JP5728689B2 - Walking signal generation device and walking signal generation system - Google Patents

Description

  The present invention relates to a walking signal generation device and a walking signal generation system that generate a signal corresponding to a walking of a pedestrian, and is particularly suitable for use when detecting a walking cycle or a walking state of a pedestrian.

  2. Description of the Related Art Conventionally, an apparatus for generating a signal corresponding to a walking state of a pedestrian has been proposed for the purpose of correcting walking motion, rehabilitation, and the like.

  As this type of device, for example, a device in which a pressure sensor is provided on the sole is proposed (see Patent Document 1). The pressure sensor outputs an analog voltage corresponding to the pressure formed between the sole and the floor surface. By continuously measuring the voltage signal from the pressure sensor, it is possible to measure the timing of the grounding of the legs, the takeoff, and the like.

JP-A-2005-192744

  When detecting the walking state, it is preferable that the timing of the grounding of the legs and the timing of taking off can be accurately detected. However, in the pressure sensor, the pressure changes gently before and after the moment of grounding and takeoff, so that the output voltage signal also changes gently. For this reason, when a pressure sensor is used, it is difficult to accurately detect the moment of grounding and takeoff of the leg.

  The present invention has been made in view of such problems, and a walking signal generation device and a walking signal generation system capable of generating a signal that changes in synchronization with the timing at which a pedestrian's leg touches and leaves the ground accurately. The purpose is to provide.

A first aspect of the present invention relates to a walking signal generation device. The walking signal generation device according to this aspect includes an electrode disposed on a bottom portion of a foot, a potential application unit that applies a potential to the electrode, and an electric resistance unit that causes a voltage drop due to the current when the current flows through the electrode. And an output unit that outputs a detection signal that changes due to the voltage drop. The electrode is disposed on the bottom of one foot, the other electrode is disposed on the bottom of the other foot, and when the electrode and the other electrode are short-circuited, the potential applying unit, the electric resistance unit The electrode and the other electrode constitute a closed loop circuit.

According to the walking signal generation device according to this aspect, when a current flows through the electrode when the electrode comes into contact with the conductive floor during walking, the current flows through the electrical resistance unit, and a voltage drop occurs in the electrical resistance unit. The detection signal output from the output unit changes. For this reason, the detection signal changes immediately when the electrode contacts the floor surface. Further, since the detection signal changes according to the voltage drop of the electrical resistance, the rise and fall at the time of change become steep. Accordingly, a detection signal that is accurately synchronized with the timing at which the sole touches and leaves the floor by walking is output, and the detection and detection of the pedestrian's feet can be detected with this detection signal. .
Furthermore, the detection signal from the output unit changes at the timing when both one foot and the other foot are grounded to the conductive floor surface during walking, and one of the feet from the floor surface further changes from this state. The detection signal from the output unit changes at the timing of separation. Therefore, based on the detection signal, it is possible to satisfactorily discriminate between a period in which both legs are grounded (both leg support period) and a period in which one leg is swinging (swing leg period) during a walking motion. .

  In the walking signal generation device according to this aspect, the output unit may be configured to have an output terminal connected to one end of both ends of the electric resistance unit. In this way, the voltage drop of the electric resistance portion can be directly reflected in the detection signal.

  In the walking signal generation device according to this aspect, the electrical resistance unit may be arranged to be connected in series to the potential application unit and the electrode, for example. In this case, the electric resistance unit is disposed, for example, between the potential application unit and the electrode.

In the walking signal generation device according to this aspect, the circuit unit including the electrode, the resistance unit, and the output unit may be configured to be provided for the heel portion and the apex portion of the one foot, respectively. As a result, the detection signal changes at the timing of ground contact and takeoff at the heel and toe of one foot, so based on the detection signal, for example, which foot is in the free leg state during the swing phase Can be determined.

The walking signal generation device according to the second aspect of the present invention includes an electrode disposed on a bottom portion of a foot, a potential applying unit that applies a potential to the electrode, and a current that flows through the electrode. An electrical resistance unit that raises, and an output unit that outputs a detection signal that changes due to the voltage drop. The circuit part which consists of the said electrode, the said resistance part, and the said output part is each arrange | positioned about the heel part and the foot apex part of the said foot .
According to the walking signal generation device according to the present aspect, it is possible to satisfactorily discriminate between a period in which both legs are grounded (both leg support period) and a period in which one leg is swinging (swing leg period) during a walking motion. It becomes possible. Furthermore, it is possible to acquire a detection signal that changes at the timing when the heel portion touches and leaves, and a detection signal that changes at the timing when the toe portion touches and leaves.

A walking signal generation device according to a third aspect of the present invention includes an electrode disposed on a bottom portion of a foot, a potential applying unit that applies a potential to the electrode, and a current that flows through the electrode. An electrical resistance unit that raises, and an output unit that outputs a detection signal that changes due to the voltage drop. When the electrode is disposed in one region obtained by dividing the bottom of the foot in the foot width direction, another electrode is disposed in the other region, and the electrode and the other electrode are short-circuited, the potential applying unit , the electric resistance portion, the circuit of the closed loop by the electrode and the other electrode is Ru configured.
According to the walking signal generation device according to the present aspect, it is possible to satisfactorily discriminate between a period in which both legs are grounded (both leg support period) and a period in which one leg is swinging (swing leg period) during a walking motion. It becomes possible. Furthermore, it is possible to obtain a detection signal that changes at the timing when the foot touches and leaves.

  In this case, the one region and the other region may be regions obtained by dividing the heel portion of the bottom portion of the foot in the foot width direction. In this way, it is possible to obtain a detection signal that changes at the timing when the heel portion of the foot touches and leaves the ground.

  Alternatively, the one region and the other region may be regions obtained by dividing a foot apex portion at the bottom of the foot in the foot width direction. In this way, it is possible to obtain a detection signal that changes at the timing when the toe portion of the foot touches and leaves the ground.

A fourth aspect of the present invention relates to a walking signal generation system. The walking signal generation system according to this aspect includes the walking signal generation apparatus according to the first aspect , the second aspect, or the third aspect , and a conductive floor surface. According to the walking signal generation system according to this aspect, the same effects as those of the walking signal generation apparatus according to the first aspect , the second aspect, or the third aspect can be achieved.

  ADVANTAGE OF THE INVENTION According to this invention, the walk signal production | generation apparatus and the walk signal production | generation system which can produce | generate the signal which changes in synchronism accurately in synchronism with the timing at which a pedestrian's leg touches and grounds can be provided.

The effects and significance of the present invention will become more apparent from the following description of embodiments.
However, the following embodiment is merely an example for carrying out the present invention, and the present invention is not limited by the following embodiment.

It is a figure explaining the relationship between the operation | movement of the walk at the time of a walk, and a walk cycle. It is a figure which shows the circuit structure of the walk signal production | generation apparatus which concerns on Example 1. FIG. It is a figure which shows the external appearance of the mounting part which concerns on Example 1. FIG. 6 is a timing chart schematically showing a relationship between a change in output from the output terminal portion of the walking signal generation device according to Example 1 and a walking motion. It is a timing chart which shows typically the relation between the output change from the output terminal part of the walk signal generation device concerning Example 1, and walk operation. It is a figure which shows the circuit structure of the walking signal production | generation apparatus which concerns on Example 2. FIG. FIG. 6 is a diagram illustrating an appearance of a mounting portion according to a second embodiment. It is a timing chart which shows typically the relation between the output change from the output terminal part of the walk signal generation device concerning Example 2, and walk operation. It is a timing chart which shows typically the relation between the output change from the output terminal part of the walk signal generation device concerning Example 2, and walk operation. It is a figure which shows the circuit structure of the walking signal production | generation apparatus which concerns on Example 3. FIG. FIG. 6 is a diagram illustrating an appearance of a mounting portion according to a third embodiment. It is a timing chart which shows typically the relation between the output change from the output terminal part of the walk signal generation device concerning Example 3, and a walk operation. It is a timing chart which shows typically the relation between the output change from the output terminal part of the walk signal generation device concerning Example 3, and a walk operation. It is a figure for demonstrating the relationship between the driving | running | working operation | movement at the time of driving | running | working, and a driving cycle. It is a timing chart which shows typically the relation between the output change from the output terminal part of the walk signal generation device concerning Example 3, and run operation. It is a figure which shows typically the structure of the functional electrical stimulation apparatus which concerns on the application example 1. FIG. It is a block diagram which shows the structure of the functional electrical stimulation apparatus which concerns on the application example 1. FIG. 10 is a timing chart schematically showing the operation of the functional electrical stimulation device according to application example 1. It is a figure which shows typically the structure of the walking state display system which concerns on the application example 2. FIG. It is a block diagram which shows the structure of the walking state display system which concerns on the application example 2. FIG. It is a figure which shows the example of a display screen on the display surface of the image display apparatus which concerns on the application example 2. FIG. It is a figure which shows the external appearance of the mounting part which concerns on another structure. It is a figure which shows the circuit structure of the walk signal production | generation apparatus which concerns on another structure. It is a timing chart which shows typically the relation between the output change from the output terminal part of the walk signal generating device concerning other composition, and run operation. It is a figure which shows the external appearance of the mounting part which concerns on another structure. It is a figure which shows the circuit structure of the walk signal production | generation apparatus which concerns on another structure. It is a figure which shows the circuit structure of the walk signal production | generation apparatus which concerns on another structure. It is a figure which shows the circuit structure of the walk signal production | generation apparatus which concerns on another structure. It is a figure which shows the circuit structure of the walk signal production | generation apparatus which concerns on another structure. It is a figure which shows typically the relationship between the output change from the output terminal part of the walk signal production | generation apparatus which concerns on another structure, and driving | running | working operation | movement.

