JP4021137B2 - Body motion sensing device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a body motion sensing device that can detect movement performed by a body and provide the information to an observer.
[0002]
[Prior art]
There are many proposals of inventions that are attached to the user's body, detect the movement of the body with a sensor, judge the user's movement status from the data, and use it for the purpose of health management and the like. For example, (1) In the technology disclosed in Japanese Patent Application Laid-Open No. 10-295651, a portable terminal having an accelerometer worn by a user (such as on the waist) The telephone is sent to an external center computer, analyzed and subjected to a health check, and the result is received and displayed.
[0003]
(2) In the technique disclosed in Japanese Patent Application Laid-Open No. 2000-41953, a behavior data output device that firstly processes and receives a body motion detected by a body motion sensor of a behavior data collection device (user body side) (External personal computer side) outputs the secondary processed data using personal information. It eliminates the need to input personal information and store a large amount of secondary processing information on the biometric information collection device side, thereby reducing operability and memory capacity.
(3) In Japanese Patent Laid-Open No. 2000-41952, in order to reduce the memory capacity of the behavior information detection device, the number of steps, the walking pace, the type of behavior, the exercise intensity, Biological information such as calorie consumption is calculated, and the calculation result is stored, displayed, or transmitted to the outside every minute.
[0004]
(4) Other stepsTotalThere seemed to be products and documents in which an acceleration sensor was built in a multifunctional wristwatch or the like, and the number of steps and exercise intensity were measured to inform health management information such as calories consumed by exercise.
(5) For the purpose of medical management, in addition to the acceleration sensor, a rotational angular velocity sensor such as a vibration gyroscope is added and specified in order to monitor the movement of a patient who has a disorder in behavior or to make an emergency automatic notification. Researches and experiments aimed at detecting the movement of human beings are reported in related academic conferences.
(6) On the other hand, looking at the motion sensor technology, conventionally, acceleration and angular velocity were measured by separate sensors. In particular, in an angular velocity sensor, a vibration gyroscope using a free free bar or a biped tuning fork as a vibrating body for detecting Coriolis force is being put into practical use.
[0005]
[Problems to be solved by the invention]
Looking at the embodiments of the invention in the above conventional examples (1), (2), and (3), the burden on the user (often a patient with a physical disability) is still small enough and worn. It may not be said that few body devices have been proposed. In the conventional example (4), there is an improvement in the miniaturization of the device, but in the conventional example, the information to be obtained remains within the range of the health management of the healthy person, for example, evaluation of patient rehabilitation, etc. It is not a technology that can be used immediately for medical purposes.
[0006]
Although the purpose of the research in the above-mentioned conventional example (5) is to improve the medical technology, there is a common point with the present invention, but the specific purpose is to detect a motion related to a specific disease (for example, There are many parts that are difficult to apply directly to the present invention, which is intended to take into account the movements of patients suffering from cerebral infarction and cerebral infarction. Also, there seems to be little mention of a specific optimal technique for actually mounting a motion sensor on a patient.
[0007]
Further, in the angular velocity sensor in the prior art given in the conventional example (6), the rotation axis capable of detecting the angular velocity is parallel to the longitudinal axis of the biped tuning fork or the rod-shaped vibrating body, that is, the detectable rotational surface is perpendicular to the longitudinal axis. ing. This inevitably increases the thickness of the body side device when the detectable surface of rotation is parallel to the main surface of the device worn on the body. In addition, if the acceleration sensor and the angular velocity sensor are separate, the body side device becomes large. Under these circumstances, it is difficult to reduce the thickness and size in order to reduce the burden of wearing. There are many examples in which other forms of sensors have been proposed.
[0008]
It is an object of the present invention to detect a movement of a user's body, determine that the movement is a predetermined movement, display the information, and provide a practical action to the person or an observer. It is to provide a sensing device. Another object of the present invention is to provide a body motion sensing device that enables at least measurement of walking and evaluation of rehabilitation.
