JP2014236786A - Standing-up movement guidance system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a standing-up movement guidance system being capable of being easily used without limitation of a use place, and allowing standing-up movement by oneself, for example, even under a situation that a therapist or a carer is absent.SOLUTION: A standing-up movement guidance system 10 performs support by which an object person 12 in a sitting state comes into a standing-up state sequentially via an inclination movement in which the upper body 13 is inclined forward and a rising movement in which the upper body 13 is moved upward. The standing-up movement guidance system 10 has: an inertia sensor 14 worn on the upper body 13 of the object person 12, and measuring an acceleration and an angular velocity in time of the inclination movement; arithmetic means calculating a gravity center position in a horizontal direction of the object person 12 in time of the inclination movement by use of measured data, and determining whether or not the gravity center has moved to a set region in which the standing-up state becomes possible; and information output means 21 presenting start time of the rising movement to the object person 12 on condition that the gravity center position has moved to the set region.

Description

  The present invention relates to a standing motion guidance system that provides support for a seated subject to be in a standing state, and more specifically, for example, in the rehabilitation field and health support field, standing up using the ability of the subject. The present invention relates to a standing motion guidance system for facilitating operation.

The standing operation from the chair is performed by combining two phases of a flexion phase (an inclination operation that tilts the upper body forward) and an extension phase (an upward operation that moves the upper body upward).
Among those who cannot stand, there is a person who can perform the extension phase but cannot perform the flexion phase due to the fear of falling. In such hospitals, facilities, etc., therapists and caregivers provide training to support the flexion phase, that is, push the back forward to realize the flexion phase.
As a technique focusing on this bending phase, for example, the technique of Patent Document 1 can be cited.
In this technology, an exoskeleton type device using a link mechanism is attached to the outside of the body, thereby realizing the movement of the bending phase and facilitating the standing motion.

The following are examples of research on support for standing motion.
Non-Patent Document 1 discloses a mechanism that makes it easy to get up from a chair by moving a handrail of the chair. In addition, there are many research examples that realize a standing motion by adding a support mechanism to a chair or the like based on the same concept.
Non-Patent Document 2 relates to an exoskeleton-type power assist device that attaches a skeleton to the outside of the body, and discloses a technique for realizing a standing motion by external power. As a similar device, HAL (registered trademark) of Cyberdyne Co., Ltd. is famous.

JP 2010-246626 A

Naoyuki Bando, Hirohisa Yamada, Hiroyuki Morita, Kunihiko Tanaka, “Development of Standing Movement Support Device for Upper Limbs (Part 4) Relationship between Standing from Standing Support Chair and Armrest Position”, Research Report on Life Technology Research Institute, Gifu Prefecture, No . 11, November 2009, p. 52-56 Kenji Goto, Takahiro Kagawa, Yoji Uno, Yutaka Sakaguchi, “Standing assistance with wearable robot based on floor reaction force information”, IEICE Technical Report, No. 111 No. 482, March 2012, p. 89-94

However, the conventional technique still has the following problems to be solved.
Both of the techniques of Patent Document 1 and Non-Patent Document 2 require a device to be attached to the outside of the body and have a problem that it is difficult to use. In particular, the technique of Non-Patent Document 2 has a problem that the apparatus configuration is large and expensive.
In addition, the technique of Non-Patent Document 1 has a problem that a support mechanism is required when performing an upright operation, and a use place is limited.

In addition, as described above, even if a person who cannot stand up can perform the extension phase, for example, the therapist or caregiver can push the back forward to realize the flexion phase, so that the standing motion can be performed with his ability. It becomes possible. In this case, it is not necessary to use the technique described above.
However, from the viewpoint of securing therapists and caregivers, there is a problem that a large number of human resources cannot be used only to support the standing motion. In addition, in the case of a person at home, there is also a problem that the standing operation cannot be performed because there is no therapist or caregiver.

