Sensor-based assistive walk-run gait scoring system

Abstract

A sensor-based assistive walk-run gait scoring system, which comprises a human body detection module and is arranged on the subject; A score detection module, including but not limited to radar wave sensors, ultrasonic sensors, and laser sensors; and an embedded computer with a signal connecting the human body detection module to the score detection module. The present invention is a device for automatic sensor-based assistive walk-run gait scoring system, through a variety of sensors and components, can accurately track the subject's head rotation posture and walking movement status. The device is able to record information such as the rotation of the subject's head, the movement of the body, the number of steps, and the relative distance between the components, thereby providing objective gait assessment data. This automated assisted scoring device can help medical professionals assess a patient's gait function more accurately and provide more effective walk-run gait scoring which will be further beneficial for rehabilitation or plan.

Description

[Technical Field]

[0001] This invention relates to a running-walking pattern scoring aid, more particularly to an automated running-walking pattern scoring aid, especially one that can help medical professionals more accurately assess a patient’s gait function and provide more effective rehabilitation treatment plans. [Previous Technology]

[0002] Taiwan has entered an aging society, and gait rehabilitation is extremely important for people with sub-health conditions and chronic diseases. Patients with neurological damage, such as those with Parkinson's disease and stroke, often have difficulty walking and are prone to falls. Impaired walking ability manifests as inability to walk, difficulty walking, or abnormal gait, thus affecting patients' daily activities. Therefore, improving walking ability is the most urgent need for patients with impaired walking ability.

[0003] In terms of lower limb rehabilitation, gait training and gait correction are important recovery processes. Currently, many medical institutions still use physical therapists to manually fix patients for gait training. This rehabilitation method has many shortcomings and deficiencies. It requires one or two therapists to supervise and subjectively assess the patient's ability to provide corresponding external cues to induce correct gait. However, when there is no therapist supervision, patients may develop incorrect stride habits by walking with poor posture without prompting, which is detrimental to future gait rehabilitation. Furthermore, in recent years, there has been a gradual shortage of medical personnel in China, which may cause patients who need gait training to miss the golden period for rehabilitation.

[0004] In response to the shortage of rehabilitation therapists, many lower limb rehabilitation systems and equipment have emerged. However, these training devices are mostly large, fixed machines with high installation costs, making them suitable only for large medical institutions or related rehabilitation facilities. Consequently, their adoption rate is low, failing to meet the needs of most patients with lower limb weakness or those who wish to conduct self-training at home. In addition to fixed equipment in medical institutions, there are also external visual guidance gait devices such as walkers, canes, and wheelchairs. The disadvantage is that gait cues can easily become erratic and ineffective due to changes in the user's behavior when operating the assistive devices. Furthermore, gait assistive devices are used to support and assist individuals with gait impairments in maintaining balance while walking. For an individual with gait impairment, there is actually a significant difference in gait status when using gait assistive devices versus not using them. Therefore, prolonged use of gait reminder devices built into gait assistive devices may cause the patient's gait development to deviate from the correct gait.

[0005] Previous academic literature has mentioned subject-mounted light devices (SMLDs) and tapped step length markers for training individuals with gait disorders. While these devices and methods are independent of walking aids, the tapped step length marker method confines training to a specific space and cannot be flexibly applied to daily life. Furthermore, because the SMLD is attached to the user's chest, the light spots projected onto the ground may have no relation to gait training. Therefore, considering the various problems with existing techniques, it is necessary to develop an invention that can help medical professionals more accurately assess patients' gait function and provide more effective rehabilitation treatment plans in order to address these issues. [Summary of the Invention]

[0006] The main objective of this invention is to overcome the aforementioned problems encountered in the prior art and to provide a device for automated assistive functional gait assessment, which can accurately track the head rotation posture and walking movement of the subject through a variety of sensors and components.

[0007] Another objective of the present invention is to provide a running and walking pattern scoring aid that can record information such as the rotation of the subject's head, the movement of the body, the number of steps, and the relative distance between components, thereby providing objective gait assessment data.

[0008] Another objective of the present invention is to provide a running-walking pattern scoring aid that can help medical professionals more accurately assess patients’ gait function and provide more effective rehabilitation treatment plans.

