CN107997766A - Gait tester - Google Patents
Gait tester Download PDFInfo
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- CN107997766A CN107997766A CN201610929203.8A CN201610929203A CN107997766A CN 107997766 A CN107997766 A CN 107997766A CN 201610929203 A CN201610929203 A CN 201610929203A CN 107997766 A CN107997766 A CN 107997766A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
- A61B5/112—Gait analysis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
- A61B5/6802—Sensor mounted on worn items
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- Life Sciences & Earth Sciences (AREA)
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- Heart & Thoracic Surgery (AREA)
- Physics & Mathematics (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
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- Dentistry (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
Abstract
The invention discloses a kind of gait tester, include a protector, the protector is to be worn on for user at knee joint, knee joint is wrapped up, four gait data sensors are fixed with the protector, wherein first and second gait data sensor left and right sides below the left and right sides above the knee, the 3rd and the 4th gait data sensor difference knee, and four gait data sensors are respectively positioned on the lateral surface of leg respectively；The distance between four gait data sensors are relatively-stationary.Four gait data sensors, each include a MCU, six axis gyroscopes, position sensor, acceleration of gravity device and blue-teeth communication equipment, and are powered by button cell.The present invention by be worn on tester with user can collecting test user walks in real life when kneed related data, by these data are analyzed can help to analyze gait that user walks whether science, on knee joint may caused by long-range influence.
Description
Technical field
The present invention relates to sports medical science analysis, more particularly to a kind of gait tester, user is walked or was run
The data of motion of knee joint are acquired analysis and determine the pressure that knee joint is subject in journey, and analysis user's walking manner closes knee
Save issuable long-range influence.
Background technology
Walking (or running) is most common motion mode, and gait analysis (gait measurement) is used for individual
Assessment, plan, the treatment of ability on foot.Especially gait analysis is the basis for the treatment of, to the patient of leg injury or disease
Walking posture collect and kinematics, biology, nerve reconstructive remodeling etc. combine, in favor of providing rational therapeutic scheme and right
The therapeutic equipment answered uses.The main means of gait analysis be with the protector such as knee-pad with color punctuate on human body band,
At the uniform velocity walk about or run on treadmill, video camera shoots whole process, movement rail of the record with color punctuate in side
Mark is so as to calculate and judge tester joint hidden danger that may be present.The method of existing measurement in analysing gait has following several at present
Kind：
1. footprinting：It is that use visually observes, does some simple time and space records.Pulverized limestone is sprinkled on the ground, is allowed
Person under test walk on the ground sprinkled with pulverized limestone and meanwhile record person under test walking away from discrete time.After the completion of walking observation and
Measurement is sprinkled with the footprint on pulverized limestone ground, so as to draw the result of gait analysis.There is the defects of many obvious in this method,
Such as：Time is grown；Need to expend a large amount of manpowers；Based on subjectivity, accuracy is relatively low for analysis；Obtained data are less；Face
Bed report hand filling, time-consuming and laborious and easy error.
2. video method：Human walking procedure is absorbed by video equipment (CCD camera), it is then point-by-point frame by frame
Dot-matrix analysis is carried out, its advantage is that equipment is simple, and subject's gait compares naturally, but since its analyzing and positioning relies primarily on people
Work, higher to operation requirement, application condition is big, and can only carry out two dimensional surface analysis, the accuracy of three-dimensional spatial analysis
It cannot be guaranteed.
3. form：By infrared camera receive skin-marker transmitting or reflection infrared light, and according to
Corresponding model analysis hair, carries out three-dimensional reconstruction, so as to draw the 3 D motion trace of partes corporis humani point.Its advantage be technology into
Ripe, data result is accurate, simple and quick；Shortcoming is that the position for pasting reflective spot is required, and pastes to directly affect
Measurement result；There cannot be foreign matter gear in measurement process between reflective spot and camera, including tested personnel itself, so by
Personnel cannot be accompanied or assist in beside survey personnel.Otherwise data acquisition is influenced；It is higher to environmental requirement to be got ready, it is necessary to match somebody with somebody
The larger room of one area, after camera installs angle, it is impossible to arbitrarily change；Expensive, operating process is responsible for, most
Use, seldom seen in Clinical practice in laboratory, limit phase popularization to a certain extent.
4. ultrasonic type：The principle of ultrasonic type is similar to form, and the ultrasonic wave carried by body surface, which is launched, to be visited
Hair goes out ultrasonic wave, and the ultrasonic wave receiving transducer through surrounding receives, and is set according to certain model, carries out three-dimensional reconstruction, draws
The 3 D motion trace of human body.Its advantage is equipment price relative moderate, and operation is also relatively easy, and data are also more accurate；But
It is that ultrasonic wave easily reflects, it is necessary to the interference of surrounding objects is eliminated, it is more demanding to surrounding environment, simultaneously because mark point volume
Larger, the mark point quantity that human body once carries has certain limitation, only suitably carries out human body Segmental analysis.
