WO2001039655A9 - In-shoe remote telemetry gait analysis system - Google Patents
In-shoe remote telemetry gait analysis systemInfo
- Publication number
- WO2001039655A9 WO2001039655A9 PCT/US2000/032836 US0032836W WO0139655A9 WO 2001039655 A9 WO2001039655 A9 WO 2001039655A9 US 0032836 W US0032836 W US 0032836W WO 0139655 A9 WO0139655 A9 WO 0139655A9
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- shoe
- gait
- sensor
- sensors
- insert
- Prior art date
Links
- 230000005021 gait Effects 0.000 title claims abstract description 37
- 238000004458 analytical method Methods 0.000 title claims abstract description 22
- 238000012545 processing Methods 0.000 claims abstract description 13
- 238000000034 method Methods 0.000 claims abstract description 12
- 238000013480 data collection Methods 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 2
- 238000003780 insertion Methods 0.000 claims 1
- 230000037431 insertion Effects 0.000 claims 1
- 230000005540 biological transmission Effects 0.000 abstract description 3
- 238000003745 diagnosis Methods 0.000 description 3
- 210000002683 foot Anatomy 0.000 description 3
- 210000001872 metatarsal bone Anatomy 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 210000004744 fore-foot Anatomy 0.000 description 2
- 238000004393 prognosis Methods 0.000 description 2
- 238000011282 treatment Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 229920005560 fluorosilicone rubber Polymers 0.000 description 1
- 239000006260 foam Substances 0.000 description 1
- 210000001255 hallux Anatomy 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229920000728 polyester Polymers 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 210000003371 toe Anatomy 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43B—CHARACTERISTIC FEATURES OF FOOTWEAR; PARTS OF FOOTWEAR
- A43B3/00—Footwear characterised by the shape or the use
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/20—Movements or behaviour, e.g. gesture recognition
- G06V40/23—Recognition of whole body movements, e.g. for sport training
- G06V40/25—Recognition of walking or running movements, e.g. gait recognition
-
- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43B—CHARACTERISTIC FEATURES OF FOOTWEAR; PARTS OF FOOTWEAR
- A43B3/00—Footwear characterised by the shape or the use
- A43B3/34—Footwear characterised by the shape or the use with electrical or electronic arrangements
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/1036—Measuring load distribution, e.g. podologic studies
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/112—Gait analysis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6887—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient mounted on external non-worn devices, e.g. non-medical devices
- A61B5/6892—Mats
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
- B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
- B60N2/002—Seats provided with an occupancy detection means mounted therein or thereon
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
- G01G19/44—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for weighing persons
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G23/00—Auxiliary devices for weighing apparatus
- G01G23/18—Indicating devices, e.g. for remote indication; Recording devices; Scales, e.g. graduated
- G01G23/36—Indicating the weight by electrical means, e.g. using photoelectric cells
- G01G23/37—Indicating the weight by electrical means, e.g. using photoelectric cells involving digital counting
- G01G23/3728—Indicating the weight by electrical means, e.g. using photoelectric cells involving digital counting with wireless means
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0002—Remote monitoring of patients using telemetry, e.g. transmission of vital signals via a communication network
Definitions
- the present invention is related to the field of sensors and sensor systems used in analyzing the gait of a patient or other subject.
- gait analysis systems have been deployed that bring a desired measure of objectiveness to the diagnosis and treatment of podiatric illnesses.
- One such system utilizes a special shoe that is worn by a patient during an office visit.
- the footbed of the shoe contains a large number of small pressure sensors that generate electrical output signals indicative of pressure in a small area surrounding the sensor.
- These sensors are connected to a rather large data collection and analyzing system, using a lengthy cable harness with a number of wires carrying the sensor signals.
- the data analysis system is responsible for collecting data from the sensors at a given sampling rate while the patient takes a few steps, and then performs various signal processing on the large quantity of collected data in order to present diagnostically useful information to the physician using the system.
