TW201311214A - Visualized IMU gait detection device and analysis method thereof - Google Patents

Abstract

Disclosed are a visualized IMU (Inertial Measurement Unit) gait detection device and an analysis method thereof, in which two sets of IMU are used to respectively detect gait information of thigh and shank (lifting angles of three axes) when a user is walking and transmit the information in a wireless manner to an associated processing device (a computer), whereby the processing device makes comparison and analysis of the detected gait information with corresponding gain information of normal walking in order to determine whether the gait of the user is correct or not. Then the gait information is fed back in a visualized manner with a display screen so as to instantaneously provide the user with an easy and definite way to ensure correctness of his or her own gait, which serves as a reference and basis for correcting gait.

Description

Visualized IMU gait detection device and analysis method thereof

The invention relates to a visualized IMU gait detecting device and an analyzing method thereof, in particular to a method for detecting and analyzing a gait information of a user, and visualizing the correctness of the gait information by using a visual method. It facilitates the user to easily and clearly understand the device and analysis method of the gait situation.

Stroke or cerebral vascular disease (CVD) refers to a condition in which a patient has a neurological dysfunction, and the above-mentioned cerebrovascular disease prevents the brain tissue from obtaining sufficient nutrients and oxygen. The affected nerve cells are necrotic, which leads to the following common clinical symptoms including: unilateral hand and foot paralysis, hemiplegia, muscle spasm, coordination, poor posture control and balance, directional and attentional abnormalities, visual loss, understanding and expression. Loss of ability...etc. Seriously even coma or death. Among the survivors of stroke, more than 65% of patients have motor function disorders, such as loss of balance and walking ability, difficulty or weakness of limb movement, abnormal muscle tone, decreased body sensation, and lack of vision. .. etc., these effects will cause the stroke patients to have limited ability to daily activities in the future, relying on family or caregivers to help. Walking is a major indicator of the ability to act in life, and it also reflects whether there is independence in life. Therefore, the assessment and training of walking function is often regarded as the main goal of stroke rehabilitation.

Generally, the walking of a normal person can be roughly divided into two parts, a stance phase and a swing phase; the standing period accounts for about 60% of the entire gait cycle, and the swing period accounts for 40% of the gait cycle. %, from the tip of the toe to the ground until the heel touches the ground. Stroke patients have local neuronal cell necrosis, which affects the walking ability of stroke patients. The reasons include: muscle weakness, abnormal muscle tension, lack of balance ability, abnormal gait cycle, sensory loss, impaired motor control ability and coordination ability. Not good. Therefore, in the early stage of rehabilitation, when the stroke patient has just resumed walking ability, the gait will have some abnormal performances different from normal people. The frequently occurring problems include: slow walking speed, reduced step frequency, insufficient foot lift, and affected side. The standing period of the foot is short, the swinging period of the affected side is longer, and the shift of the center of gravity is uneven. In addition, stroke patients often use compensation to complete the action, for example: fixing a certain area of the body, which can reduce the number of degrees of freedom in the action elements of the central nervous system, thereby reducing the complexity of the action. This pattern of fixing a part of the body is usually a reaction that occurs when the balance is threatened, but this incorrect response control will seriously affect the recovery of stroke patients. For example, when a stroke patient walks, the degree of force and weight bearing of the patient's side foot is usually less than that of the healthy side foot. Therefore, when walking, the healthy side foot will be more laborious. If there is no long-term rehabilitation treatment for the affected side foot, The situation that causes gait asymmetry is more serious, and it is impossible to restore the correct walking style. In the future, it is easier to have a fall.

