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WO2012077142A1 - Procédé d'analyse du mouvement, notamment de la marche d'un individu - Google Patents

Procédé d'analyse du mouvement, notamment de la marche d'un individu Download PDF

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Publication number
WO2012077142A1
WO2012077142A1 PCT/IT2010/000490 IT2010000490W WO2012077142A1 WO 2012077142 A1 WO2012077142 A1 WO 2012077142A1 IT 2010000490 W IT2010000490 W IT 2010000490W WO 2012077142 A1 WO2012077142 A1 WO 2012077142A1
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WO
WIPO (PCT)
Prior art keywords
moment
person
lth
hth
leg
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/IT2010/000490
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English (en)
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WO2012077142A8 (fr
Inventor
Michele Raggi
Andrea Giovanni Cutti
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Istituto Nazionale per lAssicurazione contro gli Infortuni sul Lavoro INAIL
Original Assignee
Istituto Nazionale per lAssicurazione contro gli Infortuni sul Lavoro INAIL
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Priority to PCT/IT2010/000490 priority Critical patent/WO2012077142A1/fr
Publication of WO2012077142A1 publication Critical patent/WO2012077142A1/fr
Publication of WO2012077142A8 publication Critical patent/WO2012077142A8/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • A61B5/1036—Measuring load distribution, e.g. podologic studies
    • A61B5/1038—Measuring plantar pressure during gait
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
    • G01C22/006—Pedometers
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
    • G06V40/20—Movements or behaviour, e.g. gesture recognition
    • G06V40/23—Recognition of whole body movements, e.g. for sport training
    • G06V40/25—Recognition of walking or running movements, e.g. gait recognition
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2560/00—Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
    • A61B2560/02—Operational features
    • A61B2560/0223—Operational features of calibration, e.g. protocols for calibrating sensors

