JP2012011136A - Device and method for supporting stability of motion - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a device and a method for supporting stability of a motion, which can prevent falling by securing the stability during the walking and daily-life motion of a user such as a motion-impaired person or an aged person, deteriorating in lower-limb muscle strength and a movement function.SOLUTION: The device for supporting the stability of the motion includes a pressure sensor for detecting pressure of a ground contact surface of the user's sole, and at least a control section connected to a stabilizing mechanism capable of expanding a stabilizing and supporting plate on the lateral side of at least one shoe. The device computes a barycentric position on the basis of the pressure detected by the pressure sensor, and determines whether or not the computed barycentric position is located outside a supporting base bottom, so as to determine possibility of lateral falling. When the possibility of the lateral falling is determined, control for expanding the stabilizing and supporting plate by controlling the stabilizing mechanism is performed.

Description

  The present invention relates to an operation stability support apparatus and an operation stability support method.

  2. Description of the Related Art Conventionally, lower limb orthoses, canes, handrails, walker, and the like have been used by persons with movement disabilities, elderly people, and the like for the purpose of improving motor functions and posture stability during walking and standing.

  Conventionally, as a theoretical study, a fall is defined as a case where the ZMP (zero moment point) falls off the support base surface (BOS: base of support) made by the bottom of both feet and cannot be corrected. In Non-Patent Document 1, the relationship between ZMP and BOS in the case of falling while sliding a foot is experimentally analyzed.

Takeshi Yamaguchi, Shintaro Hatanaka, Hiroteru Yamanouchi, Hiroshi Onodera and Kazuo Hokkirigawa, "Experimental Analysis of Relationship between Target Zero Moment Point and Base of Support for Evaluation of the Potential of Slip-related Falls", Proceedings of the IEA (International Ergonomics Association) 2009, (2009) CD-ROM (7 pages).

  However, conventional lower limb orthoses, such as shoe-type orthoses, have the ankle joint fixed at a right-angle position mainly to correct the varus, etc. It was aimed at stabilization, and when the muscle strength of the lower limbs or the motor function itself was reduced, it did not secure stability and prevent falls.

  In addition, while the conventional theoretical study of falls has been applied to ZMP control technology etc. of biped walking robots, lower limb orthoses and the like developed for use by users such as motorized people and the elderly There was no.

  The present invention has been made in view of the above-mentioned problems, and ensures stability during walking and standing motions for users such as persons with mobility impairments and elderly people whose lower limb muscle strength and motor function are reduced. It is an object of the present invention to provide an operation stability support apparatus and an operation stability support method that can prevent a fall.

  In order to achieve such an object, the operational stability support device of the present invention can deploy a pressure sensor for detecting the pressure of the ground contact surface of the user's shoe sole and a stable support plate on the side of at least one shoe. An operation stability support apparatus including at least a control unit connected to a stable stabilization mechanism, wherein the control unit calculates a centroid position based on the pressure detected by the pressure sensor. And a fall possibility determination means for determining the possibility of a lateral fall by determining whether or not the center of gravity position calculated by the center of gravity position calculation means is outside the support base surface, and the possibility of the fall And a stabilization mechanism control means for controlling the stabilization mechanism to expand the stable support plate when the possibility of the side rollover is determined by the sex determination means. To do.

  The operation stability support apparatus of the present invention is further connected to an output unit in the operation stability support apparatus described above, and the control unit may cause the side toppling by the toppling possibility judging means. The apparatus further comprises a fall possibility notification means for performing output control for notifying the user via the output unit when the determination is made.

  Further, the motion stability support device according to the present invention is the motion stability support device described above, in which the stabilization mechanism control means has no possibility of the side rollover determined by the rollover possibility determination means. And controlling the stabilization mechanism to house the stable support plate.

  Further, the operation stability support device of the present invention includes a pressure sensor that detects the pressure of the ground contact surface of the shoe sole, an output unit, an input unit, and a stabilization mechanism that can deploy a stable support plate to the side of at least one shoe. An operation stability support apparatus including at least a control unit connected to the control unit, wherein the control unit calculates a centroid position based on the pressure detected by the pressure sensor; and the centroid Based on the position of the center of gravity calculated by the position calculating means, it is determined whether or not the position of the center of gravity is outside the support base surface, thereby determining the possibility of a side rollover; A fall possibility notification means for performing output control for notifying the user of the possibility of the side fall via the output unit when the fall possibility determination means determines that the outside of the support base is outside. And above Stabilization mechanism control means for controlling the stabilization mechanism to expand or retract the stable support plate when there is an input from the user via the input unit. To do.

  In addition, the motion stability support apparatus of the present invention is connected to an acceleration sensor worn by the user in the motion stability support apparatus described above, and the control unit detects an acceleration detected by the acceleration sensor. The fall possibility determination means further includes a predicted gravity center position outside the support base surface based on the acceleration acquired by the acceleration acquisition means. By determining whether or not, the possibility of the above-mentioned side rollover is determined.

  The operation stability support apparatus according to the present invention is further connected to the gyro sensor attached to the user in the operation stability support apparatus described above, and the control unit detects the angular velocity detected by the gyro sensor. An overturning possibility determination means, and the fall possibility determination means further includes the predicted center-of-gravity position outside the support base surface based on the angular speed acquired by the angular speed acquisition means. By determining whether or not, the possibility of the above-mentioned side rollover is determined.

  In addition, the operation stability support apparatus of the present invention is connected to a bending sensor worn by the user in the operation stability support apparatus described above, and the control unit is configured to detect a bending detected by the bending sensor. A bending angle acquisition means for acquiring an angle, and the fall possibility determination means is further configured to fall on the side when the user is moving based on the bending angle acquired by the angular velocity acquisition means. It is characterized by determining the possibility of.

  Further, the operation stability support device of the present invention includes a pressure sensor that detects a pressure on a ground contact surface of a user's shoe sole, a stabilization mechanism that can deploy a stable support plate to the side of at least one shoe, and a control unit. The control unit includes: a center-of-gravity position calculating unit that calculates a center-of-gravity position based on the pressure detected by the pressure sensor; and the center-of-gravity position calculating unit By determining whether or not the position of the center of gravity is outside the support base surface, the possibility of a lateral fall is determined by the fall possibility determination means for determining the possibility of a side fall and the possibility of the side fall by the fall possibility determination means. And a stabilization mechanism control means for controlling the stabilization mechanism to expand the stable support plate when the determination is made.

  The present invention also relates to an operation stability support method. The operation stability support method of the present invention includes a pressure sensor for detecting a pressure on a ground contact surface of a user's shoe sole, and a side of at least one shoe. An operation stability support method executed in an operation stability support apparatus having at least a control unit connected to a stabilization mechanism capable of deploying a stable support plate, and detected by the pressure sensor executed in the control unit A center-of-gravity position calculating step for calculating a center-of-gravity position based on the pressure that has been determined, and determining whether the center-of-gravity position calculated in the center-of-gravity position calculating step is outside the support base surface. When the possibility of a side rollover is determined in the rollover possibility determination step for determining the possibility of a rollover and the above-described fallability determination step, the stabilization mechanism is controlled to control the above Characterized in that it comprises a stabilization mechanism control step performs control to expand a constant support plate, a.

  Further, the operation stability support method of the present invention is the above-described operation stability support method, further connected to the output unit, and executed in the control unit, in the fall possibility determination step, the lateral fall And a fall possibility notification step of performing output control for notifying the user via the output unit when the possibility is determined.

  Further, the operation stability support method of the present invention is the operation stability support method described above, wherein the stabilization mechanism control step is no longer likely to cause the side rollover determined in the rollover possibility determination step. And controlling the stabilization mechanism to house the stable support plate.

  Further, the operation stability support method of the present invention includes a pressure sensor for detecting the pressure of the ground contact surface of the shoe sole, an output unit, an input unit, and a stabilization mechanism capable of deploying a stable support plate on the side of at least one shoe. An operation stability support method executed in an operation stability support apparatus having at least a control unit connected to the center of gravity based on the pressure detected by the pressure sensor, executed in the control unit And determining whether the center of gravity position is outside the support base surface based on the center of gravity position calculating step of calculating the center of gravity position and the center of gravity position calculated in the center of gravity position calculating step. When it is determined that the vehicle falls outside the support base surface in the fall possibility determination step and the fall possibility determination step for determining the possibility, the user is connected to the side via the output unit. A fall possibility notification step for performing output control for notifying the possibility of a fall, and when there is an input by the user through the input unit, the stabilization mechanism is controlled to expand or dispose the stable support plate. And a stabilization mechanism control step for controlling the storage.

  The operation stability support method of the present invention is the operation stability support method described above, further connected to an acceleration sensor worn by the user and detected by the acceleration sensor executed in the control unit. An acceleration acquisition step of acquiring the acceleration to be performed, and the fall possibility determination step further includes the predicted center-of-gravity position based on the acceleration acquired in the acceleration acquisition step. It is characterized by determining the possibility of the above-mentioned side rollover by determining whether or not the outer side is outside.

  The operation stability support method of the present invention is the operation stability support method described above, further connected to a gyro sensor worn by the user, and detected by the gyro sensor executed in the control unit. An angular velocity acquisition step of acquiring an angular velocity, and the fall possibility determination step further includes the predicted center of gravity position based on the angular velocity acquired in the angular velocity acquisition step. It is characterized by determining the possibility of the above-mentioned side rollover by determining whether or not the outer side is outside.