Therefore, gait function training is an important part of the physical therapy process and an important indicator of the degree of recovery. In recent years, treadmills have become an indispensable device in numerous physical therapy rooms. Treadmill training has been effective in gait training for stroke patients or paralyzed patients with lower limbs. However, when treadmill training is performed, unless there is a rehabilitation teacher to remind and correct the patient's rehabilitation posture, long-term incorrect gait training will cause the patient's wrong walking habits, gait asymmetry. The situation is even more serious. However, in general hospitals or clinics, the number of rehabilitation patients is large, and the rehabilitation staff cannot take care of the rehabilitation of each patient. Therefore, there are also a variety of instruments and equipment for gait analysis. If these devices and methods can be applied to Stroke patient training on treadmills allows stroke patients to rehabilitate their treadmills. At the same time, there is a system that allows patients to understand their current rehabilitation status. On the one hand, it can promote the recovery of patients' walking ability, on the other hand, it can save medical resources. It is not necessary for the rehabilitation teacher to remind and correct the patient's movements beside the patient, which is a subject worthy of in-depth discussion and research by relevant personnel.

Traditional human walking exercises are mostly evaluated using image-guided, force sensitive resistors (FSR) and magnetic tracking systems to assess gait parameters in daily life, such as walking standing cycles, Swing cycle, step length, joint lift height, etc. The image guidance is an optical technique based on marker points, which determines the position of the ankle and the knee, obtains image information by using a camera, and then analyzes the obtained image to analyze the gait elevation angle and symmetry of the patient. The research method has the least impact on the walking of the patient because it does not need to install any hardware on the patient, and at least some feature points are attached for tracking, but the disadvantage is that it is limited by the environment and is easily obscured by the obstacle and is affected by the space size. influences.

The pressure sensor (FSR) is typically placed in the insole to provide information on the pressure at the sole of the foot to contact the ground, so the entire gait cycle of the patient can be known from the FSR.

During normal walking, the FSR provides satisfactory results and only requires some signal adjustment; however, it is difficult to detect abnormal gait, and the load change during walking is not easy to distinguish, so the gait detection is reduced. Testability. Another gait tester (GAITRite, CIR Systems, Inc, USA) is a sensing floor mat with more than 66,800 pressure sensors embedded in it to collect gait while walking. Parameter data, this device can know the cadence, step width, step/length of the affected side, and the swing cycle of the affected/healthy side. However, the disadvantage is that the instrument is expensive and only suitable for gait assessment of patients, and can not improve the effectiveness of patient rehabilitation. The magnetic tracking system uses a magnetic sensor that is attached to different parts of the body to measure magnetic field pulse changes. The value of this method is that it is not limited by the field and can be designed to be battery powered, making it suitable for mounting on the body and for dynamic measurement. However, the disadvantage is that the magnetic sensor is sensitive to magnetic substances in the environment, and will be affected by the surrounding magnetic field to distort the received signal and affect the accuracy. These methods are commonly used to assess the neuromuscular health of older or patients with specific diseases, but these methods usually have long instrumentation and high experimental environments.

Therefore, in recent years, relevant research institutions have gradually shifted their focus to portable, low-cost, light-weight, and dynamic monitoring systems that are not affected by the environment, and can be subordinate to various environments, such as patients, or hospitals. The use of inertial measurement components (IMU) is a better solution to meet the above requirements.

In view of the above-mentioned shortcomings of the gait sensing components and their application methods, the inventors have studied and improved the shortcomings of these shortcomings, and finally the present invention has been produced.

The main object of the present invention is to provide a visualized IMU gait detection device that uses an inertial measurement component (IMU) to detect various gait information of a user's walking and wirelessly transmits it to a computer, and then through a screen. The gait information is fed back in a visual way, so that the user can easily and clearly grasp the correctness of his gait, and the use is extremely simple, and the feedback is clear and easy to understand.

Another object of the present invention is to provide a visualized IMU gait analysis method, which can receive gait information transmitted by the aforementioned inertial measurement component (IMU) to a computer, and analyze and judge to confirm the gait of the user. Whether it is correct or not, its application is more objective and correct.

