U.S. patent application number 14/627172 was filed with the patent office on 2015-06-18 for system and method for observing a person's walking activity.
The applicant listed for this patent is Commissariat A L'Energie Atomique et aux Energies Alternatives, MOVEA. Invention is credited to Pierre JALLON.
Application Number | 20150170047 14/627172 |
Document ID | / |
Family ID | 41228614 |
Filed Date | 2015-06-18 |
United States Patent
Application |
20150170047 |
Kind Code |
A1 |
JALLON; Pierre |
June 18, 2015 |
SYSTEM AND METHOD FOR OBSERVING A PERSON'S WALKING ACTIVITY
Abstract
A system for observing a walking activity of a person comprises
a device (DISP) adapted for delivering at output, for a footstep of
the person, a first difference of angular speeds of the
corresponding tibia between the instant at which the heel of the
foot is planted and the instant at which the foot is laid flat, a
second difference of angular speeds of the corresponding tibia
between the instant at which the heel of the foot is planted and
the instant at which the last toe of the foot is lifted, and an
angular speed of the corresponding tibia at the instant at which
the foot is laid flat. The system comprises analysis means (AN) for
analyzing the signals delivered by the device and adapted for
determining a type of walking of the user as a function of time by
using a hidden Markov model with N states corresponding
respectively to N types of walking
Inventors: |
JALLON; Pierre; (Grenoble,
FR) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
MOVEA
Commissariat A L'Energie Atomique et aux Energies
Alternatives |
Grenoble
Paris |
|
FR
FR |
|
|
Family ID: |
41228614 |
Appl. No.: |
14/627172 |
Filed: |
February 20, 2015 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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13258799 |
Dec 6, 2011 |
8977522 |
|
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PCT/EP2010/054130 |
Mar 29, 2010 |
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14627172 |
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Current U.S.
Class: |
706/52 |
Current CPC
Class: |
A61B 5/112 20130101;
A63B 2024/0012 20130101; A63B 23/0458 20130101; A63B 24/0006
20130101; A63B 24/0062 20130101; G06N 7/005 20130101; A63B
2024/0071 20130101; A63B 2220/22 20130101; A61B 5/7264 20130101;
G06F 17/16 20130101; A63B 2220/34 20130101; A63B 69/0028
20130101 |
International
Class: |
G06N 7/00 20060101
G06N007/00; G06F 17/16 20060101 G06F017/16 |
Foreign Application Data
Date |
Code |
Application Number |
Mar 31, 2009 |
FR |
0952012 |
Claims
1. A system for observing a walking activity of a person,
comprising: a device (DISP) adapted for delivering at output, for a
footstep of the person: a first difference of angular speeds of a
corresponding tibia between an instant at which a heel of a foot is
planted and an instant at which the foot is laid flat, a second
difference of angular speeds of the corresponding tibia between the
instant at which the heel of the foot is planted and an instant at
which a last toe of the foot is lifted, and an angular speed of the
corresponding tibia at the instant at which the foot is laid flat;
said system further comprising an analysis module communicatively
coupled to the device, the analysis module comprising a processor
configured to analyze signals delivered by the device and to
determine, only from an analysis of these signals, a type of
walking of the user as a function of time by using a hidden Markov
model with N states corresponding respectively to N types of
walking.
2. The system as claimed in claim 1, wherein a probability density
p .sub.x(x(n)) of correspondence between the signals delivered by
the device and a state of the hidden Markov model representing a
type of walking is defined by the following first expression: 1 2
.pi. - ( x _ ( n ) - .mu. _ ) T - 1 ( x _ ( n ) - .mu. _ ) 2
##EQU00010## in which: x(n) represents a column vector with
components the three signals transmitted by the device; .mu.
represents a column vector with three components, representative of
the state of the hidden Markov model corresponding to said type of
walking; and |.SIGMA.| represents an absolute value of a
determinant of a diagonal matrix .SIGMA. of dimension 3
representative of the state of the hidden Markov model
corresponding to said type of walking.
3. The system as claimed in claim 2, wherein the probability
density of correspondence between the signals delivered by the
device and the state of the hidden Markov model representing the
type of walking is defined by a linear combination of said first
expressions for probability densities of the set of types of
walking, a sum of the coefficients of said linear combination being
equal to 1.
