JP2010022439A - Motion detecting multi-joint structure - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To detect the state of motion of a person, especially such a state of the person that the start of overturning or collision is unavoidable, to prevent the impact caused by the overturning or collision by actuating a cushioning means, to permit the action of avoidance of the overturning or collision by the person or a third person according to a situation, and to transmit the situation and positional information according to the situation of the overturning or collision. <P>SOLUTION: The multi-joint structure 1 includes a sensor 3 composed of a connected joint group 2 including a joint with a movable part for detecting the change of the angle of the movable part; a processing communication part for processing sensor signals and transmitting processed data; a control part for computing the change and/or change speed information on the shape of the joint group based on the transmitted processed data, and comparing the computed information with previously stored information; and an output part for outputting the information processed by the control part. The multi-joint structure 1 detects and outputs the motion of the person and/or the state of motion of the person based on the change of the shape of the joint group accompanying the walking and/or movement of the person, and/or change speed information. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

The present invention relates to an apparatus for detecting a person's motion state, particularly a person's fall, by measuring a change based on the person's walking and / or movement.

  As a major cause of elderly people becoming bedridden, femoral neck fractures due to falls have been pointed out. With aging, the response to the stimulus is slowed down and the sense of balance is lowered, and the patient is likely to fall. If the person falls, the bone is fragile due to osteoporosis or the like, and a fracture is likely to occur. And when a fracture occurs, it takes time to heal, and even if it is healed, muscle strength is reduced due to long-term hospitalization, making it difficult to recover physical strength such as conventional muscle strength. In order to prevent this, various preventive methods such as how to walk in dangerous places are introduced.

  It is said that there are many places to fall on flat floors and floors in houses rather than slopes and stairs. While walking on a slope or on the go, you will be cautious about walking, but you will be less careful on flat places and at home. In addition, since the lifting of the foot becomes insufficient due to the decrease in the muscular strength, it is easy to go through even a slight step or an electric cord on a flat place. In this way, there are countless places where there is a risk of falling, and it is not enough to be careful not to fall.

  In order to alleviate the impact caused by a fall, there is an invention in which the distance and relative speed between an obstacle and a person are detected by a sensor, and an airbag is inflated when a predetermined condition is met (Patent Document 1). However, the fall cannot be detected depending on the mounting direction of the sensor, and it cannot be sufficiently detected for the fall in multiple directions.

  Further, there is an invention in which the foot load distribution is compared with a reference model, and when the load distribution is abnormal, it is determined that the vehicle falls and the airbag is activated (Patent Document 2). However, in the distribution of the sole load, there is a possibility that an operation other than normal walking such as jumping and running may be determined to be abnormal, which may cause malfunction.

  In addition, there is an invention in which a vertically downward acceleration is detected and an air bag is activated when the reference acceleration is exceeded (patent document 3). The present invention has been proposed based on the knowledge that, in the case of a complete fall, the foot slightly leaves the ground and enters a free fall state. However, the free fall state is a state where the vehicle has fallen and progressed, and it is required to recognize the situation where the vehicle falls over at an earlier stage.

JP 2000-31002 A JP2003-236002 JP 2004-252618 A

  In order to solve these problems, the present invention detects at an early stage the state of human movement, in particular, the start of a fall or the state in which a collision is inevitable, and operates the buffer means to alleviate the impact caused by the fall or collision. In some situations, however, the goal is to enable the self or a third party to avoid falling or colliding. It is also intended to transmit situation and position information according to the situation of a fall or collision.

