Portable ranging system for analyzing gait

• US 5,831,937 A
• Filed: 04/09/1997
• Issued: 11/03/1998
• Est. Priority Date: 04/09/1997
• Status: Expired due to Fees

• Current Assignee: Northwestern University
• Original Assignee: Northwestern University
• Inventors: Childress, Dudley S., Weir, Richard F. ff., Licameli, Joseph N.
• Primary Examiner(s): Pihulic, Daniel T.
• Application Number:
  US08/833,601
• Time in Patent Office: 573 Days
• Field of Search: 367/128, 367/98, 600/407
• US Class Current: 367/128
• CPC Class Codes: A61B 5/1038 Measuring plantar pressure during gait
• CPC Class Codes: G01S 11/14 using ultrasonic, sonic, or infrasonic waves
• CPC Class Codes: G01S 11/16 using difference in transit time between electrical and acoustic signals
• CPC Class Codes: G06V 40/25 Recognition of walking or running movements, e.g. gait recognition

Abstract

A portable ranging system for analyzing gait is disclosed comprising a transponder having an infrared receiver and an ultrasound emitter, a base unit having an infrared emitter and an ultrasound receiver, and a computer terminal. During gait analysis, the transponder is worn by a subject at approximately the level of the body center of mass. As the subject walks away from the base unit, the base unit continuously causes, at a constant sampling rate, the ultrasound emitter to emit ultrasound pulses. These ultrasound pulses are received by the ultrasound receiver of the base unit. The computer terminal, by counting during the flight of each ultrasound pulse, is able to calculate the time of flight of each ultrasound pulse, and thus calculate and display in real time the forward progression of the subject. At the end of the walking trial, the computer terminal displays the instantaneous velocity profile, or gait velocigram (GVG), for that trial. From the GVG, the computer terminal calculates and displays gait parameters such as gait speed, cadence, step time, step length, peak-to-peak variation, and time to achieve steady state walking. From the displayed data, gait pathologies can be readily identified.

Claims

1. A portable ranging system comprising:

circuitry, said circuitry responsive to actuation for initiating a count;

an infrared emitter, said infrared emitter responsive to said circuitry for emitting high-intensity infrared light to flood a ranging area with infrared light;

an ultrasound emitter,

an infrared receiver within the ranging area, said infrared receiver responsive to said infrared light for causing said ultrasound emitter to emit an ultrasound pulse; and

an ultrasound receiver, said ultrasound receiver responsive to said ultrasound pulse to cause said circuitry to terminate the count, said circuitry using the count to compute the distance between the ultrasound emitter and the ultrasound receiver.

2. The portable ranging system of claim 1 wherein said infrared emitter and said ultrasound receiver are housed in a self-contained unit.

3. The portable ranging system of claim 1 wherein said infrared receiver and said ultrasound emitter are housed in a self-contained battery powered unit.

4. The portable ranging system of claim 1 wherein said infrared emitter is an infrared strobe.

5. The portable ranging system of claim 1 wherein said circuitry includes a computer terminal under software control.

6. The portable ranging system of claim 1 wherein the circuitry performs a count and triggers the infrared emitter during each of a plurality of constant time periods as one of the ultrasound emitter or ultrasound receiver moves relative to the other within the ranging area, and wherein the circuitry uses the counts to compute the distance between the one of the ultrasound emitter or the ultrasound receiver that is moving and the other for each of the plurality of constant time periods.

7. The portable ranging system of claim 6 wherein said circuitry uses the distance computed for each of the plurality of time periods to compute the velocity of the one of the ultrasound emitter or the ultrasound receiver that is moving.

8. The portable ranging system of claim 1 wherein said circuitry includes temperature calibration means for taking into account in the distance computation the effects of temperature on the speed of the ultrasound pulse.

9. The portable ranging system of claim 6 wherein said circuitry includes temperature calibration means for taking into account in the distance computation the effects of temperature on the speed of the ultrasound pulse.

10. The portable ranging system of claim 9 wherein said circuitry uses the distance computed for each of the plurality of time periods to compute the velocity of the one of the ultrasound emitter or the ultrasound receiver that is moving.