In order to achieve the above object and effect, the technical means adopted by the present invention include: a visualized IMU gait detecting device, comprising at least: a first host mounted on a thigh of a user, the first The host system is composed of at least an inertial measurement component (IMU) and a Kalman filter, and the inertial measurement component (IMU) can detect the gait information (three-axis lifting angle) of the thigh, and After the Kalman filter is processed, the one-leg lift angle detection signal is outputted to the outside; a second host is mounted on the user's lower leg, and the second host is at least an inertial measurement component (IMU) and a Composed of a Kalman filter, the inertial measurement component (IMU) can detect the gait information of the calf (three-axis lifting angle), and after processing by the Kalman filter, output a small leg raising angle Detecting a signal; a signal processing device comprising at least a processing unit, a storage unit and a display screen, the processing unit respectively receiving the large and calf elevation angle detection signals output by the first and second hosts, And stored in the storage unit Reference angle value for comparison, and then outputs a control signal to the display screen, displays the result of the comparison by the display screen in a visual manner.

According to the above structure, each of the first and second hosts is provided with a wireless signal transmitting unit for respectively transmitting the large and lower leg raising angle detection signals to the outside through a wireless manner, and the signal processing device further comprises a wireless signal. The receiving unit receives the large and lower leg raising angle detection signals respectively sent by the wireless signal transmitting units, and then inputs the signals into the processing unit.

According to the above configuration, the wireless signal transmitting unit and the wireless signal receiving unit perform signal transmission via one of Bluetooth, infrared, and the like.

According to the above structure, the inertial measurement element is a module composed of a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetic sensor.

According to the above structure, the first main body is installed at a position above the knee, and the second main body is installed above the ankle.

According to the above structure, the signal processing device is a computer.

The technical means adopted by the invention further comprises: a visualized IMU gait detection analysis method, which is composed of a one-leg lifting angle judging process and a calf raising angle judging process, wherein the thigh lifting angle judging process At least: a step of "input IMU detected (pitch, roll, yaw) three-axis lifting angle"; a "pitch angle is greater than 15 degrees" judgment step; a "yaw angle is greater than 15 degrees" judgment step A "display screen shows that the footsteps are too large" step, when one of the pitch and yaw angles is greater than 15 degrees, the display screen can display the message that the footstep is too large; "record the maximum roll angle of the thigh" Step; a "measurement step of whether the difference between the maximum lifting angle and the standard angle is between +3 degrees and -3 degrees"; a "display screen shows that the footstep is normal" step, if the judgment result of the previous judgment step is "" Y", the display screen shows the message that the footstep is normal; a "roll difference between the maximum lifting angle and the standard angle is greater than +3 degrees" judgment step; a "display screen shows the step uplift too In the step, if the judgment result of the previous judgment step is "Y", the message indicating that the step is raised too high is displayed on the display screen; a determination step of "whether the difference between the maximum lift angle and the standard angle is less than -3 degrees"; A "display screen shows that the step is too low" step, if the judgment result of the previous judgment step is "Y", the message indicating that the step is raised too low is displayed on the display screen; and the calf elevation angle judgment flow includes at least: A step of inputting the (pitch, roll, yaw) three-axis angle detected by the IMU; a step of determining whether the pitch angle is greater than 15 degrees; a determination step of whether the yaw angle is greater than 15 degrees; and a display screen display The step of skewing the footsteps is too large. When one of the pitch and yaw angles is greater than 15 degrees, the display screen may display a message indicating that the footstep is too large; a step of "recording the maximum roll angle of the calf"; Whether the difference between the lifting angle and the standard angle is between +3 degrees and -3 degrees" judgment step; a "display screen shows that the footstep is normal" step, if the judgment result of the previous judgment step is "Y" , in the display screen, the message indicating that the footstep is normal; a step of "whether the difference between the maximum lifting angle and the standard angle is greater than +3 degrees"; a "display screen indicating that the step is too high" step, if the previous judgment step If the judgment result is "Y", the message indicating that the step is raised too high is displayed on the display screen; the judgment step of "the difference between the maximum lifting angle and the standard angle of the roll is less than -3 degrees"; a "display screen shows that the step is raised too In the low step, if the judgment result of the previous judgment step is "Y", the message indicating that the step is raised too low is displayed on the display screen.

