FIELD OF THE INVENTION The present invention generally relates to a gait analysis and more particularly, to a wearable, portable, affordable and accessible device for gait analysis.

BACKGROUND OF THE INVENTION Gait analysis as defined in“Levine DF, Richards J, Whittle M. (2012) Whittle’s Gait Analysis Elsevier Health Sciences. ISBN 978-0702042652” is the systematic study of animal locomotion, more specifically the study of human motion, using the eye and the brain of observers, augmented by instrumentation for measuring body movements, body mechanics, and the activity of the muscles. ^[ Gait analysis is used to assess and treat individuals with conditions affecting their ability to walk. It is also commonly used in sports biomechanics to help athletes run more efficiently and to identify posture-related or movement-related problems in people with injuries. The study encompasses quantification (i.e. introduction and analysis of measurable parameters of gaits), as well as interpretation, i.e. drawing various conclusions about the animal (health, age, size, weight, speed etc.) from its gait pattern. During Gait, the force of heel strike exceeds the body weight and the direction of the ground reaction vector passes behind the ankle and knee centre. This causes the foot to plantarflex and if uncontrolled, to slap the ground. Foot drop can result if there is an injury to the dorsiflexes or to any point along the neural pathways that supply them. Dorsiflexion and plantar Flexion refer to extension or flexion of the foot at the ankle. In dorsiflexion, the toes are brought closer to the shin. This decreases the angle between the dorsum of the foot and the leg. Plantar Flexion is the movement which decreases the angle between the sole of the foot and the back of the leg. The maximum joint power of the ankle joint complex is generated approximately 50% of gait cycle during the forefoot rocker phase corresponding with the power generation of the plantar flexors required for the lower limb to propel the body forward towards toe-off.

Generally, muscle weakness causes loss of mobility and upper-lower limb function, alters posture and places abnormal stress on many of the structures essential for ambulation. Hamstring strength tends to correlate with kinematic and kinetic gait parameters in Multiple Sclerosis patients, as disclosed in the journal "Knee muscle strength in multiple sclerosis: relationship with gait characteristics" of Senem Giiner et al., which is incorporated herein by reference, and notably, that minimum hamstring strength correlated highly with the peak knee extensor moment. Muscle strength significantly contributes to knee joint loading during walking with recent attention being focused on lower limb muscle strength among knee osteoarthritis patients as quadriceps muscle weakness is well documented among such patients, as disclosed in the journal "Knee joint loading during gait in healthy controls and individuals with knee osteoarthritis" of D. Kumar et al., which is incorporated herein by reference.

Further, walking difficulty, imbalance, unsteadiness are major factors in increasing the incidence of falls in senior citizens. Patients suffering from diseases such as Parkinson, gait imbalance, foot drop, multiple sclerosis, ataxia, limp or any diseases related to gait changes the way a person walks and affect the gait, as disclosed in the journal "Gait Disorders in Parkinson's Disease: Assessment and Management" of Pei-HaoChen et al., which is incorporated herein by reference.

Further, the patients with gait abnormality have an even higher incidence of fall. The alteration in gait interferes with the ability to work, exercise etc. The common symptoms of gait abnormality include but are not limited to tremors, imbalance and many other altered walking patterns. The impact of chronic disease and medication, balance and gait, and home risks should be assessed routinely.

Traditionally Physiotherapists/ doctors who are involved in the process of rehabilitations assess and analyse gait patterns by mere observation. Measuring lower limb Gait disorder through analysis of Gait Parameters effectively could be used by Orthotists. Podiatrists, Neurologist, Orthopaedics, primary health caretakers, Geriatric care, Health stores, Sports Scientists, Sports Medicine Practitioners, Alternative medicine.

Physiotherapists or doctors who are involved in the process of rehabilitation, assess and analyse gait and mobility patterns by using questionnaire, observation or simple functional performance assessments. Physiotherapist use Ink blotted paper to measure is not equipped with sophisticated devices to aid the efficacy of their treatment. Majoirty of the cases are evaluated and treated objectively by observation and feedback. These assessments do not require sophisticated system and have the advantage of being easy to perform by skilled assessors. However, they are often subjective and dependant on the experience of assessor. Furthermore, these measures do not allow assessing specific gait parameters.

Currently, a laboratory-based gait analysis is used in some advanced healthcare setups for objectively analysing gait. The major reason that 3D gait analysis is not used more frequently in clinical practice, even though it has been proven to be a valid method of testing, is the time and expense factor. It is a considerable investment to purchase the equipment and very few clinics can afford it.

The dynamic system needs sophisticated maintenance, up-gradation cost with specialized technicians to operate. The recovering of cost is possible only if the gait laboratory runs full time, which is rarely manageable in practice. Primary and secondary health-care centres and home-based physical therapists have no access to such expensive gait laboratories. Thus, most physiotherapy centres rely on the observatory expertise of the therapist to analyses gait.

Recently, ambulatory devices have overcome some of these limitations by using body-worn sensors measuring and analyzing gait kinematics. Unlike standard optical motion capture that requires a dedicated working volume, body worn sensors can be linked to a light data-logger carried by the subject performing his activities outside the lab with minimal hindrance. Nevertheless, recorded data require appropriate algorithms to compute relevant parameters for clinical use (Aminian, 2006). Many of these devices give limited GAIT parameters and /or only for specific purposes like sports or acute lower limb diseases.

Measuring lower muscle strength can help experts to analyze Gait parameters effectively and various disease onsets can be predicted. Existing prior arts suggest that Loss of Balance, Loss of Speed, Excessive pronation (inward roll) and supination (outward roll) of the foot, may predict the risk of falls (Hausdorff et al., 2001; Kressig et al., 2004; Seematter-Bagnoud et al., 2009). Gait parameters are being utilized to predict many neurological diseases. Motions, ground reaction forces and muscle firing patterns are measured to assess the patient’s status and to develop an appropriate treatment plan. Each component of gait analysis testing can be performed separately, but the data is most useful when viewed together in a comprehensive evaluation. Gait analysis influences both the physician’s diagnostic thinking and, ultimately, the treatment received by the patient.

Screening and finding Gait Abnormalities as a routine test will help as an assessment tool for further line of treatment with patients suffering from Problems with gait, balance, and coordination are often caused by specific or general conditions, including joint pain or conditions, such as arthritis, multiple sclerosis (MS), ataxia, limp, Meniere's disease, brain haemorrhage, brain tumour, Parkinson's disease, Arnold-Chiari malformation, spinal cord compression, cerebral palsy, or infarction, Muscular skeletal, Neurological Gait Abnormalities. Therefore there is a need for an efficient integrated wearable device which is portable, affordable and accessible for gait analysis to objectively measure Cadence (steps/min), stride time(s), stance time(s), swing time(s), Stride length (m), Stride Length (%), Step Length (m), Stride velocity, Mean Velocity (%height), Mean Velocity (m/s), Turning angle, Cycle Duration (s), Stance %, Swing %, Loading %, Foot-flat %, Double Support %, distribution of the stance & swing phase across the gait cycle, Pushing of stance %, Peak Angular Velocity, Swing Speed, Strike Angle, Lift-off Angle, Step Height, Step Width (m), Swing width, 3D Path length, Max Heel, Max Toe 1 , Max Toe 2, Min Toe, Speed, Swing Ratio between R and L, Toe-in and Toe-out, Foot Contact, Max Knee Flexion, Hip Angle Difference (deg/sec), Knee Angle Difference (deg/sec), Avg Difference in Stride Length % of knee of Right and Left Leg, Graph of knee Angle to Stride Length %, Avg Difference in Stride Length % of hip of Right and Left Leg, Graph of Hip Angle to Stride Length %, Angular velocity to Stride Length %, Avg Difference in Stride Length % of ankle of Right and Left Leg, Graph of Ankle Angle to Stride Length %, Avg Difference in Stride Length % of foot of Right and Left Leg., Graph of Foot Angle to Stride Length %, Shank Angle (deg), Hip Angle (deg), Knee Angle (deg), Ankle Angle (deg), Foot Angle (deg), Thigh Angle (deg), Pelvic Obliquity (deg), PELVIS TILT (deg), Plevic Rotation (deg), Hip Ab-adduction (deg), Hip Flex Extension (deg), Hip Rotation (deg), Knee Flex Extension (deg), Ankle Dors-Plantarflex (deg), Foot progression (deg), Knee Rotation, SACRUM Vertical Displacement, R and L Tibialis Anterior, R Gastrocnemius Medialis, L Gastrocnemius Lateralis, L Tibialis Anterior, L Peroneus Longus, L Peroneus Brevis, Bicep Femoris, Soleus, Rectus Femoris, Vastus Lateralis, Vastus Medialis, Plantar, Pressure Distribution/GRF, Live Bio-Feedback and Static and /or Dynamic Bio-Feedback and overcome the above mentioned drawbacks of the prior art.

SUMMARY OF THE INVENTION Accordingly, the present invention provides a wearable device for gait analysis. The device comprises a pair of shoes/socks, a pair of detachable, turnable embedded ankle bracelets, a pair of embedded calf bracelets, a pair of embedded thigh bracelets and a 2 brace unit embedded hip belt.

The pair of shoes/socks is adapted to be secured to a feet of a user such that the user may freely ambulate in an unrestricted environment resembling his/her regular gait. The pair of detachable, turnable embedded ankle bracelets is to be worn by the user at the ankle. The pair of embedded calf bracelets is to be worn at a calf on a Tibial bone on each leg. The pair of embedded thigh bracelets is to be worn on a centre of a thigh of each leg and the 2 brace unit embedded hip belt is to be worn as a belt around a hip.