11. A portable ranging system comprising:

circuitry, said circuitry responsive to actuation to initiate a count;

a base unit having an infrared emitter and an ultrasound receiver, said base unit responsive to the actuation of the circuitry for causing the infrared emitter to emit high-intensity infrared light to flood a ranging area with infrared light;

a transponder having an infrared receiver and an ultrasound emitter, said transponder responsive to receipt of the infrared light for causing the ultrasound emitter to emit an ultrasound pulse; and

said base unit responsive to receipt of the ultrasound pulse to cause said circuitry to terminate the count, said circuitry using the count to compute the distance between the transponder and the base unit.

12. The portable ranging system of claim 11 wherein said infrared emitter is an infrared strobe.

13. The portable ranging system of claim 11 wherein said circuitry includes a computer terminal under software control.

14. The portable ranging system of claim 11 wherein said circuitry performs a count and triggers said base unit to cause the infrared emitter to flood the ranging area during each of a plurality of constant time periods as the transponder moves relative to the base unit within the ranging area, and wherein the circuitry uses the counts to compute the distance between the transponder and the base unit for each of the plurality of constant time periods.

15. The portable ranging system of claim 14 wherein said transponder is worn by a subject who is walking.

16. The portable ranging system of claim 15 wherein the circuitry computes a plurality of gait parameters for the walking subject.

17. The portable ranging system of claim 16 wherein the circuitry includes a computer terminal under software control having a display, and wherein the computer terminal displays the plurality of gait parameters on the display.

18. The portable ranging system of claim 17 wherein the plurality of gait parameters includes at least two of mean walking velocity, mean acceleration, instantaneous forward walking velocity, maximum walking velocity, minimum walking velocity, step length, step time, cadence, average walking velocity, maximum instantaneous velocity, peak to peak velocity variation, time to achieve steady state walking and minimum instantaneous velocity.

19. In a portable ranging system having circuitry, a base unit, and a transponder, the method of computing the velocity of the transponder as it moves relative to the base unit within a ranging area, the method comprising the steps of:

(a) counting by the circuitry in response to an actuation of the circuitry,

(b) triggering by the circuitry the base unit in response to the actuation of said circuitry;

(c) flooding by the base unit the ranging area with infrared light in response to said triggering;

(d) receiving by the transponder the infrared light;

(e) emitting by the transponder an ultrasound pulse in response to said step of receiving by the transponder of the infrared light;

(f) receiving by the base unit the ultrasound pulse;

(g) signalling by the base unit said circuitry in response to said step of receiving by the base unit the ultrasound pulse;

(h) terminating by said circuitry said counting in response to said step of signalling;

(i) repeating steps (a) through (h) for each of a plurality of constant time periods;

(j) computing using count data from said counting the distance of the transponder from the base unit for each of the plurality of constant time periods; and

(k) differentiating the distance data computed in step (j) to obtain the velocity.

20. The method of claim 19 wherein the circuitry includes a computer terminal having a display, the method further comprising the step of:

(1) displaying by the circuitry the velocity data on the display.

21. A portable ranging system comprising:

circuitry, said circuitry responsive to actuation for initiating a count;

an infrared emitter, said infrared emitter responsive to said circuitry for emitting high-intensity infrared light to flood a ranging area with infrared light;

an ultrasound emitter;

an infrared receiver,

said infrared receiver responsive to infrared light for causing said ultrasound emitter to emit an ultrasound pulse;

an ultrasound receiver, said ultrasound receiver responsive to a signal for causing said circuitry to terminate the count, said circuitry using the count to compute the distance between the ultrasound emitter and the ultrasound receiver; and

means for ensuring that the signal is the ultrasound pulse.

22. The portable ranging system of claim 21 wherein said infrared emitter, said ultrasound receiver, and said means are housed in a selfcontained unit.

23. The portable ranging system of claim 21 wherein said infrared receiver and said ultrasound emitter are housed in a self-contained battery powered unit.