  In order to solve the above-described problem, the sensor is configured by a connected joint group including a joint with a movable part, detects a change in the angle of the movable part, a processing communication unit that processes the sensor signal and transmits processing data, and transmission The control unit that calculates the shape change and / or change speed information of the joint group based on the processed data and processes the calculated information in comparison with the information stored in advance, and the control unit A multi-joint structure having an output unit for outputting information, the presence / absence of human motion and / or human based on the change in shape and / or speed of change of the joint group accompanying human walking and / or movement It is possible to provide a human body-mounted multi-joint structure characterized by detecting and outputting the motion state of the human body. The change in the angle of the movable part of the joint in the joint group forming the multi-joint structure is detected, processed, and transmitted by the movable part or a sensor disposed in the vicinity of the movable part. Information based on the transmitted data is compared with information stored in the control unit to determine the state of change. The determined change state information is output at all times or when a certain condition is satisfied according to the setting. In addition, the multi-joint structure is disposed and mounted at least on the back, waist, and both lower limbs of the human body. It is preferable that both arms are arranged and mounted. The presence or absence of the wearer's movement and / or the movement state of the person is detected through information on the change in the shape of the multi-joint structure. The magnitude of the change in the posture of the person is detected through the change in the shape of the joint group, and the rapid change in the posture of the person is detected through the speed of the change in the joint group. For example, when the shape of the multi-joint structure is linear and there is no change in shape or the state is extremely small for a long time, it is suggested that the operator is sleeping. The possibility of falling due to a fall and / or collision is indicated. Further, it is indicated whether or not the change in the shape of the joint group is within a range accompanying normal walking and / or movement by comparing with the stored information.

In addition, the human body-mounted multi-joint structure described above is characterized in that the start of a human fall is detected when the change in shape and rate of change of the joint group exceed a preset reference value. The It is preferable that the reference value for the shape change and the reference value for the change rate of the shape are relatively determined in combination. For example, when the reference value for the change in the shape of the multi-joint structure is increased and the reference value for the change speed is relatively small, the wearer detects a fall that causes the body to bend and collapse Can do.
Also, when the reference value for the change in the shape of the multi-joint structure is reduced and the reference value for the change speed is increased, the wearer trips forward and falls or slides on the floor and falls backward It is possible to detect falls such as. Further, if the reference values for both the shape change and the change speed are set relatively low, any type of fall can be detected. By making the condition that the reference value set for both the shape change and the change speed is exceeded, it is possible to prevent a normal seating or the like from being erroneously determined to fall.

  Further, in the detection of the change rate of the shape of the joint group, detection is performed on the basis of frequency, and the human body-mounted multi-joint structure described above is provided. By analyzing the operation state of each part of the human body with the frequency spectrum, it is possible to detect that the vehicle is in the fall start state beyond the frequency range in normal operation.

Further, the human body-mounted multi-joint structure according to the above, characterized in that, based on a change in the shape of the joint group, the start of a fall due to the movement of the center of gravity of the person beyond the range that can be supported is detected. Provided.

Also, a speed and / or acceleration sensor is provided, and the detected change in shape of the joint group, or the change and change speed exceeds a preset reference value, and / or the movement speed of the joint group is preset. The human wearable multi-joint structure described above is characterized in that the start of a human fall is detected by exceeding the reference value. In the case of a fall with hardly any change in the shape of the joint group, the speed sensor or the acceleration sensor can complement the fall start detection function by the multi-joint structure.

In addition, a pressure sensor is provided, and the detected change in the shape of the joint group, or the change and change rate exceeds a preset reference value, and the distribution of the human body load between the soles and / or the left or right The human body-mounted multi-joint structure described above is characterized in that the start of a human fall is detected when the distribution of the human body load on the sole is out of a preset reference value range. The pressure sensor is mounted on both soles, and detects the start of a fall by combining the load balance state of the soles with the change in the shape of the joint group.