[0009] To achieve the above objectives, the present invention provides a running-walking pattern scoring auxiliary device, comprising: a human body detection module, which collects human physiological information through several human-machine detection units installed on the subject, and transmits the human physiological information returned by each of these human-machine detection units through a first signal transmission unit; and a scoring detection module, which has a transmitter mounting frame installed on one side of a test walkway, the transmitter mounting frame having a transmitter platform, and the transmitter platform having a first radar wave sensor and transmitters of several laser sensors. The test walkway includes a starting point marker and a corresponding laser light emission interruption indicator light on the transmitting end of each laser sensor. A receiving end mounting bracket is installed on the other side of the test walkway. This bracket has a receiving platform, the front of which corresponds to the front of the transmitting end platform. The receiving platform includes a second radar wave sensor, receiving ends of several laser sensors, an ultrasonic sensor, an ending point marker, and a second signal transmitter. Each laser sensor's receiving end has a corresponding laser light emission interruption indicator light. The ultrasonic sensor... The device has a transmitting section and a receiving section. Using the configuration of the aforementioned components, the starting point marker and the ending point marker respectively mark the starting and ending points of the subject's movement. The transmitting ends of several laser sensors emit laser light signals from one side of the test corridor, directly towards the receiving ends of the several laser sensors located on the other side of the test corridor. Corresponding laser light emission and reception interruption indicator lights show whether the laser light has been interrupted. The ultrasound sensor emits a sound wave towards the subject through the transmitting section, and the receiving section... The receiver is equipped with a receiver to receive the reflected sound waves. The first radar wave sensor is located in the center of the front of the transmitter platform, and the second radar wave sensor is located in the center of the front of the receiver platform to obtain the relative position of the subject and the scoring detection module. Finally, the sensing data returned by the laser sensors, the ultrasound sensor, and the first and second radar wave sensors are sent out via the second signal transmitter. An embedded computer is connected to the human body detection module and the scoring detection module to control the interaction information between the control and computing devices.The embedded computer has a data receiving interface, a total score interface, a result display visualization interface, and a user interaction interface. It also has a built-in scoring software unit, which includes a data processing module, a scoring algorithm library, an artificial intelligence inference module, and a data storage module. The data receiving interface receives physiological information from the human body detection module and sensor data from the scoring detection module. The data processing module preprocesses, analyzes, and integrates the received sensor data before performing score calculations. Various scoring algorithms are stored in the scoring algorithm library. Based on the received sensor data and pre-set parameters, an appropriate algorithm can be selected for score calculation. The calculated score is displayed to the user through the total score interface, showing the subject's gait type and fall risk assessment. A visual interface displays the subject's gait on the test track, providing visual feedback. The AI ​​inference module then generates the most suitable gait training method based on the subject's gait type from a training module. The original physiological information, sensor data, and calculated score are stored in the data storage module for future review and analysis. A user interface is provided for users to set, query, and operate the system, enabling convenient use of the score calculation.

[0010] In the above embodiments of the present invention, the plurality of human-machine detection units include a foot detection unit, a pelvic detection unit, and a head detection unit.

[0011] In the above embodiments of the present invention, the head detection unit is a gyroscope detector or an accelerometer detector.

[0012] In the above embodiments of the present invention, the scoring algorithm library stores three scoring logics, namely, ultrasonic scoring logic that uses the start, left and right end information transmitted by the ultrasonic sensor, radar scoring logic that uses the path status transmitted by the first and second radar wave sensors, and laser scoring logic that uses the occlusion status transmitted by these laser sensors.

[0013] In the above embodiments of the present invention, the data processing module is further equipped with a timer to score the subject based on the time range spent on the test corridor.

[0014] In the above embodiments of the present invention, the distance between the starting point mark and the ending point mark projected on the test walkway is 6 to 20 m.

[0015] In the above embodiments of the present invention, at least three laser sensor transmitters are provided on the left and right sides of the first radar wave sensor, and at least three laser sensor receivers are provided on the left and right sides of the second radar wave sensor.

[0016] In the above embodiments of the present invention, the transmitter mounting bracket and the receiver mounting bracket are U-shaped frames.