  The present invention has been made in view of such circumstances, and can be easily used without being limited to a place of use. For example, a stand-up that can realize a stand-up operation by itself even in the absence of a therapist or a caregiver. An object is to provide a motion guidance system.

In the standing motion guidance system according to the present invention that meets the above-mentioned purpose, the subject in a seated state is in a standing state through a tilting motion in which the upper body is tilted forward and a lifting motion in which the upper body is moved up sequentially. A standing motion guidance system for supporting
An inertial sensor that is mounted on the upper body of the subject and measures acceleration and angular velocity during the tilting operation;
Using the data measured by the inertial sensor, the horizontal position of the subject in the horizontal direction during the tilting operation is calculated, and it is determined whether or not the position of the center of gravity has moved to a set region where the standing state is possible. Computing means for
Information output means for presenting the start time of the ascending motion to the subject on the condition that the position of the center of gravity has moved to the set area;

In the standing motion guidance system according to the present invention, the setting region includes the foot portion of the subject or the foot portion, and the toe of the foot portion from a position 15 cm backward from the heel of the foot portion. It is possible to make the region in a range up to a position of 15 cm forward from the starting point.
In the standing motion guidance system according to the present invention, the information output means outputs any one or more of image, light, sound, sound, and tactile stimulus, and presents the start time of the ascending motion. Is preferred.

Since the standing motion guidance system according to the present invention has an inertial sensor and a calculation means, it calculates the position of the center of gravity of the subject during the tilting motion using the acceleration and angular velocity data measured during the tilting motion of the subject, and stands up. It can be determined whether or not the position of the center of gravity has moved to the setting area where the state is possible. In addition, since the information output means is provided, it is possible to notify the subject of the start timing of the ascending operation.
Thereby, it is possible to inform the subject of the timing for facilitating the standing-up operation, that is, the timing for shifting from the tilting operation to the ascending operation.
Therefore, the place of use is not limited and can be used easily. For example, even in the absence of a therapist or a caregiver, the standing operation can be realized by himself.

  Further, when the information output means outputs one or more of image, light, sound, sound, and tactile stimulus and presents the start time of the ascending operation, the subject easily shifts to the ascending operation. You can know when to do.

It is explanatory drawing of the standing motion guidance system which concerns on one embodiment of this invention. (A), (B) is explanatory drawing of the human body model applied to the standing motion guidance system, respectively, and explanatory drawing for calculating | requiring the reaction force which generate | occur | produces in a chair part in this human body model. It is explanatory drawing for calculating | requiring the gravity center position of the whole body in a human body model. (A) is a typical graph of the calculation result of the center of gravity position in a normal standing motion of a healthy person, and (B) is a representative graph of the calculation result of the center of gravity position in a slow standing motion simulating an elderly person. . (A), (B) is the graph which compared the muscle activity of the anterior tibial muscle at each motion pattern, respectively, and the graph which compared the muscle activity of the rectus femoris.

Next, embodiments of the present invention will be described with reference to the accompanying drawings for understanding of the present invention.
As shown in FIG. 1, the standing motion guidance system 10 according to an embodiment of the present invention is configured so that a subject 12 sitting on a chair 11 tilts the upper body 13 forward (hereinafter also referred to as a bending phase). And a device for assisting to be in an upright state through an ascending operation (hereinafter also referred to as an extension phase) for moving the upper body 13 upward. In addition, the target person 12 is a person who can realize the standing action by himself if the start time of the ascending action is known, for example, a person who needs to receive support in the rehabilitation field or the health support field (caregiver or elderly person). Etc.
This will be described in detail below.

The standing motion guidance system 10 includes an inertial sensor 14 that is attached to the upper body 13 of the subject 12. Here, the upper body 13 is also called a trunk and means the body from the chest 15 to the abdomen 16.
The inertial sensor 14 can be worn on the upper body 13 of the subject 12, particularly the chest 15 and the back 17, and is a conventionally known small-sized sensor incorporating a triaxial acceleration sensor and a triaxial angular velocity sensor (gyro sensor). Although it is a sensor, it is not limited to this. In addition, another sensor may be incorporated in the inertial sensor.
Thereby, when the subject 12 performs a tilting motion (forward tilting motion), the acceleration and angular velocity of the body 13 during this motion can be measured to estimate the motion of the body 13.