  Further, the operation stability support method of the present invention is the operation stability support method described above, further connected to the bending sensor worn by the user, and detected by the bending sensor executed in the control unit. A bending angle acquisition step of acquiring a bending angle to be performed, and the fall possibility determination step further includes a step of determining the user's starting operation based on the bending angle acquired in the angular velocity acquisition step. It is characterized by determining the possibility of the above-mentioned lateral fall.

  According to the present invention, at least the control unit connected to the pressure sensor that detects the pressure of the ground contact surface of the shoe sole of the user and the stabilization mechanism that can deploy the stable support plate to the side of at least one of the shoes. In the operation stability support device having the above, a center of gravity position is calculated based on the pressure detected by the pressure sensor, and it is determined whether the calculated center of gravity position is outside the support base surface. If the possibility of lateral fall is determined, the stabilization mechanism is controlled to control the deployment of the stable support plate, so the lower limb muscle strength and motor function are reduced. For a user such as an elderly person or an elderly person, there is an effect that it is possible to prevent the fall by securing the stability at the time of walking or moving. More specifically, since the stable support plate is deployed to the side of the shoe when needed during walking or standing, even if the center of gravity is off the support base, it is supported by the deployed stable support plate. By expanding the base surface, it is possible to stabilize the walking motion and the standing motion, and to suppress the lateral fall.

  Further, according to the present invention, when the possibility of a side rollover is determined, output control is performed to notify the user via the output unit, so that the unstable posture is notified to the user in advance. There is an effect that it is possible to notify the possibility that dangerous operation is avoided and the possibility that the stable support plate is deployed and the stabilization mechanism is activated.

  In addition, according to the present invention, when it is determined that the possibility of a side rollover is lost, the stabilization mechanism is controlled to store the stable support plate, so that the development of the stable support plate is unnecessary. Since the stable support plate can be stored automatically when it becomes, the effect of avoiding the collision with the chair legs, the contact with the wall surface, and the hindrance and walking operation are not hindered. Play.

  Further, according to the present invention, the pressure sensor that detects the pressure of the ground contact surface of the shoe sole, the output unit, the input unit, and the stabilization mechanism that can deploy the stable support plate to the side of at least one of the shoes. In addition, in the operation stability support device including at least the control unit, the center of gravity position is calculated based on the pressure detected by the pressure sensor, and whether the center of gravity position is outside the support base surface based on the calculated center of gravity position. Output control that determines the possibility of a side rollover via the output unit when it is determined that it is outside the support basal plane. If there is an input from the user via the input unit, the stabilization mechanism is controlled to expand or retract the stable support plate. When it can be urged to avoid movement In addition, when it is determined that a side fall is inevitable by the user, the stable support plate can be manually deployed, so that the walking movement and the standing movement can be stabilized to prevent the fall. There is an effect. Further, when the development of the stable support plate becomes unnecessary, the stable support plate can be stored by manual control.

  Further, according to the present invention, by further acquiring the acceleration detected by the acceleration sensor and determining whether the predicted center of gravity position is outside the support base surface based on the acquired acceleration, Since the possibility of a side rollover is determined, there is an effect that the possibility of a side rollover can be determined more accurately by detecting the acceleration caused by the user's movement, the inclination with respect to the direction of gravity, and the like. For example, when acceleration, inclination, or the like exceeding a predetermined value is detected due to unstable motion during walking or standing motion, the possibility of a lateral fall can be determined. In addition, the stable support plate is deployed at the timing when the load moves to the affected foot that may fall sideways in conjunction with changes in acceleration, inclination, etc. that occur when the left and right feet are moved alternately during walking. The determination for making it possible can be performed.

  Further, according to the present invention, by further acquiring the angular velocity detected by the gyro sensor, and determining whether the predicted center-of-gravity position is outside the support base surface based on the acquired angular velocity, Since the possibility of a side fall is determined, the angular velocity due to the user's movement is detected, and the effect that the possibility of a side fall can be determined more accurately is achieved. For example, when an angular velocity exceeding a predetermined value is detected due to an unstable motion during walking or standing motion, the possibility of a side rollover can be determined. In addition, in order to deploy the stable support plate at the timing when the load moves to the affected foot that may fall sideways in conjunction with the change in angular velocity that occurs when the left and right feet are moved alternately during walking Can be determined.

  In addition, according to the present invention, the bending angle detected by the bending sensor attached to the user is acquired, and the possibility of a lateral fall at the time of the user's starting operation is obtained based on the acquired bending angle. Since the determination is made, for example, when a certain bending angle is detected in a joint such as an extremity, the possibility of a lateral fall can be determined. For example, if the affected leg that is likely to fall sideways becomes a clubfoot when it is linked to the movement of the knee joint, hip joint, elbow joint, wrist joint, finger joint, etc. when walking or standing A determination for deploying the stable support plate can be made.

  Further, according to the present invention, the pressure sensor for detecting the pressure of the ground contact surface of the shoe sole of the user, the stabilization mechanism capable of deploying the stable support plate on the side of at least one shoe, and the control unit are provided. In the operation stability support device, the center of gravity position is calculated based on the pressure detected by the pressure sensor, and it is possible to make a side roll by determining whether the calculated center of gravity position is outside the support base surface. When the possibility of lateral falls is determined, the stabilization mechanism is controlled to control the deployment of the stable support plate. For a user such as an elderly person, there is an effect that the stability at the time of walking or standing operation can be secured and the fall can be prevented. More specifically, since the stable support plate is deployed to the side of the shoe when needed during walking or standing, even if the center of gravity is off the support base, it is supported by the deployed stable support plate. By expanding the base surface, it is possible to stabilize the walking motion and the standing motion, and to suppress the lateral fall.

FIG. 1 is a diagram of a foot (sole) grounding portion showing the basic principle of the present embodiment. FIG. 2 is a view of a foot (sole) grounding portion showing the basic principle of the present embodiment. FIG. 3 is a diagram of a foot (sole) grounding portion showing the basic principle of the present embodiment. FIG. 4 is a view of a foot (sole) grounding portion showing the basic principle of the present embodiment. FIG. 5 is a diagram of a foot (sole) grounding portion showing the basic principle of the present embodiment. FIG. 6 is a block diagram showing an example of the configuration of the operation stability support apparatus to which this exemplary embodiment is applied. FIG. 7 is a diagram illustrating an example of the configuration of the pressure sensor 110 in the present embodiment. FIG. 8 is a diagram showing an example of the configuration of the stabilization mechanism 170 during storage in the present embodiment. FIG. 9 is a diagram illustrating an example of the configuration of the stabilization mechanism 170 during deployment in the present embodiment. FIG. 10 is a flowchart illustrating an example of automatic control processing of the operation stability support apparatus 100 according to the present embodiment. FIG. 11 is a flowchart illustrating an example of manual control processing of the operation stability support apparatus 100 according to the present embodiment. FIG. 12 is a diagram illustrating a wearing example of the operation stability support device that realizes the intelligent shoes of the present embodiment. FIG. 13 is a diagram showing a top view of a shoe provided with the stabilization mechanism 170 of the present embodiment. FIG. 14 is a diagram showing a top view of a shoe provided with the stabilization mechanism 170 of the present embodiment. FIG. 15 is a diagram illustrating a bottom view of a shoe provided with the stabilization mechanism 170 of the present embodiment. FIG. 16 is a diagram illustrating a bottom view of a shoe provided with the stabilization mechanism 170 of the present embodiment. FIG. 17 is a view showing a side view of a shoe provided with the stabilization mechanism 170 of the present embodiment. FIG. 18 is a view showing a side view of a shoe provided with the stabilization mechanism 170 of the present embodiment. FIG. 19 is a view showing a laterally protruding type stabilization mechanism. FIG. 20 is a diagram illustrating an independent rotation type stabilization mechanism. FIG. 21 is a diagram showing a flap-type stabilization mechanism.

  Hereinafter, embodiments of an operation stability support apparatus and an operation stability support method according to the present invention will be described in detail with reference to the drawings. Note that the present invention is not limited to the embodiments. For example, in the following embodiments, since the lower limb orthosis such as shoes is mounted on the foot, the foot and the ground may be described as being grounded via the shoe sole. However, the present invention is not limited to this, and it is sufficient that there is at least a portion that is grounded via the pressure sensor. The lower limb orthosis is not necessarily limited to the form of a shoe as long as it is for mounting the pressure sensor and the stabilization mechanism.

[Outline of Embodiment of the Present Invention]
Hereinafter, the basic principle of the embodiment of the present invention will be described first with reference to FIGS. 1 to 5, and then the configuration and processing of the embodiment will be described in detail. 1 to 5 are views of a foot (sole) grounding portion showing the basic principle of the present embodiment.

  When a person touches the left and right feet (shoe soles) to the ground, such as when walking or standing, etc., the area shown in FIG. Become. Here, in the quantitative evaluation of the stability during walking, standing motion, etc., the concept of a support base surface (BOS (base of support), hereinafter simply referred to as “BOS”) is important.

  The support basal plane (BOS) is a projected area (shaded portion in FIG. 2) surrounded by both feet landing on the ground when standing on both feet, and a foot ( Is defined as the projected area (the area of the sole of one foot).