- Gait analysis systems such as the one described above are considerably expensive, partly due to their use of numerous sensors and the attendant size of the data collection and signal processing tasks.
- the patient is "tethered" to the system by the cable harness during use, such systems tend to be awkward to use, and are prone to cable-related malfunction.
- the tethering can interfere with the analysis by artificially restricting the movement of the patient. Accordingly, there has been a need for improved gait analysis systems.
- a gait analysis system that improves upon the above-mentioned drawbacks of present systems.
- the disclosed system includes a shoe insert configured for use in a shoe to be worn by a subject while walking as part of a process of collecting gait data.
- the shoe insert has a small number of force-sensing sensors distributed in a manner defining a sensing aperture. Each sensor provides an electrical output signal.
- Processing apparatus is communicatively coupled with the sensors on the shoe insert. The processing apparatus is operative to calculate a gait line that is represented by a series of points, wherein each point is calculated as a spatially-weighted average of samples of the sensor output signals over the sensing aperture.
- the processing apparatus includes a portable telemetry transmitter worn by the subject during the data collection process.
- the transmitter is connected to the sensors to receive the sensor output signals, and transmits a radio signal carrying the sensor information.
- a stationary receiver receives the sensor information in a transmission from the transmitter, and provides the sensor information to a personal computer or similar workstation.
- FIG. 1 is a block diagram of an in-shoe remote telemetry gait analysis system in accordance with the present invention
- Figure 2 is a plan diagram of a sensor-carrying shoe insert used in the gait analysis system of Figure 1;
- Figure 3 is a plot of sensor output versus time in the system of Figure 1 during the period when a subject's foot contacts a walking surface
- Figure 4 is a plot of a mean gait line for a subject as derived from sensor data obtained in the system of Figure 1.
- a sensor-bearing shoe insert 10 is connected to a small, portable telemetry transmitter 12. As described in more detail below, the insert 10 has force sensors located in different positions. Each sensor is connected to a respective one of five input channels to the transmitter 12. The insert 10 is intended for use in a shoe 14 to be worn by a subject in order to collect gait data.
- a receiver 16 receives a radio signal emanating from the transmitter that carries sensor information signals representing the respective output values from the sensors.
- the sensor information recovered by the receiver 16 is provided to a personal computer (PC) 18 or similar workstation. Such a workstation may be located remotely over a link 17 at a central processing facility 19 with results sent back over the link 17.
- PC personal computer
- a patient or other subject dons the shoe 14, attaches the transmitter 12 to his or her clothing (for example by clipping the transmitter 12 to a belt) , and walks on a firm surface.
- the transmitter 12 receives output signals from the sensors indicative of the magnitude of force in areas of the insert 10 about the respective sensors, converts these signals into corresponding digital values, and transmits these digital values by appropriately modulating a radio frequency carrier.
- the receiver 16 receives the modulated carrier, performs appropriate demodulation to recover the digital values, and forwards the digital values to the PC 18 using, for example, a serial communications link.
- An application program executing on the PC 18 makes various calculations on the sensor information, and presents the data to a user in graphical and other forms .
- the transmitter 12 and receiver 16 are components of a system called StrainLinkTM available from MicroStrain, Inc. of Burlington, Vermont, USA.
- the StrainLink system can accommodate up to 5 data channels in a so-called "pseudo differential mode" of operation.
- Each data input to the transmitter 12 is configured as a bridge in which one element is a force sensing resistor (FSR) used as a sensor in the insert 10.
- FSR force sensing resistor
- the transmitter applies respective programmable gains to the inputs from bridges before the conversion to digital form. Physically, the transmitter 12 in the StrainLink system occupies less than 1 cubic inch in volume.
- FIG. 2 shows the insert 10 in detail.
- the insert 10 consists primarily of a laminate body typically made of a polyester/foam core sandwich, although other materials and/or configurations are possible.
- the sensors 20 are force sensing resistors or FSRs .
