KR102641919B1 - Real-time feedback-based virtual reality walking system using smart insole - Google Patents

Abstract

A real-time feedback-based virtual reality walking system utilizing a smart insole according to the present invention includes a smart insole including a plurality of pressure sensors that generate pressure information by measuring the pressure exerted by the sole of the foot as the pedestrian walks; A virtual image DB storing virtual images of walking, a walking data generation module that analyzes the pressure information and generates walking data of the pedestrian, and an image that generates a composite image by combining the walking data with the virtual image. Characterized in that it includes a controller including a provision module.
According to the real-time feedback-based virtual reality walking system using the smart insole of the present invention, the person's walking data can be visually confirmed by analyzing and providing kinematic information including pressure information measured through the smart insole in real time. At the same time, changes in gait data appear in real time on the synthetic image, allowing pedestrians to check them and modify their own gait based on the synthetic image, thereby enabling gait training.

Description

Real-time feedback-based virtual reality walking system using smart insole}

The present invention relates to a virtual reality walking system based on real-time feedback using a smart insole. To be described in more detail, the walking pattern of a pedestrian is identified in real time based on information measured from the smart insole, and the walking is modified through this for training. It is about a new and advanced virtual reality walking system that can perform.

Generally, the impact on a pedestrian's two legs when walking during the day is approximately 400 tons on average for an adult male or female, and this impact is transmitted to the soles of the pedestrian's feet.

At this time, if the impact of walking is concentrated on a certain area of the sole of the foot due to incorrect walking posture, there is a problem that fatigue, corns, and calluses may develop even after walking for a short period of time.

In addition, if you maintain this incorrect walking posture for a long time, it can cause diseases such as hallux valgus or plantar fasciitis, harming the health of your feet. Furthermore, it can cause diseases such as arthritis and discs in the legs and spinal system, which can also harm the health of the legs and spinal system. There is a problem.

Therefore, recently, technology has been developed to maintain the correct walking posture of pedestrians while walking. As an example, Korean Patent Publication No. 10-2016-0042262 (published on April 19, 2016) describes A technology for measuring and analyzing plantar pressure distribution and manufacturing customized insoles for each user based on this has been disclosed.

However, in the case of the above prior art, there is a problem from the user's perspective that the walking posture cannot be corrected until the insole production is completed. Furthermore, even if the insole is to be replaced, the walking posture cannot be corrected while the customized insole has to be manufactured again. There was a problem that wasn't there.

Therefore, in order to solve the above-mentioned problems, a new and advanced walking system is developed that identifies the pedestrian's walking pattern in real time based on information measured from the smart insole and allows walking training by modifying the walking in real time. The need to develop is emerging.

Korean Patent Publication No. 10-2016-0042262

The main purpose of the present invention is to collect walking data in real time through a smart insole and measure the walking pattern of pedestrians based on this to enable walking training.

Another purpose of the present invention is to improve the physical properties of the smart insole, increase cushioning and support, and improve the service life of the smart insole.

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In order to achieve the above object, the real-time feedback-based virtual reality walking system utilizing a smart insole according to the present invention includes a plurality of pressure sensors that generate pressure information by measuring the pressure exerted by the sole of the foot as the pedestrian walks. smart insole; A virtual image DB storing virtual images of walking, a walking data generation module that analyzes the pressure information and generates walking data of the pedestrian, and an image that generates a composite image by combining the walking data with the virtual image. Characterized in that it includes a controller including a provision module.

Furthermore, the smart insole includes a first layer made of an elastic material having a first elastic modulus, laminated on the upper surface of the first layer, and having a second elastic modulus lower than the first elastic modulus. A second layer thicker than the first layer, laminated on the upper surface of the second layer, and containing ethylene propylene diene monomer and having an elastic modulus lower than the first layer and higher than the second elastic modulus. It includes a third layer that has a third elastic modulus and is thinner than the first and second layers, and the pressure sensor is formed between the second and third layers.

According to the real-time feedback-based virtual reality walking system using the smart insole of the present invention,

1) By analyzing and providing kinematic information, including pressure information measured through smart insoles, in real time, you can visually check your own walking data, and at the same time, changes in walking data appear in real time in the synthetic video. The pedestrian confirms this and modifies his or her own gait based on the synthetic image, enabling gait training.

2) By forming the smart insole into a multi-structure, pedestrians performing walking training using the smart insole can be provided with sufficient cushioning and support, and furthermore, the protection function for the pressure sensor is increased to enhance the smart insole. There is an effect that can be used for a longer period of time.