Further, the standing motion guidance system 10 includes a computer 18. In addition, although the computer 18 is a conventionally well-known thing provided with RAM, CPU, ROM, I / O, and the bus | bath which connects these elements, it is not limited to this.
The computer 18 uses, for example, the physique data (for example, height and weight) of the subject 12, the height of the chair 11, and the data measured by the inertial sensor 14, and the body of the subject 12 during the tilting motion. Whether or not the center of gravity position Xg in the entire horizontal direction (x direction) (hereinafter also simply referred to as the center of gravity position Xg) is calculated (calculated), and whether or not the center of gravity position Xg has moved to the set region where the standing state is possible (here, And a program (an example of a calculation means) for determining whether or not the gravity center position Xg has entered the region of the foot 19 of the subject 12. The physique data is input to the computer 18 using an external input means such as a keyboard, and the data measured by the inertial sensor 14 is transmitted wirelessly (may be transmitted by wire). To do.

Hereinafter, although the calculation method of the gravity center position Xg of the subject 12 is demonstrated, this calculation is performed by the program in the computer 18 mentioned above.
During the tilting motion during the standing motion, only the trunk moves.
From this, if only the movement of the trunk can be measured using the inertial sensor 14 and posture information at the time of tilting movement can be obtained, this can be applied to the human body model 20 shown in FIG. It was thought that the position Xg could be calculated. In this example, the subject 12 is assumed to be a person who does not lose the balance between the left and right, and attention is paid only to the movement in the front-rear direction. It is of course possible to enter
Therefore, with respect to a method of acquiring the inclination angle of the trunk with the inertial sensor 14 and calculating the horizontal center of gravity position Xg of the subject 12 using this inclination angle, FIGS. The description will be given with reference.

First, in order to simplify the model, as shown in FIG. 2A, a rigid body link model in which the body of the human body model 20 (target person 12) is divided into a total of three parts, a trunk, a thigh, and a crus. It was. The physical parameters of each link were based on past research results. The weight of the head and upper limbs was included in the trunk.
Then, the load R ₁ (reaction force R ₁ generated on the foot) and the load R ₂ (reaction force R ₂ generated on the chair) on the chair (chair 11) of the foot 19 are calculated. Using the load, the horizontal center-of-gravity position Xg from the heel (the center-of-body centroid position (x-direction) starting from the heel) was calculated using Equation (1).
Xg = R ₂ (L ₂ cos θ ₂ −L ₁ cos θ ₁ ) / (R ₁ + R ₂ ) (1)
Hereinafter, the derivation method of Formula (1) is demonstrated.

First, FIG. 2 (A), the when the fulcrum than the reaction force R ₁ generated in the foot 19 (B), wherein the force balance is as follows.
R ₂ X ₄ + P ₁ X ₁ = P ₃ X ₃ + P ₂ X ₂ (2)
Here, the meaning of each symbol is shown below.
P ₁ : Force acting on the center of gravity of the lower leg P ₂ : Force acting on the center of gravity of the thigh P ₃ : Force acting on the center of gravity of the trunk X ₁ : Position of the center of gravity of the lower leg starting from the heel ( x direction)
X ₂ : The center of gravity position of the thigh starting from the heel (x direction)
X ₃ : Center of gravity position of the trunk starting from the heel (x direction)
X ₄ : position of the buttock starting from the ridge (x direction)