[0017] In the above embodiments of the present invention, the transmitter platform is mounted on the rod of the base of the transmitter fixture, and its mounting position can be adjusted by rotation angle and sliding distance; the receiver platform is mounted on the rod of the base of the receiver fixture, and its mounting position can be adjusted by rotation angle and sliding distance.

[0018] In the above embodiments of the present invention, the maximum linear distance that the transmitter platform can slide and adjust on the rod of the transmitter mounting frame is 200 cm; the maximum linear distance that the receiver platform can slide and adjust on the rod of the receiver mounting frame is 200 cm, and the transmitter platform and the receiver platform have the same mounting position.

[0019] In the above embodiments of the present invention, the scoring detection module further includes several horizontal and vertical correction instruments, which are respectively disposed above and on the sides of the transmitting end platform and the receiving end platform, for adjusting the horizontal and vertical positions of the platform.

[0020] In the above embodiments of the present invention, the scoring software unit is a data receiving chip.

[0021] In the above embodiments of the present invention, the total score interface presents the scoring results in an intuitive manner, such as charts, data statistics or a combination thereof.

[0022] In the above embodiments of the present invention, the running and walking pattern scoring assistance device further includes a voice guidance module for providing voice guidance to the subject during the gait test when no one is present to assist him.

[0023] In the above embodiments of the present invention, the running and walking pattern scoring auxiliary device further includes a suspension system, which is mounted on a support frame and worn on the subject, providing the subject with multiple protections during the gait test.

Implementation Method

[0024] Please refer to Figures 1 to 3, which are respectively block diagrams of the running and walking pattern scoring auxiliary device of the present invention, one side diagram of the scoring detection module of the present invention, and the other side diagram of the scoring detection module of the present invention. As shown in the figures: The present invention is a running and walking pattern scoring auxiliary device, which comprises a human body detection module 1, a scoring detection module 2, and an embedded computer 3.

[0025] The aforementioned human detection module 1 is a number of human-machine detection units installed on the subject, including but not limited to a foot detection unit 11, a pelvic detection unit 12, and a head detection unit 13. The foot detection unit 11, the pelvic detection unit 12, and the head detection unit 13 are connected to a first signal transmitting unit 14.

[0026] The scoring detection module 2 includes, but is not limited to, a radar wave sensor, an ultrasonic sensor, and a laser sensor. In a specific embodiment, the scoring detection module 2 is provided with a transmitter mounting bracket 22 on one side of a test corridor 21. The transmitter mounting bracket 22 is provided with a transmitter platform 221, which is provided with a first radar wave sensor 222, transmitters 223 of several laser sensors, and a starting point marker 224. Each transmitter 223 of the laser sensor is provided with a corresponding laser light emission blocking indicator light 225. A receiver mounting bracket 23 is provided on the other side of the test corridor 21. The receiver mounting bracket 23 is provided with... There is a receiving platform 231, the front of which corresponds to the front of the transmitting platform 221. The receiving platform 231 is provided with a second radar wave sensor 232, receiving ends 233 of several laser sensors, an ultrasonic sensor 234, an endpoint marker end 235, and a second signal transmitter 236. Each receiving end 233 of the laser sensor is provided with a laser light blocking indicator light 237. The ultrasonic sensor 234 has a transmitting part 2341 and a receiving part 2342.

[0027] The embedded computer 3 is connected to the human body detection module 1 and the scoring detection module 2 via signals. The embedded computer 3 is equipped with a data receiving interface 31, a total score interface 33, a result display visualization interface 34, and a user interaction interface 35, and has a built-in scoring software unit 32. The scoring software unit 32 is equipped with a data processing module 321, a scoring algorithm library 322, an artificial intelligence inference module 323, and a data storage module 324. Thus, a brand-new running pattern scoring auxiliary device is constructed by the structure disclosed above.