The pair of shoes/socks, the pair of embedded ankle bracelets, the pair of embedded calf bracelets, the pair of embedded thigh bracelets and the 2 brace unit embedded hip belt includes a plurality of motion sensing sensors, a matrix of pressure sensors, a plurality of distance measurement or ultrasonic or time of flight or ranging sensors, a plurality of electromyography sensors, a wireless module, a gait synchronization and timing unit, a microcontroller and an on-board power supply.

The plurality of motion sensing sensors in different X, Y, Z and angular range of motion is used to sense a motion of feet and a lower limb of a body of the user. The plurality of motion sensing sensors is selected from any one of an inertial measurement unit sensor, a gyroscope sensor and an accelerometer sensor. The plurality of motion sensors relay all the necessary data and information to the gait synchronization and timing unit of the detachable, turnable embedded ankle brace which is connected to the fabricated sole or insole of feet of the sock through a connector. The matrix of pressure sensors utilized as an array to measure and map plantar foot pressure to analyse posture stability combined with the calculated data received from the plurality of motion sensing sensors. The matrix of pressure sensors are selected from any one of a force sensitive resistor and a textile-based force resistive sensor. The matrix of pressure sensors are part of the sole of the shoe either as an insole or the feet of the sock or fabricated as part of the sole of the shoe or sock to sense forces exerted by the foot of the user.

The plurality of distance measurement or ultrasonic or time of flight or ranging sensors is used for calculating a height of the shoe from a ground and distance against a parallel surface or object or any other sensor. The plurality of electromyography sensors is used for measuring muscle strength/activity of the user.

The gait synchronization and timing unit houses two impact sensors for generating interrupts and a timing signal required to capture key gait events. The two impact sensors are made of any one of a highly sensitive force sensitive resistor and a piezo material.

The wireless module establishes a wireless communication between the pair of shoes/socks, the pair of embedded ankle bracelets, the pair of embedded calf bracelets, the pair of embedded thigh bracelets, and a computing unit. The wireless module is selected from at least one of a Bluetooth unit, a Wi-Fi unit, and/or combination thereof. The computing device is selected from a personal computer, a laptop, a personal digital assistant, a mobile device, a tablet, or any other computing device.

The microcontroller is coupled to receive data from the matrix of pressure sensors representing the sensed forces and from the plurality of motion sensors representing the sensed motion in various axes, the microcontroller having a memory unit to store sensed data in a real-time. The on-board power supply includes a battery management and protection system. A lithium polymer or lithium ion or super capacitors as a power source is connected to the battery management and protection system. The battery management and protection system includes a cell supervisor unit, a DC/DC convertor, a cell safety unit, a low dropout voltage regulator, a current sense unit, s reverse battery protection, and a battery charging unit.

The wearable device is portable, affordable and accessible for screening gait and analysis of lower limb joint kinematics and kinetics including ankle, calf, thigh, hip, pelvic, foot plantar pressure, clearance parameters and all spatial temporal parameters. The wearable device or set of devices either in the form of a shoe and/or a sock and/or braces and/or markers to measure a plurality of spatio- temporal, clearance parameters, standing angles, step-height, plantar pressure distribution, ankle, calf, thigh, knee and hip range of motions (ROM), distribution of the stance and swing phase across the gait cycle, kinematic and kinetic parameters, tibial rotation, Electromyography (EMG), tremors including but not limited to a live gait visualization for Bio-Feedback thereby assessing gait mobility for almost all lower limb joint disorders hereby defined as lower limb joint disorders including musculoskeletal disorders, Osteoarthritis, Stroke, Peripheral Vascular Disease, Diabetic Neuropathy, Duchenne Muscular Dystrophy, Hemiplegia, Paget's Disease of the Bone, Wernicke-Korsakoff Syndrome (WKS), Creutzfeldt-Jakob Disease and Mad Cow Disease, Hydrocephalus, Dementia, Osteomalacia and neuromuscular disease such as Cerebral Palsy, Parkinson's disease, Alzheimer's disease, Dementia, multiple sclerosis, cauda equina syndrome, myasthenia gravis, normal pressure hydrocephalus, Charcot-Marie-Tooth disease, arthritis, birth defects -such as clubfoot, leg injuries, bone fractures, infections that damage tissues in the legs, shin splints, (an injury common to athletes that causes pain in the shins), running analysis, abnormalities of the arch of the foot, tendonitis (inflammation of the tendons), psychological disorders, including conversion disorder, inner ear infections and nervous system disorders, Orthopaedic corrective treatments which may also manifest into gait abnormality, such as lower extremity amputation, post-fracture, and arthroplasty (joint replacement), difficulty in ambulation that results from chemotherapy which requires recovery time of six months to a year can use the device to understand progression.

The entire product is able to produce data using all the components, sensors, microcontrollers, GSTU, batteries, receivers, Wi-Fi module, embedded braces to produce parameters like Cadence (steps/min), stride time(s), stance time(s), swing time(s), Stride length (m), Stride Length (%), Step Length (m), Stride velocity, Mean Velocity (%height), Mean Velocity (m/s), Turning angle, Cycle Duration (s), Stance %, Swing %, Loading %, Foot-flat %, Double Support %, distribution of the stance & swing phase across the gait cycle, Pushing of stance %, Peak Angular Velocity, Swing Speed, Strike Angle, Lift-off Angle, Step Height, Step Width (m), Swing width, 3D Path length, Max Heel, Max Toe 1, Max Toe 2, Min Toe, Speed, Swing Ratio between R and L, Toe-in and Toe-out, Foot Contact, Max Knee Flexion, Hip Angle Difference (deg/sec), Knee Angle Difference (deg/sec), Avg Difference in Stride Length % of knee of Right and Left Leg, Graph of knee Angle to Stride Length %, Avg Difference in Stride Length % of hip of Right and Left Leg, Graph of Hip Angle to Stride Length %, Angular velocity to Stride Length %, Avg Difference in Stride Length % of ankle of Right and Left Leg, Graph of Ankle Angle to Stride Length %, Avg Difference in Stride Length % of foot of Right and Left Leg., Graph of Foot Angle to Stride Length %, Shank Angle (deg), Hip Angle (deg), Knee Angle (deg), Ankle Angle (deg), Foot Angle (deg), Thigh Angle (deg), Pelvic Obliquity (deg), PELVIS TILT (deg), Plevic Rotation (deg), Hip Ab-adduction (deg), Hip Flex Extension (deg), Hip Rotation (deg), Knee Flex Extension (deg), Ankle Dors-Plantarflex (deg), Foot progression (deg), Knee Rotation, SACRUM Vertical Displacement, R and L Tibialis Anterior, R Gastrocnemius Medialis, L Gastrocnemius Lateralis, L Tibialis Anterior, L Peroneus Longus, L Peroneus Brevis, Bicep Femoris, Soleus, Rectus Femoris, Vastus Lateralis, Vastus Medialis, Plantar, Pressure Distribution/GRF, Live Bio-Feedback and Static and /or Dynamic Bio-Feedback. The Bio-feedback can be played anytime in future for understanding gait of the person in visual reference.

BRIEF DESCRIPTION OF THE DRAWINGS

The embodiments can be better understood with reference to the following drawings and description. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the embodiments. Moreover, in the figures, li e reference numerals designate corresponding parts throughout the different views.

Figure 1 shows a model flow of information from a patient using the shoe/socks along with the braces to the user laptop/mobile/ipad or any other viewing device where the data is then uploaded into a cloud and it is processed to be reviewed back on the laptop/mobile/ipad or any other viewing device to view the reports as well as the live/static/dynamic biofeedback;

Figure 2a shows a front view of the product shoe/sock with an ankle brace, a calf brace, a thigh brace and a hip brace, in accordance with the present invention;

Figure 2b shows a back view of the product shoe/sock with the ankle brace, the calf brace, the thigh brace and the hip brace, in accordance with the present invention;

Figure 2c shows a side view of the product shoe/sock with the ankle brace, the calf brace, the thigh brace and the hip brace; in accordance with the present invention;

Figure 2d shows a schematic of all the wearable devices like the shoe/sock along with the 7 braces with 8 brace units and the sensors sending information/ data to a computing device/trans receiver, in accordance with the present invention; Figure 3 shows a shoe/sock, in accordance with the present invention;

Figure 3 a shows a fabricated sole as an option where all the sensors are placed in the sole of the shoe / sock, in accordance with the present invention;

Figure 3b shows a connectivity of the fabricated sole figure 3a to the ankle brace, in accordance with the present invention;

Figure 3c shows the shoe/sock as an insole as another option to figure 3a and also shows the connectivity for the insole to the ankle brace covered in figure 4a, in accordance with the present invention;

Figure 4 is a block diagram showing the flow of information from the foot wearable unit i.e. sock/shoe as detailed in figure 3 to the ankle brace along with the GSTU and the ranging sensors, in accordance with the present invention;

Figure 4a details the ankle unit and the schematic diagram of the ankle brace with the turnable module, in accordance with the present invention;

Figure 4b details the schematic diagram for the detachable unit of the ankle brace, in accordance with the present invention;

Figure 4c details the output from the GSTU and a gait cycle, in accordance with the present invention;

Figure 4d denotes the GSTU Instrumentation, in accordance with the present invention;