  Here, the body center of gravity position (COG (center of gravity), hereinafter may be simply referred to as “COG”) is a point where the body center of gravity is projected onto the ground (floor surface). As shown in FIG. 3, if the body center of gravity position (COG) is inside the support base surface (BOS), operations such as walking, starting operation, and direction change are stable and safe.

  However, if the body center of gravity position (COG) goes out of the support base surface (BOS), the stability is lost, and if the COG cannot be quickly returned to the inside of the BOS, the body falls. In elderly people and patients with cerebrospinal disorders, the ability to correct body tilt has declined, so if COG goes out of BOS during movements such as whispering, turning, and standing, there is a risk of falling Increases rapidly. In particular, at the time of one-foot contact during walking, there is an unstable time in which the BOS becomes a narrow area of only the sole.

  Furthermore, in the case of a clubfoot such as a hemiplegic patient or the like, as shown in FIG. 4, it cannot be grounded on the entire sole of the paralyzed foot (affected foot) but only on the outside of the sole. Unstable walking. When the center of gravity moves, the COG tends to come off to the side of the obstacle side of the BOS. As a result, the balance is easily lost to the side of the obstacle, and it cannot be corrected on the affected leg and cannot be corrected.

  Therefore, in the present embodiment, when there is a possibility of a lateral fall, the stable support plate is expanded as shown in FIG. 5 so that the body center of gravity position (COG) is on the inner side (BOS). ) Is expanded to improve instability during walking and standing.

  The present embodiment schematically has the following basic features. In other words, the operation stability support device of the present embodiment includes at least a control unit, and a pressure sensor that detects the pressure of the ground contact surface of the user's shoe sole, and a stable support plate is deployed on at least one side of the shoe. Connected to possible stabilization mechanism.

  Then, the operation stability support apparatus of the present embodiment calculates the position of the center of gravity based on the pressure detected by the pressure sensor.

  Then, the motion stability support apparatus according to the present embodiment determines the possibility of a lateral fall by determining whether the calculated center of gravity position is outside the support base surface (BOS).

  Then, the motion stability support apparatus according to the present embodiment performs control to expand the stable support plate by controlling the stabilization mechanism when the possibility of a side rollover is determined. When the possibility of a lateral fall is determined, the stable support plate is not automatically deployed, but when the possibility of a lateral fall is determined, the user can be The possibility of falling may be notified, and the stable support plate may be deployed when there is an input from the user via the input unit (that is, by manual control).

  The above is the outline of the present embodiment. As a result, the support base surface (BOS) largely spreads to the unstable side such as the paralyzed side due to the development of the stable support plate, so that stability is secured, the starting operation and the gait are improved, and the fall prevention effect is obtained. In addition, the stable support plate also has an action of suppressing the lift on the inner side of the affected side due to varus, so that a gait stabilizing effect can also be obtained. As a result, it is possible to improve ADL (Activities of Daily Living) by improving the standing motion and gait, particularly in users such as elderly people and cerebrospinal disorder patients (eg hemiplegic patients). In addition, it is possible to prevent a fall, and in particular, to prevent a femoral fracture due to the suppression of a lateral fall.

[Configuration of Operation Stabilization Support Device]
Next, the configuration of the operation stability support apparatus will be described with reference to FIGS. FIG. 6 is a block diagram showing an example of the configuration of the operation stability support apparatus to which the present embodiment is applied, and conceptually shows only the portion related to the present embodiment in the configuration.

  As shown in FIG. 6, the operation stability support apparatus 100 of this embodiment schematically includes a control unit 102, an input / output control interface 108, and a storage unit 106. Here, the control unit 102 is a CPU or the like that comprehensively controls the entire operation stability support apparatus 100. The input / output control interface 108 is an interface connected to the various sensors 110 to 140, the input unit 150, the output unit 160, and the stabilization mechanism 170. The storage unit 106 is a device that stores various databases and tables. Each unit of the operation stability support apparatus 100 is connected to be communicable via an arbitrary communication path. Communication of each part of the operation stability support apparatus 100 is not limited to wired communication, and may be wireless communication. For example, an optical communication method may be applied.

  Here, the operation stability support apparatus 100 may be configured as an information processing apparatus such as a known microcomputer, personal computer, workstation, or the like, and is configured by connecting any peripheral device to the information processing apparatus. May be. Since it is more practical than a personal computer in terms of weight, power consumption, etc., it is preferably configured as a microcomputer. When configured as a microcomputer, a commercially available one-chip microcomputer can be used. For example, an 8-bit to 32-bit embedded microcomputer such as manufactured by microchip, manufactured by Atmel, manufactured by Texas Instruments, manufactured by Renesas, manufactured by NEC, or manufactured by Hitachi, etc. may be used. When the operation stability support apparatus 100 is configured as a microcomputer, an electronic circuit including the microcomputer can be accommodated in a business card size, which is preferable because it can be worn on a user's belt or the like. As the power source, for example, a dry battery, a lithium battery, a nickel hydride rechargeable battery, or the like can be used.

  In FIG. 6, a storage unit 106 is a storage unit such as a fixed disk device. For example, the storage unit 106 stores various programs, tables, files, databases, and the like used for various processes.

  In FIG. 6, the input / output control interface unit 108 controls the various sensors 110 to 140, the input unit 150, the output unit 160, and the stabilization mechanism 170. Here, the input / output control interface unit 108 may have a function of performing wired or wireless communication control between these units 110 to 170 and the control unit 102. For example, the input / output control interface unit 108 has a function of transmitting detection signals or detection data detected by the various sensors 110 to 140 and input data input via the input unit 150 to the control unit 102. In addition, it has a function of transmitting output data from the control unit 102 to the output unit 160 and control data from the control unit 102 to the stabilization mechanism 170.

  In FIG. 6, a pressure sensor 110 is a pressure detection unit that detects the pressure on the ground contact surface of the shoe sole. For example, the pressure sensor 110 is a piezoelectric sensor or the like that converts the pressure on the ground plane into an electrical signal by a piezoelectric element or the like. Further, the pressure sensor 110 senses pressure (load) applied to the sole of the foot, so that it contacts the sole (for example, an insole where the sole contacts, the insole and the shoe body, or the ground). On the back of the shoe). As an example, the pressure sensor 110 is installed at three positions on the front inner side (near the base of the thumb), the front outer side (near the base of the little finger), and the heel. Here, FIG. 7 is a diagram illustrating an example of the configuration of the pressure sensor 110 in the present embodiment.

  As shown in FIG. 7, the pressure sensor 110 according to the present embodiment includes, for example, a right foot front inner pressure sensor 111R, a front outer pressure sensor 112R, a heel pressure sensor 113R, a left foot front inner pressure sensor 111L, and a front outer. The signals detected by the pressure sensors 111L, R to 113L, R of both feet are input to the control unit 102. In addition, the structure of the pressure sensor 110 of this Embodiment is not restricted to this, When a user has a possibility that one side of an affected side may fall sideways by a clubfoot etc. like a hemiplegic patient etc. The pressure sensor may be installed only on the sole of the affected foot.

  Returning to FIG. 6 again, the acceleration sensor 120 is acceleration detecting means for detecting acceleration. Here, the acceleration sensor 120 is attached to a user (for example, the vicinity of the user's center of gravity or the extremities) so that the acceleration during the user's walking or standing motion can be detected. Further, the acceleration sensor 120 may be a triaxial acceleration sensor having three axes of acceleration detection, and may be configured to detect the inclination of the user by detecting the gravitational acceleration of the earth. .

  In FIG. 6, a gyro sensor 130 is angular velocity detection means for detecting angular velocity and a change in angle. Here, the gyro sensor 130 is attached to a user (for example, the vicinity of the user's center of gravity, limbs, or shoes) so that the angular velocity at the time of the user's walking or standing motion can be detected. Further, the gyro sensor 130 may be a two-axis gyro sensor having two angular velocity detection axes. The gyro sensor 130 rotates around the center of gravity of the user's body by detecting the angular velocity near the center of gravity of the user. You may comprise so that a moment (torque) can be detected.

  In FIG. 6, a bending sensor 140 is bending angle detection means for detecting a bending angle. Here, the bending sensor 140 can detect a bending angle of a joint (a knee joint, a hip joint, an elbow joint, a wrist joint, a finger joint, or the like) when the user is walking or standing. Or attached to the affected limb). For example, the bending sensor 140 may be a bending strain detection sensor in which a resistance value changes depending on a bending angle.

  The input from the various sensors 110 to 140 to the control unit 102 may be an analog input or a digital input.

  In FIG. 6, an input unit 150 is an input unit that acquires various input data, input information, and the like input by the user. For example, as the input unit 150, a switch, a keyboard, a microphone, or the like can be used. As an example, the input unit 150 such as a switch may be configured to be worn on the wrist as a wristwatch type, or may be provided on a cane or a belt. As the input unit 150, a bending sensor or the like provided at the above-described finger joint or the like can be used.

  In FIG. 6, an output unit 160 is an output unit that outputs various output data, output information, and the like. For example, as the output unit 160, a light emitting device such as an LED (Light Emitting Diode), a monitor such as a liquid crystal screen, a speaker, or the like can be used. As an example, the output unit 160 such as an LED or a speaker may be provided on the upper surface of a shoe, may be configured to be worn on a wrist as a wristwatch type, or may be provided on a belt or the like.

