Method and system for monitoring terrain and gait and predicting upcoming terrain

• US 10,524,699 B2
• Filed: 12/20/2013
• Issued: 01/07/2020
• Est. Priority Date: 12/26/2012
• Status: Active Grant

• Current Assignee: Rochester Institute of Technology
• Original Assignee: Rochester Institute of Technology
• Inventors: Sullivan, Christopher, DeBartolo, Elizabeth, Lamkin-Kennard, Kathleen
• Primary Examiner(s): Fernandes, Patrick
• Application Number:
  US14/136,567
• Publication Number:
  US 20140180173A1
• Time in Patent Office: 2,209 Days
• CPC Class Codes: A61B 5/0002 Remote monitoring of patients using telemetry, e.g. transmission of vital signals via a communication network A61B5/07 takes precedence; transmission systems for measured values G08C; transmission H04B; transmission of digital information H04L; wireless communication networks H04W
• CPC Class Codes: A61B 5/112 Gait analysis

Abstract

The system and method of the present invention utilizes one or more sensors to generate data attached to a person interfaced with a data monitoring computing device and a data management computing device monitoring the terrain the individual is traversing and gait at which the individual is traversing the terrain, in addition to predicting the terrain the individual is about to traverse.

Claims

1. A method for monitoring terrain and gait of a subject traversing terrain, the method comprising:

characterizing a gait pattern of the subject traversing a plurality of terrain types for each of the plurality of terrain types traversed by;

receiving by a management computing device a first terrain data from a first proximity sensor on a first appendage of the subject, comprising determining a distance between the first proximity sensor and a surface of an approaching terrain throughout a gait cycle of the subject while traversing each of the plurality of terrain types and receiving by the management computing device a first gait speed data relating to the gait of the subject from a first gait sensor on a second appendage of the subject throughout the gait cycle of the subject while traversing each of the plurality of terrain types to establish a periodic terrain model normalized by gait period by applying a periodic function to the first terrain data establishing gait speed as an independent variable to the periodic terrain model specific to the subject for each of the plurality of terrain types traversed, wherein the first and second appendages can be the same or different appendages;

monitoring the gait pattern of the subject traversing a second terrain by receiving by the management computing device a second terrain data from the first proximity sensor and a second gait speed data from a second gait sensor to scale in time the periodic terrain model normalized by gait period to the incoming second gait speed data to identify the second terrain being traversed from established periodic terrain models;

predicting an upcoming terrain by the management computing device from the received second gait speed data and the second terrain data for the subject; and

providing a signal to the subject or a device worn by the subject based on the predicted upcoming terrain.

2. The method as set forth in claim 1 wherein the first proximity sensor and the first gait sensor are the same sensor.

3. The method as set forth in claim 1 wherein the first proximity sensor and the first gait sensor comprise at least two separate sensors.

4. The method as set forth in claim 1 further comprising defining a second gait cycle for the subject by the management computing device based on the second gait speed data and the predicting further comprises providing by the management computing device the second gait cycle.

5. The method as set forth in claim 4 further comprising identifying a type of terrain by the management computing device based on comparing the received second terrain data and the second gait cycle with calibrated terrain curves and the predicting further comprises providing by the management computing device the identified type of terrain traversed.

6. The method as set forth in claim 5 further comprising predicting a type of upcoming terrain by the management computing device based on comparing the received second terrain data and the second gait cycle over a portion of the second gait cycle between heel strike and toe-off with calibrated terrain model curves and the predicting further comprises providing by the management computing device the predicted type of upcoming terrain.

7. The method as set forth in claim 1 wherein the first gait sensor is positioned at a location on the second appendage of the subject so as to switch from a first reading indicating a first position in the gait cycle to second reading indicating a second position in the gait cycle once during the gait cycle to determine when a threshold value is exceeded.

8. The method as set forth in claim 4 wherein the second gait cycle is derived from the second terrain data.

9. The method as set forth in claim 1 wherein the first gait sensor and the first proximity sensor each comprise a proximity sensor.

10. The method as set forth in claim 9 wherein the proximity sensor comprises one of an infrared sensor, an ultrasonic sensor, and a laser sensor.

