Instrumented mobility assistance device

• US 7,826,983 B2
• Filed: 01/05/2007
• Issued: 11/02/2010
• Est. Priority Date: 07/07/2004
• Status: Expired due to Fees

• Current Assignee: Majd Alwan
• Original Assignee: Majd Alwan
• Inventors: Huang, Cunjun, Ledoux, Alexandre, Wasson, Glenn S., Sheth, Pradip N., Alwan, Majd
• Primary Examiner(s): KHUU, HIEN DIEU THI
• Application Number:
  US11/650,361
• Publication Number:
  US 20070233403A1
• Time in Patent Office: 1,397 Days
• Field of Search: 702/33, 702/178, 702/160, 482/8, 482/9, 482/52, 434/236, 434/247, 128/80, 137/67, 135/66, 135/67, 280/87.041
• US Class Current: 702/33
• CPC Class Codes: A45B 1/02 Walking sticks with rollers for carrying parcels or the like
• CPC Class Codes: A45B 3/00 Sticks combined with other objects
• CPC Class Codes: A45B 3/08 with measuring or weighing appliances
• CPC Class Codes: A45B 9/00 Details
• CPC Class Codes: A61B 5/1038 Measuring plantar pressure during gait
• CPC Class Codes: A61B 5/4023 Evaluating sense of balance
• CPC Class Codes: A61H 2001/0211 Walking coordination of arms and legs
• CPC Class Codes: A61H 2201/0173 Means for preventing injuries
• CPC Class Codes: A61H 2201/5061 Force sensors
• CPC Class Codes: A61H 2201/5064 Position sensors
• CPC Class Codes: A61H 2201/5079 Velocity sensors
• CPC Class Codes: A61H 2230/62 Posture
• CPC Class Codes: A61H 3/00 Appliances for aiding patients or disabled persons to walk about apparatus for helping babies to walk A47D13/04; orthopaedic devices for correcting deformities of, or supporting, limbs A61F5/0102; exercising apparatus for the feet or toes A63B23/10; stairways or ramps E04F11/00
• CPC Class Codes: A61H 3/04 Wheeled walking aids for disabled persons A61H3/06 takes precedence
• CPC Class Codes: B62B 5/0026 Propulsion aids
• CPC Class Codes: B62B 5/0069 Control
• CPC Class Codes: B62B 5/0073 Measuring a force
• CPC Class Codes: G01C 22/00 Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
• CPC Class Codes: G01C 22/006 Pedometers

Abstract

Various implementations are disclosed for an instrumented mobility assistance device, such as an instrumented walker. The device includes an attached sensor that is operable to convert an operational action of a user of the mobility assistance device into a sensor signal. A use analyzer is operable to relate the sensor signal to a contact attribute associated with a contact of the user of the mobility assistance device with an underlying surface. The use analyzer is further operable to determine a gait characteristic of the user, based on the contact attribute. The sensor may include a force or moment sensor. The contact attribute may include a foot-initial contact, or a foot-off contact. In this way, gait characteristics of the user may be determined during normal operation of the instrumented device. Also, the sensor may be used to determine a stability measure associated with the device.

Claims

1. A method comprising:

receiving a plurality of sensor signals from a plurality of sensors associated with a mobility-assistance device operated on a surface by a user, including receiving a left sensor signal from a left sensor attached to a left side handle of the mobility assistance device, and receiving a right sensor signal from a right sensor attached to a right side handle of the mobility assistance device;

relating the plurality of sensor signals to a contact attribute associated with a contact of the user with the surface, including estimating an approximate time of the contact attribute including a foot initial contact, using a peak signal representing a summation of right and left sensor signals; and

determining a gait characteristic of the user, based on the contact attribute.

2. The method of claim 1 wherein receiving the plurality of sensor signals from the plurality of sensors comprises receiving a force signal associated with a force exerted by the user on the mobility assistance device.

3. The method of claim 1 wherein relating the plurality of sensor signals to a contact attribute comprises relating the plurality of sensor signals to a foot-off contact of a foot of the user from the surface.

4. The method of claim 1 wherein relating the plurality of sensor signals to a contact attribute comprises correlating gait-related signal variations of the plurality of sensor signals with the contact attribute.

5. The method of claim 1 wherein relating the plurality of sensor signals to a contact attribute comprises:

determining a peak of the plurality of sensor signals; and

correlating the peak with the contact attribute.