4. The system as in claim 3, wherein the analysis module is
configured to determine the type of walking of the user from among
a set of at least two types of walking comprising walking on a flat
surface, walking down a descent, walking up a climb, climbing a
staircase, and descending a staircase.
5. The system as claimed in claim 3, wherein probabilities P, of
said hidden Markov model, of switching between two states
representing respectively one of said types of walking are such
that: P(state.sub.i,state.sub.j).di-elect cons.[0.5;0.9999], when i
is different from j; and P(state.sub.i,state.sub.j).di-elect
cons.[0;0.5], when i is equal to j.
6. The system as claimed in claim 1, wherein said analysis module
is fastened or remote with respect to the device, and the device
comprises wired or wireless transmission means for transmitting its
measurements to said analysis means.
7. The system as claimed in claim 1, further comprising a display
fastened to the device or a remote display.
8. The system as claimed in claim 1, in which said device (DISP)
comprises one or more of a magnetometer, an accelerometer, and a
gyrometer for delivering its output signals.
9. A method for observing a walking activity of a person, based on,
during a footstep, signals representing a first difference of
angular speeds of a corresponding tibia between an instant at which
a heel of a foot is planted and an instant at which the foot is
laid flat, a second difference of angular speeds of the
corresponding tibia between the instant at which the heel of the
foot is planted and an instant at which a last toe of the foot is
lifted, and an angular speed of the corresponding tibia at the
instant at which the foot is laid flat, wherein said signals are
analysed to determine a type of walking of the user as a function
of time by using a hidden Markov model with N states corresponding
respectively to N types of walking.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application is a continuation of U.S. patent
application Ser. No. 13/258,799, filed Dec. 6, 2011, which is the
national phase application under .sctn.371 of International Patent
Application No. PCT/EP2010/054130, filed Mar. 29, 2010, which
claims priority to French Patent Application No. 0952012, filed
Mar. 31, 2009. All of these applications are incorporated herein by
reference.
FIELD OF THE INVENTION
[0002] The present invention pertains to a system and a method for
observing a person's walking activity, or for observing a person's
movement by a mode of locomotion comprising a series of paces.
BACKGROUND OF THE INVENTION
[0003] Systems for analyzing the motion of people are becoming
increasingly widespread in the biomedical sector, notably for
analyzing a person's physical activity.
[0004] The detection of a person's walking activity is an item of
information which makes it possible, for example, to estimate a
person's energy expenditure, to evaluate a person's level of
sedentariness, or to estimate the quality or the loss of functional
capacity after a surgical intervention or a medicinal
treatment.
[0005] The document "Stair climbing detection during daily physical
activity using a miniature gyroscope" by Brian Coley, Bijan Najafi,
Anisoara Paraschiv_Ionescu, and Kamiar Aminian, published in Gait
and Posture in 2005, pertains to the detection of stair climbing
and descent with the aid of a gyroscope. For this purpose, the
system estimates the various characteristic instants of a walking
cycle.
SUMMARY OF THE INVENTION
[0006] Embodiments of the present invention are aimed at allowing
qualitative analysis of a person's walking activity, which may be
particularly useful for accurately monitoring a person's
activity.
[0007] Hence, there is proposed, according to one aspect of the
invention, a system for observing a walking activity of a person,
comprising a device adapted for delivering at output, for a
footstep of the person, a first difference of angular speeds of the
corresponding tibia between the instant at which the heel of the
foot is planted and the instant at which the foot is laid flat, a
second difference of angular speeds of the corresponding tibia
between the instant at which the heel of the foot is planted and
the instant at which the last toe of the foot is lifted, and an
angular speed of the corresponding tibia at the instant at which
the foot is laid flat. The embodiment system comprises,
furthermore, analysis means for analyzing the signals delivered by
the device and adapted for determining a type of walking of the
user as a function of time by using a hidden Markov model with N
states corresponding respectively to N types of walking.
[0008] Such a system makes it possible, at reduced cost, to observe
and to determine accurately the walking activity of a person.
