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WO2007131542A1 - Dispositif et procédé d'analyse de la marche - Google Patents

Dispositif et procédé d'analyse de la marche Download PDF

Info

Publication number
WO2007131542A1
WO2007131542A1 PCT/EP2006/010471 EP2006010471W WO2007131542A1 WO 2007131542 A1 WO2007131542 A1 WO 2007131542A1 EP 2006010471 W EP2006010471 W EP 2006010471W WO 2007131542 A1 WO2007131542 A1 WO 2007131542A1
Authority
WO
WIPO (PCT)
Prior art keywords
pressure
treadmill
gait analysis
time
sensor
Prior art date
Application number
PCT/EP2006/010471
Other languages
German (de)
English (en)
Inventor
Wolfgang Brunner
Original Assignee
Zebris Medical Gmbh
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Zebris Medical Gmbh filed Critical Zebris Medical Gmbh
Priority to EP06806637A priority Critical patent/EP2018117A1/fr
Publication of WO2007131542A1 publication Critical patent/WO2007131542A1/fr

Links

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—Detecting, measuring or recording 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—Detecting, measuring or recording 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, mobility of a limb
    • A61B5/112—Gait analysis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/02—Details of sensors specially adapted for in-vivo measurements
    • A61B2562/0247—Pressure sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/04—Arrangements of multiple sensors of the same type
    • A61B2562/046—Arrangements of multiple sensors of the same type in a matrix array
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/45—For evaluating or diagnosing the musculoskeletal system or teeth
    • A61B5/4519—Muscles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/45—For evaluating or diagnosing the musculoskeletal system or teeth
    • A61B5/4528—Joints

