TWI737237B - Measuring system for measuring foot's inertial information - Google Patents

Measuring system for measuring foot's inertial information Download PDF

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TWI737237B
TWI737237B TW109109965A TW109109965A TWI737237B TW I737237 B TWI737237 B TW I737237B TW 109109965 A TW109109965 A TW 109109965A TW 109109965 A TW109109965 A TW 109109965A TW I737237 B TWI737237 B TW I737237B
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information processing
processing device
inertia measurement
foot
axis
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TW109109965A
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TW202135762A (en
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韓紹禮
劉建昇
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國泰醫療財團法人國泰綜合醫院
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Abstract

A measuring system for measuring foot's inertial information is disclosed. The measuring system has a footwear with a function for measuring foot's inertial information and an information processing device. It is convenient for a user to put on and take off the footwear. The footwear has a footwear body and an electronic device. The electronic device is mounted in or on the footwear body and has an inertial measurement module and a data transmission module. The data transmission module is electrically connected to the inertial measurement module in order to output the measurement data generated by the inertial measurement module. The information processing device communicates with the data transmission module to receive and process the measurement data. The information processing device has a display screen for displaying the received measurement data and the results of the processed data. The measuring system of the present invention is a convenient and functional system.

Description

足部慣性量測系統Foot inertia measurement system

本發明係關於一種量測系統，特別是指足部慣性量測系統。The present invention relates to a measurement system, in particular to a foot inertia measurement system.

要量測受測者的運動狀態時，傳統是將慣性量測模組結合於肢體輔具，其中肢體輔具為穿戴式器具，以供配戴在受測者的身上的肢體部位，例如手臂、大腿或小腿，當配戴有肢體輔具的肢體進行運動時，慣性量測模組即可相應產生慣性量測數據。When measuring the motion state of the subject, the traditional method is to combine the inertial measurement module with the limb assistive device. The limb assistive device is a wearable device for wearing on the limb of the subject, such as the arm , Thigh or calf, when the limb with the limb assisted device is in motion, the inertia measurement module can generate the inertia measurement data accordingly.

對於一般人來說，配戴肢體輔具尚不造成執行動作上太大影響，然而，對於行動不便的受測者而言，例如中風者，當肢體輔具配戴於偏癱肢體上時，肢體輔具顯然會造成受測者的肢體負擔，更不用說要受測者執行特定動作進行檢測，造成受測者的困擾。For the average person, wearing a limb assistive device does not cause too much influence on the execution of the movement. However, for subjects with mobility impairments, such as stroke patients, when the limb assistive device is worn on a hemiplegic limb, the limb assist Obviously, it will cause a physical burden on the subject, not to mention requiring the subject to perform a specific movement for the test, which will cause the subject to be troubled.

此外，慣性量測模組可與電腦連線，由電腦接收慣性量測模組所產生的，並直接顯示量測數據供操作者檢視。但是，電腦僅執行所述量測數據的簡單資訊呈現，導致功能性有限，未有進一步的應用方式。In addition, the inertia measurement module can be connected to a computer, and the computer receives the inertia measurement module and directly displays the measurement data for the operator to view. However, the computer only performs simple information presentation of the measurement data, resulting in limited functionality and no further application methods.

有鑒於此，本發明的主要目的是提供一種足部慣性量測系統，具有便利實用的特色，以期克服傳統肢體輔具的使用而造成受測者負擔，以及電腦僅單純資訊呈現而導致功能性有限的缺點。In view of this, the main purpose of the present invention is to provide a foot inertia measurement system with convenient and practical features, in order to overcome the burden of the testee caused by the use of traditional limb assistive devices, and the functionality of the computer due to only information presentation. Limited disadvantages.

本發明足部慣性量測系統包含： 一具足部慣性量測功能的鞋具，包含： 一鞋本體；及 一電子裝置，設置在該鞋本體，該電子裝置包含一慣性量測模組與一資料傳輸模組，該資料傳輸模組電性連接該慣性量測模組，以將該慣性量測模組產生的量測數據對外傳輸；以及 一資訊處理裝置，訊號連接該資料傳輸模組以接收所述量測數據，並根據所述量測數據進行資訊處理；該資訊處理裝置包含一顯示螢幕，該顯示螢幕顯示所述量測數據以及資訊處理結果。 The foot inertia measurement system of the present invention includes: A shoe with foot inertia measurement function, including: A shoe body; and An electronic device is arranged on the shoe body. The electronic device includes an inertia measurement module and a data transmission module. The data transmission module is electrically connected to the inertia measurement module to provide the inertia measurement module. External transmission of the generated measurement data; and An information processing device that is signaled to connect to the data transmission module to receive the measurement data and perform information processing based on the measurement data; the information processing device includes a display screen that displays the measurement data and Information processing results.

