position deviates from the initial target foot area.

[0050] The mechanical basis for selecting this guiding direction is as follows: the natural transfer path of the plantar pressure center in a normal gait follows a rolling motion from the heel through the arch to the forefoot. When the pressure center migrates from the arch to the forefoot, it indicates that the arch has begun to unload and the forefoot has begun to bear weight. Guiding the pressure center towards the arch at this point allows the increased load on the forefoot to flow back to the arch, achieving a reasonable redistribution of plantar pressure in the anterior-posterior direction. Using the same guiding direction as the pressure migration will accelerate the accumulation of the pressure center in the forefoot, exacerbating abnormal pressure on the forefoot. The mechanical effect of reverse guidance is to cause the pressure center to retreat at the boundary of the foot area, thereby reducing the pressure increment entering the target foot area and avoiding excessive concentration of pressure at a single point.

[0051] In one feasible implementation, the intervention prompt is output in the form of a vibratory tactile signal. An eccentric rotating mass vibrator is embedded in the sole of the foot below the initial target foot area. This vibrator generates mechanical vibration after receiving a driving voltage. Specifically, at the start of the intervention phase, a square wave driving voltage lasting 500 milliseconds is applied to the vibrator located below the initial target foot area. The frequency of this square wave driving voltage is set to 250 Hz, at which the vibration tactile perception threshold is lowest. The voltage amplitude is set to 3.7 volts, corresponding to a vibration acceleration of 2.5 m / s². This acceleration value is greater than the minimum discernible threshold of 0.5 m / s² for tactile perception of the sole skin, allowing the wearer to clearly perceive the vibration signal generated below the initial target foot area. This vibration signal prompts the wearer to move the pressure point of the sole in the indicated direction, i.e., to shift in the opposite direction of the pressure ingress direction. During the vibration signal output, the driving voltage of the vibrator is continuously applied until it is cut off at the end of 500 milliseconds. After the voltage is cut off, the vibrator naturally decays to rest due to the damping of the internal spring plate. The decay time is 50 milliseconds. During this decay time, the residual vibration of the vibrator does not affect the accuracy of subsequent plantar pressure data acquisition.

[0052] In one feasible implementation, the intervention cues are output as auditory guidance signals. A bone conduction speaker is placed beside the wearer's ear, which generates directional sound cues after receiving an audio drive signal. Specifically, at the start of the intervention phase, a frequency-modulated audio signal is sent to the bone conduction speaker. The fundamental frequency of this audio signal is 1000 Hz, and the modulation frequency is 5 Hz, meaning the signal strength changes periodically at a rate of 5 Hz, forming a pulsed cues. The duration of these pulsed cues is 800 milliseconds, during which four complete pulse cycles are output. When the audio signal is output, its directionality is generated by the phase control array of the bone conduction speaker, making the wearer perceive that the direction of the sound source is consistent with the direction of the cues, i.e., the sound seems to come from the opposite side of the initial target foot area, guiding the wearer to shift the pressure point of their foot along the cues' direction. The sound pressure level of this audio signal is set to 65 dB, which is 15 dB higher than the ambient background noise level, sufficient to attract the wearer's attention, while remaining below the safe threshold of 85 dB to avoid hearing damage.

[0053] While outputting the intervention prompt, the plantar pressure data re-acquisition process is initiated. The sampling interval of this re-acquisition process is kept at 10 milliseconds, the same as the initial sampling interval, to ensure that the time resolution of the two sets of data before and after the intervention is consistent.

[0054] The re-collected plantar pressure data covers the entire time period from the start of the intervention phase to the end of the final gait phase. A set of plantar pressure center coordinate data is acquired at each sampling time within this time period.

[0055] Following the same method as in the aforementioned pressure migration state generation process, the plantar pressure center coordinates of each newly collected sampling time are mapped to each foot area to obtain the sequence of pressure action locations after intervention.

[0056] Each position change event in the post-intervention pressure application position sequence, from the current foot zone to the adjacent foot zone, is taken as a transition node, and the pairing relationship between the current foot zone and the adjacent foot zone corresponding to each transition node is taken as the transition relationship.

[0057] The entire time period before the first transfer node after intervention is defined as the first gait phase after intervention, the time period between each two adjacent transfer nodes after intervention is defined as the intermediate gait phases after intervention, and the entire time period after the last transfer node after intervention is defined as the final gait phase after intervention.

[0058] The gait stages after intervention are arranged into an ordered list in chronological order. Each stage record includes the start time, end time, and foot area name of the stage. Each stage record also carries the transition relationship between the stage and the previous stage. This ordered list is the intervention transition state. The intervention transition state is used as comparative data for subsequent steps to evaluate the intervention effect and construct new stress-bearing paths.

[0059] S4. Starting from the initial target foot area, compare the pressure migration state with the intervention migration state, connect the adjacent foot areas that the pressure application position enters sequentially according to the order in which the adjacent foot areas rise above the preset threshold, obtain the pressure receiving path, and take the end foot area of ​​the pressure receiving path as the current target foot area. In this embodiment of the invention, comparing the pressure migration state with the intervention migration state starting from the initial target foot region includes: The pressure migration state is correlated with the foot area pressure and pressure application location in the same step stage of the intervention migration state to obtain a stage control relationship; Starting from the gait stage corresponding to the initial target foot area, the pressure changes of adjacent foot areas in subsequent gait stages are compared according to the stage comparison relationship, and the position change of the pressure application location from the adjacent foot area to the entry relationship is taken as the entry relationship. By comparing the pressure changes of adjacent foot areas in subsequent gait phases with the entry relationship, the adjacent foot areas in the intervention migration state where the pressure exceeds a preset threshold and the pressure application location enters are arranged in the order of appearance to obtain the receiving foot area sequence.

