CN112294603A

CN112294603A - Exoskeleton walking aid system and control method

Info

Publication number: CN112294603A
Application number: CN201910684700.XA
Authority: CN
Inventors: 徐辉任; 刘华; 于万胜; 顾洛铭
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2019-07-26
Filing date: 2019-07-26
Publication date: 2021-02-02

Abstract

The application discloses an exoskeleton walking aid system and a control method, wherein the exoskeleton walking aid system comprises a walking aid, an exoskeleton robot and a cloud platform, the exoskeleton robot is in communication connection with the walking aid, and the walking aid is in wireless communication connection with the cloud platform; the exoskeleton robot is used for providing assistance for a user when the user walks, acquiring gait parameters of the user and transmitting the gait parameters to the walking aid; the walking aid is used for supporting and dragging a user to walk, downloading or uploading user information to the cloud platform, operating according to the information acquired from the cloud platform and set parameters, and sending the set parameters to the exoskeleton robot, so that the exoskeleton robot operates according to the set parameters. The walking aid and the exoskeleton are combined, interaction can be carried out between the walking aid and the information base of the hospital, rehabilitation training can be carried out on a user according to set parameters, and the information base of the hospital can be recorded.

Description

Exoskeleton walking aid system and control method

Technical Field

The application relates to the technical field of medical instruments, in particular to an exoskeleton walking aid system and a control method.

Background

At present, the number of disabled people and old people with inconvenient actions caused by cerebral apoplexy, sports injury and the like is huge in China, and in daily life, people with inconvenient actions usually go out and move through a wheelchair, but the wheelchair basically has no other functions except for helping to go out.

In the prior art, most of the walking aids are support walking aids and only have simple auxiliary walking functions, the users mainly rely on the strength of the legs of the users in the walking process, the users and the walking aids are loads in the walking process, the long-time walking is not facilitated, the walking aids only have supporting and auxiliary walking functions, the users walk according to self gaits in the walking process, and the walking aids have no effect on rehabilitation training of patient gaits.

Disclosure of Invention

The application aims to provide an exoskeleton walking aid system and a control method, and solves the problems that in the prior art, the function of the walking aid is single, and the rehabilitation training of a patient is not effective.

In view of the above, the present application provides an exoskeleton walker system comprising a walker, an exoskeleton robot and a cloud platform, the exoskeleton robot and the walker being communicatively coupled, the walker and the cloud platform being wirelessly communicatively coupled;

the exoskeleton robot is used for providing assistance for a user when the user walks, acquiring gait parameters of the user and transmitting the gait parameters to the walking aid;

the walking aid is used for supporting and dragging a user to walk, downloading or uploading user information to the cloud platform, operating according to the information acquired from the cloud platform and set parameters, and sending the set parameters to the exoskeleton robot, so that the exoskeleton robot operates according to the set parameters.

Preferably, the walking aid comprises a chassis frame, a telescopic rotating arm, an interactive push rod and an armrest frame, wherein a motor wheel is arranged under the chassis frame, the telescopic rotating arm and the interactive push rod are arranged on the chassis frame, the armrest frame is arranged on the telescopic rotating arm, a controller is arranged on the interactive push rod, a walking control switch is arranged on the armrest frame, the walking control switch is electrically connected with the motor wheel, and the controller is in wireless communication connection with the cloud platform.

Preferably, the support bracket includes the armpit trailing arm, sets up the last handrail in armpit trailing arm top and sets up the lower handrail in armpit trailing arm below, the armpit trailing arm during operation gets into human armpit for the human armpit of bearing supports the human body and stands, the handrail is used for the human body to press behind the armpit trailing arm down, supports when both hands hang down, go up the handrail and be used for the human body to stand and support when both hands lift, the setting of walking control switch is in on the handrail down.

Preferably, the armpit supporting arm is of a U-shaped structure which is attached to the outline of a human body.