本發明為便利實用的足部慣性量測系統，本發明的鞋具能供受測者容易地穿脫，該電子裝置加裝在鞋本體而不影響鞋本體的穿脫；另一方面，本發明的資訊處理裝置並非單純資訊呈現，本發明透過該慣性量測模組與該資訊處理裝置的協同運作，係即時量測受測者運動時的慣性數據及進一步據以進行資訊處理，例如可判斷受測者執行運動過程中的多元資訊，然後透過顯示螢幕呈現資訊處理結果，故克服先前技術所述傳統肢體輔具的使用而造成受測者負擔，以及電腦僅單純資訊呈現而導致功能性有限的缺點。The present invention is a convenient and practical foot inertia measurement system. The footwear of the present invention can be easily put on and taken off by the subject. The electronic device is installed on the shoe body without affecting the wearing and taking off of the shoe body; on the other hand, the present invention The information processing device of the invention is not simply a presentation of information. Through the cooperative operation of the inertial measurement module and the information processing device, the invention measures the inertial data of the subject during exercise in real time and performs information processing accordingly. For example, Determine the diverse information of the subject during exercise, and then display the information processing results on the display screen, thus overcoming the burden on the subject caused by the use of traditional physical aids as described in the prior art, and the computer only simply presents information resulting in functionality Limited disadvantages.

請參考圖1與圖2，本發明足部慣性量測系統的實施例包含一具足部慣性量測功能的鞋具以及一資訊處理裝置10。該鞋具供受測者的足部穿著，並在受測者進行足部運動時進行慣性量測以及輸出量測數據，該資訊處理裝置10接收所述量測數據並加以資訊處理，詳述如後。Please refer to FIGS. 1 and 2, an embodiment of the foot inertia measurement system of the present invention includes a footwear with a foot inertia measurement function and an information processing device 10. The footwear is worn on the foot of the subject, and performs inertial measurement and output measurement data when the subject performs foot movement. The information processing device 10 receives the measurement data and performs information processing. As later.

該鞋具包含一鞋本體20與一電子裝置21。該鞋本體20供受測者穿著於足部，其中，該鞋本體20可包含一鞋身部200與位在該鞋身部200底部的一鞋底部201，該鞋底部201包含鞋跟部位，該鞋身部200主要是供受測者的足部穿著，讓受測者執行動作時不致歪斜或滑落。The footwear includes a shoe body 20 and an electronic device 21. The shoe body 20 is for a subject to wear on the foot. The shoe body 20 may include a body part 200 and a sole part 201 located at the bottom of the body part 200, and the sole part 201 comprises a heel part, The shoe body 200 is mainly worn by the feet of the test subject, so that the test subject does not skew or slip off when performing actions.

該電子裝置21設置在該鞋本體20的鞋身部200或鞋底部201，舉例來說，該電子裝置21與該鞋本體20的固定方式可透過鬆緊帶、束帶、黏扣帶、膠黏、口袋…等，或者該電子裝置21可埋設在鞋底部201的鞋跟部位，但不以前述固定方式與位置為限。該電子裝置21包含一慣性量測模組210與一資料傳輸模組211，該慣性量測模組210與該資料傳輸模組211可整合為一電路裝置，並可由電池212提供所需的工作電源。該資料傳輸模組211電性連接該慣性量測模組210的信號輸出端，以接收該慣性量測模組210產生的量測數據並對外傳輸。其中，該資料傳輸模組211可為有線傳輸模組或無線傳輸模組，所述無線傳輸模組可例如為藍牙(Bluetooth)傳輸模組，但不以此為限。The electronic device 21 is disposed on the shoe body 200 or the shoe bottom 201 of the shoe body 20. For example, the fixing method of the electronic device 21 and the shoe body 20 can be through elastic bands, straps, hook-and-loop fasteners, glue, Pockets, etc., or the electronic device 21 can be embedded in the heel part of the sole 201, but not limited to the aforementioned fixing method and position. The electronic device 21 includes an inertia measurement module 210 and a data transmission module 211. The inertia measurement module 210 and the data transmission module 211 can be integrated into a circuit device, and the battery 212 can provide the required work power supply. The data transmission module 211 is electrically connected to the signal output terminal of the inertia measurement module 210 to receive the measurement data generated by the inertia measurement module 210 and transmit it to the outside. The data transmission module 211 may be a wired transmission module or a wireless transmission module, and the wireless transmission module may be, for example, a Bluetooth transmission module, but is not limited to this.