Definitions

  • the present invention relates to a method of analysis of the movement, particularly of the walk of a person.
  • the sensors may require complex protocols for their positioning.
  • an object of the present invention is to solve the above-mentioned problems, by providing a method that can simply and cheaply detect and determine the parameters relating to the walk of a person.
  • an object of the present invention is to provide a method that can be adapted substantially automatically to the specific patient analyzed and recognize any pathologies of the patient.
  • Another object of the invention is to provide a method that can detect and provide the data required both in real time and at a later time.
  • Another object of the invention is to provide a method that makes it possible to analyze the walk and the movement of the patient cheaply and without using complex support instrumentation.
  • a further object of the invention is to provide a method that can be easily obtained from elements and materials that are easily sourced on the market.
  • a further object of the invention is to provide a method that ensures a high level of reliability in operation.
  • a method of analysis of the movement, particularly of the walk of a person which consists in importing into an electronic processor a set of calibration parameters which comprises at least a first calibration parameter, a second calibration parameter and a third calibration parameter, said calibration parameters being related to the movement of a leg of a person; in detecting, moment by moment, the respective value of the speed of rotation of the leg of the person about its lateral center axis, by means of an apparatus that is provided with suitable detection means and is associated with said processor, for a period of analysis, which corresponds to at least one footfall of the person; in determining, also in real time and on the basis of the speed values acquired and of said calibration parameters, at least the moment of contact of the foot of the leg with the ground, for each of the footfalls performed by the subject during the period of analysis.
  • FIG. 1 is a block diagram that illustrates the method according to the invention
  • Figure 2 is a block diagram that illustrates in detail a first step of the method according to the invention
  • Figure 3 is a block diagram that illustrates in detail the step of determining the moment of contact
  • Figure 4 is a block diagram that illustrates in detail a portion of the step of determining the moment of contact
  • Figure 5 is a block diagram that illustrates in detail a further step of the method according to the invention.
  • Figure 6 schematically shows the trend of the speed of rotation of the leg as a function of the moment of detection.
  • the method according to the invention makes it possible to analyze the movement of a person (whether healthy or affected by various pathologies), and in particular it makes it possible to obtain useful information and data (the significant moments in time) relating to the walk of such person.
  • the method according to the invention consists, in a first step a., in importing into an electronic processor a set of calibration parameters Hth, Lth, NC which comprises at least a first calibration parameter Hth, a second calibration parameter Lth and a third calibration parameter NC: these calibration parameters Hth, Lth, NC, for which at least two different methods of determination will hereinafter be described, are related to the movement of a leg of a person and make it possible to analyze its kinematics, thus identifying any anomalies, in particular in the flexion of the knee, that are such as to make a different calibration necessary of the method described.
  • the method further consists in detecting, in a step b., at each moment (indicated with the letter "i"), the respective value of the speed of rotation of the leg of the person about its lateral center axis, such speed being indicated with the notation D(i): such detection is effected by virtue of an apparatus that is provided with suitable detection means (some of which are illustrated hereinbelow) and is associated with the electronic processor mentioned previously.
  • the electronic processor can be provided with means for converting the analog signal which is provided by the detection means into a digital signal.
  • the detection occurs for a period of analysis, which can be established and/or extended at will, and which corresponds to at least one footfall (indicated with the letter "p" hereinafter) of the person.
  • the method consists, in the step c, in determining, also in real time (differently from what happens with the methods of the known type) and based on the speed values D(i) acquired and on the calibration parameters Hth, Lth, NC, both the moment of contact ICp of the foot with the ground and also at least the moment of detachment TC P of the foot from the ground, for each of the footfalls p performed by the subject during the period of analysis.
  • the determination of the moments IC P and TC P ensures the possibility of conducting analyses of sporting movements (in order to optimise performance, thus playing a role of considerable interest in professional or semiprofessional circles) of the ascent and descent of stairs.
  • the set is loaded into a memory unit which is comprised in the electronic processor (in order to then be imported in the step a. and used for determining the data described above) and it is obtained by means of a preliminary analysis on a plurality of persons who are chosen by sampling populations of normally-endowed persons and otherwise.
  • NC 6 samples (with sampling frequency of lOOHz).
  • such method consists, before executing the step a. of importing, in executing a procedure d. of calibration (illustrated in detail in Figure 2) that is specific to the person to be analyzed, in order to calculate calibration parameters Hth, Lth, NC that are peculiar to the person upon which the analysis is conducted and which are obtained, as will be better illustrated hereinbelow, as a function of the trend over time of the speed of rotation D(i).
  • This procedure d is
  • each set thus identified can be stored in a specific memory unit, so as to be reused at a later time in order to conduct further analyses on the same patient (or possibly in order to conduct analyses on different persons, who have similar physical structures, if it is not desired to repeat the calibration procedure d.).
  • such set can be based on preset values, which are identified and considered to be valid for most of the population.
  • the calibration procedure d. consists, in a first step dl ., in acquiring, for each of the footfalls p performed by the person during the calibration period, a threshold moment i sw k in which the speed of rotation D(i) of the leg of the patient exceeds a predefined first threshold value SW1.
  • This first threshold value SW1 is preferably equal to 2 rad/sec, but the possibility is not excluded of fixing a different value for it, as a function of the specific requirements.
  • the calibration procedure d. consists, in a step d2., in acquiring, for each of the footfalls p performed by the person during the calibration period, a zero moment i zc k, after i sw k, in which the value of the speed of rotation D(i) drops below 0.
  • an interval of time Atk preferably defined as (with k assuming all the values comprised between 1 and n-1).
  • Such procedure then consists in identifying, in a step d5., for each of the footfalls p performed by the person during the calibration period, a first local maximum LMk, a first local minimum Lmlk and a second local minimum Lm2k.
