WO2013046510A1 - Walking motion analysis system, information processing device, and walking motion monitoring device - Google Patents

Walking motion analysis system, information processing device, and walking motion monitoring device Download PDF

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WO2013046510A1
WO2013046510A1 PCT/JP2012/004560 JP2012004560W WO2013046510A1 WO 2013046510 A1 WO2013046510 A1 WO 2013046510A1 JP 2012004560 W JP2012004560 W JP 2012004560W WO 2013046510 A1 WO2013046510 A1 WO 2013046510A1
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subject
motion
walking motion
time related
walking
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PCT/JP2012/004560
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French (fr)
Japanese (ja)
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光 ▲高▼橋
大輔 宮野
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テルモ株式会社
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Priority to JP2013535834A priority Critical patent/JP6033784B2/en
Publication of WO2013046510A1 publication Critical patent/WO2013046510A1/en

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/112—Gait analysis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
    • A61B5/6802—Sensor mounted on worn items
    • A61B5/6804—Garments; Clothes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
    • A61B5/6813—Specially adapted to be attached to a specific body part
    • A61B5/6824—Arm or wrist
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/74—Details of notification to user or communication with user or patient ; user input means
    • A61B5/746—Alarms related to a physiological condition, e.g. details of setting alarm thresholds or avoiding false alarms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2503/00—Evaluating a particular growth phase or type of persons or animals
    • A61B2503/08—Elderly
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/02—Details of sensors specially adapted for in-vivo measurements
    • A61B2562/0219—Inertial sensors, e.g. accelerometers, gyroscopes, tilt switches

Definitions

  • the present invention relates to a walking motion analysis system that analyzes a walking motion of a subject, and an information processing device and a walking motion monitoring device that constitute the system.
  • devices that incorporate a so-called three-axis acceleration sensor such as a pedometer or activity meter, are conventionally known as inexpensive monitoring devices for monitoring the walking motion of a healthy person. According to such a monitoring device, it is possible to detect the number of steps of the subject, the walking speed, and the like, and calculate the walking amount, calorie consumption, and the like.
  • the present invention has been made in view of the above problems, and an object thereof is to realize an inexpensive system capable of determining whether or not a correct walking motion is being performed.
  • a walking motion monitoring apparatus has the following configuration. That is, A walking motion monitoring device comprising an acceleration sensor and capable of detecting a walking motion of a subject, Extraction means for extracting a peak value from a waveform of acceleration data detected by the acceleration sensor; By associating the peak value extracted by the extraction means with the walking motion of the subject, the time related to the motion of the subject's right foot and the time related to the motion of the subject's left foot are calculated.
  • First calculating means Based on the time related to the motion of the subject's right foot and the time related to the motion of the subject's left foot, calculated by the first calculation means, the right foot and the left foot in the walking motion of the subject And a second calculating means for calculating an evaluation value indicating a balance.
  • FIG. 1 is a diagram illustrating an external configuration of a walking motion analysis system 100 according to the present embodiment.
  • reference numeral 110 denotes an information processing device, which quantitatively evaluates whether or not the walking motion of an elderly person or a rehabilitation patient is correctly performed by analyzing the acceleration data measured by the walking motion monitoring device 130. To do.
  • the 120 is a proximity communication unit for performing proximity communication with the walking motion monitoring device 130, receives acceleration data from the walking motion monitoring device 130, and stores it in the information processing device 110.
  • the walking motion monitoring device 130 is attached to the subject and detects the walking motion of the subject.
  • FIG. 2 is a diagram illustrating a functional configuration of the information processing apparatus 110.
  • 201 is a control memory (ROM)
  • 202 is a central processing unit (computer)
  • 203 is a memory (RAM)
  • 204 is an external storage device
  • 205 is an input device
  • 206 is a display device
  • 207 is a proximity communication unit.
  • An I / F unit 208 is a bus.
  • a walking motion analysis program 210 for realizing a walking motion analysis process described later and various data used in the program are stored in the external storage device 204. These programs and data are appropriately taken into the memory 203 through the bus 208 and executed by the central processing unit 202 under the control of the central processing unit 202.
  • FIG. 3 is a diagram illustrating an external configuration of the walking motion monitoring device 130.
  • reference numeral 301 denotes a main body unit, which includes a display unit 302 and an operation unit 303.
  • the display unit 302 displays the number of steps, the walking speed, the step length, and the like calculated based on acceleration data from the built-in triaxial acceleration sensor.
  • the operation unit 303 inputs various setting values and a measurement start instruction, and inputs a switching instruction for switching display contents displayed on the display unit 302.
  • the 304 is a mounting member that is wound around the body part of the subject to which the walking motion monitoring device 130 is mounted and is fixed by the hook-and-loop fastener 305.
  • the configuration of the mounting member is not limited to this, and may be a configuration such as a rubber band or a clip, or may be a configuration such as a wristband or a buckle.
  • the attachment is not limited to the body part of the subject, and may be performed on an object that the subject carries while walking, and the attachment member 304 is suitable for attaching to such an object. It may be a configuration.
  • FIG. 4 is a diagram illustrating a functional configuration of the walking motion monitoring device 130.
  • FIG. 4 shall attach
  • 401 is an audio output unit.
  • the audio output unit 401 outputs a beep sound indicating that various instructions input via the operation unit 303 have been received, or outputs an alarm when a predetermined condition is satisfied.
  • Reference numeral 402 denotes a memory unit that stores measured acceleration data and the like.
  • a timer unit 403 outputs the current time and provides time information stored in association with the measured acceleration data stored in the memory unit 402.
  • the 404 is a three-axis acceleration sensor that can detect the walking motion of the subject by measuring acceleration in three directions of the XYZ axes.
  • the triaxial acceleration sensor includes various methods such as a piezoresistive type, a capacitance type, and a heat detection type.
  • the walking motion monitoring device 130 according to the present embodiment may be any type. Good.
  • Reference numeral 405 denotes a proximity communication unit that transmits and receives information to and from the proximity communication unit 120 connected to the information processing apparatus 110.
  • a power supply unit 406 supplies power to each unit of the walking motion monitoring device 130.
  • the 410 is a control unit that controls the entire walking motion monitoring device 130 and executes a program for calculating the number of steps, walking speed, step length, etc. of the subject. Furthermore, the walking motion monitoring device 130 according to the present embodiment executes a walking motion detection program 411 for realizing a walking motion detection process described later.
  • the control unit 410 determines whether or not the subject is currently in a walking state based on the acceleration data output from the triaxial acceleration sensor 404. If it is determined that the vehicle is in the walking state, the acceleration data is stored in the memory unit 402 in association with the time information.
  • FIG. 5 is a diagram showing the relationship between the acceleration data measured by the walking motion monitoring device 130 and the walking motion, and parameters used when the information processing device 110 analyzes the walking motion.
  • the left foot support state time (L1, L2%) And the right foot support state time (R1, R2%) is used as a parameter.
  • FIG. 6 is a flowchart showing the flow of the walking motion detection process in the walking motion monitoring device 130.
  • acceleration data output from the triaxial acceleration sensor 404 is acquired in step S601.
  • step S602 a peak value is extracted from the waveform of the acquired acceleration data.