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1 is a conceptual diagram showing the basic configuration of the smart insole of the present invention.
Figure 2 is a conceptual diagram showing an example of a composite image of the present invention.
Figure 3 is a conceptual diagram showing the configuration of the controller of the present invention.
Figure 4 is a cross-sectional view of the smart insole of the present invention.
Figure 5 is a cross-sectional view of a smart insole including a support layer.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings. The accompanying drawings are not drawn to scale, and like reference numbers in each drawing refer to like elements.

Figure 1 is a conceptual diagram showing the basic configuration of the smart insole of the present invention, and Figure 2 is a conceptual diagram showing an example of a composite image of the present invention.

1 and 2, the real-time feedback-based virtual reality walking system using the smart insole of the present invention is characterized by including a smart insole 100 and a controller 200.

Here, insole refers to the sole of a shoe. In general, when wearing a shoe, the insole provides a cushioning sensation to the sole of the foot, thereby relieving fatigue even when walking for a long time.

The smart insole 100 of the present invention includes a plurality of pressure sensors 101 in the insole, so that when the sole of the foot presses the smart insole 100 according to the walking motion of the pedestrian, it is included in the smart insole 100. Each pressure sensor 101 measures this pressing force, that is, pressure, and generates pressure information.

There are no restrictions on the structure and material of the smart insole 100, but as an example, a plurality of pressure sensors 101 may be attached to the surface of a typical insole to measure the pressure exerted on the sole of the foot. .

In addition, the smart insole 100 is equipped with a communication means and transmits pressure information mainly wirelessly to the controller 200, which also has a communication means, through this communication means.

The controller 200 analyzes the pressure information generated through the pressure sensor 101 included in the smart insole 100 to generate walking data, and a synthetic image is created by combining the walking data with the virtual image of walking. is generated, and preferably, the generated composite image is output through a display.

This controller 200 includes a server PC and a network communication network, and in addition, the controller 200 performs tasks in the central processing unit based on hardware equipped with a central processing unit (CPU) and storage means such as memory and hard disk. A program that can be installed, that is, software, can be installed and run, and a series of specific configurations for this software will be described later in terms of structural units such as 'module', 'part', and 'part'.

These configurations such as 'modules' or 'parts' or 'interfaces' or 'parts' are software installed and stored in the storage means of the controller 200 and executed through CPU and memory, or hardware such as FPGA or ASIC. It means work composition. At this time, the meaning of 'module', 'unit', or 'interface' is not limited to hardware, and may be configured to reside in an addressable storage medium or to reproduce one or more processors.

As an example, 'module' or 'part' or 'interface' refers to components such as software components, object-oriented software components, class components and task components, processes, functions, and properties. Contains fields, procedures, subroutines, segments of program code, drivers, firmware, microcode, circuits, data, databases, data structures, tables, arrays, and variables.

The functions provided by these 'modules' or 'parts' or 'interfaces' can be combined into smaller numbers of components and 'parts' or 'modules' or can be divided into additional components and 'parts' or 'modules'. Could be further separated.

In addition, the controller 200 refers to all types of hardware devices including at least one processor, and depending on the embodiment, it may be understood as encompassing software configurations operating in the corresponding hardware device. For example, a computing device as an example of a server may be understood as including, but is not limited to, a smartphone, tablet PC, desktop, laptop, and user clients and applications running on each device.

Figure 3 is a conceptual diagram showing the configuration of the controller of the present invention.

Referring to FIG. 3 to describe the gait data generation and composite image generation functions of the present invention in more detail, the controller 200 of the present invention includes a virtual image DB 210, a gait data generation module 220, and an image providing module ( 230).

The virtual image DB 210 stores a virtual image of walking. Here, the virtual image of walking may be an image that shows only the shape of the sole of the foot in the virtual image and makes a motion as if walking, or It may be a video in which an avatar or the like appears and performs a walk. Therefore, as long as a pedestrian can walk while looking at a virtual image, there are no restrictions on the type, such as an image showing the movement of the foot or sole while walking, or an image of the left foot/right foot pressing the ground alternately, and even an image showing the movement of the foot or sole while walking. An image of an avatar walking in a virtual space or a virtual place may be a virtual image.