[0009] According to one embodiment, the probability density
p.sub.x(x(n)) of correspondence between the signals delivered by
the device and a state of the hidden Markov model representing a
type of walking is defined by the following first expression:
1 2 .pi. - ( x _ ( n ) - .mu. _ ) T - 1 ( x _ ( n ) - .mu. _ ) 2
##EQU00001##
in which: x(n) represents the column vector with three components
representative of signals transmitted by the device; .mu.
represents a column vector with three components, representative of
the state of the hidden Markov model corresponding to said type of
walking; and |.SIGMA.| represents the absolute value of the
determinant of a diagonal matrix .SIGMA. of dimension 3
representative of the state of the hidden Markov model
corresponding to said type of walking.
[0010] The use of a hidden Markov model such as this makes it
possible to accurately distinguish the type of walking employed in
real time.
[0011] In one embodiment, the probability density of correspondence
between the signals delivered by the device and a state of the
hidden Markov model representing a type of walking is defined by a
linear combination of said first expressions for the probability
densities of the set of types of walking, the sum of the
coefficients of said linear combination being equal to 1.
[0012] This makes it possible to substantially improve the accuracy
of the results.
[0013] According to one embodiment, the analysis means are adapted
for determining the type of walking of the user from among a set of
at least two types of walking from among walking on the flat,
walking down a descent, walking up a climb, climbing a staircase,
descending a staircase.
[0014] Thus, the invention makes it possible to distinguish any
type of walking from among these conventional types of walking.
[0015] In one embodiment, for walking on the flat, the three
components .mu..sub.1,.mu..sub.2,.mu..sub.3 of the column vector
.mu. are such that .mu..sub.1 .di-elect cons.[-1.2;-1], .mu..sub.2
.di-elect cons.[0.25;0.35], and .mu..sub.3 .di-elect
cons.[-0.3;-0.2], and the three diagonal components
.SIGMA..sub.1,.SIGMA..sub.2,.SIGMA..sub.3 of the diagonal matrix
.SIGMA. are such that .SIGMA..sub.1 .di-elect
cons.[10.sup.-3;510.sup.-2], .SIGMA..sub.2 .di-elect
cons.[10.sup.-4;510.sup.-3], and .SIGMA..sub.3 .di-elect
cons.[10.sup.-4;510.sup.-2].
[0016] According to one embodiment, for walking down a descent, the
three components .mu..sub.1,.mu..sub.2,.mu..sub.3 of the column
vector .mu. are such that .mu..sub.1 .di-elect cons.[-1.4;-1],
.mu..sub.2 .di-elect cons.[0.05;0.25], and .mu..sub.3 .di-elect
cons.[-0.7;-0.2], and the three diagonal components
.SIGMA..sub.1,.SIGMA..sub.2,.SIGMA..sub.3 of the diagonal matrix
.SIGMA. are such that .SIGMA..sub.1 .di-elect
cons.[10.sup.-3;510.sup.-2], .SIGMA..sub.2 .di-elect
cons.[10.sup.-3;10.sup.-2], and .SIGMA..sub.3 .di-elect
cons.[10.sup.-4;510.sup.-2].
[0017] In one embodiment, for walking up a climb, the three
components .mu..sub.1,.mu..sub.2,.mu..sub.3 of the column vector
.mu. are such that .mu..sub.1 .di-elect cons.[-1.1:-0.2],
.mu..sub.2 .di-elect cons.[0.1;0.2], and .mu..sub.3 .di-elect
cons.[-1.2;-0.6], and the three diagonal components
.SIGMA..sub.1,.SIGMA..sub.2,.SIGMA..sub.3 of the diagonal matrix
.SIGMA. are such that .SIGMA..sub.1 .di-elect
cons.[10.sup.-3;510.sup.-2], .SIGMA..sub.2 .di-elect
cons.[10.sup.-3;10.sup.-2], and .SIGMA..di-elect
cons.[10.sup.-3;510.sup.-2].
[0018] According to one embodiment, for climbing a staircase, the
three components .mu..sub.1,.mu..sub.2,.mu..sub.3 of the column
vector .mu. are such that .mu..sub.1 .di-elect cons.[-0.4;-0.15],
.mu..sub.2 .di-elect cons.[0;0.2], and .mu..sub.3 .di-elect
cons.[-0.7;-0.4], and the three diagonal components
.SIGMA..sub.1,.SIGMA..sub.2,.SIGMA..sub.3 of the diagonal matrix
.SIGMA. are such that .SIGMA..sub.1 .di-elect
cons.[10.sup.-2;10.sup.-1], .SIGMA..sub.2 .di-elect
cons.[510.sup.-3;510.sup.-2], and .SIGMA..sub.3 .di-elect
cons.[10.sup.-2;10.sup.-1].
