Walking aid system

• US 8,460,219 B2
• Filed: 10/05/2005
• Issued: 06/11/2013
• Est. Priority Date: 10/05/2004
• Status: Active Grant

• Current Assignee: Tokyo Institute of Technology (National University Corporation Tokyo Institute of Technology)
• Original Assignee: Tokyo Institute of Technology (National University Corporation Tokyo Institute of Technology)
• Inventors: Miyake, Yoshihiro
• Primary Examiner(s): HINDENBURG, MAX F
• Application Number:
  US11/576,645
• Publication Number:
  US 20110166488A1
• Time in Patent Office: 2,806 Days
• Field of Search: 482/3, 482/9, 600/595, 601/33, 601/34, 702/150
• US Class Current: 600/595
• CPC Class Codes: A61B 5/112 Gait analysis
• CPC Class Codes: A61B 5/1124 Determining motor skills
• CPC Class Codes: A61B 5/4082 Diagnosing or monitoring movement diseases, e.g. Parkinson, Huntington or Tourette
• CPC Class Codes: A61H 2230/00 Measuring physical parameters of the user
• CPC Class Codes: A61H 2230/06 Heartbeat rate
• CPC Class Codes: A61H 2230/08 Other bio-electrical signals
• 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

Abstract

An object of the present invention is to realize mutual adaptation for mutual synchronizing in a man-machine system and make it applicable to the site of walking aid. A walking aid system of the present invention comprises: a sensor section (2) for sensing the motion rhythm of a walker, a recording section (33) for recording values of measurements of the motion rhythm sensed with the sensor section 2, a target setting section (34) for setting a target value for the motion rhythm of the walker, a timing generating section (36) for generating a timing signal according to the difference between the measurement and the target value, and a stimulus generating section (4) for generating rhythm stimulus that is recognizable by the walker, according to the timing signal generated with the timing generating section (36).

Claims

1. A walking aid apparatus for controlling a motion rhythm of a walker as a controlled object having a characteristic of a nonlinear system comprising:

a sensor section attached to the walker for sensing the motion rhythm of the walker;

a main section including a nonlinear system module having dynamic behavior as a nonlinear system and for establishing a synchronized state through entrainment in interaction between the nonlinear system module and the walker, and further including a feedback system module for performing feedback to the nonlinear system module in the synchronized state; and

a stimulus generating section for generating rhythm stimulus to the walker;

wherein the nonlinear system module generates a timing signal to establish the synchronized state with the motion rhythm of the walker through the entrainment and the rhythm stimulus is generated according to the timing signal and transmitted to the walker through the stimulus generating section, and

the feedback system module, in the synchronized state of the nonlinear system model and the walker, calculates a relative amount for synchronizing, compares the relative amount for synchronizing with a relative amount as a target, calculates an appropriate feedback control amount, and applies feedback so as to adjust a parameter of the nonlinear system module for changing the relative amount for synchronizing to control the motion rhythm of the walker by causing the relative amount for synchronizing to converge to the target relative amount,

wherein the relative amount for synchronizing is a phase difference between the motion rhythm of the walker and the rhythm of the rhythm stimulus, the relative amount as a target is a phase difference as a target between the motion rhythm of the walker and the rhythm of the rhythm stimulus, the feedback control amount is a control amount based on these two phase differences, and parameter for changing the synchronized state is a tempo or a phase of the timing signal generating a tempo of the rhythm stimulus or a phase of the rhythm stimulus.

2. The walking aid apparatus of claim 1,

wherein the main section includes an input section for receiving the motion rhythm sensed with the sensing section as measurement, an interface section for functioning as human interface or network interface, a recording section for recording the measurement of the motion rhythm sensed with the sensor section, a target setting section for setting a target value for the motion information such as the motion rhythm of the walker, an operating section for calculating a walk rhythm, ground contact timing, walk distance or a walk speed based on the measurement of the motion rhythm sensed with the sensor section, a timing generating section for generating timing signals according to both the measurement and the target value, an output section for outputting the timing signal generated with the timing generating section to the stimulus generating section, and a control section for storing a control program for the walker and for controlling signals and data flow within or among the sensor section, the main section and the stimulus generating section;

the input section, the operating section, the timing generating section, the output section and the control section have the function of the nonlinear system module; and

the target setting section has the function of the feedback system module.

3. The walking aid apparatus of claim 2;

wherein the control section has a control program for the walker which creates a virtual robot of a virtual space in a computer which synchronize with the walker in a real space so that the footstep sound of the walker as the motion rhythm sensed with the sensing section is transmitted to the virtual robot and the footstep sound of the virtual robot as the rhythm stimulus is returned to the walker.

4. The walking aid apparatus of claim 1;

wherein the motion rhythm is transmitted from the walker to the nonlinear system module through the sensor section, and the rhythm stimulus is transmitted from the nonlinear system module to the walker through the stimulus generating section; and

the feedback system module, in the synchronized state, controls the motion rhythm of the walker by causing the relative amount for synchronizing to converge to the target relative amount, and realizes stabilization of the walk motion of the walker through the entrainment and the feedback.

5. The walking aid apparatus of claim 2;

wherein the sensor section has sensors on left and right feet of the walker respectively, each sensor measures motion rhythm of the left or right feet respectively, the target setting section is capable of setting target values for left and right rhythm stimuli respectively, the timing generating section generates timing signals related to left and right rhythm stimuli according to two sets of measurements and target values respectively, and the stimulus generating section generates rhythm stimuli to left and right ears or eyes according to the respective timing signals; and

the nonlinear system establishes the synchronized state through the entrainment in interaction between the nonlinear system and left and right motion rhythm of the walker respectively, and the feedback system module performs feedback to the nonlinear system module in the synchronized state so as to control the left and right motion rhythm of the walker by causing left and right relative amount for synchronizing to converge to left and right target relative amount respectively.