In addition, P _{1 to} P ₃ and X _{1 to} X ₄ in the above formula (2) are as shown below.
P ₁ = M ₁ g
P ₂ = M ₂ g
P ₃ = M ₃ (g + α _ZM3 )
X ₁ = L ₁ cos θ ₁ × a ₁
X ₂ = L ₂ cos θ ₂ × a ₂ −X ₁
X ₃ = L ₂ cos θ ₂ −L ₁ cos θ ₁ −L ₃ a ₃ cos {θ ₃ − (2π−θ ₂ −θ ₁ )}
X ₄ = L ₂ cos θ ₂ −L ₁ cos θ ₁

Here, the meaning of each symbol is shown below.
M ₁ : Mass of the lower leg M ₂ : Mass of the thigh M ₃ : Mass of the trunk g: Gravity acceleration θ ₁ : Angle of the ankle joint θ ₂ : Angle of the knee joint θ ₃ : Angle of the hip joint L ₁ : _Lower leg length L ₂ : thigh length L ₃ : trunk length α _ZM3 : trunk center of gravity acceleration (z direction)
a ₁ : Position of the center of gravity of the lower leg (the position from the lower end of the lower leg when the length of the lower leg is 100% is converted to “%”)
a ₂ : Center of gravity position of the thigh (the position from the lower end of the thigh when the length of the thigh is 100% is converted to “%”)
a ₃ : Center of gravity position of the trunk (the position from the bottom of the trunk when the trunk length is 100% is converted to “%”)

The above-described equations P _{1 to} P ₃ and X _{1 to} X ₄ are substituted into the aforementioned equation (2) to obtain the load R ₂ to the chair 11 part.
Further, from FIG. 3, when the fulcrum load R ₁ foot 19, wherein the force balance is as follows.
PXg = R ₂ X ₄ (3)
Here, P in the formula (3) is as follows.
P = P ₁ + P ₂ + P ₃ = R ₁ + R ₂
Therefore, the equation (3), and formula X ₄ mentioned above, by substituting the expression for P described above, the equation (1) is obtained.

Thereby, it is possible to determine whether or not the center-of-gravity position Xg obtained from the expression (1) has moved to the set region where the standing state is possible using the computer 18 (program).
Here, when the center of gravity position Xg moves to the set region where the standing state is possible, the subject 12 who wants to shift the upper body 13 from the tilting operation to the ascending operation does not stand up again and returns to the chair 11. An area that does not sit down.
This setting area means, for example, the foot 19 of the subject 12 or an area near the periphery including the foot 19. Here, in the vicinity of the periphery including the foot 19, taking into account the case where the subject 12 has a fast tilting motion, for example, 15 cm backward (preferably 10 cm, more preferably 5 cm) starting from the heel of the foot 19. In consideration of the case where the inclination movement of the subject 12 is slow, for example, the position can be set to a range of, for example, 15 cm (preferably 10 cm, more preferably 5 cm) forward from the toe of the foot 19.

Here, the results of evaluating the effectiveness of the calculation method described above by simulation will be described.
Here, the rising motion for use in the simulation was measured. The subjects (subjects) are five healthy men.
The subjects were given infrared reflection markers on all 12 points on the left and right of the acromion, iliac crest, greater trochanter, knee, heel, and metatarsal, and a three-dimensional motion analysis device ViconMX (using eight infrared cameras) The rising motion was measured using a Vicon-Peak) and four floor reaction force meters (AMTI). The measurement was performed at a sampling frequency of 100 Hz.

In addition, the test subjects were asked to perform five trials of 2 patterns each of 1) normal standing up motion and 2) standing up slower than usual assuming the movement of the elderly.
The height of the chair 11 is 0.42 m, and the position of the foot 19 at the start of the operation is determined in advance so that the subject can easily stand up, and each subject is seated at the same position every time. A tape was affixed to the position of the portion 19 and used as a mark.
And the gravity center position Xg of the horizontal direction was calculated using the data of the inertial sensor 14 at the time of the measured rising operation.