  Hereinafter, a walking signal generation device according to an embodiment of the present invention will be described. The walking signal generation device according to the present embodiment can be used, for example, to detect a walking cycle. Hereinafter, basic items related to the walking cycle, a walking signal generation device according to the embodiment, and application examples of the walking signal generation device will be sequentially described with reference to the drawings.

<Walking cycle>
FIG. 1 is a diagram for explaining a relationship between a series of actions and a walking cycle from when the pedestrian's right leg A is grounded to when the right leg A is grounded again to reach the same walking posture. 1 shows the movement of the pedestrian's legs. In FIG. 1, the right direction on the horizontal axis represents the direction of time passage. The elapsed time T (seconds) from the moment T0 when the right leg heel touches the heel AH of the right leg A to the next moment T10 when the next right leg heel touches is one cycle of walking (hereinafter, “one cycle of walking”). It is said.)

  One cycle of walking (T) consists of both leg support periods T0 to T2 and T5 to T7 in which the body is supported by both legs, the left leg swing leg periods T2 to T5 in which the left leg B is swinging, and the right leg A in the swinging leg. Broadly divided into swing periods T7 to T10.

  In the walking example of FIG. 1, the grounding is performed in the order of the heel and the foot apex, and the ground is released in the order of the heel and the foot apex. The support period for both legs begins when the heel touches the ground, and the swing leg period begins when the toes leave the ground.

  In the analysis of the walking cycle, in addition to one walking cycle (T), for example, the time from when the right and left legs are grounded until the opposite leg is grounded (DR, DL), the right and left legs are grounded. Time (right leg ground contact time TR, left leg ground contact time TL) and the like are detected (both in seconds). In addition, the walking rate (60 / T) can be calculated. The unit of walking rate is step / minute.

  When walking speed (meter / second) can be measured (see application example 2), in addition to the above variables, stride = walking speed × T / 2 (meter), walking ratio = step stride / walking rate (meter / minute / step) Etc. can be further calculated.

  As described above, when the cycle and time related to walking are detected, various variables representing the walking state are extracted, and these are used for correcting and rehabilitating the walking motion of the pedestrian.

<Example 1>
FIG. 2 is a diagram illustrating a circuit configuration of the walking signal generation device 1 according to the first embodiment. The walking signal generation device 1 includes a detection circuit unit 10 and a mounting unit 20. In addition, the system comprised with the walk signal production | generation apparatus 1 and the treadmill 30 respond | corresponds to the walk signal production | generation system as described in a claim.

  As will be described later, the mounting portion 20 is composed of a set of socks each having an electrode on the back surface. When walking is performed in a state where the mounting unit 20 is mounted on both legs of a pedestrian, a detection signal is output from the walking signal generation device 1. In the present embodiment, the pedestrian walks on the treadmill 30.

  The detection circuit unit 10 includes a ground terminal GND, an input terminal unit 11, an output terminal unit 12, a power supply 13, and a resistor 14. A ground potential is applied to the ground terminal GND. The input terminal unit 11 includes an input terminal IN1 and an input terminal IN2. The output terminal unit 12 includes an output terminal OUT1.

  The power source 13 generates a DC voltage of a predetermined voltage (for example, several volts, hereinafter referred to as V volts). The negative electrode of the power supply 13 is connected to the ground terminal GND. The positive electrode of the power supply 13 is connected to one end of the resistor 14. The other end of the resistor 14 is connected to the input terminal IN1. The input terminal IN2 is connected to the ground terminal GND. The output terminal OUT1 is connected between the input terminal IN1 and the resistor 14.

The mounting portion 20 includes a right mounting portion 20A that is mounted on the right leg A and a left mounting portion 20B that is mounted on the left leg B. In addition, electrodes 21 and 22 are arranged on the soles of the mounting portions 20A and 20B, respectively (see FIG. 3). The electrode 21 and the input terminal IN1 are connected by a wiring 23, and the electrode 22 and the input terminal IN2 are connected by a wiring 24.

  FIG. 3A and FIG. 3B are views showing the appearance of the mounting portion 20. Fig.3 (a) is the figure which looked at the sole part of each mounting part 20A, 20B from the lower side. FIG. 3B is a view of the right mounting portion 20A viewed from the right side (see the arrow direction in FIG. 3A).

  The right mounting part 20 </ b> A includes an electrode 21 and a shoe lower part 27. The electrode 21 is made of a conductive cloth having a shape similar to the sole of the right foot. The conductive cloth is a fiber formed of conductive yarn. The conductive yarn is, for example, a yarn that has been plated with a metal or an alloy such as aluminum or copper so as to have conductivity. The conductive yarn only needs to have conductivity, and is not limited to the plating treatment, and the conductivity may be realized by any method.

  In the adhesion region 25 arranged on the collar portion on the upper surface of the electrode 21, the wiring 23 is adhered to the electrode 21 with a conductive adhesive. The resistance value of the resistor 14 shown in FIG. 2 has a sufficiently large electric resistance (for example, several kΩ) compared to the electrode 21 made of a conductive cloth.

  The sock lower part 27 is made of a cloth material having no electrical conductivity, and has substantially the same shape as the sock for the right leg. It should be noted that an insulating layer (not shown) may be disposed on the sole portion of the shoe lower part 27 so that the insulating state with the electrode 21 is maintained well.

  In the state where the wiring 23 is bonded to the electrode 21 as described above, the upper surface of the electrode 21 is attached to the sole of the shoe lower part 27. At this time, a part of the wiring 23 is sandwiched between the sole portion of the shoe lower portion 27 and the electrode 21 as shown in FIG.

  The wiring 23 extending from the adhesion region 25 is fixed to the right leg A by an elastic band 29. Thereby, it can be suppressed that the wiring 23 swings greatly during walking.

  The left mounting part 20B has the same configuration as the right mounting part 20A. The left mounting part 20B includes an electrode 22, a shoe lower part 28, and a band (not shown). The wiring 24 is bonded to the electrode 22 in the bonding region 26 on the upper surface side of the electrode 22, and the upper surface of the electrode 22 is attached to the sole of the shoe lower part 28. The wiring 24 is fixed to the left leg B by a band.

  As shown in FIG. 3B, the right leg electrode 21 is curved so as to rise along the heel from the heel portion, and is curved so as to rise along the heel from the foot portion. ing. Thereby, at the time of walking, the electrode 21 is in contact with the floor surface at the same time that the right leg heel AH is grounded, and the electrode 21 is kept in contact with the floor surface until the last moment when the right leg toe AT leaves. This configuration and operation are the same for the electrode 22 for the left leg.

  Returning to FIG. 2, the treadmill 30 includes two shafts 31, a belt-like floor surface 32, and a conductive sheet 33. In addition, in FIG. 2, the structure of the treadmill 30 other than these is not illustrated for convenience.

  The belt-like floor 32 has an annular belt shape and is wound around two shafts 31. The conductive sheet 33 is made of a conductive cloth and has a ring band shape substantially the same as the band-like floor surface 32. The inner surface of the conductive sheet 33 is attached to the outer surface of the belt-like floor surface 32, and the belt-like floor surface 32 and the conductive sheet 33 are integrated. The belt-like floor 32 has a structure that electrically insulates the conductive sheet 33 from other members. For example, the belt-like floor surface 32 is made of an insulating rubber sheet.

  In this embodiment, the conductive sheet 33 is not grounded (hereinafter referred to as “ground connection”).

  When the treadmill 30 is operated, the two shafts 31 are rotated in the same direction at a predetermined rotation speed (see the rotation direction of the arrow). In accordance with the rotation of the shaft 31, the integrated belt-like floor surface 32 and the conductive sheet 33 are rotated around the two shafts 31. Accordingly, the conductive sheet 33 moves in the horizontal direction at a predetermined speed (see the direction of the white arrow). Thus, the pedestrian can walk on the upper surface of the moved conductive sheet 33.

  When walking is performed on the conductive sheet 33 in a state where the mounting part 20 is mounted on the leg of the pedestrian, the bottom surfaces of the mounting parts 20A and 20B are grounded and grounded. When one of the two electrodes 21 and 22 is separated from the conductive sheet 33 by walking, the potential V of the power source 13 appears at the output terminal OUT1 (hereinafter referred to as “ON”). When both the two electrodes 21 and 22 are in contact with the conductive sheet 33, the electrodes 21 and 22 are electrically connected via the conductive sheet 33, and a current flows through the resistor 14 and the electrodes 21 and 22. . This current causes a voltage drop in the resistor 14 and the potential of the output terminal OUT1 falls (hereinafter referred to as “OFF”). The resistance value of the resistor 14 is set sufficiently larger than the resistance values of the electrodes 21 and 22 and the conductive sheet 33. For this reason, the OFF output value becomes substantially zero.

  As will be described below, the voltage signal output from the walking signal generation device 1 according to the present embodiment is quickly turned on approximately at the same time as the two-leg support period, the left leg swing leg period, and the right leg swing leg period are switched. It can be switched off.

  FIG. 4 is a timing chart schematically showing the relationship between the walking motion and the output from the output terminal unit 12 (the potential of the output terminal OUT1). The lower half of FIG. 4 shows a walking action similar to FIG. 1 for reference.

  As shown in the figure, the output from the output terminal OUT1 is OFF during the two-leg support period T0 to T2 and T5 to T7, and is ON during other periods. The period in which the output from the output terminal OUT1 is ON is the swing period.