Preferably, an electric brake is arranged on the motor wheel, the electric brake is electrically connected with the controller, the walking control switch is a walking button, when the walking button is pressed down, the electric brake is released, and a driving motor of the motor wheel is started; when the walking button is loosened, the driving motor of the motor wheel is turned off, and the electric brake is locked.

Preferably, the number of the motor wheels is 2, the motor wheels are symmetrically arranged below the chassis frame, at least 1 driven wheel is further arranged on the chassis frame, and the motor wheels are provided with Hall sensors for self-feedback adjustment of the rotating speed of the motor.

Preferably, the telescopic rotating arm comprises an arm body and a push rod, the arm body is hinged to the chassis frame, one end of the push rod is connected with the chassis frame, and the other end of the push rod is hinged to the arm body.

Preferably, a push rod motor is arranged on the push rod, and the push rod motor is electrically connected with the controller and used for driving the push rod to stretch.

Preferably, the flexible swinging boom still includes screw drive subassembly, screw drive subassembly one end with flexible swinging boom is connected, the other end with support the bracket and connect.

Preferably, the screw drive assembly comprises a screw motor, a screw and a nut, the screw motor is arranged on the arm body, the screw is connected with an output shaft of the screw motor, the nut is arranged on the screw, the nut is connected with the supporting bracket, and the screw motor is electrically connected with the controller.

Preferably, an emergency switch is arranged on the supporting bracket, and the emergency switch is electrically connected with the screw motor, the push rod motor, the driving motor of the motor wheel and the electric band-type brake.

Preferably, a touch control screen is arranged on the controller.

Preferably, the armpit supporting arms are wrapped with soft cushion layers.

Preferably, the chassis frame is of a U-shaped configuration, so that the user can walk while standing in the middle of the U-shaped configuration of the chassis frame.

Preferably, a pedal is arranged on the chassis frame, and the pedal is detachably connected with the chassis frame.

Preferably, the exoskeleton robot comprises a wearing assembly, a leg power assisting assembly, a joint driving motor and an exoskeleton control circuit board, wherein the leg power assisting assembly is connected with the wearing assembly through the joint driving motor, the exoskeleton circuit board is arranged on the wearing assembly, and the exoskeleton control circuit board is in communication connection with a controller of the walking aid.

Preferably, the wearing assembly comprises a back plate and a waist support, the waist support is provided with an arc-shaped structure attached to a human body, the waist support is connected with the back plate, the exoskeleton control circuit board is arranged in the back plate, and the leg power assisting assemblies are arranged on two sides of the waist support.

Preferably, the back plate is provided with a back strap, and the back strap is provided with a chest buckle for locking and adjusting the back strap.

Preferably, a waist belt is arranged on the waist support, and a waist buckle used for locking and adjusting the back belt is arranged on the waist belt.

Preferably, shank helping hand subassembly includes connecting rod, leg support and bandage, the leg support passes through the connecting rod with joint driving motor connects, the leg support has the arc structure of laminating with human shank, as the application of force portion of shank helping hand subassembly, the bandage with the leg support joint.

The application also provides an exoskeleton walking aid control method, which comprises the following steps:

the method comprises the following steps: acquiring user information;

step two: setting training duration and gait parameters according to the user information;

step three: the walking aid and the exoskeleton robot travel according to the set gait parameters.

Preferably, the third step is further followed by:

step four: the exoskeleton robot monitors gait parameter data of a user in real time, the gait parameter data of the user is transmitted to a controller of the walking aid, a screen on the controller of the walking aid displays the gait parameter of the user in real time, and the walking aid controller times training of the user.

Preferably, the fourth step further comprises:

step five: and the controller of the walking aid uploads the gait parameter data and the training duration of the user to the cloud platform.

Preferably, the manner of acquiring the user information in the first step is as follows: if the user is a new user, inputting user information on a display screen of the controller; and if the user is a non-new user, downloading and reading the user information from the cloud platform.

Preferably, the user information includes: user number, gender, height, weight, case, length of trained time, etc.

Preferably, the gait parameters include stride frequency, pace, etc.

