CN113133761B - Method for judging left and right gait and its analyzing device - Google Patents

Abstract

A left-right gait analysis device includes two sensor units disposed on two shoes, and at least one calculation unit. Each sensor unit is used to output a gait message, and the gait message at least includes a coordinate point. The at least one calculation unit obtains a gait trajectory of each sensor unit consisting of a plurality of coordinate points based on the gait message of each sensor unit, and calculates the slope of a straight line between at least two adjacent coordinate points in the gait trajectory, and when the slope is greater than 0, sets the sensor unit that outputs the gait trajectory to be a right sensor unit suitable for the right foot, and when the slope is less than 0, sets the sensor unit that outputs the gait trajectory to be a left sensor unit suitable for the left foot. In this way, the sensor unit is modularized in a manner that can automatically determine the left foot or the right foot, thereby improving the convenience and simplicity of the sensor unit when it is installed on the shoe.

Description

Method for judging left and right gait and its analyzing device

Technical Field

The present invention relates to a device for analyzing gait, and in particular to a method for judging left and right gait and an analyzing device thereof.

Background technique

A conventional smart insole disclosed in Taiwan Patent No. M562025 or a conventional smart shoe disclosed in Taiwan Patent No. M562028 mainly has a sensing unit for sensing motion information in a shoe or an insole.

Both the aforementioned patent case No. M562025 and the patent case No. M562028 only collect motion information for a single shoe or a single insole. That is to say, when analyzing gait, the analysis is performed based on the motion information of each shoe or insole. However, the gait of the human body is the result of the interaction between the left foot and the right foot. Therefore, there is still a gap between the analysis result and the actual gait. In order to distinguish whether the aforementioned motion information comes from the sensing unit of the left foot or the right foot, the sensing unit is usually marked in advance. For example, the sensing unit No. 1 is installed in the right shoe or the right insole, and the sensing unit No. 2 is installed in the left shoe or the left insole. Regardless of whether such marking is achieved in a physical way or in a software way, for the on-site assemblers, they must first be identified before assembly can be performed, which is not only more cumbersome in programming but also less convenient in installation.

Summary of the invention

The object of the present invention is to provide a method for determining left and right gait and an analysis device thereof which can improve installation convenience and simplicity.

The method for judging left and right gait of the present invention mainly configures two sensor units on two shoes, each sensor unit is used to output gait information, and the gait information at least includes coordinate points. The characteristic is that the judgment method implements the following steps through at least one computing unit:

a: Calculate the gait trajectory of each sensor unit according to the gait information of each sensor unit, wherein the gait trajectory is composed of a plurality of coordinate points.

b: Calculate the slope of the straight line between at least two adjacent coordinate points in the gait trajectory. When the slope is greater than 0, set the sensor unit that outputs the gait trajectory to be a right sensor unit suitable for the right foot. When the slope is less than 0, set the sensor unit that outputs the gait trajectory to be a left sensor unit suitable for the left foot.

The method for judging left and right gait of the present invention, step b comprises:

b-1: n coordinate points are selected according to the gait trajectory, and a straight line is defined between every two adjacent coordinate points.

b-2: Calculate the slope of each line.

b-3: Determine whether at least one slope in the gait trajectory is greater than 0, if yes, proceed to step b-4, if no, proceed to step b-5.

b-4: Set the sensor unit that outputs the gait trajectory to be the right sensor unit suitable for the right foot.

b-5: Determine whether at least one slope in the gait trajectory is less than 0. If yes, proceed to step b-6; if not, return to step a.

b-6: Set the sensor unit that outputs the gait trajectory to be the left sensor unit suitable for the left foot.

In the method for judging left and right gait of the present invention, in step b-3, the at least one computing unit judges whether more than half of the slopes in the gait trajectory are greater than 0, and in step b-5, the at least one computing unit judges whether more than half of the slopes in the gait trajectory are less than 0.

In the method for determining left and right gait of the present invention, in step a, the at least one computing unit obtains the gait trajectory based on the gait information received by each sensor unit between the start time and the end time, and the start time to the end time is between 1 second and 3 seconds.