Figure 4e denotes the GSTU Algorithm, in accordance with the present invention;

Fig 5: refers to the calf brace on fig 2(a) 2(b) 2(c) Fig 6: refers to the thigh brace on fig 2(a) 2(b) 2(c)

Fig 7: refers to the hip brace on fig 2(a) 2(b) 2(c) Figure 8 is a block diagram of the integration of the braces for each of the calf, thigh and hip with all the sensors, batteries and electrical / electronic components, in accordance with the present invention;

Figure 8 a refers to a strap that is used for holding the casing for the all the braces that are mentioned in figures 4a, 4b, 5, 6 and 7, in accordance with the present invention;

Figure 8b refers to a schematic diagram of the brace unit that shall be used for the calf, thigh and hip, in accordance with the present invention;

Figure 8 c refers to a schematic diagram of EMG sensors connecting to each of the braces, in accordance with the present invention;

Figure 8d is a front view of the placement of the EMG sensors, in accordance with the present invention;

Figure 8e is a back view of the placement of the EMG sensors, in accordance with the present invention; Figure 8f refers to a side view of the placement of the EMG sensors, in accordance with the present invention;

Figure 9 refers to a schematic view of a finite state machine, in accordance with the present invention; Figure 10 refers to the devices modes of operation, in accordance with the present invention;

Fig 11 refers to some of the calculations for some of the parameters like

Fig 11. a.1 and Fig 1 l.a.2 refers to the schematic diagram of Step width Fig 1 l.b.l and Fig 1 l.b.2 refers to the schematic diagram of Step Length Fig 1 l.c refers to the schematic diagram of Step Fleight

Fig 11.d refers to the schematic diagram of Max Heal

Fig 11.e refers to the schematic diagram of Max Toe

Figure 12 denotes a block diagram for the detachable turnable ankle brace, in accordance with the present invention;

Figure 13 denotes a block diagram for the brace unit used in 5, 6, 7, in accordance with the present invention;

Figure 14 denotes the packaging for all the wearable devices/ chargers/brace units/strap/sensors and shall have an optional computing unit, in accordance with the present invention;

Figure 15 denotes a Battery Management Protection System (BMPS), in accordance with the present invention;

Figure 16 shows a start connected network architecture, in accordance with the present invention;

Figure 17 shows a mesh connected architecture, in accordance with the present invention;

Figure 18 shows a hybrid network, in accordance with the present invention; Figure 19 explains three anatomical planes with respect to the foot; Figure 20 explains abduction and adduction of the foot;

Figure 21 explains an inversion and eversion of the foot;

Figure 22 explains a plantarflexion and dorsiflexion of the foot; Figure 23 explains pronation of the foot; and Figure 24 explains supination of the foot.

DETAILED DESCRIPTION OF THE INVENTION

The foregoing objects of the invention are accomplished and the problems and shortcomings associated with prior art techniques and approaches are overcome by the present invention described in the present embodiments.

The present invention provides a wearable device which is an electronic embedded device consisting of shoe/sock and 4 wearable brace units for each leg, which are used and can give various gait/data values/parameters independently or in connection with any other, multiple or all gadgets worn together or individually.

The present invention is illustrated with reference to the accompanying drawings, throughout which reference numbers indicate corresponding parts in the various figures. These reference numbers are shown in bracket in the following description and in the table below.

Referring to figures 2a-2d, a wearable device (hereinafter “the device”) in accordance with the present invention is shown. Specifically, the device is an integrated wearable mobility assessment wireless system which is portable, affordable and accessible for screening gait and analysis of lower limb joint kinematics and kinetics including ankle, calf, thigh, hip, Pelvic, foot plantar pressure, clearance parameters and all spatial temporal parameters.

The device as shown in diagram 2a, 2b and 2c comprises a pair of shoes/socks, a pair of detachable, turnable embedded ankle bracelets (4a, 4b), the pair of embedded calf bracelets (5), the pair of embedded thigh bracelets (6) and the 2 brace unit embedded hip belt (7).

The shoe/sock (3a, 3b, 3c) is adapted to be secured to a feet of a user such that the user may freely ambulate in an unrestricted environment resembling his/her regular gait. The pair of detachable, turnable embedded ankle brace (4a, 4b) is to be worn by the user at the ankle. The pair of embedded calf bracelets is to be worn at a calf on a Tibial bone on each leg. The pair of embedded thigh bracelets is to be worn on a centre of a thigh of each leg and the 2 brace unit embedded hip belt is to be worn as a belt around a hip.

The pair of shoes/socks, the pair of embedded ankle bracelets, the pair of embedded calf bracelets, the pair of embedded thigh bracelets and the 2 brace unit embedded hip belt includes a plurality of motion sensing sensors, a matrix of pressure sensors, a plurality of distance measurement or ultrasonic or time of flight or ranging sensors, a plurality of electromyography sensors, a wireless module, a gait synchronization and timing unit (hereinafter “GSTU”), a microcontroller and an on-board power supply. Further, the device can also include wireless &/or wired module, and on-board and cloud-based storage.

The plurality of motion sensing sensors in different X, Y, Z and angular range of motion is used to sense a motion of feet and a lower limb of a body of the user. The plurality of motion sensing sensors is selected from any one of an inertial measurement unit sensor, a gyroscope sensor and an accelerometer sensor. The plurality of motion sensors relay all the necessary data and information to GSTU as shown in figures 4c-4e of the detachable, turnable embedded ankle brace (5) which is connected to the fabricated sole (3a) or insole (3c) of feet of the sock through a connector.

The matrix of pressure sensors utilized as an array to measure and map plantar foot pressure to analyse posture stability combined with the calculated data received from the plurality of motion sensing sensors. The matrix of pressure sensors are selected from any one of a force sensitive resistor and a textile-based force resistive sensor. The matrix of pressure sensors are part of the sole of the shoe either as an insole or the feet of the sock or fabricated as part of the sole of the shoe or sock to sense forces exerted by the foot of the user.

The plurality of distance measurement or ultrasonic or time of flight or ranging sensors is used for calculating a height of the shoe from a ground and distance against a parallel surface or object or any other sensor. The plurality of electromyography sensors is used for measuring muscle strength/activity of the user.

As depicted in figures 4c-4e, the GSTU houses two impact sensors (Refer figure 3A) for generating interrupts and a timing signal required to capture key gait events. The two impact sensors are made of any one of a highly sensitive force sensitive resistor and a piezo material.

The wireless module establishes a wireless communication between the pair of shoes/socks, the pair of embedded ankle bracelets, the pair of embedded calf bracelets, the pair of embedded thigh bracelets, and a computing unit. The wireless module is selected from at least one of a Bluetooth unit, a Wi-Fi unit, and/or combination thereof. The computing device is selected from a personal computer, a laptop, a personal digital assistant, a mobile device, a tablet, or any other computing device. The microcontroller is coupled to receive data from the matrix of pressure sensors representing the sensed forces and from the plurality of motion sensors representing the sensed motion in various axes, the icrocontroller having a memory unit to store sensed data in a real-time.

The on-board power supply includes a battery management and protection system as shown in figure 15. A lithium polymer or lithium ion or super capacitors as a power source is connected to the battery management and protection system. The battery management and protection system includes a cell supervisor unit, a DC/DC convertor, a cell safety unit, a low dropout voltage regulator, a current sense unit, s reverse battery protection, and a battery charging unit.

Specifically, the shoes /socks (3a, 3b, 3c) along with all the embedded braces (4a, 4b, 5, 6, 7) are embedded with electronic components, sensors, microcontrollers with programming (12, 13, 15) to capture various specific gait parameters for lower limb joint kinematics and kinetics including Hip, Pelvic, spatio-temporal, clearance parameters, standing angles, step-height, plantar pressure distribution, ankle, knee and hip range of motions (ROM), distribution of the stance and swing phase across the gait cycle, kinematic and kinetic parameters, tibial rotation, Electromyography (EMG), tremors including but not limited to a live gait visualization for Bio-Feedback thereby assessing gait mobility for almost all lower limb joint disorders hereby defined as lower limb joint disorders affecting gait including musculoskeletal disorders, Osteoarthritis, Stroke, Peripheral Vascular Disease, Diabetic Neuropathy, Duchenne Muscular Dystrophy, Hemiplegia, Paget's Disease of the Bone, Wernicke-Korsakoff Syndrome (WKS), Creutzfeldt-Jakob Disease and Mad Cow Disease, Hydrocephalus, Dementia, Osteomalacia and neuromuscular disease such as Cerebral Palsy, Parkinson's disease, Alzheimer's disease, Dementia, multiple sclerosis, cauda equina syndrome, myasthenia gravis, normal pressure hydrocephalus, Charcot-Marie- Tooth disease, arthritis, birth defects -such as clubfoot, leg injuries, bone fractures, infections that damage tissues in the legs, shin splints, (an injury common to athletes that causes pain in the shins), running analysis, abnormalities of the arch of the foot, tendonitis (inflammation of the tendons), psychological disorders, including conversion disorder, inner ear infections and nervous system disorders, Orthopaedic corrective treatments which may also manifest into gait abnormality, such as lower extremity amputation, post-fracture, and arthroplasty (joint replacement), difficulty in ambulation that results from chemotherapy which requires recovery time of six months to a year can use the device to understand progression and regression.