Compared with the prior art, the embodiment of the application has the advantages that:

the intelligent walking aid is adopted, and the walking aid is controlled to move and stop through the walking button, so that the walking process of a user is easier, the walking time is prolonged, and the walking aid effect is improved; the movement of the walking aid and the state of the telescopic rotating arm can be controlled through a display screen finger on the controller, and the nursing problem of medical care personnel/nursing staff is solved.

The touch control screen of the controller can realize information interaction: user information can be input or read, and personalized tracking service and medical database sharing are realized; training duration (including countdown) can be set, and walking exercise amount can be customized; gait training parameters (controlling the advancing speed of a walking aid and the walking aid speed of an exoskeleton) and the like can be set, so that the assistant walking of disabled patients represented by aging and cerebral apoplexy is realized, and the pace frequency and pace speed states of users are improved; the gait curve can be displayed on a display screen of the controller in real time, data records can be uploaded, tracking feedback of daily walking information of a user is achieved, and remote rehabilitation guidance is performed by combining the gait curve with a hospital.

The walking assisting device is used together with the exoskeleton robot, and can assist disabled patients represented by aging and cerebral apoplexy to walk by means of joint assistance of the exoskeleton robot, so that the application range of users is expanded, common users can walk more labor-saving, the walking time is prolonged, and the walking assisting effect is improved. Adopt intelligent capable ware of helping, walk and stop through walking button control capable ware of helping, reduce walking load, it is long to prolong the walking, improves and helps capable effect.

Drawings

In order to more clearly illustrate the detailed description of the present application or the technical solutions in the prior art, the drawings needed to be used in the detailed description of the present application or the prior art description will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic view of the construction of the walker of the present application;

FIG. 2 is a side view of the walker of the present application;

FIG. 3 is a front view of the walker of the present application;

FIG. 4 is a top view of the walker of the present application;

fig. 5 is a schematic structural view of an exoskeleton robot according to the present application;

fig. 6 is a side view of an exoskeleton robot of the present application;

in the figure: 10-a chassis frame; 11-a motor wheel; 12-a driven wheel; 13-a pedal; 14-a battery; 20-telescoping rotating arms; 21-an arm body; 22-a push rod; 23-a lead screw assembly; 30-a support bracket; 31-underarm corbel; 32-upper armrest; 33-lower armrest; 34-a walk button; 35-emergency switch; 40-interactive pushrods; 41-a controller; 50-a back plate; 51-a harness; 52-chest buckle; 60-waist support; 61-waistband; 62-joint drive motor; 63-waist buckle; 70-a connecting rod; 71-leg rest; 72-band.

Detailed Description

The technical solutions of the present application will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

Example 1

Referring to fig. 1, the embodiment provides an exoskeleton walker system, which includes a walker, an exoskeleton robot and a cloud platform, wherein the exoskeleton robot is in wireless communication connection with the walker, and the walker is in wireless communication connection with the cloud platform, and the wireless communication connection may be bluetooth, WiFi, radio frequency, etc.; the exoskeleton robot is used for providing assistance for a user when the user walks, acquiring gait parameters of the user and transmitting the gait parameters to the walking aid; the walking aid is used for supporting and dragging a user to walk, downloading or uploading user information to the cloud platform, operating according to the information acquired from the cloud platform and set parameters, and sending the set parameters to the exoskeleton robot, so that the exoskeleton robot operates according to the set parameters.

The walker comprises a chassis frame 10, telescoping swivel arms 20, support brackets 30 and an interactive push bar 40.

The chassis frame 10 is a U-shaped structure, the four corners of the chassis frame are provided with wheels, the front two of the chassis frame are provided with motor wheels 11 which are driving wheels, the motor wheels 11 can be selected from motor wheel wheels with a structure similar to that of an electric bicycle, the motor and the wheels of the motor wheels are integrated, an electric brake device is further arranged in the chassis frame, when a user uses the chassis frame, the user can stand in the middle of the U-shaped structure of the chassis frame 10 or walk in the middle of the U-shaped structure, the detachable pedals 13 are arranged on the chassis frame 10, when the user needs to support to stand or assist to walk, the pedals 13 can be taken down, the user stands in the middle of the U-shaped structure of the chassis frame 10, when the user needs to transport, the pedals 13 are installed, the user can stand on the pedals 13, the walker can load the user to move, a battery 14 is further arranged below the chassis frame.