[0009]
[Means for Solving the Problems]
  In order to achieve the above object, the body motion sensing device of the present invention is as follows.(1)With the features of
(1) A motion sensor capable of measuring acceleration in one direction and a rotational angular velocity around one axis, and measuring the acceleration in one direction and the rotational angular velocity around one axis for a predetermined period by the motion sensor. A body-side device that is attached to a predetermined part of the body, an arithmetic circuit unit that performs a predetermined calculation on the acceleration output and the angular velocity output of the measurement circuit unit, and the predetermined calculation. Determination circuit means for determining the type and intensity of physical exercise in the predetermined period by a combination of the determined acceleration output and angular velocity output, and display means for displaying the determined type and intensity of physical exercise or the evaluation result thereof HaveIn the body motion sensing device,
The predetermined part of the body is a wrist, the acceleration in one direction detected by the motion sensor is substantially the vertical or longitudinal acceleration of the body, and the angular velocity in one direction detected by the motion sensor is the body's angular velocity. An angular velocity with respect to a rotational motion in a plane including a substantially vertical direction and a front-rear direction, and the determination means is a plane including a dispersion value of acceleration in the substantially vertical direction or the front-rear direction of the body and a substantially vertical direction and the front-rear direction of the body. A function of determining the type of body motion based on a dispersion value of an angular velocity with respect to a rotational motion in the body or a logarithmic combination thereofthing.
[0011]
  The body motion sensing device of the present invention further includesAny of the following features (2) to (4)May be provided.
(2) Of the motion sensor, the measurement circuit means, the arithmetic circuit means, the determination circuit means, and the display means, at least the motion sensor and the measurement circuit means are attached to a predetermined part of the body. Built in the body side device, other means are built in the external device not attached to the body, and the body side device is provided with intermediate data transmitting means, and the external device is the intermediate data receiving means. It is equipped with.
[0013]
(3) The body side device is a device attached to the arm, and the angular velocity sensor portion of the motion sensor is housed in a thin box-shaped container, and is substantially parallel to the widest surface of the body side device. The rotation direction of the angular velocity sensor unit is a direction substantially parallel to the widest surface of the box-shaped container.
[0014]
(4) The body side device has a display device on the main surface, and the box-shaped container of the motion sensor houses an acceleration sensor portion and an angular velocity sensor portion of an integrated structure, and the motion sensor The container is arranged in the body side device substantially parallel to the display device, and the acceleration detection direction of the motion sensor is a direction substantially parallel to the widest surface of the box-shaped container.
[0017]
DETAILED DESCRIPTION OF THE INVENTION
FIG. 1 is a block diagram of a first embodiment of a body motion sensing device of the present invention. This apparatus comprises a body side device 1 which is attached to a predetermined part of the body by a user, and an external device 2 which is installed at a place like a medical center, for example. The internal structure of the body side device 1 excites an acceleration sensor 11 that detects acceleration in a specific direction, an angular velocity sensor 12 that detects an angular velocity of rotation parallel to a specific surface, and a sensor that is a mechanical vibrator. (The driving signals are P130 and P140). Further, the acceleration and angular velocity detection signals P11 and P12 are extracted, subjected to processing such as detection and amplification, and outputs a voltage proportional to the detected value, respectively. Is included.
[0018]
The acceleration output P13 and the angular velocity output P14 within a predetermined period (which can be determined by the user himself / herself, determined in advance by the user and the medical staff, or determined by the device's own clock) are acceleration calculation circuits, respectively. 15 and the angular velocity calculation circuit 16 perform a predetermined calculation. The predetermined calculation is to process the waveforms of the signals P13 and P14 and convert the signals. For example, the peak value of the input waveform is extracted, rectified and smoothed and averaged, and the waveform appearing in a predetermined period To obtain the dispersion value of the peak value of the signal, to sample the signal of a predetermined period finely to obtain the dispersion value, to further obtain the logarithm thereof, to perform other mathematical processing, and to obtain the period of the oscillating waveform It means that. The motion data which are those outputs are the acceleration calculation output P15 and the angular velocity calculation output P16. Both outputs are transmitted to the external device 2 by the communication circuit 22 as, for example, a radio wave output P22. Data transmission / reception is performed bidirectionally while both communication circuits 22 and 23 cooperate to check each other's operation. The control circuit 24 acts on each circuit in the body side device 1 to generate control signals P241, P242, P243, P244, and P245, and has a role of adjusting the operation timing of each circuit and the cooperative operation between the circuits. .