[0028] When the present invention is used, the human body detection module 1 mentioned above is installed on the subject A and includes, but is not limited to, a foot detection unit 11, a pelvic detection unit 12, and a head detection unit 13 to collect human physiological information. In this embodiment, taking the head detection unit 13 as an example, it is a gyroscope detector or an accelerometer detector. The gyroscope detector (or accelerometer detector) records the subject A's head rotation trajectory and number of steps, etc., and sends the human physiological information returned by the gyroscope detector (or accelerometer detector) to the embedded computer 3 through the first signal transmission unit 14.

[0029] The scoring detection module 2 marks the starting point and ending point of the subject A's movement with a starting point marker 224 and an ending point marker 235, respectively. The transmitting ends 223 of several laser sensors emit laser light signals from one side of the test corridor 21, directly towards the receiving ends 233 of several laser sensors located on the other side of the test corridor 21. The corresponding laser light emission interruption indicator 225 and receiving laser light interruption indicator 237 indicate whether the laser light has been interrupted. The ultrasonic sensor 234 emits a sound wave towards the subject A through its transmitting end 2341, and the receiving end 2342 receives the reflected sound wave. The first radar wave sensor 222 is located in the center of the front of the transmitting end platform 221, and the second radar wave sensor 232 is located in the center of the front of the receiving end platform 231, used to obtain the relative position of the subject A and the scoring detection module 2. Finally, the sensing data returned by the laser sensors (transmitter 223 and receiver 233), the ultrasonic sensor 234, and the first and second radar wave sensors 222 and 232 are sent to the embedded computer 3 via the second signal transmitter 236.

[0030] The embedded computer 3 is responsible for controlling the interaction information between the control and computing devices. First, it receives the human physiological information from the human body detection module 1 and the sensing data from the scoring detection module 2 through the data receiving interface 31. After the receiving sensing data is preprocessed, analyzed and integrated by the data processing module 321 of the scoring software unit 32, the scoring calculation is performed. Various scoring algorithms are stored in the scoring algorithm library 322. The appropriate algorithm can be selected to perform the scoring calculation based on the received sensing data and the preset parameters. The calculated scoring results are displayed to the user through the total score interface 33. It is usually presented in an intuitive way, such as charts, data statistics or a combination thereof, to show the gait type of the subject A and the judgment of the risk of falling. The result display visualization interface 34 provides visual feedback to the user on the gait of the subject A walking on the test walkway 21. Then, the artificial intelligence inference module 323 generates the most suitable gait training method for the subject A from a training module 325 based on the gait type of the subject A. The original human physiological information, sensor data, and calculated score results are stored in the data storage module 324 for future reference and analysis. The user interface provides users with a setting, querying, and operation interface, enabling users to easily use the score calculation.

[0031] The scoring algorithm library 322 stores three scoring logics: an ultrasonic scoring logic that uses the start, left, right, and end information transmitted by the ultrasonic sensor 234; a radar scoring logic that uses the path status transmitted by the first and second radar wave sensors 222 and 232; and a laser scoring logic that uses the obstruction status transmitted by the laser sensors (transmitter 223 and receiver 233). Furthermore, the data processing module 321 is equipped with a timer 326 to score the subject A based on the time spent on the test walkway 21. For example, if subject A spends more than 7 seconds, 1 point is given; 5.5 to 7 seconds, a higher score of 2 points is given; and less than 5.5 seconds, a score of 3 points is given. That is, if subject A walks for too long, the score is lower; if they walk quickly, the score is higher, thus demonstrating the quality of subject A's condition.

[0032] In one preferred embodiment of the present invention, the distance between the starting point marker 224 and the ending point marker 235 projected on the test walkway 21 is 6 to 20 m.

[0033] In a preferred embodiment of the present invention, at least three laser sensor transmitters 223 are provided on the left and right sides of the first radar wave sensor 222, and at least three laser sensor receivers 233 are provided on the left and right sides of the second radar wave sensor 232.

[0034] In one preferred embodiment of the present invention, the transmitter mounting bracket 22 and the receiver mounting bracket 23 are U-shaped frames.

[0035] In one preferred embodiment of the present invention, the transmitter platform 221 is mounted on the rod 227 of the base 226 of the transmitter fixture 22, and its mounting position can be adjusted by rotation angle and sliding distance; the receiver platform 231 is mounted on the rod 239 of the base 238 of the receiver fixture 23, and its mounting position can be adjusted by rotation angle and sliding distance.