  In the present embodiment, the electrodes 21 and 22 serve as switches for connecting and opening the input terminals IN1 and IN2. That is, when both the electrodes 21 and 22 are in contact with the conductive sheet 33, the input terminals IN 1 and IN 2 are connected by the electrodes 21 and 22 and the conductive sheet 33. Thus, in this embodiment, since the electrodes 21 and 22 serve as switches for electrical connection, the moment when the voltage signal from the output terminal OUT1 changes is approximately the timing when the leg is grounded or separated. The output waveform of FIG. 4 is synchronized and has a sharp rise and fall.

  For example, the right leg A is grounded and the electrode 21 is in contact with the conductive sheet 33 at the moment (T0) when the right leg heel is grounded. At this time, the left leg B remains grounded. Therefore, the output terminal OUT1 is short-circuited to the ground terminal GND. Therefore, at the moment when the right leg pad touches down (T0), the output from the output terminal OUT1 changes from ON to OFF almost instantaneously as shown in the graph of FIG. 4 (T0).

Strictly speaking, the electrical resistance between the electrode 21 and the conductive sheet 33 varies depending on the area of the region where the electrode 21 and the conductive sheet 33 are in contact with each other. However, the electrical resistance formed between the electrode 21 and the conductive sheet 33 is sufficiently smaller than the electrical resistance of the resistor 14. For this reason, the change in the contact area between the electrode 21 and the conductive sheet 33 hardly affects the voltage signal from the output terminal OUT1. Therefore, at the moment when the electrode 21 and the conductive sheet 33 are in contact with each other, the potential at the output terminal OUT1 changes from approximately V volts to approximately 0 volts almost instantaneously. For this reason, as shown in FIG. 4, the voltage signal is quickly switched from ON to OFF almost simultaneously with the moment when the right leg pad touches (T0).

  Even when the voltage signal from the output terminal OUT1 is switched from OFF to ON, the voltage signal changes rapidly at substantially the same time as the foot toe of the leg is released.

  For example, at the moment (T2) of the left leg toe separation, the left leg B is separated and at the same time, the electrode 22 is separated from the conductive sheet 33. As a result, no current flows through the resistor 14 and the voltage drop across the resistor 14 becomes zero. Therefore, at the moment (T2) of the left leg toe separation, the output from the output terminal OUT1 changes from OFF to ON as shown in FIG.

  Similarly, the voltage signal from the output terminal OUT1 is quickly switched to ON or OFF at the moment of the left footpad grounding (T5), the right leg toe separation (T7), and the right footpad grounding (T10).

  Thus, the fact that the output from the output terminal OUT1 is quickly switched is the same even if the walking motion of the pedestrian changes. As will be described below, even when the pedestrian walks in a different way from FIG. 1, the voltage signal is quickly switched to ON or OFF at the timing of the grounding of the leg and the takeoff.

  FIG. 5 is a timing chart schematically showing a change in output from the output terminal unit 12 when a walking motion different from that in FIG. 1 is performed. On the lower side of FIG. 5, an example of a walking operation different from that in FIG. 1 is shown.

  The walking motion shown in FIG. 5 is for walking at a slower pace than in the case of FIG. In FIG. 1, the right leg heel AH leaves before the moment (T5) when the left leg heel BH contacts the ground (T4). On the other hand, in FIG. 5, the right footpad AH does not take off from the moment when the left footpad BH touches down (S6) until the time when the bottom of the left footpad touches down (S7), and then for a predetermined time. Later, the right leg heel AH is released (S8). In FIG. 5, the both-leg support period is S0 to S3 and S6 to S9. The left leg swing period is S3 to S6. The right leg swing period is S9 to S12.

  Even when the walking shown in FIG. 5 is performed, the output from the output terminal OUT1 is OFF in the both leg support periods S0 to S2 and S5 to S7, and is ON in the other leg periods.

  In the case of FIG. 5 as well, as in the case of FIG. 4, the change of the voltage signal from the output terminal OUT1 is quickly performed almost simultaneously with the switching of the both leg support period, the right leg swing leg period, and the left leg swing leg period. Switched on or off.

  As described above, according to this embodiment, the voltage output from the output terminal OUT1 is changed from ON (substantially V volts) to OFF (substantially V) when the electrodes 21 and 22 are both in contact with the conductive sheet 33 during walking. It switches quickly to 0 volts) almost instantaneously. Further, the voltage output from the output terminal OUT1 is quickly switched from OFF to ON almost instantaneously at the same time when the electrode 21 or the electrode 22 is not in contact with the conductive sheet 33. For this reason, the both leg support period and the swing leg period of the walking cycle can be easily and properly identified by the voltage output from the output terminal OUT1.

When a pressure sensor arranged on the sole is used (see Patent Document 1), pressure is applied to the position where the pressure sensor is arranged depending on whether or not the analog voltage output from the pressure sensor exceeds a predetermined threshold. It can be determined whether or not it is over. However, since the analog voltage signal output from the pressure sensor changes gently according to the pressure, the detection timing can change back and forth depending on the threshold value in the above determination. On the other hand, according to the present embodiment, the voltage signal at the output terminal OUT1 changes almost instantaneously to ON or OFF. Therefore, no matter how the threshold is set, it can be appropriately determined whether or not the current walking state is the both-leg support period. In this embodiment, the threshold value is set to V / 2 volts, for example.

  When a pressure sensor is used (see Patent Document 1), the detection output of walking motion can be affected by hysteresis characteristics, creep characteristics, and the like due to repeated actions of the standing leg (support) and the free leg. On the other hand, in this embodiment, the resistor 14, the electrodes 21, 22 and the conductive sheet 33 are used to generate the detection output (voltage signal), and therefore, the hysteresis with respect to the detection output from the output terminal OUT1. Properties and creep properties are not affected.

  Further, according to the present embodiment, the walking signal generation device 1 does not require a special electric or electronic element such as a pressure sensor. Therefore, the walking signal generation device 1 can generate a detection output capable of precise detection of the walking cycle while having a simple circuit configuration.

  In the present embodiment, the conductive sheet 33 is disposed on the upper surface of the belt-like floor surface 32 of the treadmill 30, and the upper surface serves as a walking surface. In the present embodiment, the walking surface on which the pedestrian walks only needs to have conductivity, and a special electronic circuit structure may not be provided on the walking surface. For this reason, the environment in which the walking signal generation device 1 can be used is not limited, and the convenience of the walking signal generation device 1 is improved.

  Further, in this embodiment, the electrodes 21 and 22 are flexible because they are made of a conductive cloth, and the electrodes 21 and 22 are deformed according to the deformation of the sole portion during walking. Therefore, the walking signal generation device 1 can output an appropriate walking signal based on the natural walking motion of the pedestrian without being disturbed by the electrodes 21, 22 and the like.

  Note that when a small pressure sensor is used to generate a walking signal, it is difficult to adjust the position where the pressure sensor is attached to the sole. On the other hand, according to the configuration of the present embodiment, the electrodes 21 and 22 are made of a conductive cloth, so that they can be easily mounted at desired positions on the soles of the shoe lower portions 27 and 28. In addition, since the electrodes 21 and 22 of the present embodiment are made of a flexible conductive cloth, not only a hard shoe sole but also a flexible shoe or sock can be handled.

  Further, when a large pressure sensor is used to generate a walking signal, the signal may be erroneously detected along with the deformation of the sole at the time of the free leg. On the other hand, in the configuration of this embodiment, when the sole electrode 21 or 22 is separated from the conductive sheet 33, the insulating state is maintained until the electrode 21 or 22 contacts the conductive sheet 33 next time. For this reason, the deformation of the sole at the time of the swinging leg does not affect the output from the output terminal OUT1 of the walking signal generation device 1, and it is possible that the signal is erroneously detected along with the deformation of the sole. Absent.

  In addition, although a large pressure sensor is expensive, the electrodes 21 and 22 made of a conductive cloth are relatively inexpensive. According to the present embodiment, the walking signal generation device 1 can be realized with a simple circuit configuration, and a highly accurate detection signal can be obtained while cost is suppressed.

<Example 2>
In the first embodiment, one electrode 21 and 22 is disposed on each of the left and right mounting portions 20A and 20B. On the other hand, in Example 2, two electrodes (21H, 21T) are arranged on the right mounting portion 20A. By adopting such a configuration, it is possible to determine which leg is in the free leg state during the free leg period. That is, the swing leg period in Example 1 can be further classified into a right leg swing leg period and a left leg swing leg period.

  FIG. 6 is a diagram illustrating a circuit configuration of the walking signal generation device 1 according to the present embodiment. In the electric circuit of FIG. 6, the electrode 21 of the mounting portion 20A is replaced with two electrodes 21H and 21T, and the resistor 14 is replaced with two resistors 14H and 14T, compared to the circuit configuration of FIG. 11 input terminals IN1 are replaced with two input terminals IN1H and IN1T, and the output terminal OUT1 of the output terminal unit 12 is replaced with two output terminals OUT1H and OUT1T.

  Specifically, compared with the configuration of FIG. 2, the electrode of the right mounting portion 20A is separated into two electrodes 21H and 21T, and a wiring 23T, a resistor 14T, and an output terminal OUT1T are added. The wiring 23H connects the heel side electrode 21H and the input terminal IN1H, and the wiring 23T connects the foot tip side electrode 21T and the input terminal IN1T. Two resistors 14H and 14T are connected in series between the input terminals IN1H and IN1T and the positive electrode of the power source 13, respectively. The resistors 14H and 14T have sufficiently large electric resistance (for example, several kΩ) as compared with the conductive cloth (electrodes 21H, 21T, and 22, the conductive sheet 33).