The detachable, turnable embedded ankle brace shall have the microprocessor which shall receive data from the plurality of force sensors representing the sensed forces and from the plurality of motion sensors representing the sensed motion in various axis. The microprocessor is programmed to (i) store the received data in a memory storage unit, or (ii) wirelessly transmit the received data to other computing device or cloud. Each of these embedded braces has EMG sensors, microprocessors, motion sensors, power modules and WIFI modules. The plurality of electromyography (EMG) sensors measures muscle strength of Calves, Quadriceps and Hamstrings muscles of the user. The plurality of Inertial Measurement Unit (IMU) sensors calculates X, Y and Z axis of rotation and angular movement. Each individual embedded brace unit is connected to plurality of electromyography (EMG) sensors to measure muscle activity of Rectus Femoris, Vastus Lateralis, Tibialis Anterior, Vastus Medialis, Biceps Femoris, Gastrocnemius Medialis, Gastrocnemius Lateralis, Soleus, Peroneus Longus, Gluteus maximus, Gluteus Medius, Iliopsoas and Peroneus Brevis of a user but not limited to other muscles of lower limbs.

Figures 2a-2d shows an integration of sensors embedded in each shoe/sock (3a)(3c) of the pair, one detachable turnable ankle brace (4a)(4b) for each shoe and 3 embedded hardware braces placed at calf (5), thigh (6) and hip (7) parts of lower limb of body of each leg. In an embodiment, the design of the brace strap unit that houses the magnetic connector is used to attach the brace during the gait test.

Detachable turnable ankle brace (4a)(4b) is an integration of strap for brace (8a), optionl as turnable brace unit (4a) or option2 as detachable brace unit(4b), GSTU(4c), GSTU instrumentation (4d), GSTU algorithm (4e), block diagram of embedded ankle unit (12) and BMPS (15) and is reflected in the diagram (2d) for connectivity to computing device.

Embedded calf brace (5) is defined as an integration of strap for brace (8a), brace unit (8b), EMG sensors (8c), placement of EMG sensors (8d) (8e) (8f), block diagram of brace unit (13) and BMPS (15) and is reflected in the diagram (2d) for connectivity to computing device.

Embedded thigh brace (6) is defined as an integration of strap for brace (8a), brace unit (8b), EMG sensors (8c), placement of EMG sensors (8d)(8e)(8f), block diagram of brace unit (13) and BMPS (15) and is reflected in the diagram (2d) for connectivity to computing device.

Embedded hip brace (7) is defined as an integration of strap for brace(8a), 2 units of brace unit (8b), EMG sensors (8c), placement of EMG sensors (8d)(8e)(8f), block diagram of brace unit (13) and BMPS (15) and is reflected in the diagram (2d) for connectivity to computing device.

The user must wear the sensor embedded pair of shoes/sock [2a, 2b, 2c] on each of the foot. Each of the shoe/sock (3) is connected (3b) (3c) with detachable turnable ankle brace (4a) (4b). The detachable turnable ankle brace is placed on the upper part of the ankle knuckle. The embedded hardware calf brace [5] is placed on the upper calf of leg below the knee ball, while the embedded hardware thigh brace [6] is placed on thigh above the knee ball and the other module of embedded hardware Hip brace [7] unit is placed on or near the pelvic bone of the hip.

Figures 2a and 8d show the front- view of the shoe/sock with the 4 braces with the position and placement of the brace and the EMG sensors.

Figures 2b and 8f show the back- view of the shoe/sock with the 4 braces with the position and placement of the brace and the EMG sensors.

Figures 2c and 8e show the side-view of the shoe/sock with the 4 braces with the position and placement of the brace and the EMG sensors.

DEFINATIONS

A. SENSOR (si

Define: A pressure sensor is a device that detects a force (pressure) exerted on a surface and converts it to an electronic signal whose strength is relative to the strength of the force.

Pressure Sensor: Force Sensitive Resistor (FSR), Capacitive Pressure sensor, Silicon Pressure sensor, Ceramic capacitive pressure sensor, Piezoresistive Pressure sensor, textile-based pressure sensor, load cell, Carbon Nanotube based Piezoresistive Pressure Sensor, Graphene based pressure sensor, hybrid foam- based sensor, barometric based sensors or any other pressure sensing sensor.

Define: An inertial measurement unit (IMU) is an electronic device that measures and reports a body's specific force, angular rate, and sometimes tire magnetic field surroundings the body, using a combination of accelerometers and gyroscopes, sometimes also magnetometers.

IMU- Motion sensing Unit: Gyroscope, Accelerometer, Magnetometer, Inertial Motion Unit, Micro-Technology for Positioning, Navigation and Timing (Micro- PNT), Tilt sensor or any other MEMS sensor. Define: The ranging sensor or distance sensor is an electronic device that detects obstacle and measures distance from the obstacle.

Ranging Sensor: Ultrasonic, Infrared sensor, Time of Flight distance sensor, Laser distance sensor, Optical proximity sensor, Rangefinder, or any other distance or proximity sensor

Define: The EMG sensor detects the electric potential generated by muscle cells when these cells Eire electrically or neurological! y activated.

EMG Sensor: Surface EMG

B, Microcontrollers

The embodi ment of digital processing contains microcontrollers, microprocessors, network coprocessors, filled programmable gait array (FPGA), programmable logic device, combinational logic circuit hereafter referred to as microcontrollers and /or microprocessor.

Figure 3 shows the main pair of shoe/sock which consists of the left and right leg shoe as defined as shoe/sock. Figure 3a shows one of the options where (3a) is a fabricated embedded sole /sock can wear with any shoe/sock. Figure 3b shows an embedded insole that can wear with any shoe/sock. As shown in both figures 3a and 3c, the sole of the shoe consists of matrix of Force Sensitive Resistor (FSR) or textile-based force resistive sensors. The matrix of Pressure Sensors and/or Force Sensitive Resistor (FSR) and/or textile-based force sensors are placed as an array to measure and map plantar foot pressure distribution. Each wearable shoe has a minimum of 6 Force Sensitive Resistor (FSR) [3 a] incorporated at various points i.e. one at heel, two at medial and lateral plantar of foot, two at inner and outer ball of foot and one at toe to measure and map foot plantar pressure distribution while walking during stance and swing phase of the walk. Also, whole foot matrix of Force Sensitive Resistor (FSR) [3 a] or textile-based force sensors can also be utilized as an array to measure and map pressure at different foot points during walk which gives data to detect gait abnormality and/or improper gait.

(3) also denotes an option of the wearable device being socks which may have pressure sensors (3a), GSTU(4c) sensors, IMU sensor (3a) and a connection port (3b)(3c) to the embedded ankle brace(4a). The sock may be made with customized fabric to ensure rigidity while providing flexibility and durability. The thread used in sock's fabric shall be highly elastic and shall vary as per the thread count. The sensors on the sole of the sock (3a) will be attached on a non flexible textile to provide stability to the sensors. Depending on the sensor position (3a)(3b)(3c) elasticity of the fabric will be adjusted. IMU sensor (3a) will be placed on the top or bottom of the sock. GSTU (4c) FSR (3a) sensors will be placed at the front and back of the insole (3a)(3c). All the electrical connections coming from pressure sensors (3b) (3c), GSTU (4c) and IMU (3a) will threaded within the fabric to enhance wearability.

The FSR sensors are placed on sole to measure pressure at Hallux, Forefoot, Mid foot and Heel. The plural of FSR sensors measures pressure at Hallux, Medial and Lateral Forefoot, Medial and Lateral Midfoot and Heel. The foot plantar pressure distribution software divides the footprint into 6 anatomical areas for analysis, namely the hallux (great toe), forefoot, midfoot and heel. The sole can be made to measure pressure points on all areas of foot by adding plurality of pressure sensors.

The electronics embedded sole of the shoe/sock can be either be an insole module (3c) which can be inserted in any shoe/sock or it can also be an electronic embedded shoe module (3a) of various foot sizes which can be attached to detachable turnable ankle brace (4a) (4B) for sensor data transfer with the help of connectors (3b) (3c). The insole (3C) has tail like connector for data transfer to detachable turnable ankle brace (4a) (4B). The electronics embedded shoe/sock has connector (3b) which runs through tongue of the shoe and connects to detachable, turnable ankle brace (4a) (4B).

Each shoe/sock consists of gyroscope or accelerometer or IMU sensors (3a) which calculates 3-axis gyroscope, 3-axis accelerometer, 3-axis magnetometer axis of foot rotation and angular movement. The gyroscope or accelerometer or IMU sensors which calculates 3-axis gyroscope, 3-axis accelerometer, 3-axis magnetometer axis are used for calculating plurality of parameters like Tibial rotation, Hip Angle (deg), Knee Angle (deg), Thigh Angle (deg), Shank Angle (deg), Pelvis Tilt (Deg), Plevic Rotation (Deg), Pelvic Obliquity (Deg)- Hip Abduction and Adduction (Deg), Hip Flexion and Extension (Deg), Hip Rotation (Deg), Knee Flexion And Extension and Knee Rotation but not limited to any other lower body parameters of knee, hip and thigh range of motions. Pelvic range of motions is calculated from angles measured from IMU placed on back waist of human body. The data calculated by the gyroscope or accelerometer or IMU sensors enables clinician to monitor the gait and analyse the impact on feet, correlate it with data from ankle, knee, hip & other lower limb joints. The gyroscope or accelerometer or IMU sensors (3A) are placed at the plurality of locations of the shoe, including but not limited to the centre of the sole, bottom of the shoe, and top of the shoe to provide an accurate angle and axis of Dorsiflexion and Plantarflexion, adduction, abduction, internal rotation and external rotation.