  • step S603 it is determined whether or not the extracted peak value appears at a predetermined interval.
  • step S603 If it is determined in step S603 that peak values appear at predetermined intervals, it is determined that the subject is currently in a walking state, and the acquired acceleration data is associated with time information in the memory unit 402. Store and proceed to step S605.
  • step S605 it is determined whether or not an instruction to end the walking motion detection process is input. If it is determined that the instruction is not input, the process returns to step S602. On the other hand, when it is determined that it has been input, the walking motion detection program 411 is stopped and the walking motion detection process is terminated.
  • the walking motion monitoring apparatus 130 executes the walking motion detection program 411 so that only the acceleration data when the subject is in the walking state is stored in the memory unit 402.
  • FIG. 7 is a flowchart showing a flow of walking motion analysis processing in the information processing apparatus 110.
  • acceleration data received via the proximity communication unit 120 is acquired from the walking motion monitoring device 130 in step S701.
  • step S702 a peak value is extracted from the waveform of the acquired acceleration data.
  • each walking motion is assigned to each extracted peak value. Specifically, each walking motion of left foot landing motion, right foot kicking motion, right foot landing motion, and left foot kicking motion is sequentially assigned to the extracted peak value.
  • step S704 the right foot support time (R1, R2%) And the left foot support time (L1, L27) In each walking cycle are calculated based on the peak time information to which each walking motion is assigned.
  • the right foot support time can be calculated from the difference between the time information when landing the left foot and the time information when lifting the left foot.
  • the left foot support time can be calculated from the difference between the time information at the time of landing on the right foot and the time information at the time of kicking up the right foot.
  • step S706 the total right foot support time value calculated in step S705 is compared with the total left foot support time value. If it is determined in step S706 that the right foot support time total value is greater than the left foot support time total value, the process proceeds to step S707, and the left foot support time total value is divided by the right foot support time total value.
  • One foot support time ratio is calculated as an evaluation value.
  • step S706 determines whether the right foot support time total value is less than or equal to the left foot support time total value. If it is determined in step S706 that the right foot support time total value is less than or equal to the left foot support time total value, the process proceeds to step S708, and the right foot support time total value is divided by the left foot support time total value.
  • One foot support time ratio is calculated as an evaluation value.
  • the one-leg support time ratio which is the evaluation value, is always a value of 1 or less, and the closer to 1, the normal walking motion is performed. Can be determined.
  • the right-foot support time and the left-foot support time are calculated by extracting the peak value of the acceleration data of the triaxial acceleration sensor and assigning each walking motion.
  • the right foot support time and the left foot support time are used as parameters in evaluating the balance between the left and right motion times in the walking motion.
  • the present invention is not limited to this, and other parameters may be used.
  • FIG. 8 is a diagram illustrating a relationship between acceleration data measured by the walking motion monitoring device 130 and walking motion, and parameters used when analyzing the walking motion in the information processing device 110 according to the present embodiment. .
  • the time obtained by adding the time in the left foot support state and the time in the subsequent both foot support state (referred to as the left foot contact time. L1 ′, L2). '%) and the time obtained by adding the time of the right foot support state and the subsequent time of the both foot support state (referred to as right foot contact time; R1', R2 '%) as parameters.
  • the left foot contact time L1 ′, L2
  • right foot contact time R1', R2 '
  • FIG. 9 is a flowchart showing the flow of walking motion analysis processing in the information processing apparatus 110.
  • acceleration data received via the proximity communication unit 120 is acquired from the walking motion monitoring device 130 in step S701.
  • step S702 a peak value is extracted from the waveform of the acquired acceleration data.
  • each walking motion is assigned to each extracted peak value. Specifically, each walking motion of left foot landing motion, right foot kicking motion, right foot landing motion, and left foot kicking motion is sequentially assigned to the extracted peak value.
  • step S904 the right foot contact time (R1 ′, R2 ′,%) And the left foot contact time (L1 ′, L2 ′,. 7) is calculated.
  • the right foot contact time can be calculated from the difference between the time information when the right foot is lifted and the time information when the left foot is lifted.
  • the left foot contact time can be calculated from the difference between the time information when the left foot is lifted and the time information when the right foot is lifted.
  • step S906 the right foot contact time total value calculated in step S905 is compared with the left foot contact time total value. If it is determined in step S706 that the right foot contact time total value is greater than the left foot contact time total value, the process proceeds to step S907, and the left foot contact time total value is divided by the right foot contact time total value.
  • One foot contact time ratio is calculated as an evaluation value.
  • step S906 determines whether the right foot contact time total value is equal to or less than the left foot contact time total value. If it is determined in step S906 that the right foot contact time total value is equal to or less than the left foot contact time total value, the process proceeds to step S908, and the right foot contact time total value is divided by the left foot contact time total value.
  • One foot contact time ratio is calculated as an evaluation value.
  • the one-foot contact time ratio which is the evaluation value, is always 1 or less, and the closer to 1, the more normal walking motion is performed. Can be determined.
  • the walking motion analysis system determines whether or not the walking motion is normal by paying attention to the balance between the left and right motion times in the walking motion and determining the ratio of the one-leg contact time. Is determined.
  • the peak value of the acceleration data of the three-axis acceleration sensor is extracted, and the right foot contact time and the left foot contact time are calculated by assigning each walking motion.
  • the parameters are calculated separately for the right foot and the left foot, and the evaluation value is calculated by comparing the two.
  • the present invention is not limited to this, and the evaluation value may be calculated using parameters of both the right foot and the left foot.
  • FIG. 10 is a flowchart showing the flow of the walking motion analysis process in the information processing apparatus 110 according to the present embodiment.
  • acceleration data received via the proximity communication unit 120 is acquired from the walking motion monitoring device 130 in step S701.
  • step S702 a peak value is extracted from the waveform of the acquired acceleration data.
  • each walking motion is assigned to each extracted peak value. Specifically, each walking motion of left foot landing motion, right foot kicking motion, right foot landing motion, and left foot kicking motion is sequentially assigned to the extracted peak value.
  • step S904 the right foot contact time (R1 ′, R2 ′,%) And the left foot contact time (L1 ′, L2 ′,. 7) is calculated.
  • the right foot contact time can be calculated from the difference between the time information when the right foot is lifted and the time information when the left foot is lifted.
  • the left foot contact time can be calculated from the difference between the time information when the left foot is lifted and the time information when the right foot is lifted.
  • step S1005 the standard deviation and variance of the right foot contact time and left foot contact time (R1 ′, L1 ′, R2 ′, L2 ′,%) Within each walking cycle calculated in step S904 are calculated as evaluation values. To do.
  • the standard deviation and variance value become large and the balance between the left and right operation times becomes large when the balance between the left and right operation times is poor.
  • the standard deviation and the variance value may be calculated for the sum of the left foot contact time and the right foot contact time (walking cycle).
  • the walking motion analysis program 210 is arranged in the information processing device 110.
  • the present invention is not limited to this, and the walking motion analysis device 210 is arranged in the walking motion monitoring device 130 to detect the walking motion. It may be configured to operate in parallel with the program 411. As a result, the one-leg support time ratio, the one-leg contact time ratio, or the standard deviation and variance value can be confirmed on the display unit 302 in real time.