Further, a distance detection sensor is provided, and the detected change in the shape of the joint group, or the change and change speed exceeds a preset reference value, and / or the movement speed of the joint group is a preset reference value. Based on the fact that the distribution of the upper and / or human body load deviates from the preset reference value and the obstacle is approaching a predetermined distance or less, the start of the fall and the collision with the obstacle The above-described human body-mounted multi-joint structure is provided that detects unavoidability. The distance sensor can measure the distance to surrounding obstacles, but if the distance to the obstacle is less than a certain distance as a result of continuous measurement, the obstacle and the human body due to falling It can be detected that it is inevitable. If a speed sensor and / or acceleration sensor is provided, the obstacle associated with the fall and fall by combining the change in the shape of the multi-joint structure with the movement speed information and the distance information with the obstacle by the distance sensor. It is possible to accurately detect the inevitable collision with the.
The distance detection sensor includes a sensor that receives and receives reflections of infrared rays, ultrasonic waves, and the like, but is not particularly limited.

In addition, the human body-mounted multi-joint structure described above is characterized in that it includes a GPS and / or altitude sensor to detect the start of a fall and / or a collision inevitable position. When there is no caregiver or the like around the fall place, it is possible to notify the far caregiver or the like of the fall position. Moreover, the height of the fall place is grasped by using the altitude sensor.

In addition, when the detected position remains within a preset reference distance range after a predetermined time, an alarm is issued from the output unit. Is provided. If you stay at a fall place for a long time, you may not be able to stand up by yourself, and if left unattended for a long time, a serious situation may occur. Early detection is possible by issuing an alarm and notifying location information.

In addition, when the joint group is mounted on the human body, both the arms and both leg portions are mounted on the sides of the arms and legs. The multi-joint structure must conform to the shape of the part of the human body to be placed and worn, but both arms and legs are often bent at an acute angle at the joints of the elbows and knees, and are placed inside and outside the arms or legs. When placed and mounted, the joints constituting the joint group easily come into contact with each other. Therefore, it is preferable that the joint group mounted on both arms and both leg portions is mounted on the side portions of the arms and legs.

The above-described human-mounted multi-joint structure comprising a fall and / or collision shock absorber, wherein the fall and / or collision shock absorber is activated when the start of the fall and / or the collision inevitable is detected. The body is provided. An impact mitigation means based on the detected information is required except when the person or a nearby third party can mitigate the impact by starting toppling or outputting collision inevitable information. The impact is mitigated by the operation of the impact buffering device.

Further, the overturning and / or collision buffering device is an airbag device comprising a bag for rapidly inflating a gas, an inflator for injecting high-pressure gas into the bag, and an ignition device for starting the inflator. A human body-mounted multi-joint structure as described above is provided.

In addition, a pressure sensor is provided, and the detected change in the shape of the multi-joint structure, or the change and rate of change exceeds a preset reference value, and the distribution of the human body load on the left and right foot soles and / or the left and right The human body-mounted multi-joint structure described above is characterized in that the motion state of a person is detected when the distribution of the human body load on any of the soles deviates from a preset reference value range. Wearing a pressure sensor on the soles of both feet, etc., and combining it with the shape change and / or change speed information of the multi-joint structure, the action content of the wearer, such as walking, running, etc. Can be detected.

  Further, based on the information on the shape change and / or change speed of the joint group and / or the change in the pressure distribution on the sole and / or the movement speed of the joint group described above, Provided is a human body-mounted multi-joint structure characterized by manipulating movement and / or action. A person's walking and / or movement based on a change in the shape of a joint group or the like can be used as a movement of a person in a virtual space such as a movement of a game character.

Also, the above-mentioned change in shape and / or change speed of the joint group and / or change in pressure distribution on the sole and / or information on the movement speed of the joint group are tabulated and / or analyzed, and Alternatively, a human body-mounted multi-joint structure is provided that stores the analyzed information as wearer information based on a wearer's movement and / or behavior. By accumulating and analyzing information such as changes in the multi-joint structure based on the wearer's daily movements and / or behaviors, the risk of own falls and collisions can be detected, and accidents can be prevented. The wearer information refers to information that integrates the wearer's health information, exercise information, behavior monitoring information, safety information, training information, and the like.