  In FIG. 6, a stabilization mechanism 170 is a stabilization mechanism that can deploy a stable support plate to the side of at least one foot (shoe) (for example, the outer side or the rear side of the affected foot). Here, the stabilization mechanism 170 may be configured such that the deployed stable support plate can be stored near the original position. 8 and 9 are diagrams showing an example of the configuration of the stabilization mechanism 170 in the present embodiment. FIG. 8 shows the stabilization mechanism 170 during storage, and FIG. 9 shows the stabilization mechanism 170 during deployment.

  As shown in FIGS. 8 and 9, the stabilization mechanism 170 includes two shoe sole fixing plates 171 and 172 fixed to the shoe sole, and two shoe sole fixing plates 171 and 172 via link pins, respectively. A link mechanism comprising two link members 173 and 174 that are rotatably provided and a stable support plate 175 that is rotatably provided to the two link members 173 and 174 via link pins. A motor 176 is provided for driving the mechanism.

  In the present embodiment, the two link members 173 and 174 have the same length and are parallel links. Therefore, as shown by the arrow in FIG. 9, the stable support plate 175 protrudes to the side without being inclined from the time of storage to the time of deployment. Here, the shoe sole fixing plates 171 and 172 can be fixed to the shoe sole portion in contact with the ground. However, from the viewpoint of flattening the ground contact surface of the shoe sole and preventing slipping, the insole and the shoe You may fix to the shoe main body side, such as between the main bodies.

  The lower limb orthosis such as shoes worn by the user may be arbitrary, for example, commercially available shoes can be used. Preferably, in order to suppress slipping with the ground, the shoe sole material is desirably a material capable of obtaining a predetermined coefficient of friction, such as rubber, synthetic rubber, and silicon rubber.

  The motor 176 is a means for driving the link mechanism, and as an example, as shown in FIGS. 8 and 9, the rotation angle via the link pin between the shoe sole fixing plate 171 and the link member 173 can be controlled. Provided. That is, when the motor 176 is driven in the direction of widening the rotation angle, the stable support plate 175 is moved to the unfolded position (FIG. 9), and on the contrary, the motor 176 is driven in the direction of narrowing the rotation angle to stably support it. The plate 175 moves to the storage position (FIG. 8). Here, as the motor 176, a servo motor, a stepping motor, a brushless motor, or the like may be used.

  Returning to FIG. 6 again, the control unit 102 has an internal memory for storing a control program such as an OS (Operating System), a program defining various processing procedures, and necessary data. And the control part 102 performs the information processing for performing various processes by these programs. Here, the control unit 102 functionally conceptually includes a center-of-gravity position calculation unit 102a, an acceleration acquisition unit 102b, an angular velocity acquisition unit 102c, a bending angle acquisition unit 102d, a fall possibility determination unit 102e, a fall possibility notification unit 102f, and The stabilization mechanism control unit 102g is provided.

  Of these, the center-of-gravity position calculation unit 102 a is a center-of-gravity position calculation unit that calculates the center-of-gravity position on the ground contact surface based on the pressure detected by the pressure sensor 110. For example, the center-of-gravity position calculation unit 102a may calculate the pressure distribution (load distribution) based on the pressure detected by each of the pressure sensors 111L, R to 113L, R of the pressure sensor 110 as the center-of-gravity position. The center-of-gravity position calculation unit 102a may calculate the body center-of-gravity position (COG), which is a point where the body center-of-gravity is projected on the ground, or may calculate ZMP as the center-of-gravity position. The center-of-gravity position calculation unit 102a is not limited to calculating the current center-of-gravity position, and may calculate a center-of-gravity position (for example, a target ZMP) that predicts the ground contact position of the next foot. Therefore, in addition to the pressure value data detected by the pressure sensor 110, the data detected by the various sensors 120 to 140, the weight, height, stride, and body of the user previously input and stored in the storage unit 106 Data such as the height of the center of gravity position may be used.

  Here, in the present embodiment, as in Non-Patent Document 1, the front-rear direction of the user is set as the y direction, the left-right direction of the user is set as the x direction, and the vertical direction of the user is set as the z direction. As an example, the center-of-gravity position calculation unit 102a calculates a center-of-gravity position such as a pressure load distribution on the contact surface (xy coordinate plane with z = 0). More specifically, the center-of-gravity position calculation unit 102a includes the pressure values detected by the pressure sensors 111L, R to 113L, R of the shoe sole, and the pressure sensors 111L, R to R stored in the storage unit 106 in advance. Based on the xy coordinates of 113L and R, the pressure (load) distribution of the user's sole contact surface is calculated, or the center of pressure (center of pressure (COP)) based on the pressure (load) distribution. Calculate the load at. Note that the present embodiment is not limited to calculating the centroid position of the xy coordinates, but based on the centroid position calculated by the centroid position calculation unit 102a, the fall possibility determination unit 102e can determine the lateral direction (that is, the x direction coordinate). ) Since the possibility of a fall is determined, the center of gravity position of only the x coordinate may be calculated without calculating the center of gravity position in the y direction.

  The center-of-gravity position calculation unit 102a calculates the load at the center of constant foot pressure (COP) from the calculated pressure (load) distribution, and further detects the acceleration of the body center of gravity detected by the acceleration sensor 120 and the gyro sensor 130. By using a known calculation method described in Non-Patent Document 1 or the like using data such as the angular velocity or angular acceleration around the body center of gravity, the height of the body center of gravity position of the user stored in the storage unit 106, and the like. Or predicted body gravity center position (COG) or ZMP may be calculated.

  The acceleration acquisition unit 102b is an acceleration acquisition unit that acquires the acceleration detected by the acceleration sensor 120. For example, when the acceleration sensor 120 is a three-axis acceleration sensor, the acceleration acquisition unit 102b calculates acceleration in three axes (for example, x, y, and z directions) based on the analog input signal transmitted from the acceleration sensor 120. get.

  The angular velocity acquisition unit 102c is an angular velocity acquisition unit that acquires the angular velocity detected by the gyro sensor 130. For example, when the gyro sensor 130 is a biaxial gyro sensor, the angular velocity acquisition unit 102c acquires a biaxial angular velocity based on an analog input signal transmitted from the gyro sensor 130 or the like.

  The bending angle acquisition unit 102d is a bending angle acquisition unit that acquires the bending angle detected by the bending sensor 140. For example, when the bending sensor 140 is a bending strain detection sensor whose resistance value changes depending on the bending angle, the bending angle acquisition unit 102d outputs an analog input signal (such as a current value that varies depending on the resistance value) transmitted from the bending sensor 140. Based on this, the bending angle is obtained.

  In addition, the fall possibility determination unit 102e determines whether or not the vehicle may fall down by determining whether or not the gravity center position calculated by the gravity center position calculation unit 102a is outside the support base surface. It is a determination means. As described above with reference to FIG. 2, the lateral boundary of the support base (BOS) coincides with the boundary of the shoe ground contact surface. Therefore, the fall possibility determination unit 102e, for example, supports bases based on the shoe sole region in which the coordinates of the gravity center position on the ground contact surface (xy plane) calculated by the gravity center position calculation unit 102a are stored in the storage unit 106 in advance. The possibility of a side rollover is determined by determining whether or not it is outside the boundary line on the side of the surface (BOS). The fall possibility determination unit 102e is not limited to determining whether or not the current center-of-gravity position is outside the support base surface (BOS), and the current center-of-gravity position is inside the support base surface (BOS). However, it may be determined whether or not the future center-of-gravity position is outside the support base surface (BOS) by determining whether or not the vehicle has approached the outside beyond the allowable range.

  For example, the fall possibility determination unit 102e causes the load applied to the front outer pressure sensor 112 to be applied to the front inner pressure sensor 111 and the saddle pressure sensor 113 based on the pressure distribution (load distribution) calculated by the gravity center position calculation unit 102a. If it becomes larger than the set value compared to the load, it may be determined that there is a possibility of a side rollover. That is, as an example of a lateral fall, when the balance is lost during walking, a large load is applied to the outside of the foot in the direction in which the balance is lost. For example, when wobbling on the right side, the load distribution of the right foot generally becomes higher than that of the left foot, and the pressure value from the front outer pressure sensor 112R provided near the base of the little finger of the right foot increases significantly. Therefore, when such a pressure distribution (load distribution) is calculated by the gravity center position calculation unit 102a, the gravity center position is near the boundary of the support base surface (BOS) range. The possibility of a side rollover can be determined when it starts to fall over in the outer direction. Also, not only when the balance is lost, but also when the foot is inversion, a pressure distribution (load distribution) that is different from the normal is detected. The part 102e can determine the possibility of a side toppling due to a varus.

  Further, the fall possibility determination unit 102e determines whether the center of gravity position (COG) calculated by the center-of-gravity position calculation unit 102a, the center of gravity position such as ZMP or the center of constant foot pressure (COP) is outside the support base surface (BOS). You may determine the possibility of a side fall by determining whether or not. For example, the fall possibility determination unit 102e determines whether the current ZMP or the ZMP trajectory calculated by the gravity center position calculation unit 102a exceeds the allowable range and approaches the outside of the BOS, thereby supporting the future ZMP. It may be determined whether or not it is outside the basal plane (BOS), and the target ZMP calculated by the centroid position calculation unit 102a (the centroid position where the next foot contact position is predicted) is the support basal plane (BOS). You may determine whether it is an outer side. Further, the fall possibility determination unit 102e determines whether or not the coordinates of the center of gravity calculated by the center of gravity position calculation unit 102a are lateral to the x coordinate value that defines the boundary of the support base surface (BOS). By doing so, the possibility of a lateral fall may be determined. In addition, the allowable range mentioned above can set arbitrary values according to a user's leg muscular strength, a motor function, etc.

