Apparatus and method for preventing and avoiding freezing of gait

Abstract

Disclosed are an apparatus and a method for preventing and avoiding freezing of gait using a smart insole having a sensor and a vibrator. The apparatus for preventing and avoiding freezing of gait according to one embodiment comprises: a sensor unit including one or more sensors; a vibration unit including one or more vibration generators; and a control unit connected to the sensor unit and the vibration unit, wherein the control unit can receive measurement values of the one or more sensors from the sensor unit to determine whether freezing of gait has occurred, and control the vibration unit to generate vibrations through the one or more vibration generators when freezing of gait occurs.

Description

Device and method for preventing and preventing freezing of walking

[0001] As a technology for preventing and preventing freezing of gait, the present invention relates to a device and method for preventing and preventing freezing of gait, particularly using a smart insole equipped with a sensor and a vibrator.

[0002] Recently, various technologies for measuring the user's posture and exercise status using smart insoles that include sensors in the insole have been studied, and various products that can be used for exercise assistance, rehabilitation, and treatment are being developed through this technology.

[0003] Freezing of gait (FoG) is a motor symptom that occurs in patients with Parkinson's disease, primarily characterized by bradykinesia, resting tremor, rigidity, and postural instability. Because FOG frequently causes falls in Parkinson's patients, which can increase the risk of fractures, it significantly impacts patients' daily lives and quality of life.

[0004] When using smart insoles, abnormal movements caused by frozen gait can be detected and vibrations can be used to stimulate the user, thereby helping to prevent and resolve frozen gait.

[0005] The purpose of this invention is to provide a device and method for preventing and preventing freezing of gait using a smart insole equipped with a sensor and a vibrator.

[0006] According to one aspect, a device for preventing and preventing gait freezing includes a sensor unit including one or more sensors; a vibration unit including one or more vibration generators; and a control unit connected to the sensor unit and the vibration unit, wherein the control unit receives measurement values ​​of one or more sensors from the sensor unit to determine whether gait freezing occurs, and when gait freezing occurs, controls the vibration unit to generate vibration through one or more vibration generators.

[0007] The sensor unit may include at least one of a pressure sensor and an inertial measurement unit. For example, the inertial measurement unit may be referred to as an Inertial Measurement Unit (IMU).

[0008] The control unit can determine whether the user's feet are in contact with the ground or off the ground based on the measurements from the pressure sensor.

[0009] The control unit obtains movement information of the user's feet based on measurements from the inertial measurement device, and can determine whether gait is frozen based on at least one of the size, period, speed, direction, and duration of the movement.

[0010] The control unit may apply different criteria for determining whether gait freeze occurs depending on whether both feet of the user are in contact with the ground or one foot is off the ground.

[0011] The control unit can control the vibration unit to generate vibration after a predetermined period of time, regardless of whether the user's both feet are in contact with the ground or not.

[0012] The control unit can determine whether to continue to generate vibration based on a specific movement of the user when the user's feet have been in contact with the ground for a predetermined period of time and vibration has been generated.

[0013] The control unit may stop generating vibrations when a specific movement of the user is detected after a predetermined period of time in which both feet of the user are in contact with the ground, and may continue generating vibrations when a specific movement of the user is not detected after a predetermined period of time in which both feet of the user are in contact with the ground, and may generate vibrations.

[0014] The control unit may determine that gait freezing occurs when one foot of the user is lifted from the ground, and at least one of the magnitude, period, speed, direction, and duration of the movement of the foot lifted from the ground is within a predetermined range.

[0015] The control unit calculates at least one of a stride length and a walking speed based on at least one of a size, period, speed, direction, and duration of a movement, and if at least one of the user's stride length and walking speed becomes narrower or slower than at least one of an average stride length and walking speed over a predetermined period of time, the control unit determines that the user is in a gait freeze preliminary state and generates vibration.

[0016] According to one aspect, a method for preventing and preventing gait freezing, performed in a computing device having one or more processors and a memory storing one or more programs executed by the one or more processors, may include a step of receiving a measurement value from one or more sensors to determine whether gait freezing occurs; and a step of controlling one or more vibration generators to generate vibration when gait freezing occurs.

[0017] The step of determining whether gait is frozen can be determined based on the measurements of the pressure sensor to determine whether the user's feet are in contact with the ground or are off the ground.