該慣性量測模組210的實施例可為微機電系統感測元件(MEMS sensor)，其包含三軸陀螺儀(gyroscope)與三軸加速規(accelerometer)而為六軸慣性量測單元(Inertial Measurement Unit, IMU)；或於其他實施例中，該慣性量測模組210可包含三軸陀螺儀、三軸加速規與三軸磁力計(magnetometer)而為九軸慣性量測單元。An embodiment of the inertial measurement module 210 may be a MEMS sensor, which includes a three-axis gyroscope and a three-axis accelerometer, and is a six-axis inertial measurement unit (Inertial Measurement Unit, IMU); or in other embodiments, the inertial measurement module 210 may include a three-axis gyroscope, a three-axis accelerometer, and a three-axis magnetometer to be a nine-axis inertial measurement unit.

在本發明實施例中，請配合參考圖2，該慣性量測模組210的加速規可產生一X軸加速度量測數據、一Y軸加速度量測數據、一Z軸加速度量測數據，其陀螺儀可產生一X軸旋轉量測數據、一Y軸旋轉量測數據與一Z軸旋轉量測數據，其中，加速規所產生加速度量測數據的單位可以"g"值(地球的重力加速度)來計，陀螺儀所產生量測數據的單位可以是"度/每秒"；舉例而言，當該慣性量測模組210實體元件為平放狀態時，X-Y平面可對應水平面，Z軸為垂直軸。該慣性量測模組210可以如圖2所示平放地設置在該鞋本體20的鞋底部201，或如圖3所示傾斜地設置在該鞋本體20的鞋身部200外側面，其中Y軸可為大致沿著該鞋具的鞋頭至鞋尾的軸向。In the embodiment of the present invention, please refer to FIG. 2. The accelerometer of the inertia measurement module 210 can generate one X-axis acceleration measurement data, one Y-axis acceleration measurement data, and one Z-axis acceleration measurement data. The gyroscope can generate one X-axis rotation measurement data, one Y-axis rotation measurement data, and one Z-axis rotation measurement data. The unit of the acceleration measurement data generated by the accelerometer can be "g" (the earth's gravitational acceleration). ), the unit of the measurement data generated by the gyroscope can be "degrees/second"; for example, when the physical components of the inertial measurement module 210 are placed in a flat state, the XY plane can correspond to the horizontal plane, and the Z axis Is the vertical axis. The inertia measurement module 210 can be arranged flat on the sole 201 of the shoe body 20 as shown in FIG. 2 or inclinedly arranged on the outer surface of the shoe body 200 of the shoe body 20 as shown in FIG. The axis may be substantially along the axial direction from the toe to the tail of the footwear.

當受測者穿上本發明具足部慣性量測功能的鞋具並執行腳部或足部運動時，該慣性量測模組210受慣性力的影響而分別在X軸、Y軸與Z軸相應產生加速度量測數據與旋轉量測數據，所述量測數據係通過該資料傳輸模組211對外傳送。因為該慣性量測模組210產生的量測數據具有方向性，故穩定該慣性量測模組210的方位是重要的一環；在本發明的實施例中，該慣性量測模組210與該鞋本體20彼此固定，而受測者穿著該鞋本體20，故該慣性量測模組210的方位實質上已與受測者本身的方位(面向)可保持一致，且該慣性量測模組210所產生X軸、Y軸與Z軸的各量測數據可實質反映受測者的腳部與足部運動情形。When the subject puts on the footwear with the foot inertia measurement function of the present invention and performs foot or foot movement, the inertia measurement module 210 is affected by the inertial force and moves on the X-axis, Y-axis, and Z-axis, respectively. Correspondingly, acceleration measurement data and rotation measurement data are generated, and the measurement data is transmitted to the outside through the data transmission module 211. Because the measurement data generated by the inertia measurement module 210 has directionality, it is important to stabilize the orientation of the inertia measurement module 210; in the embodiment of the present invention, the inertia measurement module 210 and the The shoe body 20 is fixed to each other, and the subject wears the shoe body 20, so the orientation of the inertia measurement module 210 is substantially consistent with the orientation (face) of the subject itself, and the inertia measurement module The measurement data of the X-axis, Y-axis, and Z-axis generated by 210 can substantially reflect the foot and foot movement of the subject.