  • the single foot support time ratio, the single foot contact time ratio, or the standard deviation is obtained using all acceleration data stored in the memory unit 402 in association with the time information by the walking motion detection process.
  • the present invention is not limited to this.
  • the acceleration data may be classified for each date, and for the acceleration data classified for each date, a one-foot support time ratio, a one-foot contact time ratio, or a standard deviation or variance value may be calculated. Further, the one-leg support time ratio, the one-leg contact time ratio, or the standard deviation or variance value calculated for each date may be displayed as a trend graph. At this time, the average walking speed and the average stride for each date may be displayed.

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Abstract

The present invention provides an inexpensive system with which it is possible to identify a correct walking motion. This walking motion monitoring device equipped with an acceleration sensor is characterized by being provided with an extraction means for extracting a peak value from the waveform of acceleration data outputted from the acceleration sensor, a means for calculating the total time during which the subject is supported by the right foot and the total time during which the subject is supported by the left foot by associating the extracted peak value with the walking motion of the subject, and a means for calculating the ratio between the calculated total time during which the subject is supported by the right foot and the calculated total time during which the subject is supported by the left foot.

Description

歩行動作解析システム、情報処理装置及び歩行動作監視装置Walking motion analysis system, information processing device, and walking motion monitoring device
　本発明は、被検者の歩行動作を解析する歩行動作解析システム、並びに該システムを構成する情報処理装置及び歩行動作監視装置に関するものである。 The present invention relates to a walking motion analysis system that analyzes a walking motion of a subject, and an information processing device and a walking motion monitoring device that constitute the system.
　一般に、高齢化が進むにつれ、運動機能が低下してくると、歩行動作時の転倒リスクが高まる傾向にある。また、例えば、脳卒中などの脳神経系疾患を発症した患者や、下肢を骨折した患者等による運動機能回復訓練（リハビリ）においては、歩行動作を回復させることが重要な課題となっている。このようなことから、高齢者やリハビリ患者等の歩行動作を監視するためのシステムの開発が求められている。 In general, as the aging of the patient progresses, the risk of falls during walking is likely to increase as the motor function decreases. Further, for example, in motor function recovery training (rehabilitation) by a patient who has developed a cranial nervous system disease such as a stroke or a patient who has a fractured leg, recovery of walking motion is an important issue. For this reason, development of a system for monitoring walking motions of elderly people, rehabilitation patients, and the like is required.
　一方で、従来より、健常者の歩行動作を監視するための安価な監視装置として、歩数計や活動量計等の、いわゆる３軸加速度センサが内蔵された装置が知られている。かかる監視装置によれば、被検者の歩数や歩行速度等を検出し、歩行量や消費カロリー等を算出することが可能である。 On the other hand, devices that incorporate a so-called three-axis acceleration sensor, such as a pedometer or activity meter, are conventionally known as inexpensive monitoring devices for monitoring the walking motion of a healthy person. According to such a monitoring device, it is possible to detect the number of steps of the subject, the walking speed, and the like, and calculate the walking amount, calorie consumption, and the like.
特開２０１１－００８６１２号公報JP 2011-008612 A
　しかしながら、高齢者やリハビリ患者等の場合、歩行量や歩行速度等の、いわゆる歩行動作量を監視するだけでなく、正しい歩行動作が行われているか否かといった、歩行動作の質を監視することが重要である。このため、上述したような監視装置を高齢者やリハビリ患者向けのシステムに適用するにあたっては、正しい歩行動作が行われているか否かといった歩行動作の質を定量的に評価できるように構成することが必要となってくる。 However, in the case of elderly people, rehabilitation patients, etc., not only monitoring so-called walking motion amount such as walking amount and walking speed, but also monitoring the quality of walking motion such as whether correct walking motion is being performed. is important. For this reason, in applying the monitoring device as described above to a system for elderly people and rehabilitation patients, it is configured so that the quality of walking motion such as whether or not correct walking motion is performed can be quantitatively evaluated. Will be needed.
　本発明は上記課題に鑑みてなされたものであり、正しい歩行動作が行われているか否かを判断可能な安価なシステムを実現することを目的とする。 The present invention has been made in view of the above problems, and an object thereof is to realize an inexpensive system capable of determining whether or not a correct walking motion is being performed.
　上記の目的を達成するために、本発明に係る歩行動作監視装置は以下のような構成を備える。即ち、
　加速度センサを備え、被検者の歩行動作を検出可能な歩行動作監視装置であって、
　前記加速度センサにより検出された加速度データの波形からピーク値を抽出する抽出手段と、
　前記抽出手段により抽出されたピーク値と、前記被検者の歩行動作とを対応付けることで、該被検者の右足の動作に関する時間と、該被検者の左足の動作に関する時間とを算出する第１の算出手段と、
　前記第１の算出手段により算出された、前記被検者の右足の動作に関する時間と、該被検者の左足の動作に関する時間とに基づいて、該被検者の歩行動作における右足と左足のバランスを示す評価値を算出する第２の算出手段とを備えることを特徴とする。 In order to achieve the above object, a walking motion monitoring apparatus according to the present invention has the following configuration. That is,
A walking motion monitoring device comprising an acceleration sensor and capable of detecting a walking motion of a subject,
Extraction means for extracting a peak value from a waveform of acceleration data detected by the acceleration sensor;
By associating the peak value extracted by the extraction means with the walking motion of the subject, the time related to the motion of the subject's right foot and the time related to the motion of the subject's left foot are calculated. First calculating means;
Based on the time related to the motion of the subject's right foot and the time related to the motion of the subject's left foot, calculated by the first calculation means, the right foot and the left foot in the walking motion of the subject And a second calculating means for calculating an evaluation value indicating a balance.
　本発明によれば、正しい歩行動作が行われているか否かを判断可能な安価なシステムを実現することが可能となる。 According to the present invention, it is possible to realize an inexpensive system that can determine whether or not a correct walking motion is being performed.
　本発明のその他の特徴及び利点は、添付図面を参照とした以下の説明により明らかになるであろう。なお、添付図面においては、同じ若しくは同様の構成には、同じ参照番号を付す。 Other features and advantages of the present invention will become apparent from the following description with reference to the accompanying drawings. In the accompanying drawings, the same or similar components are denoted by the same reference numerals.
　添付図面は明細書に含まれ、その一部を構成し、本発明の実施の形態を示し、その記述と共に本発明の原理を説明するために用いられる。
本発明の一実施形態にかかる歩行動作解析システムの外観構成を示す図である。 歩行動作解析システムを構成する情報処理装置の機能構成を示す図である。 歩行動作解析システムを構成する歩行動作監視装置の外観構成を示す図である。 歩行動作監視装置の機能構成を示す図である。 歩行動作監視装置において検出される加速度データと歩行動作との関係を示すとともに、歩行動作を解析するためのパラメータを示す図である。 歩行動作監視装置における歩行動作検出処理の流れを示すフローチャートである。 情報処理装置における歩行動作解析処理の流れを示すフローチャートである。 歩行動作監視装置において検出される加速度データと歩行動作との関係を示すとともに、歩行動作を解析するためのパラメータを示す図である。 情報処理装置における歩行動作解析処理の流れを示すフローチャートである。 情報処理装置における歩行動作解析処理の流れを示すフローチャートである。 The accompanying drawings are included in the specification, constitute a part thereof, show an embodiment of the present invention, and are used to explain the principle of the present invention together with the description.