[0019]
The configuration and operation of the external device 2 are as follows. The communication circuit 23 that has received the motion data contained in the radio signal P22 demodulates it and converts it into an internal signal P23. The motion determination circuit 17 receives the internal signal P23, and compares the two types of information included in the acceleration calculation output and the angular velocity calculation output included therein with respective numerical ranges that have been experimentally obtained for some types of motion in advance. The type and intensity of exercise performed by the user within a certain period are determined. Alternatively, information on evaluation (for example, progress status of rehabilitation) for the determined exercise is also added.
[0020]
The determination result signal P17 including such information is stored in the storage device 19 and sent to the display device 18 (including necessary circuits), and its contents (type of exercise, intensity, evaluation thereof) and the like are registered in advance. It is displayed together with the user's personal information and recorded by the recording device 21 to enable diagnosis of an observer such as a medical staff. The stored signal P19 including the stored contents is reproduced as needed by the reproducing circuit 20 as the reproduced signal P20 and displayed on the display device 18. The control circuit 26 acts on each circuit in the external device 2, receives the received signal P231, generates control signals P251, P252, P253, P254, P255, and P256, the operation timing of each circuit, and the cooperative operation between the circuits Have a role to adjust.
[0021]
FIG. 2 is a block diagram of a second embodiment of the body motion sensing device of the present invention. In this example, the body side device 1 has the necessary circuits and the display device 18 already described (no communication circuit is required), information on the state of exercise and its evaluation is displayed, and the user (wearer) There is an advantage that you can confirm it. Of course, the stored information can be reproduced later by the reproducing circuit 20 and confirmed by a third party or recorded on an external device. The control circuit 26 acts on each circuit in the body side device 1 to generate control signals P261, P262, P263, P264, and P265, and adjusts the operation timing of each circuit and the cooperative operation between the circuits.
[0022]
FIG. 3 shows an example of the body side device in the embodiment of the present invention, where (a) is a partial plan view and (b) is an AA cross-sectional view thereof. The body side device 3 is substantially a wristwatch type, and can be worn on the wrist with a wrist-wound band 36. A motion sensor 31, a display device 32, a communication circuit module 33, a battery 34 serving as a power source, and an operation switch 35 are shown as main components. The body side device 3 must be thin and small so that wearing is not burdened by the user. The display device 32 is arranged on the widest surface of the body side device 3 corresponding to the display surface of the wristwatch when the visibility is emphasized. The motion sensor 31 is also arranged on the same plane and thus parallel to the display device 32. Since a thin display device 32 such as a liquid crystal display panel can be used, the motion sensor 31 must also be housed in a sufficiently thin package.
[0023]
The reason why the motion sensor 31 is arranged in parallel with the display device 32 is as follows. From the experimental results described later, the optimal motion detection direction is determined based on the linear motion in the vertical direction of the body for acceleration, that is, the X direction shown in FIG. This is a rotation in a plane including both (Ω direction in the figure), that is, a rotational movement around the horizontal rotation axis (parallel to the Z axis in the figure) that faces the left-right direction of the body. Suppose that the body side device 3 is mounted like a wrist watch so that the display surface is on the back side of the wrist or the palm side (this is the most natural and desirable), and when the upper body is upright and the elbow is naturally bent and stretched, its rotation Since the surface is parallel to the display surface of the body side device 3, that is, the display device 32, if there is a thin angular velocity sensor having a rotation detection surface parallel to the widest surface, the motion sensor 31 including this is included in the display device. 32 is preferably arranged in parallel.
[0024]
FIG. 4 is a plan view showing the internal structure of an example of the motion sensor in the embodiment of the present invention. The structure of the motion sensor satisfies all the requirements regarding the shape, arrangement, and detection direction as described above. Reference numeral 40 denotes a thin box-shaped airtight (preferably vacuum) container from which a lid (a ceiling portion of the container) is removed to show the internal structure. Reference numeral 41 denotes a number of hermetic terminal pins that penetrate the bottom of the container. Each pin is connected to each of the electrode film groups on the motion sensor vibrating body 50 by, for example, a wire bonding technique, but the electrode films and bonding wires are not shown. The motion sensor vibrating body 50 is formed from a single flat plate of piezoelectric material, and the acceleration sensor unit and the angular velocity sensor unit are integrated. The motion sensor vibrating body 50 is supported by fixing a fixed portion A52 (shaded portion) on the back surface of the total base 51 and a back surface of a small area fixing portion B64 (shaded portion) on a base (not shown) on the container 40 side. Has been.