6. The walking aid apparatus of claim 1;

wherein the sensor section has an acceleration sensor attached to an waist of the walker, an walk locus of the walker can be calculated from the acceleration information sensed with the acceleration sensor,

the walk locus is obtained for the walk motion in vertical, left and right directions assuming that the walk motion is periodic oscillating motion by the alternation of both legs, an acceleration information is integrated to obtain a walk speed, an average value of the walk speed for short term having periodical deviation is obtained as baseline of the walk speed, displacement from the baseline of walk speed is obtained as an estimated speed, the estimated speed is integrated to obtain a walking position, the average value of the walking position is obtained as baseline of the walking position, and displacement from the baseline of the walking position is obtained as a locus, and

the walk locus is obtained for the walk motion in advancing direction assuming that an average walk speed and an amplitude of walk speed may be approximated with a regression line, an acceleration information is integrated to obtain a walk speed, the walk speed removed offset is obtained by using a difference between the walk speed and an average walk speed for short term, an amplitude of the walk speed removed offset is multiplied by a constant to obtain an average walk speed for short term, the amplitude of the walk speed removed offset and the average walk speed for short term are added to obtain an estimated walk speed, and the motion distance is obtained by integrating the estimated walk speed.

7. The walking aid apparatus of claim 6;

the walk locus can be evaluated quantitatively using index such as rightward or leftward displacement, step-backs, ratio of step-backs to the rightward or leftward displacement, or asymmetry of left-right displacement for the walk motion in left and right direction, index such as vertical displacement, torso lift, ratio of torso lift to vertical amplitude, or asymmetry of vertical displacement for the walk motion in vertical direction, or index such as step, asymmetry of the step for the walk motion in advancing direction, walk period, asymmetry of walk period, fluctuation of walk period, asymmetry in ground contact or left-right fluctuation of the center of gravity of the body during a walk.

8. A gait evaluation apparatus for evaluating a gait of a walker, comprising:

a sensor section having an acceleration sensor for sensing a walk motion including a motion rhythm of the walker;

a recording section for recording the measurement of the walk motion sensed with the sensor section,

wherein the gait evaluation apparatus obtains a three dimension walk locus of a waist or an abdomen of the walker from the sensed motion sensed with the sensor section, and evaluates a gait of the walker based on an evaluation index related to the walk locus of the walker;

as for the walk motion in vertical, left and right directions, an acceleration information sensed with the sensor section is integrated to obtain a walk speed, an average value of the walk speed for short term having periodical deviation is obtained as baseline of the walk speed, displacement from the baseline of walk speed is obtained as an estimated speed, the estimated speed is integrated to obtain a walking position, the average value of the walking position is obtained as baseline of the walking position, and displacement from the baseline of the walking position is obtained as a locus, and

as for the walk motion in advancing direction, an acceleration information is integrated to obtain a walk speed, a walk speed removed offset is obtained by using difference between the walk speed and an average walk speed for short term, an amplitude of the walk speed removed offset is multiplied by a constant to obtain an average walk speed for short term, the amplitude of the walk speed removed offset and the average walk speed for short term are added to obtain an estimated speed, and a motion distance is obtained by integrating the estimated speed.

9. The gait evaluation apparatus of claim 8, wherein

the walk locus can be evaluated quantitatively using index such as rightward or leftward displacement, step-backs, ratio of step-backs to the rightward or leftward displacement, or asymmetry of left-right displacement for the walk motion in left and right direction, index such as vertical displacement, torso lift, ratio of torso lift to vertical amplitude, or asymmetry of vertical displacement for the walk notion in vertical direction, or index such as step, asymmetry of the step for the walk motion in advancing direction, walk period, asymmetry of walk period, fluctuation of walk period, asymmetry in ground contact or left-right fluctuation of the center of gravity of the body during a walk.

10. A gait evaluation method for evaluating a gait of a walker comprising:

sensing a walk motion including a motion rhythm of the walker with an acceleration sensor,

obtaining a three dimension walk locus of a waist or an abdomen of the walker from the sensed motion sensed with the sensor section, and

evaluating a gait of the walker based on an evaluation index related to the walk locus of the walker;

wherein, as for the walk motion in vertical, left and right directions, an acceleration information sensed with the sensor section is integrated to obtain a walk speed, an average value of the walk speed for short term having periodical deviation is obtained as baseline of the walk speed, displacement from the baseline of speed is obtained as an estimated speed, the estimated speed is integrated to obtain a walking position, the average value of the walking position is obtained as baseline of the walking position, and displacement from the baseline of the walking position is obtained as a locus, and

as for the walk motion in advancing direction, an acceleration information is integrated to obtain a walk speed, a walk speed removed offset is obtained by using difference between the walk speed and an average walk speed for short term, an amplitude of the walk speed removed offset is multiplied by a constant to obtain an average walk speed for short term, the amplitude of the walk speed removed offset and the average walk speed for short term are added to obtain an estimated speed, and a motion distance is obtained by integrating the estimated speed.

11. The gait evaluation method of claim 10, wherein

the walk locus can be evaluated quantitatively using index such as rightward or leftward displacement, step-backs, ratio of step-backs to the rightward or leftward displacement, or asymmetry of left-right displacement for the walk motion in left and right direction, index such as vertical displacement, torso lift, ratio of torso lift to vertical amplitude, or asymmetry of vertical displacement for the walk motion in vertical direction, or index such as step, asymmetry of the step for the walk motion in advancing direction, walk period, asymmetry of walk period, fluctuation of walk period, asymmetry in ground contact, left-right fluctuation of the center of gravity of the body during a walk.