Further, it is composed of a joint group including a joint with a movable part, and includes a sensor that detects a change in the angle of the movable part, a processing communication part that processes the sensor signal and transmits processing data, and the transmitted processing data. Based on the shape change and / or change speed information of the entire joint group based on the information, the control unit that processes the calculated information in comparison with the information stored in advance, and outputs the information processed by the control unit In a multi-joint structure having an output unit, the presence / absence of human motion and / or the human motion state is detected based on the shape change and / or change speed information of the joint group associated with human walking and / or movement. A method for detecting a motion state of a person is provided.

  In addition, by using the above-described multi-joint structure, it is possible to detect the start of a person's fall and / or detect the inevitable collision with a person's obstacle and / or activate a collision buffer. A method for detecting a person's motion state is provided.

In addition, by using the above-described multi-joint structure, the movement state of a person is detected and / or the movement and / or action of a person in a virtual space in a computer is operated and / or stored as wearer information. There is provided a method for detecting a motion state of a person.

  According to the present invention, it is possible to grasp the change and / or change speed of the wearer's posture through the change and / or change speed of the shape of the multi-joint structure, and as a result, acquire information on the movement and movement of the wearer. can do. When there is no change in the shape of the multi-joint structure and when there is a change, it is possible to acquire certain information about the movement and movement of the wearer.

  In addition, according to the present invention, it is possible to detect the start of various types of falls only by the change in shape and change speed of the multi-joint structure.

  Further, according to the present invention, it is possible to determine whether or not the shape change speed exceeds the reference based on the frequency related to the operation of the multi-joint structure.

  Further, according to the present invention, it is possible to detect that the position of the center of gravity has moved beyond the supportable range only by changing the shape.

  Further, according to the present invention, it is possible to detect the start of a fall by combining the human body load distribution information on the soles. The load imbalance between the two feet and the load unequal information in one foot lead to detection of the start of the fall. In the case of only the human body load distribution information on the sole, there is a possibility that the load will be unbalanced even when jumping or running, and it may be mistaken for a fall, but the shape change and change rate of the joint group By combining, it is possible to detect the start of the fall with high accuracy.

  Further, according to the present invention, it is possible to detect a collision with a surrounding obstacle due to a fall. For example, in addition to the risk of fractures such as a femoral neck due to a fall, it is inevitable that the head collides with surrounding furniture and the like, and it is detected that serious damage is applied to the head.

  Further, according to the present invention, the location of the fall is specified. In particular, it is particularly effective when it falls at night, falls in the mountains, or falls in a high-rise building. The location can be identified effectively even in a disaster site such as debris. It is possible to prompt early detection by sounding an alarm, such as when the robot falls over and cannot move.

  Further, by mounting the joint group on the sides of the arms and legs, the burden on the human body associated with the mounting can be reduced, and the occurrence of malfunction can be prevented.

  According to the present invention, the shock absorber can be actuated in the event of a fall or a collision to absorb the wearer's damage. An airbag is suitable as the shock absorber, but is not limited thereto.

  Further, according to the present invention, it is possible to grasp the wearer's walking posture, the situation of the left and right legs, the number of steps of walking, and the like. The motion of the wearer grasped by the present invention can be expressed as the motion of a person in the virtual space. In addition, by utilizing the wearer's movement information grasped by the present invention, the wearer's movement, health condition, physical ability, etc. are analyzed, health information, exercise information, behavior monitoring information, safety information, training It can be used as information.

Further, by the method according to the present invention, the presence / absence of human movement and / or the human movement state is detected, the start of human fall is detected and / or the collision unavoidable with human obstacles is detected, and / or It is possible to activate a collision buffer, detect a person's motion state, and / or represent a person's movement and / or behavior in a virtual space in a computer, and / or store it as wearer information.