It is a figure which shows the external appearance structure of the walking movement analysis system concerning one Embodiment of this invention. It is a figure which shows the function structure of the information processing apparatus which comprises a walking movement analysis system. It is a figure which shows the external appearance structure of the walking movement monitoring apparatus which comprises a walking movement analysis system. It is a figure which shows the function structure of a walking movement monitoring apparatus. It is a figure which shows the parameter for analyzing a walking motion while showing the relationship between the acceleration data detected in a walking motion monitoring apparatus, and a walking motion. It is a flowchart which shows the flow of the walking motion detection process in a walking motion monitoring apparatus. It is a flowchart which shows the flow of the walk motion analysis process in information processing apparatus. It is a figure which shows the parameter for analyzing a walking motion while showing the relationship between the acceleration data detected in a walking motion monitoring apparatus, and a walking motion. It is a flowchart which shows the flow of the walk motion analysis process in information processing apparatus. It is a flowchart which shows the flow of the walk motion analysis process in information processing apparatus.
　以下、必要に応じて添付図面を参照しながら本発明の各実施形態の詳細を説明する。なお、本発明は以下の実施形態に限定されるものではなく、適宜変更可能であるものとする。 Hereinafter, details of each embodiment of the present invention will be described with reference to the accompanying drawings as necessary. In addition, this invention is not limited to the following embodiment, It shall change suitably.
　［第１の実施形態］
　＜１．歩行動作解析システムの外観構成＞
　図１は、本実施形態に係る歩行動作解析システム１００の外観構成を示す図である。図１において、１１０は情報処理装置であり、歩行動作監視装置１３０により測定された加速度データを解析することで、高齢者やリハビリ患者等の歩行動作が正しく行われたか否かを定量的に評価する。 [First Embodiment]
<1. Appearance configuration of walking motion analysis system>
FIG. 1 is a diagram illustrating an external configuration of a walking motion analysis system 100 according to the present embodiment. In FIG. 1, reference numeral 110 denotes an information processing device, which quantitatively evaluates whether or not the walking motion of an elderly person or a rehabilitation patient is correctly performed by analyzing the acceleration data measured by the walking motion monitoring device 130. To do.
　１２０は、歩行動作監視装置１３０との間で近接通信を行うための近接通信部であり、歩行動作監視装置１３０から加速度データを受信し、情報処理装置１１０に格納する。歩行動作監視装置１３０は、被検者に装着され、被検者の歩行動作を検出する。 120 is a proximity communication unit for performing proximity communication with the walking motion monitoring device 130, receives acceleration data from the walking motion monitoring device 130, and stores it in the information processing device 110. The walking motion monitoring device 130 is attached to the subject and detects the walking motion of the subject.
　＜２．情報処理装置の機能構成＞
　次に、歩行動作解析システム１００を構成する情報処理装置１１０の機能構成について説明する。図２は、情報処理装置１１０の機能構成を示す図である。図２において、２０１は制御メモリ（ＲＯＭ）、２０２は中央演算処理装置（コンピュータ）、２０３はメモリ（ＲＡＭ）、２０４は外部記憶装置、２０５は入力装置、２０６は表示装置、２０７は近接通信部Ｉ／Ｆ部、２０８はバスである。 <2. Functional configuration of information processing apparatus>
Next, the functional configuration of the information processing apparatus 110 that constitutes the walking motion analysis system 100 will be described. FIG. 2 is a diagram illustrating a functional configuration of the information processing apparatus 110. In FIG. 2, 201 is a control memory (ROM), 202 is a central processing unit (computer), 203 is a memory (RAM), 204 is an external storage device, 205 is an input device, 206 is a display device, and 207 is a proximity communication unit. An I / F unit 208 is a bus.
　なお、後述する歩行動作解析処理を実現するための歩行動作解析プログラム２１０及び該プログラムにおいて用いられる各種データは、外部記憶装置２０４に記憶される。これらのプログラムやデータは、中央演算処理装置２０２の制御のもと、バス２０８を通じて適宜メモリ２０３に取り込まれ、中央演算処理装置２０２によって実行される。 Note that a walking motion analysis program 210 for realizing a walking motion analysis process described later and various data used in the program are stored in the external storage device 204. These programs and data are appropriately taken into the memory 203 through the bus 208 and executed by the central processing unit 202 under the control of the central processing unit 202.
　＜３．歩行動作監視装置の外観構成＞
　次に、歩行動作監視装置１３０の外観構成について説明する。図３は、歩行動作監視装置１３０の外観構成を示す図である。 <3. Appearance configuration of walking motion monitoring device>
Next, the external configuration of the walking motion monitoring device 130 will be described. FIG. 3 is a diagram illustrating an external configuration of the walking motion monitoring device 130.
　図３において、３０１は本体部であり、表示部３０２と操作部３０３とを備える。表示部３０２には、内蔵された３軸加速度センサからの加速度データに基づいて算出された、歩数や歩行速度、歩幅等が表示される。操作部３０３は、各種設定値や測定開始の指示を入力したり、表示部３０２に表示された表示内容を切り替えるための切り替え指示を入力したりする。 In FIG. 3, reference numeral 301 denotes a main body unit, which includes a display unit 302 and an operation unit 303. The display unit 302 displays the number of steps, the walking speed, the step length, and the like calculated based on acceleration data from the built-in triaxial acceleration sensor. The operation unit 303 inputs various setting values and a measurement start instruction, and inputs a switching instruction for switching display contents displayed on the display unit 302.
　３０４は装着部材であり、歩行動作監視装置１３０が装着される被検者の体の部位に巻き回され、面ファスナ３０５により固定される。ただし、装着部材の構成はこれに限定されず、例えば、ゴムバンドやクリップのような構成であってもよいし、腕時計のバンドやバックルのような構成であってもよい。なお、装着は、被検者の体の部位に限られず、被検者が歩行時に携帯する物等に対して行ってもよく、装着部材３０４は、このような物に装着するのに適した構成であってもよい。 304 is a mounting member that is wound around the body part of the subject to which the walking motion monitoring device 130 is mounted and is fixed by the hook-and-loop fastener 305. However, the configuration of the mounting member is not limited to this, and may be a configuration such as a rubber band or a clip, or may be a configuration such as a wristband or a buckle. The attachment is not limited to the body part of the subject, and may be performed on an object that the subject carries while walking, and the attachment member 304 is suitable for attaching to such an object. It may be a configuration.
　＜４．歩行動作監視装置の機能構成＞
　次に、歩行動作監視装置１３０の機能構成について説明する。図４は歩行動作監視装置１３０の機能構成を示す図である。なお、図３と重複する構成については、図３と同じ参照番号を付すこととし、説明は省略する。 <4. Functional configuration of walking motion monitoring device>
Next, a functional configuration of the walking motion monitoring device 130 will be described. FIG. 4 is a diagram illustrating a functional configuration of the walking motion monitoring device 130. In addition, about the structure which overlaps with FIG. 3, it shall attach | subject the same reference number as FIG. 3, and abbreviate | omits description.