[0019] In one embodiment, for descending a staircase, the three
components .mu..sub.1,.mu..sub.2,.mu..sub.3 of the column vector
.mu. are such that .mu..sub.1 .di-elect cons.[-0.8;-0.6],
.mu..sub.2 .di-elect cons.[-0.3;-0.1], and .mu..sub.3 .di-elect
cons.[-0.4;-0.25], and the three diagonal components
.SIGMA..sub.1,.SIGMA..sub.2,.SIGMA..sub.3 of the diagonal matrix
.SIGMA. are such that .SIGMA..sub.1 .di-elect
cons.[10.sup.-3;10.sup.-2], .SIGMA..sub.2 .di-elect
cons.[10.sup.-4;10.sup.-3], and .SIGMA..sub.3 .di-elect
cons.[10.sup.-4;10.sup.-3].
[0020] According to one embodiment, the probabilities P, of said
hidden Markov model, of switching between two states representing
respectively one of said types of walking are such that:
P(state.sub.i,state.sub.j).di-elect cons.[0.5;0.9999], when i is
different from j; and P(state.sub.i,state.sub.j).di-elect
cons.[0;0.5], when i is equal to j.
[0021] The accuracy of the system is thus improved.
[0022] In one embodiment, said analysis means are fastened or
remote with respect to the device, and the device comprises wired
or wireless transmission means for transmitting its measurements to
said analysis means.
[0023] Thus, numerous embodiments may be envisaged.
[0024] According to one embodiment, the system comprises,
furthermore, display means fastened to the device and/or remote
display means.
[0025] Thus, the results of analyzing the walking activity of the
user may be viewed directly, or indeed analyzed and viewed on a
larger external screen, for example of a laptop computer which can
comprise the analysis means.
[0026] According to one embodiment, the device comprises a
magnetometer, and/or an accelerometer, and/or a gyrometer for
delivering its output signals.
[0027] According to another aspect of the invention, there is also
proposed a method for observing a walking activity of a person, on
the basis, during a footstep, of signals representing a first
difference of angular speeds of the corresponding tibia between the
instant at which the heel of the foot is planted and the instant at
which the foot is laid flat, a second difference of angular speeds
of the corresponding tibia between the instant at which the heel of
the foot is planted and the instant at which the last toe of the
foot is lifted, and an angular speed of the corresponding tibia at
the instant at which the foot is laid flat. Said signals are
analyzed to determine a type of walking of the user as a function
of time by using a hidden Markov model with N states corresponding
respectively to N types of walking.
BRIEF DESCRIPTION OF THE DRAWINGS
[0028] The invention will be better understood on studying a few
embodiments described by way of wholly non-limiting examples and
illustrated by the appended drawings in which:
[0029] FIGS. 1 and 2 illustrate two embodiments of systems
according to one aspect of the invention; and
[0030] FIG. 3 illustrates two examples of results of a system
according to one aspect of the invention.
DETAILED DESCRIPTION OF THE INVENTION
[0031] In all the figures, the elements having the same references
are similar.
[0032] As illustrated in FIG. 1, the embodiment system SYST for
observing a walking activity of a person comprises a device DISP
adapted for delivering as output, for a footstep of the person, a
first difference dva.sub.1 of angular speeds of the corresponding
tibia between the instant at which the heel of the foot is planted
and the instant at which the foot is laid flat, a second difference
dva.sub.2 of angular speeds of the corresponding tibia between the
instant at which the heel of the foot is planted and the instant at
which the last toe of the foot is lifted, and an angular speed va
of the corresponding tibia at the instant at which the foot is laid
flat.