Hereinafter, the motion detecting multi-joint structure according to the best mode of the present invention will be described in detail with reference to the drawings. FIG. 1 is a front view when the motion detection multi-joint structure according to the present invention is mounted on a human body. FIG. 2 is a rear view when the motion detecting multi-joint structure according to the present invention is attached to a human body. The wearable multi-joint structure 1 according to the present invention includes a joint group 2, a control output block 6, an intermediate fit 4, and an end fit 5. The joint group is disposed on the sides of both arms and legs and along the spine of the back to the waist, and is connected integrally as a whole. The arrangement of the joint group is not limited to the arrangement of the present embodiment, but it needs to be an arrangement that can grasp the overall posture of the wearer. The joint group is fixed by an intermediate fit 4 at both elbows and both knees and by an end fit 5 at the wrist and ankle. Therefore, the joint group fits from the wearer's body, and the posture of the wearer is correctly reflected. In addition, although the airbag 16 is mounted | worn with the wearer's abdomen, it is not illustrated in FIG.1 and FIG.2.

Further, a speed and acceleration sensor 3 fixed with a belt is mounted on the waist of the wearer. The speed and acceleration sensor 3 complements a detection function such as a wearer's movement by detecting the shape change and change speed of the joint group. The speed and acceleration sensors are related to a known technique, and details thereof are omitted. Further, the arrangement position is not limited to the front or back of the waist. For example, it is worn on the neck or head, combined with a distance sensor (not shown), detects the inevitable collision with surrounding obstacles due to falling, and by a sub airbag (not shown), It is also possible to protect the head.

The configuration of the joint group 2 and the control output block 6 will be described with reference to FIG. The joint group 2 includes a joint 7 having no movable part and a joint 8 having a movable part 9, and a potentiometer 10 for detecting a change in the angle of the movable part is disposed in the vicinity of the movable part. The detection of the angle change is not limited to the potentiometer, and even if the position is not in contact with the movable part, it can be detected in the vicinity of the movable part. Further, a CPU having a CAN function is arranged at a part of the joint having no movable part. The control output block 6 includes a control unit 12 and an output unit 13. The output unit 13 includes a transmitter and an alarm wirelessly. (Not shown)

Based on FIGS. 4, 5, 6, and 7, the start of overturn detection and the operation of the airbag when the wearer of the multi-joint structure falls over while walking will be described. FIG. 4 is a slope view during normal walking of a multi-joint structure wearer who is an elderly person. An airbag is attached to the abdomen but is not shown. As the wearer's foot travels, swings his / her arms, or moves his / her back up and down and swings to the left and right as he walks, the placed joint group repeats deformation in response to the wearer's movement. When viewed in units of joints, the angle between the joint having the movable part and the adjacent joint changes according to the movement of the wearer. This change is detected by the potentiometer 10, and the signal is sent to the CPU 11 for processing. Since the CPU has a CAN communication function and one CAN network is constructed in the entire multi-joint structure, all the CPUs are wirelessly transmitted to the control output unit for calculation.

The calculated joint group data is compared with the joint group change amount and change speed reference stored in advance in the control unit memory. The reference for the change amount and the change speed is set as a reference value for the combined state. The reference value is not uniform, but is a reference value according to the body type, age, sex, etc. of the wearer. If the amount of change is large, it exceeds the reference value even if the change rate is relatively small. If the amount of change is relatively small, it exceeds the reference value when the change rate is large. In the former case, it is possible to detect a fall that sways, and in the latter case, it is possible to detect a fall such as a trip or slip. In the case where it is judged by the control unit that the stored data is to start falling, the information is issued as an alarm from the output unit. At the same time, the information is transmitted to the address set wirelessly. In FIG. 4, the amount of change in the joint group is not so large, and the amount of change in the back portion that is the axis is particularly small. Also, the rate of change is small. Therefore, the change in shape falls below the reference value, the information on the start of falling is not transmitted to the outside, and no alarm is activated.