According to the above method, in the step of judging the angle of the thigh, a step of determining whether the roll angle is greater than +5 degrees is provided before the step of "recording the maximum roll angle of the thigh", and if the judgment result is "Y", It means that the walking enters the swing period, and the step of "recording the maximum roll angle of the thigh" can be started.

According to the above method, in the step of judging the angle of the thigh, a step of determining whether the roll angle is less than +5 degrees is further provided after the step of "recording the maximum roll angle of the thigh", and if the judgment result is "Y", It means that when walking into the standing period, a step of "maximizing the angle of the roll recorded by the swinging period" can be performed.

According to the above method, in the step of judging the raising angle of the calf, a step of determining whether the roll angle is less than -5 degrees is provided before the step of "recording the maximum roll lifting angle of the calf", and if the judgment result is "Y", It means that the walking enters the swinging period, and the step of "recording the maximum lifting angle of the calf of the calf" can be started.

According to the above method, in the step of judging the raising angle of the calf, a step of determining whether the roll angle is greater than -5 degrees is further provided after the step of "recording the maximum roll angle of the calf", and if the judgment result is "Y", It means that when walking into the standing period, a step of "maximizing the angle of the roll recorded by the swinging period" can be performed.

As for the detailed construction, application principle, function and effect of the present invention, a complete understanding can be obtained by referring to the following description according to the drawings:

Please refer to FIG. 1 , which defines that the legs (large and small legs) can change in different directions in the three axes (X, Y, Z axis) while walking, wherein a roll pivot angle can be generated in the X axis direction. A pitch pivot angle can be generated in the Y-axis direction, and a yaw pivot angle can be generated in the Z-axis direction.

Referring to FIG. 2, it can be clearly seen that the structure of the present invention mainly includes: a first host 1, a second host 10, and a processing device 2, wherein the first and second hosts 1 and 10 are respectively inertia Measuring elements (IMU) 11, 101, Kalman filters 12, 102 and wireless signal transmitting units 13, 103, wherein the inertial measuring elements (IMU) 11, 101 are three-axis accelerometers, three-axis gyroscopes The module consisting of a three-axis magnetic sensor that uses a signal obtained by a change in acceleration to analyze the gait. The acceleration detected by the general accelerometer detects the normal person's heel contacting the ground. The time accuracy is less than 5% error, but the three-axis accelerometer is affected by the gravitational field, so that the accelerometer needs additional signal processing to compensate, and the three-axis accelerometer cannot measure the rotation angle along the gravity field axis. Therefore, the angular velocity information should be provided in conjunction with the three-axis gyroscope to make the gait detection more accurate. The three-axis gyroscope is different from the accelerometer, and is not affected by the flutter to output the signal, and the angle can be obtained by integrating the angle. state Analysis, but the three-axis gyroscope will drift and there will be an integrated error accumulation effect to reduce the accuracy, and a three-axis magnetic sensor is added to the inertial measurement element (IMU), and the earth can be measured by the three-axis magnetic sensor. The magnetic field vector, in addition to the gravity field reference when estimating the body position, the three-axis magnetic sensor can also provide the magnetic field vector as a reference to improve the accuracy and stability of the overall measurement; Kalman filter It is an important mathematical tool for estimating the sensor signal of the noise, which can be divided into two parts, time update equations and measurement update equations; the time update equation The value responsible for predicting the current state variable and the error covariance estimate in time has become the next time state to construct the previous estimates; the measurement update equation is the action responsible for the feedback, that is, the previous The combination of the estimate and the new measured variable yields an improved posteriori estimate. However, the time update equation can also be regarded as predictor equations, and the measurement equation can be regarded as corrector equations; and the signal processing device 2 is composed of a processing unit 21, a display screen 22, and a wireless signal receiving unit. And a storage unit 24, wherein the storage unit 24 can also be a memory disposed inside the processing unit 21, and can be used to store the processing gait required by the processing unit 21, and the input is normal. The walking gait data, the wireless signal receiving unit 23 can perform a signal transmission operation with the wireless signal transmitting unit 13 and 103 by using a wireless (blue or infrared) method. In actual application, the signal processing device 2 can have one A computer for a wireless signal receiving device.