　図４において、４０１は音声出力部である。音声出力部４０１では、操作部３０３を介して入力された各種指示を受け付けたことを示すビープ音を出力したり、所定の条件が成立した場合に、アラームを出力したりする。 In FIG. 4, 401 is an audio output unit. The audio output unit 401 outputs a beep sound indicating that various instructions input via the operation unit 303 have been received, or outputs an alarm when a predetermined condition is satisfied.
　４０２はメモリ部であり、測定された加速度データ等を格納する。４０３はタイマ部であり、現在時刻を出力するとともに、測定された加速度データをメモリ部４０２に格納する際に、対応付けて格納される時刻情報を提供する。 Reference numeral 402 denotes a memory unit that stores measured acceleration data and the like. A timer unit 403 outputs the current time and provides time information stored in association with the measured acceleration data stored in the memory unit 402.
　４０４は３軸加速度センサであり、ＸＹＺ軸の３方向の加速度を測定することで、被検者の歩行動作が検出可能となっている。なお、３軸加速度センサとしては、圧電抵抗型、静電容量型、熱検知型等、種々の方式が挙げられるが、本実施形態に係る歩行動作監視装置１３０は、いずれの方式であってもよい。 404 is a three-axis acceleration sensor that can detect the walking motion of the subject by measuring acceleration in three directions of the XYZ axes. The triaxial acceleration sensor includes various methods such as a piezoresistive type, a capacitance type, and a heat detection type. The walking motion monitoring device 130 according to the present embodiment may be any type. Good.
　４０５は近接通信部であり、情報処理装置１１０に接続された近接通信部１２０との間で、情報の送受信を行う。４０６は電源部であり、歩行動作監視装置１３０の各部に電力を供給する。 Reference numeral 405 denotes a proximity communication unit that transmits and receives information to and from the proximity communication unit 120 connected to the information processing apparatus 110. A power supply unit 406 supplies power to each unit of the walking motion monitoring device 130.
　４１０は制御部であり、歩行動作監視装置１３０全体を制御するとともに、被検者の歩数や歩行速度、歩幅等を算出するためのプログラムを実行する。更に、本実施形態に係る歩行動作監視装置１３０では、後述する歩行動作検出処理を実現するための歩行動作検出プログラム４１１を実行する。 410 is a control unit that controls the entire walking motion monitoring device 130 and executes a program for calculating the number of steps, walking speed, step length, etc. of the subject. Furthermore, the walking motion monitoring device 130 according to the present embodiment executes a walking motion detection program 411 for realizing a walking motion detection process described later.
　制御部４１０にて歩行動作検出プログラム４１１が実行されると、制御部４１０では、３軸加速度センサ４０４から出力された加速度データに基づいて、被検者が、現在、歩行状態にあるのか否かを判断し、歩行状態にあると判断した場合には、当該加速度データをメモリ部４０２に時刻情報と対応付けて格納する。 When the walking motion detection program 411 is executed by the control unit 410, the control unit 410 determines whether or not the subject is currently in a walking state based on the acceleration data output from the triaxial acceleration sensor 404. If it is determined that the vehicle is in the walking state, the acceleration data is stored in the memory unit 402 in association with the time information.
　＜５．歩行動作を解析するためのパラメータの説明＞
　次に、情報処理装置１１０において、加速度データに基づいて、被検者の歩行動作を解析する際に用いられるパラメータについて説明する。 <5. Explanation of parameters for analyzing walking motion>
Next, parameters used when the information processing apparatus 110 analyzes the walking motion of the subject based on the acceleration data will be described.
　図５は、歩行動作監視装置１３０において測定される加速度データと歩行動作との関係を示すとともに、情報処理装置１１０において歩行動作を解析する際に用いられるパラメータを示す図である。 FIG. 5 is a diagram showing the relationship between the acceleration data measured by the walking motion monitoring device 130 and the walking motion, and parameters used when the information processing device 110 analyzes the walking motion.
　図５に示すように、歩行動作中、例えば、左足の踵が着地すると（状態Ｉ）、３軸加速度センサ４０４より出力される加速度データはピークとなり、両足支持状態となると、加速度データの出力は低下する。そして、右足が蹴り上げられることで（状態ＩＩ）、再びピークとなり、右足が遊脚し左足のみで支持する左足支持状態（状態ＩＩＩ）となると、再び加速度データの出力は低下する。 As shown in FIG. 5, during walking motion, for example, when the left foot heel lands (state I), the acceleration data output from the triaxial acceleration sensor 404 has a peak, and when the both feet support state is reached, the output of the acceleration data is descend. Then, when the right foot is kicked up (state II), it peaks again, and when the right foot enters the left foot support state (state III) in which the free leg is supported by only the left foot, the output of acceleration data decreases again.
　その後、右足の踵が着地すると（状態ＩＶ）、３軸加速度センサ４０４より出力される加速度データはピークとなり、両足支持状態では、加速度データの出力は低下する。更に、左足が蹴り上げられることで（状態Ｖ）、再びピークとなり、左足が遊脚し右足のみで支持する右足支持状態（状態ＶＩ）となると、再び加速度データの出力は低下する。 Thereafter, when the right foot heel lands (state IV), the acceleration data output from the triaxial acceleration sensor 404 peaks, and the output of acceleration data decreases in the state where both feet are supported. Furthermore, when the left foot is kicked up (state V), it peaks again, and when the left foot enters the right foot support state (state VI) in which the left foot is swinging and supported only by the right foot, the output of acceleration data decreases again.
　このように、測定される加速度データと歩行動作には、一定の関係がある。ここで、本願出願人は、加速度データと歩行動作との間のこのような関係を考慮し、当該加速度データに基づいて被検者が正しい歩行動作を行っているか否かを判断するにあたり、歩行動作中の左右の動作時間のバランスに着目した。 Thus, there is a certain relationship between measured acceleration data and walking motion. Here, the applicant of the present application considers such a relationship between the acceleration data and the walking motion, and determines whether or not the subject is performing the correct walking motion based on the acceleration data. We paid attention to the balance of left and right operating time during operation.
　これは、高齢者の歩行動作時の転倒リスクは、高齢化に伴う、左右の重心のバランスの喪失に起因すると考えられており、また、脳卒中などの脳神経系疾患を発症した患者や、下肢を骨折した患者等は、右片または左片のいずれかが麻痺しているか、不自由な状態にあり、左右の重心のバランスがとれていないからである。 This is considered to be due to the loss of balance between the center of gravity of the left and right with the aging of the elderly, and the risk of falls when walking with the elderly. This is because a fractured patient or the like is either paralyzed or inconvenient in either the right or left piece, and the center of gravity of the left and right is not balanced.
　そこで、本実施形態に係る歩行動作解析システム１００では、歩行動作を解析するにあたり、左足支持状態の時間（Ｌ１、Ｌ２・・・）と、右足支持状態の時間（Ｒ１、Ｒ２・・・）とをパラメータとして用いることとする。 Therefore, in the walking motion analysis system 100 according to the present embodiment, when analyzing the walking motion, the left foot support state time (L1, L2...) And the right foot support state time (R1, R2...) Is used as a parameter.