The telescopic rotating arm 20 is arranged on the chassis frame 10 and comprises an arm body 21, a push rod 22 and a lead screw assembly 23, the lower part of the arm body 21 is hinged with the chassis frame 10, one end of the push rod 22 is hinged with the chassis frame 10, the other end of the push rod 22 is hinged with the middle part of the arm body 21, the push rod 22 is driven to extend and retract through a push rod motor arranged on the push rod 22, and therefore the arm body 21 can be controlled to rotate around the hinged part of the arm body with the chassis frame 10. Screw subassembly 23 includes screw motor, lead screw and screw, screw motor sets up on the arm body 21, screw motor's output shaft and screw connection, the screw is established on the lead screw, the screw is connected with support bracket 30, thus, screw motor drive lead screw is rotatory, the screw can move on the lead screw, thereby can drive support bracket 30 and reciprocate, through push rod and screw subassembly, flexible swinging boom 20 can carry out the adjustment of angle and length according to user's size and gesture, make support bracket 30 that sets up above that can match with the human body the most probably, user's comfort level is improved.

The support bracket 30 comprises an armpit support arm 31, an upper handrail 32 and a lower handrail 33, the armpit support arm 31 is of a U-shaped structure which is attached to the outline of a human body, two arms of the armpit support arm are used for supporting the armpits of the human body, the bottom of the armpit support arm is connected with the telescopic rotating arm 20, the traditional support is supported by both hands of a user, physical strength is consumed very much, for the aged who suffer from apoplexy and the like, after a long time, the two arms of the traditional support cannot support the body, the body can be greatly saved by arranging the armpit support arm 31 to support the human body, even if the traditional support is pressed on the armpit support arm 31 for a long time, the armpit support arm 31 is wrapped with a layer of sponge with a concave radian, and; the lower armrests 33 are arranged below the armpit supporting arms 31, when walking assistance is needed, the body is pressed against the armpit supporting arms 31, the arms can hang down and just can be supported on the lower armrests 33, on one hand, the supporting effect can be further achieved, on the other hand, if no lower armrests are arranged, the two arms of a human body can only hang down, and the use feeling of a user is very poor; the upper handrail 32 is arranged above the armpit supporting arms 31, and when a user needs to support the standing chair, the user can just support the upper handrail 32 by lifting the hands.

The lower handrail 33 is provided with a walking button 34, the walking button 34 is electrically connected with a driving motor of the motor wheel 11 and an electric braking device in the motor wheel 11, when a user presses the walking button 34, the electric brake device in the motor wheel 11 is released, the motor wheel 11 drives the motor to drive the motor wheel 11 to rotate, when a user releases the walking button 34, the driving motor of the motor wheel 11 stops working, at the same time, the electric braking device in the motor wheel 11 locks the motor wheel 11, so that the multifunctional walking aid of the embodiment stops, and thus, when the user stops in special conditions, the user does not need to actively control the brake device, and only needs to loosen the walking button, thereby not only improving the speed of taking braking measures by the user, but also avoiding the problem that when the user meets emergency situations, the accident happens because the brake switch can not be found in a hurry, and the safety performance of the walking aid is greatly improved.

The motor wheel 11 adopts a motor with a built-in Hall sensor, can self-feed back and adjust the rotating speed of the left motor and the right motor, and ensures that the walking aid can walk linearly.

The emergency switch 35 is arranged on the support bracket 30, the emergency switch 30 is electrically connected with the screw motor, the push rod motor, the driving motor of the motor wheel 11 and the electric braking device of the motor wheel 11, when a user meets an emergency situation, the emergency switch 35 can be controlled, the walking aid vehicle can not only stop moving forwards, but also the angle and the length of the support bracket 30 can not be changed, and the safety of the user can be ensured as far as possible.