First, representative examples of the calculation results of the center-of-gravity position Xg in each horizontal direction of normal rising of a healthy person and slow rising assuming an elderly person's movement are shown in FIGS. 4 (A) and 4 (B), respectively.
Here, the vertical axis in FIGS. 4A and 4B indicates the horizontal center of gravity position of the whole body (the heel is the origin and the forward is a positive value), and the horizontal axis indicates time. 4A and 4B, the solid line is the actual measurement value, the alternate long and short dash line is the calculated value obtained by the above equation (1), the short dashed vertical line is the timing of getting out of the buttock, and the long dashed horizontal line is the foot The boundaries of the region (base surface) of the part 19 are respectively represented. In addition, the boundary of the area | region of the foot | leg part 19 is prescribed | regulated to the position where the distance from a heel is "-0.053 +/- 0.0057 (m)". Table 1 shows the RMSE (mean square error) value (m) of the center of gravity in the horizontal direction of the entire body.

As shown in Table 1, the RMSE value is “0.021 ± 0.011 (m)” at a normal rise and “0.019 ± 0.013 (m)” at a slow rise, and there are two patterns. Both errors were relatively small. In addition, as shown by the dotted circles in FIGS. 4A and 4B, it can be seen that a difference opens between the calculated value and the measured value immediately before leaving the saddle.
In this test, the moment when the measured value of the floor reaction force meter installed in the lower part of the chair becomes “0” is defined as getting out of the buttocks. However, since it is assumed that the buttocks and chairs of the human body model are in contact with the ground, when the buttocks start to float toward the floor of the buttocks, there is a difference between the calculated value and the actual measurement value.

On the other hand, in the present invention, it is important to determine whether or not the position of the center of gravity is in the area of the foot portion 19, so accurate calculation of the position of the center of gravity is necessary until the position of the center of gravity enters the boundary of the area. Become.
Here, as shown in FIG. 4 (B), in the slow start-up operation, the buttock does not leave the floor until the center of gravity is sufficiently within the region of the foot 19, so that the accurate center of gravity is calculated up to the boundary of the region. You can see that

In particular, at the rehabilitation site, at the beginning of the standing-up exercise training, it is instructed to put the center of gravity on the foot with a slow motion. This is a safe stand-up method to prevent the chair from falling over when getting up from the chair.On the seating surface of the buttocks before leaving the floor, first move the body's center of gravity forward and then extend the knee first. This is because it is known to stretch the body.
Therefore, during such training, the present invention is considered to be an index for both the subject and the caregiver.

As shown in FIG. 1, the computer 18 of the standing motion guidance system 10 also includes a display (an example of information output means) 21 that outputs an image and a speaker (an example of information output means) that outputs sound.
The display 21 and the speaker present the start time of the ascending motion to the target person 12 with images and sounds, provided that the position of the center of gravity enters the region of the foot 19 of the target person 12. Note that the image and sound are output by a program in the computer 18.

The display 21 displays the tilt state of the upper body 13 as a level until the subject 12 sitting on the chair 11 shifts to the ascending operation. Specifically, the time when the upper body 13 may be greatly tilted (display: “Please tilt the trunk”), the time when the upper body 13 should be carefully tilted (display: “a little more”), and the ascending motion A plurality of bars, each of which is color-coded, are displayed as an image at a suitable time (display: “Please stand up”).
The speaker emits a beep sound (may be a buzzer sound, music, or voice) when the subject 12 shifts from the tilting operation to the ascending operation.

The information output means for presenting the start timing of the ascending operation is not limited to the above-described configuration, and may be a light emitting element that outputs light or a vibration function that outputs tactile stimulation (vibration), for example.
In addition, for example, any one or more of the above-described display, light emitting element, speaker, and vibration function are combined, and correspondingly, any of image, light, sound, sound, and tactile stimulation It is also possible to output 1 or 2 or more.