24. The portable ranging system of claim 21 wherein the infrared emitter floods the ranging area with infrared light.

25. The portable ranging system of claim 24 wherein the infrared emitter is an infrared strobe.

26. The portable ranging system of claim 21 wherein said circuitry includes a computer terminal under software control.

27. The portable ranging system of claim 21 wherein the circuitry performs a count and triggers the infrared emitter during each of a plurality of constant time periods as one of the ultrasound emitter or ultrasound receiver moves relative to the other within the ranging area, and wherein the circuitry uses the counts to compute the distance between the one of the ultrasound emitter or the ultrasound receiver that is moving and the other for each of the plurality of constant time periods.

28. The portable ranging system of claim 27 wherein said circuitry uses the distance computed for each of the plurality of time periods to compute the velocity of the one of the ultrasound emitter or the ultrasound receiver that is moving.

29. The portable ranging system of claim 21 wherein said circuitry includes temperature calibration means for taking into account in the distance computation the effects of temperature on the speed of the ultrasound pulse.

30. The portable ranging system of claim 27 wherein said circuitry includes temperature calibration means for taking into account in the distance computation the effects of temperature on the speed of the ultrasound pulse.

31. The portable ranging system of claim 30 wherein said circuitry uses the distance computed for each of the plurality of time periods to compute the velocity of the one of the ultrasound emitter or the ultrasound receiver that is moving.

32. A portable ranging system comprising:

circuitry, said circuitry responsive to actuation for initiating a count;

a base unit having an infrared emitter and an ultrasound receiver, said base unit causing the infrared emitter to emit high-intensity infrared light for flooding a ranging area with infrared light;

a transponder having an infrared receiver and an ultrasound emitter, said transponder responsive to receipt of the infrared light for causing the ultrasound emitter to emit an ultrasound pulse;

means responsive to the circuitry for preventing noise received and/or present in the system from falsely triggering the receipt of an ultrasound pulse, and for causing said circuitry to terminate the count upon receipt of the ultrasound pulse; and

said circuitry using the count to compute the distance between the transponder and the base unit.

35. The portable ranging system of claim 32 wherein said circuitry performs a count and triggers said base unit to cause the infrared emitter to emit infrared light within the ranging area during each of a plurality of constant time periods as the transponder moves relative to the base unit within the ranging area, and wherein the circuitry uses the counts to compute the distance between the transponder and the base unit for each of the plurality of constant time periods.

36. The portable ranging system of claim 35 wherein said transponder is worn by a subject who is walking.

37. The portable ranging system of claim 36 wherein the circuitry computes a plurality of gait parameters for the walking subject.

38. The portable ranging system of claim 37 wherein the circuitry includes a computer terminal under software control having a display, and wherein the computer terminal displays the plurality of gait parameters on the display.

39. The portable ranging system of claim 38 wherein the plurality of gait parameters includes at least two of mean walking velocity, mean acceleration, instantaneous forward walking velocity, maximum walking velocity, minimum walking velocity, step length, step time, cadence, average walking, velocity, maximum instantaneous velocity, peak to peak velocity vriation, time to achieve steady state walking and minimum instantaneous velocity.

33. A portable ranging system comprising:

processing circuitry;

control circuitry, said control circuitry causing the initiation of a count by the processing circuitry;

an infrared emitter, said infrared emitter responsive to said control circuitry for flooding a ranging area with infrared light,

an infrared receiver for receiving the infrared light;

an ultrasound emitter for emitting an ultrasound pulse within the ranging area;

an ultrasound receiver, said ultrasound receiver responsive to said ultrasound pulse to cause the processing circuitry to terminate the count, said processing circuitry performing a count and the control circuitry triggering the infrared emitter during each of a plurality of constant time periods as one of the ultrasound emitter or ultrasound receiver moves relative to the other within the ranging area; and

said processing circuitry using the count to compute the distance between the one of the ultrasound emitter and the ultrasound receiver that is moving and the other for each of the plurality of constant time periods, said processing circuitry using the distance computed for each of the plurality of time periods to compute the velocity of the one of the ultrasound emitter or the ultrasound receiver that is moving.