  • the first local maximum LMk is defined as the maximum value assumed by D(i) between the threshold moment i s and the zero moment i zc k
  • the first local minimum Lmlk is instead defined as the minimum value assumed by D(i) between the zero moment i zc k and the moment i that is equal to i zc k+TWf or ward
  • the second local minimum Lm2k is defined as the minimum value assumed by D(i) between the moment i that is equal to i zc k-TWbackward and the zero moment i zc k, with k assuming all the values comprised between 1 and n.
  • the calibration procedure d. thus makes it possible to compose, in a step d7., the desired set of calibration parameters (Hth, Lth, NC) based on the average values LMm, Lmlm and Lm2m and on the exceeding, by the Lm2m/Lmlm ratio, of a second predefined threshold value SW2, which is representative of the kinematic behaviour of the lower limb when placed on a surface, and in particular of the kinematics of the knee and of its capacity for flexion.
  • the desired set of calibration parameters Hth, Lth, NC
  • This second predefined threshold value SW2 is preferably (but not exclusively) equal to 1.55, and its being exceeded denotes a reduced capacity for flexion of the knee (and for this reason, as can be seen from the following paragraphs, the formulae used are varied), while a Lm2m/Lmlm ratio that is less than 1.55 is associated with a condition of flexion of the knee that is substantially physiological.
  • the composition step d7 for values of the Lm2m/Lmlm ratio that are lower than the second predefined threshold value SW2, the composition step d7.
  • Hth LMm*0.5
  • Lth Lm2m*0.57
  • NOaverage(At k )*0.5 with k assuming all the values comprised between 1 and n.
  • the determination step c. consists in repeating a succession of operations for each footfall p, the first of which (defined as cl .) consists in waiting for the elapsing of an initial transition period, in order to then identify, in a step c2., the desired moment of contact IC P with the first moment i wherein at least one of the following two conditions is met:
  • ICTh which is a fixed parameter and is preferably chosen to be equal to 5 and in any case can be reconfigured at will.
  • the method After having identified, in step c2., the moment of contact IC P , the method consists, in a step c3., in observing, with the processor, a wait period of length equal to NC (or in waiting an equivalent number of samples of the signal D(i)).
  • the method according to the invention consists in waiting, in a step c4., for the value of the speed of rotation D(i) to be less than Lth, in order to then identify, in a step c5., the moment of detachment TC P , for each footfall p performed by the person, with the first moment (i-3) which simultaneously verifies the following four conditions:
  • TO t hl is a first characterization constant of the behaviour of the leg and preferably assumes a value equal to 1
  • ⁇ 3 ⁇ 42 is a second characterization constant of the behaviour of the leg and preferably assumes a value equal to 5
  • TOth3 is a third characterization constant of the behaviour of the leg and preferably assumes a value equal to 10.
  • step cl . of waiting for the elapsing of a transition period consists, in a step cla., in maintaining the electronic processor in a state of waiting for the value of the speed of rotation D(i) to be higher than Hth.
  • the method consists in checking, in a step clb., for the presence of at least three consecutive detections of the value of the speed of rotation D(i) that are higher than Hth. If this does not occur, then the method according to the invention repeats the step of maintaining the wait state cla. (and the following steps).
  • the method waits, in a step clc, for the value of the speed of rotation D(i) to assume a value of less than 0 in order to consider as terminated the step cl . of maintaining the wait state, and pass to the the subsequent operations, which are described in the preceding paragraphs.
  • the method according to the invention comprises a procedure e. of checking and recahbration, which is shown graphically in an embodiment thereof in Figure 5: the procedure e. of checking and recahbration can be executed automatically by the electronic processor, in order to check and update, continuously and in real time, during the period of analysis of the person, the calibration parameters Hth, Lth, NC which were initially determined.
  • the checking and recahbration procedure e. consists firstly in saving, in a step el ., the values of the speed of rotation D(i) in a suitable transit memory region SWb (also known as buffer) of the electronic processor.
  • the checking and recahbration procedure e consists in storing, in a step e2., a respective second local maximum ⁇ (3 ⁇ 4 which is defined as the maximum value recorded in the buffer SWb, in a first shift register ZCr which is comprised in the electronic processor: preferably, this first shift register ZCr is adapted to store preferably three values (the average of which will hereinafter be identified with average(ZCr)).
  • the checking and recalibration procedure e. consists in storing, in a step e5. after each step c2. of identifying the respective moment of contact IC P , the corresponding value of the speed of rotation D(IC P ) in a second shift register ICar which is comprised in the electronic processor, and this second shift register ICar is also adapted to store preferably three values (the average of which will hereinafter be indicated with average(ICAr)).
  • the value of the moment of contact IC P is also stored in a third shift register ICTr which is comprised in the electronic processor; again, this third shift register ICTr is also adapted to store preferably three values.
  • the checking and recalibration procedure e. consists, in a step el., in recalculating the third calibration parameter NC according to the formula:
  • NC 0.5*((ICTr 2 -ICTri)+(ICTr3-ICTr 2 ))/2, for the values of the Lm2m/Lmlm ratio that are higher than the second predefined threshold value SW2.
  • the third calibration parameter NC can be recalculated according to the formula:
  • NC 0.45*((ICTr 2 -ICTr 1 )+(ICTr 3 -ICTr 2 ))/2.
  • this fourth shift register ZCr is adapted to store preferably three values (the average of which will hereinafter be identified with average(TCAr)).
  • a third predefined threshold value SW3 which is representative of the kinematic behaviour of the knee, and in particular of the capacity for flexion of the knee, and which is obtained, as can be seen from the foregoing explanation, directly from the footfalls p performed by the person up to that moment in the period of analysis.
  • the checking and calibration procedure e. consists, after the step el l . of recalculating the second calibration parameter Lth, in executing a diagnostic step el 2., which is aimed at checking for the presence of possible anomalies in the detected values of the calibration parameters Hth, Lth, NC: if such anomalies are found, the calibration parameters Hth, Lth, N are not updated (again, by means of an action in real time and for each footfall p performed).
  • the device according to the invention for the analysis of movement, and in particular of the walk of a person, comprises an apparatus that is provided with means for detecting the instantaneous value of the speed of rotation D(i) of a leg of the person about its lateral center axis, for a period of analysis that corresponds to at least one footfall p of the person.