FIG. 5 is a slope view of the wearer stumbling on the stone. In this case, the wearer is reflexively protruding both arms forward, and the opposite foot is moved so that it is slightly behind. The movement of both arms is large and the movement of the other parts is relatively small. When detecting the amount of change in the shape of the entire joint group, it is preferable to focus on the amount of change in the portions other than both arms. This is because both hands may move greatly and quickly even during normal movement, while the other parts, especially the back, are rarely in such cases. In the case of FIG. 5, since the amount of change other than both arms is not large, it cannot be said that the amount of change in the overall joint group shape is large. On the other hand, the speed of change in the shape of the joint group is large, and in particular, the movement of the legs and the swing of the arms are fast. Therefore, in the case of FIG. 5, although the change in shape is not so great, the change speed is very fast. When combined, the change in shape exceeds the reference value, and it is judged that a fall has started, and information is externally transmitted, alarmed or triggered. The Transmission is made to both the airbag actuating device and the set addressee.

It is also possible to provide another reference for the shape change speed reference in a complementary or replacement manner. For example, in the frequency spectrum obtained by taking the absolute value after the Fourier transform of the angle measured when one joint of the joint group is moved as fast as possible by a human hand, a case of 10 Hz or higher is not usually observed. This suggests that an abnormal state, that is, a fall start is determined by detecting a frequency spectrum of a certain frequency such as 10 Hz.

FIG. 6 is a slope view when a wearer who is an elderly person trips over and falls. Elderly people who cannot absorb the shock with both arms end up hitting the whole body. FIG. 7 is a slope view when the airbag 16 is activated by the fall start information. The wearer's overturning shock is buffered and the wearer can escape the fracture. Since the contents of the airbag are known, they are omitted. In addition, the apparatus is not limited to the airbag as long as it can reduce the impact of the overturn.

8, 9, 10, and 11 are other examples of falling. The airbag is arranged on the back of the wearer but is not shown. The wearer is walking normally in FIG. 8, but is slipping on the road surface in FIG. The shape of the joint group shown in FIG. 9 is not so large as the shape of the joint group except for both arms, as in the case of falling by a trip. However, the rate of change is as high as in the case of a trip. FIG. 10 shows the state of the wearer after a fall when there is no airbag and FIG. 11 shows the case when there is an airbag. Two airbags can also be attached to cope with falling down in both the front and rear directions. It is also effective to arrange it separately around the head. Regarding the operation of the airbag that protects the head, a speed sensor or an acceleration sensor and a distance sensor are mounted around the head, and information on the inevitable collision with surrounding obstacles is transmitted to the airbag disposed in the vicinity of the head. It is conceivable to operate.

FIG. 12 and FIG. 13 show another example of falling. The joint group 2 is extended in the direction of the little finger from the outer heel portion of both legs. 17 indicates the position of the center of gravity of the wearer, and 19 indicates the contact point of the vertical line of the position of the center of gravity with the ground. Reference numeral 18 denotes a range in which the wearer can stand without falling himself. This range is a range obtained by extending a certain range outward with reference to the range formed by the outer portions of both feet. The degree of expansion varies depending on attributes such as the age and sex of the wearer, muscle strength, and body reaction speed. Therefore, it is necessary to set in accordance with the wearer. Further, since the center of gravity position is usually in the abdomen in the walking state, the center of gravity position can be obtained based on the positional relationship with a specific joint. Therefore, by detecting the change in the shape of the entire joint group and the position of the specific joint in the shape of the entire joint group, it is possible to detect the movement status of the center of gravity position.

In FIG. 13, changes in the knee angle and the waist angle are detected, and further, the angle of the ankle (heel portion) is detected. Therefore, it is possible to detect the overall posture of the wearer and the inclination of the posture. From the overall posture and inclination, the positional relationship between the joint at the heel part and the joint at the center of gravity position part is grasped, and as a result, the range where the center of gravity position is expanded based on the range formed by the outer parts of both feet, that is, does not fall It is judged whether or not the range that can be stood is exceeded. A fall is determined to be started when the normal line contact point of the center of gravity exceeds the set supportable range due to a trip or the like during walking. The operation of the airbag according to the external transmission of information, the alarm, the activation, and the overturn start information when it is determined that the overturn starts is the same as the above-described overturn example.