[0025]
  The angular velocity sensor portion is a so-called tripod tuning fork-shaped portion, and includes a parallel outer leg A53, outer leg B55, middle leg C54, tuning fork base 56, and fulcrum 57, respectively. The outer leg A53 and the outer leg B55 are cantilevered like an ordinary two-leg tuning fork, and are each oscillated symmetrically with respect to a symmetry axis (not shown).14) Is excited with a constant amplitude by an excitation circuit (oscillation circuit) included in the circuit. The middle leg C54 is not excited, but has a surface electrode for detecting the deflection thereof. 58A, 58B, and 58C shown with hatching different from the fixed portion are each an additional mass, and are composed of a thick plated layer of metal or the like applied to the tip of the leg in order to lower the natural frequency and equalize each other (the middle leg). The natural frequency of C54 may be appropriately different from the natural frequency of both outer legs).
[0026]
When the motion sensor 50 is rotated at an angular velocity Ω around a rotation axis parallel to the Z axis perpendicular to the paper surface, a Coriolis force proportional to the angular velocity Ω acts on both outer vibration legs. The direction is the longitudinal direction of the leg, and if a force toward the leg tip acts on the outer leg A53 at a certain moment, a force toward the base of the leg acts on the outer leg B55. The direction of the force changes sinusoidally in synchronism with the vibration of the leg and reverses periodically. The two forces constitute a couple because the outer legs are separated in parallel, sway the tuning fork base 56, and cause minute rotational vibrations around the fulcrum 57. The middle leg C54 vibrates with an amplitude proportional to the Coriolis force by sensing the vibration of the tuning fork base 56 caused by the moment due to the Coriolis force. The vibration voltage extracted by the detection electrode provided on the middle leg C54 is the angular velocity detection signal (P11 in FIG. 1).
[0027]
  The acceleration sensor portion of the motion sensor 50 is a pair of parallel vibrating spring portions, rod A61, rod B62, load mass 60 (partial mass of a large area material plate and mass of thick plating material applied to the surface thereof) And two support springs 63 (members for allowing a minute displacement in the Z direction shown in the figure while supporting the load mass 60), and a fixed portion B (the load mass 60 is not particularly greatly displaced in the X direction). Part for supporting and fixing). Each of the rods A61 and B62, which are fixed at both ends, is an oscillation circuit (for example, as shown in FIG.Acceleration measurement circuit 13Included).
[0028]
The oscillation frequency is usually constant, but when acceleration in the X direction shown in the figure acts on the load mass 60, the load mass 60 compresses or pulls the rod A61 and the rod B62 in the longitudinal direction with a force proportional to the magnitude. Thus, the oscillation frequency varies depending on the direction and magnitude of the force. Therefore, by comparing a separately provided reference frequency with the oscillation frequency and knowing the direction and amount of change in the oscillation frequency, the acceleration in the X-axis direction can be obtained. There is a possibility that the oscillation frequency of the outer legs A53 and B55, which are vibration bodies for the angular velocity sensor, can be used instead without providing a reference frequency source.
[0029]
Next, various experiments conducted for obtaining the optimum embodiment of the present invention will be described with reference to FIGS. First, FIG. 5 is an explanatory diagram of an experimental situation of vibration response in body motion sensing. The human body 4 as the test subject was placed upright, one leg was placed on the fixed base 5, and the other leg was placed on the base of the vibrator 6 that vibrates in the vertical direction. Note that the coordinate axes of X, Y, and Z are set with the human body 4 as a reference as shown in the figure. A black circle attached to the human body 4 indicates a portion where the acceleration sensor is mounted. First, the response of the sensor mounted on each part to the vibration in the X direction (vertical direction) was obtained. The excitation was a sine wave and swept from 5 to 1000 Hz with a constant acceleration of 4.9 m / s * s. Note that the acceleration in the X direction is also indispensable data for determining the calorie consumption during normal exercise such as walking.