  FIG. 7A and FIG. 7B are diagrams showing the configuration of the mounting portion 20. Fig.7 (a) is the figure which looked at the sole part of each mounting part 20A, 20B from the lower side. FIG. 7B is a view of the right mounting portion 20A viewed from the right side (see the arrow direction in FIG. 7A).

  The electrode 21H is made of a conductive cloth, and has a shape in which the heel side is curved along the heel portion so as to cover the heel portion of the shoe lower portion 27. The wiring 23H is bonded to the electrode 21H with a conductive adhesive in the bonding region 25H arranged on the flange portion on the upper surface of the electrode 21H. In this state where the wiring 23H is bonded to the electrode 21H, the upper surface of the electrode 21H is attached to the heel part of the shoe lower part 27.

  Similarly to the electrode 21H, the electrode 21T is also made of a conductive cloth. The electrode 21 </ b> T has a shape in which the toe side is curved along the toe portion so as to cover the toe portion of the shoe lower part 27. The wiring 23T is bonded to the electrode 21T with a conductive adhesive in the bonding region 25T disposed on the top of the electrode 21T. In this state where the wiring 23T is bonded to the electrode 21T, the upper surface of the electrode 21T is attached to the foot apex of the shoe lower part 27.

  The two wirings 23H and 23T extending from the adhesion regions 25H and 25T are fixed to the right leg A by an elastic band 29. The configuration of the left mounting portion 20B is the same as the configuration of the left mounting portion 20B in the first embodiment.

  With the configuration in FIG. 7, when walking on the treadmill 30 with the right-side mounting portion 20 </ b> A mounted on the pedestrian's right leg A, the electrode 21 </ b> H becomes conductive at the timing when the right leg heel AH is grounded. Next, both the electrodes 21H and 21T are in contact with the conductive sheet 33, and then only the electrode 21T is in contact with the conductive sheet 33. Finally, the right leg ankle AT is released. The electrode 21T comes away from the conductive sheet 33 at the timing.

Referring to FIG. 6, when both the electrode 21T and the electrode 21H are separated from the conductive sheet 33 in a state where the electrode 22 is in contact with the conductive sheet 33, the potential of the power supply 13 is connected to the output terminals OUT1H and OUT1T. V appears (output value ON). In addition, when the electrode 21H is in contact with the conductive sheet 33 while the electrode 22 is in contact with the conductive sheet 33, the potential of the output terminal OUT1H falls to substantially zero potential (output value OFF). When the electrode 21T comes into contact with the conductive sheet 33 while the electrode 22 is in contact with the conductive sheet 33, the potential of the output terminal OUT1T falls to substantially zero potential (output value OFF). Furthermore, when the electrode 22 is separated from the conductive sheet 33 in a state where either or both of the electrode 21T and the electrode 21H are in contact with the conductive sheet,
The potentials of the output terminals OUT1H and OUT1T are V (output ON).

  FIG. 8 is a timing chart schematically showing a change in output from the output terminal unit 12 when the same walking as in FIG. 1 is performed. The lower part of FIG. 8 shows a walking operation similar to FIG. 1 for reference. 8A and 8B show output values of the output terminals OUT1H and OUT1T, respectively.

  In FIG. 8A, the output from the output terminal OUT1H is OFF during the periods T0 to T2 in which the right leg rod AH is grounded and the left leg B is standing, and is ON in other periods. In FIG. 8B, the output from the output terminal OUT1T is OFF during the periods T1 to T2 and T5 to T7 in which the right leg apex AT is grounded and the left leg B is standing. ON during the period.

  For the same reason as in the first embodiment, also in this embodiment, the voltage signal from the output terminal OUT1H is obtained when the right leg heel AH is grounded (T0) or the left leg apex BT is released (T2). It changes at almost the same timing, and the rise and fall of the voltage signal are sharp. The voltage signal from the output terminal OUT1T is that the right leg toe AT is grounded (T1), the left foot toe BT is grounded (T2), the left leg heel BH is grounded (T5), or the right leg toe AT is separated. When the ground (T7) is applied, it changes at substantially the same timing, and the rise and fall of the voltage signal are sharp.

  FIG. 9 is a timing chart schematically showing a change in output from the output terminal unit 12 when the walking motion described in FIG. 5 is performed. FIG. 9A shows an output value from the output terminal OUT1H, and FIG. 9B shows an output value from the output terminal OUT1T.

  In FIG. 9A, the output from the output terminal OUT1H is OFF in the periods S0 to S3 and S6 to S8 in which the right leg AH is grounded and the left leg B is standing, and is ON in other periods. It is. Also, in FIG. 9B, the output from the output terminal OUT1T is OFF during the periods S1 to S3 and S6 to S9 in which the right leg apex AT is grounded and the left leg B is standing, ON during the period.

  As in the case of FIG. 8, the voltage signals from the output terminals OUT1H and OUT1T in the case of FIG. 9 are substantially the same when the heel AH or the foot apex AT or the left leg B of the right leg A is grounded or grounded. It changes with timing, and the rising and falling edges of the output waveforms in FIGS. 9A and 9B are sharp.

  As described above, the timing at which the voltage signals from the output terminals OUT1H and OUT1T change is substantially the same as the timing at which the legs are grounded or separated from the ground regardless of the walking motion. The fall is sharp.

  8A and 8B or 9A and 9B, the both-leg support period, the right leg swing leg period, and the left leg swing leg period are identified as follows.

  First, the both-leg support period is a period in which at least one output of the output terminal OUT1H and the output terminal OUT1T is OFF.

  In walking, there are two types of support periods for both legs. One is a both-leg supporting period (hereinafter referred to as “both-leg supporting period (I)”) that starts when the right leg A is grounded, and the other is that that starts when the left leg B is grounded. It is a both-leg support period (hereinafter referred to as “both-leg support period (II)”).

  The both-leg support period (I) starts when the output of the output terminal OUT1H first changes to OFF. On the other hand, in the both-leg support period (II), the output from the output terminal OUT1H does not change to OFF first. In this way, it is possible to identify whether the both-leg support period is the both-leg support period (I) or the both-leg support period (II) depending on whether or not the output from the output terminal OUT1H first changes to OFF.

  In FIG. 8, the both-leg support period (I) is T0 to T2, and the both-leg support period (II) is T5 to T7. In FIG. 9, both leg support period (I) is S0-S3, and both leg support period (II) is S6-S9.

  The right leg swing period is a swing period (T7 to T10, S9 to S12) before the both leg support period (I). In other words, the right leg swing phase is the swing phase after the both-leg support phase (II). The left leg swing period is a swing period (T2 to T5, S3 to S6) before the both leg support period (II). In other words, the right leg swing phase is the swing phase after the both-leg support phase (I).

  In addition, it is also possible to identify whether the swing leg period is the left leg swing leg period or the right leg swing leg period by the OFF length of the output terminal OUT1T immediately before entering the swing leg period. For example, the period Tb from the time when the foot apex AT of the right leg A is grounded at the timing T1 in FIG. 8 to the time when the left leg B is taken off at the timing T2 is usually relatively short, and the left leg BH is grounded at the timing T5. The period Ta until the right leg A is taken off at the timing T7 is longer than Tb only during the period in which the ground contact position shifts from the heel BH of the left leg B to the foot apex BT. Therefore, by comparing the lengths of the OFF periods before entering the swing leg period, it is possible to determine whether the swing leg period is the right leg swing leg period or the left leg swing leg period.

  As described above, in the present embodiment, the both-leg support period, the right leg swing leg period, and the left leg swing leg period can be identified based on the output from the output terminal portion 12.

  As described above, according to the present embodiment, during walking, the voltage signal from the output terminal OUT1H or OUT1T is turned ON or OFF substantially simultaneously with the moment when the both leg support period, the left leg swing leg period, and the right leg swing leg period are switched. Can be switched. At this time, the rise and fall of the voltage signal are sharp. Since the rise and fall of the voltage signals from the output terminals OUT1H and OUT1T are sharp, the two-leg supporting period, the left leg swing leg period, and the right leg swing leg period can be accurately identified. Therefore, also in the present embodiment, the walking cycle can be detected satisfactorily.

<Example 3>
In the said Example 2, the timing (T6, S7) at which the heel and toes of the left leg B touch and ground was not individually detected. On the other hand, in Example 3, the timing at which the heels and toes of both legs touch and ground is detected individually.

  In the first and second embodiments, the conductive sheet 33 is not grounded (ground connection). However, in the present embodiment, the conductive sheet 33 provided in the treadmill 30 is grounded.

  FIG. 10 is a diagram illustrating a circuit configuration of the walking signal generation device 1 according to the present embodiment. In the circuit of FIG. 10, the electrode 22 is replaced with two electrodes 22H and 22T in the circuit configuration of FIG. 6, two resistors 15H and 15T are added, and the input terminal IN2 of the input terminal unit 11 has two inputs. Instead of the terminals IN2H and IN2T, the output terminal unit 12 is added with two output terminals OUT2H and OUT2T. Further, the conductive sheet 33 of the treadmill 30 is grounded. Thereby, the ground potential is always applied to the conductive sheet 33.

  Specifically, compared to the configuration of FIG. 6, the electrode of the left mounting portion 20B is separated into two electrodes 22H and 22T, and a wiring 24T, a resistor 15T, and an output terminal OUT2T are added. The wiring 24H connects the heel side electrode 22H and the input terminal IN2H, and the wiring 24T connects the foot point side electrode 22T and the input terminal IN2T. Two resistors 15H and 15T are connected in series between the input terminals IN2H and IN2T and the positive electrode of the power source 13, respectively. The resistors 15H and 15T have a sufficiently large electric resistance (for example, several kΩ) as compared with the conductive cloth (electrodes 21H, 21T, 22H, 22T, and the conductive sheet 33) as in the first and second embodiments. .