Referring to FIG. 3, it can be seen that the present invention can be combined with a treadmill to perform a rehabilitation gait motion analysis on a treadmill. In operation, the first body 1 can be installed above the knee, and the inertia amount is utilized. The measuring component (IMU) 11 detects the three-axis data of the thigh (body joint) lifting angle A, and after filtering the noise via the Kalman filter 12, the three-axis data of the lifting angle A is externally transmitted via the wireless signal transmitting unit 13. The second body 10 is mounted above the ankle, and the three-axis data of the lower leg (knee joint) lifting angle B is recorded by the inertial measurement element (IMU) 101, and the noise is filtered through the Kalman filter 102. The wireless signal transmitting unit 103 transmits the three-axis data of the lifting angle B to the outside; the wireless signal receiving unit 23 receives the three-axis data of the lifting angle A and the lifting angle B, respectively, and then sends the three-axis data to the processing unit 21 for The gait data of the normal walking is compared and analyzed, and the result of the comparison analysis is represented by the display screen 22.

Referring to Figures 4 and 5, it can be seen that the gait detection and analysis method of the present invention is mainly composed of a thigh uplift angle judging process and a calf raising angle judging process, wherein the thigh lifting angle judging process is sequentially The method includes the following steps: “Input IMU detected (pitch, roll, yaw) three-axis lifting angle” S101 step, by the wireless signal receiving unit 23 of the signal processing device 2, the received thigh is raised by the angle A The axis data is sent to the processing unit 21, via a "pitch angle greater than 15 degrees" S102 determination step, and a "yaw angle is greater than 15 degrees" S104 determination step, if one of the pitch angle and the yaw angle is greater than 15 degrees The step S103 is executed by the processing unit 21 to output a control signal to the display screen 22 to display a message indicating that the pitch is too large, and if the pitch angle and the yaw angle are not greater than At 15 degrees, the step is judged by a "roll angle is greater than +5 degrees" S105. If the judgment result is "Y", it means that the walking enters the swinging period, and a "rolling maximum tilt angle of the thigh can be recorded. Step S106, and then, through a "roll angle is less than +5 degrees" S107 judgment step, if the judgment result is "Y", it means that the walking enters the standing period, then the maximum roll can be recorded via a "match" Lifting the angle" in step S108, and then performing a "the difference between the maximum lifting angle and the standard angle of the roll is between +3 degrees and -3 degrees" S109 judging step, if the result of the judgment is "Y", then A "display screen shows that the step is normal" S110 step, the processing unit 21 outputs a control signal to the display screen 22 to display a message representative of the normal step, and if the judgment result is "N", then a "roll maximum" If the difference between the lifting angle and the standard angle is greater than +3 degrees, the S111 judging step, if the judgment result is "Y", executing a "display screen indicating that the step is too high" S112 step, and the processing unit 21 outputs a control. The signal is sent to the display screen 22 to display a message indicating that the step is raised too high. If the judgment result is "N", then a "roll difference between the maximum lifting angle and the standard angle is less than -3 degrees" can be judged by S113. Step if it If the result of the break is "Y", a "display screen indicates that the step up is too low" step S114 is executed, and the processing unit 21 outputs a control signal to the display screen 22 to display a message indicating that the step is too low, if it is judged The result is "N", which ends the overall thigh lifting angle judgment process.

