Devices for measuring human gait and related methods of use

• US 10,194,837 B2
• Filed: 05/11/2016
• Issued: 02/05/2019
• Est. Priority Date: 05/18/2015
• Status: Active Grant

• Current Assignee: Vayu Technology Corp.
• Original Assignee: Vayu Technology Corp.
• Inventors: Kanchan, Karan Harish, Mantri, Prathamesh
• Primary Examiner(s): Koharski, Christopher D
• Assistant Examiner(s): STEINBERG, AMANDA L
• Application Number:
  US15/151,557
• Publication Number:
  US 20160338621A1
• Time in Patent Office: 1,000 Days
• CPC Class Codes: A61B 2503/10 Athletes
• CPC Class Codes: A61B 2562/0219 Inertial sensors, e.g. accelerometers, gyroscopes, tilt switches
• CPC Class Codes: A61B 2562/0223 Magnetic field sensors
• CPC Class Codes: A61B 2562/0247 Pressure sensors
• CPC Class Codes: A61B 2562/164 the sensor is mounted in or on a conformable substrate or carrier
• CPC Class Codes: A61B 5/002 Monitoring the patient using a local or closed circuit, e.g. in a room or building A61B5/0017 takes precedence
• CPC Class Codes: A61B 5/0022 Monitoring a patient using a global network, e.g. telephone networks, internet
• CPC Class Codes: A61B 5/0024 for multiple sensor units attached to the patient, e.g. using a body or personal area network
• CPC Class Codes: A61B 5/1036 Measuring load distribution, e.g. podologic studies
• CPC Class Codes: A61B 5/11 Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb for measuring pulse A61B5/02 ;A61B5/1038 takes precedence; motion detection to correct for motion artifacts in physiological signals A61B5/721
• CPC Class Codes: A61B 5/112 Gait analysis
• CPC Class Codes: A61B 5/4528 Joints A61B5/4533, A61B5/4538 take precedence
• CPC Class Codes: A61B 5/486 Bio-feedback A61B5/375 takes precedence
• CPC Class Codes: A61B 5/6802 Sensor mounted on worn items
• CPC Class Codes: A61B 5/6806 Gloves
• CPC Class Codes: A61B 5/6807 Footwear
• CPC Class Codes: A61B 5/6812 Orthopaedic devices
• CPC Class Codes: A61B 5/6823 Trunk, e.g., chest, back, abdomen, hip
• CPC Class Codes: A61B 5/6824 Arm or wrist
• CPC Class Codes: A61B 5/6825 Hand
• CPC Class Codes: A61B 5/6828 : Leg
• CPC Class Codes: A61B 5/6829 : Foot or ankle
• CPC Class Codes: A61B 5/742 : using visual displays A61B5/339 takes precedence
• CPC Class Codes: G16H 40/67 : for remote operation
• CPC Class Codes: G16Z 99/00 : Subject matter not provided for in other main groups of this subclass

Abstract

A portable, wearable multi-component measurement and analysis device can be utilized for collecting and analyzing bio-mechanical and human gait analysis data while performing any physical activity. This device may be constructed with one or more sensors that are placed on the various localities of human body to collect bio-mechanical data. This data may be transmitted over a network to a server, where it is analyzed, and feedback may be provided in real time on the bio-mechanical and gait parameters experienced by the user'"'"'s body while performing any particular activity. The device further may allow specialists and experts located anywhere in the world to analyze this real time data and give feedback.