  FIG. 11 is a diagram illustrating a configuration of the mounting unit 20. The right mounting portion 20A in FIG. 11 has the same configuration as the right mounting portion 20A in FIG. The left mounting portion 20B in FIG. 11 is obtained by applying the left and right mounting portions 20B to the left mounting portion 20B by reversing the configuration of the electrodes and wirings mounted on the right mounting portion 20A in FIG.

  That is, in the left mounting portion 20B, the electrode 22H is made of a conductive cloth and covers the heel portion of the sole of the left leg B. The wiring 24H is bonded to the electrode 22H with a conductive adhesive in the bonding region 26H. The electrode 22T is made of a conductive cloth and covers the foot apex portion of the sole of the left leg B. The wiring 24T is bonded to the electrode 22T with a conductive adhesive in the bonding region 26T. The two wires 24H and 24T are fixed to the right leg A by an elastic band (not shown).

  When walking on the treadmill 30 with the left mounting part 20B mounted on the left leg B of the pedestrian, the electrode 22H contacts the conductive sheet 33 at the timing when the left leg pad BH is grounded. Next, both of the electrodes 22H and 22T are in contact with the conductive sheet 33, and then only the electrode 22T is in contact with the conductive sheet 33. Finally, at the timing when the right leg ankle AT is released, 22T comes away from the conductive sheet 33.

  Referring to FIG. 10, if the electrodes 21H, 21T, 22H, and 22T are not in contact with the conductive sheet 33, the potential V of the power source 13 appears at each of the output terminals OUT1H, OUT1T, OUT2H, and OUT2T (output) ON). Further, when the electrodes 21H, 21T, 22H, and 22T come into contact with the conductive sheet 33, the conductive sheet 33 is grounded. Therefore, the potentials of the output terminals OUT1H, OUT1T, OUT2H, and OUT2T are set to substantially zero potentials. Lower (output OFF).

  FIG. 12 is a timing chart schematically showing a change in output from the output terminal unit 12 when the same walking as in FIG. 1 is performed. 12A to 12D show output values from the output terminals OUT1H, OUT1T, OUT2H, and OUT2T, respectively.

  In FIG. 12A, the output from the output terminal OUT1H is OFF during the periods T0 to T4 when the right leg rod AH is grounded, and is ON during other periods. In FIG. 12B, the output from the output terminal OUT1T is OFF during the periods T1 to T7 when the right leg apex AT is grounded, and is ON during other periods. In FIG. 12C, the output from the output terminal OUT2H is OFF during the periods T5 to T9 when the left footpad BH is grounded, and is ON during other periods. In FIG. 12D, the output from the output terminal OUT2T is OFF during the periods T6 to T10 and T0 to T2 when the left leg apex BT is grounded, and is ON during other periods.

  FIG. 13 is a timing chart schematically showing a change in output from the output terminal unit 12 when the same walking as in FIG. 5 is performed. FIGS. 13A to 13D show output values from the output terminals OUT1H, OUT1T, OUT2H, and OUT2T, respectively.

  In FIG. 13A, the output from the output terminal OUT1H is OFF during the periods S0 to S8 when the right leg limb AH is grounded, and is ON during other periods. In FIG. 13B, the output from the output terminal OUT1T is OFF during the periods S1 to S9 when the right leg apex AT is grounded, and is ON during other periods. In FIG. 13C, the output from the output terminal OUT2H is OFF during the periods S6 to S12 and S0 to S2 in which the left leg BH is grounded, and is ON during the other periods. In FIG. 13D, the output from the output terminal OUT2T is OFF in the periods S7 to S12 and S0 to S3 in which the left leg apex BT is grounded, and is ON in the other periods.

  As shown in FIGS. 12A to 12D and FIGS. 13A to 13D, the voltage when the voltage signal from the output terminal unit 12 is switched ON or OFF also in this embodiment. The signal rises and falls quickly. In addition, the timing at which the voltage signal is switched ON or OFF is substantially the same as the timing at which each heel or toe is grounded or released. As described above, in this embodiment, the timing of grounding and grounding of the right leg heel AH, the right leg toe AT, the left leg toe BH, and the left leg toe BT can be detected with high accuracy.

  Based on the output signal from the walking signal generation apparatus 1 according to the present embodiment, the both-leg support period, the right leg swing leg period, and the left leg swing leg period are identified as follows.

  The both-leg support period is a period in which at least one of the outputs from the output terminals OUT1H and OUT1T is OFF and at least one of the outputs from the output terminals OUT2H and OUT2T is OFF. The right leg swing period is a period (T7 to T10, S9 to S12) in which the output terminals OUT1H and OUT1T are simultaneously ON. The left leg swing period is a period (T2 to T5, S3 to S6) in which the output terminals OUT2H and OUT2T are simultaneously ON.

  FIG. 14 is a diagram for explaining a series of operations from the time when one of a rider's foot is grounded to the time when the foot is grounded again to reach the same running posture. In FIG. 14, the right direction of the horizontal axis represents the direction of time passage.

  The elapsed time from the moment U0 when the right leg heel touches when the heel AH of the right leg A contacts the ground to the next moment U12 when the right leg heel touches is one cycle of traveling operation (hereinafter referred to as “one cycle of traveling”). is there. The running period includes both leg swing periods U4 to U6 and U10 to U12 in which both legs swing freely, right leg stance period U0 to U4 in which the right leg A stands and left leg stance period U6 to U10 in which the left leg B stands. Broadly divided. Compared with walking motion, in running motion, there is no support period for both legs, and instead, there is a swing period for both legs. The right stance phase and the left stance phase correspond to the left leg swing phase and the right leg swing phase, respectively.

  According to the walking signal generation device 1 of the present embodiment, it is possible to detect not only the walking period but also the traveling period during traveling. Specifically, it is possible to discriminate between the swinging leg period, the right stance phase and the left stance period in the running cycle.

  FIG. 15 is a timing chart showing a change in output from the output terminal portion 12 when the traveling operation of FIG. 14 is performed. FIGS. 15A to 15D show output values from the output terminals OUT1H, OUT1T, OUT2H, and OUT2T, respectively. The lower part of FIG. 15 shows a traveling operation similar to that of FIG. 14 for reference.

In FIG. 15A, the output from the output terminal OUT1H is turned OFF only during the period when the right leg heel AH is grounded (U0 to U3). In FIG. 15B, the output from the output terminal OUT1T is turned OFF only during the period when the right leg apex AT is grounded (U1 to U4). In FIG. 15C, only during the period when the left footpad BH is grounded (U6 to U9), the output terminal OU
The output from T2H is turned off. In FIG. 15D, the output from the output terminal OUT2T is turned OFF only during the period when the left leg apex BT is grounded (U7 to U10).

  The right leg stance phase is identified as a period in which at least one of the outputs from the output terminals OUT1H and OUT1T is OFF, and the left leg stance period is identified as a period in which at least one of the outputs from the output terminals OUT2H and OUT2T is OFF. In addition, the both-leg swing leg period is identified as a period in which all the outputs of the output terminals OUT1H, OUT1T, OUT2H, and OUT2T are ON.

  As described above, according to the present embodiment, during walking, the voltage signals from the output terminals OUT1H, OUT1T, OUT2H, and OUT2T are substantially simultaneously with the moment when the both leg support period, the left leg swing leg period, and the right leg swing leg period are switched. Can be switched. At this time, the rise and fall of the voltage signal are sharp. For this reason, discrimination between the both-leg support period, the left leg swing leg period, and the right leg swing leg period can be accurately performed.

  Further, during running, the voltage signals from the output terminals OUT1H, OUT1T, OUT2H, and OUT2T are switched almost simultaneously with the moment when the two leg swing phase, the right leg stance phase, and the left leg stance phase are switched. For this reason, the output from the output terminal portion 12 can favorably identify the both leg swing leg period, the right leg stance period, and the left leg stance period of the running cycle.

  Therefore, according to the present embodiment, the walking cycle and the running cycle can be detected satisfactorily.

<Application example 1>
An application example of the walking signal generation device of the first to third embodiments will be described. The application example 1 shows a functional electrical stimulation device including the walking signal generation device 1 of the second embodiment among the first to third embodiments.

  Functional electrical stimulation devices are used in hospitals and the like for the purpose of correcting walking movements and rehabilitation. The functional electrical stimulation device supplies electrical stimulation to the target muscle at a predetermined timing based on the detection signal from the walking signal generation device. The functional electrical stimulation device assists walking motion by encouraging muscle contraction by electrical stimulation.

  FIG. 16 is a diagram illustrating the configuration of the functional electrical stimulation device 100.

  The functional electrical stimulation device 100 includes a treadmill 30, a circuit box 110, electrical stimulation electrodes 120, and wiring 121. The detection circuit unit 10 of the walking signal generation device 1 according to the second embodiment is accommodated in the circuit box 110. The mounting part 20 of the walking signal generation device 1 is mounted on the left and right legs of the pedestrian.

  The circuit box 110 is attached to a pedestrian's waist by a belt (not shown). For convenience, in FIG. 16, the circuit box 110 is depicted at a position away from the pedestrian shown in FIG. 16. When a pedestrian walks on the conductive sheet 33, an electrical signal for functional electrical stimulation corresponding to the walking cycle is generated by the circuit in the circuit box 110, and the generated electrical signal is transmitted via the wiring 121. And output to the electrical stimulation electrode 120.