[0018] The step of determining whether gait is frozen may include obtaining movement information of the user's feet based on measurements from an inertial measurement device, and determining whether gait is frozen based on at least one of the size, period, speed, direction, and duration of the movement.

[0019] The steps for determining whether gait is frozen can apply different criteria for determining whether gait is frozen depending on whether both feet of the user are in contact with the ground or one foot is off the ground.

[0020] The step of generating vibration can be performed by controlling one or more vibration generators to generate vibration after a predetermined period of time, regardless of whether the user's both feet are in contact with the ground or not.

[0021] The step of generating vibration can determine whether to continue generating vibration based on a specific movement of the user when the user's two feet are in contact with the ground for a predetermined period of time and vibration is generated.

[0022] The step of generating vibration may be such that if a specific movement of the user is detected after a predetermined period of time in which both feet of the user are in contact with the ground, vibration is generated and then the vibration is stopped, and if a specific movement of the user is not detected after a predetermined period of time in which both feet of the user are in contact with the ground, vibration is generated and then the vibration is continued.

[0023] The step of determining whether gait is frozen may be determined as gait freezing if one of the user's feet is lifted off the ground, and at least one of the size, period, speed, direction, and duration of the movement of the foot lifted off the ground is within a predetermined range.

[0024] The step of determining whether gait is frozen may include calculating at least one of a stride length and a walking speed based on at least one of a size, period, speed, direction, and duration of a movement, and if at least one of the user's stride length and walking speed is narrower or slower than at least one of an average stride length and walking speed over a predetermined period of time, determining that the gait is frozen preliminary state may generate vibration.

[0025] Using an embodiment of the present invention, freezing of gait can be detected and predicted, and freezing of gait can be prevented and resolved by transmitting stimulation to the user through vibration.

[0026] Figure 1 is a configuration diagram of a walking freezing prevention and prevention device according to one embodiment.

[0027] Figures 2 to 6 are exemplary diagrams for explaining the operation of a walking freezing prevention and prevention device according to an example.

[0028] Figure 7 is an exemplary diagram showing the operation flow of a walking freezing prevention and prevention device according to an example.

[0029] Figure 8 is a flowchart illustrating a method for preventing and preventing freezing of walking according to one embodiment.

[0030] Hereinafter, an embodiment of the present invention will be described in detail with reference to the attached drawings. In describing the present invention, detailed descriptions of known functions or configurations will be omitted if they are deemed to unnecessarily obscure the gist of the present invention. Furthermore, the terms described below are defined based on their functions in the present invention and may vary depending on the intentions or practices of the user or operator. Therefore, their definitions should be based on the overall content of this specification.

[0031] Hereinafter, embodiments of a walking freezing prevention and prevention device and method are described in detail with reference to drawings.

[0032] Figure 1 is a configuration diagram of a walking freezing prevention and prevention device according to one embodiment.

[0033] According to one embodiment, a walking freezing prevention and prevention device may include a sensor unit (110) including one or more sensors, a vibration unit (120) including one or more vibration generators, and a control unit (130) connected to the sensor unit (110) and the vibration unit (120).

[0034] According to one example, the sensor unit (110) may include at least one of a pressure sensor and an inertial measurement device. For example, the sensor unit (110) may be included in an insole. Referring to Fig. 2(a), the sensor unit (110) may include one or more pressure sensors (1 to 4). Through this, the sensor unit (110) may measure pressure according to a person's walking. For example, the sensor unit (110) may include one or more inertial measurement devices. Through this, the sensor unit (110) may measure the movement direction, speed, and acceleration of the foot, and through this, at least one of the size, period, speed, direction, and duration of the movement may be measured.

[0035] For example, the sensor unit (110) can be installed on the insole of one or both feet of the user and measure various values.

[0036] According to an example, the vibration unit (110) can be included in the insole as shown in Fig. 2(a), and can generate vibrations under the control of the control unit (130) to stimulate the sole of the user's foot.

[0037] According to one embodiment, the control unit (130) may receive measurement values ​​of one or more sensors from the sensor unit (110) to determine whether gait freezing has occurred. For example, the control unit (130) may measure the user's gait or posture using signals received from various sensors, thereby determining and predicting whether the user is in a state of gait freezing or whether gait freezing is expected to occur.

[0038] In one embodiment, the control unit (130) can determine whether the user's feet are in contact with or off the ground based on the measurements from the pressure sensor. For example, when using a pressure sensor as shown in FIG. 2(b), the control unit (130) can determine whether the user's feet are in contact with or off the ground. Additionally, the control unit (130) can calculate walking speed and left-right balance based on the measurements from the pressure sensor.