For example, if the standard of the maximum lifting angle of the thigh roll for normal walking is 25 degrees, if the maximum lifting angle of the roll measured by the inertial measuring component (IMU) 11 is less than 22 degrees, the lifting is too low; if the roll The maximum lifting angle is between 22 and 28 degrees, indicating that the lifting is in accordance with the standard; if the maximum lifting angle of the roll is greater than 28 degrees, the lifting is too high.

The step of judging the raising angle of the lower leg includes: a step of "three-axis lifting angle of (pitch, roll, yaw) detected by the input IMU", which is performed by the wireless signal receiving unit 23 of the processing device 2 The three-axis data of the received lower leg raising angle B is sent to the processing unit 21, via a "pitch angle greater than 15 degrees" S202 determining step, and a "yaw angle is greater than 15 degrees" S204 determining step, if the pitch angle is When one of the yaw angles is greater than 15 degrees, a "display screen is displayed to indicate that the step is too large" S203 is performed, and the processing unit 21 outputs a control signal to the display screen 22 to display a message indicating that the step is too large. When the pitch angle and the yaw angle are not more than 15 degrees, the step is judged by a "roll angle is less than -5 degrees" S205. If the judgment result is "Y", it means that the walking enters the swing period, and a "record" can be started. The maximum roll angle of the calf is "S206 step", and then the step is judged by a "roll angle is greater than -5 degrees" S207. If the judgment result is "Y", it means that the walking enters the standing period, and then one can be executed. Comparing the recorded maximum roll angle of the roll" step S208, and then performing a "roll difference between the maximum lift angle and the standard angle is between +3 degrees and -3 degrees" S209 judgment step, if the result of the judgment If it is "Y", the processing unit 21 outputs a control signal to the display screen 22 via a "display screen showing that the step is normal" S210 step, to display a message representative of the normal step, and if the judgment result is "N", then Then, if the difference between the maximum roll elevation angle and the standard angle is greater than +3 degrees, the step S211 is judged. If the judgment result is "Y", a "display screen is displayed indicating that the step is too high" step S212 is performed. The processing unit 21 outputs a control signal to the display screen 22 to display a message indicating that the step-up is too high. If the judgment result is "N", the difference between the maximum roll-up angle and the standard angle is less than -3. "S213" determining step, if the result of the determination is "Y", executing a "display screen indicating that the step is too low" step S214, and the processing unit 21 outputs a control signal to the display screen 22 to display the representative step Rise If the result is too low, if the judgment result is "N", the overall thigh lifting angle judgment flow is ended.

As the general walking, the thigh lift is forward and the calf is raised backwards; therefore, in order to distinguish the two different directions of elevation, the thigh lift angle is set to a positive value, and the calf lift is set to a negative value. For example, if the standard of the maximum lifting angle of the normally-legged calf roll is -30 degrees, if the maximum lifting angle of the roll measured by the inertial measuring element (IMU) 101 is less than 27 degrees, the lifting is too low; The maximum lifting angle of the roll is between 27 and 33 degrees, indicating that the lifting is in accordance with the standard; if the maximum lifting angle of the roll is greater than 33 degrees, the lifting is too high.

It can be seen from the above that the visualized IMU gait detecting device and the analyzing method thereof of the present invention are indeed easy to operate and use, and the objective analysis and the feedback are clear, and the industrial use, novelty and progress are indeed available. .

The above description is only a preferred embodiment of the invention and is not intended to limit the scope of the invention. That is, the equivalent changes and modifications made by the scope of the patent application of the present invention are covered by the scope of the invention.