該資訊處理裝置10可為個人電腦、筆記型電腦、工業電腦、平板電腦或智慧型手機…等，但不以此為限。該資訊處理裝置10與該電子裝置21的資料傳輸模組211彼此連線以進行資料傳輸。舉例來說，該資訊處理裝置10可安裝與該電子裝置21之資料傳輸模組211相容的一傳輸介面(圖中未示)，以與該電子裝置21之資料傳輸模組211進行通訊。是以，該資訊處理裝置10可接收該電子裝置21所輸出的量測數據，並對所述量測數據進行資訊處理。另一方面，該資訊處理裝置10可包含一顯示螢幕11，該顯示螢幕11顯示所述量測數據與資訊處理結果，例如可透過圖表(chart)顯示所述量測數據隨著時間變化的過程；此外，該資訊處理裝置10可從輸入界面(例如按鍵、鍵盤、滑鼠、觸控面板…等)接收操作者的指令。The information processing device 10 can be a personal computer, a notebook computer, an industrial computer, a tablet computer, or a smart phone, etc., but is not limited to this. The information processing device 10 and the data transmission module 211 of the electronic device 21 are connected to each other for data transmission. For example, the information processing device 10 can install a transmission interface (not shown) compatible with the data transmission module 211 of the electronic device 21 to communicate with the data transmission module 211 of the electronic device 21. Therefore, the information processing device 10 can receive the measurement data output by the electronic device 21 and perform information processing on the measurement data. On the other hand, the information processing device 10 may include a display screen 11, which displays the measurement data and information processing results, for example, the process of the measurement data changing over time can be displayed through a chart. In addition, the information processing device 10 can receive instructions from the operator from an input interface (such as keys, keyboard, mouse, touch panel, etc.).

該資訊處理裝置10所執行的資訊處理可包含(1)參考面校正；(2)加速度門檻值判斷；(3)旋轉方向判斷；(4)加速度與旋轉方向的整合判斷。以下透過範例說明本發明的使用情境及該資訊處理裝置10所執行資訊處理的實施例。請參考圖4的第一動作，其呈現一受測者30坐在椅子31上，椅子31的高度夠高以使受測者30的雙腳懸空，該受測者30的右腳301穿著本發明的鞋具；該電子裝置21平放地設置在該鞋底部201；請參考圖5的第二動作，受測者30抬起右腳301；請參考圖6的第三動作，受測者30在右腳301抬起的狀態再翹起腳尖。The information processing performed by the information processing device 10 may include (1) reference plane correction; (2) acceleration threshold judgment; (3) rotation direction judgment; (4) acceleration and rotation direction integration judgment. Hereinafter, an example is used to illustrate the use situation of the present invention and an embodiment of information processing performed by the information processing device 10. Please refer to the first action in FIG. 4, which presents a subject 30 sitting on a chair 31. The height of the chair 31 is high enough to allow the feet of the subject 30 to hang in the air, and the subject 30's right foot 301 is wearing the notebook Invented footwear; the electronic device 21 is placed flat on the bottom 201 of the shoe; please refer to the second action of FIG. 5, the subject 30 raises the right foot 301; please refer to the third action of Figure 6, the subject 30 When the right foot 301 is raised, the toe is raised again.

(1)參考面校正(1) Reference surface correction

「參考面校正」是要確定受測者30的方位(面向)，該資訊處理裝置10可根據使用者的操作而接收一參考軸的一設定指令，該資訊處理裝置10可根據該設定指令定義出一參考面，其中，該參考軸係沿著該參考面而與參考面平行；舉例來說，該參考面可為矢狀面(sagittal plane)，該參考軸可為矢狀軸。從圖4來看，操作者可設定Y軸為參考軸(矢狀軸)而對該資訊處理裝置10下達該設定指令，該資訊處理裝置10即可根據該設定指令定義出Y-Z平面為參考面(矢狀面)。若該慣性量測模組210非水平設置，例如圖3所示傾斜地設置在該鞋本體20的鞋身部200或略有歪斜，因為該慣性量測模組210本身可偵測出重力加速度方向，且重力加速度方向是恆定的，故該資訊處理裝置10可藉由重力加速度方向的校正該參考面(矢狀面)，以明確受測者30執行腳部和足部運動過程中的方位。"Reference surface calibration" is to determine the orientation (face) of the subject 30. The information processing device 10 can receive a setting command of a reference axis according to the user's operation, and the information processing device 10 can define according to the setting command A reference plane is drawn, wherein the reference axis is parallel to the reference plane along the reference plane; for example, the reference plane may be a sagittal plane, and the reference axis may be a sagittal axis. From FIG. 4, the operator can set the Y axis as the reference axis (sagittal axis) and issue the setting command to the information processing device 10, and the information processing device 10 can define the YZ plane as the reference plane according to the setting command. (Sagittal plane). If the inertia measurement module 210 is not installed horizontally, for example, as shown in FIG. 3, it is installed obliquely on the shoe body 200 of the shoe body 20 or slightly slanted, because the inertia measurement module 210 itself can detect the direction of gravitational acceleration , And the direction of the gravitational acceleration is constant, so the information processing device 10 can correct the reference plane (sagittal plane) by the direction of the gravitational acceleration to clarify the orientation of the subject 30 during the foot and foot movement.