FIG. 14 is a conceptual diagram of the sole pressure sensor 20 attached to the shoe sole. The sensor 21 is disposed on the thumb part, the little finger part, and the heel part. The wearer walks forward with his right foot while walking. In a situation where the body is thrown forward by something tripped as shown in FIG. 5, the load distribution of the tripped right foot sole concentrates on the thumb part and the little finger part. The heel is in a floating state and hardly receives any load. On the other hand, since the left foot is completely floating, no load is applied to the entire left foot. Thus, by combining the distribution of the load with the change in the shape of the joint group and / or the change speed, it can be determined that the fall has started. Note that the pressure sensor relates to a known technique, and details thereof are omitted.

When the wearer starts running or jumps with one foot, the left and right arms are placed back and forth and swung quickly. Therefore, even when the load distribution on the soles is unbalanced, it is recognized that the fall does not start due to a change in the shape of the joint group arranged on both arms. In addition, when an operation such as standing jump is performed, the distribution of the sole load is unbalanced between the left and right feet, but the load distribution between both feet is completely the same. Similarly, the knees are bent and then extended. Again, this is not the start of a fall. In addition, by analyzing the changes in the shape of the joint group due to human movement and combining the analyzed shape change of the joint group and the distribution state of the sole pressure sensor, it is possible to detect the start of the fall with high accuracy, It is possible to prevent malfunction of an airbag or the like.

FIG. 15 and FIG. 16 are mounting arrangement diagrams on both arms and legs of the joint group. The joint group is arranged and mounted on the side, avoiding the inner and outer parts of the elbow and knee. It avoids contact between joints caused by bending of the elbows and knees and pain of the wearer, and avoids excessive fluctuations in joint group length caused by bending.

The present invention effectively detects a fall to relieve an impact associated with the fall and prevent a fracture or the like and cope with the fall early, and has high industrial applicability. Is.

Multi-joint structure wearing front conceptual diagram Multi-joint structure wearing rear conceptual diagram Conceptual diagram of joint group and control unit Conceptual diagram during normal walking 1 Conceptual diagram at the start of a fall 1 Falling conceptual diagram 1 Airbag operation concept 1 Normal walking concept 2 Conceptual diagram 2 at the start of a fall Falling conceptual diagram 2 Airbag operation concept diagram 2 Normal walking concept 3 Conceptual diagram at the start of a fall 3 Foot pressure sensor wearing concept diagram Arm joint group wearing concept diagram Leg joint group wearing concept diagram

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Articulated structure 2 Joint group 3 Speed and acceleration sensor 4 Intermediate fit 5 End fit 6 Control output block 7 Joint without movable part 8 Joint with movable part 9 Movable part 10 Potentiometer 11 CPU
DESCRIPTION OF SYMBOLS 12 Control part 13 Output part 14 Arm 15 Leg 16 Airbag 17 Center of gravity position 18 Reference range 19 Center of gravity droop point 20 Foot sensor 21 Sensor part

Claims (18)