Claims

1. A system for collecting data related to user movements, comprising:

a plurality of wearable garments, wherein at least one garment comprises at least two sensors configured to collect data related to movement of a corresponding portion of the user in two or more dimensions, wherein a first sensor of the at least two sensors is configured for positioning on a first side of a joint of the user, and wherein a second sensor of the at least two sensors is configured for positioning on a second side of the joint opposite to the first side;

one or more data storage devices storing instructions for processing the data; and

one or more processors configured to execute the instructions to perform a method, including;

for each sensor of the at least two sensors, receiving the data and analyzing the data to;

calculate a global orientation of the corresponding portion of the user in two or more dimensions, and converting the global orientation of the corresponding portion of the user in two or more dimensions to a local orientation of the corresponding portion of the user in two or more dimensions within a user-specific coordinate system;

calculate a horizontal impulse and a vertical impulse generated in the two or more dimensions within the user-specific coordinate system for the first and second sensors;

based on the global orientation, the local orientation, the horizontal impulse, and the vertical impulse, generating feedback associated with the movement, wherein the feedback includes a joint force and a joint torque indicative of gait, body, or biomechanical issues;

sending the feedback to a mobile device; and

providing the feedback to the user via a display on the mobile device, wherein the feedback includes graphical or visual representations of received and analyzed performance and movement data for each individual sensor or a plurality of sensors such that the feedback includes representations of the user'"'"'s body in two or more dimensions with indicators to highlight a particular portion of the representation of the body representing a problematic gait, one or more body abnormalities, or other biomechanical issue for that portion, and wherein the feedback further includes one or more graphs displayed for a particular joint or portion of the body, with the one or more graphs displayed next to the particular joint or portion of the body.

2. The system of claim 1, wherein the user-specific coordinate system is determined based, at least in part, on a height of the user and a waist size of the user.

3. The system of claim 1, wherein the at least one garment includes a sleeve configured to be positioned on at least one of an arm or a leg of the user.

4. The system of claim 1, wherein the at least one garment includes a sock configured to be positioned on a foot of the user, and wherein the at least two sensors configured to collect data are configured to be positioned adjacent a dorsal surface of the foot.

5. The system of claim 1, wherein the at least one garment includes a glove configured to be positioned on a hand of the user, and wherein the at least two sensors configured to collect data are configured to be positioned adjacent a dorsal surface of the hand.

6. The system of claim 1, wherein the at least one garment includes a chest piece.

7. The system of claim 1, wherein the at least one garment includes a wireless transmitter configured to transmit the data collected by the at least two sensors.

8. The system of claim 1, wherein each of the at least two sensors comprises at least one of an accelerometer, a gyroscope, and a magnetometer, and wherein the at least one garment includes an adjustable strap.

9. The system of claim 1, wherein the generated feedback further comprises information related to one or more of:

ground reaction force, body portion orientation, or total body orientation.

10. The system of claim 1, wherein the plurality of wearable garments includes:

a sleeve configured to be positioned on at least one of an arm or a leg of the user, wherein the sleeve comprises a first sleeve sensor configured to collect data and configured to be positioned on a first side of a joint, and a second sleeve sensor configured to be positioned on a second side of a joint;

a sock configured to be positioned on a foot of the user, wherein the sock comprises at least one sock sensor configured to collect data and configured to be positioned adjacent a dorsal surface of the foot, and the sock further includes a plurality of pressure sensors configured to be positioned adjacent a plantar surface of the foot;

a glove configured to be positioned on a hand of the user, wherein the glove comprises at least one glove sensor configured to collect data and configured to be positioned adjacent a dorsal surface of the hand, and the glove further includes a plurality of pressure sensors configured to be positioned adjacent a palmar surface of the hand; and

a chest piece.

11. The system of claim 10, wherein the sleeve is a first sleeve configured to be positioned on a left arm of the user, and the system further includes a second sleeve configured to be positioned on a right arm of the user, a third sleeve configured to be positioned on a left leg of the user, and a fourth sleeve configured to be positioned on a right leg of the user;

the sock is a first sock and the foot is a left foot, and the system further includes a second sock configured to be positioned on a right foot of the user; and

the glove is a first glove and the hand is a left hand, and the system further includes a second glove configured to be positioned on a right hand of the user.