[0030]
FIG. 6 is a graph showing experimental results of vibration response in the Z direction of an acceleration sensor attached to each part of the body when one sole is vibrated under the above experimental conditions, where the horizontal axis represents the excitation frequency and the vertical axis Shows the detected acceleration on a logarithmic scale. (A) is the top of the head, (b) is the chest pocket, (c) is the waist belt, (d) is the ankle, (e) is the wrist with the elbow extended, and (f) is the wrist with the elbow bent and leveled. This is the case. (C) waist belt, (d) ankle, (e) elbow stretched, (f) wrist with bent elbow, sensor attached to body vibration side and body center axis ( Both are shown on the same figure for easy comparison when they are attached to a symmetrical part with respect to the left and right surfaces. Looking at these data, the difference in response between the excitation side and the symmetric side is almost zero over the entire frequency range in FIG. In addition, foot vibrations of about 20 Hz or more have a low transmission rate, and stable detection can be expected to be less affected by the hardness of footwear or the ground in detection of walking and running. For these reasons, it can be seen that it is generally best to wear a sensor on the wrist unless special body part measurements are intended.
[0031]
Next, I tried to detect the motion of the “finger-nose test”, which is an example of a test performed to evaluate the degree of pathology of a hemiplegic patient due to cerebral infarction, using an acceleration sensor and an angular velocity sensor attached to the wrist. . This asks the subject to move his finger to his nose repeatedly according to the metronome signal. FIG. 7 is a graph showing the measurement results of the right and left hand movements in the finger-nose test as they are as detection waveforms, where the horizontal axis is time (seconds) and the vertical axis is the detection value. (A), (b) shows healthy person A, (c), (d) shows healthy person B, (e), (f) shows the case of a left upper limb paralysis patient. As can be seen from these figures, in both healthy subjects, the movement of the hand on either side has a smooth and constant rhythm in both acceleration and angular velocity, but the tempo of movement is slow and the waveform is disturbed in patients with unilateral paralysis. This is especially true for the upper limbs on the paralyzed side, so the severity of symptoms and the degree of improvement compared to past data can be easily determined, and the wrist-type body side device is extremely effective. Recognize.
[0032]
Next, an experiment was performed to identify several types of walking using the measurement results of acceleration and angular velocity in each direction with a motion sensor correctly worn on the wrist. The coordinate axes are as shown in FIG. 5, the X axis is the vertical axis of the upright body, the Y axis is the anteroposterior axis, and the Z axis is the horizontal left and right axis. The subjects are 14 men and women in their 20s and 40s, and there are five types of exercise: normal walking, fast walking, jogging, running, arm-constrained walking (arms crossed, pocketed, holding arm), with 20 or 50 steps as one. The data was collected as a summary. The detected waveform is processed and processed instead of as it is. When one detects a peak of vibration (each peak value of a vibration voltage waveform output from the measurement circuit in response to walking), the other multi-samples the waveform (waveform voltage during 20-50 steps walking) Is sampled at 50 Hz), and the variance of the values at each point (average of the square of the difference between each data and the average value) is calculated. The results are shown separately in FIGS.
FIG. 8A is a diagram using the dispersion values of the X-axis and Y-axis acceleration waveforms, and FIG. 8B is a diagram using the peak values of the X-axis and Y-axis acceleration waveforms.
FIG. 9A shows the X-axis acceleration and the Z-axis angular velocity, and FIG. 9B shows the Y-axis acceleration and the Z-axis angular velocity, both of which use the peak value of the detected waveform.
FIG. 10A is a diagram using dispersion values for both the X-axis acceleration and the Z-axis angular velocity, and FIG. 10B is the Y-axis acceleration and the Z-axis angular velocity.
[0033]
As shown in each figure, first, in FIG. 8 (b) and FIG. 9 (a), (b) in which the peak values are combined, measurement points indicating various movements are solidified with each other, and some of them are quite complicated. There is a risk that the identification of movement is not performed reliably. On the other hand, in the example in which the dispersion values of the detected waveforms are combined, the separability of the motion is poor in FIG. 8A, which is the accelerations, but both the diagrams in FIG. 10 combining the acceleration and the angular velocity are relatively separable. good. In particular, it is considered that the figure (a) using the vertical acceleration Gx and the vertical-front-rear in-plane rotational angular velocity Ωz is slightly more distinguishable.
[0034]
From the above results, it is optimal for motion discrimination when it is general to use the vertical acceleration Gx and the vertical-front-rear in-plane rotational angular velocity Ωz as the motion sensitivity direction in the body side device, as shown in FIG. It is suitable for determination of rehabilitation, and for example, using a thin motion sensor having a detection direction as shown in FIG. 4, it can be realized by a body side device having good wearability and usability as shown in FIG. .
