Wearable device for monitoring a gait pattern, and system

Abstract

The invention relates to a wearable device for monitoring a gait pattern of a person, comprising a distance sensor which is designed to measure, during the gait pattern, a distance between the foot and a floor; and a processing module which is designed to determine, based on the measured distance, whether the gait pattern deviates from a predetermined gait pattern. The invention also relates to a system comprising the wearable device and the external device, the processing module of the wearable device being designed to transmit, to the external device, a notification of the deviation in the gait pattern.

Description

[0001] 278 254 s27

[0002] PORTABLE DEVICE FOR MONITORING A GALLEY PROCESS AND SYSTEM

[0003] Technical field

[0004] The present invention relates to a portable device for monitoring a gait sequence and a system comprising the portable device and an external device to which a notification from the portable device can be transmitted.

[0005] Technological background

[0006] Falls, especially among older people and those with limited mobility, often result in serious health problems and even severe injuries. Against this backdrop, in addition to rehabilitation, diagnostics and, in particular, fall prevention have gained importance in medical and safety technology.

[0007] In this context, it has become apparent that falls are often associated with incomplete and / or incorrect gait patterns. Foot lift has proven to be a particularly relevant factor. More specifically, insufficient foot lift during normal walking movements is linked to the risk of falls. However, this finding alone does not directly help individuals with an increased risk of falls and the associated health risks.

[0008] Rather, it requires devices and systems that are capable of identifying such deficient walking movements, or more generally, deviations in a gait pattern.

[0009] Furthermore, it would be advantageous if such solutions were also able to notify the user of any deviations, especially in real time. This has at least two benefits. Firstly, this notification can serve as an early warning that the chance of a fall is increased, allowing the person to react accordingly, for example, by pausing their walk, using support, etc., thus enabling fall prevention. Secondly, this can help the user recognize deficient gait patterns and actively counteract them, for example, by performing the gait more consciously and correctly, thereby reducing the overall risk of falls. In other words, continuous feedback can enable the user to improve their gait and avoid incorrect gait patterns.

[0010] Therefore, there is a need for devices that allow a user to determine a deviation of a gait from a predetermined sequence, in particular to reduce the risk of falls associated with such a deviation.

[0011] Summary of the invention

[0012] The aforementioned and further advantages are provided by the subject matter of the independent claims. Further advantageous embodiments of the present invention are specified in the dependent claims.

[0013] According to one aspect of the present invention, a portable device for monitoring a person's gait is provided, wherein the portable device comprises: a distance sensor configured to measure a distance between the foot and a floor during the gait; and a processing module configured to determine, based on the measured distance, whether there is a deviation of the gait from a predetermined gait pattern.

[0014] According to another aspect of the present invention, a system comprising a portable device according to the invention, the processing module of which is configured to transmit a notification of the deviation of the gait to an external device, and the external device is provided.

[0015] Determining deviations in gait patterns and transmitting corresponding data makes it possible to support the user in reducing the risk of falls, as it becomes possible in particular to identify acute fall risks, but also to reduce a general risk of falls through improved gait patterns.

[0016] Brief summary of the drawings

[0017] The embodiments of the present invention will now be described in more detail with reference to the following figures. The corresponding illustrations serve only to facilitate a better understanding of the teaching of the invention and the associated advantages, but should in no way be construed as limiting. Figure 1 schematically shows the basic arrangement of the portable device according to one embodiment of the present invention; and

[0018] Figure 2 schematically shows the basic arrangement of a system according to one embodiment of the present invention.

[0019] Detailed description

[0020] Figure 1 schematically shows the basic arrangement of the portable device according to one embodiment of the present invention. In particular, Figure 1 shows a portable device 10 for monitoring a person's gait, comprising a distance sensor 110 configured to measure the distance between the foot and the floor during the gait; and a processing module 120 configured to determine, based on the measured distance, whether there is a deviation of the gait from a predetermined gait pattern.

[0021] Figure 1 also shows optional elements, in particular the housing 100, the inclinometer 130, and the inertial measuring unit 140, the optional nature of which is emphasized by the dashed frames. These elements will be described in further detail later in this disclosure.