Definitions

  • the present invention relates to a device and a method for gait analysis on the treadmill
  • Devices for detecting pressure or force distributions are known per se, for example from DE 36 42 088 C2 and DE 25 29 475 C3.
  • Object of the present invention is to provide a device for automatic gait analysis, with the most accurate detection and evaluation of all occurring in natural gait gear parameters is possible.
  • This treadmill system comprises an endless belt, which is pulled over a sensor platform which is equipped with a plurality of matrix-arranged pressure or force sensors.
  • the gear or barrel over such a plate does not give any evaluable measurement results, since the pressure values are constantly changing, since the feet with the treadmill are effectively pulled over the plate.
  • this problem is solved in that the tape feed or the tape speed and the continuously recorded pressure values are brought together and ner evaluation unit, the position of pressure distribution images is reconstructed, from which then the gait parameters can be determined.
  • the instantaneous speed of the treadmill can be determined by using the pressure distribution images themselves recorded with the sensor system, i. under evaluation of their time and place dependence, to determine.
  • further correction means for output signal correction of the pressure or force sensors are provided upon the occurrence of warming-related distortions.
  • the correction is carried out in a particularly advantageous manner using the evaluation result itself, namely the recorded pressure distributions as a function of time.
  • a sensor for directly detecting the speed of the treadmill is provided, which is connected to a second input of the tachometer stage, and the tachometer stage is for evaluating the signal of the sensor in connection with time and location dependence of the pressure distribution images formed.
  • This implementation requires a somewhat more complex processing, since several input signals have to be considered, but besides the potentially higher accuracy, it also offers the advantage of a plausibility check and thus increased reliability.
  • the or a sensor is a tachometer sensor on a roller of the treadmill.
  • a coding pattern is applied on one side along the treadmill and the or a sensor is an optical detector which detects the movement of the coding pattern.
  • the coding pattern on the rollers facing inside of the treadmill and the optical detector is attached to the pressure / force sensors having measuring plate. This design is structurally simple to implement and robust in operation.
  • the coding is not necessarily an optical one; A magnetic or conductivity pattern can also be applied to the treadmill and a corresponding magnetic, capacitive, inductive or other detector can be provided.
  • the or a sensor is an optical detector for detecting a structure of a surface of the treadmill and the detector is a pre-evaluation unit for deriving a speed measurement signal from the time and location dependence of the structure in the operation of Treadmill is assigned.
  • the correction means have a response stage connected to the evaluation unit and connected on the output side between the pressure / force sensors and the input of the evaluation unit for the sensor-selective calculation of pressure / force correction signals. and location dependency of the pressure distribution images.
  • a further embodiment provides that the correction means comprise a timer for performing a dynamic correction of the measurement signals of at least some of the pressure / force sensors as a function of the operating time of the device.
  • the correction stage comprises a timer in which a stored correction signal time curve is impressed on the output signals of selected pressure / force sensors.
  • a further embodiment of the invention provides that between the measuring plate and the treadmill for the mechanical decoupling of horizontal pressure components or horizontal forces, a decoupling film is provided to transfer substantially only vertical pressure component or vertical forces from the treadmill to the sensor matrix.
  • a synchronization unit for synchronizing the pressure / force distribution measurement with a detection of further biometric measured variables by means of separate measuring and processing devices.
  • the sensor part has e.g. an additional light transmitter, which emits a light signal at certain times, preferably the respective first ground contact of the feet or at defined time intervals.
  • the subject carries a measuring adapter for detecting further biometric signals, for example on the belt. This adapter has a light receiver which receives the light signal of the sensor plate.
  • the received light signal is preferably coded and is then z. B. superimposed on the biometric measurement signals.
  • the measuring adapter then sends about the biometric measurement signals with impressed light signal by radio to the arithmetic unit, in which the pressure signals of the sensor plate with the biometric signals are displayed time-synchronized.
  • the light signals emanate from the measuring adapter and are received at the sensor plate.
  • a video recording and, if necessary, also evaluation can be controlled in this or similar manner.
  • FIG. 2 is a schematic representation of the carrier plate of FIG. 1,
  • FIG. 3 is a schematic diagram of the treadmill in plan view with pressure distribution images
  • Fig. 8 is a schematic representation of an embodiment of the tachometer stage of the processing unit.
  • the treadmill system includes a circulating belt 12 which is preferably pulled over two rollers 2 by active drive (not shown).
  • inventive arrangement can also be used in treadmills, in which the tape is driven by the person walking on the tape on the muscle and gravity.
  • a sensor plate 2a is mounted over which the tape is pulled.
  • the sensor plate 2a is a lubricious and flexible thin film 3, which redirects the pressure on the sensor surface 1 with spatial resolution, but the sensor surface 1 simultaneously protects against the horizontal forces of the rotating belt.
  • the sensor plate 2 a may be arbitrarily thin and thus designed as a sensor mat.
  • the film may also be connected or glued to the sensor surface 1.
  • the sensor surface 1 is connected to an evaluation and control unit 5 with the evaluation computer 6.
  • the evaluation and control unit 5 is preferably in the immediate vicinity of the sensor plate 2a and can be integrated into the treadmill system.
  • the feed or the feed rate of the circulating belt is detected by means not shown here about the rotational speed of the roller 2 and passed. This can be done by an automatic transmission.
  • the evaluation essentially comprises the temporal and spatial determination of the position of the pressure distribution images moving over the treadmill.
  • the feed rate or the rotational speed of the rollers 2 is read on a display unit of the treadmill and entered by hand into the arithmetic unit 6.
  • FIG. 2 shows an exemplary embodiment of a measuring platform 2a with force or pressure sensors 1a configured as a sensor surface 1 in the form of a matrix.
  • the size of the pressure sensors 1 depends on the object to be measured. When measuring human feet, preferably a sensor resolution of about one sensor per square centimeter is selected.
  • sensors are selected which consist of individual capacitors with elastic dielectric, which change the capacitance value when force is applied, or sensors which change their resistance value when force is applied.
  • Fig. 3 shows how a human foot is pulled backwards by the tape movement of the treadmill, with the footprints shown here being shown in movement phases. These correspond to the sampling rate of the sensor surface.
  • the number of preferred measurements per unit time depends on the speed at which the tape is pulled back.
  • a plurality of measurement images are preferably recorded.
  • the preferred sampling rate of the sensors on the sensor plate 1 is between 30 and 100 measuring images per second.
  • the detection of the feed rate of the tape on the movement of the roller 2 in many cases does not meet the requirements of high accuracy, because the treadmill 12 undergoes increased friction by entering and thus changes its speed of movement. Also, a measurement difference may occur due to stretching of the band or movement of the band against the roller.
  • the temporal and local positions of the pressure distribution patterns on the sensor surface 1 are detected by the movement of the prominent print patterns along the sensor surface in the longitudinal direction of the treadmill.
  • a foot mounted on the moving belt is automatically pulled to rest from the circulating belt and creates a pressure distribution pattern on the under-belt sensors which moves along the direction of travel of the belt at a certain speed.