6. The method of claim 1 wherein determining the gait characteristic of the user comprises determining one or more of a group of gait characteristics that includes a gait step count, a gait pace, or timing information of different gait phases.

7. The method of claim 1 wherein determining the gait characteristic of the user comprises determining the gait characteristic based on a supplemental sensor signal from a supplemental sensor associated with the mobility assistance device.

8. The method of claim 7 wherein determining the gait characteristic of the user comprises determining one or more of a group of gait characteristics that includes an instantaneous walking velocity, an average walking velocity, a step length of the user, or a stride length of the user.

9. The method of claim 1 wherein determining the gait characteristic of the user comprises determining a stability measure of the mobility assistance device.

10. The method of claim 1 comprising performing a longitudinal analysis based on the gait characteristic.

11. The method of claim 10 wherein performing the longitudinal analysis comprises:

collecting data associated with the gait characteristic over a time period; and

performing a trend analysis on the data.

12. A system comprising:

a data acquisition system that is operable to receive a plurality of sensor signals from a plurality of sensors associated with a mobility assistance device; and

a use analyzer that is operable to relate the plurality of sensor signals to a contact attribute associated with a contact of a user of the mobility assistance device with an underlying surface, and further operable to determine a gait characteristic of the user, based on the contact attribute,

wherein the data acquisition system is configured to receive a left sensor signal from a left sensor attached to a left side handle of the mobility assistance device, and to receive a right sensor signal from a right sensor attached to a right side handle of the mobility assistance device, and wherein the use analyzer is configured to estimate an approximate time of the contact attribute including a foot initial contact, using a peak signal representing a summation of right and left sensor signals.

13. The system of claim 12 wherein the plurality of sensors comprise at least one of a force or moment sensor.

14. The system of claim 12 wherein the contact attribute comprises a foot-off contact of the user from the surface.

15. The system of claim 12 wherein the use analyzer is operable to relate the plurality of sensor signals to the gait characteristic by implementing a peak detection algorithm on the plurality of sensor signals.

16. The system of claim 12 wherein the data acquisition system is configured to receive the plurality of sensor signals including receiving a velocity-related sensor signal associated with a velocity of movement of the mobility assistance device.

17. The system of claim 12 wherein the data acquisition system is configured to receive the plurality of sensor signals including receiving a distance-related sensor signal associated with a distance of movement of the mobility assistance device.

18. The system of claim 12 wherein the use analyzer is configured to relate the plurality of sensor signals to the contact attribute including associating the contact with either a left leg or a right leg of the user.

19. The system of claim 12 wherein the use analyzer is configured to analyze the left sensor signal to associate the foot initial contact with a left foot of the user.

20. A system comprising:

a mobility assistance device;

a plurality of sensors attached to the mobility assistance device and operable to convert an operational action of a user of the mobility assistance device into a plurality of sensor signals; and

a use analyzer that is operable to relate the plurality of sensor signals to a contact attribute associated with a contact of the user of the mobility assistance device with an underlying surface, and further operable to determine a gait characteristic of the user, based on the contact attribute,

wherein the use analyzer is configured to receive a left sensor signal from a left sensor attached to a left side handle of the mobility assistance device, and to receive a right sensor signal from a right sensor attached to a right side handle of the mobility assistance device, and configured to estimate an approximate time of the contact attribute including a foot initial contact, using a peak signal representing a summation of right and left sensor signals.

21. The system of claim 20 wherein the plurality of sensors comprise at least one of a force or moment sensor.

22. The system of claim 20 wherein the contact attribute comprises a foot-off contact of the user from the surface.

23. A computer program product tangibly embodied on a non-transitory computer-readable medium and encoding a computer program for executing on a computing device a computer process, the computer process comprising:

receiving a plurality of sensor signals from a plurality of sensors associated with a mobility-assistance device operated on a surface by a user, including receiving a left sensor signal from a left sensor attached to a left side handle of the mobility assistance device, and receiving a right sensor signal from a right sensor attached to a right side handle of the mobility assistance device;

relating the plurality of sensor signals to a contact attribute associated with a contact of the user with the surface, including estimating an approximate time of the contact attribute including a foot initial contact, using a peak signal representing a summation of right and left sensor signals; and

determining a gait characteristic of the user, based on the contact attribute.

24. The computer program product of claim 23 wherein the plurality of sensors comprise at least one of a force or moment sensor.

25. The computer program product of claim 23 wherein the contact attribute comprises a foot-off contact of the user from the surface.