[0033] Such a device DISP is for example described in French patent
application FR 08/00571 and comprises a magnetometer intended to be
fixed to a tibial segment of the person so as to generate a signal
representative of at least one projection in a sagittal plane of an
ambient magnetic field in which he is immersed, and a module for
processing the signal so as to identify characteristic instants
and/or phases of the walking of the person on the basis of the
signal generated by the magnetometer. By assuming that the person
moves in a plane, that is to say the person walks in a straight
line, it is possible to estimate the angular speed of the tibia on
the basis of the magnetometer. This item of information can also be
obtained directly on the basis of a gyrometer. On the basis of this
item of information, the characteristic instants of the walking
cycle may be deduced as described in the document "Stair climbing
detection during daily physical activity using a miniature
gyroscope" by Brian Coley, Bijan Najafi, Anisoara
Paraschiv_Ionescu, and Kamiar Aminian.
[0034] As a variant, the device DISP can comprise an accelerometer
and/or a gyrometer, and/or a magnetometer for generating its output
signals.
[0035] The output signals of the device DISP are transmitted, for
example by wireless link, to a remote analysis module AN, for
example integrated into a laptop computer LC furnished with a large
display screen AFFD.
[0036] As a variant, as illustrated in FIG. 2, the analysis module
may be fastened to the device DISP, and the latter may be furnished
with a display screen AFF.
[0037] In the subsequent description, the wholly non-limiting
example dealt with is a system according to one aspect of the
invention, in which the analysis module AN is adapted for
determining the type of walking of the user as a function of time
by using a hidden Markov model with 5 states (N=5) corresponding
respectively to walking on the flat (state 1), walking down a
descent (state 2), walking up a climb (state 3), climbing a
staircase (state 4), and descending a staircase (state 5).
[0038] These three signals provided by the device DISP are denoted
in the form of a three-dimensional vector:
x(n)=[x.sub.1(n),x.sub.2(n),x.sub.3(n)].sup.T=[dva.sub.1(n),dva.sub.2(n),-
va(n)].sup.T, in which n represents the index of the sample at the
frequency provided by the device DISP, and x1, x2, and x3 represent
the values of the signals corresponding to the three signals
delivered by the device DISP, i.e. dva1, dva2, and va.
[0039] The probability density p.sub.x(x(n)) of correspondence
between the signals delivered by the device and a state of the
hidden Markov model representing a type of walking is defined by
the following first expression:
1 2 .pi. - ( x _ ( n ) - .mu. _ ) T - 1 ( x _ ( n ) - .mu. _ ) 2
##EQU00002##
in which: x(n) represents the column vector with components of the
three signals transmitted by the device DISP; .mu. represents a
column vector with three components, representative of the state of
the hidden Markov model corresponding to said type of walking; and
|.SIGMA.| represents the absolute value of the determinant of a
diagonal matrix .SIGMA. of dimension 3 representative of the state
of the hidden Markov model corresponding to said type of
walking.
[0040] The five types of walking of the example considered are
defined by the following parameters corresponding to the first
expression for the probability density p.sub.x,k associated with
the state k: [0041] walking on the flat (state 1 of the hidden
Markov model):
[0041] .mu. _ = [ 1.4421 ; - 1.8292 ; - 0.9000 ] T and = [ 0.145 0
0 0 0.40 0 0 0 0.05 ] ##EQU00003## [0042] walking down a descent
(state 2 of the hidden Markov model):
[0042] .mu. _ = [ 1.9393 ; - 1.0854 ; - 0.6676 ] T and = [ 0.041 0
0 0 0.073 0 0 0 0.1 ] ##EQU00004## [0043] walking up a climb (state
3 of the hidden Markov model):
[0043] .mu. _ = [ 2.88 ; 0.24 ; - 0.34 ] T and = [ 0.95 0 0 0 0.24
0 0 0 0.45 ] ##EQU00005## [0044] climbing a staircase (state 4 of
the hidden Markov model):
[0044] .mu. _ = [ 1.14 ; - 2.19 ; 0.46 ] T and = [ 0.39 0 0 0 0.60
0 0 0 0.16 ] ##EQU00006## [0045] descending a staircase (state 5 of
the hidden Markov model):
[0045] .mu. _ = [ 0.70 ; - 1.0 ; - 0.35 ] T and = [ 0.15 0 0 0 0.10
0 0 0 0.05 ] ##EQU00007##