- Two electrical leads extend from each FSR 20. One lead from each FSR 20 is chosen as a ground lead, and the various ground leads are connected together as a common ground indicated as connection #6. The remaining leads are indicated as connections #l-#5. These leads are connected to the respective inputs of the transmitter 12 of Figure 1 in a pseudo-differential bridge configuration, as discussed above.
- each disk-shaped FSR 20 varies with the magnitude of the compressive force in the normal direction. When connected in a bridge circuit with a suitable current source, this varying resistance creates a correspondingly varying voltage signal. This voltage signal is amplified by an amplifier within the transmitter 12, and converted to a digital form for transmission to the receiver 16 as discussed above.
- Figure 2 also shows a coordinate system superimposed on the insert 10 that is used to identify locations. As shown, an "x" dimension extends longitudinally from the toe to the heel, and a “y” dimension extends laterally from the medial side (instep) to the lateral side (outstep) . Based on the relative locations of the sensors 20 within this coordinate system, corresponding spatial weight values are used for certain calculations on the sensor data, as described below.
- the sensor data received by the PC 18 may be used in any of a variety of ways and for a variety of purposes. Gait analysis may require performing several different types of calculations on the data, comparing the data with historical values for the same subject, etc.
- Figure 3 shows a plot of sensor output as a function of time over the duration of the contact between a subject's foot and a walking surface.
- the time dimension is given as both absolute values (51.8 seconds through 52.6 seconds) and as a percent of the entire contact phase.
- the vertical dimension is pressure, reported as a voltage. During analysis, the pressure values are normalized by the patient's weight.
- the plot illustrates the following three phases of contact: (1) heel strike, indicated by relative maxima for the sensors located at the heel; (2) toe-off, indicated by maxima for the sensors located at the metatarsals and hallux; and (3) mid-stance, which is the interval between heel strike and toe-off. Additionally, the following points of diagnostic interest are indicated: 1. Heel lift-off at about 55% through the contact phase. Normal range is 50-65%
- the peak for the medial metatarsal is substantially greater than the peak for the lateral metatarsal, which is symptomatic of over-pronation.
- FIG. 4 shows a plot of a so-called "gait line", which represents the movement of the center of force throughout the contact phase of a step.
- the points that constitute the gait line are each calculated from samples of the sensor signals. These points are calculated using spatial weighting techniques like those described in the above-referenced parent patent and application, incorporated herein by reference.
- the spatial weighting for each sensor is directly related to its relative location on the insert 10 as shown in Figure 2.
- the weights are assigned as follows:
- GL y ⁇ (S!-w y ⁇ ) for all i.
- the above represents the calculation of a first- order moment of the sensor data using uniform spatial weighting. It will be appreciated that in alternative embodiments the calculation of higher-order moments may be useful. Also, it is possible to employ non-uniform weighting, and to employ more or fewer sensors to achieve different tradeoffs between resolution and complexity/cost .
Abstract
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU19417/01A AU1941701A (en) | 1999-12-06 | 2000-12-04 | In-shoe remote telemetry gait analysis system |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US09/455,133 | 1999-12-06 | ||
US09/455,133 US6360597B1 (en) | 1997-01-08 | 1999-12-06 | In-shoe remote telemetry gait analysis system |
Publications (3)
Publication Number | Publication Date |
---|---|
WO2001039655A2 WO2001039655A2 (en) | 2001-06-07 |
WO2001039655A3 WO2001039655A3 (en) | 2001-10-25 |
WO2001039655A9 true WO2001039655A9 (en) | 2001-12-20 |
Family
ID=23807553
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/US2000/032836 WO2001039655A2 (en) | 1999-12-06 | 2000-12-04 | In-shoe remote telemetry gait analysis system |
Country Status (3)
Country | Link |
---|---|
US (1) | US6360597B1 (en) |
AU (1) | AU1941701A (en) |
WO (1) | WO2001039655A2 (en) |
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WO2001039655A2 (en) | 2001-06-07 |
US6360597B1 (en) | 2002-03-26 |
WO2001039655A3 (en) | 2001-10-25 |
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