12. The system of claim 10, wherein a first pressure sensor of the plurality of pressure sensors of the sock is configured to be positioned adjacent a heel of the foot, and a second pressure sensor and a third pressure sensor of the plurality of pressure sensors of the sock are configured to be positioned adjacent a ball of the foot.

13. The system of claim 10, wherein the chest piece includes a hub, and the hub is configured to receive the data from the sleeve, the sock, and the glove.

14. The system of claim 10, wherein the sensors of each garment are operatively connected to:

a memory, a micro-controller with a wireless communication module, and a battery.

15. A system for collecting data related to user movements, comprising:

a plurality of wearable garments, wherein at least one garment comprises at least two sensors configured to collect data related to movement of a corresponding portion of the user in two or more dimensions, wherein a first sensor of the at least two sensors is configured to be positioned on a first side of a joint, wherein a second sensor of the at least two sensors is configured to be positioned on a second side of the joint;

one or more data storage devices storing instructions for processing the data; and

one or more processors, and wherein the one or more processors are configured to execute the instructions to perform a method, including;

for each sensor of the at least two sensors, receiving the data and analyzing the data to;

determine an orientation of the corresponding portion of the user within a user-specific coordinate system, wherein the user-specific coordinate system is based on at least one sample user activity;

based on the at least one sample user activity, calculate a horizontal impulse and a vertical impulse generated in at least two dimensions within the user-specific coordinate system for each sensor of the at least two sensors;

generate feedback based on the orientation of the corresponding portion of the user, the horizontal impulse, and the vertical impulse, wherein the feedback comprises a joint force and a joint torque indicative of body movement or biomechanical issues, and wherein the generated feedback further comprises mechanical fatigue and local calorie burn for an individual muscle or individual muscle group that is less than the user'"'"'s full body, wherein the mechanical fatigue is determined by detecting changes in accelerometer data, changes in orientation data, and changes in relative or absolute angles for a particular portion of the user within the user-specific coordinate system, and wherein generating the feedback further includes calculating the mechanical fatigue with respect to time by analyzing one or more specific muscular areas or muscle groups around one or more specific joints to determine if one or more muscular areas or muscle groups are speeding up or slowing down over time;

sending the feedback to a display device; and

providing the feedback to the user via the display device, and

wherein the feedback further includes graphical or visual representations of received and analyzed performance and movement data for each sensor such that the feedback includes representations of the user'"'"'s body in two or more dimensions with indicators to highlight a particular portion of the representation of the body representing a problematic gait, one or more body abnormalities, or other biomechanical issue for that portion, and wherein the feedback further includes one or more graphs displayed for a particular joint or portion of the body, with the one or more graphs displayed next to the particular joint or portion of the body.

16. The system of claim 15, wherein the at least one sample user activity includes sitting or standing for a period of time.

17. The system of claim 15, wherein the at least one sample user activity comprises running, and wherein the step of generating feedback further comprises calculating a gait analysis.

20. The system of claim 15, wherein the user-specific coordinate system is determined based, at least in part, on a height of the user and a waist size of the user;

wherein each of the at least two sensors on each garment comprises at least one of an accelerometer, a gyroscope, and a magnetometer;

wherein each of the sensors of each garment are operatively connected to;

a memory, a micro-controller with a wireless communication module, and a battery;

wherein the generated feedback further comprises information related to ground reaction force, body portion orientation, and total body orientation; and

wherein the plurality of wearable garments includes;

a first sleeve configured to be positioned on a left an arm of the user, wherein the first sleeve comprises two first sleeve sensors configured to collect data and configured to be positioned on a first and a second side of a first joint;

a second sleeve configured to be positioned on a right arm of the user, wherein the second sleeve comprises two second sleeve sensors configured to collect data and configured to be positioned on a first and a second side of a second joint;

a third sleeve configured to be positioned on a left leg of the user, wherein the third sleeve comprises two third sleeve sensors configured to collect data and configured to be positioned on a first and a second side of a third joint;