Again referring to figures 4c -4e, the GSTU consists of two high sensitive sensors (refer figure 3a) placed in the sole (highly sensitive FSR or piezo material) to capture and transmit data, every-time when the person walks, the number of times the feet is in contact with the ground and when the feet lifts to separate from the ground, connected one on toe and other on heel of the sole of each shoe, to capture all different Gait events. The GSTU module houses two impact sensors (highly sensitive FSR or piezo material), that helps to properly generate the interrupts and the timing signal required to capture the key gait events. The GSTU can accurately identify the gait events such as heel strike, double support time, stance phase, swing phase etc., which are some of the key events in analysing the gait.

The GSTU has two impact sensors placed and an instrumentation setup (refer figure 4d) which consists of the buffer, trans-conductance amplifier, Schmitt trigger or comparator or dedicated control unit for precise interrupt generation as shown in (4d).

Gait cycle is the time or sequence of events or movements during locomotion in which one-foot contacts the ground to when that same foot again contacts the ground and involves propulsion of the centre of gravity in the direction of motion. A single gait cycle is also known as a stride, most of the parameter is required at the key gait event in the gait cycle therefore all the sensors are not required to take the reading continuously but in burst at the specific gait event, while accessing the gait the patient can have multiple walk during the gait therefore each of the data must be constraint to its gait cycle, therefore the embodiment of GSTU is used to synchronize the data with specific gait cycle. The embodiment of the GSTU as shown in figures 4c-4e generates the timing signals and the interrupts based on the walk that help in the indenting the start and the stop of the gait cycle and the key events of the gait. The GSTU module consists of the two high force sensing resistor and the instrumentation module for the sensor. The sensors are placed in socks at the plantar medial tubercle of calcaneus and at 3 ^rd metatarsal head but not limited to 3 ^rd metatarsal head.

The High sensitive FSR (3A) is used, as the soft tactile switch that is placed as mentioned above, as per the stated positions, the output of the FSR is the change in the current, which is governed by the pressure. Thus the current to voltage converter converts the current signal to the voltage signal. This signal is given to the voltage buffer to drive the signal to the Schmitt trigger, the Schmitt trigger signal is fed to the microcontrollers interrupt pin. The working of the GSTU as depicted in figures 4, 4c, 4d and 4e shows the complete gait cycle and the sensors generated signal by the two sensors (3A). During the initial contact the sensor placed at the plantar medial tubercle of calcaneus gives the logic high interrupt indicating the start of the gait cycle of that leg, and even indicate the start of the stance phase, of the gait cycle. During this period, the data for the Foot Plantar pressure is acquired by the microcontroller. During the midstance, both sensors gives the logic HIGH indicating the mid stance, during the mid-stance the step width toe out and the toe in angle are measured. When the output of the sensor is LOW i.e. when one FSR shows low and the other FSR also shows low, it indicates the swing phase of the gait cycle. In the swing phase the step height and swing phase angle are calculated. When the condition of the FSR one is low and FSR two is high, it indicates capture of data related to terminal stance and end of one gait cycle and the parameter such as max heel is measured at this instance. The algorithm of GSTU is defined in figure 4e.

All the modules and sensors (2d) are connected to micro-controller on each detachable turnable ankle brace (4a) (4b) for processing the data with algorithm (12). The battery management power system (BMPS) (15) supply powers the various components. The processed, collected and calculated data is stored in the on-board flash memory or SD card or EEPROM/E2PROM (12). The processed, collected, and calculated data will be transferred wirelessly (12) to the main unit or main server or host server or could push the data directly to the cloud storage.

(4A)(4B) is the embedded detachable turnable Ankle Brace is placed or attached on the upper part of ankle knuckle (2a).

The sensor embedded shoe/sock (3 a) (3c) for each leg is attached to single detachable turnable ankle brace unit (4a) (4b) with conductive metal or textile wires embedded (3b) (3c) in shoe. The detachable turnable ankle brace unit (4A) consists of two block modules hinged together with turn-able joints having locking mechanism. The primary module (201) consists of IMU sensors, power unit, ADC unit, sole connector, microcontroller with storage memory and wireless data transfer unit. The secondary module (202) consists of ranging sensor 1 and ranging sensor 2 in each detachable turnable ankle brace. The turn-able joint makes it easy for the user to use the device for step width calculation against a parallel surface or object.

The detachable turnable ankle Brace unit (4a) consists of two ranging sensors (202) for vertical and horizontal distance measurement from ground and wall or parallel line respectively. The ranging sensor can be either ultrasonic sensor, or infrared sensors, or time of flight sensors or any other distance measuring hardware sensor unit.

The ranging sensors help to measure step-height (Fig. 1 lc) from the floor and step width (fig. 1 l.a.l and l l .a.2) of the foot against the wall or any parallel line. The detachable turnable ankle brace unit (4a) is attached to ankle of the person (2a). The detachable turnable ankle brace unit (4a) consists of discrete gyroscope, accelerometer or IMU [3a] (Inertial Measurement Unit) sensors (201) which incorporates 3-axis gyroscope, 3-axis accelerometer, 3-axis magnetometer to measure the Euler’s angle. The discrete gyroscope, accelerometer or IMU [3a] (Inertial Measurement Unit) sensors (201) could be placed in the centre but could also be placed on any other part of the detachable turnable ankle brace [4a]. Further, the angles are measured during a plurality of events such as heel strike, mid-stance and push off during swing and stance phase of GAIT. The data calculated by the gyroscope or accelerometer or IMU [3a] sensors enables clinicians and physiotherapists to monitor the gait and analyse the impact on feet, ankle, knee, thigh, hip and lower limb joints.

The detachable turnable ankle brace unit (4b) may also consist of two detachable block modules having locking mechanism (4b). The primary unit (203) can be separated from secondary unit (204). The primary unit (203) consists of two slots for secondary module (204) on both sides depending upon the use of person to select side of attachment.

The secondary module (204) consists of ranging sensor 1 and ranging sensor2 in each detachable turnable ankle brace (4b) attached on ankles of right and left legs.

The detachable turnable ankle brace unit (4a) (4b) on the back consists of magnetic button, press studs or Velcro or stickers for attaching with any strap to fix on ankle (2a) of the person.

Details of some of the Sensors that can be used:

1) Piezo sensor: - The Piezo sensor in the embodiment is used as the force sensing transducer, the transducer work on piezoelectric effect to measure the change in pressure. As the output the piezo generate the electric charge that is directly proportional to the change in pressure, the piezo transducer has a very high DC output impedance and can be modelled as proportion voltage source and the filter network, the voltage generated is directly proportional to the applied force, the embodiment in the device is used to measure the flatfoot pressure while walking.

2) FSRs: - The FSR in the embodiment is used as the measure the change in the force exerted by the barefoot while walking. The FSR uses the polymer whose resistance/ conductance changes predictable when a force or pressure is applied, or mechanical stress is applied. The FSR can in for of the polymer sheet or the ink that can applied to the desired polymer and desired location, applying a force to the surface of the sensing film cause the particle to touch the conducting electrode, changing the resistance on the film the output of the FSR is the change in current that is proportional to the force applied so the out is connected to the I to V convertor, the output of the v to I is then buffered and the given to the comparator or Schmitt trigger if the FSR is embodiment of the timing and interrupt or it is connected to the ADC to sample the force valve at the sampling rate of“tested value”.

3) Ultrasonic Sensor: - The embodiment of the ultrasonic sensor is used to measure the step height and the step width. The ultrasonic sensor consists of the piezo electric transducer to generate the high frequency wave in the ultrasonic range, the transducer is designed for ranging purpose there for the beam patter is maximum directed towards front side/ line of sight sensing, the transducer send the eight burst of the ultrasonic wave and waits for the echo, time taken to measure the transmitted ray and the echo that translates in the distance.

4) TOF Sensor: - The embodiment of the sensor is to measure the step height and the step width, the TOF imaging system resolves distance based on the known speed of light by measuring the time of flight a light signal between the sensor and the subject for each point of the image. The ST electronics VL53L0X id used as the ranging sensor in the embodiment, The VL5310X 940nm Vertical Cavity Surface Emitting Laser (VCSEL), is totally invisible to the human eye and when coupled with physical infrared filter enables longer ranging distance, higher immunity to ambient light and batter robustness to cover-glass optical cross - talk. The TOF sensor output gives directly the distance value on I2C buss the value is stored in the buffer. The buffer is then passed to averaging filter to remove the high frequency noise from the buffered data. The TOF sensor calculates the give the distance senor directly the senor is connected with the processor using the Two Wire Interface Bus. The sampling time o) _c is user defined, the noise on the sampled is data is smooth out using the moving averaging filter.

Let D[k] be the non-periodic discrete time series sampling rate of the OJ _C the final value of the D _k is given by the below formula: 0,1 ,2,3, . , /e - 1 .

All the modules and sensors are connected to micro-controller [12] on each ankle brace for processing the data with algorithm. It includes a memory unit (12) to store sensed data in real-time. Further, the wireless module (12) enables it to wirelessly transmit the stored sensed data to an external computing unit to provide a graphical-statistics on 3-dimensional motion, dual foot position and comparative pressure distribution dynamics of both rights and left feet simultaneously by using pattern recognition, numerical analysis, and comparative variables of the sensor outputs and algorithms. The data is stored in the flash memory (12) of micro controller or SD memory card as well as it is transmitted wirelessly to other computing devices (1). The processed, collected and calculated data is stored in the on-board flash memory or SD card or EEPROM/E2PROM. The BMPS (15) powers the various components and further wirelessly transmits the data to another computing device (1) or could push the data directly to the cloud storage (1).