The electrical stimulation electrode 120 has a disk shape, and has an electrode (not shown) on the surface that is in close contact with the skin. This electrode is connected to the wiring 121. The electrical stimulation electrode 120 is tightly fixed to the skin at a predetermined position on the leg of the pedestrian in order to appropriately apply electrical stimulation to the target muscle. The wiring 121 connects the circuit box 110 and the electrical stimulation electrode 120. When an electrical signal is supplied from the circuit box 110 to the electrical stimulation electrode 120, electrical stimulation according to the electrical signal is performed.
The electric stimulation electrode 120 supplies the target muscle.

  FIG. 17 is a block diagram showing the overall configuration of the functional electrical stimulation device 100. In addition to the detection circuit unit 10, the circuit box 110 includes an A / D conversion circuit 111, a CPU 112, a storage circuit 113, a timer 114, and an electrical stimulus generation circuit 115.

  The A / D conversion circuit 111 converts the voltage signal output from the output terminal unit 12 of the detection circuit unit 10 into a digital signal and outputs the digital signal to the CPU 112. The CPU 112 controls each unit in the functional electrical stimulation device 100 according to a control program stored in the storage circuit 113.

  The storage circuit 113 stores a control program for operating the CPU 112. The storage circuit 113 is also used as a working memory when the CPU 112 executes a control program. For example, various data and parameters such as data relating to past walking cycles and parameters for determining the timing for generating an electrical signal are stored in the storage circuit 113.

  The timer 114 measures the passage of time under the control of the CPU 112. Specifically, the timer 114 detects the length of one walking cycle detected by the detection signal from the walking signal generation device 1, the length of the stance phase and the swing phase of the left and right legs, and the heels of the left and right legs. Measure elapsed time since then. The timer 114 is used by the CPU 112 in order to acquire the generation timing and end timing of the electrical signal in the electrical stimulus generation circuit 115.

  The electrical stimulation generation circuit 115 outputs an electrical signal to the electrical stimulation electrode 120 based on a control signal input from the CPU 112. In the configuration example of FIG. 17, two terminals are shown as the output terminal unit 116, but two or more electrical stimulation electrodes 120 can be appropriately connected to the output terminal unit 116 depending on the purpose of use. In addition, the output terminal portion 116 may have two or more terminals.

  FIG. 18 is a diagram schematically illustrating an operation example of the functional electrical stimulation device 100. In this example, the free leg of the pedestrian's right leg A is assisted by the functional electrical stimulation device 100. The electrical stimulation electrode 120 is closely fixed to a position for allowing the right leg A to move freely. Note that the content of assist by the functional electrical stimulation device 100 is set using, for example, a control panel (not shown) or the like disposed on the outer surface of the circuit box 110.

  In this operation example, based on the detection signals from the output terminals OUT1H and OUT1T of the detection circuit unit 10 shown in FIGS. 10B and 10C, the electrical signal shown in FIG. Is output from. That is, an electrical signal for stimulating the target muscle of the right leg A is output from the electrical stimulation generation circuit 115 at a timing immediately before the transition to the right leg swing phase. Thereby, the free leg of the right leg A is assisted. Specifically, the CPU 112 performs the following processing.

  When walking is started, the CPU 112 detects both leg support periods (I) and (II), the left leg swing leg period and the right leg swing leg period based on the digital signal input from the A / D conversion circuit 111. Further, based on the walking cycle detected in this way, one walking cycle is detected. Such detection is performed according to the method described in the second embodiment.

Next, the CPU 112 sets the electrical signal generation timing t1 and the time length t2 based on the start timing and the period length of the both-leg support period (II) in one walking cycle. The generation timing t1 is set as an elapsed time from the timing when the output from the output terminal OUT1T is switched from ON to OFF, and the time length t2 is set as a time length from the generation timing t1.

  In this way, the CPU 112 outputs an electrical signal at a timing immediately before the transition to the right leg swing leg period for each walking cycle. As a result, the free leg of the right leg is assisted and the pedestrian's way of walking is corrected.

  The generation timing t1 and the time length t2 are based on the walking cycle (both leg support period (I), (II) left leg swing leg period and right leg swing leg period) acquired one time before the walking cycle. It may be set, or may be set by statistically processing a walking cycle acquired from one to several times before the walking cycle.

  As described above, according to the first application example, the CPU 112 can apply the electrical stimulation to the target muscle at a desired timing according to the purpose based on the detection signal from the walking signal generation device 1 of the second embodiment. it can. As described in the second embodiment, the change timing of the detection signal from the walking signal generation device 1 coincides with the start / end timing of each walking period with high accuracy. For this reason, the time accuracy of the electrical stimulation applied to the target muscle is also improved, and assisting or rehabilitation of walking motion can be effectively performed.

<Application example 2>
The application example 2 relates to a walking state display system including the walking signal generation device 1 of the second embodiment. The walking state display system notifies the pedestrian of the walking state by displaying the walking state as an image. The walking state display system is used in hospitals and the like for the purpose of correcting walking movements and rehabilitation. Based on the detection signal from the walking signal generation device 1, various types of information regarding the walking state are displayed in real time on an image display device such as a liquid crystal display.

  FIG. 19 is a diagram illustrating the configuration of the walking state display system 200.

  The walking state display system 200 includes a treadmill 30, a circuit box 210, and an image display device 220. The detection circuit unit 10 of the walking signal generation device 1 is accommodated in the circuit box 210, and the mounting unit 20 of the walking signal generation device 1 is mounted on the left and right legs of the pedestrian.

  A rotation measuring device 35 is disposed on the treadmill 30. The rotation measuring device 35 includes a roller 35a and a rotation shaft 35b of the roller 35a. The roller 35 a is pressed against the conductive sheet 33 and rotates as the conductive sheet 33 moves. The rotary shaft 35b is equipped with a rotary encoder for detecting the rotational speed of the rotary shaft 35b. The output from the rotary encoder is supplied to the circuit box 210 via the cable 234. The circuit box 210 calculates the moving speed of the conductive sheet 33 (pedestrian walking speed) based on the output from the rotary encoder.

  A rotary encoder may be attached to the shaft 31 without providing the roller 35a and the rotating shaft 35b. Moreover, the movement speed (walking speed of a pedestrian) of the conductive sheet 33 can be determined by using a control panel (not shown) or the like arranged on the outer surface of the circuit box 210 without arranging the rotation measuring instrument 35. You may make it input manually into the circuit box 210. FIG.

  The circuit box 210 is attached to a pedestrian's waist by a belt (not shown). For convenience, in FIG. 19, the circuit box 110 is depicted at a position away from the pedestrian shown in FIG. When a pedestrian walks on the conductive sheet 33, a video signal related to an image for notifying the pedestrian of the walking state is generated by a circuit in the circuit box 210, and the generated video signal is connected to the cable 220a. To the image display device 220. Thereby, information regarding the walking state of the pedestrian is displayed on the image display device 220.

  FIG. 20 is a block diagram showing the overall configuration of the walking state display system 200.

  The circuit box 210 is obtained by replacing the circuit box 110 of FIG. 17 with the electrical stimulus generation circuit 115 replaced by a video decoder 212 and further adding an input circuit 211.

  The input circuit 211 receives an electrical signal (output from the rotary encoder) representing the moving speed from the rotation measuring device 35. The input circuit 211 converts the received electrical signal into a digital signal that can be processed by the CPU 112 and outputs the digital signal to the CPU 112. The CPU 112 calculates the moving speed of the conductive sheet 33 based on the digital signal input from the input circuit 211.

  In this application example, the storage circuit 113 stores a control program for displaying an image representing a walking state. The CPU 112 controls each unit according to a control program stored in the storage circuit 113. The CPU 112 generates a video signal for notifying the walking state and outputs the video signal to the video decoder 212.

  The video decoder 212 converts the video signal from the CPU 112 into an analog or digital video signal that can be displayed on the image display device 220, and outputs the converted video signal to the image display device 220 via the cable 220a. The image display device 220 receives the video signal from the video decoder 212 and displays the image represented by the video signal on the display surface of the image display device 220.

  21A to 21D are diagrams showing examples of screens displayed on the display surface 220b of the image display device 220. FIG.

  FIG. 21A is a diagram showing a display screen when a control program for displaying the deviation of the center of gravity position of the body is executed.

  The deviation of the two ratios DR / T and DL / T (see FIG. 1) calculated from the walking cycle can be regarded as an index representing the deviation of the center of gravity position. The CPU 112 calculates two ratios DR / T and DL / T based on the digital signal input from the A / D conversion circuit 111, and calculates the deviation of these two values DR / T and DL / T as the center of gravity position. The bias is displayed on the display surface 220b of the image display device 220. When DR> DL, the center of gravity position of the body is considered to be biased to the right, and conversely, when DL <DR, the center of gravity position of the body is considered to be biased to the left.

  As shown in FIG. 21A, a bar 221 extending horizontally is displayed on the display surface 220b, and a center line 224 is further displayed at the center position of the bar 221 in the left-right direction. The bar 221 is divided into two bars 222 and 223 on the left and right by a dividing line 225. The dividing line 225 is displayed at a position that divides the entire length of the bar 221 to the left and right at a ratio of DR / T and DL / T, respectively.

  The CPU 112 calculates the ratios DR / T and DL / T and updates the position of the dividing line 225 at any time during the walking motion. Thereby, the pedestrian can know the deviation of the center of gravity position at each timing during the walking motion, and can correct the walking motion appropriately.