The walking data generation module 220 analyzes pressure information received from the smart insole 100 and performs a function of generating pedestrian walking data. Here, the walking data can be said to be the overall analysis result of the pedestrian's walking that can be obtained by analyzing the pressure information measured through the pressure sensor 101, and there are no restrictions on the types of analysis results that can be obtained through the walking data. do not leave

As an example, it is possible to visualize the elevation of pressure applied during walking and generate this as walking data. For this purpose, the walking data generation module 220 has a detailed configuration including an image generating unit 221, a sensor corresponding unit 222, and a discoloration unit. It may include a processing unit 223 and a data generation unit 224.

The image generator 221 performs the function of generating an image of the sole of the pedestrian's foot. Here, the sole image may be an image of the shape of the sole of the foot or may be an image of the shape of the smart insole 100.

The sensor response unit 222 performs a function of matching the position of the pressure sensor 101 to the image of the sole of the foot. This corresponds to the positions, or coordinates, of the plurality of pressure sensors 101 provided in each smart insole 100 on the sole image. In other words, preparations are made to enable discoloration treatment, which will be described later, by matching the pressure to which part of the sole the specific pressure sensor 101 measures.

The discoloration processing unit 223 performs a function of differentially discoloring the image of the sole according to the level of pressure information measured from each pressure sensor 101. At this time, differential discoloration processing of the sole image means identifying the pressure information for each position of the corresponding pressure sensor 101 on the sole image and discoloring a specific area of the corresponding sole image according to the height and low of the pressure information.

Preferably, areas where the pressure information value is large are colored red, and areas where the pressure information value is small or where pressure information is not measured are colored blue to display the pressure status applied to the smart insole 100 in real time through the image of the sole at a glance. This is to enable you to understand.

The data generator 224 performs a function of generating pedestrian gait data based on a plurality of sole images. Preferably, it is possible to edit the sole image generated for each step into a single video, and the edited video can then become walking data.

As another example, it is also possible to obtain the center of gravity of a pedestrian while walking through a plurality of pressure sensors 101, determine an abnormality thereon, and generate this as walking data.

To this end, the gait data generation module 220 may be configured to further include a center of gravity detection unit 225.

The center of gravity detection unit 225 is a coordinate on the sole of the foot where the average value is located by comparing the size of the pressure information, and performs the function of determining the center of gravity, which is the central point where pressure is applied to the sole.

Since the shape of the foot is not flat and the force received is different at each position, the plurality of pressure sensors 101 display different pressure information when walking. Therefore, when the entire coordinates of the sole of the foot are set as one coordinate area, if the position of each pressure sensor 101 is stored based on this coordinate area, the pressure information and position entered for each pressure sensor 101 are used as the basis. You can judge the center of gravity.

In this case, the data generator 224 stores the reference center of gravity, which is the average value of the center of gravity of a normal person, compares the pedestrian's center of gravity with the reference center of gravity, determines whether there is an abnormality, and generates walking data including the abnormality. performs the function of

Here, the reference center of gravity performs the function of determining whether there is an abnormality by comparing the average center of gravity of a normal person and the center of gravity of a pedestrian. Here, the average center of gravity can also be said to be the average position of the center of gravity of a normal person, and abnormality can be determined depending on how far the pedestrian's center of gravity is compared to the average center of gravity. In this case, the gait data can be judged as a normal center of gravity/abnormal center of gravity.

Furthermore, walking data may include the pedestrian's walking speed, the value of pressure applied during each step of the pedestrian, the left and right balance of walking, and the consistency of walking. This can be calculated based on the measured pressure information. The left and right balance of walking can be obtained through the difference in pressure information between the left and right feet, and the consistency of walking can be evaluated through the deviation of the pressure value applied during each step. Walking speed can be determined according to the cycle in which pressure is applied to the pressure sensor 101. To this end, the gait data generation module 220 may further include a balance analysis unit 226, a consistency analysis unit 227, and a speed analysis unit 228.

The balance analysis unit 226 performs a function of analyzing the left and right balance of a pedestrian's walking based on pressure information. Here, the left and right balance analysis can be said to be an analysis of which side of the two soles the pressure distribution is concentrated on, and the left and right balance analysis results may appear as left and right balance pus, left and right balance imbalance, etc., or the analyzed left and right balance may appear as It may be expressed numerically. Here, when the left and right balance is quantified, a higher score can be given as the pressure is evenly distributed on the left and right soles, that is, the closer the left and right pressure ratio is to 5:5.

To explain in more detail, the average value of the total pressure information measured from the sole of the pedestrian's left foot is compared with the average value of the total pressure information measured from the sole of the pedestrian's right foot, and the closer the ratio is to 50:50, the more even the left and right balance is analyzed. It can be.