(2)加速度門檻值判斷(2) Judgment of acceleration threshold

該資訊處理裝置10可根據使用者的操作而接收至少一筆加速度變化量門檻值的設定指令，舉例來說，請參考圖4至圖6，受測者30主要是沿著Y軸(參考軸、矢狀軸)進行腳部和足部運動，故所述加速度變化量門檻值可設定為Y軸加速度變化量門檻值。在受測者30進行圖4至圖5所示抬腿的過程中，該資訊處理裝置10判斷該參考軸的加速度量測數據的變化量與所述加速度變化量門檻值的大小；當該Y軸(即：參考軸、矢狀軸)加速度量測數據的變化量大於或等於一Y軸加速度變化量門檻值，代表受測者30抬腿程度達成門檻；相對的，當該Y軸加速度量測數據的變化量小於該Y軸加速度門檻值，代表受測者30抬腿程度未達門檻。該資訊處理裝置10可將前述判斷結果顯示於該顯示螢幕11，供操作者檢視。是以，換言之，該資訊處理裝置10可根據所測得受測者30執行運動時的腳部及足部的一加速度值及該Y軸(參考軸、矢狀軸)的設定指令，取得該加速度值沿該Y軸(參考軸、矢狀軸)的分量，並可根據該加速度值沿該Y軸(參考軸、矢狀軸)的分量判斷是否超過所述加速度變化量門檻值。The information processing device 10 can receive at least one set command of the acceleration change threshold value according to the user's operation. For example, please refer to FIGS. The sagittal axis) performs foot and foot movement, so the acceleration change threshold can be set as the Y-axis acceleration change threshold. In the process of the subject 30 performing the leg raising shown in FIGS. 4 to 5, the information processing device 10 determines the amount of change in the acceleration measurement data of the reference axis and the magnitude of the threshold value of the acceleration change; when the Y Axis (ie: reference axis, sagittal axis) acceleration measurement data change is greater than or equal to a Y-axis acceleration change threshold, which means that the subject’s 30 leg lifts reach the threshold; relatively, when the Y-axis acceleration The amount of change in the measured data is less than the Y-axis acceleration threshold, which means that the degree of the subject 30's leg lift has not reached the threshold. The information processing device 10 can display the aforementioned determination result on the display screen 11 for the operator to view. Therefore, in other words, the information processing device 10 can obtain the Y-axis (reference axis, sagittal axis) according to the measured acceleration value of the feet and feet of the subject 30 during the exercise. The component of the acceleration value along the Y axis (reference axis, sagittal axis), and the component of the acceleration value along the Y axis (reference axis, sagittal axis) can be used to determine whether the acceleration change threshold value is exceeded.

(3)旋轉方向判斷(3) Judgment of rotation direction

本發明的實施例中，該資訊處理裝置10是判斷該X軸旋轉量測數據之峰值與該Z軸旋轉量測數據之峰值的正、負值是否相同，並將判斷結果顯示於該顯示螢幕11，其中，該X、Z軸旋轉量測數據之峰值的正、負值分別代表X、Z軸的旋轉方向。舉例來說，第一受測者與第二受側者分別進行圖5至圖6所示翹起腳尖的過程中，請參考圖7，第一受測者的X、Z軸旋轉量測數據之峰值的正、負值相同；另請參考圖8，第二受測者的X、Z軸旋轉量測數據之峰值分別為正、負值而相異，故可供操作者觀察出受測者A與受測者B的足部運動狀況彼此不同。圖7與圖8所示之波形分別為隨著時間推移的複數旋轉量測數據資料點所繪製而成，兩相鄰資料點的時間間隔可例如為1/25秒。In an embodiment of the present invention, the information processing device 10 determines whether the positive and negative values of the peak value of the X-axis rotation measurement data and the peak value of the Z-axis rotation measurement data are the same, and display the determination result on the display screen 11. Wherein, the positive and negative values of the peak value of the X and Z axis rotation measurement data respectively represent the rotation direction of the X and Z axis. For example, when the first subject and the second subject perform the process of tilting their toes as shown in Figures 5 to 6, please refer to Figure 7, the X and Z axis rotation measurement data of the first subject The positive and negative values of the peak values are the same; please also refer to Figure 8. The peak values of the X and Z axis rotation measurement data of the second subject are different for the positive and negative values, so the operator can observe the measured The foot movement conditions of subject A and subject B are different from each other. The waveforms shown in FIG. 7 and FIG. 8 are respectively drawn from data points of complex rotation measurement data as time goes by, and the time interval between two adjacent data points can be, for example, 1/25 second.