[0060] The process of connecting adjacent foot areas sequentially according to the order in which the pressure application position exceeds a preset threshold, thereby obtaining a pressure-bearing path, and using the foot area at the end of the pressure-bearing path as the current target foot area, includes: Select the first receiving foot area from the sequence of receiving foot areas that is adjacent to the initial target foot area and appears first, as the first receiving foot area; Starting from the first bearing foot area, in accordance with the order of the bearing foot area sequence, the next bearing foot area that is adjacent to the previous bearing foot area and whose pressure application position is entered from the previous bearing foot area is selected in turn. The pressure receiving path is obtained by connecting the initial target foot area, the first receiving foot area, and the selected subsequent receiving foot area according to their adjacency relationship, and the foot area that is last connected to the pressure receiving path is taken as the current target foot area.

[0061] After obtaining the stress migration state and the intervention migration state, the start time and foot area name corresponding to the first stage record item are extracted from the stress migration state, and the start time and foot area name corresponding to the first stage record item are extracted from the intervention migration state.

[0062] The start time of the first stage record in the stress migration state is compared with the start time of the first stage record in the intervention migration state. If the absolute value of the time difference between the two is less than or equal to 10 milliseconds, then the stage record in the stress migration state is paired with the stage record in the intervention migration state as the first corresponding stage.

[0063] The start time of the second stage record in the stress migration state is compared with the start time of the second stage record in the intervention migration state. If the absolute value of the time difference between the two is less than or equal to 10 milliseconds, the two stage records are paired as the second set of corresponding stages.

[0064] Repeat the pairing operation above, starting from the first pair of corresponding stages and proceeding to the subsequent stages in sequence, until all stage record items for either the stress migration state or the intervention migration state are paired. The set of correspondences formed by all pairing results is the stage control relationship. Each pair of corresponding stages in this stage control relationship contains one stress migration state stage record item and one intervention migration state stage record item, and the difference between their start times does not exceed 10 milliseconds.

[0065] The 10-millisecond pairing tolerance threshold is based on the following: In a normal gait cycle, the duration of a single transfer of the plantar pressure center between different foot zones is 30 to 50 milliseconds. The output of intervention prompts may cause the start time of the pressure center transfer to be advanced or delayed, but this advance or delay usually does not exceed 1% of the total gait cycle duration. Taking a normal gait cycle as 1000 milliseconds, 1% is 10 milliseconds. This threshold can cover the normal timing offset caused by intervention without mispairing adjacent gait phases with phase records of different gait cycles.

[0066] If the number of stage records in the stress migration state and the intervention migration state are different, after all pairable stage records have been paired, the remaining unpaired stage records will be marked as having no corresponding stage, and these stage records will not participate in subsequent comparisons. When the intervention causes the stage start time to shift by more than 10 milliseconds, the stage record in the intervention migration state will be marked as having no corresponding stage and will not participate in subsequent comparisons.

[0067] In one feasible implementation, the stage-to-stage relationship is established by searching for the stage record item on the timeline that is closest to the start time for each stage.

[0068] Specifically, the start time of the first stage record is extracted from the stress migration state. Among all stage records in the intervention migration state, the stage record with the smallest absolute difference between the start time and the time is searched. If the smallest absolute value is less than or equal to 10 milliseconds, the two stage records are paired. If the smallest absolute value is greater than 10 milliseconds, the stage record in the stress migration state is marked as having no corresponding stage in the intervention migration state and is not included in subsequent comparisons.

[0069] Remove the paired stage records from the stress migration state and the paired stage records from the intervention migration state from their respective state lists. Then, take the first unpaired stage record from the stress migration state and repeat the process of finding the stage record with the closest start time in the remaining stage records of the intervention migration state for pairing until all stage records in the stress migration state have been processed. Finally, merge all pairing results to form a stage control relationship.

[0070] After obtaining the phase control relationship, find the phase record item where the initial target foot area name is located in the phase control relationship, mark the position of the phase record item in the phase control relationship as the starting control position, and mark the phase record item in the intervention migration state corresponding to the phase record item as the intervention starting phase.

[0071] Starting from the next paired group at the initial control position, the stress migration state stage record and the intervention migration state stage record are sequentially extracted from each paired group.

[0072] Extract the foot region name and pressure value of the pressure migration state stage record item in the current pairing group, and simultaneously extract the foot region name and pressure value of the intervention migration state stage record item in the same pairing group.

[0073] The preset pressure threshold is 2% of the total plantar pressure. This value is based on the fact that the calibration accuracy of a single sensing point in the plantar pressure sensor array is ±1% of full scale. Setting the threshold to 2% ensures that the pressure rise signal is more than twice the sensor noise level. At the same time, this threshold is 5% to 15% lower than the typical pressure change in each foot zone during plantar pressure center shift, thus not affecting the detection sensitivity for real pressure rise events. In one feasible implementation, the preset pressure threshold is set to 3% of the total plantar pressure.

[0074] Compare the foot region name of the intervention migration state stage record item in the current pairing group with the foot region name of the pressure migration state stage record item. If they are the same, continue to compare the two pressure values ​​in the current pairing group. If they are different, do not compare the pressure values ​​and move directly to the next pairing group.