The consistency analysis unit 227 performs a function of analyzing the pedestrian's walking consistency based on pressure information. This walking consistency stores the pressure information applied at each step, calculates the dispersion of the stored pressure information, and determines that the smaller the dispersion is, the more consistent the step is, and the larger the dispersion is, the more inconsistent the step is determined. . Therefore, walking consistency can be analyzed as excellent / average / careful, etc., and the smaller the variance, the higher the value can be calculated.

The speed analysis unit 228 performs the function of calculating the pedestrian's walking speed. Walking speed can be calculated by determining the stride length between the left and right feet and the time taken to move the stride. Preferably, the walking speed can be determined in m/s or km/hr.

When various types of information are generated in this way, the data generator 224 performs a function of generating gait data based on the identified gait left and right balance, gait consistency, and gait speed. Gait data generated in this configuration can be said to indicate whether the left and right balance of walking is constant, whether walking is performed consistently, and what the real-time walking speed is.

The image providing module 230 performs a function of generating a composite image by combining walking data with a virtual image. In other words, gait data is synthesized on one side of the virtual image stored in the virtual image DB 210, or on the left/right sole shown on the virtual image.

Therefore, the walking speed can be displayed in real time on one side of the virtual image, the center of gravity can be displayed on the left and right soles of the virtual image, the left and right gait balance can be quantified and composited on one side of the virtual image, or the gait left and right balance can be displayed in real time. It is also possible to discolor the left/right soles shown on the virtual image.

Furthermore, when a discolored sole image is generated as in the above-described configuration, it is also possible to composite the discolored sole image onto the left/right soles of the virtual image.

In the case of gait consistency, gait data can be synthesized into a virtual image in such a way that the effect appears in the corresponding virtual image when gait is not performed consistently.

In this way, a synthetic image created by combining walking data with a virtual image can be output through a display installed on a nearby street that pedestrians can see, so pedestrians can check data related to their own walking in real time through the synthetic image. It is possible to do so.

Therefore, by analyzing and providing kinematic information, including pressure information measured through the smart insole 100, in real time, one can visually check one's own walking data, and at the same time, changes in walking data are displayed in real time in the synthetic image. As it appears, pedestrians can confirm this and modify their own gait based on the synthetic image to enable gait training.

Figure 4 is a cross-sectional view of the smart insole of the present invention.

When explained with reference to FIG. 4, it can be said that the smart insole 100 of the present invention must be able to provide sufficient cushioning and support since it is a sole worn in a shoe, that is, an insole. To this end, the smart insole 100 of the present invention may be made of a multiple structure. Preferably, the smart insole 100 may be made of a triple structure of the first, second, and third layers (110, 120, and 130).

The first layer 110 may also be referred to as the bottom layer located on the bottom side of the smart insole 100. This first layer 110 is characterized by being made of an elastic material having a first elastic modulus. Here, there is no limitation on the type of elastic material forming the first layer 110, and preferably ethylene vinyl acetate (EVA). You can select materials such as:

The second layer 120 is laminated on the upper surface of the first layer 110, and is characterized by having a second elastic modulus lower than the first elastic modulus and being thicker than the first layer 110. Preferably, the second layer 120 may be made of a material such as urethane, silicone, or latex. This second layer 120 is characterized by a lower elastic modulus than the first layer 110, so that deformation occurs sensitively, and because it is relatively thick, it absorbs shock that occurs when walking and is used as a smart insole (100) of the present invention. ) can help improve wearing comfort.

The third layer 130 is laminated on the upper surface of the second layer 120, and has a third elastic modulus lower than the first elastic modulus and higher than the second elastic modulus while containing ethylene propylene diene monomer. It is characterized by being thinner than the first and second layers (110, 120).

In the case of ethylene propylene diene monomer, it is a material with excellent wear resistance and viscoelasticity. It can sensitively elastically deform under the pressure applied by a pedestrian's steps, and has excellent wear resistance, preventing wear of the smart insole (100) even during long-term use. It has an effect that can be done.

Furthermore, the third layer 130 has a third elastic modulus that is lower than the first elastic modulus and higher than the second elastic modulus, that is, it is characterized by having a value intermediate between the first and second elastic moduli, through which It is characterized by providing an appropriate level of repulsive force and at the same time providing elasticity to strengthen the support function.

Here, the pressure sensor 101 is preferably formed between the second and third layers 120 and 130, so that the thin third layer 130 protects the surface of the pressure sensor 101 and transmits the pressure through the pressure sensor 101. Of course, it ensures that information measurement can be carried out smoothly.