[0039] According to one embodiment, the control unit (130) obtains movement information of the user's feet based on the measurement values ​​of the inertial measurement device, and can determine whether gait is frozen based on at least one of the size, period, speed, direction, and duration of the movement.

[0040] For example, the inertial measurement device can measure the direction, speed, and acceleration of foot movement. Through this, the control unit (130) can calculate the user's gait stride and speed, or at least one of the magnitude, period, speed, direction, and duration of foot movement. For example, the magnitude of movement may include the amplitude of foot shaking, the height of lifting, the size of one step, etc. The period of movement may include the step period or the vibration period of the foot, etc. The speed of movement may include the speed or vibration speed of the foot, etc. The direction may include the step direction or the vibration direction of the foot. The duration may include the duration of a specific movement, such as the time when the foot is not moving, moving, or vibrating.

[0041] For example, when a frozen gait occurs, the foot movement may produce a separate vibration different from the normal gait movement. The control unit (130) can detect at least one of the gait movement and the vibration different from the gait movement to determine whether a frozen gait has occurred or to predict whether a frozen gait will occur.

[0042] Referring to Fig. 3, when a user walks normally, a movement with a predetermined amplitude can be measured. On the other hand, if the user is standing still, no movement may be detected. For example, if the pressure sensor measures a pressure greater than a predetermined amount and no movement is detected, the control unit (130) may determine that the user is standing. On the other hand, if the pressure sensor measurement is below a predetermined value and no movement is detected, the control unit may determine that the user is not wearing shoes or is sitting with both feet floating.

[0043] According to one embodiment, the control unit (130) may apply different criteria for determining whether gait freezing occurs depending on whether both feet of the user are in contact with the ground or one foot is off the ground.

[0044] For example, as shown in FIG. 3, if the user is standing with both feet on the ground, no separate movement may be detected. However, if both feet are on the ground, even if gait freezing occurs, vibration may not occur due to the gravity of the standing position and the stability of the feet on the ground. On the other hand, if one foot is not on the ground, vibration may occur in the foot floating in the air when gait freezing occurs. Accordingly, the control unit (130) must be able to determine or predict that gait freezing has occurred even if there is no vibration when the user's both feet are on the ground.

[0045] In one embodiment, the control unit (130) may determine that gait freezing has occurred after a predetermined period of time has elapsed if both of the user's feet are in contact with the ground. As another example, the control unit (130) may control the vibration unit to generate vibration after a predetermined period of time has elapsed if both of the user's feet are in contact with the ground, regardless of whether gait freezing has occurred. This is because, if both of the user's feet are in contact with the ground, vibration or movement may not be detected even in a gait freezing state.

[0046] According to one embodiment, the control unit (130) can determine whether to continue to generate vibration based on a specific movement of the user when the time that the user's two feet are in contact with the ground has passed and vibration is generated.

[0047] For example, if the control unit (130) determines that the user's feet are in contact with the ground for a predetermined period of time and generates vibrations, or if vibrations are generated regardless of the state, it may not actually be a case of frozen walking.

[0048] In one embodiment, the control unit (130) may stop the vibration generation if the user's feet remain in contact with the ground for a predetermined period of time, causing vibration, and then detecting a specific movement of the user. For example, if the user performs a specific movement after the vibration has occurred, the control unit (130) may determine that the user's gait is not frozen and stop the vibration. For example, the control unit (130) may stop the vibration if the user performs a specific movement, such as moving or stamping his feet.

[0049] In one embodiment, the control unit (130) may continue to generate vibrations if the user's feet remain in contact with the ground for a predetermined period of time and no specific movement is detected from the user. For example, if vibrations are generated but no specific movement is detected from the user, the control unit (130) may continue to generate vibrations.

[0050] According to one embodiment, the control unit (130) may determine that gait freezing occurs when one foot of the user is lifted off the ground, and at least one of the size, period, speed, direction, and duration of the movement of the foot lifted off the ground is within a predetermined range.

[0051] For example, a user may stop walking with both feet or with one foot lifted off the ground. In this case, as shown in Figure 4, vibrations exceeding a predetermined size may not occur while walking. Conversely, as shown in Figure 5, vibrations exceeding a predetermined size may occur while walking. In other words, depending on whether or not the user experiences a freeze in walking, a separate vibration may or may not occur while walking is stopped.