[0022] A gait sequence can describe a single step of one foot, but it can also describe a pair of two steps (left and right foot each taking one step). Generally, a gait sequence can also encompass a multitude of steps and can therefore also include gait analysis. The distance sensor 110 can measure the distance, particularly in real time, and the processing module 120 can process the measurement data in real time, thus enabling a real-time determination of whether a deviation exists.

[0023] The predetermined gait pattern can be person-specific, meaning it can be determined based on a person's normal, correct gait. Alternatively, it can be a predefined gait pattern, meaning it can be determined based on a medical standard. Furthermore, the predetermined gait pattern can be determined based on both person-specific information, such as a person's normal, correct gait, and medical information, such as a medical standard.

[0024] The 110 distance sensor can be calibrated, for example, at the start of operation or at regular intervals. Measurements taken at the apex of the gait and upon contact with the ground can be used for this purpose. Calibration can be performed over several steps, i.e., multiple gait cycles.

[0025] In principle, the entire portable device 10 can be attached to the foot. This can be done, for example, by means of a fastening. Such a fastening can include a bracket and / or a Velcro fastener.

[0026] Alternatively, only the distance sensor 110 can be attached to the foot, while the processing module 120 is provided externally. Such a variant can reduce the weight and / or size of the device attached to the foot. While the present disclosure refers to a foot in the vast majority of cases, this is not to be understood restrictively; rather, it also includes a shoe, i.e., these terms are to be considered synonymous, or at least technically equivalent, within the scope of the present disclosure.

[0027] At the same time, the present invention is not limited to monitoring a gait pattern using data from a single foot, but rather, for example, data from two feet can also be evaluated by two distance sensors 110. In this case, it is possible either for each distance sensor 110 to be assigned its own processing module 120, or for a single processing module 120 to evaluate the data from both distance sensors 110 in order to determine whether there is a deviation in the gait pattern.

[0028] The processing module 120 can include a microcontroller and / or can be implemented by a microcontroller.

[0029] The processing module 120 can compare the measured data from the distance sensor 110, which represent a gait sequence, with the predetermined gait sequence, i.e., with data representing the predetermined gait sequence, and thus determine whether a deviation exists.

[0030] As mentioned elsewhere in this disclosure, a single data point of the measured data (e.g., the peak) can be compared with a corresponding data point of the predetermined gait pattern. Alternatively, a partial interval or the entire data set can be compared. When several data points are compared, a deviation can be determined, for example, based on the total deviation of the respective corresponding data points, or based on the average deviation of the respective corresponding data points, or based on the maximum individual deviation of the respective corresponding data points.

[0031] Furthermore, the determination of whether a deviation exists can also include identifying the type of deviation. In particular, a distinction can be made between a deviation that suggests an impending fall and a fall that merely represents a (significant) deviation from a normal gait pattern but does not yet exceed the threshold for an imminent fall.

[0032] For this processing, i.e., determining whether a deviation exists based on the measured data, other methods, for example from artificial intelligence, can also be used.

[0033] According to one embodiment of the present invention, the portable device 10 may further comprise an accelerometer configured to detect a movement pattern of the foot.

[0034] This movement pattern can supplement the gait pattern, i.e., it can contain information about the gait pattern and / or deviations from the gait pattern.

[0035] This accelerometer can be implemented as an alternative or in addition to an inertial measuring unit discussed later in this disclosure, such as a gyroscope or the like.

[0036] The accelerometer enables a more precise recording of the foot's movement patterns, including, for example, a correspondingly precise recording of the gait pattern. In particular, this allows for a (complete) analysis of the gait pattern.

[0037] This allows for the consideration of both safe and unsafe movement patterns, as well as potential problem or risk factors. This, in turn, can support the early detection of gait disorders and / or fall hazards, and can also enable differentiated diagnostics to specifically identify risk factors and anomalies.