  • These printing patterns or printing surfaces can be continuously examined by their computing unit in terms of their shape and extent, and the advancing movement of the printing patterns can be detected by pattern recognition and image processing with regard to the time or the feed rate.
  • the determination of the treadmill speed can be combined by pattern recognition with other measuring methods of determining the belt speed.
  • a conventional tachogenerator can be provided on one of the rollers, and, for example, a mathematical averaging of the speed signal output by the tachogenerator and the speed value determined from the propagation speed of the pressure distribution images can be provided.
  • a threshold value discrimination can also be provided in order to realize a plausibility check and to eliminate or correct any completely implausible measured values which are obtained as a result of the evaluation of the pressure distribution images.
  • detection of patterns on the surface of the treadmill may also provide another speed signal which may be combined with pressure distribution image signals in the aforementioned or similar manner.
  • Fig. 4 shows in a corresponding embodiment, the determination of the temporal and spatial position of the treadmill 12 and thus the pressure distribution pattern on an applied coding pattern 15 on the tape.
  • This is preferably applied on the inside along the treadmill, for example as a striped pattern 15.
  • an optical sensor 18 for detecting the material of the tape own surface structures 16 use. This also allows conclusions to be drawn on the movement of the tape.
  • the optical sensors 17 and 18 of Fig. 4 and Fig. 5 may be housed in a preferred embodiment directly on or on the sensor plate 2a, resulting in a compact unit; see. Fig. 7b.
  • Fig. 6 shows a special embodiment of a treadmill, which is specially designed for the analysis of a corridor with sticks (walking).
  • This has three separate treadmills 2a.1, 2a.2, and 2a.3, two of which are provided for the pole insert.
  • the two outer narrower bands 2a.2, 2a.3 - optionally also the middle band - are each equipped with a sensor plate 1.1, 1.2 or 1.3, so that the coordinates of the pole insert can be accurately examined while walking.
  • the detection of the pressure distribution patterns as well as the belt speeds is carried out as described in the above examples and is performed separately for each belt.
  • a similar arrangement with several separately constructed treadmills may also be advantageous for use in which there is a left / right differentiation of the gait of a patient or subjects and possibly the provision of a differentiated feedback by the treadmill on the body for the left and right foot arrives.
  • the separate treadmills for example, can then be set differently taut or realized with elastic band material of varying degrees.
  • a predetermined feedback on the feet can also be realized by a pressure-elastic design of the sensor plate (s) to a predetermined extent.
  • Fig. 7a and 7b show two embodiments for the attachment of the sensor plate 2a within the treadmill system.
  • the sensor plate 2a is mounted on a base plate 14 or 14i of the treadmill system, wherein the treadmill via deflection rollers 19 (Fig. 7a) or deflecting wedges 19 '(Fig. 7b) on the sensor plate 2a and 2a' is passed.
  • Fig. 7b also schematically the attachment of the above-mentioned optical sensor 17 for detecting the tape speed due to a coding pattern on the corresponding base plate 14 'is shown.
  • This arrangement has the special Part that existing treadmill systems can be retrofitted with a measuring sensors without much effort.
  • Fig. 8 shows in the manner of a block diagram the basic structure of a speedometer stage 20, in the output using the evaluation unit 5 pressure distribution images as the first data set Dl and output by the optical detector 17 detector signals as the second data set D2 a tape speed signal V as an input signal for a Processing unit 6 'is obtained.
  • the tachometer stage 20 comprises a pressure distribution image memory 21, which is formed as a multi-area memory for storing a sequence of pressure distribution images Dl, a pressure distribution image processing unit 22 downstream of this memory and a first speed output stage 23 associated therewith the tachometer stage 20, a real-time encoder 24, which controls both the processing of the pressure distribution image processing stage 22 and that of the detector output signals D2 in a second speed output stage 25.
  • the principles of the comparative processing of successive recorded pressure distribution images in the processing unit 22 are not part of the present invention and will therefore not be described in detail here. They are based on the mathematical principle of convolution, whereby the locally related pressure distribution patterns are represented as multi-dimensional vectors and the scalar product is formed as a measure for the evaluation of their agreement.
  • Output signals V1 and V2 of the two output stages 23, 25 are subjected to notification in an averaging stage 26 on the basis of a predetermined algorithm (which does not necessarily have to effect arithmetic averaging), and the calculated result is output as a speed signal V.
  • a predetermined algorithm which does not necessarily have to effect arithmetic averaging
  • FIG. 9 shows, likewise in the form of a block diagram, the structure of an embodiment of a correction stage 27 for dynamic sensor-selective correction of output signals of the pressure / force sensors Ii of the sensor surface 1 of an inventive Device according to the invention for gait analysis.
  • a correction stage 27 for dynamic sensor-selective correction of output signals of the pressure / force sensors Ii of the sensor surface 1 of an inventive Device according to the invention for gait analysis.
  • only one line IZ with a plurality of individual sensors Ii is represented by the sensor surface 1, and the figure relates to the measurement signal correction of those pressure / force sensors exemplified.
  • Each of the sensor elements Ii is associated with a correction element 28i, in which its output signal can be changed by a correction amount, which is respectively sensor-specific calculated before it enters the evaluation unit 5.
  • a pressure distribution image memory 29 belonging to the correction stage 27 is provided, to which a pressure distribution image comparator unit 30 is assigned on the output side.
  • the print distribution image memory 29 stores pressure distribution images taken over a preset period of time, and the comparator unit 30 compares them (after performing a position correction calculation) to determine which of the pressure / force sensors Ii have been particularly frequently and intensively applied during this period.
  • these sensors are subject to a particularly serious heating and thus corresponding Messsignalvertigschept.
  • the processing unit 30 outputs a table of sensor-specific correction values, which are subjected to multiplication processing with a time curve stored in a timer memory 32 in a downstream time adjustment stage 31.
  • This reworking takes into account the increasing heating with increasing operating time and thus also the temporal increase of the required correction amount or factor.
  • biometric signals are recorded on the subject to be measured via a measuring adapter 8 (FIG. These may be muscle action voltages taken via electrodes 13. Likewise, these may be via electronic goniometer removed joint angle or angle of inclination.
  • the measurement data are preferably transmitted via a radio signal 11 to a receiver 6a on the arithmetic unit 6.
  • a radio signal 11 to a receiver 6a on the arithmetic unit 6.
  • the biometric signals on the arithmetic unit 6 it is important that they are displayed synchronously with the pressure distribution values of the sensor plate 2a.
  • a light signal preferably sent as infrared light 10 to a light receiver 9 in the measuring adapter 8.
  • the light signal 10 may be transmitted each time the subject's foot hits the sensor surface.
  • the preferably coded light pulses 10 are converted into electrical data, imprinted on the biometric measurement signal and transmitted by radio signal 11 to the arithmetic unit.
  • the coding of the light pulses can be accomplished by, for example, sending pulses within a certain short time interval.
  • the biometric signals 13 are then displayed together with the pressure distribution values in synchronized time.
  • a numerically coded timestamp is transmitted, which brings the data of the two independently measuring systems (gait analysis or biometric measurement) into temporal synchrony. Since both systems perform their measurements in a known time frame, a correct assignment between them over the entire measurement period is possible, as soon as only a single encoding has been transmitted correctly (even if a large number of synchronization attempts during the duration of the measurements should have failed).
  • the proposed synchronization is therefore characterized by extraordinary reliability and robustness.