  In addition to the gravity center position calculated by the gravity center position calculation unit 102a, the fall possibility determination unit 102e further includes the acceleration acquired by the acceleration acquisition unit 102b, the angular velocity acquired by the angular velocity acquisition unit 102c, The possibility of a side rollover may be determined based on the bending angle acquired by the angle acquisition unit 102d. For example, the fall possibility determination unit 102e determines the possibility of fall when the acceleration, the angular velocity, the bending angle, etc. are equal to or higher than the reference value or less than the reference value. In conjunction with this, it can be determined that the stable support plate 175 is deployed or stored. More specifically, the fall possibility determination unit 102e generates a change in the inclination of the user based on acceleration or gravitational acceleration, a change in angular velocity, a bending of the joint, and the like that occurs when the left and right feet are alternately moved during walking. In conjunction with the change of the angle or the like, the fall possibility determination unit 102e can make a determination for deploying the stable support plate at the timing when the load moves to the affected leg that may fall sideways. In addition, the timing when the user tries to stand up in conjunction with a change in the inclination of the user based on acceleration or gravitational acceleration, a change in angular velocity, a change in the bending angle of the joint, etc., which occurs during a standing motion. At the timing of trying to sit down, the fall possibility determination unit 102e can make a determination for deploying the stable support plate.

  In addition, the fall possibility notification unit 102f passes the output unit 160 when it is determined by the fall possibility determination unit 102e that it is outside the support base surface, that is, when it is determined that there is a possibility of a side fall. This is a fall possibility notification means for performing output control to notify the user of the possibility of a side fall. For example, the fall possibility notification unit 102f lights up the green LED of the output unit 160 during normal walking, that is, when it is not determined by the fall possibility determination unit 102e that there is a possibility of a side fall, If the fall possibility determination unit 102e determines that there is a possibility of a side roll, the warning red LED of the output unit 160 may be turned on. Further, the fall possibility notification unit 102f may cause the output unit 160 such as a speaker to output a warning sound when the fall possibility determination unit 102e determines that there is a possibility of a side fall. A warning message or the like may be displayed and output on the output unit 160 such as a screen.

  The stabilization mechanism control unit 102g is a stabilization mechanism control unit that controls the stabilization mechanism 170 to expand or retract the stable support plate 175. For example, the stabilization mechanism control unit 102g expands the stable support plate 175 by controlling the motor 176 of the stabilization mechanism 170 when the fall possibility determination unit 102e determines that there is a possibility of a lateral fall. If the possibility of a lateral fall is not determined by the fall possibility determination unit 102e, such as during normal walking, the motor 176 of the stabilization mechanism 170 is controlled to house the stable support plate 175. Take control. In addition, the stabilization mechanism control unit 102g may control the stabilization mechanism 170 that deploys or stores the stable support plate 175 in conjunction with an input via the input unit 150 such as a switch or a bending sensor. Whether the stabilization mechanism control unit 102g performs automatic control based on the determination result of the former toppling possibility determination unit 102e or manual control based on input via the latter input unit 150 determines whether the control mode is switched. You may comprise so that switching is possible according to the input from input parts 150, such as a switch.

  The above is an example of the configuration of the operation stability support apparatus 100 in the present embodiment.

[Processing of Operation Stabilization Support Device 100]
Next, an example of processing of the operation stability support apparatus 100 according to the present embodiment configured as described above will be described in detail with reference to FIGS. 10 and 11 below.

[Automatic control processing]
First, an example of an automatic control process in which the operation stability support apparatus 100 automatically controls the stabilization mechanism 170 based on the determination result of the possibility of falling will be described with reference to FIG. Here, FIG. 10 is a flowchart showing an example of the automatic control processing of the operation stability support apparatus 100 in the present embodiment.

  First, the barycentric position calculation unit 102a acquires the pressure detected by the pressure sensor 110 (step SA-1). For example, the center-of-gravity position calculation unit 102a acquires pressure values detected from the front inner pressure sensor 111, the front outer pressure sensor 112, and the heel pressure sensor 113 of both feet. Here, if it is known in advance that the user may fall only on the side of the affected side, such as a hemiplegic patient, the pressure value of the pressure sensor 110 on the affected side is acquired. Good.

  Then, the center-of-gravity position calculation unit 102a calculates the center-of-gravity position on the ground contact surface based on the pressure detected by the pressure sensor 110, and the fall possibility determination unit 102e further determines the risk of falling (based on the position of the center of gravity ( The possibility of a lateral fall (posture instability) is calculated (step SA-2). For example, the centroid position calculation unit 102a calculates a pressure distribution (load distribution) based on the pressure detected by each of the pressure sensors 111L, R to 113L, R of the pressure sensor 110 as the centroid position. The center-of-gravity position calculation unit 102a may calculate the center of constant foot pressure (COP), the body center-of-gravity position (COG), ZMP, or the like as the center-of-gravity position. At that time, the center-of-gravity position calculation unit 102a performs acceleration of the body center of gravity detected by the acceleration sensor 120 or the body center of gravity detected by the gyro sensor 130 as necessary by a known calculation method described in Non-Patent Document 1 or the like. The center-of-gravity position may be calculated using data such as the rotational angular velocity or angular acceleration, the height of the body center-of-gravity position of the user stored in the storage unit 106, and the like.

  Then, the fall possibility determination unit 102e determines whether the center of gravity position calculated by the center of gravity position calculation unit 102a exhibits a lateral center of gravity position deviation or is outside the support base surface (BOS). Thus, the possibility of a side rollover (risk of fall) is determined (step SA-3). For example, the fall possibility determination unit 102e causes the load applied to the front outer pressure sensor 112 to be applied to the front inner pressure sensor 111 and the saddle pressure sensor 113 based on the pressure distribution (load distribution) calculated by the gravity center position calculation unit 102a. When it becomes larger than the set value as compared with such a load, it may be determined that there is a possibility of a lateral fall as a state in which the clubfoot or the balance is lost. Further, the fall possibility determination unit 102e determines whether the center of gravity position (COG) calculated by the center-of-gravity position calculation unit 102a, the center of gravity position such as ZMP or the center of constant foot pressure (COP) is outside the support base surface (BOS). You may determine the possibility of a side fall by determining whether or not. At that time, the fall possibility determination unit 102e is not limited to determining whether or not the current center-of-gravity position is outside the support base surface (BOS), and the current center-of-gravity position is inside the support base surface (BOS). However, it may be determined whether or not the future center-of-gravity position is outside the support base surface (BOS) by determining whether or not the vehicle has approached the outside beyond the allowable range.

  In addition to the barycentric position calculated by the barycentric position calculating unit 102a, the fall possibility determining unit 102e further includes the acceleration acquired by the acceleration acquiring unit 102b, the angular velocity acquired by the angular velocity acquiring unit 102c, The possibility of a side rollover may be determined based on the bending angle acquired by the angle acquisition unit 102d. For example, the fall possibility determination unit 102e determines the possibility of fall when the acceleration, the angular velocity, the bending angle, etc. are equal to or higher than the reference value or less than the reference value. In conjunction with this, it can be determined that the stable support plate 175 is deployed or stored.

  And when it determines with the possibility of a side fall not falling by the fall possibility determination part 102e (step SA-3, No), the operation | movement stability assistance apparatus 100 returns a process to step SA-1, and the step mentioned above The processes of SA-1 to SA-3 are repeated.

  On the other hand, if the fall possibility determination unit 102e determines that there is a possibility of a side fall (step SA-3, Yes), the fall possibility notification unit 102f causes the user to fall sideways via the output unit 160. The output control is performed to warn of the possibility (falling risk) with a warning sound or light (step SB-4). For example, the fall possibility notification unit 102f lights up the green LED of the output unit 160 during normal walking, that is, when it is not determined by the fall possibility determination unit 102e that there is a possibility of a side fall, If the fall possibility determination unit 102e determines that there is a possibility of a side roll, the warning red LED of the output unit 160 may be turned on. Further, the fall possibility notification unit 102f may cause the output unit 160 such as a speaker to output a warning sound when the fall possibility determination unit 102e determines that there is a possibility of a side fall. A warning message or the like may be displayed and output on the output unit 160 such as a screen.

  Then, the stabilization mechanism control unit 102g controls the motor 176 of the stabilization mechanism 170 to expand the stable support plate 175 (Step SA-5).

  Then, the stabilization mechanism control unit 102g controls the motor 176 of the stabilization mechanism 170 to house the stable support plate 175 when the standing position / walking is stabilized after deployment for a certain time (step SA-6). ). For example, the stabilization mechanism control unit 102g controls the motor 176 of the stabilization mechanism 170 for stable support when it is determined by the fall possibility determination unit 102e that there is no possibility of a lateral fall (fall risk). Control for storing the plate 175 may be performed.