(5) is the embedded hardware Calf Brace which is placed on the upper calf of each leg below the knee ball placement (2a). The embedded calf brace (5) has each brace unit (8) along with the strap (8a) as detailed in (8b) which provides plurality of input ports (8 c) for connecting EMG sensors to measure EMG response of plurality of muscles attached to the calf as detailed in fig (8d), (8e) & (8f).

(6) is the embedded hardware Thigh Brace unit placed on thigh above the knee ball (2a). The embedded thigh brace has each brace unit (8) along with the strap (8a) as detailed in (8b) which provides plurality of input ports (8c) for connecting EMG sensors to measure EMG response of plurality of muscles attached to the calf as detailed in fig 8c, 8d, 8e & 8f.

(7) is a two-module embedded hardware Hip Brace which is placed on the posterior superior Iliac spine (PSIS) on each of the pelvic bone . The two-module embedded hip brace has each brace unit (8) along with the strap (8a) as detailed in (8b) which provides plurality of input ports (8c) for connecting EMG sensors to measure EMG response of plurality of muscles attached to the calf as detailed in fig 8d, 8e & 8f.

The embedded Calf brace(5), embedded Thigh Brace (6) and the embedded Hip Brace (7) is attached to a strap (8a) or wearable stockings or stretchable band or body sticker, magnetic studs, etc. but not limited to make it wearable and place on respective body parts.

Each of the embedded hardware brace unit (8) as detailed in (13) consists of gyroscope or accelerometer or IMU sensors which calculates 3 -axis gyroscope, 3- axis accelerometer, 3 -axis magnetometer axis for calculating joint range of motion which is connected to microcontroller or microprocessor or field- programmable gate array (FPGA), wireless module, on-board and cloud-based storage and BMPS (figure 15).

The Pelvic range of motions are calculated from angles measured from IMU (8) (13) which is part of the two-module embedded hardware Hip Brace (7) which is placed on the posterior superior Iliac spine (PSIS) on each of the pelvic bone. The average difference in the stride length % of knee of right and the knee of the left leg is plotted as a graph for the values generated from respective knee brace considering one stride length as one gait cycle. The graph of the knee angle can be plotted from the data directly from the IMU. The angular velocity can be plotted with respect to the stride length using the raw value from the IMU.

Hip ROM is calculated from IMU placed on embedded thigh brace (6) and embedded hip brace (7). Knee ROM is calculated from IMU placed on embedded thigh brace (6) and embedded calf brace (5). Hip Moment (N*M/KG), Knee Moment (N*M/KG) and Ankle Moment (N*M/KG) are calculated using values IMUs placed on embedded hip brace (7), embedded thigh brace (6) and embedded calf brace (5).

The embodiment of the power can be calculated using the formula P = M*W where the M is moment calculated from IMU accelerometer by dividing with initial gravity normal and obtaining the force and multiplying it with the angular momentum W, both M&W to be calculated using IMU. Hip power (W/KG), Knee Power (N*M/KG) and Ankle Power (N*M/KG) are calculated using using values of Moment (M) and angular velocity (W) which are calculated using values of IMUs placed on embedded hip brace(7), embedded thigh brace (6) and embedded calf brace(5).

Each individual embedded brace (8) has plurality of connectors to attach EMG sensors (8b) (8c) for measuring EMG response of plurality of muscles. The EMG sensors (8c) are detachable module, which can provide EMG readings only when connected to each of the embedded brace unit (8). Each individual brace unit (5, 6, 7, 8) is connected to plurality of electromyography (EMG) sensors to measure muscle activity of Rectus Femoris, Vastus Lateralis, Tibialis Anterior, Vastus Medialis, Biceps Femoris, Gastrocnemius Medialis, Gastrocnemius Lateralis, Soleus, Peroneus Longus, Gluteus maximus, Gluteus Medius, Iliopsoas and Peroneus Brevis of a user but not limited to other muscles of lower limbs. In an embodiment, the electromyograph (EMG) sensor detects the electric potential generated by the muscle cells when these muscle cells are electrically or neurologically activated. Then the signals are analysed to detect medical abnormalities, activation level, or recruitment order or to analyse the biomechanics of human. The EMG results reveal nerve dysfunction, muscle dysfunction or problems with the nerve-to-muscle signal transmission which can also help in diagnosis of various neuromuscular disorders.

All the modules and sensors are connected to micro-controller [13] on each embedded brace (5, 6, 7, 8) for processing the data with algorithm. Specifically, the device with all its embedded braces, shoe and/or sock and sensors are connected to micro-controller on each detachable, turnable embedded ankle brace for processing the data with algorithm. It includes a memory unit (13) to store sensed data in real-time. Further, the wireless module (13) enables it to wirelessly transmit the stored sensed data to an external computing unit to provide a graphical-statistics on 3-dimensional motion, dual foot position and comparative pressure distribution dynamics of both rights and left feet simultaneously by using pattern recognition, numerical analysis, and comparative variables of the sensor outputs and algorithms. The data is stored in the flash memory (12) of micro controller or SD memory card as well as it is transmitted wirelessly to other computing devices (1). The processed, collected and calculated data is stored in the on-board flash memory or SD card or EEPROM/E2PROM. The BMPS (15) powers the various components and further wirelessly transmits the data to another computing device (1) or could push the data directly to the cloud storage (1). The BMPS powers the various components including the Wi-Fi module.

The device includes the onboard power supply system which includes Battery management and protection system (BMPS) thereafter referred as BMPS. Every embedded brace - Ankle, Calf, Thigh and Hip shall have BMPS onboarded. The embodiment consists of the cell supervisor unit, DC/DC convertor, Cell Safety unit, Low Dropout voltage regulator, Current sense unit, reverse battery protection, and battery charging unit. The embodiment consists of the lithium polymer or lithium ion or super capacitors as the power source connected to BMPS unit, the BMPS gives out the two voltage rails 3.3 volts, 5 Volts referenced to ground. The BMPS is used to protect and manage the on board power supply and battery. The charging port and the charging connector is used to recharge the battery as well as use for the initial calibration.

Details of all the parameters being generated by the wearable device

Shoe+Ankle Parameters:

Cadence (steps/min), stride time(s), stance time(s), swing time(s), Stride length (m), Stride Length (%), Step Length (m), Stride velocity, Mean Velocity (%height), Mean Velocity (m/s), Turning angle, Cycle Duration (s), Stance (%), Swing (%), Loading (%), Foot-flat (%), Double Support (%), Pushing of stance %, Peak Angular Velocity, Swing Speed, Strike Angle, Lift-off Angle, Ankle Angle (deg), Foot Angle (deg), Ankle Dors-PlantarfLex (deg), Foot progression (deg), Step Fleight, Step Width (m), Swing width, 3D Path length, Max Fleel, Max Toe 1 , Max Toe 2, Min Toe, Speed, Swing Ratio between R and L, Toe-in and Toe-out, Foot Contact, Graph of Foot Angle to Stride Length %, Graph of Ankle Angle to Stride Length %, Average Difference in Stride Length % of foot angle of Right and Left Leg, Graph of Angular velocity w.r.t Stride Length %, Average Difference in Stride Length % of ankle of Right and Left Leg, Foot Plantar Pressure Distribution.

Calf, Knee, Thigh, Hip Parameters:

Max Knee Flexion, Hip Angle Difference (deg/sec), Knee Angle Difference (deg/sec), Average Difference in Stride Length % of knee Angle of Right and Left Leg, Graph of knee Angle w.r.t Stride Length %, Average Difference in Stride Length % of hip angle of Right and Left Leg, Graph of Hip Angle w.r.t Stride Length %, Shank Angle (deg), Hip Angle (deg), Knee Angle (deg), Thigh Angle (deg), Pelvic Obliquity (deg), Pelvis Tilt (deg), Plevic Rotation (deg), Hip Abduction and Adduction (deg), Hip Flexion and Extension (deg), Hip Rotation (deg), Knee Flex Extension (deg), Tibial rotation, Knee Rotation, SACRUM Vertical Displacement and EMG of muscles such as Right and Left Tibialis Anterior, Right Gastrocnemius Medialis, Left Gastrocnemius Lateralis, Left Tibialis Anterior, Left Peroneus Longus, Left Peroneus Brevis, Bicep Femoris, Soleus, Rectus Femoris, Vastus Lateralis, Vastus Medialis along with Live Bio- Feedback and Static and /or Dynamic Bio-Feedback.

Calculations of some of the parameters

In the present innovation, parameters are calculated through raw data received from the sensors and the modules. The calculation for each parameter is mathematically shown below. The clearance parameter is calculated using the specific ranging sensors such as TOF and ultrasonic sensor offloading the IMU for calculating those parameters.

1) Step height: - The setup Hight is calculated with the shoe embedded ranging sensor the sensor, the D[n] be the non-periodic discreate time series sampled at the sampling rate of tu _c Assuming that n = 0, D[0] = 0 at t = 0 where t is instantaneous time & D„ is instaneous step height.

Then the D[n ] = D _n is given by the formula

Where T = Time of echo in milliseconds

C = Speed of sound at standard temperature and pressure in cm/s ² .