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Abstract

Dispositif d'analyse de la marche utilisant un tapis roulant, pourvu d'une bande sans fin entraînée par le biais d'au moins deux galets, la surface supérieure de la bande sans fin servant de surface de course. Ledit dispositif comporte également les éléments suivants: un dispositif capteur destiné à déterminer la répartition de la pression / de la force sur une plaque de mesure disposée sous la bande sans fin, laquelle plaque de mesure présente sur la face tournée vers la bande une pluralité de capteurs de pression / de force disposés sous forme de matrice; une unité d'évaluation reliée du côté de l'entrée aux capteurs de pression / de force, l'unité d'évaluation détectant la position des images de répartition de pression d'un vertébré courant sur le tapis roulant et ainsi son mouvement vers l'avant en fonction du temps et du lieu; et une unité de traitement reliée côté entrée à l'unité d'évaluation, cette unité de traitement générant des paramètres de mesure en fonction du temps et du lieu des images de répartition de pression pour caractériser la marche du vertébré. Un tachymètre relié côté entrée à l'unité d'évaluation utilise les fonctions de temps et de lieu des images de répartition de pression pour calculer une vitesse momentanée de la bande sans fin en tant que valeur initiale supplémentaire de l'unité d'évaluation ou de traitement.
PCT/EP2006/010471 2006-05-12 2006-10-31 Dispositif et procédé d'analyse de la marche WO2007131542A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP06806637A EP2018117A1 (fr) 2006-05-12 2006-10-31 Dispositif et procédé d'analyse de la marche

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE200610022243 DE102006022243A1 (de) 2006-05-12 2006-05-12 Vorrichtung zur Analyse am Laufband
DE102006022243.1 2006-05-12

Publications (1)

Publication Number Publication Date
WO2007131542A1 true WO2007131542A1 (fr) 2007-11-22