Gait measurement is means important in sports medical science, but between current means, data are difficult in real row
Walk in environment and accurately and effectively gathered.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of gait tester, and the walking data to user are surveyed
Examination analysis.
To solve the above problems, gait tester of the present invention, includes a protector, which is to be placed through knee
Place, knee is wrapped up, four gait data sensors are fixed with the protector, wherein first and second gait data sensor
The left and right sides below the left and right sides above the knee, the 3rd and the 4th gait data sensor difference knee respectively, and four
Gait data sensor is respectively positioned on the lateral surface of leg；The distance between four gait data sensors are relatively-stationary.
Further, four gait data sensors, each include a MCU, six axis gyroscopes, position
Sensor, acceleration of gravity device and blue-teeth communication equipment, and powered by film-type or button cell.
Further, the six axis gyroscopes and the monitoring of acceleration of gravity device collect the walking movement number of user
According to data being transmitted to MCU, MCU will be supplied to blue-teeth communication equipment after data processing, to carry out data communication with outside.
Further, four gait data sensors, wherein, positioned at first and second sensor above the knee
The distance between be 4 ± 0.5 centimetres, the distance between the 3rd and the 4th gait data sensor below knee also be 4
± 0.5 centimetre；First and the 3rd the distance between gait data sensor, and second and the 4th between gait data sensor
Distance be 12 ± 1 centimetres.
Further, four gait data sensors are started by external device (ED) using bluetooth remote, four after startup
The MCU clocks of a sensor will be unified.
Further, after gait tester starts, when user walks or runs, sensor movement is driven, passes through top
The data of spiral shell instrument and acceleration of gravity device come carry out calculate four gait data sensors exercise data and recorded,
The sample frequency of MCU is 5~20Hz.
Further, the position sensor, with four gait data sensors of monitoring each other due to constantly putting
Spacing that is dynamic and producing changes, and is compensated by influence of changes of the MCU to spacing to test result, to eliminate system mistake
Difference.
Further, the data of described four gait data sensors collection by Bluetooth transmission to computer system,
The displacement data of gait data sensor will be calculated after sampling time synchronization so that it is determined that the pressure history that knee joint is subject to；
Data transfer is the data read-out that will be stored in after movement in gait data sensor, or is filled by exterior reception
Put, be transmitted in real time during the motion.
Further, the position sensor, is to sense and record four gait data sensors to move in user
During whipping cause the initial relative position of four gait data sensors to change, and the relative position is changed
To MCU, systematic error caused by the change of relative position is reduced or eliminated by the error correction algorithm built in MCU, carries data sending
Pinpoint accuracy.
Further, the external device (ED) is smart mobile phone, intelligent watch or intelligent spire lamella, passes through application program control
System, the communication of data or instruction is carried out with sensor using bluetooth connection.
Gait tester of the present invention, can easily be worn on user, widely be used in true
In living environment, the life or work of user in itself are not disturbed, and the moment records the walking data of user, can be more accurately
User judges kneed stressing conditions, can greatly improve the analysis quality of knee joint preventive medicine.
Brief description of the drawings
Fig. 1 is the working state schematic representation of gait tester of the present invention.
Fig. 2 is the structural principle block diagram of the single sensor of gait tester of the present invention.
Embodiment
Gait tester of the present invention, as shown in Figure 1, including a protector, which is similar to knee-pad, is for making
User is worn at knee joint, and knee joint is wrapped up, and first to fourth totally four gait datas sensing is fixed with the protector
The left and right sides (corresponds respectively to A, B in figure above knee joint respectively for device, wherein first and second gait data sensor
Gait data sensor), the 3rd and the 4th gait data sensor difference knee joint lower section left and right sides (is corresponded respectively in figure
C, D gait data sensor), and 4 sensors are respectively positioned on the lateral surface of leg；The distance between four gait data sensors
It is relatively-stationary.Wherein, positioned at the distance between first and second gait data sensor above the knee for 4 centimetres (i.e.
A, the distance between B), the distance between the 3rd and the 4th gait data sensor below knee also for 4 centimetres (i.e. C,
The distance between D), it is allowed to there is ± 0.5 centimetre of error.First and the 3rd the distance between gait data sensor (i.e. A, C it
Between distance), and second and the 4th vertical range (i.e. the distance between B, D) between sensor be set as 12 centimetres,
Allow the error for having ± 1 centimetre.