  FIG. 21B is a diagram showing a display screen when the control program for displaying the contact time is executed.

The CPU 112 detects one walking period T based on the digital signal input from the A / D conversion circuit 111. Further, the CPU 112 detects the right leg contact time TR and the left leg contact time TL (see FIG. 1). Further, the CPU 112 calculates the ratios TR / T and TL / T based on the detected walking period T, the right leg contact time TR, and the left leg contact time TL, and the calculated ratios TR / T and TL / T. Is displayed on the display surface 220b of the image display device 220.

  As shown in FIG. 21B, two bars 230 and 231 having the same height arranged side by side are displayed on the display surface 220b. A one-dot chain line in the horizontal direction is displayed at the position of the upper side of the bars 230 and 231. The height of the bars 230 and 231 corresponds to one walking period T. In each of the bars 230 and 231, bars 232 and 233 are further displayed. The heights of the bars 232 and 233 respectively correspond to the ratios TR / T and TL / T of the right leg contact time TR and the left leg contact time TL with respect to one walking cycle. Further, numbers representing the ratios TR / T and TL / T in percentage are appended to the bars 232 and 233, respectively.

  The CPU 112 calculates the ratios TR / T and TL / T at any time during the walking motion, and updates the heights of the bars 232 and 233 and the numbers attached to the bars 232 and 233. Thereby, the pedestrian can know the deviation of the contact time and the contact time of the left and right legs at each timing during the walking motion, and can appropriately correct the walking motion. For example, in the case of FIG. 21B, the pedestrian corrects the walking motion so that the contact time of the right leg is longer than the current time.

  FIG.21 (c) is a figure which shows a display screen when the control program for displaying a stride | walk, a walk rate, and a walk ratio is performed.

  The CPU 112 requires a walking speed V calculated based on the digital signal from the input circuit 211 and a walking period T (= 2 steps) detected based on the digital signal input from the A / D conversion circuit 111. Time), V * T / 2 is calculated, and the calculated value V * T / 2 is obtained as the stride. Further, the CPU 112 calculates walking rate = 60 / T, and further calculates walking ratio = step length / walking rate.

  As shown in FIG. 21C, the CPU 112 displays a line graph representing the calculated stride, walking rate, and walking ratio on the display surface 220b. The horizontal axis of the graph represents the passage of time. In FIG.21 (c), the three broken lines 240, 241, and 242 represent the transition of a stride, a walk rate, and a walk ratio, respectively. Further, a standard walking ratio line 243 representing a standard value of the walking ratio is displayed on the display surface 220b.

  The CPU 112 calculates the stride, the walking efficiency, and the walking ratio at any time during the walking operation, and updates the screen displayed on the display surface 220b. Thereby, the pedestrian can know the current and past stride, the walking rate, and the walking ratio through the broken lines 240, 241, and 242 displayed on the display surface 220b, and can appropriately correct the walking motion. For example, in the case of FIG. 21 (c), the pedestrian corrects the walking motion so as to increase the stride or decrease the walking rate.

  Note that a plurality of display contents described in FIGS. 21A to 21C may be combined with each other. For example, as shown in FIG. 21D, the display contents of FIGS. 21A to 21C can be combined and displayed on the display surface 220b. In FIG. 21D, an image representing the deviation of the center of gravity position is displayed in the upper left portion of the display surface 220b, and an image representing the contact time of the left and right legs is displayed in the lower left portion of the display surface. In addition, a line graph image representing the transition of the stride, the walking rate, and the walking ratio is displayed on the right side of the display surface.

The walking signal generation apparatus 1 according to the second embodiment is used in the walking state display system 200 according to this application example. As described above, the voltage signal from the output terminal OUT1H or OUT1T is quickly turned ON (substantially 0 volts) or OFF (substantially at the same time when the both leg support period, left leg swing leg period and right leg swing leg period are switched. (Substantially V volts) (see FIGS. 18B and 18C). For this reason, the CPU 112 can identify the both-leg support period, the left leg swing leg period, and the right leg swing leg period with good time accuracy. As a result, the bias of the center of gravity position, the contact time of the left and right legs, the walking rate, the walking ratio, etc. Can be calculated accurately. Therefore, the walking state display system 200 can display information on the walking state with good time accuracy on the display surface 220b. The pedestrian can effectively perform walking correction, rehabilitation, and the like while visually recognizing information with high time accuracy through the display surface 220b.

<Others>
As mentioned above, although the Example based on this invention and its application example were demonstrated, this invention is not restrict | limited to the said Example and application example at all. In addition to the above, various modifications can be made to the embodiments and application examples of the present invention.

  For example, in Examples 1 to 3 and Application Examples 1 and 2, an electrode made of a conductive cloth is attached to the bottom of the attachment part 20, but for example, a conductive tape is used as an electrode instead of the conductive cloth. , It may be attached to the lower shoes (27, 28) of the mounting part 20. Alternatively, the sole part of the shoe lower part may be made of a conductive yarn, and the sole part may be used as an electrode. In these cases, the wiring that connects the detection circuit unit 10 and the electrode is bonded to the sole of the shoe lower part made of a conductive tape or conductive yarn by a conductive adhesive or the like.

  Further, the electrodes (21, 22, 21H, 22T, 22H, 22T) of the mounting portion 20 and the wirings (23, 24, 23H, 23T, 24H, 24T) may be electrically connected. A conductive adhesive may not be used for connection. For example, the wiring may be attached to the electrode using a conductive tape. Alternatively, the wiring may be fixed to the electrode with solder or the like.

  Further, the electrode of the mounting portion 20 and the conductive sheet 33 are only required to have conductivity, and may be manufactured using any conductive material such as a metal, an alloy, a conductive resin, or a conductive rubber. In addition, although the electroconductive material utilized by the said Examples 1-3 and the application examples 1-2 should just have electroconductivity at least, this invention also has other characteristics with an electroconductive material. It does not exclude having. However, it is preferable that the conductive material has a resistance value as small as possible. When the electrode and the conductive sheet 33 are configured as in the above embodiment, the resistance value is significantly smaller than the resistor on the detection circuit unit 10 side. The material needs to be

  In Examples 1 to 3 and Application Examples 1 and 2, the left and right mounting parts 20A and 20B of the mounting part 20 are each provided with one or two electrodes on the bottom of the foot. The shape and arrangement position of the arranged electrodes need not be limited to those described in Examples 1 to 3 and Application Examples 1 and 2, and can be appropriately changed according to the purpose.

  For example, as shown in FIG. 22, a configuration may be adopted in which two electrodes divided into left and right are disposed on each mounting portion 20A, 20B sole. Wirings 23a, 23b, 24a, and 24b are respectively connected to the electrodes 21a, 21b, 22a, and 22b in the bonding regions 25a, 25b, 26a, and 26b of the right and left flanges. Each of the electrodes 21a, 21b, 22a, and 22b is curved so as to rise along the heel from the heel portion, and is curved so as to rise along the heel from the foot portion.

With this configuration, while the right leg is grounded, the electrodes 21 a and 21 b are always in contact with the conductive sheet 33, and the electrodes 21 a and 21 b are electrically connected via the conductive sheet 33. Similarly, while the left leg is grounded, the electrodes 22a and 22b are always in contact with the conductive sheet 33, and the electrodes 22a and 22b are electrically connected via the conductive sheet 33.

  In the case of the configuration of FIG. 22, the circuit configuration of FIG. 23 can be taken. Resistors 14 and 15 are connected in series between the electrodes 21a and 22a and the power source 13, respectively. The output terminal unit 12 includes output terminals OUT1 and OUT2. As shown in FIG. 23, the output terminal OUT1 is connected between the resistor 14 and the electrode 21a. The output terminal OUT2 is connected between the resistor 15 and the electrode 22a. The electrodes 21b and 22b are connected to the ground terminal GND.

  FIGS. 24A and 24B are timing charts showing changes in outputs from the output terminals OUT1 and OUT2 when the walking motion of FIG. 1 is performed, respectively. The output from the output terminal OUT1 is ON during the right leg swing phase and is OFF during other periods. The output from the output terminal OUT2 is ON during the left leg swing phase and is OFF during other periods. The period in which the outputs from the output terminals OUT1 and OUT2 are both OFF is the both-leg support period.

  In addition, as shown in FIG. 25, four electrodes may be arranged on each of the left and right soles. In this case, as shown in FIG. 26, resistors 14H, 14T, 15H, and 15T similar to FIG. 23, output terminals OUT1 to OUT4, and inputs are input to the two electrodes of the heel and the two electrodes of the toe, respectively. A circuit including terminals IN1a to IN1d and IN2a to IN2d is applied. By the output from each output terminal, it is possible to individually detect the contact period of the heel of each leg and the contact period of the toes.

  Further, in Examples 1 to 3 and Application Examples 1 and 2, the potential difference between the potential of the output terminal unit 12 and the ground potential is used as the detection signal. However, even if the detection signal is acquired by other methods. good. For example, in the circuit configuration of FIG. 4, as shown in FIG. 27, the potential difference between the output terminal OUT1 ′ and the output terminal OUT1 may be used as the detection signal. In this case, the potential difference between the output terminals OUT1 and OUT1 ′ is ON (substantially V volts) during the both-leg support period and is OFF (substantially 0 volts) during the free leg period. Similar changes can be made in the second and third embodiments. The detection signal may be any signal that changes due to a voltage drop caused by a current flowing through the resistor.