34. The portable ranging system of claim 33 wherein the infrared emitter is an infrared strobe.

40. In a portable ranging system having circuitry, a base unit, and a transponder, the method of computing the velocity of the transponder as it moves relative to the base unit within a ranging area, the method comprising the steps of:

(a) counting by the circuitry in response to an actuation of the circuitry,

(b) triggering by the circuitry the base unit in response to the actuation of the circuitry;

(c) emitting by the base unit within the ranging area infrared light in response to said step of triggering;

(d) receiving by the transponder the infrared light;

(e) emitting by the transponder an ultrasound pulse in response to said step of receiving by the transponder the infrared light;

(f) receiving by the base unit of signals;

(g) determining by the base unit that one of the signals received is the ultrasound pulse;

(h) signalling by the base unit said circuitry in response to said step of determining;

(i) terminating by said circuitry said counting in response to said step of signalling;

(j) repeating steps (a) through (i) for each of a plurality of constant time periods;

(k) computing by the circuitry using count data the distance of the transponder from the base unit for each of the plurality of constant time periods; and

(l) differentiating the distance data computed in step (k) to obtain the velocity.

41. The method of claim 40 wherein the circuitry includes a computer terminal having a display, the method further comprising the step of:

(m) displaying by the circuitry the velocity data on the display.

42. A portable ranging system comprising:

processing circuitry;

control circuitry, said control circuitry causing the initiation of a count by the processing circuitry;

an infrared emitter, said infrared emitter responsive to said control circuitry for emitting high-intensity infrared light to flood a ranging area with infrared light,

an infrared receiver for receiving the infrared light;

an ultrasound emitter for emitting an ultrasound pulse within the ranging area;

an ultrasound receiver, said ultrasound receiver responsive to said ultrasound pulse to cause the processing circuitry to terminate the count; and

said processing circuitry using the count to compute the distance between the ultrasound emitter and the ultrasound receiver.

43. The portable ranging system of claim 42 wherein the processing circuitry performs a count and the control circuitry triggers the infrared emitter during each of a plurality of constant time periods as one of the ultrasound emitter or ultrasound receiver moves relative to the other within the ranging area, and wherein the processing circuitry uses the counts to compute the distance between the one of the ultrasound emitter or the ultrasound receiver that is moving and the other for each of the plurality of constant time periods.

44. The portable ranging system of claim 43 wherein said processing circuitry uses the distance computed for each of the plurality of time periods to compute the velocity of the one of the ultrasound emitter or the ultrasound receiver that is moving.

45. A portable ranging system comprising:

circuitry, said circuitry responsive to actuation for initiating a count;

an infrared emitter, said infrared emitter responsive to said circuitry for emitting infrared light in a ranging area;

an ultrasound emitter;

an infrared receiver, said infrared receiver responsive to infrared light for causing said ultrasound emitter to emit an ultrasound pulse;

an ultrasound receiver, said ultrasound receiver responsive to a signal for causing said circuitry to terminate the count, said circuitry performing a count and triggering the infrared emitter during each of a plurality of constant time periods as one of the ultrasound emitter or ultrasound receiver moves relative to the other within the ranging area, said circuitry using the count to compute the distance between the one of the ultrasound emitter and the ultrasound receiver that is moving and the other for each of the plurality of constant time periods, said circuitry using the distance computed for each of the plurality of time periods to compute the velocity of the one of the ultrasound emitter or the ultrasound receiver that is moving; and

means for ensuring that the signal is the ultrasound pulse.

46. The portable ranging system of claim 45 wherein said circuitry includes temperature calibration means for taking into account in the distance computations the effects of temperature on the speed of the ultrasound pulse.