[0075] If the foot zone names of the two phase recording items in the current pairing group are the same, the pressure value of the pressure migration phase recording item is compared with the pressure value of the intervention migration phase recording item. If the difference between the pressure value of several pre-migration phase recording items and the pressure value of the pressure migration phase recording item is greater than the above-mentioned preset pressure threshold, it is determined that the foot zone corresponding to the pairing group has experienced a pressure increase exceeding the preset threshold.

[0076] The foot zone name corresponding to the pairing group where the pressure rises above the preset threshold is marked as the elevated foot zone name. At the same time, the foot zone name in the previous stage record item of the intervention migration state stage record item in the pairing group is read, and the previous foot zone name is used as the entry anterior foot zone name, and the elevated foot zone name is used as the entry posterior foot zone name. The position change from the entry anterior foot zone name to the entry posterior foot zone name is recorded as the entry relationship, and the entry relationship is bound and stored with the elevated foot zone name.

[0077] Starting with the next pair of pairs from the initial control position, each subsequent pair of pairs is checked sequentially until all pair of pairs after the initial control position in the stage control relationship has been checked. All pair of pairs marked with the name of the ascending foot region and recorded with the entry relationship are arranged in the order of their appearance in the stage control relationship to form a candidate foot region list.

[0078] In one feasible implementation, the entry of a relational record is accomplished by comparing the foot region names of adjacent stage record entries in the intervention migration state.

[0079] Specifically, for a paired group that is determined to have increased pressure exceeding a preset threshold, starting from the position index of the intervention migration state stage record item corresponding to the paired group, the foot area name in the stage record item corresponding to the previous position index is used as the first foot area name, and the foot area name in the intervention migration state stage record item corresponding to the paired group is used as the second foot area name. The pairing relationship between the first foot area name and the second foot area name is recorded as an entry relationship. This entry relationship clearly records that the pressure application location moves from the foot area where the first foot area name is located to the foot area where the second foot area name is located.

[0080] After obtaining the list of candidate receiving foot areas, the pairing group corresponding to the first candidate receiving foot area is taken out from the list, and the name of the pre-entry foot area recorded in the pairing group is checked to see if it is the name of the initial target foot area.

[0081] If the name of the pre-entry foot region of the entry relationship is the same as the name of the initial target foot region, then the candidate receiving foot region is taken as the first receiving foot region. If they are not the same, continue to check whether the name of the pre-entry foot region of the entry relationship corresponding to the subsequent candidate receiving foot regions in the candidate receiving foot region list is the same as the name of the initial target foot region, until the first candidate receiving foot region whose name is the same as the name of the initial target foot region is found, and the candidate receiving foot region is taken as the first receiving foot region.

[0082] The first receiving foot area is determined as the current search foot area, and the first receiving foot area is taken out from the candidate receiving foot area list and put into the receiving foot area sequence. The initial content of the receiving foot area sequence is the first receiving foot area.

[0083] From the remaining candidate receiving foot areas in the candidate receiving foot area list, each candidate receiving foot area is taken out in the original order of the candidate receiving foot area list, and it is checked whether the foot area name of the entry relationship corresponding to the candidate receiving foot area is consistent with the foot area name of the currently searched foot area.

[0084] If they match, the candidate receiving foot area is taken as the next receiving foot area, the next receiving foot area is taken from the candidate receiving foot area list and appended to the end of the receiving foot area sequence, and the next receiving foot area is updated as the current searched foot area.

[0085] After updating the current searched foot region, continue searching the candidate receiving foot region list in the original order for the next candidate receiving foot region whose name is the updated name of the current searched foot region. Repeat the operations of retrieving, appending to the end of the receiving foot region sequence, and updating the current searched foot region until there are no more candidate receiving foot regions whose name is the current searched foot region in the candidate receiving foot region list. At this point, the receiving foot region sequence records all the foot region names that are received sequentially starting from the first receiving foot region.

[0086] After obtaining the bearing foot zone sequence, place the initial target foot zone name in the first position of the pressure bearing path.

[0087] Take the first receiving foot area name from the receiving foot area sequence and place it after the initial target foot area name as the second position of the pressure receiving path.

[0088] Take the second bearing area name from the bearing area sequence and place it after the first bearing area name as the third position of the pressure bearing path.

[0089] Each subsequent bearing area name is extracted sequentially according to the bearing area sequence. Each extracted bearing area name is placed after the current last position in the pressure bearing path, until all bearing area names in the bearing area sequence have been extracted and placed into the pressure bearing path.

[0090] The pressure application path is a sequentially arranged list of foot zone names. The first element in the list is the initial target foot zone name, the second element is the first receiving foot zone name, and the next receiving foot zone name is selected sequentially starting from the third element. Each pair of adjacent foot zone names in the list are spatially adjacent to each other, and the pressure application position moves from the previous foot zone to the next foot zone in the time axis according to the list order.

[0091] The pressure transmission path is an ordered list of foot area names. ,in The initial target foot region name, The name of the current target foot area. This represents the total number of foot region names in the path. Each pair of adjacent elements in this list... The following conditions must be met: and They are spatially adjacent to each other, and the location of pressure application is different from the location on the time axis. Enter the foot area The path did not pass through any intermediate foot regions when it was in the foot region. The path length is... , which represents the number of foot zone transfers traversed by the pressure application site after intervention, from the initial target foot zone to the current target foot zone.