An interactive push rod 40 is also provided on the chassis frame 10, which extends in a direction opposite to the extending direction of the telescopic rotating arm 20, the front end of the walking aid extends out of the front of the walking aid, when a user stands stably in the chassis frame 10, a nursing person can slightly adjust the position of the walking aid through the interactive push rod 40 to ensure that the walking aid is aligned with and moves relative to the user, the upper part of the interactive push rod 40 is also provided with a controller 41 with a touch screen, the controller 41 is electrically connected with a screw motor, a push rod motor, a driving motor of the motor wheel 11, an electric braking device of the motor wheel 11 and a walking button, the controller 41 is connected with a cloud platform WiFi and is connected with an exoskeleton robot Bluetooth, the nursing person can input or read information of the user through the touch screen to set rehabilitation training duration, gait training parameters and the like, and the walking aid can be controlled to advance, retreat, turn left and turn right during transfer.

The exoskeleton robot comprises a wearing assembly, a leg power-assisted assembly and a joint driving motor, wherein the leg power-assisted assembly is connected with the wearing assembly through the joint driving motor, and the joint driving motor is an integrated motor and consists of a direct current brushless motor, a photoelectric encoder and a harmonic reducer.

The wearing assembly comprises a back plate 50 and a waist support 60, the waist support 60 is of an arc structure which is attached to a human body, the waist support 60 is connected with the back plate 50, the back plate 50 can be closely attached to the back of a user, an exoskeleton control circuit board is arranged in the back plate 50 and is in Bluetooth communication connection with a controller of a walking aid, and the leg power assisting assemblies are a pair and symmetrically arranged on two sides of the waist support 60. The back plate 50 is provided with a back belt 51, the back belt 51 is provided with a chest buckle 52 for locking and adjusting the back belt 51, the waist support 60 is provided with a waist belt 61, and the waist belt 61 is provided with a waist buckle 63 for locking and adjusting the back belt.

The leg power assisting assembly comprises a connecting rod 70, a leg support 71 and a binding band 72, the leg support 71 is connected with the joint driving motor 62 through the connecting rod 70, the leg support 71 has an arc structure which is attached to the leg of a human body and serves as a force application part of the leg power assisting assembly, the binding band 72 is clamped with the leg support 71, the leg support 71 is of a hollow structure, and the binding band 72 is provided with inverted teeth so that the binding band 72 can stretch out and draw back in the hollow structure of the leg support 71.

The intelligent walking aid is adopted in the embodiment, the walking aid is controlled to move and stop through the walking button, so that the walking process of a user is easier, the walking time is prolonged, and the walking aid effect is improved; the movement of the walking aid and the state of the telescopic rotating arm can be controlled through a display screen finger on the controller, and the nursing problem of medical care personnel/nursing staff is solved.

Example 2

The embodiment provides an exoskeleton walking aid control method, which comprises the following steps:

the method comprises the following steps: acquiring user information in the following manner: if the user is a new user, inputting user information on a display screen of the controller; if the user is a non-new user, downloading and reading user information from the cloud platform, wherein the user information comprises: user number, gender, height, weight, case, length of training, etc.;

step two: setting training duration and gait parameters according to the user information, wherein the gait parameters comprise step frequency, step speed and the like;

step three: the walking aid and the exoskeleton robot move according to the set gait parameters;

step four: the exoskeleton robot monitors gait parameter data of a user in real time, the gait parameter data of the user is transmitted to a controller of a walking aid, a screen on the controller of the walking aid displays the gait parameter of the user in real time, and the walking aid controller times training of the user;

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims

1. An exoskeleton walker system comprising a walker, an exoskeleton robot and a cloud platform, the exoskeleton robot and the walker being communicatively coupled, the walker and the cloud platform being wirelessly communicatively coupled;

2. The exoskeleton walker system as claimed in claim 1, wherein the walker comprises a chassis frame, a telescopic rotating arm, an interactive push rod and a handrail frame, wherein a motor wheel is arranged under the chassis frame, the telescopic rotating arm and the interactive push rod are arranged on the chassis frame, the handrail frame is arranged on the telescopic rotating arm, a controller is arranged on the interactive push rod, a walking control switch is arranged on the handrail frame, the walking control switch and the motor wheel are electrically connected with the controller, and the controller is in wireless communication connection with the cloud platform.