  • the apparatus is associated with an electronic processor, which is adapted at least to the determination, also in real time, of the moment of contact IC P of the foot of the leg with the ground, for each of the footfalls p performed by the person during the period of analysis: such determination is executed as a function of a set of calibration parameters Hth, Lth, NC which comprises at least a first calibration parameter Hth, a second calibration parameter Lth and a third calibration parameter NC, with these calibration parameters Hth, Lth, NC being related to the movement of the leg of the person.
  • the apparatus is associated with an electronic processor that is adapted, by virtue of the calibration parameters Hth, Lth, NC indicated above, to determine, also (and preferably) in real time, the moment of contact IC P of the foot of the leg with the ground and at least to determine the moment of detachment TC P of the foot from the ground.
  • the detection means comprise at least one gyroscopic sensor, which can be applied to the leg of the person and operatively associated with the electronic processor: such gyroscopic sensor is adapted to instantaneously detect the value of the speed of rotation D(i) of the leg of the person about its lateral center axis.
  • gyroscopic sensors make it possible to adopt a simple solution that can be easily implemented: the gyroscopic sensors can in fact be easily applied to the person to be analyzed and they do not cause him or her annoyance (given their reduced size and light weight).
  • the detection means comprise a first device (a video camera for example) which is connected to the electronic processor, and is adapted to acquire images, and the like (and more generally any device that is adapted to provide images and similar measurements). It is thus possible to determine the value of the speed of rotation D(i), by means of the segmental kinematic analysis of the movement of the leg, such movement being acquired by means of such device.
  • a first device a video camera for example
  • detection means that comprise a second device arid/or a third device, which are connected to the electronic processor, and are respectively adapted to measure the induced electromagnetic field and the acoustic response of an induced field, in order to be able to thus determine the value of the speed of rotation (D(i)) of the leg of the person, about its lateral central axis.
  • both of the embodiments proposed (which do not exhaust the possible solutions that come under the scope of protection that is claimed herein) are not at all invasive, thus guarding against the danger of possible alterations of the measurements owing to, for example, functional limitations caused by the excessive encumbrance of the instrumentation used (as sometimes happens with the solutions of the known type).
  • such embodiments feature low costs, high repeatability of measurement, high reliability (including in the long term, since they are not significantly subject to wear and breakage) and they do not require, for the electronic processor, high calculation power and/or a high number of instructions.
  • the electronic processor which is comprised in the device according to the invention, is therefore adapted to implement the method that has been described in detail in the previous pages, for determining the moment of contact ICp of the foot of the leg with the ground and the moment of detachment TC P of the foot of the leg from the ground, for each of the footfalls p performed by the person during the period of analysis.
  • the method according to the invention thus makes it possible to detect and exactly measure (both in real time, and at a later time) the moment of contact IC P of the foot of the leg with the ground and the moment of detachment TC P of the foot from the ground: the data thus obtained can be used in diagnostics, rehabilitation, sport and legal medicine.
  • step (monopodalic support) is used to mean the phase of the walk of the person that intervenes between an initial contact (in a footfall p) and the subsequent controlateral initial contact (in a footfall p+1);
  • stance (support) is used to mean the phase of the walk of the person that intervenes between an initial contact and the subsequent homolateral final detachment (in the same footfall p);
  • stride double support is used to mean the phase of the walk of the person that intervenes between an initial contact (in a footfall p) and the subsequent homolateral initial contact (in the subsequent footfall p+1);
  • swing (fly or fling phase) is used to mean the phase of the walk of the person that intervenes between a terminal contact (in a footfall p) and the subsequent homolateral initial contact (in the subsequent footfall p+1).
  • Such measurements can moreover be executed both for both limbs, and for one only, and they can be obtained both for healthy patients and for pathological patients (for example unilateral transfemoral amputees).
  • the data can be collected in real time, while the person is still engaged in performing the footfalls p for the period of analysis, and such data can be obtained in any context, without requiring the analysis to be executed in a suitably equipped laboratory, since it is sufficient to fit out the subject, for example, with one or more gyroscopic sensors in order to permit the calibration and the subsequent analysis substantially in any environment (or alternatively to transport the image acquisition device described above to the chosen environment).
  • the method according to the invention usefully includes a calibration procedure d. (which runs, for example, for five footfalls p of the person), during which the data collected are used in order to determine specific values for the calibration parameters Hth, Lth and NC. It should be noted that the possibility exists of providing the electronic processor and/or the device according to the invention with audible and/or visual signalling elements in order to inform the patient and/or the operator that the acquisition of the required calibration parameters Hth, Lth and NC is concluded.
  • the device according to the invention can provide information on the measurements made and on the correct outcome of the calibration procedure d., as well as the state of progress (partial number of footfalls p performed over the total number n planned) of the calibration procedure d. (or indeed the number of footfalls p performed during the period of analysis).
  • the checking and recalibration procedure e. (which is subjected to diagnostics in order to assess the presence of anomalies) makes it possible to automatically adapt the method according to the invention to the walk of the patient: after having acquired the necessary data for the first three footfalls p performed, the electronic processor is capable of recognising, continuously and in real time, for example, the changes in pace and speed, modifying the calibration parameters Hth, Lth, NC as a consequence.
  • the method according to the invention fully achieves the intended aim and objects, in that the choice to detect, moment by moment, the value of the rotation speed of the leg of the person (patient), by means of an apparatus that is provided with suitable means of detection that are associated with an electronic processor, in order to then determine, on the basis of the values of the speed thus acquired and the previously imported calibration parameters, at least the moment of " contact of the foot of the leg with the ground, for each of the footfalls performed by the person during the period of analysis, makes it possible to detect and analyze simply and cheaply the parameters relating to the walk of such person.