  Then, the operation stability support apparatus 100 repeatedly performs the processes of steps SA-1 to SA-6 described above.

  The above is an example of the automatic control processing of the operation stability support apparatus 100 in the present embodiment.

[Manual control processing]
Next, an example of a manual control process in which the operation stability support apparatus 100 outputs a determination result of the possibility of falling and controls the stabilization mechanism 170 according to an input by the user will be described with reference to FIG. Here, FIG. 11 is a flowchart illustrating an example of a manual control process of the operation stability support apparatus 100 according to the present embodiment.

  First, the barycentric position calculation unit 102a acquires the pressure detected by the pressure sensor 110 (step SB-1). As described above, for example, the center-of-gravity position calculation unit 102a acquires pressure values detected from the front inner pressure sensor 111, the front outer pressure sensor 112, and the heel pressure sensor 113 of both feet.

  Then, the center-of-gravity position calculation unit 102a calculates the center-of-gravity position on the ground contact surface based on the pressure detected by the pressure sensor 110 (step SB-2). For example, as described above, the gravity center position calculation unit 102a may calculate the pressure distribution (load distribution) based on the pressure detected by each of the pressure sensors 111L, R to 113L, R of the pressure sensor 110 as the gravity center position. Alternatively, the constant foot pressure center (COP), body gravity center position (COG), ZMP, or the like may be calculated as the gravity center position.

  And the fall possibility determination part 102e determines the possibility of a side fall by determining whether the gravity center position calculated by the gravity center position calculation part 102a is outside the support base surface (BOS). (Step SB-3). For example, as described above, the fall possibility determining unit 102e determines that the load applied to the front outer pressure sensor 112 is based on the pressure distribution (load distribution) calculated by the gravity center position calculating unit 102a. When compared with the load applied to the saddle pressure sensor 113 and exceeds a set value, it may be determined that there is a possibility of a lateral fall as a state in which the clubfoot or the balance is lost. In addition, as described above, the fall possibility determining unit 102e has the body centroid position (COG) calculated by the centroid position calculating unit 102a, the center of gravity position such as ZMP and the constant foot pressure center (COP), etc. as the support base surface (BOS). The possibility of a side rollover may be determined by determining whether or not the outer side of the vehicle falls outside.

  And when it determines with there being no possibility of a side fall by the fall possibility determination part 102e (step SB-3, No), the operation | movement stability assistance apparatus 100 returns a process to step SB-1, and the step mentioned above The processes of SB-1 to SB-3 are repeated.

  On the other hand, when it is determined that the possibility of a lateral fall is detected by the fall possibility determination unit 102e (Yes in step SB-3), the fall possibility notification unit 102f causes the user to fall sideways via the output unit 160. Output control is performed to warn of the possibility of this (step SB-4). For example, the fall possibility notification unit 102f lights up the green LED of the output unit 160 during normal walking, that is, when it is not determined by the fall possibility determination unit 102e that there is a possibility of a side fall, If the fall possibility determination unit 102e determines that there is a possibility of a side roll, the warning red LED of the output unit 160 may be turned on. Further, the fall possibility notification unit 102f may cause the output unit 160 such as a speaker to output a warning sound when the fall possibility determination unit 102e determines that there is a possibility of a side fall. A warning message or the like may be displayed and output on the output unit 160 such as a screen.

  Then, the stabilization mechanism control unit 102g determines whether or not a deployment instruction is input from the user via the input unit 150 such as a switch or a bending sensor (step SB-5).

  When there is no input of a deployment instruction via the input unit 150 (step SB-5, No), the operation stability support apparatus 100 returns the process to step SB-1 and performs the processes of steps SB-1 to SB-5 described above. repeat.

  On the other hand, when a deployment instruction is input from the user via the input unit 150 (step SB-5, Yes), the stabilization mechanism control unit 102g controls the motor 176 of the stabilization mechanism 170 to stabilize the support plate. Control to expand 175 is performed (step SB-6).

  The above is an example of the manual control process of the operation stability support apparatus 100 in the present embodiment. Note that the operation stability support apparatus 100 may repeatedly perform the above-described processing of Steps SB-1 to SB-6. In this case, when a storage instruction is input from the user via the input unit 150, When it is determined in step SB-3 that the possibility of a side rollover is eliminated by the fall possibility determination unit 102e, the stabilization mechanism control unit 102g controls the motor 176 of the stabilization mechanism 170 to stabilize the support plate. Control for storing 175 may be performed. In addition, the motion stability support apparatus 100 may be configured not to perform the processes from Steps SB-1 to SB-4 described above. In that case, the bending angle of the joint according to the input from the input unit 150 such as a bending sensor. Control for expanding or storing the stable support plate 175 may be performed in conjunction with the change in the angle.

[Example]
Next, examples in the above-described embodiment will be described with reference to FIGS. Here, first, the background of the development of the operation stability support apparatus of the present embodiment will be described.

  Maintaining a stable gait is indispensable in daily life for the disabled and elderly. However, stability during walking and standing movements is impaired due to a decline in muscle strength and exercise capacity in elderly people and paralysis in cerebrospinal disease patients. As a result, daily activities (ADL) are reduced and the risk of falling is increased.

  Therefore, conventionally, lower limb orthoses, walking sticks, handrails, and walker are used as methods for improving motor function or posture stability during walking and standing motions.

  Patients with cerebrospinal disease often aim to improve gait by wearing lower limb orthoses. The club cusp is largely involved in gait abnormalities in these patients. The clubfoot refers to a state in which the inside of the sole (parent side) cannot be grounded because the sole is bent outward, the landing area is reduced, and the standing position becomes unstable.

  One factor contributing to club cusps is spastic paralysis. After suffering from brain and spinal cord disorders due to stroke sequelae, brain tumors, spinal cord trauma, spinal cord tumors, etc., there are very many cases that cause movement disorders of the lower limbs, and in particular, these patients often show spastic paralysis. Spastic palsy is a pathological condition that shows movement disorders of the extremities and trunks accompanied by muscle spasm / spasticity, as the inhibition of the lower nervous system is released by a disorder of the upper central nervous system (release phenomenon). Among spastic paralysis, the number of stroke aftereffects is overwhelmingly large. In patients with spastic paralysis, the foot is varus and cusped (with the toes standing and the instep tilted outward), and the knee is in an extended position, albeit to a different extent. For this reason, in spastic paralysis patients, stability during walking is greatly impaired.

  Conventionally, in patients with cerebrospinal disease, the club cusp is corrected using a shoe-type brace. The shoe-type orthosis is in the form of basket shoes and fixes the ankle joint at a right angle position, and aims to stabilize standing and walking by landing the entire sole on the paralyzed side.

  However, even if the foot of the paralyzed side can be grounded to the ground with a shoe-type brace, that is, both the outer side and the inner side of the sole are grounded, the lower leg of the paralyzed side has muscle weakness and the motor control loop is also obstructed Since the cerebellum, basal ganglia, and sensory nerve input are also impaired, standing on one leg on the affected side is still unstable, and the load time on the affected leg during walking, that is, the duration of one leg standing on the affected leg is It must be minimized.

  As a result, in patients (mostly hemiplegia of stroke and spastic paralysis), peculiar unstable gait (so-called swinging gait where the knee joint of the affected leg is extended and the entire affected leg is turned outward) Thus, sufficient walking speed and stability cannot be obtained in daily life.

  On the other hand, in general elderly people, club cusps are not observed, but lower limb muscle strength and motor function decrease with age. For this reason, it is important for elderly people to ensure stability and prevent falls during walking and standing.

  In general, there is a time when the support base surface (BOS) is a small area of the sole only during walking (when one foot is touched). Here, the conventional cane also has the effect of enlarging the support base surface (BOS). However, in patients with cerebrospinal disease, paralysis is also observed in the affected upper limb, and in the case of stroke patients, it is usually impossible to improve the stability of the affected lower limb with a cane.

  Therefore, the inventors of the present application have an idea that the instability of walking / starting movement is improved if the support base surface (BOS) can be enlarged in elderly people or patients with cerebrospinal disease, particularly when one foot is grounded such as a paralyzed foot. Got. That is, if an intelligent shoe that dynamically changes the support base surface (BOS) at the risk of falling is developed, it is possible to improve the standing motion, walking stability, and to reduce the falling damage. Therefore, when starting and walking, the area of the shoe is widened to the side and rear to widen the support base surface (BOS), and when there is a risk of falling, the support base surface (BOS) is instantly expanded in the fall direction. We have developed an intelligent shoe that can control the direction and acceleration of the fall so as to suppress the fall and minimize the physical damage if the fall is inevitable.

  Here, FIG. 12 is a diagram illustrating a wearing example of the operation stability support apparatus that realizes the intelligent shoes of the present embodiment. In addition, in a present Example, the structure corresponding to the operation | movement stability assistance apparatus of embodiment mentioned above is demonstrated with reference to the code | symbol.

  As shown in FIG. 12, a microcomputer equipped with a control unit 102 is provided on a belt worn by a user, and a gyro sensor 130 and an acceleration sensor 120 are connected to the microcomputer. The shoe worn by the user is provided with a pressure sensor 110, an LED lamp output unit 160, and a stabilization mechanism 170. Note that an input / output control interface 108 such as a wireless device (not shown) is connected to the microcomputer, and the pressure sensor 110, the output unit 160, the stabilization mechanism 170, etc. are connected to the microcomputer by wireless communication via the input / output control interface 108. Signal transmission is possible. It is also possible to transmit motor function information such as an input value from each sensor and a determination result of the possibility of falling to a mobile phone or a personal computer via the wireless device.