[0036] In one preferred embodiment of the present invention, the transmitter platform 221 can slide and adjust a maximum linear distance of 200 cm on the rod 227 of the transmitter mounting frame 22; the receiver platform 231 can slide and adjust a maximum linear distance of 200 cm on the rod 239 of the receiver mounting frame 23, and the transmitter platform 221 and the receiver platform 231 have the same mounting position.

[0037] In one preferred embodiment of the present invention, the scoring detection module 2 further includes several horizontal and vertical correction instruments 24, which are respectively disposed above and on the sides of the transmitting end platform 221 and the receiving end platform 231, for adjusting the horizontal and vertical positions of the platform.

[0038] In one preferred embodiment of the present invention, the scoring software unit 32 is a data receiving chip.

[0039] In one preferred embodiment of the present invention, the running and walking pattern scoring assistance device further includes a voice guidance module (not shown in the figure) for providing voice guidance to the subject A during the gait test when no one is present to assist him.

[0040] In one preferred embodiment of the present invention, the running and walking pattern scoring aid further includes a suspension system (not shown in the figure), which is mounted on a support frame and worn on the subject A, providing the subject A with multiple protections during the gait test and preventing the subject A from falling.

[0041] In summary, the present invention is a running and walking pattern scoring auxiliary device, which can effectively improve the various shortcomings of conventional devices. Through a variety of sensors and components, it can accurately track the subject's head rotation posture and walking movement, and can record information such as the user's head rotation, body movement, number of steps and relative distance between components, thereby providing objective gait assessment data. This automated auxiliary scoring device can help medical professionals more accurately assess the patient's gait function and provide more effective rehabilitation treatment plans. Thus, the present invention is more advanced, more practical and more in line with the needs of users, and has met the requirements for an invention patent application. Therefore, a patent application is filed in accordance with the law.

[0042] However, the above description is only a preferred embodiment of the present invention and should not be construed as limiting the scope of the present invention. Therefore, any simple equivalent changes and modifications made in accordance with the scope of the patent application and the contents of the specification of the present invention should still fall within the scope of the patent of the present invention. [Simplified Explanation of the Diagram]

[0043] Figure 1 is a block diagram of the running pattern scoring auxiliary device of the present invention. Figure 2 is a side view of the scoring detection module of the present invention. Figure 3 is a side view of the scoring detection module of the present invention.

Claims

1. A running-walking pattern scoring auxiliary device, comprising: A human detection module collects human physiological information through several human-machine detection units installed on the subject, and sends out the human physiological information returned by each of these human-machine detection units through a first signal transmission unit. A scoring detection module consists of a transmitter mounting bracket installed on one side of a test walkway. This bracket has a transmitter platform, which includes a first radar wave sensor, transmitters for several laser sensors, and a starting point marker. Each laser sensor transmitter has a corresponding laser light interruption indicator. On the other side of the test walkway, a receiver mounting bracket is installed. This bracket has a receiver platform, the front of which corresponds to the front of the transmitter platform. The receiver platform includes a second radar wave sensor, receivers for several laser sensors, an ultrasonic sensor, an endpoint marker, and a second signal transmitter. Each laser sensor receiver has a corresponding laser light interruption indicator. The ultrasonic sensor has a transmitter and a receiver. Through the arrangement of these components, the starting point marker and... The endpoint markers mark the start and end points of the subject's movement, causing the transmitters of several laser sensors to emit laser light signals from one side of the test corridor, directly towards the receivers of the several laser sensors located on the other side of the test corridor. Corresponding laser light emission and reception interruption indicator lights show whether the laser light has been interrupted. The ultrasound sensor emits a sound wave towards the subject through its transmitter, and the receiver receives the reflected sound wave. The first radar sensor is located in the center of the front of the transmitter platform, and the second radar sensor is located in the center of the front of the receiver platform, used to obtain the relative position of the subject and the scoring detection module. Finally, the second signal transmitter transmits the sensing data returned by the laser sensors, the ultrasound sensor, and the first and second radar sensors. An embedded computer is connected to the human body detection module and the scoring detection module via a signal connection, and is responsible for controlling the interaction information between the control and computing devices. The embedded computer has a data receiving interface, a total score interface, a result display visualization interface, and a user interaction interface, and has a built-in scoring software unit. This scoring software unit includes a data processing module, a scoring algorithm library, an artificial intelligence inference module, and a data storage module. The data receiving interface receives physiological information from the human body detection module and sensor data from the scoring detection module. The data processing module preprocesses, analyzes, and integrates the received sensor data before performing score calculations. Various scoring algorithms are stored in the scoring algorithm library and can be used based on the received sensor data and... The system uses pre-set parameters and selects an appropriate algorithm to calculate the score. The calculated score is then displayed to the user through the overall score interface to show the subject's gait type and fall risk assessment. The result visualization interface provides visual feedback to the user on the subject's gait on the test track. The AI ​​inference module then generates the most suitable gait training method for the subject based on their gait type from a training module. The system stores the original physiological information, sensor data, and calculated score through the data storage module for future reference and analysis. The user interface provides the user with a setting, querying, and operation interface, allowing the user to easily use the score calculation.