[0092] Extract the name of the foot region at the last position in the pressure application path and use this name as the current target foot region. This current target foot region represents the latest application position reached by the pressure application position after intervention. This current target foot region is used by subsequent steps as the starting monitoring point for monitoring whether the pressure application position continues to enter a new adjacent foot region.

[0093] S5. When a new adjacent foot area with increased pressure and the pressure application location continues to enter after the current target foot area, the new adjacent foot area is connected to the pressure receiving path and is used as the current target foot area. The intervention prompt is moved to the current target foot area and adjusted to a direction away from the current target foot area. If no new adjacent foot area appears, the current intervention prompt is maintained if the pressure of the current target foot area still exceeds the preset threshold. If the pressure of the current target foot area does not exceed the preset threshold, the intervention prompt is stopped.

[0094] In this embodiment of the invention, when a new adjacent foot area with increased pressure and where the pressure application location continues to enter occurs after the current target foot area, the new adjacent foot area is connected to the pressure-bearing path and used as the current target foot area, including: Compare the pressure of adjacent gait phases in foot regions that are adjacent to the current target foot region and are not connected to the pressure receiving path; When the pressure of the next stage of the adjacent foot area exceeds the pressure of the current gait stage by more than a preset threshold, and the pressure application position moves from the current target foot area to the adjacent foot area, the adjacent foot area is designated as the new adjacent foot area. Connect the new adjacent foot zone to the end of the pressure receiving path, and update the current target foot zone with the new adjacent foot zone.

[0095] The step of moving the intervention prompt to the current target foot area and adjusting it to a direction away from the current target foot area includes: The current target foot region before the new adjacent foot region is connected is taken as the previous target foot region, and the path extension direction is obtained according to the positional relationship between the previous target foot region and the updated current target foot region. The intervention prompt is moved from the previous target foot area to the updated current target foot area, and the direction that deviates from the path extension direction is taken as the adjusted prompt direction. If the adjusted prompt direction exceeds the boundary of the foot's support range, the prompt direction is adjusted to a preset safe direction pointing to the inside or outside of the foot. The intervention prompts are output according to the adjusted prompt direction, guiding the pressure application location away from the updated current target foot area.

[0096] If no new adjacent foot area appears, and the pressure in the current target foot area still exceeds a preset threshold, the current intervention prompt will be maintained; if the pressure in the current target foot area does not exceed the preset threshold, the intervention prompt will be stopped. This includes: In foot areas adjacent to the current target foot area and not connected to the pressure receiving path, if there is no pressure increase exceeding the preset threshold and the pressure application location is entered from the current target foot area, the current target foot area remains unchanged. Compare the pressure of the current target foot area in adjacent gait phases, and maintain the current intervention prompt when the pressure in the next adjacent phase exceeds the pressure in the current gait phase by more than a preset threshold; The intervention prompt will stop when the pressure in the next adjacent stage does not exceed the preset threshold of the pressure in the current gait stage.

[0097] After the current target foot area is determined, the name of the current target foot area is read from the pressure receiving path, and the start time of the next stage record after the current target foot area is read from the pressure migration status. This start time is used as the monitoring start time.

[0098] Find all adjacent foot region names corresponding to the current target foot region name in the foot region location distribution table, and compile these adjacent foot region names into an adjacent foot region list.

[0099] Read the names of all foot zones that have been connected to the pressure receiving path from the pressure receiving path, and compile these names into a list of connected foot zones.

[0100] The names of foot areas that are not included in the list of connected foot areas are filtered out from the list of adjacent foot areas to form a list of unconnected adjacent foot areas. Each foot area in the list of unconnected adjacent foot areas is directly adjacent to the current target foot area in space and has not yet been included in the pressure receiving path.

[0101] Starting from the beginning of monitoring, each subsequent stage record in the intervention migration state following the current target foot area stage record is checked in chronological order. For each subsequent stage record, the foot area name and the corresponding pressure value of the foot area are extracted from the stage record.

[0102] The extracted foot region name is compared with each foot region name in the list of unconnected adjacent foot regions. If the extracted foot region name is the same as a foot region name in the list of unconnected adjacent foot regions, the foot region name in the previous stage record of the intervention migration status is read from the previous stage record. The foot region name in the previous stage record is used as the source foot region name, and it is checked whether the source foot region name is the current target foot region name.

[0103] If the source foot region name is the same as the current target foot region name, then it is determined that the unconnected adjacent foot region corresponding to the record item in this stage is a foot region entered from the current target foot region.

[0104] In one feasible implementation, the screening of unconnected adjacent foot areas is accomplished by marking the foot area names in the pressure receiving path. Each foot area name is assigned an "connected" mark when it is connected to the pressure receiving path.

[0105] Specifically, when the initial target foot region is obtained, the foot region name is stored in the already connected name set. Each time a new adjacent foot region is connected to the pressure receiving path, the name of the new adjacent foot region is simultaneously stored in the already connected name set. When checking the adjacent foot regions of the current target foot region, all foot region names adjacent to the current target foot region are taken from the foot region location distribution table to form an adjacent name set. Foot region names that already exist in the already connected name set are excluded from this adjacent name set. The remaining name set is the unconnected adjacent foot region name set. Each foot region name in the unconnected adjacent foot region name set represents a candidate foot region that has not yet been included in the pressure receiving path and is adjacent to the current target foot region.