　＜６．歩行動作監視装置における歩行動作検出処理の流れ＞
　次に、歩行動作監視装置１３０における歩行動作検出処理について説明する。図６は、歩行動作監視装置１３０における歩行動作検出処理の流れを示すフローチャートである。 <6. Flow of walking motion detection process in walking motion monitoring device>
Next, the walking motion detection process in the walking motion monitoring device 130 will be described. FIG. 6 is a flowchart showing the flow of the walking motion detection process in the walking motion monitoring device 130.
　歩行動作検出プログラム４１１が制御部４１０により実行され、歩行動作検出処理が開始されると、ステップＳ６０１では、３軸加速度センサ４０４より出力された加速度データを取得する。 When the walking motion detection program 411 is executed by the control unit 410 and the walking motion detection process is started, acceleration data output from the triaxial acceleration sensor 404 is acquired in step S601.
　ステップＳ６０２では、取得した加速度データの波形から、ピーク値を抽出する。ステップＳ６０３では、抽出したピーク値が所定間隔で出現しているか否かを判定する。 In step S602, a peak value is extracted from the waveform of the acquired acceleration data. In step S603, it is determined whether or not the extracted peak value appears at a predetermined interval.
　ステップＳ６０３において、ピーク値が所定間隔で出現していると判定された場合には、被検者が現在歩行状態にあると判断し、取得した加速度データを時刻情報と対応付けてメモリ部４０２に格納し、ステップＳ６０５に進む。 If it is determined in step S603 that peak values appear at predetermined intervals, it is determined that the subject is currently in a walking state, and the acquired acceleration data is associated with time information in the memory unit 402. Store and proceed to step S605.
　一方、ピーク値が所定間隔で出現していないと判定された場合には、被検者は現在歩行状態にないと判断し、取得した加速度データをメモリ部４０２に格納することなく、ステップＳ６０５に進む。 On the other hand, if it is determined that the peak value does not appear at a predetermined interval, it is determined that the subject is not currently in the walking state, and the acquired acceleration data is not stored in the memory unit 402, and the process proceeds to step S605. move on.
　ステップＳ６０５では、歩行動作検出処理を終了する旨の指示が入力されたか否かを判定し、入力されていないと判定された場合には、ステップＳ６０２に戻る。一方、入力されたと判定された場合には、歩行動作検出プログラム４１１を停止し、歩行動作検出処理を終了する。 In step S605, it is determined whether or not an instruction to end the walking motion detection process is input. If it is determined that the instruction is not input, the process returns to step S602. On the other hand, when it is determined that it has been input, the walking motion detection program 411 is stopped and the walking motion detection process is terminated.
　このように、歩行動作監視装置１３０では、歩行動作検出プログラム４１１を実行することで、被検者が歩行状態にある場合の加速度データのみを、メモリ部４０２に格納していく。 As described above, the walking motion monitoring apparatus 130 executes the walking motion detection program 411 so that only the acceleration data when the subject is in the walking state is stored in the memory unit 402.
　＜７．情報処理装置における歩行動作解析処理の流れ＞
　次に、情報処理装置１１０における歩行動作解析処理について説明する。図７は、情報処理装置１１０における歩行動作解析処理の流れを示すフローチャートである。 <7. Flow of walking motion analysis processing in information processing device>
Next, walking motion analysis processing in the information processing apparatus 110 will be described. FIG. 7 is a flowchart showing a flow of walking motion analysis processing in the information processing apparatus 110.
　歩行動作解析プログラム２１０が実行され、歩行動作解析処理が開始されると、ステップＳ７０１では、歩行動作監視装置１３０より、近接通信部１２０を介して受信した加速度データを取得する。 When the walking motion analysis program 210 is executed and the walking motion analysis process is started, acceleration data received via the proximity communication unit 120 is acquired from the walking motion monitoring device 130 in step S701.
　ステップＳ７０２では、取得した加速度データの波形から、ピーク値を抽出する。ステップＳ７０３では、抽出したピーク値それぞれに、各歩行動作を割り当てる。具体的には、抽出したピーク値に、順次、左足着地動作、右足蹴り上げ動作、右足着地動作、左足蹴り上げ動作の各歩行動作を割り当てる。 In step S702, a peak value is extracted from the waveform of the acquired acceleration data. In step S703, each walking motion is assigned to each extracted peak value. Specifically, each walking motion of left foot landing motion, right foot kicking motion, right foot landing motion, and left foot kicking motion is sequentially assigned to the extracted peak value.
　ステップＳ７０４では、各歩行動作が割り当てられたピーク値の時刻情報に基づいて、各歩行周期内の右足支持時間（Ｒ１、Ｒ２・・・）及び左足支持時間（Ｌ１、Ｌ２・・・）を算出する。なお、右足支持時間は、左足着地時の時刻情報と、左足蹴り上げ時の時刻情報との差分により算出することができる。また、左足支持時間は、右足着地時の時刻情報と、右足蹴り上げ時の時刻情報との差分により算出することができる。 In step S704, the right foot support time (R1, R2...) And the left foot support time (L1, L2...) In each walking cycle are calculated based on the peak time information to which each walking motion is assigned. To do. The right foot support time can be calculated from the difference between the time information when landing the left foot and the time information when lifting the left foot. Also, the left foot support time can be calculated from the difference between the time information at the time of landing on the right foot and the time information at the time of kicking up the right foot.
　ステップＳ７０５では、ステップＳ７０４において算出された各歩行周期内の右足支持時間（Ｒ１、Ｒ２・・・）を和算することで、右足支持時間合計値（＝Ｒ１＋Ｒ２＋・・・＋Ｒｎ）を算出する。更に、ステップＳ７０４において算出された各歩行周期内の左足支持時間（Ｌ１、Ｌ２・・・）を和算することで、左足支持時間合計値（＝Ｌ１＋Ｌ２＋・・・＋Ｌｎ）を算出する。 In step S705, the right foot support time total value (= R1 + R2 +... + Rn) is calculated by adding the right foot support times (R1, R2...) In each walking cycle calculated in step S704. Furthermore, the left foot support time total value (= L1 + L2 +... + Ln) is calculated by summing the left foot support time (L1, L2,...) Within each walking cycle calculated in step S704.
　ステップＳ７０６では、ステップＳ７０５において算出された右足支持時間合計値と、左足支持時間合計値とを比較する。ステップＳ７０６において、右足支持時間合計値の方が左足支持時間合計値よりも大きいと判断された場合には、ステップＳ７０７に進み、左足支持時間合計値を右足支持時間合計値により除算することで、片足支持時間比率を評価値として算出する。 In step S706, the total right foot support time value calculated in step S705 is compared with the total left foot support time value. If it is determined in step S706 that the right foot support time total value is greater than the left foot support time total value, the process proceeds to step S707, and the left foot support time total value is divided by the right foot support time total value. One foot support time ratio is calculated as an evaluation value.