[0038] Furthermore, a combination of the accelerometer with the other components of the portable device 10, in particular with the distance sensor, an inclinometer and an inertial measuring unit, some of which are described later in this disclosure, can achieve a groundbreaking, in particular a particularly precise solution for detailed monitoring of the gait sequence.

[0039] Such a design can be used in healthcare, particularly in nursing, as well as in sports and therapy, and can make a significant contribution to fall prevention, rehabilitation support and improving the quality of life of users.

[0040] According to one embodiment of the present invention, the distance sensor 110 may comprise a laser and / or an ultrasonic transmitter.

[0041] Both a laser and an ultrasonic transmitter can be used as distance sensors 110 based on "time-of-f light" measurements. A signal is emitted (from the foot) that strikes a surface (the ground), is reflected, and the reflected signal is detected by the distance sensor 110 (or a corresponding receiver). The distance can then be determined from the time between emission and reception.

[0042] Alternatively, infrared sensors, radar, TDR technologies, strain gauges, or optical sensors such as structured light could be used to measure the distance between the foot and the ground. These technologies utilize different physical principles such as reflection, strain, or magnetism to determine the distance precisely.

[0043] Ultrasound transmitters, but especially lasers, are suitable for embodiments of the present invention due to their ability to emit a precise signal that can be measured precisely and is also space-saving and lightweight.

[0044] According to one embodiment of the present invention, the portable device 10 may further comprise an inclinometer 130 (also: inclinometer, inclinometer) configured to measure an inclination of the foot.

[0045] The inclination of the foot can be measured, for example, in relation to the ground.

[0046] In such a configuration, the processing module 120 can still be configured to determine, based on the measured inclination, whether there is a deviation of the gait pattern from the predetermined gait pattern.

[0047] In other words, the tilt sensor can, through the measured tilt, contribute to determining whether there is a deviation in the gait pattern, for example, by modifying the measured distance according to the measured tilt. This can be particularly helpful if the portable device 10 is not (completely) planar to the ground. Furthermore, this can be helpful in detecting that the portable device 10 is moving relative to the foot, for example, if the attachment of the portable device 10 to the foot is loosening or beginning to loosen. In this way, changes in alignment, slippage of the portable device 10, and other potential sources of error can be detected and / or corrected, while simultaneously improving and stabilizing the accuracy of the distance measurement.

[0048] According to one embodiment of the present invention, the portable device 10 may further comprise an inertial measuring unit 140 configured to measure the orientation of the foot.

[0049] The inertial measurement unit 140, often abbreviated as IMU (for the English term inertial measurement unit), can be implemented, for example, by a gyroscope.

[0050] Here too, similar to the case of the inclinometer 130, the orientation of the foot can be measured, for example in relation to the ground.

[0051] In such a configuration, the processing module 120 can still be configured to determine, based on the measured alignment, whether there is a deviation of the gait from the predetermined gait.

[0052] In other words, the inertial measuring unit 140, similar to the tilt sensor, can contribute to determining whether there is a deviation in the gait pattern by measuring the orientation, for example by modifying the measured distance by the measured orientation.

[0053] Furthermore, the inclinometer 130 and the inertial measuring unit 140 can also be provided together in the portable device 10. In addition, the inclinometer 130 and the inertial measuring unit 140 can also be implemented by a single unit, e.g., a single chip.

[0054] While there are fundamentally different ways to implement an inclinometer 130 and / or an inertial measuring unit 140, it may be advantageous to use MEMS (microelectromechanical system, sometimes simply microsystem), as this allows for the implementation of particularly small, powerful and efficient sensors (i.e. inclinometer 130 and inertial measuring unit 140).

[0055] According to one embodiment of the present invention, the processing module 120 can be configured to determine whether a deviation in the gait pattern exists only if at least one of the inclinometer 130 and the inertial measuring unit 140 determines that the distance sensor 110 is oriented essentially perpendicular to the ground.

[0056] Here, "essentially" can mean that the distance sensor 110 is oriented perpendicular to the ground within a tolerance range (of a few degrees). This tolerance range could be, for example, ±1 degree, ±2 degrees, ±5 degrees, or even ±10 degrees.