The maxima of the series are the maximums evaluated step height. To remove the sensor error sample the maximum threshold level 7 _¾ is set using the practical observation, then the given sample is corrected using the below given condition.

2) Step Height using the Time of Flight (TOF) Sensor: - The TOF sensor calculates the give the distance senor directly the senor is connected with the processor using the Two Wire Interface Bus. The sampling time OJ _C is user defined, the noise on the sampled is data is smooth out using the moving averaging filter.

Let D[k] be the non-periodic discrete time series sampling rate of the OJ _C the final value of the D _k is given by the below formula and D _k is defined as instaneous step height :

D[k ]

1

⁼ 4

x ( D[k ] + 2 D[k - 1] + D[k - 2] ) where k = 0, 1, 2, 3 , . , k - 1.

In Fig: l lc, the distance“x” from the shoe base to the floor is the step height. Ranging sensors are being used to calculate“x” distance for step height during the GAIT cycle.

3) Step width: - The step width measured using the two sensors connected on the one on each shoes the measurement is acquired from, let l ₂ and l ₂ length acquired from sharp sensor from Si and S ₂ respectively.

Then the step width (SW) is given by the below formula

SlF( t) = i _k ( t)— l ₂ { t) at t = t _n where n = 0, 1, 2 , 3 , . , n— 1.

The step width is calculated using ranging sensor and calculating distance against walls/plank of both feet. The distance calculated is subtracted to get accurate distance between two legs. In FIG: 11.a.1 , wall or plank is placed on left side of the person,

E- Left leg distance from the wall/plank on side,

F- Right leg distance from the wall/plank on right side

step width (SW) = F-E

In FIG: 1 l.a.2, wall or plank is placed on right side of the person,

G- left leg distance from the wall/plank on left side,

H- right leg distance from the wall/plank on left side

step width (SW) = G-H

4) Spatial temporal parameters: - Most of the spatial temporal parameter is calculated using the IMU sensor the IMU sensors gives the acceleration and the angular velocity from which various angle is calculated to get the range of motion values.

The angle from the IMU can be calculated using the using the gyroscope using angular velocity w using the Taylor series and let the q{ 0) = 0 at initial

Where, q{ t + At) = angle at current time stamp.

q{ t) = angle at last time stamp.

e = Approximation error.

0) _t = angular velocity at current time stamp.

The Drift of the gyro sensor is compensated using the accelerometer given by the formula

Where a _x = acceleration in x-axis

a _y = acceleration in y-axis

Therefore, the final angle is given by the Q = q{ t + At) + 9 _acc 5) Stride length: - The stride length is calculated using the values inputted in the system by the user, so let the D be the distance patient to be travel d during the gait examination and time take by the patient to cover the distance is given by the T in sec there for the speed S by which the patient walk is given by

S =— T

Now assuming the speed while walking through the gait is constant the distance d _n covered by the patient can at the given time instant t _n is given by

d _n — S x t _n . There for the set of the distances can be calculated using the above formula at various time instant for one shoe denoted by = {d ₁ , d ₂ , d ₃ , d ₄ , . , d _n } and shoes two as D ₂ = { dl _x , dl ₂ , dl ₃ , dl ₄ , . , dl _n }

Therefore, the stride length is given by the difference of the distances from single set there for

SL = d ₁ — d ₂

Therefor the average stride length is given by the

Similarly, the step length can be obtained by difference of the distance of the two conjugative term of the distance set Dl & D2, therefor the Step Length si is given by

si— d^ dl ₂

The average step length is given

6) STEP LENGTH can also be calculated using other method which as follows, The secondary module (202) consists of ranging sensor 1 and ranging sensor2 in each detachable turnable ankle brace. The turn-able joint makes it easy for the user to use the device for step width calculation against a parallel surface or object. The detachable turnable Ankle Brace unit (4a) consists of two ranging sensors (202) for vertical and horizontal distance measurement from ground and wall or parallel line respectively. The ranging sensor can be either ultrasonic sensor, or infrared sensors, or time of flight sensors or any other distance measuring hardware sensor unit.

The ranging sensors help to measure step-height (l lc) from the floor and step width (l l .a.l)(l l .a.2) of the foot against the wall or any parallel line.

In the FIG: l l.b. l, wall or plank is placed on front side of the person,

C- Left leg distance from the wall/plank on front side,

D- Right leg distance from the wall/plank on front side

Step length= D-C

In the FIG: 1 l.b.2, wall or plank is placed on back side of the person,

A- left leg distance from the wall/plank on back side,

B- right leg distance from the wall/plank on back side

Step length= A-B

7) Max Heel and Max Toe are calculated using angle data from Inertial Motion Unit (IMU) which is given by,

Max Toe is calculated by using formula,

Maximum Toe= a

Shoe Sole Length= b

Angle (a) = Heel Strike Angle

a = bxsin (a)

Max Heel is calculated by using formula,

Maximum Heel= c

Shoe Sole Length= b Angle (b) = Toe-off Angle

c = bxsin (b)

Wireless Data transfer

The wireless module establishes a wireless communication between the present sensor embedded pair of shoes/socks (3), one detachable, turnable ankle brace for each shoe/sock (4) and three embedded hardware braces placed at calf (5), thigh (6) and (7) is a two-module embedded hardware Hip Brace which is placed on the posterior superior Iliac spine (PSIS) on each of the pelvic bone i.e. parts of lower limb of body of each leg and the computing unit (1). However, it is understood here that multiple embedded braces connect wirelessly to a single computing unit (1) for wireless data transfer. The wireless module is selected from at least one of a Bluetooth unit, a Wi-Fi unit, and/or combination thereof.

In an embodiment(l), the wireless module utilizes a communication network which includes a medium through which the present wearable shoe/sock device (3), detachable turnable embedded ankle brace (4a/4b), embedded calf brace (5/8b) and embedded thigh brace (6/8b) and (7/8b) two module embedded hardware hip brace and the computing unit(l) communicate with each other. Such a communication is performed, in accordance with various wireless communication protocols. Examples of such wireless communication protocols include, but are not limited to, Transmission Control Protocol and Internet Protocol (TCP/IP), User Datagram Protocol (UDP), Hypertext Transfer Protocol (HTTP), File Transfer Protocol (FTP), 6lowpan, FoRa, ZigBee, IEEE 802.11 , 802.16 and/or Bluetooth (BT) communication protocols. The communication network includes, but is not limited to, the Internet, a cloud network, a Wireless Fidelity (Wi-Fi) network or Bluetooth/BFE.

As detailed in figure 1 , the data from all the embedded devices and/or braces of left and right leg are sent to a receiver station or a system or an external computing unit. The modules are connected via wireless technology to computing unit. The computing unit is in an access point mode (AP mode). The modules are pre-paired to the computing unit and connect automatically once software is started on the computing unit. The data from the modules are sent to the computing unit once a gait cycle starts. These data are stored in local storage of the computing unit. The stored local data is uploaded on a cloud server once the gait cycle is completed. The cloud server sends the report back to the computing unit for display and evaluation.

The different ways to send data to the computing unit and cloud (1) are described below. It is understood here that a single or plural of methods may be used for data transfer from brace units to the computing unit.

1) The data collected from embedded shoe/sock (3), each detachable turnable ankle brace(4a/4b), embedded calf brace(5/8b), embedded thigh brace(6/8b) and two embedded brace unit hip brace (7) are sent wirelessly to the receiver. The receiver can be smart phone, tab, computer or any other computing unit. The computing unit works in AP mode (Access Point mode) which is connected to each hardware module wirelessly. Each of the hardware brace work in client mode and automatically connects to the computing unit. The data received from the shoe are locally stored in the local file system of computing unit and uploaded on cloud via internet.

2) The receiver consists of plural of receiver modules which are connected to each of hardware braces like Txl to Rxl , Tx2 to Rx2, Tx3 to Rx3, Tx4 to Rx4, and Tx- n to Rx-n, vice versa. The receiver is connected through USB to the computing unit and stores the data in local storage and then uploads on cloud.

3) All shoe /sock and brace modules (3) (4) (5) (6) (7) are connected to a common Router. The router acts at node where all the braces are connected. All the data collected from each brace are sent wirelessly to node which sends the data directly to the server i.e. cloud. 4) All shoe /sock and brace modules (3) (4) (5) (6) (7) are connected to Sigfox/Lora, NB-IOT networks or any other low power wide area networks (LPWAN). The data from connected devices are sent as radio packets to Sigfox/Lora, NB-IOT networks base stations and which goes to cloud server.

5) The computing unit is attached to an external Wi-fi module via USB port which is connected wirelessly to each of shoe /sock and brace modules (3) (4) (5) (6) (7). All shoe /sock and brace modules (3) (4) (5) (6) (7) send data collected to the wi-fi module and data is stored in computing module locally.

6) The data from All shoe /sock and brace modules (3) (4) (5) (6) (7) are sent to the computing unit or cloud directly via Li-fi technology.

The embodiment of the wireless system may contain plurality of the wireless access points and the protocols for the data encapsulation, data encryption and the data transmission protocol. The wireless system may contain Wi-Fi access point, Bluetooth transceiver, NFC transceiver, or LTE MODEM.

The Wi-Fi define the last two layers of the OSI model that is data link layer and the physical layer, the Wi-Fi protocol define the physical aspect of the radio such as the radio frequency modulation technique and the channel allocation and the carrier frequency, so the according to the IEEE 802.11h standard the Wi-Fi use the 2.4Ghz radio. Connected to chip antenna or Meandered Inverted F Antenna (MIFA) the antenna is connected with the radio with the co planer wave guide using the impedance matching circuit, the Wi-Fi does not define the frame structure or the data transmission protocol so the for data encapsulation and the data transmission the TCP/IP suite is used.