[0106] The current target foot area name is recorded as the first monitoring foot area. The pressure value in the first stage record item after the current target foot area stage record item is read from the intervention migration status as the first subsequent pressure value. The pressure value in the current target foot area stage record item is read as the current pressure value. The first subsequent pressure value is compared with the current pressure value.

[0107] If the difference between the first subsequent pressure value and the current pressure value is greater than the preset pressure threshold, it is determined that the foot area in the first subsequent stage record has experienced a pressure increase exceeding the preset threshold, and the monitoring result is marked as a pressure increase state.

[0108] Continue reading the pressure value from the second stage record after the current target foot area stage record from the intervention migration status as the second subsequent pressure value. Compare the second subsequent pressure value with the pressure value in the first subsequent stage record. If the difference between the second subsequent pressure value and the pressure value in the first subsequent stage record is greater than the preset pressure threshold, it is determined to be a pressure rise state exceeding the preset threshold. If the difference is not greater than the preset pressure threshold, it is determined to be a pressure rise state not exceeding the preset threshold.

[0109] The pressure values ​​of adjacent subsequent stage records are compared sequentially according to time sequence. That is, the pressure value of the subsequent stage record is subtracted from the pressure value of the previous stage record. If the difference is greater than the preset pressure threshold, it is determined that the pressure has increased beyond the preset threshold. If the difference is not greater than the preset pressure threshold, it is determined that the pressure has increased within the preset threshold. This process continues until all subsequent stage records in the pressure transition state have been compared.

[0110] All stage records that are determined to be in a state of increased pressure exceeding a preset threshold are arranged into a pressure increase stage sequence according to their order of appearance. Each stage record in the pressure increase stage sequence carries the name of the foot region where the stage record is located and the name of the foot region where the previous stage record is located.

[0111] After obtaining the pressure rise phase sequence, the first phase record is taken out from the pressure rise phase sequence, and the foot region name in the previous phase record is checked to see if it is the current target foot region name.

[0112] If the foot region name in the previous stage record is the name of the current target foot region, then the foot region in the current stage record is determined to be a new adjacent foot region entered from the current target foot region, and the name of the foot region is used as the name of the new adjacent foot region.

[0113] If the foot region name in the previous stage record is not the current target foot region name, then continue to check whether the foot region name in the previous stage record of the second stage record in the pressure rise stage sequence is the current target foot region name. Check each stage record in the order of the pressure rise stage sequence until the first stage record that has the foot region name in the previous stage record is the current target foot region name is found. Then, the foot region name in that stage record is taken as the new adjacent foot region name.

[0114] If the foot region name in the previous stage record of all stages in the pressure rise stage sequence is not the current target foot region name, then it is determined that no new adjacent foot region has appeared.

[0115] If a new adjacent foot region is determined to be present, the name of the foot region at the last position is read from the pressure receiving path and recorded as the end foot region name. This end foot region name is the same as the current target foot region name.

[0116] After adding the new adjacent foot area name to the last position of the pressure bearing path, the new adjacent foot area name becomes the foot area name at the new last position of the pressure bearing path. The new adjacent foot area name and the end foot area name form an adjacent sequential relationship in the pressure bearing path.

[0117] The new adjacent foot region name is used as the updated current target foot region name, replacing the original current target foot region name, so that the new adjacent foot region name becomes the new starting monitoring point in subsequent monitoring.

[0118] The name of the current target foot region before the new adjacent foot region is connected is recorded as the name of the previous target foot region. The geometric center coordinates corresponding to the name of the previous target foot region are found from the foot region location distribution table and used as the previous coordinates. The geometric center coordinates corresponding to the updated name of the current target foot region are found and used as the updated coordinates. A ray is drawn from the previous coordinates to the updated coordinates. The direction of this ray is the path extension direction. The path extension direction represents the spatial direction of the pressure application position moving from the previous target foot region to the updated current target foot region on the time axis.

[0119] In one feasible implementation, the path extension direction is determined by reading the transition relationship between the stage record item corresponding to the current target foot region and the stage record item corresponding to the previous target foot region in the pressure migration state after the update.

[0120] Specifically, the position index of the stage record item containing the name of the previous target foot area is found in the pressure migration state, and this position index is recorded as the first index. The position index of the stage record item containing the name of the current target foot area after the pressure migration state is found, and this position index is recorded as the second index. The transfer relationship recorded between the first index and the second index is read. This transfer relationship records the direction information of the pressure application position from the previous target foot area to the updated current target foot area, and this direction information is used as the path extension direction.

[0121] After obtaining the path extension direction, the opposite direction of the path extension direction is used as the adjusted prompt direction, which guides the pressure application location away from the updated current target foot area.

[0122] The intervention prompt is switched from the previous target foot area name to the updated current target foot area name, thus shifting the target foot area from the old target foot area to the new target foot area.

[0123] While switching the target of intervention, the output direction of the intervention prompt is switched from the original prompt direction to the adjusted prompt direction, so that the movement direction indicated by the intervention prompt is opposite to the path extension direction.

[0124] Following the adjusted prompt direction, when the start time of the stage record corresponding to the updated current target foot area arrives, an intervention prompt is output to a position below the updated current target foot area. The duration and signal strength of this intervention prompt are the same as those of the initial intervention prompt in step S3 above, i.e., the duration of the vibration signal is 500 milliseconds, the frequency is 250 Hz, and the amplitude is 3.7 volts, or the duration of the auditory signal is 800 milliseconds, the fundamental frequency is 1000 Hz, the modulation frequency is 5 Hz, and the sound pressure level is 65 dB. The pressure application position is shifted along the adjusted prompt direction before entering the updated current target foot area to avoid excessive pressure concentration in the updated current target foot area.