11. The method as set forth in claim 5 further comprising determining by the management computing device at least one of when the gait pattern of the subject has changed over time, average gait speed, changes in the gait speed, or one or more deviations from the gait pattern based on the second gait cycle, wherein the predicting further comprises providing by the management computing device the determined change in the gait pattern over time, the determined average gait speed, the determined changes in the gait speed, or the determined one or more deviations from the gait pattern.

12. The method as set forth in claim 1 wherein the first appendage comprises an orthotic or prosthesis and further comprising adapting the subject'"'"'s foot position to the predicted upcoming terrain by actuating the orthotic or prosthesis in response to the signal.

13. A non-transitory computer readable medium having stored thereon instructions for simultaneously monitoring terrain and gait of a subject traversing terrain comprising machine executable code which when executed by at least one processor, causes the processor to perform steps comprising:

characterizing a gait pattern of the subject traversing a plurality of terrain types for each of the plurality of terrain types traversed by;

receiving by a management computing device a first terrain data from a first proximity sensor on a first appendage of the subject, comprising determining a distance between the first proximity sensor and a surface of an approaching terrain throughout a gait cycle of the subject while traversing each of the plurality of terrain types and receiving by the management computing device a first gait speed data relating to the gait of the subject from a first gait sensor on a second appendage of the subject throughout the gait cycle of the subject while traversing each of the plurality of terrain types to establish a periodic terrain model normalized by gait period by applying a periodic function to the first terrain data establishing gait speed as an independent variable to the periodic terrain model specific to the subject for each of the plurality of terrain types traversed, wherein the first and second appendages can be the same or different appendages;

monitoring the gait pattern of the subject traversing a second terrain by receiving by the management computing device a second terrain data from the first proximity sensor and a second gait speed data from a second gait sensor to scale in time the periodic terrain model normalized by gait period to the incoming second gait speed data to identify the second terrain being traversed from established periodic terrain models;

predicting an upcoming terrain by the management computing device from the received second gait speed data and the second terrain data for the subject; and

providing a signal to the subject or device based on the predicted upcoming terrain.

14. The non-transitory computer readable medium as set forth in claim 13 wherein the first proximity sensor and the first gait sensor are the same sensor.

15. The non-transitory computer readable medium as set forth in claim 13 wherein the first proximity sensor and the first gait sensor comprise at least two separate sensors.

16. The non-transitory computer readable medium as set forth in claim 13 further comprising defining a second gait cycle for the subject by the management computing device based on the second gait speed data and the predicting further comprises providing by the management computing device the second gait cycle.

17. The non-transitory computer readable medium as set forth in claim 16 further comprising identifying a type of terrain by the management computing device based on comparing the received second terrain data and the second gait cycle with calibrated terrain curves and the providing further comprises predicting by the management computing device the identified type of terrain traversed.

18. The non-transitory computer readable medium as set forth in claim 17 further comprising predicting a type of upcoming terrain by the management computing device based on comparing the received second terrain data and the second gait cycle over a portion of the second gait cycle between heel strike and toe-off with calibrated terrain curves and the providing further comprises predicting by the management computing device the predicted type of upcoming terrain.

19. The non-transitory computer readable medium as set forth in claim 13 wherein the first gait sensor is positioned at a location on the second appendage of the subject so as to switch from a first reading indicating a first position in the gait cycle to second reading indicating a second position in the gait cycle once during the gait cycle to determine when a threshold value is exceeded.

20. The non-transitory computer readable medium as set forth in claim 16 wherein the second gait cycle is derived from the second terrain data.

21. The non-transitory computer readable medium as set forth in claim 13 wherein the first gait sensor and the first proximity sensor each comprise a proximity sensor.

22. The non-transitory computer readable medium as set forth in claim 21 wherein the proximity sensor comprises one of an infrared sensor, an ultrasonic sensor, and a laser sensor.