The method for judging left and right gait of the present invention is according to the method for judging left and right gait of claim 4, characterized in that: the at least one calculation unit obtains a total of m coordinate points from the start time to the end time, m=10~50.

In the method for determining left and right gait of the present invention, the aforementioned n coordinate points are selected sequentially starting from the first coordinate point of the gait trajectory, and the at least one calculation unit obtains the first coordinate point at the starting time.

A left-right gait analysis device is arranged on two shoes and comprises two sensor units and at least one calculation unit.

Each sensor unit is configured on a respective shoe and is used to output gait information, wherein the gait information at least includes a coordinate point.

The at least one computing unit calculates the gait trajectory of each sensing unit based on the gait information of each sensing unit, and the gait trajectory is composed of multiple coordinate points. The at least one computing unit is also used to calculate the slope of the straight line between at least two adjacent coordinate points in the gait trajectory. When the slope is greater than 0, the sensing unit that outputs the gait trajectory is set to be a right sensing unit suitable for the right foot. When the slope is less than 0, the sensing unit that outputs the gait trajectory is set to be a left sensing unit suitable for the left foot.

The left and right gait analysis device of the present invention comprises two computing units, each of which is electrically connected to a respective sensing unit.

The left and right gait analysis device of the present invention comprises only one computing unit, and the computing unit communicates with the sensing unit via wireless communication technology.

In the left and right gait analysis device of the present invention, the coordinate points define a plurality of straight lines, each straight line connects two adjacent coordinate points, and the at least one calculation unit obtains the gait trajectory based on the gait information received by each sensor unit between the start time and the end time, and the start time to the end time is between 1 second and 3 seconds.

The beneficial effect of the present invention is that the sensor unit is modularized in a manner that can automatically determine whether it is a left foot or a right foot, thereby improving the convenience and simplicity of installing the sensor unit on the shoe.

BRIEF DESCRIPTION OF THE DRAWINGS

Other features and effects of the present invention will be clearly presented in the embodiments with reference to the accompanying drawings, in which:

FIG1 is a perspective schematic diagram illustrating an embodiment of a left-right gait analysis device of the present invention;

FIG2 is a block diagram of the embodiment;

FIG3 is a perspective schematic diagram similar to FIG1 , but a computing unit is a component of an electronic device;

FIG4 is a flow chart of the embodiment;

FIG5 is a schematic diagram illustrating the changes of multiple coordinate points in two gait trajectories in the embodiment; and

FIG. 6 is an enlarged schematic diagram of FIG. 5 .

Detailed ways

1 and 2 , an embodiment of the left-right gait analysis device of the present invention is configured in two shoes 1 worn on the left and right feet of a human body. The analysis device includes two sensor units 2 and two calculation units 4 .

Each sensor unit 2 is configured on a respective shoe 1 and is used to output a gait message S. The gait message S includes at least a coordinate point P located in a two-dimensional space. In this embodiment, each sensor unit 2 is configured on a midsole of a respective shoe 1 and adjacent to a foot arch, and may also be configured on a sole or a shoe upper, but is not limited thereto.

In this embodiment, each sensing unit 2 includes at least one of a three-axis acceleration sensor for collecting three-axis acceleration and a gyroscope for collecting three-axis angular rate, and each is a micro-electromechanical device (MEMS). Each coordinate point P uses a three-dimensional coordinate system (x, y, z), including an X value along an X-axis direction, a Y value along a Y-axis direction, and a Z value along a Z-axis direction, wherein the Z-axis extends in a vertical direction, and the X-axis, the Y-axis and the Z-axis are perpendicular to each other and form an angle. It is worth noting that the present invention only takes the X value and the Y value of the coordinate point P.

In this embodiment, each computing unit 4 is electrically connected to its own sensor unit 2, and is respectively configured with the sensor unit 2 on the shoe 1. Each computing unit 4 includes a memory 41 for storing or temporarily storing data, a communication module 42 for external communication via wireless communication technology, and a processor 43 electrically connected to the memory 41 and the communication module 42. The aforementioned wireless communication technology may be Bluetooth, wifi, NB-IoT, Cat-M1, etc., but is not limited thereto.