[0125] If no new adjacent foot area is found, the name of the current target foot area remains unchanged, that is, the end foot area of ​​the pressure bearing path is not updated, so that the current target foot area continues to be the starting monitoring point for subsequent monitoring.

[0126] The pressure value is read from the stage record immediately following the stage record corresponding to the current target foot area in the pressure migration state as the subsequent pressure value, and the pressure value in the stage record corresponding to the current target foot area is read as the current pressure value. The subsequent pressure value is compared with the current pressure value.

[0127] If the difference between the subsequent pressure value and the current pressure value is greater than the preset pressure threshold, it is determined that the pressure in the current target foot area still exceeds the preset threshold and continues to rise. The current intervention prompt continues to be output, that is, the intervention prompt continues to be output to the current target foot area according to the prompt direction and prompt intensity corresponding to the current target foot area. The duration and signal strength of the intervention prompt are the same as the duration and signal strength of the initial intervention prompt, guiding the pressure application position to continue to deviate from the current target foot area.

[0128] If the difference between the subsequent pressure value and the current pressure value is not greater than the preset pressure threshold, it is determined that the pressure in the current target foot area has not exceeded the preset threshold increase, and the output of intervention prompts is stopped. That is, all vibration signals or auditory signals output to the position below the current target foot area are cut off, so that the position of the foot pressure naturally returns to the movement trajectory in the uninterrupted state.

[0129] After the intervention is stopped, the current target foot area is marked as the foot area with completed intervention, and the foot area with completed intervention is recorded in the intervention history list. The intervention history list records the names of all foot areas with completed intervention and their corresponding intervention end times. This intervention history list is used for statistical analysis of the subsequent gait intervention effects.

[0130] In the subsequent gait phase after the intervention prompt stops, if the difference between the subsequent pressure value of the current target foot area and the current pressure value is greater than the preset pressure threshold again, the intervention prompt for the current target foot area is restarted, and all the operations in step S5 for determining whether a new adjacent foot area has appeared or not are repeated. That is, the pressure value of the subsequent stage record item is read again from the intervention migration state, the determination of whether it exceeds the preset threshold is performed again, and the operation of connecting the new adjacent foot area and updating the intervention prompt direction is performed according to the determination result, or the current intervention prompt is maintained, or the intervention prompt is stopped.

[0131] In one feasible implementation, the determination of whether the current target foot pressure continues to rise above a preset threshold is accomplished by determining the sign of the pressure difference between adjacent gait phases.

[0132] Specifically, the pressure value in the current target foot area stage record is extracted from the pressure migration state as the baseline pressure value, and the pressure value in the first stage record after the current target foot area stage record is extracted as the first comparison pressure value. The difference between the first comparison pressure value and the baseline pressure value is calculated. If the difference is greater than the preset pressure threshold, it is determined that the pressure still exceeds the preset threshold increase. If the difference is not greater than the preset pressure threshold, it is determined that the pressure does not exceed the preset threshold increase.

[0133] If the pressure is determined to still exceed the preset threshold, the current intervention prompt output status is maintained. If the pressure is determined not to exceed the preset threshold, all output signals of the current intervention prompt are immediately cut off, and the current target foot area is marked as a stable foot area.

[0134] like Figure 2 The diagram shown is a functional block diagram of a gait active intervention system based on plantar pressure provided in an embodiment of the present invention.

[0135] The gait active intervention system 100 based on plantar pressure described in this invention can be installed in an electronic device. Depending on the functions implemented, the gait active intervention system 100 may include a migration segmentation module 101, a target screening module 102, an intervention output module 103, a path construction module 104, and a dynamic control module 105. The module described in this invention can also be referred to as a unit, which refers to a series of computer program segments that can be executed by the processor of an electronic device and can perform a fixed function, and are stored in the memory of the electronic device.

[0136] In this embodiment, the functions of each module / unit are as follows: The migration division module 101 is used to divide the gait stages according to the foot pressure data collected by the smart insole, taking the foot pressure center coordinates as the pressure application position, and the pressure application position in adjacent foot intervals to obtain the pressure migration state. The target screening module 102 is used to compare foot area pressure in adjacent gait stages, and to take the foot area where the pressure in the next adjacent stage is higher than the pressure in the current gait stage and the pressure application position enters from the adjacent foot area as the initial target foot area, and to take the gait stage before the pressure application position enters the initial target foot area as the intervention stage. The intervention output module 103 is used to output an intervention prompt corresponding to the initial target foot area during the intervention stage, guide the pressure application position away from the initial target foot area, and obtain the intervention migration status based on the plantar pressure data after the intervention prompt. The path construction module 104 is used to start from the initial target foot area, compare the pressure migration state with the intervention migration state, connect the adjacent foot areas that the pressure application position enters sequentially according to the order in which the adjacent foot areas rise above the preset threshold, obtain the pressure receiving path, and take the end foot area of ​​the pressure receiving path as the current target foot area. The dynamic control module 105 is used to connect the new adjacent foot area to the pressure receiving path and use it as the current target foot area when a new adjacent foot area with increased pressure and pressure application continues to enter after the current target foot area. The intervention prompt is moved to the current target foot area and adjusted to a direction away from the current target foot area. If no new adjacent foot area appears, the current intervention prompt is maintained if the pressure of the current target foot area still exceeds the preset threshold. If the pressure of the current target foot area does not exceed the preset threshold, the intervention prompt is stopped.