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Abstract

La présente invention concerne un procédé d'analyse du mouvement, notamment de la marche d'un individu, qui consiste à importer, au cours d'une étape a., dans un processeur électronique, un jeu de paramètres d'étalonnage (Hth, Lth, NC) qui comprend au moins un premier paramètre d'étalonnage (Hth), un deuxième paramètre d'étalonnage (Lth) et un troisième paramètre d'étalonnage (NC), et ces paramètres d'étalonnage (Hth, Lth, NC) sont liés au mouvement d'une jambe d'un individu. Le procédé selon l'invention détecte ensuite, dans une étape b., moment (i) par moment (i), la valeur respective de la vitesse de rotation (D(i)) de la jambe de l'individu autour de son axe central latéral, au moyen d'un appareil qui est doté d'un moyen de détection adapté et est associé au processeur, pendant une période d'analyse, qui correspond au moins à un appui de pas (p) de l'individu. Finalement, le procédé selon l'invention consiste, dans une étape c., à déterminer, ici encore en temps réel et sur la base des valeurs de vitesse (D(i)) acquises et des paramètres d'étalonnage (Hth, Lth, NC), au moins le moment de contact (ICp) du pied de la jambe avec le sol, pour chacun des appuis de pas (p) réalisés par le sujet durant la période d'analyse.
PCT/IT2010/000490 2010-12-07 2010-12-07 Procédé d'analyse du mouvement, notamment de la marche d'un individu Ceased WO2012077142A1 (fr)

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US12499711B2 (en) 2021-02-19 2025-12-16 3M Innovative Properties Company Identification of workers using personal protective equipment and worker movement characteristic analysis

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WO2014043757A1 (fr) * 2012-09-20 2014-03-27 National Ict Australia Limited Détection de foulée
US12499711B2 (en) 2021-02-19 2025-12-16 3M Innovative Properties Company Identification of workers using personal protective equipment and worker movement characteristic analysis

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