  Here, FIGS. 13 and 14 are views showing a top view of a shoe provided with the stabilization mechanism 170 of the present embodiment, and FIGS. 15 and 16 are provided with the stabilization mechanism 170 of the present embodiment. FIG. 17 and FIG. 18 are side views of the shoe provided with the stabilization mechanism 170 of the present embodiment. 13, FIG. 15, and FIG. 17 show the state of the stabilization mechanism 170 during storage, and FIG. 14, FIG. 16, and FIG. 18 show the state of the stabilization mechanism 170 during deployment. Although not shown, the pressure sensor 110 including the front inner pressure sensor 111R, the front outer pressure sensor 112R, and the heel pressure sensor 113R is provided between the insole and the shoe body in the arrangement shown in FIG. ing.

  The stabilization mechanism 170 of the present embodiment is provided so as to be rotatable on two shoe sole fixing plates 171 and 172 fixed to the shoe sole and two shoe sole fixing plates 171 and 172 via link pins, respectively. Two link members 173 and 174, and a link mechanism composed of a stable support plate 175 rotatably provided via link pins on the two link members 173 and 174, for driving the link mechanism A motor 176 such as a servo motor is provided.

  As shown in FIG. 13, in this embodiment, the stable support plate 175 protrudes by about 2 cm in the lateral direction even when stored, and the effect of preventing the lateral fall is greater than that of a normal shoe without the stabilization mechanism 170. is doing. If the operation stability support effect at the time of storage is not expected, it is possible to make the support base surface (BOS) the same as that of normal shoes by storing the stable support plate 175 on the shoe sole side. is there.

  As shown in FIG. 14, at the time of unfolding, the motor 176 drives a parallel link having a length of 5 cm, and the stable support plate 175 unfolds and protrudes laterally. Thereby, the excessive variation | mutation to the side direction of a body axis | shaft can be suppressed, and the risk of a lateral fall with a large risk of a femur fracture can also be reduced at the time of a fall. It is also possible to easily change to a link having a different length by removing the link pin and re-installing it in another link hole. In the stabilization mechanism 170 of the embodiment, the link length can be freely adjusted in the range of about 1 cm to 10 cm according to the user's physique and the degree of failure.

  As shown in FIGS. 15 and 16, shoe sole fixing plates 171 and 172 are fixed to the shoe sole portion. Preferably, the shoe sole fixing plates 171 and 172 are provided by partially hollowing out rubber of the shoe sole so as not to protrude to the ground side from the height of the shoe heel.

  Further, as shown in FIGS. 15 and 16, on the back surface portion of the stable support plate 175, a shoe sole rubber is installed around the back of the shoe by about 1 cm. This contributes to stability improvement when the balance is lost backward. In addition, if the shoe sole rubber is protruded further rearward, there is a risk of getting caught when going down the stairs or walking, and this may make the walking unstable.

  Further, as shown in FIGS. 17 and 18, by adjusting the mounting angle of the stable support plate 175, the sole rubber of the stable support plate 175 on the heel side (rear side) is stored on the ground when stored (folded). Although it does not contact, it can be a specification to be grounded when deployed. This is to prevent a balance failure and a fall risk due to catching of the stable support plate 175 at the time of storage, and is particularly suitable when raising and lowering the stairs.

  Further, an output unit 160 composed of LED lamps of two colors, red and green, is provided near the toe side of the upper surface of the shoe. When the front outer pressure sensor 112R detects a pressure (weight shift) that is equal to or higher than a set value, the red LED lamp is turned on, and the green LED lamp is turned on when no balance abnormality is recognized. Alternatively, instead of the output unit 160 including two-color LED lamps, the output unit 160 such as a multi-stage LED array may be used to display the degree of weight shift or walking balance abnormality in multiple stages.

  The operation stability support apparatus 100 that realizes the intelligent shoe of the present embodiment configured as described above performs the same process as the automatic control process described above, and performs pressure sensors (the inner pressure sensor 111, the outer pressure sensor 112, and the bag). When the pressure detected from the pressure sensor 113) is compared and becomes larger than the development set value, and it is determined that the stability support is necessary (when the weight on the outer side of the shoe exceeds a certain value, or the inner side and the heel) When the weight on the outer part increases to a certain ratio or more compared to the weight on the part), the servo motor 176 automatically unfolds the stable support plate 175 by the instruction of the microcomputer to increase the shoe sole area outward. Can be spread. In a hemiplegic patient or the like, the stable support plate 175 can be left unfolded even during normal standing seating or walking. In addition, when sitting, it can be stored in order to avoid contact with the chair legs or whispering.

  In addition, as a result of conducting an experiment on a healthy person using the intelligent shoes of the present embodiment, the stability in the lateral direction when maintaining a stable standing position (holding both feet parallel to the shoulder width) is improved. Observed. That is, when the stable support plate 175 is stored, the balance is lost when the shoulder is pushed from the side with a force of about 70 Newton, whereas when the stable support plate 175 is deployed, the shoulder is pushed from the side until the pressure reaches about 120 Newton. However, the stability in the lateral direction was improved without breaking the balance.

  This is the end of the description of this embodiment.

[Other embodiments]
Although the embodiments of the present invention have been described so far, the present invention is not limited to the above-described embodiments, but can be applied to various different embodiments within the scope of the technical idea described in the claims. It may be implemented. Here, FIG. 19 to FIG. 21 are diagrams showing another mechanism of the stabilization mechanism 170. Note that the configuration of the hatched portion corresponds to the stable support plate of the above-described embodiment.

  FIG. 19 is a view showing a laterally protruding type stabilization mechanism. As shown in FIG. 19, a simple mechanism is adopted so that the stable support plate can be stored in the shoe sole when stored, and when deployed, it is configured to protrude substantially horizontally to the side by an arbitrary drive means. May be.

  FIG. 20 is a diagram illustrating an independent rotation type stabilization mechanism. As shown in FIG. 20, the two stable support plates may be configured to be separately rotatable. Then, at the time of deployment and storage, the two stable support plates can be controlled to rotate independently using an arbitrary drive means such as a motor.

  FIG. 21 is a diagram showing a flap-type stabilization mechanism. As shown in FIG. 21, the shoe main body and the stable support plate may be configured to be rotatable via a hinge. Then, a driving means may be used in which the stable support plate is disposed substantially perpendicular to the ground in contact with the outer side surface of the shoe during storage, and the stable support plate is tilted so as to be parallel to the shoe bottom surface during deployment. As described above, the stabilization mechanism may adopt other mechanisms within the scope of the technical idea in addition to the above-described embodiment.

  Moreover, in the above-mentioned embodiment, although the example which applied this invention to lower limbs orthosis for shoes etc. for elderly people and a disabled person was demonstrated, it is not restricted to this case, For healthy persons, it is for snowy surfaces. The same applies to all technical fields such as shoes.

  In the above-described embodiment, the case where the operation stability support apparatus 100 performs processing in a stand-alone form has been described as an example. However, the operation stability support apparatus 100 responds to a request from a client terminal such as a mobile phone. The processing result may be returned to the client terminal.

  In addition, among the processes described in the embodiment, all or part of the processes described as being automatically performed can be performed manually, or the processes described as being performed manually can be performed. All or a part can be automatically performed by a known method.

  In addition, the processing procedures, control procedures, specific names, information including registration data and parameters of each processing, and configuration examples shown in the above documents and drawings may be arbitrarily changed unless otherwise specified. it can.

  In addition, regarding the operation stability support apparatus 100, each illustrated component is functionally conceptual and does not necessarily need to be physically configured as illustrated.

  For example, all or some of the processing functions provided in each device of the operation stability support device 100, particularly the processing functions performed by the control unit 102, are interpreted by a CPU (Central Processing Unit) and the CPU. It may be realized by a program to be executed, or may be realized as hardware by wired logic. The program is recorded on a recording medium to be described later, and is mechanically read by the operation stability support apparatus 100 as necessary. In other words, the storage unit 106 such as ROM or HD stores a computer program for performing various processes by giving instructions to the CPU in cooperation with an OS (Operating System). This computer program is executed by being loaded into the RAM, and constitutes a control unit in cooperation with the CPU.

  The computer program may be stored in an application program server connected to the operation stability support apparatus 100 via an arbitrary network, and may be downloaded in whole or in part as necessary. It is.

  In addition, the program according to the present invention may be stored in a computer-readable recording medium, and may be configured as a program product. Here, the “recording medium” is any memory card, USB memory, SD card, flexible disk, magneto-optical disk, ROM, EPROM, EEPROM, CD-ROM, MO, DVD, Blu-ray Disc, etc. Of “portable physical media”.

  The “program” is a data processing method described in an arbitrary language or description method, and may be in any format such as source code or binary code. The “program” is not necessarily limited to a single configuration, but is distributed in the form of a plurality of modules and libraries, or in cooperation with a separate program represented by an OS (Operating System). Including those that achieve the function. Note that a well-known configuration and procedure can be used for a specific configuration for reading a recording medium, a reading procedure, an installation procedure after reading, and the like in each device described in the embodiment.