[0137] In the several embodiments provided by this invention, it should be understood that the disclosed methods and systems can be implemented in other ways. For example, the system embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and other division methods may be used in actual implementation.

[0138] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0139] Furthermore, the functional modules in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in the form of hardware plus software functional modules.

[0140] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention.

[0141] The embodiments of this application can acquire and process relevant data based on an artificial intelligence technology. Artificial intelligence is the theory, method, technology, and application system that uses digital computers or machines controlled by digital computers to simulate, extend, and expand human intelligence, perceive the environment, acquire knowledge, and use that knowledge to obtain optimal results.

[0142] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A gait active intervention method based on plantar pressure, characterized in that, The method includes: S1. Based on the plantar pressure data collected by the smart insole, the coordinates of the plantar pressure center are used as the pressure application position. The gait stages are divided according to the transfer relationship of the pressure application position between adjacent foot intervals to obtain the pressure migration state. S2. Compare foot pressure in adjacent gait phases. Take the foot area where the pressure in the next adjacent phase is higher than that in the current gait phase and the pressure application point enters from the adjacent foot area as the initial target foot area. Take the gait phase before the pressure application point enters the initial target foot area as the intervention phase. S3. During the intervention phase, output the corresponding intervention prompt for the initial target foot area to guide the pressure application position away from the initial target foot area, and obtain the intervention migration status based on the plantar pressure data after the intervention prompt. S4. Starting from the initial target foot area, compare the pressure migration state with the intervention migration state, connect the adjacent foot areas that the pressure application position enters sequentially according to the order in which the adjacent foot areas rise above the preset threshold, obtain the pressure receiving path, and take the end foot area of ​​the pressure receiving path as the current target foot area. S5. When a new adjacent foot area with increased pressure and the pressure application location continues to enter after the current target foot area, the new adjacent foot area is connected to the pressure receiving path and is used as the current target foot area. The intervention prompt is moved to the current target foot area and adjusted to a direction away from the current target foot area. If no new adjacent foot area appears, the current intervention prompt is maintained if the pressure of the current target foot area still exceeds the preset threshold. If the pressure of the current target foot area does not exceed the preset threshold, the intervention prompt is stopped.

2. The gait active intervention method based on plantar pressure as described in claim 1, characterized in that, The process involves using plantar pressure data collected from smart insoles, taking the coordinates of the plantar pressure center as the pressure application location, and dividing the gait into stages according to the transfer relationship of the pressure application location between adjacent foot intervals to obtain the pressure migration state, including: The coordinates of the plantar pressure center in the plantar pressure data collected by the smart insole are mapped to each foot zone in chronological order to obtain the sequence of pressure application locations. The position change of the pressure application position from the current foot area to the adjacent foot area in the pressure application position sequence is taken as the transfer node, and the position change of the current foot area to the adjacent foot area corresponding to each transfer node is taken as the transfer relationship. The time period between adjacent transfer nodes, the time period before the first transfer node, and the time period after the last transfer node are respectively taken as gait stages. According to the foot region where the pressure is applied in each gait phase and the transfer relationship between adjacent gait phases, and arranged in chronological order, the pressure migration state is obtained.

3. The gait active intervention method based on plantar pressure as described in claim 1, characterized in that, The comparison of foot area pressure in adjacent gait phases, defining the foot area where the pressure in the next adjacent phase is higher than that in the current gait phase and the pressure application point enters from the adjacent foot area as the initial target foot area, and defining the gait phase before the pressure application point enters the initial target foot area as the intervention phase, includes: Compare the pressure in each foot region during adjacent gait phases, and select the foot region whose pressure in the next adjacent gait phase is higher than that in the current gait phase as a candidate foot region; The transfer relationship before and after the pressure application position enters each candidate foot area is examined along the pressure migration state. The candidate foot area from the adjacent foot area is taken as the initial target foot area, and the transfer relationship into the initial target foot area is recorded. Tracing back along the transfer relationship from the point of pressure application into the initial target foot region, the gait phase corresponding to the period before entering the initial target foot region is taken as the intervention phase.

4. The gait active intervention method based on plantar pressure as described in claim 1, characterized in that, The intervention phase outputs an intervention prompt corresponding to the initial target foot area, guiding the pressure application location away from the initial target foot area. The intervention migration status is obtained based on the plantar pressure data after the intervention prompt, including: Based on the positional relationship between the adjacent foot area where the pressure applied before entering the initial target foot area and the initial target foot area, the direction of pressure migration is obtained, and the positional change from the adjacent foot area to the initial target foot area is used as the transfer relationship. The direction deviating from the direction of pressure migration is used as the prompting direction. During the intervention phase, an intervention prompt is output according to the prompting direction to guide the pressure application position away from the initial target foot area. Based on the plantar pressure data after the intervention prompt, the transfer relationship of the pressure application position in adjacent foot intervals is arranged according to the gait stage to obtain the intervention migration state.