[0057] This embodiment can be advantageous from two main perspectives. Firstly, if measurements are only taken in this orientation, it can be ensured that only relevant measurement data are recorded, which can increase the overall significance of the measured data, as certain sources of error can be excluded. Secondly, restricting the determination according to this condition allows for a reduction in energy consumption, thus enabling increased energy efficiency of the portable device 10. According to one embodiment of the present invention, as already described above, the processing module 120 can be configured to modify the distance measured by the distance sensor 110 based on at least one of the inclination and orientation of the foot.

[0058] According to one embodiment of the present invention, the processing module 120 can be configured to determine that the deviation of the gait pattern is present when a distance between the foot and the floor at the apex of the gait pattern falls below a threshold value.

[0059] In this context, the apex can mean the point in the gait sequence where the distance to the ground is greatest.

[0060] The threshold can be adjustable, and in particular can be dynamically adjustable, i.e., it can be adjusted during operation.

[0061] For example, according to one embodiment of the present invention, the threshold value can be determined based on the speed of the gait. This speed can be detected, for example, by an inertial measuring unit 140.

[0062] Furthermore, it is possible for the threshold value to be determined depending on the operating mode of the portable device 10. For example, if the portable device 10 is operated in a (first) operating mode in which only specific fall prevention is to be achieved, without continuously providing the user with feedback to generally improve gait, a (first) threshold value can be used. If, on the other hand, the portable device 10 is operated in a (second) operating mode in which, in addition to fall prevention, a general improvement in gait is also to be achieved, a (second) different threshold value can be used. According to one embodiment of the present invention, the portable device 10 can further comprise a housing 100 that accommodates at least the distance sensor 110 and the processing module 120. In such an embodiment, the housing 100 can be attached to the person's foot.

[0063] Such a housing 100 can help to make the portable device 10 stable, compact and safe, especially against falls and other impacts.

[0064] Furthermore, the tilt sensor and / or the inertial measuring unit 140 can also be housed in the housing 100.

[0065] The housing 100 can also be used to attach the portable device 10 to the person's foot. For this purpose, the housing 100 can, for example, include a strap and / or a hook-and-loop fastener. The housing 100 or the portable device 10 can be attached to an outer edge of the foot.

[0066] According to one embodiment of the present invention, the processing module 120 can be configured to transmit a notification of the deviation of the gait sequence to an external device 20 20.

[0067] The external device 20 can be attached to a person's wrist; for example, the external device 20 could be a smartwatch. Alternatively, the external device 20 could be a smartphone, in which case communication with the wearable device 10 could be achieved via a corresponding application. Other possibilities for the external device 20 include tablets, PCs, or laptops.

[0068] The notification can be transmitted via Bluetooth®, but also via other protocols such as ZigBee or Wi-Fi. Accordingly, the Processing Module 120 can contain at least one transmitter. Furthermore, the Processing Module 120 can also contain a receiver. These two functionalities can be implemented by a transceiver.

[0069] The portable device 10 can be powered, for example, by a battery, a secondary battery, a piezoelectric element, an RFID element, and / or by drawing power from an induction field. This enables continuous use over extended periods.

[0070] Figure 2 schematically shows the basic arrangement of a system according to one embodiment of the present invention. In particular, Figure 2 shows a system 1 comprising a portable device 10 according to the invention and an external device 20. As shown in Figure 2, the portable device 10 comprises a distance sensor 110 configured to measure the distance between the foot and the floor during gait; and a processing module 120 configured to determine, based on the measured distance, whether there is a deviation of the gait from a predetermined gait pattern. Furthermore, the processing module 120 is configured to transmit a notification of the gait deviation to an external device 20.

[0071] Accordingly, the external device 20 is configured to receive this notification. Furthermore, both devices are also configured to exchange notifications (messages) in the other direction, i.e., the external device 20 sends information to the portable device 10. Such information could be, for example, information about an operating mode or general information about operation (on / off). Figure 2, analogous to Figure 1, also shows optional elements of the portable device 10, in particular the housing 100, the inclinometer 130, and the inertial measuring unit 140, the optional nature of which is emphasized by the dashed frames.