23. The non-transitory computer readable medium as set forth in claim 17 further comprising determining by the management computing device at least one of when the gait pattern of the subject has changed over time, average gait speed, changes in the gait speed, or one or more deviations from the gait pattern based on the second gait cycle, wherein the predicting further comprises providing by the management computing device the determined change in the gait pattern over time, the determined average gait speed, the determined changes in the gait speed, or the determined one or more deviations from the gait pattern.

24. The non-transitory computer readable medium as set forth in claim 13 wherein the first appendage comprises an orthotic or prosthesis and further comprising adapting the subject'"'"'s foot position to the predicted upcoming terrain by actuating the orthotic or prosthesis in response to the signal.

25. A terrain and gait monitoring system comprising:

one or more sensors; and

a management computing device coupled to the one or more sensors, the management computing device comprising a memory coupled to one or more processors which are configured to execute programmed instructions stored in the memory comprising;

characterizing the gait pattern of the subject traversing a plurality of terrain types for each of the plurality of terrain types traversed by;

receiving first terrain data from a first proximity sensor on a first appendage of the subject, comprising determining a distance between the first proximity sensor and a surface of an approaching terrain throughout a gait cycle of the subject while traversing the each of the plurality of terrain types;

receiving a first gait speed data relating to the gait of the subject from a first gait sensor on a second appendage of the subject throughout the gait cycle of the subject while traversing each of the plurality of terrain types to establish a periodic terrain model normalized by gait period by applying a periodic function series to the first terrain data establishing gait speed as an independent variable to the periodic terrain model specific to the subject for each of the plurality of terrain types traversed, wherein the first and second appendages can be the same or different appendages;

monitoring the gait pattern of the subject traversing a second terrain by receiving by the management computing device a second terrain data from the first proximity sensor and a second gait speed data from a second gait sensor to scale in time the periodic terrain model normalized by gait period to the incoming second gait speed data to identify the second terrain being traversed from established periodic terrain models;

predicting an upcoming terrain from the received second gait speed data and the second terrain data for the subject; and

providing a signal to the subject or device based on the predicted upcoming terrain.

26. The system as set forth in claim 25 wherein the first proximity sensor and the first gait sensor are the same sensor.

27. The system as set forth in claim 25 wherein the first proximity sensor and the first gait sensor comprise at least two separate sensors.

28. The system as set forth in claim 25 further comprising defining a second gait cycle for the subject by the management computing device based on the second gait speed data and the predicting further comprises providing by the management computing device the second gait cycle.

29. The system as set forth in claim 28 further comprising identifying a type of terrain by the management computing device based on comparing the received second terrain data and the second gait cycle with calibrated terrain curves and the providing further comprises predicting by the management computing device the identified type of terrain traversed.

30. The system as set forth in claim 29 further comprising predicting a type of upcoming terrain by the management computing device based on comparing the received second terrain data and the second gait cycle over a portion of the second gait cycle between heel strike and toe-off with calibrated terrain model curves and the predicting further comprises providing by the management computing device the predicted type of upcoming terrain.

31. The system as set forth in claim 25 wherein the first gait sensor is positioned at a location on the second appendage of the subject so as to switch from a first reading indicating a first position in the gait cycle to second reading indicating a second position in the gait cycle once during the gait cycle to determine when a threshold value is exceeded.

32. The system as set forth in claim 28 wherein the second gait cycle is derived from the second terrain data.

33. The system as set forth in claim 25 wherein the first gait sensor and the first proximity sensor each comprise a proximity sensor.

34. The system as set forth in claim 33 wherein the proximity sensor comprises one of an infrared sensor, an ultrasonic sensor, and a laser sensor.

35. The system as set forth in claim 29 further comprising determining by the management computing device at least one of when a gait pattern of the subject has changed over time, average gait speed, changes in the gait speed, or one or more deviations from the gait pattern based on the defined gait cycle, wherein the predicting further comprises providing by the management computing device the determined change in the gait pattern over time, the determined average gait speed, the determined changes in the gait speed, or the determined one or more deviations from the gait pattern.

36. The system as set forth in claim 25 wherein the first appendage comprises an orthotic or prosthesis and further comprising adapting the subject'"'"'s foot position to the predicted upcoming terrain by actuating the orthotic or prosthesis in response to the signal.