a fourth sleeve configured to be positioned on a right leg of the user, wherein the fourth sleeve comprises two fourth sleeve sensors configured to collect data and configured to be positioned on a first and a second side of a fourth joint;

a first sock configured to be positioned on a first foot of the user, wherein the first sock comprises at least one sock sensor configured to collect data and configured to be positioned adjacent a dorsal surface of the first foot, wherein the first sock further includes a plurality of pressure sensors configured to be positioned adjacent a plantar surface of the first foot, and wherein the plurality of pressure sensors of the first sock include a first pressure sensor configured to be positioned adjacent a heel of the first foot, and a second pressure sensor and a third pressure sensor of the plurality of pressure sensors of the first sock are configured to be positioned adjacent a ball of the first foot;

a second sock configured to be positioned on a second foot of the user, wherein the second sock comprises at least one sock sensor configured to collect data and configured to be positioned adjacent a dorsal surface of the second foot, wherein the second sock further includes a plurality of pressure sensors configured to be positioned adjacent a plantar surface of the second foot, and wherein the plurality of pressure sensors of the second sock include a first pressure sensor configured to be positioned adjacent a heel of the second foot, and a second pressure sensor and a third pressure sensor of the plurality of pressure sensors of the second sock are configured to be positioned adjacent a ball of the second foot;

a first glove configured to be positioned on a first hand of the user, wherein the first glove comprises at least one glove sensor configured to collect data and configured to be positioned adjacent a dorsal surface of the first hand, and the first glove further includes a plurality of pressure sensors configured to be positioned adjacent a palmar surface of the first hand;

a second glove configured to be positioned on a second hand of the user, wherein the second glove comprises at least one glove sensor configured to collect data and configured to be positioned adjacent a dorsal surface of the second hand, and the second glove further includes a plurality of pressure sensors configured to be positioned adjacent a palmar surface of the second hand;

a chest piece including a hub configured to receive the data from the first sleeve, the second sleeve, the third sleeve, the fourth sleeve, the first sock, the second sock, the first glove, and the second glove; and

a wireless transmitter configured to transmit the data collected by the sensors.

18. A system for collecting data related to user movements, comprising:

a plurality of wearable garments, wherein each garment includes at least one sensor configured to collect data related to movement of a corresponding portion of the user in two or more dimensions, and the at least one sensor includes an accelerometer, a gyroscope, and a magnetometer;

one or more data storage devices storing instructions for processing the data; and

one or more processors configured to execute the instructions to perform a method, including;

for each at least one sensor, receiving the data and analyzing the data to a) determine an orientation of the corresponding portion of the user within a user-specific coordinate system, b) calculate an acceleration of each at least one sensor, c) using the acceleration data in conjunction with a length and a mass of the corresponding portion of the user, calculate forces acting on each sensor and d) calculate a horizontal impulse and a vertical impulse generated in the user-specific coordinate system for each sensor;

wherein the step of analyzing the data further comprises for each at least one sensor, based at least on the orientation of the corresponding portion of the user within the user-specific coordinate system, the acceleration data, the forces acting on each sensor, and the horizontal and vertical impulses, generating feedback on the user movements, wherein the feedback comprises mechanical fatigue and local calorie burn for an individual muscle or individual muscle group that is less than the user'"'"'s full body, wherein the mechanical fatigue is determined by detecting changes in accelerometer data, changes in orientation data, and changes in relative or absolute angles for a particular portion of the user within the user-specific coordinate system, and wherein generating the feedback further includes calculating the mechanical fatigue with respect to time by analyzing one or more specific muscular areas or muscle groups around one or more specific joints to determine if one or more muscular areas or muscle groups are speeding up or slowing down over time;

sending the feedback to a mobile display device; and

providing the feedback to the user via a user interface on the mobile display device.

19. The system of claim 18, wherein analyzing the data further comprises processing the forces acting on each sensor to determine a center of mass of the user and a force acting on the center of mass of the user.