Here, based on the above-described calculation method of the center of gravity position, a system for outputting the image of the display 21 shown in FIG. 1 was created using Visual C #, and its usefulness was verified.
In this system, as the subject (subject) tilts the trunk and moves the center of gravity, the bars light up sequentially from the left according to the arrows as in the image surrounded by the frame in FIG. This bar illuminates red when the barycentric position is 6 to 12 cm away from the border of the foot 19 area, lights yellow when it is 0 to 6 cm away, and lights blue when entering the area. When the blue light is on, a beep sound is also emitted to inform that the center of gravity is in the area.
In each of the above-mentioned areas, comments such as “Please tilt your trunk”, “Slightly later”, and “Stand up” are displayed to guide the user's actions.

In verifying this usefulness, the muscle activity of healthy subjects was used. The subjects are two healthy men (subject a and subject b). In order to measure the trunk angle of the subject, a 9-axis wireless motion sensor (LOGICAL PRODUCT, 300 (deg / s), 5 (G)) was attached to the chest.
Here, the motion pattern is 1) an operation that stands up at a location where the center of gravity is determined not to be within the area by the system, and 2) a location where the center of gravity is determined to be on the boundary of the region (outside the region) by the system. There are four types of actions: rising action, 3) rising action when the center of gravity is determined to be sufficiently within the area by the system, and 4) rising action as usual without using the system. I had 5 trials.
The muscle activity of the four muscles serving as the main muscles during the standing up motion was measured with a surface electromyograph (EMG Master Km-818, Medicament Co., Ltd.). The measuring muscles are the anterior tibial muscle (TA), the rectus femoris muscle (RF), the greater ankle muscle (GMA), and the spinal column standing muscle (ES).

It was assumed that the rising motion was symmetric with respect to the sagittal plane, and the electromyogram of the right muscle was measured. Moreover, the muscle activity (Maximum Voluntary Contraction; MVC) at the time of the maximum voluntary contraction of each muscle was measured, and the muscle activity required for rising in each pattern was obtained as an average% MVC.
Among the measurement results, the measurement results of the anterior tibial muscle (TA) and the rectus femoris muscle (RF) are shown in FIGS. 5 (A) and 5 (B), respectively. Here, the vertical axis in FIGS. 5A and 5B represents% MVC, and the horizontal axis represents each condition (operation patterns 1 to 4).

First, in Pattern 1, although both of the test subjects got out of bed in all trials, they could not stand up.
Further, when compared throughout, as shown in FIGS. 5A and 5B, pattern 1 and pattern 2 are common to pattern 3 and pattern 4 in common to the two anterior tibialis and rectus femoris. As a result, muscle activity increased relatively.
In addition, regarding the greater aneurysm, the value of% MVC was smaller than that of the past knowledge and there was almost no change, so there is a possibility that the actual muscle activity could not be measured.

In addition, compared to pattern 2, pattern 1 had greater anterior tibial muscle activity as shown in FIG. 5 (A), and lesser straight femoral muscle and spinal column standing muscle activity as shown in FIG. 5 (B). This is because the muscle activity of the anterior tibial muscle increased because it tried to stand up with the center of gravity remaining behind, but it did not stand up before extending the trunk and knee joints, so This is thought to be due to a decrease in activity.
Then, as shown in FIGS. 5A and 5B, it can be seen that the value of pattern 3 is closer to pattern 4 than pattern 2 that can rise, and can rise without difficulty.

  From the above results, by using the standing-up guidance support system according to the present invention, it is possible to guide the user to rise up without difficulty, rather than the standing-up motion that requires a large muscle activity at the rear of the center of gravity. . This is a guideline for rising for the caregiver, and means that even a person who does not have care experience can instruct the cared person for an appropriate rising action.

Next, a method of using the standing motion guidance system 10 according to an embodiment of the present invention will be described with reference to FIG.
First, the subject 12 who can perform the extension phase but cannot stand is seated on the chair 11 and the inertial sensor 14 is attached to the upper body 13 (here, the chest 15). The inertial sensor 14 can be attached with a band or the like, for example.
Next, for example, the physique data (for example, height and weight) of the subject person 12 and the height of the chair 11 are input to the activated computer 18 using a keyboard. At this time, a setting region (here, the region of the foot 19) that can stand up is input in advance.
Note that the acceleration and angular velocity measured by the inertial sensor 14 are input to the computer 18 by radio.