As shown in FIG. 2 and FIG. 5 , for example, each sensor unit 2 will output a plurality of gait information S during the movement, so that the processor 43 of each computing unit 4 obtains a plurality of coordinate points P (x, y, z). At this time, only the coordinate points P (x, y, z) are needed to calculate the moving distance, direction, and angle, and perform gait analysis. Since the three-axis acceleration sensor and gyroscope have been disclosed in the prior art and are not technical features of this case, those with ordinary knowledge in the field can infer the expanded details based on the above description, so no further description is given.

It is worth noting that each computing unit 4 can communicate with a remote electronic device 6 such as a mobile phone, a tablet, or a computer through the communication module 42. It should be noted that the number of the computing units 4 is not limited to 2. In other variations of the present embodiment, the number of the computing unit 4 can also be 1 as shown in FIG. 3 and is independent of the sensor unit 2, for example, a component of the electronic device 6. Since those with ordinary knowledge in the art can infer the expanded details based on the above description, no further description is given.

1, 2, 4 and 5, the method for determining the left and right gait of the present invention is to implement the following steps through the processor 43 of each computing unit 4:

Step 51: Calculate a gait trajectory L of each sensor unit 2 during the action process according to a plurality of gait messages S outputted by each sensor unit 2 from a preset start time _Ts to an end time _Te . The gait trajectory L is composed of a plurality of coordinate points P in the gait message S.

In this embodiment, the start time T _s to the end time _Te is between 1 second and 3 seconds, and the processor 43 of each calculation unit 4 can obtain a total of m coordinate points P from the start time T _s to the end time _Te , where m=10-50.

Step 52: Select n coordinate points P according to the gait trajectory L, and define a straight line between every two adjacent coordinate points P. In this embodiment, n=10, and a total of 10 coordinate points are selected in sequence starting from the first coordinate point P of the gait trajectory L to define 9 straight lines. For the convenience of description below, 10 coordinate points P are sequentially labeled as P1 to P10, and the processor 43 of each calculation unit 4 obtains the first coordinate point P1 at the starting time _Ts .

It should be noted that each gait trajectory L is equivalent to one step of the user. When taking n coordinate points P, it is not limited to the gait trajectory L generated by one step. In other variations of this embodiment, five gait trajectories L generated by one to five steps of the user can also be monitored for calculation. The higher the number of steps monitored, the larger the n value is and the more accurate the calculation result is.

Step 53: Calculate the slope k of each straight line in the gait trajectory L.

Step 54: Determine whether more than half of the slopes k in the gait trajectory L are greater than 0, that is, whether there are more than 5 straight lines with slopes k greater than 0. If not, proceed to step 55; if yes, proceed to step 56.

As shown in Figure 6, it is worth noting that the aforementioned slope k is greater than 0 or less than 0 is determined by the angle θ between the straight line between two adjacent coordinate points P and the Y axis. According to the formula, slope k = tanθ. When the angle θ is less than 90 degrees, the slope k is greater than 0. When the angle θ is greater than 90 degrees, the slope k is less than 0.

Step 55: Determine whether more than half of the slopes k in the gait trajectory L are less than 0, that is, whether there are more than 5 straight lines with slopes less than 0; if not, return to step 51; if yes, proceed to step 57.

Step 56: Set the sensor unit 2 that outputs the gait trajectory L to be a right sensor unit suitable for the right foot.

Step 57: Set the sensor unit 2 that outputs the gait trajectory L to be a left sensor unit suitable for the left foot.

Thereby, the processor 43 of the computing unit 4 will automatically determine whether the sensor unit 2 in the respective shoe 1 is configured in the shoe 1 worn on the right foot, or in the shoe 1 worn on the left foot, and perform gait analysis of the left and right feet, such as analyzing whether the gait of the left and right feet is inward-turned or outward-turned, or analyzing whether the gait of the left and right feet is deviated from the center, or analyzing whether the gait of the left and right feet is inverted or everted, or analyzing whether the gait of the left foot is to land on the toes or the foot first, etc.