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PCT/EP2006/010471 WO2007131542A1 (fr) 2006-05-12 2006-10-31 Dispositif et procédé d'analyse de la marche

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EP (1) EP2018117A1 (fr)
DE (1) DE102006022243A1 (fr)
WO (1) WO2007131542A1 (fr)

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007049323A1 (de) 2007-10-15 2009-04-23 Zebris Medical Gmbh Vorrichtung und Verfahren zur Ganganalyse unter Einsatz eines Laufbandes
DE102007052806A1 (de) 2007-11-06 2009-05-14 Zebris Medical Gmbh Messanordnung und Verfahren zur Untersuchung des Ganges
DE102007054358A1 (de) 2007-11-14 2009-05-20 Zebris Medical Gmbh Vorrichtung zur Ganganalyse zu Trainings- oder Rehabilitationszwecken
DE102008058020A1 (de) 2008-11-19 2010-05-20 Zebris Medical Gmbh Anordnung zum Training des Ganges
EP2308373A1 (fr) 2009-10-12 2011-04-13 RSSCAN International NV Appareil et procédé d'analyse de la démarche d'une personne
DE102010004504A1 (de) 2010-01-13 2011-07-14 zebris MEDICAL GmbH, 88316 Laufbandanordnung und Verfahren zum Betrieb einer solchen
DE102016121179A1 (de) 2016-02-29 2017-08-31 Zebris Medical Gmbh Anordnung zum Training des Ganges
CN108778123A (zh) * 2016-03-31 2018-11-09 日本电气方案创新株式会社 步态分析装置、步态分析方法和计算机可读记录介质
CN111067542A (zh) * 2019-12-30 2020-04-28 广东省实验动物监测所 一种基于运动数据对小动物的运动控制方法及系统
US20200260995A1 (en) * 2019-02-19 2020-08-20 Zwift, Inc. Physical movement tracking

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DE102016000698B3 (de) * 2016-01-18 2017-04-27 Audi Ag Verfahren zur Abtastung eines Karosserieelements für ein Kraftfahrzeug

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Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007049323A1 (de) 2007-10-15 2009-04-23 Zebris Medical Gmbh Vorrichtung und Verfahren zur Ganganalyse unter Einsatz eines Laufbandes
DE102007052806A1 (de) 2007-11-06 2009-05-14 Zebris Medical Gmbh Messanordnung und Verfahren zur Untersuchung des Ganges
DE102007054358B4 (de) * 2007-11-14 2018-12-27 Zebris Medical Gmbh Vorrichtung zur Ganganalyse zu Trainings- oder Rehabilitationszwecken
DE102007054358A1 (de) 2007-11-14 2009-05-20 Zebris Medical Gmbh Vorrichtung zur Ganganalyse zu Trainings- oder Rehabilitationszwecken
DE102008058020A1 (de) 2008-11-19 2010-05-20 Zebris Medical Gmbh Anordnung zum Training des Ganges
EP2308373A1 (fr) 2009-10-12 2011-04-13 RSSCAN International NV Appareil et procédé d'analyse de la démarche d'une personne
WO2011045311A1 (fr) 2009-10-12 2011-04-21 Rsscan International Nv Appareil et procédé pour analyser la démarche d'une personne
DE102010004504A1 (de) 2010-01-13 2011-07-14 zebris MEDICAL GmbH, 88316 Laufbandanordnung und Verfahren zum Betrieb einer solchen
DE102016121179A1 (de) 2016-02-29 2017-08-31 Zebris Medical Gmbh Anordnung zum Training des Ganges
CN108778123A (zh) * 2016-03-31 2018-11-09 日本电气方案创新株式会社 步态分析装置、步态分析方法和计算机可读记录介质
CN108778123B (zh) * 2016-03-31 2021-04-06 日本电气方案创新株式会社 步态分析装置、步态分析方法和计算机可读记录介质
US11089977B2 (en) 2016-03-31 2021-08-17 Nec Solution Innovators, Ltd. Gait analyzing device, gait analyzing method, and computer-readable recording medium
US20200260995A1 (en) * 2019-02-19 2020-08-20 Zwift, Inc. Physical movement tracking
US12023148B2 (en) * 2019-02-19 2024-07-02 Zwift, Inc. Physical movement tracking
CN111067542A (zh) * 2019-12-30 2020-04-28 广东省实验动物监测所 一种基于运动数据对小动物的运动控制方法及系统
CN111067542B (zh) * 2019-12-30 2020-11-10 广东省实验动物监测所 一种基于运动数据对小动物的运动控制方法及系统

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