[0052] For example, the control unit (130) may determine that gait freezing has occurred when a vibration greater than a predetermined size is detected while one foot is off the ground. That is, as shown in FIG. 6, when the vibration size is less than or equal to a stop reference size, it is determined that gait has stopped, when it is greater than or equal to a walking reference size, it is determined that gait freezing has occurred, and when it is greater than or equal to a stop reference size and less than or equal to a walking reference size, it is determined that gait freezing has occurred.

[0053] Specifically, as shown in FIG. 6, the control unit (130) can preset a walking reference threshold value and a stopping reference threshold value, and if movement between the two threshold values ​​continues for a predetermined period of time, it can be determined that walking freezing has occurred.

[0054] For example, the control unit (130) may learn the measurement values ​​of the inertial measurement device during the user's normal walking for a preset period of time, and based on this, determine the walking reference threshold value and the stopping reference threshold value. Based on the determined threshold value, by measuring the vibration (movement) value generated during walking, the control unit (130) may also predict whether or not gait freezing occurs using a pre-learned prediction model. Here, the prediction model may include a classification model learned based on at least one of the size of a predetermined numerical value, the occurrence (measurement) frequency of a predetermined numerical value, and the duration.

[0055] In order to increase the predictability of the occurrence of gait freezing, the control unit (130) learns the characteristics of vibration (movement) values ​​for a predetermined period of time for each of the following cases: a case where the user is walking but both feet are temporarily in contact with the ground (Case 1), a case where the user is normally stopped in a situation such as waiting for a signal (Case 2), and a case where gait freezing occurs in the user (Case 3), and classifies the movements located between the walking reference threshold value and the stopping reference threshold value into the three cases (Case 1, Case 2, Case 3). Based on the classification results, the control unit (130) can increase the accuracy of gait freezing prediction for each user by reinforcing the prediction model.

[0056] In addition, the control unit (130) detects that one foot is off the ground through a pressure sensor, and if vibration within a predetermined range occurs in the foot off the ground, it can be predicted that gait freezing has occurred.

[0057] In one embodiment, the control unit (130) may control the vibration unit (120) to generate vibrations via one or more vibration generators when gait freezes. For example, the vibrations may be generated continuously or at predetermined time intervals. Furthermore, the vibrations may be output according to a preset pattern.

[0058] According to one embodiment, the control unit (130) calculates at least one of a stride length and a walking speed based on at least one of a size, period, speed, direction, and duration of a movement, and when at least one of the user's stride length and walking speed becomes narrower or slower than at least one of the average stride length and walking speed over a predetermined period of time, the control unit (130) determines that the user is in a gait freeze preliminary state and generates vibration.

[0059] For example, the control unit (130) may predict that gait freezing will occur based on sensor measurements. For example, the control unit (130) may predict that gait freezing will occur if the user's stride length is narrowed by a predetermined standard or more from the average of the stride lengths measured over a predetermined period of time. As another example, the control unit (130) may predict that gait freezing will occur if the walking speed is delayed by a predetermined standard or more from the average of the walking speeds measured over a storage period of time.

[0060] For example, if gait freezing is predicted to occur, the control unit (130) can proactively generate vibrations to allow the user to focus on walking and prevent gait freezing through foot stimulation. Conversely, the control unit (130) can stop the vibrations if the user's stride or walking speed returns to an average range.

[0061] For example, the control unit (130) may be physically separated from the sensor unit (110) and the vibration unit (120). For example, the sensor unit (110) and the vibration unit (120) may be provided in the insole, and the control unit (130) may be provided on the outside of the insole. In this case, the sensor unit (110) and the vibration unit (120) may communicate with the control unit (130) via wired or wireless communication.

[0062] For example, the control unit (130) may communicate with an external user terminal (not shown). For this purpose, the control unit (130) may include a separate communication module.

[0063] Referring to FIG. 7, the gait freeze prevention and prevention device can detect the user's movement through a sensor, and analyze the gait using the measured sensor values. For example, the gait freeze prevention and prevention device can determine whether the user is walking and standing on two feet using a pressure sensor. In addition, the gait freeze prevention and prevention device can calculate movement using the sensor values ​​of an inertial measurement device, determine whether gait freeze has occurred based on a reference value according to a predetermined movement, and generate vibration based on the determination. Thereafter, the gait freeze prevention and prevention device can determine whether gait freeze has been resolved and stop or continue the vibration.