Four gait data sensors, as shown in Fig. 2, each gait data sensor include a MCU,
Six axis gyroscopes, acceleration of gravity device, position sensor and blue-teeth communication equipment, and pass through button cell or film-type electricity
Pond powers.Gravity sensor, sensing is acceleration information, is direction and the size of stress.Six axis gyroscopes, the side of being of sensing
To data, relative angle is measured.
Four gait data sensors are started by external device (ED) using bluetooth remote, four gait datas after startup
The MCU clocks of sensor will carry out unification with external device (ED).External device (ED) can be smart mobile phone, intelligent watch or intelligent spire lamella
Deng a kind of hand-held or wearable device, by application program controlling, data or instruction are carried out using bluetooth connection with sensor
Communication.
After gait tester starts, when user walks or runs, the movement of gait data sensor is driven, passes through six axis
The data of gyroscope and acceleration of gravity device come carry out sensing four gait data sensors exercise data and recorded,
The sample frequency of MCU is 5~20Hz.Six axis gyroscopes and the monitoring of acceleration of gravity device collect the walking movement number of user
According to data being transmitted to MCU, MCU will be supplied to blue-teeth communication equipment after data processing, lead to carry out data with external equipment
News.The transmission of sampled data is the data read-out by storage in the sensor after movement, or passes through exterior reception
Device, is transmitted in real time during the motion.
The data of four gait data sensors collection are by Bluetooth transmission to external device (ED), or department of computer science
System, system will calculate the displacement data of sensor so that it is determined that the pressure that knee joint is subject to after the sampling time synchronization of sampled data
Change curve.These data by the tailor-made algorithm system for being supplied to sports medical science analyze the walking posture of user whether section
Learn, long-range influence caused by knee joint is possible.
Further, since ceaselessly being swung in movement, the relative position of four sensors of original fixed position is inevitable
Ground can be subjected to displacement so that the spacing between the sensor originally set changes, and this can cause sampled data rear
Phase system carries out generation system error during Data Analysis Services, that is, the data measured are inaccurate, therefore, to eliminate or reducing mistake
Difference, described four gait data sensors, each also includes position sensor, for measuring the opposite of each collection point
Positional distance, that is, sense the relative position between four sensors.Position sensor recording and sending gives MCU tetra- gait datas
The change of sensor relative distance.For MCU when handling the exception of relative distance change greatly, correct algorithm is to spacing built in MCU
Change the influence to test result to compensate, to eliminate systematic error.Default algorithm is to abandon abnormal one point data, is calculated more
The secondary effective measurement result of gait does smooth value, is presented at the same time on intelligent terminal with measurement virtual value in real time, easy to professional
Analysis.
It these are only the preferred embodiment of the present invention, be not intended to limit the present invention.Come for those skilled in the art
Say, the invention may be variously modified and varied.Within the spirit and principles of the invention, it is any modification for being made, equivalent
Replace, improve etc., it should all be included in the protection scope of the present invention.
Claims (10)
- A kind of 1. gait tester, it is characterised in that：Include a protector, which is to be worn on for user at knee joint, Knee joint is wrapped up, four gait data sensors are fixed with the protector, wherein first and second gait data sensor The left and right sides below the left and right sides above the knee, the 3rd and the 4th gait sensor difference knee respectively, and four gaits Data pick-up is respectively positioned on the lateral surface of leg；The distance between four gait data sensors are relatively-stationary；Described four A gait data sensor, each includes a MCU, gyroscope, position sensor, acceleration of gravity device and bluetooth and leads to Device is interrogated, and passes through battery powered.
- 2. gait tester as claimed in claim 1, it is characterised in that：The six axis gyroscopes and acceleration of gravity device prison The walking movement data for collecting user are surveyed, data are transmitted to MCU, MCU will be supplied to bluetooth communication to fill after data processing Put, to carry out data communication with outside.
- 3. gait tester as claimed in claim 1, it is characterised in that：Four sensors, wherein, on knee The distance between first and second sensor of side is 4 ± 0.5 centimetres, between the 3rd and the 4th sensor below knee Distance also be 4 ± 0.5 centimetres；The distance between first and 3rd sensor, and second and the 4th hanging down between sensor Straight distance is 12 ± 1 centimetres.
- 4. gait tester as claimed in claim 1, it is characterised in that：The battery is film type battery or button electricity Pond.
- 5. gait tester as claimed in claim 1, it is characterised in that：Four gait data sensors are filled by outside Put and started using bluetooth remote, the MCU clocks of four gait data sensors will be unified after startup.
- 6. gait tester as claimed in claim 1, it is characterised in that：Gait tester start after, user walking or During running, the movement of gait data sensor is driven, four steps calculate by the data of gyroscope and acceleration of gravity device The exercise data of state data pick-up is simultaneously recorded, and the sample frequency of MCU is 5~20Hz.