(4)加速度與旋轉方向的整合判斷(4) Integrated judgment of acceleration and rotation direction

該資訊處理裝置10除了判斷Y軸加速度量測數據的變化量是否大於Y軸加速度變化量門檻值，也可進一步判斷X軸旋轉量測數據之峰值與該Z軸旋轉量測數據之峰值的正、負值是否相同，並將判斷結果顯示於該顯示螢幕11。舉例來說，請參考圖9所示的實施例的判斷流程，其中，該資訊處理裝置10設有一第一Y軸加速度變化量門檻值TH1與一第二Y軸加速度變化量門檻值TH2，其中TH2大於TH1。該資訊處理裝置10先判斷Y軸加速度量測數據的變化量(表示為：|δA Y|)是否小於TH1(步驟S01)；若|δA Y|>TH1，該資訊處理裝置10可於該顯示螢幕11顯示當下的判斷結果；若否，該資訊處理裝置10進一步判斷X軸的旋轉方向(表示為：Φ(G X))是否與Z軸的旋轉方向(表示為：Φ(G Z))相同(步驟S02)。在步驟S02中，當Φ(G X)=Φ(G Z)，該資訊處理裝置10可於該顯示螢幕11顯示當下的判斷結果；相對的，當Φ(G X)≠Φ(G Z)，該資訊處理裝置10進一步判斷|δA Y|是否小於或等於TH2(步驟S03)。在步驟S03中，該資訊處理裝置10可於該顯示螢幕11顯示|δA Y|≦TH2或|δA Y|>TH2的判斷結果。 The information processing device 10 not only judges whether the change of Y-axis acceleration measurement data is greater than the Y-axis acceleration change threshold value, but also can further determine whether the peak value of the X-axis rotation measurement data and the peak value of the Z-axis rotation measurement data are positive. , Whether the negative values are the same, and display the judgment result on the display screen 11. For example, please refer to the judgment process of the embodiment shown in FIG. 9, in which the information processing device 10 is provided with a first Y-axis acceleration change threshold TH1 and a second Y-axis acceleration change threshold TH2, where TH2 is greater than TH1. The information processing device 10 first determines whether the change in Y-axis acceleration measurement data (represented as: |δA Y |) is less than TH1 (step S01); if |δA Y |>TH1, the information processing device 10 can display The screen 11 displays the current judgment result; if not, the information processing device 10 further judges whether the X-axis rotation direction (expressed as: Φ(G X )) is the same as the Z-axis rotation direction (expressed as: Φ(G Z )) The same (step S02). In step S02, when Φ(G X )=Φ(G Z ), the information processing device 10 can display the current judgment result on the display screen 11; in contrast, when Φ(G X )≠Φ(G Z ) , The information processing device 10 further determines whether |δA Y | is less than or equal to TH2 (step S03). In step S03, the information processing device 10 can display the judgment result of |δA Y |≦TH2 or |δA Y |>TH2 on the display screen 11.

在後端應用上，例如本發明鞋具可穿著於中風受測者的偏癱腳上，步驟S01、步驟S02與步驟S03所顯示的判斷結果可供分別反映不同級別的狀態，例如步驟S01判斷為"是"的判斷結果可反映受測者運動力較差，隨著判斷流程往下，判斷結果由差到佳，故在步驟S03判斷為"否"的判斷結果可反映受測者運動力更佳(因為TH2大於TH1，代表受測者抬腿程度更大，活動力更好)。In back-end applications, for example, the shoes of the present invention can be worn on the hemiplegic feet of stroke subjects. The judgment results displayed in step S01, step S02, and step S03 can reflect different levels of status, for example, step S01 judges as The judgment result of "Yes" can reflect that the subject's exercise ability is poor. As the judgment process goes down, the judgment result changes from poor to good. Therefore, the judgment result of "No" judged in step S03 can reflect that the subject's exercise ability is better. (Because TH2 is greater than TH1, it means that the subject has a greater degree of leg lift and better mobility).