  Moreover, in the said Examples 1-3 and the application examples 1-2, although the resistor was connected between the power supply 13 and the electrode distribute | arranged to the sole part, as shown in FIG. 28, for example, It may be connected between the ground terminal GND. The circuit configuration of FIG. 28 is different from the circuit configuration of FIG. 4 in that the resistor 14 is moved from between the power supply 13 and the electrode 21 to the ground terminal GND and the electrode 22 and the output terminal OUT1 is moved. The resistor 14 and the electrode 22 are connected. According to this circuit configuration, the output from the output terminal OUT1 (potential difference with respect to the ground terminal GND) is ON (substantially V volts) during the both-leg support period and is OFF (substantially 0 volts) during the free leg period. The connection position of the output terminal can be appropriately changed according to the change in the position of the resistor.

  Moreover, in the said Examples 1-3 and the application examples 1-2, the voltage output from one output terminal of the output terminal part 12 took the binary value of ON (V volt) and OFF (0 volt). However, the voltage output from one output terminal may take an output of three or more values.

  In this case, for example, the circuit of FIG. 10 can be changed to the circuit of FIG. In the circuit configuration of FIG. 29, the number and position of resistors and the number and position of output terminals are changed with respect to the circuit configuration of FIG.

In FIG. 29, resistors 14H and 15H are arranged between the ground terminal GND and the electrodes 21H and 22H, respectively. Further, a resistor 16 is further connected to the positive electrode side of the power supply 13. The output terminal unit 12 includes two output terminals OUT1 and OUT2, and is connected to both ends of the resistor 16 as shown in FIG. The output terminal OUT1 is connected between the resistor 16 and the power source 13. The output terminal OUT2 is connected between the resistor 16 and the resistors 14T and 15T.

  FIG. 30 is a timing chart schematically showing a change in output from the output terminal 12 of FIG. 29 when the walking motion of FIG. 1 is performed. In FIG. 30, the potential difference between the output terminals OUT1 and OUT2 is shown as a detection signal. In FIG. 30, as an example, the voltage of the power supply 13 is 12 volts, and the resistance values of the resistors 14H, 14T, 15H, 15T, and 16 are 1 kΩ, 2 kΩ, 2 kΩ, 1 kΩ, and 1 kΩ, respectively.

  In this case, the both-leg support period is identified as a period from the timing when the detection signal rises from zero to the first fall. Further, the height of the waveform of each period identifies whether the both-leg support period is the both-leg support period (I) or the both-leg support period (II). For example, the both-leg support period (I) and the both-leg support period (II) depend on whether the voltage immediately after rising from the state where the output is 0 volts (T4 to T5, T9 to T10) exceeds 3.2 volts. Identified. In addition to the circuit configuration shown in FIG. 29, the circuit configuration when the detection signal takes three or more values can be designed as appropriate.

  Moreover, in the said Examples 1-3 and the application examples 1-2, although the sock-shaped mounting part 20 was used, when the mounting part 20 is mounted | worn with the leg of a pedestrian, a conductive electrode is formed in a sole. For example, a shoe-shaped mounting portion may be used. Even when the shoe-shaped mounting portion 20 is used, the electrode only needs to have conductivity, and may be manufactured from any conductive material such as conductive rubber. In addition to the sock-like and shoe-like attachment parts, the attachment part 20 can be changed to any shape such as a slipper, sandals, and boots. Moreover, the electrode of the sole may be directly arranged on the sole of the pedestrian.

  In Examples 1-3 and Application Examples 1-2, the conductive sheet 33 disposed on the treadmill 30 was used as the conductive floor surface. However, the floor surface on which the pedestrian walks is conductive. And need not be limited to the conductive sheet 33. For example, the belt-like floor surface 32 of the treadmill 30 may be made of conductive rubber, and the belt-like floor surface 32 may be used instead of the conductive sheet 33. Further, a floor surface having mobility other than the treadmill 30 may be used for detection of walking motion.

  In addition, the floor surface on which the pedestrian walks may not be movable. For example, a pedestrian who has a conductive sheet placed on the floor, hallway, ground, etc. of the room and the mounting portion 20 on his / her foot is mounted on the floor. It may be in the form of walking. When the conductive sheet is laid on the floor as described above, it is preferable that the conductive sheet and the floor are appropriately electrically insulated. In the case of Example 3, the conductive sheet laid on the floor in this way is appropriately grounded.

  Further, a part of the indoor floor or hallway may be made of a conductive material such as a metal, an alloy, a conductive resin, or a conductive rubber in advance. In this case, the conductive material may be arranged on the floor surface in a mesh shape. In addition, the conductive floor surface does not necessarily need to be flat, and may have a curve, a step, or the like depending on the purpose.

In the first to third embodiments and the application examples 1 and 2, the power source 13 is arranged to the detection circuit unit 10. However, the power source 13 may not be arranged to the detection circuit unit 10, and the detection circuit unit 10 is powered from the outside. May be provided with a terminal for inputting. Further, the voltage applied to the electrodes is not limited to direct current but may be alternating current. In this case, an AC voltage having a predetermined amplitude is output from the output terminal unit 12 of the detection circuit unit 10. The walking cycle of walking can be identified by the amplitude of the output AC voltage.

  In the second application example, an image displayed on the image display device 220 is generated by the circuit box 210. Further, the detection of the walking cycle, the bias of the center of gravity position, the contact time of the left and right legs, the walking rate, the walking The variables such as the ratio are also calculated by the CPU 112 in the circuit box 210, but some or all of these processes may be executed outside the circuit box 210. In addition, the image display device 220 may be located away from the pedestrian on the treadmill 30. For example, the information regarding the walking status of the pedestrian may be displayed on a portable terminal possessed by an instructor who corrects the walking of the pedestrian. May be displayed. Further, signal communication may be performed wirelessly in addition to wired communication.

  In the third embodiment, the terminal 34 is used as a means for ground connection of the conductive sheet 33. However, the means for grounding the conductive sheet 33 is not limited to this. For example, a conductive roller that rotates in contact with the conductive sheet 33 may be disposed, and the conductive sheet 33 may be grounded via this roller.

  Further, the circuit configuration of the walking signal generation device need not be limited to the circuit configurations described in the first to third embodiments and the first and second application examples. For example, the resistor may be arranged so as to cause a voltage drop due to the current flowing through the electrode. The application example of the walking signal generation device is not limited to the application examples 1 and 2 described above. For example, the walking signal generation device of the present invention can be applied to a system that records, analyzes, or displays information related to a walking cycle based on a detection signal from a walking signal generation device. In addition, the walking signal generation device of the present invention may be used for walking training to acquire a beautiful walking motion.

  In addition, the embodiment of the present invention can be variously modified as appropriate within the scope of the technical idea shown in the claims.

DESCRIPTION OF SYMBOLS 1 ... Walking signal production | generation device 21, 22, 21H, 21T, 22H, 22T, 21a, 21b, 21c, 21d, 22a, 22b, 22c, 22d ... Electrode 33 ... Conductive sheet (floor surface)
14, 15, 14H, 14T, 15H, 15T, 16 ... Resistor (electric resistance part)
OUT1, OUT1 ′, OUT2, OUT1H, OUT1T, OUT2H, OUT2T
... Output terminal (output part)
13 ... Power supply (potential application unit)

Claims (9)

An electrode placed on the bottom of the foot;
A potential applying section for applying a potential to the electrode;
An electric resistance part that causes a voltage drop due to the current when a current flows through the electrode;
Have a, and an output unit that outputs a detection signal that changes by the voltage drop,
The electrode is arranged at the bottom of one foot,
Another electrode is arranged on the bottom of the other foot,
When the electrode and the other electrode are short-circuited, a closed loop circuit is configured by the potential application unit, the electrical resistance unit, the electrode, and the other electrode.
A walking signal generator characterized by the above. The walking signal generation device according to claim 1,
The output unit has an output terminal connected to one end of both ends of the electrical resistance unit.
A walking signal generator characterized by the above. In the walking signal generation device according to claim 1 or 2,
The electrical resistance unit is connected in series with the potential application unit and the electrode.
A walking signal generator characterized by the above. In the gait signal generating device according to any one of claims 1 to 3,
A circuit part composed of the electrode, the resistance part, and the output part is provided for the heel part and the apex part of the one foot, respectively.
A walking signal generator characterized by the above. An electrode placed on the bottom of the foot;
A potential applying section for applying a potential to the electrode;
An electric resistance part that causes a voltage drop due to the current when a current flows through the electrode;
An output unit that outputs a detection signal that changes due to the voltage drop,
A circuit portion composed of the electrode, the resistance portion, and the output portion is provided for the heel portion and the foot apex portion of the foot, respectively.
A walking signal generator characterized by the above. An electrode placed on the bottom of the foot;
A potential applying section for applying a potential to the electrode;
An electric resistance part that causes a voltage drop due to the current when a current flows through the electrode;
An output unit that outputs a detection signal that changes due to the voltage drop,
The electrode is arranged in one region obtained by dividing the bottom of the foot in the foot width direction, the other electrode is arranged in the other region,
When the electrode and the other electrode are short-circuited, a closed loop circuit is configured by the potential application unit, the electrical resistance unit, the electrode, and the other electrode.
A walking signal generator characterized by the above. The walking signal generation device according to claim 6 ,
The one region and the other region are regions obtained by dividing the heel portion of the bottom of the foot in the foot width direction.
A walking signal generator characterized by the above. The walking signal generation device according to claim 6 ,
The one region and the other region are regions obtained by dividing the foot apex portion of the bottom of the foot in the foot width direction.
A walking signal generator characterized by the above. A walking signal generation device according to any one of claims 1 to 8,
A conductive floor surface;
A walking signal generation system characterized by comprising:

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