- 7. gait tester as claimed in claim 1, it is characterised in that：The position sensor, is to sense and record four Whipping of a gait data sensor in user's motion process causes the initial relative position of four gait data sensors Change, and by the data sending that the relative position changes to MCU, phase is reduced or eliminated by the error correction algorithm built in MCU To systematic error caused by the change of position, accuracy is improved.
- 8. gait tester as claimed in claim 1, it is characterised in that：The number of four gait data sensors collection , to computer system, the displacement data of sensor will be calculated after sampling time synchronization so that it is determined that knee joint according to by Bluetooth transmission The pressure history being subject to；Data transfer is the data read-out by storage in the sensor after movement, or is passed through Exterior reception device, is transmitted in real time during the motion.
- 9. gait tester as claimed in claim 1, it is characterised in that：The gyroscope is six axis gyroscopes.
- 10. gait tester as claimed in claim 1, it is characterised in that：The external device (ED) is smart mobile phone, intelligent hand Table or intelligent spire lamella, by application program controlling, the communication of data or instruction is carried out with sensor using bluetooth connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610929203.8A CN107997766A (en) | 2016-10-31 | 2016-10-31 | Gait tester |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610929203.8A CN107997766A (en) | 2016-10-31 | 2016-10-31 | Gait tester |
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|---|---|
| CN107997766A true CN107997766A (en) | 2018-05-08 |
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| CN201610929203.8A Pending CN107997766A (en) | 2016-10-31 | 2016-10-31 | Gait tester |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110269289A (en) * | 2019-06-17 | 2019-09-24 | 柴圣 | A kind of intelligent reminding knee-pad |
| CN112057083A (en) * | 2020-09-17 | 2020-12-11 | 中国人民解放军火箭军工程大学 | Wearable human upper limb pose acquisition equipment and acquisition method |
| CN113017612A (en) * | 2021-02-07 | 2021-06-25 | 广州中医药大学深圳医院(福田) | Lumbar joint mobility monitoring devices |
| CN115319723A (en) * | 2022-07-29 | 2022-11-11 | 杭州程天科技发展有限公司 | Exoskeleton robot joint control method, exoskeleton robot and electronic device |
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| US20080161731A1 (en) * | 2006-12-27 | 2008-07-03 | Woods Sherrod A | Apparatus, system, and method for monitoring the range of motion of a patient's joint |
| CN202553940U (en) * | 2012-03-02 | 2012-11-28 | 应放天 | Gait analytical apparatus |
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| CN104998381A (en) * | 2015-07-20 | 2015-10-28 | 上海交通大学 | Gait rectification system based on wearable sensing and tactile feedback |
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| US20160220175A1 (en) * | 2015-02-03 | 2016-08-04 | The Board Of Trustees Of The Leland Stanford Junior University | Apparatus and method for range of motion tracking with integrated reporting |
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| CN1774206A (en) * | 2003-04-11 | 2006-05-17 | 松下电器产业株式会社 | Acceleration sensor axis information correction device and correction method thereof |
| US20080161731A1 (en) * | 2006-12-27 | 2008-07-03 | Woods Sherrod A | Apparatus, system, and method for monitoring the range of motion of a patient's joint |
| CN202553940U (en) * | 2012-03-02 | 2012-11-28 | 应放天 | Gait analytical apparatus |
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| CN204950964U (en) * | 2015-09-11 | 2016-01-13 | 撼讯科技股份有限公司 | Human Body Posture Sensing Device |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110269289A (en) * | 2019-06-17 | 2019-09-24 | 柴圣 | A kind of intelligent reminding knee-pad |
| CN112057083A (en) * | 2020-09-17 | 2020-12-11 | 中国人民解放军火箭军工程大学 | Wearable human upper limb pose acquisition equipment and acquisition method |
| CN112057083B (en) * | 2020-09-17 | 2024-02-13 | 中国人民解放军火箭军工程大学 | Wearable human upper limb pose acquisition equipment and acquisition method |
| CN113017612A (en) * | 2021-02-07 | 2021-06-25 | 广州中医药大学深圳医院(福田) | Lumbar joint mobility monitoring devices |
| CN115319723A (en) * | 2022-07-29 | 2022-11-11 | 杭州程天科技发展有限公司 | Exoskeleton robot joint control method, exoskeleton robot and electronic device |
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Effective date of registration: 20200303 Address after: 201413 room 924, 1 Antai Road, four regiment Town, Fengxian District, Shanghai, 1 Applicant after: Sesame bloom medical devices (Shanghai) Co., Ltd. Address before: 201203 Shanghai City, Pudong New Area Zhangjiang hi tech Zhang Heng road 666 No. 2 No. 307 Applicant before: Shanghai sesame blossom medical science and Technology Co Ltd |
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