綜上所述，本發明提供便利實用的量測系統，該慣性量測模組210與該資訊處理裝置10可即時量測及判斷受測者30執行運動過程中的多元資訊，並透過顯示螢幕11呈現，輔助操作者對受測者進行綜合運動狀態評估；縱使受測者因中風導致行動不便，本發明的電子裝置21係加裝在鞋本體20而不影響鞋本體20的穿脫，不致造成受測者的負擔，故本發明鞋具能供受測者容易地穿上，並配合執行足部或腳部動作就開始進行相關量測。此外，本發明更包含以下功效：In summary, the present invention provides a convenient and practical measurement system. The inertial measurement module 210 and the information processing device 10 can measure and determine the multiple information in the exercise process of the subject 30 in real time, and use the display screen 11 presents, assisting the operator to evaluate the subject’s comprehensive exercise status; even if the subject is inconvenient due to a stroke, the electronic device 21 of the present invention is attached to the shoe body 20 without affecting the wearing and taking off of the shoe body 20, and will not cause This creates a burden on the test subject, so the footwear of the present invention can be easily worn by the test subject, and the relevant measurement can be started after performing foot or foot movements. In addition, the present invention further includes the following effects:

1、該慣性量測模組210在實施例中可以是唯一的，而無其他(第二個)慣性量測模組，故可有效達到成本控管，讓成本更低，更具競爭力；1. The inertia measurement module 210 can be the only one in the embodiment, and there is no other (second) inertia measurement module, so it can effectively achieve cost control, make the cost lower, and be more competitive;

2、該資訊處理裝置10藉由參考面校正之技術手段，提高資訊處理在判斷上的準確性；2. The information processing device 10 improves the accuracy of information processing in judgment by using the technical means of reference plane correction;

3、本發明的電子裝置21可與資訊處理裝置10有線或無線連線，其中以無線連線時，因不受到信號傳輸線路的影響，受測者可以執行的動作能更多元化；以及3. The electronic device 21 of the present invention can be connected to the information processing device 10 by wired or wireless connection. When the wireless connection is used, since it is not affected by the signal transmission line, the testee can perform more diversified actions; and

4、該資訊處理裝置10所進行的資訊處理包含門檻值判斷或旋轉方向判斷，並未涉及複雜的演算法，故有易於實施的優勢。4. The information processing performed by the information processing device 10 includes threshold value judgment or rotation direction judgment, and does not involve complex algorithms, so it has the advantage of being easy to implement.

10:資訊處理裝置 11:顯示螢幕 20:鞋本體 200:鞋身部 201:鞋底部 21:電子裝置 210:慣性量測模組 211:資料傳輸模組 212:電池 30:受測者 301:右腳 31:椅子 10: Information processing device 11: Display screen 20: The shoe body 200: shoe body 201: shoe bottom 21: Electronic device 210: Inertia measurement module 211: Data Transmission Module 212: Battery 30: Subject 301: right foot 31: Chair

圖1：本發明足部慣性量測系統的實施例的方塊示意圖。 圖2：本發明的具足部慣性量測功能的鞋具的實施例的示意圖。 圖3：本發明的具足部慣性量測功能的鞋具的另一實施例的示意圖。 圖4：穿著本發明的鞋具的受測者執行第一動作的示意圖。 圖5：穿著本發明的鞋具的受測者執行第二動作的示意圖。 圖6：穿著本發明的鞋具的受測者執行第三動作的示意圖。 圖7：第一受測者執行動作時，X、Z軸旋轉量測數據的波形示意圖。 圖8：第二受測者執行動作時，X、Z軸旋轉量測數據的波形示意圖。 圖9：本發明的資訊處理裝置進行資訊處理的流程示意圖。 Fig. 1: A schematic block diagram of an embodiment of the foot inertia measurement system of the present invention. Fig. 2: A schematic diagram of an embodiment of the footwear with a foot inertia measurement function of the present invention. Figure 3: A schematic diagram of another embodiment of the footwear with foot inertia measurement function of the present invention. Figure 4: A schematic diagram of a subject wearing the footwear of the present invention performing the first action. Fig. 5: A schematic diagram of a subject wearing the footwear of the present invention performing a second action. Fig. 6: A schematic diagram of a subject wearing the shoes of the present invention performing a third action. Figure 7: The waveform diagram of the X and Z axis rotation measurement data when the first subject performs an action. Figure 8: The waveform diagram of the X and Z axis rotation measurement data when the second subject performs an action. Fig. 9: A schematic diagram of the flow of information processing performed by the information processing device of the present invention.