2. The running-walking pattern scoring auxiliary device as described in claim 1, wherein, The human-machine detection unit includes a foot detection unit, a pelvic detection unit, and a head detection unit.

3. The running-walking pattern scoring auxiliary device as described in claim 2, wherein, The head detection unit is either a gyroscope detector or an accelerometer detector.

4. The running-walking pattern scoring auxiliary device as described in claim 1, wherein, The scoring algorithm library stores three scoring logics: ultrasonic scoring logic that uses the start, left, right and end information transmitted by the ultrasonic sensor; radar scoring logic that uses the path status transmitted by the first and second radar wave sensors; and laser scoring logic that uses the occlusion status transmitted by these laser sensors.

5. The running-walking pattern scoring auxiliary device as described in claim 1, wherein, The data processing module is also equipped with a timer to score the subject based on the time spent in the test corridor.

6. The running-walking pattern scoring auxiliary device as described in claim 1, wherein, The distance between the starting point and the ending point of the test track is 6 to 20 m.

7. The running-walking pattern scoring auxiliary device as described in claim 1, wherein, The first radar wave sensor has at least three transmitting ends on its left and right sides, and the second radar wave sensor has at least three receiving ends on its left and right sides.

8. The running-walking pattern scoring auxiliary device as described in claim 1, wherein, The transmitter mounting bracket and the receiver mounting bracket are U-shaped frames.

9. The running-walking pattern scoring auxiliary device as described in claim 1, wherein, The transmitter platform is mounted on the support frame of the base of the transmitter fixture, and its mounting position can be adjusted by rotation and sliding. The receiver platform is also mounted on the support frame of the base of the receiver fixture, and its mounting position can be adjusted by rotation and sliding.

10. The running-walking pattern scoring auxiliary device as described in claim 9, wherein, The maximum linear distance that the transmitter platform can slide and adjust on the pole of the transmitter mounting frame is 200 cm; the maximum linear distance that the receiver platform can slide and adjust on the pole of the receiver mounting frame is 200 cm, and the transmitter platform and the receiver platform have the same mounting position.

11. The running-walking pattern scoring auxiliary device as described in claim 1, wherein, The scoring detection module also includes several horizontal and vertical calibration instruments, which are respectively set above and to the sides of the transmitting and receiving platforms to adjust the horizontal and vertical positions of the platforms.

12. The running-walking pattern scoring auxiliary device as described in claim 1, wherein, The scoring software unit is a data receiving chip.

13. The running-walking pattern scoring auxiliary device as described in claim 1, wherein, The overall score interface presents the rating results in an intuitive way, using charts, statistics, or a combination thereof.

14. The running-walking pattern scoring auxiliary device as described in claim 1, wherein, The running and walking pattern scoring aid also includes a voice guidance module, which provides voice guidance to the subject during the gait test when no one is present to assist them.

15. The running-walking pattern scoring auxiliary device as described in claim 1, wherein, The running-walking pattern scoring aid also includes a suspension system mounted on a support frame and worn on the subject, providing multiple layers of protection for the subject during gait testing.

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