3. The exoskeleton walker system as claimed in claim 2 wherein said support bracket includes an armpit arm, an upper arm rest disposed above said armpit arm, and a lower arm rest disposed below said armpit arm, said armpit arm being operable to enter the armpit of the human body for supporting the armpit of the human body and supporting the human body while standing, said lower arm rest being operable to press the human body against said armpit arm rest and support the human body while hanging, said upper arm rest being operable to support the human body while standing and lifting the human body, said walking control switch being disposed on said lower arm rest.

4. The exoskeleton walker system as claimed in claim 2, wherein an electric brake is arranged on the motor wheel, the electric brake is electrically connected with the controller, the walking control switch is a walking button, when the walking button is pressed, the electric brake is released, and a driving motor of the motor wheel is started; when the walking button is loosened, the driving motor of the motor wheel is turned off, and the electric brake is locked.

5. The exoskeleton walker system as claimed in claim 2 wherein said telescoping swivel arm comprises an arm body and a push rod, said arm body is hinged to said chassis frame, one end of said push rod is connected to said chassis frame, the other end of said push rod is hinged to said arm body, said push rod is driven by a push rod motor mounted thereon to telescope, said push rod motor is electrically connected to said controller.

6. The exoskeleton walker system as claimed in claim 2 wherein said telescoping swivel arm further comprises a lead screw drive assembly connected at one end to said telescoping swivel arm and at the other end to said support bracket, said lead screw assembly including a lead screw motor for driving said lead screw assembly, said lead screw motor being electrically connected to said controller.

7. The exoskeleton walker system of claim 2 wherein a touch control screen is provided on the controller.

8. The exoskeleton walker system of claim 1 wherein the exoskeleton robot comprises a wearing assembly, a leg assist assembly connected to the wearing assembly through the joint drive motor, a joint drive motor, and an exoskeleton control circuit board disposed on the wearing assembly, the exoskeleton control circuit board being communicatively coupled to a controller of the walker.

9. The exoskeleton walker system of claim 8 wherein the wearing assembly includes a back plate and a waist support having an arcuate configuration to conform to the person, the waist support being coupled to the back plate, the exoskeleton control circuit board being disposed within the back plate, the leg assist assembly being disposed on either side of the waist support.

10. The exoskeleton walker system as claimed in claim 8 wherein said leg assist assembly comprises a connecting rod, a leg support and a strap, said leg support is connected to said joint driving motor through said connecting rod, said leg support has an arc-shaped structure for engaging with a leg of a human body as a force application portion of said leg assist assembly, and said strap is engaged with said leg support.

11. An exoskeleton walk aid control method, comprising the steps of:

the method comprises the following steps: acquiring user information;

step three: the walking aid and the exoskeleton robot operate according to the set gait parameters.

12. The exoskeleton walker control method of claim 11 further comprising, after said step three:

13. The exoskeleton walker control method of claim 12 further comprising, after said step four:

step five: and the controller of the walking aid uploads the gait parameter data and the training duration of the user to the cloud platform for storage.

14. The exoskeleton walker control method as claimed in claim 11, wherein the user information obtained in step one is obtained by: if the user is a new user, inputting user information on a display screen of the controller; and if the user is a non-new user, downloading and reading the user information from the cloud platform.

15. The exoskeleton walker control method of claim 11 wherein the user information includes: user number, gender, height, weight, case, length of training session.

16. The exoskeleton walker control method of claim 11 wherein the gait parameters include stride frequency and stride speed.