[0046] The probability densities of switching
P(state.sub.i/state.sub.j) from one state state.sub.i corresponding
to a type of walking of the hidden Markov model to another state
state.sub.j corresponding to a type of walking of the hidden Markov
model are the following, chosen so as to ensure good stability of
the system:
TABLE-US-00001 state.sub.i = 1 state.sub.i = 2 state.sub.i = 3
(walking (walking (walking state.sub.i = 4 state.sub.i = 5
P(state.sub.i / on the down a up a (climbing (descending
state.sub.j) flat) descent) climb) a staircase) a staircase)
state.sub.i = 1 0.99 0.0025 0.0025 0.0025 0.0025 (walking on the
flat) state.sub.i = 2 0.0025 0.99 0.0025 0.0025 0.0025 (walking
down a descent) state.sub.i = 3 0.0025 0.0025 0.99 0.0025 0.0025
(walking up a climb) state.sub.i = 4 0.0025 0.0025 0.0025 0.99
0.0025 (climbing a staircase) state.sub.i = 5 0.0025 0.0025 0.0025
0.0025 0.99 (descending a staircase)
[0047] Such a system makes it possible to distinguish the changes
between the various types of walking of a user. The switching
probabilities are chosen sufficiently close to 1 so as to ensure
good stability of the system. Indeed, it is desirable to observe
for at least a certain duration that the nature of the signals has
changed in order for the analysis module AN to decide that the type
of walking has changed.
[0048] It is possible to substantially improve the performance of
the system by defining the probability density of correspondence
between the signals delivered by the device DISP and a state of the
hidden Markov model representing a type of walking by a linear
combination of said first expressions for the probability densities
of the set of types of walking, the sum of the coefficients of said
linear combination being equal to 1.
[0049] We thus write, for state i of the hidden Markov model:
P X i ( x _ ( n ) ) = k = 1 5 .alpha. i , k p X , k ( x _ ( n ) )
##EQU00008##
p.sub.X,k(x(n)) being said first expression for the probability
density p.sub.x,.sub.k associated with the state k. .alpha..sub.i,k
being a weighting coefficient with
k = 1 5 .alpha. i , k = 1 ##EQU00009##
[0050] In this example, the following values have been used for the
weighting coefficients:
TABLE-US-00002 k = 1 k = 2 k = 3 (walking (walking (walking k = 4
k=5 on the down a up a (climbing (descending flat) descent) climb)
a staircase) a staircase) .alpha..sub.1, k 0.9 0 0 0 0.1
.alpha..sub.2, k 0.025 0.9 0.025 0.025 0.0025 .alpha..sub.3, k
0.025 0.025 0.9 0.025 0.0025 .alpha..sub.4, k 0.025 0.025 0.025 0.9
0.0025 .alpha..sub.5, k 0 0 0 0.03 0.97
[0051] The analysis module AN determines, on the basis of the input
signals and of the hidden Markov model such as defined, the most
probable sequence of states (types of walking), according to
conventional methods, for example by calculating for the set of
possible sequences of states the associated probability having
regard to the signal observed and by retaining the most probable
sequence, such as are described for example in the document "An
introduction to hidden Markov models" by L. R. Rabiner and B. H.
Juang, IEEE ASSP Magazine, January 1986, or in the book "Inference
in Hidden Markov Models" by Cappe, Moulines and Ryden from
Springer, from the series "Springer series in statistics".
[0052] FIG. 3 illustrates an exemplary recording of a walking
session of a user of the system, within the first graph the three
curves representing the values of x.sub.1, x.sub.2 and x.sub.3
equal respectively to dva.sub.1, dva.sub.2 and va transmitted by
the device DISP, as a function of time, and in the second graph,
the walking state of the patient determined by the system SYST.
[0053] In this example, the user has walked on the flat (state 1)
for 5 seconds, has then walked up a climb (state 3) for 10 seconds,
has then walked down a descent (state 2) for 3 seconds, has then
walked on the flat (state 1) for 60 seconds, has then walked down a
descent (state 2) for 37 seconds, has then walked up a climb (state
3) for 69 seconds, has then walked down a descent (state 2) for 12
seconds, has then walked up a climb (state 3) for 11 seconds, and
has then climbed a staircase (state 4) for 22 seconds.
[0054] The present invention makes it possible, at reduced cost, to
determine the walking activity of a person with improved
accuracy.
* * * * *