Following is the given network possible architecture examples that can be used to employ to connect the device and create the ad - Floe network Start connected: - In this each embedded shoe/sock/brace will be connected the central computing hub any data transmission has to be done is to central hub and if the data is to be transmitted from one node to other noted than that data must be routed using the hub. The graph network below shows the start connected topology where 9 is central node. (Fig. 16)

Mesh connected: - In this configuration the device is connected in the mesh configuration where each individual node is connected to the other node. The data is sent directly to the required device. If the link of one of the device gets lost (disconnected) then the data can be routed through the different nodes to the destination. (Fig. 17)

Flybrid network: - In this configuration the node No 1 is the computing node/main node and only one node is connected to the main node and all the other node are connected such that they can have four connection at most in this configuration the data is routed form one node to another between the source and destination example the node 2 has to send data packet to computing device, then the packet will be routed from node 3 to node 7 then to node 1. (Fig. 18)

The computing device or mobile or laptop receives the data wirelessly via Wi-Fi or Bluetooth (1) or communication network modules. The gait report is generated on the software and uploaded on the cloud platform for data analysis (1). Examples of the computing unit include, but are not limited to, a personal computer, a laptop, a personal digital assistant (PDA), a mobile device, a tablet, or any other computing device. The Software on the Laptop or the computing device is able to take the data such received and display the Gait report along with the live biofeedback and further uploaded on the cloud platform for data analysis. There is also an option of the data being received on the Computing device then transferred to the cloud or directly sent to the cloud storage for computing all the variables and generating the reports which can then be displayed on the user’s laptop or computing device. The system gives live / static/ dynamic bio-feedback (1) by showing the path traced by the person on the floor thereby helping to understand the walking deformities and improving it while walking. Further, the present wearable shoe- based device tracks data points to predict gait patterns of the user. Then the present wearable shoe-based device correlates the tracked data points to feed an algorithm that serves as a tool for assessing and determining the efficacy of treatment via pre and post gait analysis.

As shown in figure 9, the device along with the shoe/sock and embedded brace(s) works as a finite state machine and the device is in one of the following states at any given time. As the switch is turned on, the state machine starts with making transition from off state to on state. If there is a fuse fault, the device returns to the off state to avoid the damage to the electronic component and battery. After on state, the device transition to the initialization state where the device first initialises all the hardware microcontroller or microprocessor or field- programmable gate array (FPGA) in each of the embedded brace(s) and /shoe or sock, where the sensor are assigned the predefined buses and sensors and the peripheral are configured to their default setting. After initializing, the device performs the self-check on the hardware battery and the sensors. The self-check includes the line voltage measurements, clock frequency measurement, senor communication test, memory access test and the additional hardware test. After the successful run of these tests, the hardware starts the Operating System from the memory and starts the scheduler. Once the Operating System is up and running, the Operating System runs the initial thread to make attempt to connect to the wireless access point. After connecting to the access point, the device enters in the idle mode where it is in the low power mode and shall wait for the software interrupt to wake up and check the starting condition. When the user initiates the test from the computing device (1) as defined in (12) (13) (14), it indicates the start of the gait cycle. At this point the microcontroller sends a signal to the GSTU to start the timers and the sensors peripherals and to acquire the data according to the GSTU interrupts. All this data is stored in the memory and /or transferred through the wireless network and the device again enters in the idle state again. If while transitioning in any of the stated state the device fails to enter that state, then it enters the error mode ready for debugging and shall lock the memory unit so that the data is not corrupted.

The device includes a packaging (14) consisting of charging and calibration ports for the 8 braces and/or shoe/ sock along with an optional display unit.

As shown in figure 19, the three anatomical planes: transverse, frontal and sagittal divide the body and are used as points of reference. a) transverse: divides top and bottom parts of body segment. b) frontal: divides front and back parts of body segment. c) sagittal: divides left from right parts of body segment.

Parameter definition

1) Abduction and adduction: These movements occur in the transverse plane. The foot abducts when it rotates laterally (i.e. away from the centre). It adducts when it rotates medially (i.e. towards the centre.) as shown in figure 20.

The hip abducts when it rotates laterally (i.e. away from the centre). It adducts when it rotates medially (i.e. towards the centre.)

The knee abducts when it rotates laterally (i.e. away from the centre). It adducts when it rotates medially (i.e. towards the centre.)

2) Inversion and eversion: These movements occur in the frontal plane. The foot inverts when it rotates inward and upward (the sole toward the midline), and everts when it rotates outward and upward (the sole away from the midline) as shown in figure 21.

The Hip inverts when it rotates inward and upward (the sole toward the midline), and everts when it rotates outward and upward (the sole away from the midline). The keen inverts when it rotates inward and upward (the sole toward the midline), and everts when it rotates outward and upward (the sole away from the midline).

3) Plantarflexion and dorsiflexion: These movements occur in the sagittal plane. The foot plantar flexes when it moves downwards away from the tibia and dorsiflexes when it moves upwards toward the tibia as shown in figure 22.

4) Pronation and supination: There are two motions of the foot, pronation and supination, which include simultaneous movement in the frontal, sagittal, and transverse planes. These are termed tri-plane movements. Pronation is a tri-plane motion consisting of simultaneous movements of abduction, dorsiflexion, and eversion as shown in figure 23.

Supination is a tri-plane motion which combines the movements of adduction, plantarflexion, inversion as shown in figure 24.

5) lateral and medial - Lateral means on the siding of hip knee, ankle away from the mid-line sagittal plane and medial means on the side closer to the mid line sagittal plane.

6) Flexion and extension: - are movements that take place within the sagittal plane and involve anterior or posterior movements of the body or limbs. For the vertebral column, flexion (anterior flexion) is an anterior (forward) bending of the neck or body, while extension involves a posterior-directed motion, such as straightening from a flexed position or bending backward. Lateral flexion is the bending of the neck or body toward the right or left side. These movements of the vertebral column involve both the symphysis joint formed by each intervertebral disc, as well as the plane type of synovial joint formed between the inferior articular processes of one vertebra and the superior articular processes of the next lower vertebra. 7) Rotation can also occur at the ball-and-socket joints of the shoulder and hip. Here, the humerus and femur rotate around their long axis, which moves the anterior surface of the arm or thigh either toward or away from the midline of the body. Movement that brings the anterior surface of the limb toward the midline of the body is called medial (internal) rotation. Conversely, rotation of the limb so that the anterior surface moves away from the midline is lateral (external) rotation

8) Gait cycle - following the gait cycle parameters that are measured in % of the time and % of the stride :

Stance Phase, the phase during which the foot remains in contact with the ground.

Swing Phase, the phase during which the foot is not in contact with the ground.

Initial Contact (Heel Strike): In initial contact, the heel is the first bone of the reference foot to touch the ground.

Loading Response (Foot Flat): In loading response phase, the weight is transferred onto the referenced leg. It is important for weight-bearing, shock- absorption and forward progression.

Mid Stance: It involves alignment and balancing of body weight on the reference foot.

Terminal Stance: In this phase the heel of reference foot rises while its toes are still in contact with the ground.

Toe Off (Pre-Swing): In this phase, the toe of reference foot rises and swings in air. This is the beginning of the swing phase of the gait cycle.

Swing width: - The width of the curve traced by the foot during the gait cycle is known as the swing width.

Double support time: -The % time in gait cycle when the booth foot is on the ground is known as the double support time.

Cycle Duration: the time taken to complete one gait cycle.

Toe in/ out - the measured angle of the toe during the gait cycle. Max heel/ Max toe: - continuous angle measured of the foot defining the angle of the toe and the heel.

The foot progression angle: - The FPA is defined as the angle made by the long axis of the foot from the heel to 2 ^nd metatarsal and the line of progression of gait.

Swing Ratio between R & L: - The ratio of the swing time or swing % of the R & L. foot

Pushing of stance: -Ground reaction force during loading response

Plantar Pressure Distribution/GRF: - Planter pressure map is the study of pressure fields acting between the plantar surface of the foot and a supporting surface

Cadence The number of steps covered per 60 seconds.

Stride Velocity: - The rate of change stride distance with respect to time is called as the stride velocity.

Mean velocity: - Mean velocity of the walk.

Peak Angular velocity: - The rate of change of the angular displacement with the fixed point measured for bones.

A gait cycle is the time period or sequence of events or movements during locomotion in which one-foot contacts the ground to when that same foot again contacts the ground.

Speed: - the rate of change of the distance with respect to time.

Step length - the distance between heels of one foot to other foot.

Stride length - The stride length is the one gait cycle.

Step height - The height of the foot from the ground measured perpendicular to the ground.

Step width - Perpendicular distance between the two feet is the step width.

The foregoing descriptions of specific embodiments of the present invention have been presented for purposes of illustration and description. They are not intended to be exhaustive or to limit the present invention to the precise forms disclosed, and obviously many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the present invention and its practical application, and to thereby enable others skilled in the art to best utilize the present invention and various embodiments with various modifications as are suited to the particular use contemplated. It is understood that various omissions and substitutions of equivalents are contemplated as circumstances may suggest or render expedient, but such omissions and substitutions are intended to cover the application or implementation without departing from the scope of the claims of the present invention.