[0064] Figure 8 is a flowchart illustrating a method for preventing and preventing freezing of walking according to one embodiment.

[0065] According to one embodiment, the walking freezing prevention and prevention device may be a computing device having one or more processors and a memory storing one or more programs executed by the one or more processors.

[0066] In one embodiment, a gait freeze prevention and prevention device may determine whether gait freeze occurs by receiving measurements from one or more sensors (810). For example, the sensors may be at least one of a pressure sensor and an inertial measurement device.

[0067] For example, a gait freeze prevention and prevention device can determine whether the user's feet are in contact with the ground or are lifted off the ground based on measurements from a pressure sensor. Furthermore, the gait freeze prevention and prevention device can obtain movement information about the user's feet based on measurements from an inertial measurement device, and determine whether gait freeze has occurred based on at least one of the following: the magnitude, period, speed, direction, and duration of the movement.

[0068] For example, the gait freeze prevention and prevention device may apply different criteria for determining whether gait freeze occurs depending on whether both feet of the user are in contact with the ground or one foot is off the ground. For example, if both feet of the user are in contact with the ground, the gait freeze prevention and prevention device may control one or more vibration generators to generate vibration after a predetermined period of time, regardless of whether gait freeze occurs. In this case, if the vibration is generated after the user's feet are in contact with the ground for a predetermined period of time, the gait freeze prevention and prevention device may determine whether to continue generating vibration based on a specific movement of the user.

[0069] In one example, the gait freezing prevention and prevention device may stop generating vibrations when a specific movement of the user is detected after a predetermined period of time in which both feet of the user are in contact with the ground, and may continue generating vibrations when a specific movement of the user is not detected after a predetermined period of time in which both feet of the user are in contact with the ground, and may continue generating vibrations.

[0070] For example, the gait freeze prevention and prevention device may determine gait freeze when one foot of the user is lifted from the ground, and at least one of the magnitude, period, speed, direction, and duration of the movement of the foot lifted from the ground is within a predetermined range.

[0071] According to one embodiment, the gait freeze prevention and prevention device can control one or more vibration generators to generate vibrations when gait freezes (820).

[0072] A gait freeze prevention and prevention device calculates at least one of a stride length and a walking speed based on at least one of a size, period, speed, direction, and duration of a movement, and when at least one of a user's stride length and walking speed becomes narrower or slower than at least one of an average stride length and walking speed over a predetermined period of time, the device determines that the user is in a gait freeze preliminary state and generates vibration.

[0073] Among the embodiments of Fig. 8, embodiments that overlap with the contents described with reference to Figs. 1 to 7 are omitted.

[0074] One aspect of the present invention can be implemented as computer-readable code on a computer-readable recording medium. Codes and code segments implementing the above program can be easily inferred by a computer programmer in the art. The computer-readable recording medium may include any type of recording device that stores data that can be read by a computer system. Examples of the computer-readable recording medium include ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical disk, etc. Furthermore, the computer-readable recording medium may be distributed across network-connected computer systems, so that the computer-readable code can be written and executed in a distributed manner.

[0075] The present invention has been described above, focusing on preferred embodiments thereof. Those skilled in the art will appreciate that the present invention can be implemented in modified forms without departing from its essential characteristics. Therefore, the scope of the present invention is not limited to the aforementioned embodiments, but should be interpreted to encompass various embodiments within the scope equivalent to the claims.

Claims

1. A sensor unit including one or more sensors; a vibrating section comprising one or more vibration generators; and It includes a control unit connected to the sensor unit and the vibration unit, The above control unit Receives measurement values ​​of one or more sensors from the above sensor unit to determine whether walking is frozen, A device for preventing and preventing freezing of walking, which controls the vibration unit when freezing of walking occurs and generates vibration through one or more vibration generators.

2. In paragraph 1, The above sensor part A device for preventing and preventing freezing of walking, comprising at least one of a pressure sensor and an inertial measurement device.

3. In paragraph 2, The above control unit A device for preventing and preventing freezing of walking, which determines whether the user's feet are in contact with the ground or are off the ground based on the measurement values ​​of the above pressure sensor.

4. In paragraph 3, The above control unit Obtains movement information of the user's feet based on the measurement values ​​of the above inertial measurement device, A device for preventing and preventing freezing of gait, which determines whether gait is frozen based on at least one of the magnitude, period, speed, direction, and duration of movement.