[0035]
It goes without saying that the embodiments of the present invention are not limited to the several forms described above. For example, the direction of sensitivity of acceleration and angular velocity may be selected in different directions depending on the purpose of use of the apparatus. The data transmitted and received between the body side device and the external device may be any data as long as necessary exercise information is transmitted. The body side device may have a function such as a clock or a mobile phone (the clock function can also be used for timing control). Further, the mounting position of the body side device is not necessarily limited to the wrist, and can be set to an arbitrary position on the arm, for example. Further, the motion measurement result is not always processed and displayed as shown in FIG. 8 or below, and the acceleration or angular velocity detection waveform may be displayed as it is as shown in each diagram of FIG. In addition to the experimental processing shown in the experiment, there may be various cases such as obtaining an average of absolute values. It is also conceivable to increase the accuracy of diagnosis and motion evaluation by measuring acceleration or angular velocity in other directions as auxiliary data.
[0036]
Further, the use of this apparatus is not limited to the collection and evaluation of exercise data, and for example, is used as a communication tool. The user performs several types of requests and intentions such as “I want you to come soon” to the remote medical staff, using the pre-arranged physical motion as a cue, and the motion detection waveform on the external device side The cueing action or intention can be known by analyzing.
[0037]
【The invention's effect】
Since the body motion sensing device of the present invention detects acceleration in one direction and rotational angular velocity in one direction and applies a predetermined calculation to them to determine or evaluate motion,
(1) With the minimum number of sensors and measurement circuits, the body-side device can be miniaturized with a simple structure, allowing the power supply to have a margin, and has the basic effect of being an easy-to-handle communication tool. .
[0038]
By adding the constituent features of claims 2 to 7 to the configuration of claim 1, the following effects can be further added.
(2) Since the motion determination result and the evaluation result can be directly read by the body side device, there is an effect that the user can easily perform self-management of health.
[0039]
(3) Since the operation determination result and the evaluation result are displayed on the external device side by data transmission from the body side device, it is possible to observe and manage the states of a plurality of users (patients) on the medical institution side. Further, there is an effect that it is possible to receive a message from the user and perform a corresponding treatment.
[0040]
(4) By specifying the detection direction of the body side device regarding the linear motion and the rotational motion of the body, it is possible to obtain necessary and sufficient information according to the purpose with a small number of detection elements. In addition, since particularly important walking and running movements and upper limb movements can be detected, for example, estimation of energy consumption and evaluation of rehabilitation are possible.
[0041]
(5) Since the widest surface of the body side device and the widest surface of the thin motion sensor are substantially parallel to the detection rotation surface, there is an effect that a thin body side device with less wearing burden can be realized.
[0042]
(6) Further, since the acceleration sensor is integrated with the angular velocity sensor and overlapped with the display unit, there is an effect that a body-side device that is further downsized and easy to see can be realized.
[0043]
(7) By determining the dispersion of the acceleration output or the angular velocity output, there is an effect that the type of exercise is more clearly identified.
[0044]
(8) Further, by taking the logarithm of the exercise measurement value, there is an effect that the discrimination of the exercise type becomes clearer.
[Brief description of the drawings]
FIG. 1 is a block diagram of a first exemplary embodiment of the present invention.
FIG. 2 is a block diagram of a second exemplary embodiment of the present invention.
FIGS. 3A and 3B show an example of a body side device according to an embodiment of the present invention, in which FIG. 3A is a partial plan view, and FIG.
FIG. 4 is a plan view showing the internal structure of the motion sensor in the embodiment of the present invention.
FIG. 5 is an explanatory diagram of an experimental situation of vibration response in body motion sensing.
FIG. 6 is a graph showing experimental results of vibration response of each part of the body, where (a) is the crown, (b) is the chest pocket, (c) is the waist belt, (d) is the ankle, and (e) is the ankle. The wrist with the elbow extended, (f) is the wrist with the elbow bent and leveled.
7 is a graph showing measurement results of right and left hand movements in a finger-nose test, in which (a) and (b) are healthy subjects A, (c) and (d) are healthy subjects B, (e), (F) shows the case of a left upper limb paralysis patient.