47. The portable ranging system of claim 46 wherein the infrared emitter floods the ranging area with infrared light.

48. The portable ranging system of claim 47 wherein the infrared emitter is an infrared strobe.

49. A portable ranging system comprising:

circuitry, said circuitry responsive to actuation for initiating a count;

a base unit having an infrared emitter and an ultrasound receiver, said base unit causing the infrared emitter to emit infrared light within a ranging area;

a transponder worn by a subject who is walking, said transponder having an infrared receiver and an ultrasound emitter, said transponder responsive to receipt of the infrared light for causing the ultrasound emitter to emit an ultrasound pulse; and

means for preventing noise received and/or present in the system from falsely triggering the receipt of an ultrasound pulse, and for causing said circuitry to terminate the count upon receipt of the ultrasound pulse, said circuitry performing a count and triggering said base unit to cause the infrared emitter to emit infrared light within the ranging area during each of a plurality of constant time periods as the transponder moves relative to the base unit within the ranging area;

said circuitry using the count to compute the distance between the transponder and the base unit for each of the plurality of constant time periods, and said circuitry computing a plurality of gait parameters for the walking subject.

50. The portable ranging system of claim 49 wherein the circuitry includes a computer terminal under software control having a display, and wherein the computer terminal displays the plurality of gait parameters on the display.

51. The portable ranging system of claim 50 wherein the plurality of gait parameters includes at least two of mean walking velocity, mean acceleration, instantaneous forward walking velocity, maximum walking velocity, minimum walking velocity, step length, step time, cadence, average walking velocity, maximum instantaneous velocity, peak to peak velocity variation, time to achieve steady state walking and minimum instantaneous velocity.

52. In a portable ranging system having control circuitry, processing circuitry, thresholding circuitry, an ultrasound emitter, and an ultrasound receiver, the method of computing the velocity of one of the ultrasound emitter or ultrasound receiver as the one moves relative to the other, said method comprising the steps of:

(a) causing by said control circuitry the triggering of the processing circuitry and the ultrasound emitter;

(b) counting by the processing circuitry in response to said triggering;

(c) emitting by the ultrasound emitter an ultrasound pulse in response to said triggering;

(d) receiving by the ultrasound receiver signals;

(e) comparing by the thresholding circuitry the signals received by the ultrasound emitter to a time varying adaptive threshold;

(f) signalling by the thresholding circuitry the processing circuitry when a signal received is greater than the time varying adaptive threshold;

(g) terminating by the processing circuitry said counting in response to said step of signalling; and

(h) repeating steps (a) through (g) for each of a plurality of constant time periods;

(i) calculating using count data from said counting the distance of the ultrasound emitter from the ultrasound receiver for each of the plurality of constant time periods;

(j) differentiating the distance data calculated in step (i) to obtain velocity.

53. The method of claim 52 wherein the processing circuitry includes a computer terminal and a display, said method further comprising the step of:

(k) displaying by the control circuitry the velocity data on the display.

54. A portable ranging system comprising:

processing circuitry;

an ultrasound emitter;

control circuitry, said control circuitry causing the initiation of a count by the processing circuitry and for causing the ultrasound emitter to emit an ultrasound pulse;

an ultrasound receiver;

means for analyzing signals received at the ultrasound receiver for determining that the ultrasound pulse has been received, and for causing said processing circuitry to terminate the count upon receipt of the ultrasound pulse, said processing circuitry performing a count and the control circuitry causing the ultrasound emitter to emit an ultrasound pulse during each of a plurality of constant time periods as one of the ultrasound emitter or ultrasound receiver moves relative to the other within the ranging area, and

said processing circuitry using the count to compute the distance between the one of the ultrasound emitter and the ultrasound receiver that is moving and the other for each of the plurality of constant time periods, said processing circuitry using the distance computed for each of the plurality of time periods to compute the velocity of the one of the ultrasound emitter or the ultrasound receiver that is moving.

55. A portable ranging system comprising:

circuitry, said circuitry responsive to actuation for initiating a count;

an infrared emitter, said infrared emitter responsive to said circuitry for flooding a ranging area with infrared light;

an ultrasound emitter,

an infrared receiver within the ranging area, said infrared receiver responsive to said infrared light for causing said ultrasound emitter to emit an ultrasound pulse; and

an ultrasound receiver, said ultrasound receiver responsive to said ultrasound pulse to cause said circuitry to terminate the count, said circuitry performing a count and triggering the infrared emitter during each of a plurality of constant time periods as one of the ultrasound emitter or ultrasound receiver moves relative to the other within the ranging area, said circuitry using the count to compute the distance between the one of the ultrasound emitter and the ultrasound receiver that is moving and the other for each of the plurality of constant time periods, said circuitry using the distance computed for each of the plurality of time periods to compute the velocity of the one of the ultrasound emitter or the ultrasound receiver that is moving.