  Consisting of a joint group including a joint with a movable part, based on the sensor that detects the angle change of the movable part, the processing communication part that processes the sensor signal and transmits the processing data, and the transmitted processing data A control unit for calculating the shape change and / or change speed information of the joint group and processing the calculated information in comparison with information stored in advance, and an output unit for outputting the information processed by the control unit A multi-joint structure having a movement of a person and / or a movement state of the person based on a change in shape and / or change speed information of the joint group associated with walking and / or movement of the person, Human-mounted multi-joint structure characterized by output   The human-mounted multi-joint structure according to claim 1, wherein the start of a person's fall is detected when a change in shape and a change speed of the joint group exceed a preset reference value.   The human body-mounted multi-joint structure according to claim 2, wherein the detection of the change rate of the shape of the joint group is performed based on a frequency.   2. The human-mounted multi-joint structure according to claim 1, wherein the start of a fall is detected when the position of the center of gravity of the person moves beyond a supportable range based on a change in the shape of the joint group. body   A speed and / or acceleration sensor is provided, and the detected change in the shape of the joint group, or the change and speed of change exceeds a preset reference value, and / or the reference speed in which the movement speed of the joint group is preset. 5. The human-mounted multi-joint structure according to claim 1, wherein the start of a human fall is detected by exceeding A pressure sensor, wherein the detected change in shape of the joint group, or the rate of change and change exceeds a preset reference value, and the distribution of the human body load between the soles and / or the left or right sole 5. The human-mounted multi-joint structure according to claim 1, wherein the start of a person's falling is detected when the distribution of the human body load in the vehicle deviates from a preset reference range. A distance detection sensor, wherein the detected change in the shape of the joint group, or the change and change speed exceeds a preset reference value, and / or the movement speed of the joint group exceeds a preset reference value; And / or on the basis of the fact that the distribution of the human body load deviates from the preset reference value and the obstacle is approaching a predetermined distance or less, the start of the fall and the inevitable collision with the obstacle The human body-mounted multi-joint structure according to claim 1, characterized in that it is detected.   The human-mounted multijoint structure according to claim 1, wherein a GPS and / or altitude sensor is provided to detect a start of a fall and / or a collision inevitable position.   The human-mounted multi-joint structure according to claim 8, wherein an alarm is issued from the output unit when the detected position remains within a preset reference distance range after a predetermined time. body   10. The human body-mounted multi-joint structure according to claim 1, wherein when the joint group is mounted on a human body, both arms and both leg portions are mounted on the sides of the arms and legs. 11. The human body-mounted type according to claim 1, further comprising a fall and / or collision shock absorber, wherein the fall and / or collision shock absorber operates when the start of the fall and / or the inevitable collision is detected. Articulated structure The overturning and / or collision buffering device is an airbag device including a bag for rapidly inflating gas, an inflator for injecting high-pressure gas into the bag, and an ignition device for starting the inflator. The human body-mounted multi-joint structure according to claim 11   A pressure sensor, wherein the detected change in the shape of the multi-joint structure, or the change and rate of change exceed a preset reference value, and the distribution of the human body load on the left and right foot soles and / or left or right The human-mounted multi-joint structure according to claim 1, wherein the human motion state is detected when the distribution of the human body load on the sole of the foot is out of a preset reference range.   Change in shape and / or rate of change of joint group and / or change in distribution of pressure applied to sole and / or movement speed of joint group according to any one of claims 1 to 10 or claim 13. A human-mounted multi-joint structure characterized by manipulating the movement and / or behavior of a person in a virtual space in a computer Change in shape and / or rate of change of joint group and / or change in distribution of pressure applied to sole and / or movement speed of joint group according to any one of claims 1 to 10 or claim 13. A human body-mounted multi-joint structure characterized in that the total and / or analyzed information is stored as wearer information based on the wearer's motion and / or behavior   Consisting of a joint group including a joint with a movable part, based on the sensor that detects the angle change of the movable part, the processing communication part that processes the sensor signal and transmits the processing data, and the transmitted processing data A control unit that calculates the shape change and / or change speed information of the entire joint group and processes the calculated information in comparison with information stored in advance, and an output unit that outputs information processed by the control unit The presence or absence of human movement and / or the movement state of a person is detected and output based on the shape change and / or change speed information of the joint group accompanying the walking and / or movement of the person. A method for detecting a person's motion state.   By using the multi-joint structure according to any one of claims 2 to 12, the start of a person's fall and / or the inevitable collision with a person's obstacle is detected, and / or a collision buffering device is provided. Method for detecting human motion state characterized by actuating Use of the multi-joint structure according to any one of claims 13 to 15 for detecting a human motion state and / or manipulating a person's movement and / or behavior in a virtual space in a computer, and / or Or a method for detecting a person's movement state, characterized by being stored as wearer information