S101, S201. . . Enter the three-axis lifting angle detected by the IMU (pitch, roll, yaw)

S102, S202. . . Whether the pitch angle is greater than 15 degrees

S103, S203. . . The display shows that the footsteps are too large

S104, S204. . . Whether the yaw angle is greater than 15 degrees

S105. . . Whether the roll angle is greater than +5 degrees

S106. . . Record the maximum lifting angle of the thigh

S107. . . Whether the roll angle is less than +5 degrees

S108, S208. . . Compare the maximum roll angle of the recorded roll

S109, S209. . . Whether the difference between the maximum lifting angle of the roll and the standard angle is between +3 degrees and -3 degrees

S110, S210. . . The display shows that the footsteps are normal.

S111, S211. . . Whether the difference between the maximum lifting angle of the roll and the standard angle is greater than +3 degrees

S112, S212. . . The display shows that the step is too high

S113, S213. . . Whether the difference between the maximum lifting angle of the roll and the standard angle is less than -3 degrees

S114, S214. . . The display shows that the step is too low

S205. . . Whether the roll angle is less than -5 degrees

S206. . . Record the maximum roll angle of the calf

S207. . . Whether the roll angle is greater than -5 degrees

1. . . First host

10. . . Second host

11, 101. . . Inertial Measurement Unit (IMU)

12, 102. . . Kalman filter

13,103. . . Wireless signal transmitting unit

2. . . Signal processing device

twenty one. . . Processing unit

twenty two. . . Display screen

twenty three. . . Wireless signal receiving unit

twenty four. . . Storage unit

Fig. 1 is a three-axis direction and angle definition diagram of the inertial measurement element IMU of the present invention.

Figure 2 is a block diagram of the construction of the present invention.

Figure 3 is a schematic diagram of the application of the present invention.

Fig. 4 is a flow chart for judging the angle of lifting of the thigh of the present invention.

Fig. 5 is a flow chart for judging the angle of raising the lower leg of the present invention.

1. . . First host

10. . . Second host

11, 101. . . Inertial Measurement Unit (IMU)

12, 102. . . Kalman filter

13,103. . . Wireless signal transmitting unit

2. . . Signal processing device

twenty one. . . Processing unit

twenty two. . . Display screen

twenty three. . . Wireless signal receiving unit

twenty four. . . Storage unit

Claims (11)