Therefore, according to this multi-structured smart insole 100, pedestrians performing walking training using the smart insole 100 can be provided with sufficient cushioning and support, and furthermore, the pressure sensor 101 Of course, the smart insole 100 can be used for a longer period of time by increasing the protection function.

Figure 5 is a cross-sectional view of a smart insole including a support layer.

5 , a support layer 140 may be further included between the first and second layers 110 and 120 described above. In this case, the support layer 140 preferably corresponds to the arch of the foot, which is a concave portion of the sole. It is formed in a position to support the arch of the sole, that is, the arch of the foot, and at the same time, the pressure sensor 101 located in the arch area also provides the function of measuring pressure information.

Here, the support layer 140 corresponds to the arch of the foot and is provided to increase the height of the area corresponding to the arch of the foot in the smart insole 100, and has an elastic modulus higher than the first elastic modulus so that it is not easily deformed. It is characterized by

Therefore, the support layer 140, which is a material with a high elastic modulus that does not easily deform, is formed at a position corresponding to the arch of the foot to provide stronger support to the arch of the foot, thereby supporting the arch of the foot (arch). Of course.

In addition, in the case of the flat smart insole 100, the pressure may not be measured accurately due to the arch area being lifted, but in the smart insole 100 of the present invention, the support layer 140 formed at a position corresponding to the arch area is adjusted to the height of the corresponding area. It has the characteristic of increasing the pressure and providing a stronger support force, allowing it to adhere closely to the arch area and generate pressure information.
As explained so far, the configuration and operation of the real-time feedback-based virtual reality walking system using the smart insole according to the present invention is expressed in the description and drawings, but this is only an example and the idea of the present invention is not contained in the above description. It is not limited to the drawings, and of course, various changes and modifications are possible without departing from the technical spirit of the present invention.

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100: Smart insole 101: Pressure sensor
110: first layer 120: second layer
130: third layer 140: support layer
200: Controller 210: Virtual video DB
220: Gait data generation module 221: Image generation unit
222: sensor response unit 223: discoloration processing unit
224: data generation unit 225: center of gravity detection unit
226: Balance analysis unit 227: Consistency analysis unit
228: Speed analysis unit 230: Video provision module

Claims (6)

A virtual reality walking system based on real-time feedback using a smart insole,
A smart insole including a plurality of pressure sensors that generate pressure information by measuring the pressure exerted by the sole of the foot as the pedestrian walks;
A virtual image DB storing virtual images of walking, a walking data generation module that analyzes the pressure information and generates walking data of the pedestrian, and an image that generates a composite image by combining the walking data with the virtual image. A controller containing a provision module;
The smart insole is,
A first layer made of an elastic material having a first elastic modulus,
A second layer laminated on the upper surface of the first layer and having a second elastic modulus lower than the first elastic modulus and being thicker than the first layer,
It is laminated on the upper surface of the second layer, and has a third elastic modulus lower than the first elastic modulus and higher than the second elastic modulus in a state containing ethylene propylene diene monomer, and the first and second layers. comprising a third layer having a thickness thinner than the layer,
The pressure sensor is a virtual reality walking system, characterized in that formed between the second and third layers. According to clause 1,
The walking data generation module,
an image generator that generates an image of the sole of the pedestrian's foot;
A sensor response unit that corresponds the position of the pressure sensor to the image of the sole of the foot,
a discoloration processing unit that differentially discolors the image of the sole according to the level of pressure information measured for each pressure sensor;
A virtual reality walking system, comprising a data generator that generates walking data of the pedestrian based on a plurality of images of the soles of the feet. According to clause 1,
The walking data generation module,
A center of gravity detection unit that compares the size of the pressure information and determines the center of gravity, which is the center point where pressure is applied to the sole, as a coordinate on the sole of the foot where the average value is located;
A data generator that stores the reference center of gravity, which is the average value of the center of gravity of a normal person, determines whether there is an abnormality by comparing the center of gravity with the reference center of gravity, and generates gait data including the abnormality. ,Virtual reality walking system. According to clause 1,
The walking data generation module,
A balance analysis unit that analyzes the left and right walking balance of the pedestrian based on the pressure information, and
a consistency analysis unit that analyzes the walking consistency of the pedestrian based on the pressure information;
A speed analysis unit that calculates the walking speed of the pedestrian,
A virtual reality walking system, comprising a data generator that generates walking data including the walking left and right balance, walking consistency, and walking speed. delete delete