　一方、ステップＳ７０６において、右足支持時間合計値が左足支持時間合計値以下であると判断された場合には、ステップＳ７０８に進み、右足支持時間合計値を左足支持時間合計値により除算することで、片足支持時間比率を評価値として算出する。 On the other hand, if it is determined in step S706 that the right foot support time total value is less than or equal to the left foot support time total value, the process proceeds to step S708, and the right foot support time total value is divided by the left foot support time total value. One foot support time ratio is calculated as an evaluation value.
　このように、支持時間の合計値が大きい方の値で除算することで、評価値である片足支持時間比率は、常に１以下の値となり、１に近いほど、正常な歩行動作を行っていると判定することができる。 In this way, by dividing by the value with the larger total support time, the one-leg support time ratio, which is the evaluation value, is always a value of 1 or less, and the closer to 1, the normal walking motion is performed. Can be determined.
　以上の説明から明らかなように、本実施形態に係る歩行動作解析システムでは、歩行動作における左右の動作時間のバランスに着目し、片足支持時間の比率を求めることで、歩行動作が正常か否かを判定する構成とした。 As is clear from the above description, in the walking motion analysis system according to the present embodiment, whether or not the walking motion is normal is obtained by paying attention to the balance of the left and right motion times in the walking motion and obtaining the ratio of the one-leg support time. Is determined.
　更に、片足支持時間の比率を求めるにあたっては、３軸加速度センサの加速度データのピーク値を抽出し、各歩行動作を割り当てることで、右足支持時間及び左足支持時間を算出する構成とした。 Furthermore, when determining the ratio of the one-foot support time, the right-foot support time and the left-foot support time are calculated by extracting the peak value of the acceleration data of the triaxial acceleration sensor and assigning each walking motion.
　この結果、正しい歩行動作が行われているか否かの判断が可能なシステムを安価に実現することが可能となった。 As a result, a system capable of determining whether or not the correct walking movement is being performed can be realized at low cost.
　［第２の実施形態］
　上記第１の実施形態では、歩行動作における左右の動作時間のバランスを評価するにあたり、右足支持時間と左足支持時間をパラメータとして用いる構成とした。しかしながら、本発明はこれに限定されず、他のパラメータを用いるようにしてもよい。 [Second Embodiment]
In the first embodiment, the right foot support time and the left foot support time are used as parameters in evaluating the balance between the left and right motion times in the walking motion. However, the present invention is not limited to this, and other parameters may be used.
　＜１．歩行動作を解析するためのパラメータの説明＞
　本実施形態に係る歩行動作解析システム１００の情報処理装置１１０において、歩行動作を解析する際に用いるパラメータについて説明する。 <1. Explanation of parameters for analyzing walking motion>
In the information processing apparatus 110 of the walking motion analysis system 100 according to the present embodiment, parameters used when analyzing the walking motion will be described.
　図８は、歩行動作監視装置１３０において測定される加速度データと歩行動作との関係を示すとともに、本実施形態に係る情報処理装置１１０において歩行動作を解析する際に用いられるパラメータを示す図である。 FIG. 8 is a diagram illustrating a relationship between acceleration data measured by the walking motion monitoring device 130 and walking motion, and parameters used when analyzing the walking motion in the information processing device 110 according to the present embodiment. .
　図８に示すように、本実施形態では、歩行動作を解析するにあたり、左足支持状態の時間と、その後の両足支持状態の時間とを和算した時間（左足接地時間と称す。Ｌ１’、Ｌ２’・・・）と、右足支持状態の時間と、その後の両足支持状態の時間とを和算した時間（右足接地時間と称す。Ｒ１’、Ｒ２’・・・）とをパラメータとして用いることとする。 As shown in FIG. 8, in this embodiment, when analyzing the walking motion, the time obtained by adding the time in the left foot support state and the time in the subsequent both foot support state (referred to as the left foot contact time. L1 ′, L2). '...) and the time obtained by adding the time of the right foot support state and the subsequent time of the both foot support state (referred to as right foot contact time; R1', R2 '...) as parameters. To do.
　＜２．情報処理装置における歩行動作解析処理の流れ＞
　次に、本実施形態に係る歩行動作解析システム１００の情報処理装置１１０における歩行動作解析処理について説明する。図９は、情報処理装置１１０における歩行動作解析処理の流れを示すフローチャートである。 <2. Flow of walking motion analysis processing in information processing device>
Next, walking motion analysis processing in the information processing apparatus 110 of the walking motion analysis system 100 according to the present embodiment will be described. FIG. 9 is a flowchart showing the flow of walking motion analysis processing in the information processing apparatus 110.
　歩行動作解析プログラム２１０が実行され、歩行動作解析処理が開始されると、ステップＳ７０１では、歩行動作監視装置１３０より、近接通信部１２０を介して受信した加速度データを取得する。 When the walking motion analysis program 210 is executed and the walking motion analysis process is started, acceleration data received via the proximity communication unit 120 is acquired from the walking motion monitoring device 130 in step S701.
　ステップＳ７０２では、取得した加速度データの波形から、ピーク値を抽出する。ステップＳ７０３では、抽出したピーク値それぞれに、各歩行動作を割り当てる。具体的には、抽出したピーク値に、順次、左足着地動作、右足蹴り上げ動作、右足着地動作、左足蹴り上げ動作の各歩行動作を割り当てる。 In step S702, a peak value is extracted from the waveform of the acquired acceleration data. In step S703, each walking motion is assigned to each extracted peak value. Specifically, each walking motion of left foot landing motion, right foot kicking motion, right foot landing motion, and left foot kicking motion is sequentially assigned to the extracted peak value.
　ステップＳ９０４では、各歩行動作が割り当てられたピーク値の時刻情報に基づいて、各歩行周期内の右足接地時間（Ｒ１’、Ｒ２’、・・・）及び左足接地時間（Ｌ１’、Ｌ２’、・・・）を算出する。なお、右足接地時間は、右足蹴り上げ時の時刻情報と、左足蹴り上げ時の時刻情報との差分により算出することができる。また、左足接地時間は、左足蹴り上げ時の時刻情報と、右足蹴り上げ時の時刻情報との差分により算出することができる。 In step S904, the right foot contact time (R1 ′, R2 ′,...) And the left foot contact time (L1 ′, L2 ′,. ...) is calculated. The right foot contact time can be calculated from the difference between the time information when the right foot is lifted and the time information when the left foot is lifted. The left foot contact time can be calculated from the difference between the time information when the left foot is lifted and the time information when the right foot is lifted.
　ステップＳ９０５では、ステップＳ９０４において算出された各歩行周期内の右足接地時間（Ｒ１’、Ｒ２’、・・・）を和算することで、右足接地時間合計値（Ｒ１’＋Ｒ２’＋・・・＋Ｒｎ’）を算出する。更に、ステップＳ９０４において算出された各歩行周期内の左足接地時間（Ｌ１’、Ｌ２’、・・・）を和算することで、左足接地時間合計値（＝Ｌ１’＋Ｌ２’＋・・・＋Ｌｎ’）を算出する。 In step S905, the right foot contact time total value (R1 ′ + R2 ′ +...) Is summed up by adding the right foot contact times (R1 ′, R2 ′,...) In each walking cycle calculated in step S904. + Rn ′) is calculated. Further, by adding up the left foot contact time (L1 ′, L2 ′,...) Within each walking cycle calculated in step S904, the left foot contact time total value (= L1 ′ + L2 ′ +... + Ln). ') Is calculated.