A visualized IMU gait detecting device includes at least a first host mounted on a thigh of a user, the first host being at least an inertial measurement component (IMU) and a Kalman filter The inertial measurement component (IMU) can detect the gait information of the thigh (three-axis lifting angle), and after processing by the Kalman filter, externally output a one-leg lift angle detection signal; A second host is mounted on the lap of the user. The second host is composed of at least an inertial measurement component (IMU) and a Kalman filter. The inertial measurement component (IMU) is detectable. Measuring the gait information of the calf (three-axis lifting angle), and outputting a calf raising angle detecting signal through the Kalman filter; and a signal processing device, the signal processing device is a computer Forming at least a processing unit, a storage unit and a display screen, the processing unit respectively receiving the large and calf elevation angle detection signals output by the first and second hosts, and storing the same in the storage unit Standard angle values are compared, and then Out a control signal to the display screen, it displays the result of the comparison by the display screen in a visual manner. The visualized IMU gait detecting device according to claim 1, wherein the first and second hosts respectively have a wireless signal transmitting unit for respectively transmitting the large and lower leg raising angle detection signals via wireless The signal transmitting device further comprises a wireless signal receiving unit, and the wireless signal receiving unit receives the large and small leg raising angle detecting signals respectively sent by the wireless signal transmitting units, and then input to the processing unit. Inside. The visualized IMU gait detecting device according to claim 2, wherein the wireless signal transmitting unit and the wireless signal receiving unit perform signal transmission via one of Bluetooth, infrared, and the like. The visualized IMU gait detecting device according to claim 1 or 2 or 3, wherein the inertial measuring component is a module composed of a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetic sensor. . The visualized IMU gait detecting device of claim 1 or 2 or 3, wherein the first host is mounted above the knee and the second host is mounted above the ankle. The visualized IMU gait detecting device of claim 4, wherein the first host is installed at a position above the knee, and the second host is mounted above the ankle. A visualized IMU gait detection analysis method is composed of a thigh uplift angle judging process and a calf raising angle judging process, wherein the thigh lifting angle judging process includes at least: “input IMU detection” (pitch, roll, yaw) three-axis lifting angle step; a "pitch angle is greater than 15 degrees" judgment step; a "yaw angle is greater than 15 degrees" judgment step; a "display screen shows that the step is too large" step When one of the pitch and yaw angles is greater than 15 degrees, the display screen may display a message indicating that the footstep is too large; a step of "recording the maximum lifting angle of the thigh"; a "roll maximum lifting angle and standard" Whether the difference in angle is between +3 degrees and -3 degrees" judgment step; a "display screen shows that the footstep is normal" step, if the judgment result of the previous judgment step is "Y", the display screen indicates that the step is normal. The message; whether the difference between the maximum roll angle and the standard angle is greater than +3 degrees; the step of "display screen shows that the step is too high", if the judgment of the previous judgment step If it is "Y", it will display the message that the step is raised too high on the display screen; the judgment step of "the difference between the maximum lifting angle and the standard angle of the roll is less than -3 degrees"; the "display screen shows that the step is too low" In the step, if the judgment result of the previous judgment step is “Y”, the message indicating that the step is raised too low is displayed on the display screen; and the process of judging the angle of the calf raise angle includes at least: “input by the input IMU (pitch) , roll, yaw) three-axis angle step; a "pitch angle is greater than 15 degrees" judgment step; a "yaw angle is greater than 15 degrees" judgment step; a "display screen shows that the footstep is too large" step, is attached to the aforementioned pitch When one of the angles of the yaw is greater than 15 degrees, the display screen may display a message indicating that the step is too large; a step of "recording the maximum roll angle of the calf"; and "the difference between the maximum roll angle and the standard angle is The judgment step is between +3 degrees and -3 degrees; the step of "display screen shows normal steps", if the judgment result of the previous judgment step is "Y", the display screen indicates that the steps are normal. Message; a step of "whether the difference between the maximum lifting angle and the standard angle is greater than +3 degrees"; a "display screen shows that the step is too high" step, if the judgment result of the previous judgment step is "Y", then The display screen indicates that the step is too high to raise the message; a step of "whether the difference between the maximum lifting angle and the standard angle is less than -3 degrees"; a "display screen shows that the step is too low" step, if the previous judgment step is If the judgment result is "Y", the message indicating that the step is raised too low is displayed on the display screen. For example, the visualized IMU gait detection analysis method described in claim 8 is characterized in that: in the thigh lifting angle judging process, a "roll angle is greater than" before the step of "recording the maximum roll lifting angle of the thigh" The +5 degree determination step, if the judgment result is "Y", it means that the walking enters the swing period, and the "recording the maximum roll angle of the thigh" step can be started. The visualized IMU gait detection analysis method according to claim 9, wherein the step of the thigh up angle determination process is further provided with a “roll angle less than or less after the step of recording the maximum roll elevation angle of the thigh” The +5 degree determination step, if the judgment result is "Y", it means that the walking enters the standing period, and a step of "maximizing the angle of the roll recorded in the swing period" can be performed. For example, the visualized IMU gait detection analysis method described in claim 8 or 9 or 10, wherein the calf elevation angle determination process is preceded by a step of "recording the calf's roll maximum lifting angle" step. Whether the roll angle is less than -5 degrees", if the judgment result is "Y", it means that the walking enters the swinging period, and the step of "recording the maximum roll lifting angle of the lower leg" can be started. For example, in the visualized IMU gait detection analysis method described in claim 11, wherein the step of judging the angle of the lower leg raises a "roll angle is greater than" in the step of "recording the maximum roll angle of the calf" The -5 degree determination step, if the judgment result is "Y", it means that the walking enters the standing period, and a step of "maximizing the angle of the roll recorded in the swing period" can be performed.