After the above preparation is completed, the subject 12 in a state of sitting on the chair 11 first performs the tilting operation.
The motion of the upper body 13 of the subject 12 obtained during the tilting motion, that is, the acceleration and the angular velocity are sequentially transmitted to the computer 18, and the computer 18 calculates the gravity center position Xg of the subject 12 by a preset program, The movement of the subject 12 is estimated, and it is determined whether or not the gravity center position Xg is in the area of the foot 19.
At this time, since the bar is turned on and an instruction to tilt the trunk is displayed on the display 21, the subject 12 adjusts the speed at which the trunk is tilted. I can confirm.

Then, the start time of the ascending motion is presented from the computer 18 to the subject 12, that is, the bar displayed on the display 21 indicates that the position of the center of gravity has entered the area of the foot 19. ”And a beep sound are further generated, so that the subject 12 shifts from the tilting motion to the ascending motion.
Accordingly, the place of use is not limited and can be used easily. For example, even in the absence of a therapist or a caregiver, it is possible to realize a stand-up operation by itself.

As described above, the present invention has been described with reference to the embodiment. However, the present invention is not limited to the configuration described in the above embodiment, and the matters described in the scope of claims. Other embodiments and modifications conceivable within the scope are also included. For example, a case where the standing motion guidance system of the present invention is configured by combining a part or all of the above-described embodiments and modifications is also included in the scope of the right of the present invention.
In the above-described embodiment, the standing motion induction system in which the calculation means, the information output means, and the inertial sensor are separately provided has been described. However, the standing motion induction that integrally includes the calculation means, the information output means, and the inertial sensor. It can also be a system. In this case, it is possible to inform the subject of the start timing of the ascending motion simply by mounting the system on the subject's upper body.
Therefore, in this case, it is possible to provide a standing motion guidance system that is easy to use and that can be made compact.

Further, in the above-described embodiment, the case where the subject person provided support for changing from the state of sitting on the chair to the standing state is described. However, the subject person is not limited to the chair as long as the subject person can sit down. For example, it may be a staircase, a stand, a curb, a flower bed edge, or the like.
Furthermore, in the above embodiment, the case where the horizontal position of the subject's horizontal position during the tilting operation is calculated using Expression (1) has been described. However, if the position of the center of gravity can be calculated, the position is limited to Expression (1). For example, it is possible to use a human body model in which more detailed conditions are set, actual data obtained when the subject performs an inclination operation in advance, or the like.

10: Standing motion guidance system, 11: Chair, 12: Subject, 13: Upper body, 14: Inertial sensor, 15: Chest, 16: Abdomen, 17: Back, 18: Computer, 19: Foot, 20: Human body model, 21: Display (information output means)

Claims (3)

A standing person guidance system for supporting a person to be in a standing state through a tilting action in which a subject in a sitting state tilts the upper body forward and an ascending action to move the upper body up,
An inertial sensor that is mounted on the upper body of the subject and measures acceleration and angular velocity during the tilting operation;
Using the data measured by the inertial sensor, the horizontal position of the subject in the horizontal direction during the tilting operation is calculated, and it is determined whether or not the position of the center of gravity has moved to a set region where the standing state is possible. Computing means for
A standing motion guidance system comprising: information output means for presenting the start time of the ascending motion to the subject on condition that the position of the center of gravity has moved to the set region.   2. The standing motion guidance system according to claim 1, wherein the setting region includes the foot portion of the subject or the foot portion, and from a position of 15 cm backward from a heel of the foot portion, A standing motion guidance system characterized in that it is an area in a range from a toe to a position 15 cm forward.   3. The standing motion guidance system according to claim 1 or 2, wherein the information output means outputs any one or more of an image, light, sound, sound, and tactile stimulus, and determines a start time of the ascending motion. A standing motion guidance system characterized by presenting.

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