5. In paragraph 4, The above control unit A device for preventing and preventing freezing of gait that applies different criteria for determining whether gait freezing occurs depending on whether both feet of the user are in contact with the ground or one foot is off the ground.

6. In paragraph 5, The above control unit A device for preventing and preventing freezing of walking, which controls the vibration unit to generate vibration after a predetermined period of time regardless of whether the user's feet are in contact with the ground.

7. In paragraph 6, The above control unit A device for preventing and preventing freezing of gait, which determines whether to continue to generate vibration based on a specific movement of the user when the user's feet have been in contact with the ground for a predetermined period of time and vibration has been generated.

8. In paragraph 7, The above control unit When the user's feet are in contact with the ground for a certain period of time and vibration is generated, and a specific movement of the user is detected, the vibration is stopped. A device for preventing and preventing freezing of walking, which continues to generate vibrations when a specific movement of the user is not detected after a predetermined period of time has elapsed while both feet of the user are in contact with the ground.

9. In paragraph 5, The above control unit A device for preventing and preventing gait freezing, which determines gait freezing when at least one of the size, period, speed, direction, and duration of movement of the foot off the ground is within a predetermined range when one foot of the user is off the ground.

10. In paragraph 4, The above control unit Calculate at least one of stride length and walking speed based on at least one of the magnitude, period, speed, direction and duration of the movement, A device for preventing and preventing freezing of gait, which determines that the user's stride length and walking speed are narrower or slower than at least one of the average stride length and walking speed over a predetermined period of time and generates vibration.

11. One or more processors, and A method performed in a computing device having a memory storing one or more programs executed by one or more processors, A step of receiving measurements from one or more sensors to determine whether gait is frozen; and A method for preventing and preventing freezing of gait, comprising the step of controlling one or more vibration generators to generate vibrations when freezing of gait occurs.

12. In paragraph 11, A method for preventing and preventing freezing of walking, wherein the sensor is at least one of a pressure sensor and an inertial measurement device.

13. In paragraph 12, The step of determining whether the above gait is frozen is A method for preventing and preventing freezing of gait, which determines whether the user's feet are in contact with or off the ground based on the measurement values ​​of the above pressure sensor.

14. In paragraph 13, The step of determining whether the above gait is frozen is Obtains movement information of the user's feet based on the measurement values ​​of the above inertial measurement device, A method for preventing and preventing freezing of gait, wherein the presence or absence of freezing of gait is determined based on at least one of the magnitude, period, speed, direction, and duration of movement.

15. In paragraph 14, The step of determining whether the above gait is frozen is A method for preventing and preventing freezing of gait, which applies different criteria for determining whether gait freezing occurs depending on whether both feet of the user are in contact with the ground or one foot is off the ground.

16. In paragraph 15, The step of generating the above vibration is A method for preventing and preventing freezing of gait, wherein when both feet of a user are in contact with the ground, one or more vibration generators are controlled to generate vibration after a predetermined period of time, regardless of whether or not gait is frozen.

17. In paragraph 16, The step of generating the above vibration is A method for preventing and preventing freezing of gait, which determines whether to continue to generate vibration based on a specific movement of the user when the time that the user's both feet are in contact with the ground has elapsed and vibration is generated.

18. In paragraph 17, The step of generating the above vibration is When the user's feet are in contact with the ground for a certain period of time and vibration is generated, and a specific movement of the user is detected, the vibration is stopped. A method for preventing and preventing freezing of gait, wherein vibration is generated after a predetermined period of time has elapsed while both feet of the user are in contact with the ground, and then vibration is continued when no specific movement of the user is detected.

19. In paragraph 15, The step of determining whether the above gait is frozen is A method for preventing and preventing freezing of gait, wherein when one foot of the user is lifted from the ground, at least one of the size, period, speed, direction, and duration of the movement of the foot lifted from the ground is within a predetermined range, it is determined to be freezing of gait.

20. In paragraph 14, The step of determining whether the above gait is frozen is Calculate at least one of stride length and walking speed based on at least one of the magnitude, period, speed, direction and duration of the movement, A method for preventing and preventing freezing of gait, wherein when at least one of the user's stride length and walking speed becomes narrower or slower than at least one of the average stride length and walking speed over a predetermined period of time, the user determines that the user is in a gait freezing preliminary state and generates vibration.

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