  The operation stability support apparatus 100 may be realized by installing software (including programs, data, and the like) that causes the information processing apparatus to realize the method of the present invention.

  Various files and tables stored in the storage unit 106 are storage means such as a memory device such as a RAM and a ROM, a fixed disk device such as a hard disk, a flexible disk, and an optical disk. Stores tables, databases, files, etc.

  Furthermore, the specific form of distribution / integration of the devices is not limited to that shown in the figure, and all or a part of them may be functional or physical in arbitrary units according to various additions or according to functional loads. Can be distributed and integrated. That is, the above-described embodiments may be arbitrarily combined and may be selectively implemented.

  As described above in detail, according to the present invention, it is possible to provide an operation stability support device and an operation stability support method that can ensure stability during walking or standing and prevent falling. Therefore, it is extremely useful in various fields such as medical and rehabilitation fields, biological research and clinical examinations, shoe manufacturing, and electronic equipment industries.

DESCRIPTION OF SYMBOLS 100 Operational stability support apparatus 102 Control part 102a Center-of-gravity position calculation part 102b Acceleration acquisition part 102c Angular velocity acquisition part 102d Bending angle acquisition part 102e Fall possibility determination part 102f Fall possibility possibility notification part 102g Stabilization mechanism control part 106 Storage part 108 Input / output Control interface section 110 Pressure sensor 111 Front inner pressure sensor 112 Front outer pressure sensor 113 Acupuncture pressure sensor 120 Acceleration sensor 130 Gyro sensor 140 Bending sensor 150 Input section 160 Output section 170 Stabilizing mechanism 171, 172 Shoe sole fixing plate 173, 174 Link Member 175 Stable support plate 176 Motor

Claims (15)

Operational stability support provided with at least a control unit connected to a pressure sensor for detecting the pressure of the ground contact surface of the shoe sole of the user and a stabilization mechanism capable of deploying a stable support plate on the side of at least one shoe A device,
The control unit
A center-of-gravity position calculating means for calculating a position of the center of gravity based on the pressure detected by the pressure sensor;
A fall possibility determination means for determining the possibility of a lateral fall by determining whether or not the gravity center position calculated by the gravity center position calculation means is outside the support base surface;
Stabilization mechanism control means for controlling the stabilization mechanism and deploying the stable support plate when the possibility of the lateral fall is determined by the fall possibility determination means;
An operation stability support apparatus comprising: The operation stability support apparatus according to claim 1,
Furthermore, it is connected to the output section,
The control unit
A fall possibility notification means for performing output control to notify the user via the output unit when the possibility of the side fall is determined by the fall possibility determination means;
An operation stability support apparatus further comprising: In the operation stability support device according to claim 1 or 2,
The stabilization mechanism control means includes:
When the possibility of the side rollover determined by the rollover possibility determination means is eliminated, the stabilization mechanism is controlled to control the storage of the stable support plate.
An operational stability support device characterized by the above. A pressure sensor for detecting the pressure of the ground contact surface of the shoe sole, an output unit, an input unit, and at least a control unit connected to a stabilization mechanism capable of deploying a stable support plate on the side of at least one shoe An operational stability support device,
The control unit
A center-of-gravity position calculating means for calculating a position of the center of gravity based on the pressure detected by the pressure sensor;
On the basis of the center of gravity position calculated by the center of gravity position calculating means, it is determined whether or not the center of gravity position is outside the support basal plane, thereby determining the possibility of a side rollover. When,
A fall possibility notification means for performing output control for notifying the user of the possibility of the side fall via the output unit when the fall possibility determination means determines that the outside of the support base is outside. When,
Stabilization mechanism control means for controlling the stabilization mechanism to expand or retract the stable support plate when there is an input by the user via the input unit;
An operation stability support apparatus comprising: In the operation stability support device according to any one of claims 1 to 4,
Furthermore, it is connected to an acceleration sensor worn by the user,
The control unit
Acceleration acquisition means for acquiring acceleration detected by the acceleration sensor;
Further comprising
The fall possibility determining means is:
Further, based on the acceleration acquired by the acceleration acquisition means, it is determined whether or not the predicted center-of-gravity position is outside the support base surface, thereby determining the possibility of the side rollover. thing,
An operational stability support device characterized by the above. In the operation stability support device according to any one of claims 1 to 4,
Furthermore, it is connected to a gyro sensor that is worn by the user,
The control unit
Angular velocity acquisition means for acquiring an angular velocity detected by the gyro sensor;
Further comprising
The fall possibility determining means is:
Further, based on the angular velocity acquired by the angular velocity acquisition means, it is determined whether the predicted center-of-gravity position is outside the support base surface, thereby determining the possibility of the side rollover. thing,
An operational stability support device characterized by the above. In the operation stability support device according to any one of claims 1 to 4,
Furthermore, it is connected to a bending sensor worn by the user,
The control unit
Bending angle acquisition means for acquiring a bending angle detected by the bending sensor;
Further comprising
The fall possibility determining means is:
Further, based on the bending angle acquired by the angular velocity acquisition means, determining the possibility of the side rollover during the user's moving operation,
An operational stability support device characterized by the above. An operation stability support device comprising a pressure sensor for detecting a pressure on a ground contact surface of a shoe sole of a user, a stabilization mechanism capable of deploying a stable support plate on a side of at least one shoe, and a control unit. ,
The control unit
A center-of-gravity position calculating means for calculating a position of the center of gravity based on the pressure detected by the pressure sensor;
A fall possibility determination means for determining the possibility of a lateral fall by determining whether or not the gravity center position calculated by the gravity center position calculation means is outside the support base surface;
Stabilization mechanism control means for controlling the stabilization mechanism and deploying the stable support plate when the possibility of the lateral fall is determined by the fall possibility determination means;
An operation stability support apparatus comprising: Operational stability support provided with at least a control unit connected to a pressure sensor for detecting the pressure of the ground contact surface of the shoe sole of the user and a stabilization mechanism capable of deploying a stable support plate on the side of at least one shoe An operation stability support method executed in an apparatus, comprising:
Executed in the control unit,
A center-of-gravity position calculating step for calculating a center-of-gravity position based on the pressure detected by the pressure sensor;
A fall possibility determination step for determining the possibility of a lateral fall by determining whether or not the center of gravity position calculated in the center of gravity position calculation step is outside the support base surface;
A stabilization mechanism control step for controlling the stabilization mechanism to expand the stable support plate when the possibility of the lateral fall is determined in the fall possibility determination step;
An operation stability support method comprising: The operation stability support method according to claim 9,
Furthermore, it is connected to the output section,
Executed in the control unit,
A fall possibility notification step for performing output control for notifying the user via the output unit when the possibility of the side fall is determined in the fall possibility determination step,
An operation stability support method further comprising: The operation stability support method according to claim 9 or 10,
The stabilization mechanism control step includes
When the possibility of the side rollover determined in the rollover possibility determination step is eliminated, control is performed to store the stable support plate by controlling the stabilization mechanism,
An operational stability support method characterized by the above. A pressure sensor for detecting the pressure of the ground contact surface of the shoe sole, an output unit, an input unit, and at least a control unit connected to a stabilization mechanism capable of deploying a stable support plate on the side of at least one shoe An operation stability support method executed in the operation stability support apparatus,
Executed in the control unit,
A center-of-gravity position calculating step for calculating a center-of-gravity position based on the pressure detected by the pressure sensor;
Based on the center-of-gravity position calculated in the center-of-gravity position calculation step, it is determined whether or not the center-of-gravity position is outside the support base surface, thereby determining the possibility of a side rollover. Steps,
When it is determined in the fall possibility determination step that the outside of the support base surface is outside, the fall possibility notification is performed to notify the user of the possibility of the side fall via the output unit. Steps,
A stabilization mechanism control step for controlling the stabilization mechanism to expand or retract the stable support plate when there is an input by the user via the input unit;
An operation stability support method comprising: The operation stability support method according to any one of claims 9 to 12,
Furthermore, it is connected to an acceleration sensor worn by the user,
Executed in the control unit,
An acceleration acquisition step of acquiring an acceleration detected by the acceleration sensor;
Further including
The above fall possibility determination step includes
Further, based on the acceleration acquired in the acceleration acquisition step, it is determined whether or not the predicted position of the center of gravity is outside the support base surface, thereby determining the possibility of the side rollover. To do,
An operational stability support method characterized by the above. The operation stability support method according to any one of claims 9 to 12,
Furthermore, it is connected to a gyro sensor that is worn by the user,
Executed in the control unit,
An angular velocity acquisition step of acquiring an angular velocity detected by the gyro sensor;
Further including
The above fall possibility determination step includes
Further, based on the angular velocity acquired in the angular velocity acquisition step, it is determined whether the predicted position of the center of gravity is outside the support base surface, thereby determining the possibility of the side rollover. To do,
An operational stability support method characterized by the above. The operation stability support method according to any one of claims 9 to 12,
Furthermore, it is connected to a bending sensor worn by the user,
Executed in the control unit,
A bending angle acquisition step of acquiring a bending angle detected by the bending sensor;
Further including
The above fall possibility determination step includes
Further, based on the bending angle acquired in the angular velocity acquisition step, determining the possibility of the side rollover during the user's standing operation,
An operational stability support method characterized by the above.

Images