56. The portable ranging system of claim 55 wherein said circuitry includes temperature calibration means for taking into account in the distance computations the effects of temperature on the speed of the ultrasound pulse.

57. A portable ranging system comprising:

circuitry, said circuitry responsive to actuation to initiate a count;

a base unit having an infrared emitter and an ultrasound receiver, said base unit responsive to the actuation of the circuitry for causing the infrared emitter to flood a ranging area with infrared light;

a transponder worn by subject who is walking, said transponder having an infrared receiver and an ultrasound emitter, said transponder responsive to receipt of the infrared light for causing the ultrasound emitter to emit an ultrasound pulse; and

said base unit responsive to receipt of the ultrasound pulse to cause said circuitry to terminate the count, said circuitry performing a count and triggering said base unit to cause the infrared emitter to flood the ranging area during each of a plurality of constant time periods as the transponder moves relative to the base unit within the ranging area, said circuitry using the count to compute the distance between the transponder and the base unit for each of the plurality of constant time periods, and said circuitry computing a plurality of gait parameters for the walking subject.

58. The portable ranging system of claim 57 wherein the circuitry includes a computer terminal under software control having a display, and wherein the computer terminal displays the plurality of gait parameters on the display.

59. The portable ranging system of claim 58 wherein the plurality of gait parameters includes at least two of mean walking velocity, mean acceleration, instantaneous forward walking velocity, maximum walking velocity, minimum walking velocity, step length, step time, cadence, average walking velocity, maximum instantaneous velocity, peak to peak velocity variation, time to achieve steady state walking and minimum instantaneous velocity.

60. A portable ranging system comprising:

an infrared emitter for emitting an infrared pulse for each of a plurality of time periods;

an ultrasound emitter;

an infrared receiver, said infrared receiver responsive to the infrared pulse received for causing the ultrasound emitter to emit an ultrasound pulse for each of the plurality of time periods;

an ultrasound receiver for receiving the ultrasound pulse for each of the plurality of time periods;

circuitry for determining an elapsed time from emission of the infrared pulse to receipt of the ultrasound pulse for each of the plurality of time periods as one of the ultrasound emitter or ultrasound receiver moves relative to the other; and

said circuitry using the elapsed time for each of the plurality of time periods to calculate at least one of a plurality of parameters for the one of the ultrasound emitter or ultrasound receiver that moves, said plurality of parameters comprised of mean velocity, mean acceleration, instantaneous forward velocity, maximum velocity, minimum velocity, and peak to peak velocity variation.

61. The portable ranging system of claim 60 wherein the circuitry includes a computer terminal under software control having a display, and wherein the computer terminal displays the at least one of the plurality of parameters on the display.

62. The portable ranging system of claim 61 wherein the at least one of the plurality of parameters is displayed in a graphical format.

63. The portable ranging system of claim 61 wherein the at least one of the plurality of parameters is displayed in real time as the one of the ultrasound emitter or ultrasound receiver moves.

64. The portable ranging system of claim 62 wherein the at lest one of the plurality of parameters is displayed in real time as the one of the ultrasound emitter or ultrasound receiver moves.

65. A portable ranging system comprising:

a base unit having an infrared emitter and an ultrasound receiver, said infrared emitter for emitting an infrared pulse for each of a plurality of time periods;

a transponder having an infrared receiver and an ultrasound emitter, said infrared receiver responsive to the infrared pulse for causing the ultrasound emitter to emit an ultrasound pulse for each of the plurality of time periods, said ultrasound receiver for receiving the ultrasound pulse for each of the plurality of time periods;

circuitry for determining an elapsed time from emission of the ultrasound pulse to receipt of the ultrasound pulse for each of the plurality of time periods; and

said circuitry using the elapsed time for each of the plurality of time periods to calculate at least one of a plurality of parameters for the transponder as it moves, said plurality of parameters comprised of mean velocity, mean acceleration, instantaneous forward velocity, maximum velocity, minimum velocity, and peak to peak velocity variation.