10:資訊處理裝置 10: Information processing device

11:顯示螢幕 11: Display screen

21:電子裝置 21: Electronic device

210:慣性量測模組 210: Inertia measurement module

211:資料傳輸模組 211: Data Transmission Module

212:電池 212: Battery

Claims (7)

一種足部慣性量測系統，包含：一具足部慣性量測功能的鞋具，供應用於中風受測者的偏癱腳，包含：一鞋本體；及一電子裝置，設置在該鞋本體，該電子裝置包含一慣性量測模組與一資料傳輸模組，該資料傳輸模組電性連接該慣性量測模組，以將該慣性量測模組產生的量測數據對外傳輸；以及一資訊處理裝置，訊號連接該資料傳輸模組以接收所述量測數據，並根據所述量測數據進行資訊處理；該資訊處理裝置包含一顯示螢幕，該顯示螢幕顯示所述量測數據以及資訊處理結果，所述資訊處理結果反映不同級別的狀態，該資訊處理裝置所進行的資訊處理包含：該資訊處理裝置設有一第一Y軸加速度變化量門檻值TH1與一第二Y軸加速度變化量門檻值TH2，其中TH2大於TH1；該資訊處理裝置判斷一Y軸加速度量測數據的變化量| δ AY|是否小於TH1；若是，該資訊處理裝置於該顯示螢幕顯示當下的判斷結果；若否，該資訊處理裝置進一步判斷一X軸的旋轉方向Φ(GX)是否與一Z軸的旋轉方向Φ(GZ)相同；當Φ(GX)=Φ(GZ)，該資訊處理裝置於該顯示螢幕顯示當下的判斷結果；當Φ(GX)≠Φ(GZ)，該資訊處理裝置進一步判斷| δ AY|是否小於或等於TH2，並於該顯示螢幕顯示| δ AY|≦TH2或| δ AY|>TH2的判斷結果。 A foot inertia measurement system includes: a footwear with a foot inertia measurement function, which supplies hemiplegic feet for stroke subjects, and includes: a shoe body; and an electronic device arranged on the shoe body. The electronic device includes an inertia measurement module and a data transmission module. The data transmission module is electrically connected to the inertia measurement module to transmit the measurement data generated by the inertia measurement module to the outside; and an information A processing device, which is signally connected to the data transmission module to receive the measurement data and perform information processing based on the measurement data; the information processing device includes a display screen that displays the measurement data and information processing As a result, the information processing results reflect different levels of status, and the information processing performed by the information processing device includes: the information processing device is provided with a first Y-axis acceleration change threshold TH1 and a second Y-axis acceleration change threshold Value TH2, where TH2 is greater than TH1; the information processing device determines whether a change in Y-axis acceleration measurement data | δ A Y | is less than TH1; if yes, the information processing device displays the current judgment result on the display screen; if not , The information processing device further determines whether an X-axis rotation direction Φ(G X ) is the same as a Z-axis rotation direction Φ(G Z ); when Φ(G X )=Φ(G Z ), the information processing device The current judgment result is displayed on the display screen; when Φ(G X )≠Φ(G Z ), the information processing device further judges whether | δ A Y | is less than or equal to TH2, and displays | δ A Y on the display screen |≦TH2 or | δ A Y |> The judgment result of TH2. 如請求項1所述之足部慣性量測系統，其中，該資訊處理裝置所進行的資訊處理包含：接收一參考軸的一設定指令，該資訊處理裝置根據該設定指令定義出一參考面，該參考軸係沿著該參考面而與該參考面平行；該資訊處理裝置藉由重力加速度方向的校正該參考面。 The foot inertia measurement system according to claim 1, wherein the information processing performed by the information processing device includes: receiving a setting command of a reference axis, and the information processing device defines a reference surface according to the setting command, The reference axis is parallel to the reference surface along the reference surface; the information processing device corrects the reference surface by the direction of gravitational acceleration. 如請求項1或2所述之足部慣性量測系統，其中，該顯示螢幕透過圖表顯示所述量測數據隨著時間變化的過程。 The foot inertia measurement system according to claim 1 or 2, wherein the display screen displays the process of the measurement data changing over time through a graph. 如請求項1或2所述之足部慣性量測系統，其中，該鞋本體包含一鞋身部與一鞋底部，該電子裝置設置在該鞋身部。 The foot inertia measurement system according to claim 1 or 2, wherein the shoe body includes a shoe body and a shoe bottom, and the electronic device is disposed on the shoe body. 如請求項1或2所述之足部慣性量測系統，其中，該鞋本體包含一鞋身部與一鞋底部，該電子裝置設置在該鞋底部。 The foot inertia measurement system according to claim 1 or 2, wherein the shoe body includes a shoe body and a shoe bottom, and the electronic device is disposed on the shoe bottom. 如請求項5所述之足部慣性量測系統，其中，該電子裝置埋設在該鞋底部的一鞋跟部位。 The foot inertia measurement system according to claim 5, wherein the electronic device is embedded in a heel part of the bottom of the shoe. 如請求項1或2所述之足部慣性量測系統，其中，該慣性量測模組包含加速規與陀螺儀。 The foot inertia measurement system according to claim 1 or 2, wherein the inertia measurement module includes an accelerometer and a gyroscope.
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