FIG. 8 is a graph showing experimental results obtained by performing various body movements and calculating and combining movement data in each direction of the wrist, in which (a) is a dispersion value of acceleration waveforms of the X axis and the Y axis; (B) is a diagram using the peak values of the X-axis and Y-axis acceleration waveforms.
FIGS. 9A and 9B are graphs showing experimental results obtained by combining various movements of the wrist and calculating the movement data in each direction of the wrist. FIG. 9A is an X-axis acceleration and a Z-axis angular velocity, and FIG. It is a figure which took axial acceleration and Z-axis angular velocity, and both used the peak value of a detection waveform.
FIGS. 10A and 10B are graphs showing experimental results obtained by performing various physical exercises and calculating and combining movement data in each direction of the wrist, where FIG. 10A is an X-axis acceleration and a Z-axis angular velocity, and FIG. It is the figure which used dispersion values for both axial acceleration and Z-axis angular velocity.
[Explanation of symbols]
1, 3 Body side device
2 External device
4 Human body
5 fixed base
6 Exciters
11 Accelerometer
12 Angular velocity sensor
13 Acceleration measurement circuit
14 Angular velocity measurement circuit
15 Acceleration calculation circuit
16 Angular velocity calculation circuit
17 Movement judgment circuit
18 Display device
19 Storage device
20 Playback circuit
21 Recording device
22, 23 Communication circuit
24, 25, 26 Control circuit
31 Motion sensor
32 display devices
33 Communication module
34 batteries
35 Operation switch
36 arm winding band
40 Sensor container
41 Hermetic terminal pin
50 Motion sensor vibrator
51 Total base
52 Fixing part A
53 Outer leg A
54 Middle leg B
55 Outer leg C
56 tuning fork base
57 fulcrum
58A, 58B, 58C Additional mass for legs
60 Load mass
61 Bar A
62 Bar B
63 Support spring
64 Fixed part B
G acceleration
Z coordinate axis
Ω Angular velocity

Claims (4)

A motion sensor capable of measuring an acceleration in one direction and a rotational angular velocity about one axis, and a measurement circuit means for measuring the acceleration in the one direction and the rotational angular velocity about one axis for a predetermined period by the motion sensor A body-side device mounted on a predetermined part of the body, arithmetic circuit means for performing predetermined calculations on the acceleration output and the angular velocity output of the measurement circuit means, and the acceleration on which the predetermined calculation is performed body by a combination of output and angular velocity output and a display means for displaying the body and movement type and determining circuit means to strength, the type of the determined physical exercise and intensity or evaluation results in the predetermined time period In motion sensing device,
The predetermined part of the body is a wrist, the acceleration in one direction detected by the motion sensor is substantially the vertical or longitudinal acceleration of the body, and the angular velocity in one direction detected by the motion sensor is the body's angular velocity. An angular velocity with respect to a rotational motion in a plane including a substantially vertical direction and a front-rear direction, and the determination means is a plane including a dispersion value of acceleration in the substantially vertical direction or the front-rear direction of the body and a substantially vertical direction and the front-rear direction of the body A body motion sensing device having a function of determining the type of body motion based on a dispersion value of an angular velocity with respect to a rotational motion in the inside or a combination of logarithms thereof .   A body in which at least the motion sensor and the measurement circuit means among the movement sensor, the measurement circuit means, the arithmetic circuit means, the determination circuit means, and the display means are attached to a predetermined part of the body. The other device is built in the external device that is not attached to the body, and the body side device includes intermediate data transmitting means, and the external device includes the intermediate data receiving means. The body motion sensing device according to claim 1, further comprising: The body side device is a device to be worn on the arm, and the angular velocity sensor part of the motion sensor is housed in a thin box-shaped container, and is arranged almost parallel to the widest surface of the body side device. it is, the angular velocity sensor unit of the detected rotation direction claim 1 or 2 of body movements sensing apparatus characterized in that it is a direction substantially parallel to the widest surface of the container of the box type. The body side device has a display device on its main surface, and the box-shaped container of the motion sensor houses an acceleration sensor portion and an angular velocity sensor portion of an integrated structure, and the motion sensor the container is arranged on the display device substantially parallel to the body side in the apparatus, according to the acceleration detection direction of the motion sensor, which is a direction substantially parallel to the widest surface of the container of the box type Item 3. The body motion sensing device of item 3 .

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