5. The gait active intervention method based on plantar pressure as described in claim 1, characterized in that, The step of comparing the pressure migration state with the intervention migration state, starting from the initial target foot area, includes: The pressure migration state is correlated with the foot area pressure and pressure application location in the same step stage of the intervention migration state to obtain a stage control relationship; Starting from the gait stage corresponding to the initial target foot area, the pressure changes of adjacent foot areas in subsequent gait stages are compared according to the stage comparison relationship, and the position change of the pressure application location from the adjacent foot area to the entry relationship is taken as the entry relationship. By comparing the pressure changes of adjacent foot areas in subsequent gait phases with the entry relationship, the adjacent foot areas in the intervention migration state where the pressure exceeds a preset threshold and the pressure application location enters are arranged in the order of appearance to obtain the receiving foot area sequence.

6. The gait active intervention method based on plantar pressure as described in claim 5, characterized in that, The process of connecting adjacent foot areas sequentially according to the order in which the pressure application position exceeds a preset threshold, thereby obtaining a pressure-bearing path, and using the foot area at the end of the pressure-bearing path as the current target foot area, includes: Select the first receiving foot area from the sequence of receiving foot areas that is adjacent to the initial target foot area and appears first, as the first receiving foot area; Starting from the first bearing foot area, in accordance with the order of the bearing foot area sequence, the next bearing foot area that is adjacent to the previous bearing foot area and whose pressure application position is entered from the previous bearing foot area is selected in turn. The pressure receiving path is obtained by connecting the initial target foot area, the first receiving foot area, and the selected subsequent receiving foot area according to their adjacency relationship, and the foot area that is last connected to the pressure receiving path is taken as the current target foot area.

7. The gait active intervention method based on plantar pressure as described in claim 6, characterized in that, When a new adjacent foot region with increased pressure and where the pressure continues to be applied appears after the current target foot region, the new adjacent foot region is connected to the pressure-bearing path and designated as the current target foot region, including: Compare the pressure of adjacent gait phases in foot regions that are adjacent to the current target foot region and are not connected to the pressure receiving path; When the pressure of the next stage of the adjacent foot area exceeds the pressure of the current gait stage by more than a preset threshold, and the pressure application position moves from the current target foot area to the adjacent foot area, the adjacent foot area is designated as the new adjacent foot area. Connect the new adjacent foot zone to the end of the pressure receiving path, and update the current target foot zone with the new adjacent foot zone.

8. The gait active intervention method based on plantar pressure as described in claim 7, characterized in that, The step of moving the intervention prompt to the current target foot area and adjusting it to a direction away from the current target foot area includes: The current target foot region before the new adjacent foot region is connected is taken as the previous target foot region, and the path extension direction is obtained according to the positional relationship between the previous target foot region and the updated current target foot region. The intervention prompt is moved from the previous target foot area to the updated current target foot area, and the direction that deviates from the path extension direction is taken as the adjusted prompt direction. If the adjusted prompt direction exceeds the boundary of the foot's support range, the prompt direction is adjusted to a preset safe direction pointing to the inside or outside of the foot. The intervention prompts are output according to the adjusted prompt direction, guiding the pressure application location away from the updated current target foot area.

9. The gait active intervention method based on plantar pressure as described in claim 1, characterized in that, If no new adjacent foot area appears, and the pressure in the current target foot area still exceeds a preset threshold, the current intervention prompt will be maintained; if the pressure in the current target foot area does not exceed the preset threshold, the intervention prompt will be stopped. This includes: In foot areas adjacent to the current target foot area and not connected to the pressure receiving path, if there is no pressure increase exceeding the preset threshold and the pressure application location is entered from the current target foot area, the current target foot area remains unchanged. Compare the pressure of the current target foot area in adjacent gait phases, and maintain the current intervention prompt when the pressure in the next adjacent phase exceeds the pressure in the current gait phase by more than a preset threshold; The intervention prompt will stop when the pressure in the next adjacent stage does not exceed the preset threshold of the pressure in the current gait stage.

10. A gait active intervention system based on plantar pressure, characterized in that, The system for implementing the gait active intervention method based on plantar pressure as described in claim 1 includes: The migration segmentation module is used to divide the gait stages according to the pressure data collected by the smart insole, taking the center coordinates of the pressure as the pressure application position, and the transfer relationship of the pressure application position between adjacent foot intervals to obtain the pressure migration state. The target screening module is used to compare foot pressure in adjacent gait phases. The foot area with pressure in the next adjacent phase that is higher than the pressure in the current gait phase and whose pressure application point enters from the adjacent foot area is taken as the initial target foot area. The gait phase before the pressure application point enters the initial target foot area is taken as the intervention phase. The intervention output module is used to output intervention prompts corresponding to the initial target foot area during the intervention phase, guide the pressure application position away from the initial target foot area, and obtain the intervention migration status based on the plantar pressure data after the intervention prompt; The path construction module is used to start from the initial target foot area, compare the pressure migration state with the intervention migration state, connect the adjacent foot areas that the pressure application position enters in sequence according to the order in which the adjacent foot areas rise above the preset threshold, obtain the pressure receiving path, and take the end foot area of ​​the pressure receiving path as the current target foot area. The dynamic control module is used to connect the new adjacent foot area to the pressure receiving path and use it as the current target foot area when a new adjacent foot area with increased pressure appears after the current target foot area and the pressure application position continues to enter. The intervention prompt is moved to the current target foot area and adjusted to a direction away from the current target foot area. If no new adjacent foot area appears, the current intervention prompt is maintained if the pressure of the current target foot area still exceeds the preset threshold. If the pressure of the current target foot area does not exceed the preset threshold, the intervention prompt is stopped.

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