[0072] According to one embodiment of the present invention, the external device 20 can be configured, based on the notification, to output a signal, wherein the signal is at least an acoustic signal, a haptic signal, a visual signal and / or an electronic signal.

[0073] This signal allows the person to be informed (in real time) about deviations in their gait pattern. This can contribute to fall prevention and / or the general improvement of gait.

[0074] According to one embodiment of the present invention, the external device 20 can be configured to modify the signal based on the deviation. This can, in particular, serve to indicate the nature of the gait deviation. This can, for example, allow a distinction between fall prevention and general gait improvement; that is, the user receives different signals depending on whether the wearable device 10 determines that there is a deviation that could indicate a fall, or whether the wearable device 10 determines that, although there is a deviation, this deviation is not such that a fall is likely in the next steps.

[0075] Furthermore, the signal can be variable and / or random to prevent the person from becoming too accustomed to it and simply ignoring it. This can increase the effectiveness of the feedback provided by the signal. Additionally, the signal intensity can be increased in the event of repeated deviations, especially those occurring in quick succession, to clearly draw the person's attention to these deviations.

[0076] In general, the embodiments of the present invention can determine a deviation of a gait pattern from a predetermined pattern and thus contribute to fall prevention and the general improvement of gait. In particular, the embodiments enable reliable and precise detection of whether a deviation from a predetermined gait pattern exists and can thus precisely contribute to reducing the risk of falls.

[0077] Although detailed implementation methods have been described, these serve only to provide a better understanding of the invention defined by the independent claims and are not to be considered restrictive.

Claims

Claims 1. A portable device for monitoring a person's gait, comprising: a distance sensor configured to measure the distance between the foot and the floor during the gait cycle; and a processing module that is configured, based on the measured distance, to determine whether there is a deviation of the gait pattern from a predetermined gait pattern.

2. The portable device according to claim 1, furthermore, it comprehensively includes an accelerometer configured to capture a movement pattern of the foot.

3. The portable device according to claim 1 or 2 wherein the distance sensor comprises a laser and / or an ultrasonic transmitter .

4. The portable device according to any one of claims 1 to 3, furthermore, a comprehensive inclinometer configured to measure the inclination of the foot, wherein the processing module is further configured to determine, based on the measured inclination, whether the gait pattern deviates from the predetermined gait pattern.

5. The portable device according to any one of claims 1 to 4, furthermore, it includes an inertial measuring unit configured to measure the alignment of the foot, the processing module remains configured to determine, based on the measured orientation, whether there is a deviation of the gait pattern from the predetermined gait pattern.

6. The portable device according to any one of claims 1 to 5, where the processing module is configured to perform a determination of whether the deviation in the gait pattern exists only if at least one of the inclinometer and the inertial measuring unit determines that the distance sensor is oriented substantially perpendicular to the ground.

7. The portable device according to any one of claims 3 to 6, wherein the processing module is configured to modify the distance measured by the distance sensor based on at least one of the inclination of the foot and the orientation of the foot.

8. The portable device according to any one of claims 1 to 7, wherein the processing module is configured to determine that the deviation of the gait pattern is present when a distance between the foot and the ground at the apex of the gait pattern falls below a threshold value.

9. The portable device according to claim 8, wherein the threshold is determined based on a speed of gait.

10. The portable device according to any one of claims 1 to 9, furthermore, a housing that accommodates at least the distance sensor and the processing module, whereby the housing can be attached to the person's foot.

11. The portable device according to any one of claims 1 to 10, the processing module is configured to transmit a notification of the deviation in the gait sequence to an external device.

12. A system comprising the portable device according to claim 11 and the external device.

13. The system according to claim 12, wherein the external device is configured, based on the notification, to output a signal, wherein the signal is at least an acoustic signal, a haptic signal, a visual signal and / or an electronic signal.

14. The system according to claim 13, wherein the external device is configured to modify the signal based on the deviation.

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