Through the above description, the advantages of the above embodiments can be summarized as follows:

The present invention can automatically determine whether each sensor unit 2 is configured in a shoe 1 worn on the right foot or a shoe 1 worn on the left foot. Therefore, the sensor unit 2 does not need to be pre-marked or distinguished between the left foot and the right foot. Not only can the sensor unit 2 be modularized to improve the convenience and simplicity of installing the sensor unit 2 on the shoe 1, but the gait of both feet during movement can also be analyzed by simultaneously acquiring the gait information S of the left foot and the right foot, thereby obtaining a gait that is closer to the actual action and improving the accuracy of gait analysis.

The above are merely embodiments of the present invention and should not be used to limit the scope of the present invention. All simple equivalent changes and modifications made according to the claims and description of the present invention are still within the scope of the present invention.

Claims (8)

1. A method for judging left and right gait, mainly configuring two sensor units on two shoes, each sensor unit is used to output gait information, and the gait information at least includes coordinate points, characterized in that: the judgment method implements the following steps through at least one computing unit: a: calculating the gait trajectory of each sensor unit according to the gait information of each sensor unit, wherein the gait trajectory is composed of a plurality of coordinate points; and b-1: n coordinate points are selected according to the gait trajectory, and a straight line is defined between every two adjacent coordinate points; b-2: Calculate the slope of each straight line; b-3: Determine whether more than half of the slopes in the gait trajectory are greater than 0, if yes, proceed to step b-4, if no, proceed to step b-5; b-4: setting the sensor unit that outputs the gait trajectory to be a right sensor unit suitable for the right foot; b-5: Determine whether more than half of the slopes in the gait trajectory are less than 0, if yes, proceed to step b-6, if no, return to step a; and b-6: Set the sensor unit that outputs the gait trajectory to be the left sensor unit suitable for the left foot. 2. The method for determining left and right gait according to claim 1 is characterized in that: in step a, the at least one calculation unit obtains the gait trajectory based on the gait information received by each sensor unit between the start time and the end time, and the start time to the end time is between 1 second and 3 seconds. 3. The method for judging left and right gait according to claim 2, characterized in that: the at least one calculation unit obtains a total of m coordinate points from the start time to the end time, where m=10-50. 4. The method for judging left and right gait according to claim 2 is characterized in that: the aforementioned n coordinate points are selected in sequence starting from the first coordinate point of the gait trajectory, and the at least one calculation unit obtains the first coordinate point at the starting time. 5. A left and right gait analysis device, configured on two shoes, comprising: Two sensor units, each sensor unit is configured in a respective shoe and is used to output gait information, wherein the gait information at least includes coordinate points; and at least one computing unit; Features: The at least one computing unit calculates the gait trajectory of each sensing unit based on the gait information of each sensing unit, wherein the gait trajectory is composed of multiple coordinate points. The at least one computing unit is also used to select n coordinate points based on the gait trajectory, and a straight line is defined between every two adjacent coordinate points. The at least one computing unit also calculates the slope of each straight line. When more than half of the slopes are greater than 0, the sensing unit that outputs the gait trajectory is set to be a right sensing unit suitable for the right foot. When more than half of the slopes are less than 0, the sensing unit that outputs the gait trajectory is set to be a left sensing unit suitable for the left foot. 6. The left-right gait analysis device according to claim 5, characterized in that the analysis device comprises two computing units, each computing unit being electrically connected to a respective sensing unit. 7. The left-right gait analysis device according to claim 5, characterized in that the analysis device only includes one computing unit, and the computing unit communicates with the sensing unit through wireless communication technology. 8. The left and right gait analysis device according to claim 5 is characterized in that: the at least one calculation unit obtains the gait trajectory based on the gait information received by each sensor unit between the start time and the end time, and the start time to the end time is between 1 second and 3 seconds.