66. The portable ranging system of claim 65 wherein the circuitry includes a computer terminal under software control having a display, and wherein the computer terminal displays the at least one of the plurality of parameters on the display.

67. The portable ranging system of claim 66 wherein the transponder is worn by a walking subject and the at least one of the plurality of parameters comprises at least one gait parameter for the walking subject.

68. The portable ranging system of claim 66 wherein the at least one of the plurality of parameters is displayed in a graphical format.

69. The portable ranging system of claim 66 wherein the at least one of the plurality of parameters is displayed in real time as the transponder moves.

70. The portable ranging system of claim 68 wherein the at least one of the plurality of parameters is displayed in real time as the transponder moves.

71. The portable ranging system of claim 67 wherein the at least one gait parameter is displayed in a graphical format.

72. The portable ranging system of claim 67 wherein the at least one gait parameter is displayed in real time as the subject walks.

73. The portable ranging system of claim 71 wherein the at least one gait parameter is displayed in real time as the subject walks.

74. A portable ranging system comprising:

an ultrasound emitter for emitting an ultrasound pulse for each of a plurality of time periods;

an ultrasound receiver for receiving the ultrasound pulse for each of the plurality of time periods;

circuitry for determining an elapsed time from emission of the ultrasound pulse to receipt of the ultrasound pulse for each of the plurality of time periods as one of the ultrasound emitter or ultrasound receiver moves relative to the other; and

said circuitry using the elapsed time for each of the plurality of time periods to calculate at least one of a plurality of parameters for the one of the ultrasound emitter or ultrasound receiver that moves, said plurality of parameters comprised of mean velocity, mean acceleration, instantaneous forward velocity, maximum velocity, minimum velocity, and peak to peak velocity variation.

75. The portable ranging system of claim 74 wherein the circuitry includes a computer terminal under software control having a display, and wherein the computer terminal displays the at least one of the plurality of parameters on the display.

76. The portable ranging system of claim 75 wherein the at least one of the plurality of parameters is displayed in a graphical format.

77. The portable ranging system of claim 75 wherein the at least one of the plurality of parameters is displayed in real time as the one of the ultrasound emitter or ultrasound receiver moves.

78. The portable ranging system of claim 76 wherein the at least one of the plurality of parameters is displayed in real time as the one of the ultrasound emitter or ultrasound receiver moves.

79. The portable ranging system of claim 74 wherein the ultrasound emitter is worn by a walking subject and the at least one of the plurality of parameters comprises at least one gait parameter for the walking subject.

80. The portable ranging system of claim 75 wherein the ultrasound emitter is worn by a walking subject and the at least one of the plurality of parameters comprises at least one gait parameter for the walking subject.

81. The portable ranging system of claim 80 wherein the at least one gait parameter is displayed in a graphical format.

82. The portable ranging system of claim 80 wherein the at least one gait parameter is displayed in real time as the subject walks.

83. The portable ranging system of claim 81 wherein the at least one gait parameter is displayed in real time as the subject walks.

84. A portable ranging system comprising;

processing circuitry;

an ultrasound emitter,

control circuitry, said control circuitry responsive to actuation for causing the initiation of a count by the processing circuitry and for causing the ultrasound emitter to emit an ultrasound pulse;

an ultrasound receiver;

circuitry for comparing signals received at the ultrasound receiver to a time varying adaptive threshold and for causing said processing circuitry to terminate the count when the signal received is greater than the threshold, said processing circuitry performing a count and said control circuitry causing the ultrasound emitter to emit an ultrasound pulse during each of a plurality of constant time periods as one of the ultrasound emitter or ultrasound receiver moves relative to the other within the ranging area; and

said processing circuitry using the count to compute the distance between the one of the ultrasound emitter and the ultrasound receiver that is moving for each of the plurality of constant time periods, said processing circuitry using the distance computed for each of the plurality of time periods to compute the velocity of the one of the ultrasound emitter or the ultrasound receiver that is moving.