　ステップＳ９０６では、ステップＳ９０５において算出された右足接地時間合計値と、左足接地時間合計値とを比較する。ステップＳ７０６において、右足接地時間合計値の方が左足接地時間合計値よりも大きいと判断された場合には、ステップＳ９０７に進み、左足接地時間合計値を右足接地時間合計値により除算することで、片足接地時間比率を評価値として算出する。 In step S906, the right foot contact time total value calculated in step S905 is compared with the left foot contact time total value. If it is determined in step S706 that the right foot contact time total value is greater than the left foot contact time total value, the process proceeds to step S907, and the left foot contact time total value is divided by the right foot contact time total value. One foot contact time ratio is calculated as an evaluation value.
　一方、ステップＳ９０６において、右足接地時間合計値が左足接地時間合計値以下であると判断された場合には、ステップＳ９０８に進み、右足接地時間合計値を左足接地時間合計値により除算することで、片足接地時間比率を評価値として算出する。 On the other hand, if it is determined in step S906 that the right foot contact time total value is equal to or less than the left foot contact time total value, the process proceeds to step S908, and the right foot contact time total value is divided by the left foot contact time total value. One foot contact time ratio is calculated as an evaluation value.
　このように、接地時間の合計値が大きい方の値で除算することで、評価値である片足接地時間比率は、常に１以下の値となり、１に近いほど、正常な歩行動作を行っていると判定することができる。 Thus, by dividing by the value with the larger total value of the contact time, the one-foot contact time ratio, which is the evaluation value, is always 1 or less, and the closer to 1, the more normal walking motion is performed. Can be determined.
　以上の説明から明らかなように、本実施形態に係る歩行動作解析システムでは、歩行動作における左右の動作時間のバランスに着目し、片足接地時間の比率を求めることで、歩行動作が正常か否かを判定する構成とした。 As is clear from the above description, in the walking motion analysis system according to the present embodiment, whether or not the walking motion is normal by paying attention to the balance between the left and right motion times in the walking motion and determining the ratio of the one-leg contact time. Is determined.
　更に、片足接地時間の比率を求めるにあたっては、３軸加速度センサの加速度データのピーク値を抽出し、各歩行動作を割り当てることで、右足接地時間及び左足接地時間を算出する構成とした。 Furthermore, in determining the ratio of the one foot contact time, the peak value of the acceleration data of the three-axis acceleration sensor is extracted, and the right foot contact time and the left foot contact time are calculated by assigning each walking motion.
　この結果、正しい歩行動作が行われているか否かの判断が可能なシステムを安価に実現することが可能となった。 As a result, a system capable of determining whether or not the correct walking movement is being performed can be realized at low cost.
　［第３の実施形態］
　上記第１及び第２の実施形態では、左右の動作時間のバランスを評価するにあたり、右足と左足とにわけてパラメータを算出し、両者を対比することで評価値を算出する構成とした。しかしながら、本発明はこれに限定されず、右足と左足の両方のパラメータを用いて評価値を算出するように構成してもよい。 [Third Embodiment]
In the first and second embodiments, when evaluating the balance between the left and right movement times, the parameters are calculated separately for the right foot and the left foot, and the evaluation value is calculated by comparing the two. However, the present invention is not limited to this, and the evaluation value may be calculated using parameters of both the right foot and the left foot.
　図１０は、本実施形態に係る情報処理装置１１０における歩行動作解析処理の流れを示すフローチャートである。 FIG. 10 is a flowchart showing the flow of the walking motion analysis process in the information processing apparatus 110 according to the present embodiment.
　歩行動作解析プログラム２１０が実行され、歩行動作解析処理が開始されると、ステップＳ７０１では、歩行動作監視装置１３０より、近接通信部１２０を介して受信した加速度データを取得する。 When the walking motion analysis program 210 is executed and the walking motion analysis process is started, acceleration data received via the proximity communication unit 120 is acquired from the walking motion monitoring device 130 in step S701.
　ステップＳ７０２では、取得した加速度データの波形から、ピーク値を抽出する。ステップＳ７０３では、抽出したピーク値それぞれに、各歩行動作を割り当てる。具体的には、抽出したピーク値に、順次、左足着地動作、右足蹴り上げ動作、右足着地動作、左足蹴り上げ動作の各歩行動作を割り当てる。 In step S702, a peak value is extracted from the waveform of the acquired acceleration data. In step S703, each walking motion is assigned to each extracted peak value. Specifically, each walking motion of left foot landing motion, right foot kicking motion, right foot landing motion, and left foot kicking motion is sequentially assigned to the extracted peak value.
　ステップＳ９０４では、各歩行動作が割り当てられたピーク値の時刻情報に基づいて、各歩行周期内の右足接地時間（Ｒ１’、Ｒ２’、・・・）及び左足接地時間（Ｌ１’、Ｌ２’、・・・）を算出する。なお、右足接地時間は、右足蹴り上げ時の時刻情報と、左足蹴り上げ時の時刻情報との差分により算出することができる。また、左足接地時間は、左足蹴り上げ時の時刻情報と、右足蹴り上げ時の時刻情報との差分により算出することができる。 In step S904, the right foot contact time (R1 ′, R2 ′,...) And the left foot contact time (L1 ′, L2 ′,. ...) is calculated. The right foot contact time can be calculated from the difference between the time information when the right foot is lifted and the time information when the left foot is lifted. The left foot contact time can be calculated from the difference between the time information when the left foot is lifted and the time information when the right foot is lifted.
　ステップＳ１００５では、ステップＳ９０４において算出された各歩行周期内の右足接地時間及び左足接地時間（Ｒ１’、Ｌ１’、Ｒ２’、Ｌ２’、・・・）の標準偏差及び分散値を評価値として算出する。 In step S1005, the standard deviation and variance of the right foot contact time and left foot contact time (R1 ′, L1 ′, R2 ′, L2 ′,...) Within each walking cycle calculated in step S904 are calculated as evaluation values. To do.
　このように、接地時間の標準偏差及び分散値を評価値として算出することで、左右の動作時間のバランスが悪い場合にあっては、標準偏差及び分散値は大きくなり、左右の動作時間のバランスが良い場合にあっては、標準偏差及び分散値は小さくなるため、歩行リズムのばらつきを定量的に評価することが可能となる。この場合、左足接地時間と右足接地時間とを合計したもの（歩行周期）について、標準偏差及び分散値を算出するようにしてもよい。 In this way, by calculating the standard deviation and variance value of the ground contact time as evaluation values, the standard deviation and variance value become large and the balance between the left and right operation times becomes large when the balance between the left and right operation times is poor. In the case where is good, since the standard deviation and the variance value are small, it is possible to quantitatively evaluate the variation of the walking rhythm. In this case, the standard deviation and the variance value may be calculated for the sum of the left foot contact time and the right foot contact time (walking cycle).
　この結果、標準偏差及び分散値に基づいて、歩行動作が正しく行われているか否かを判定することが可能となる。 As a result, it is possible to determine whether or not the walking motion is correctly performed based on the standard deviation and the variance value.
　［第４の実施形態］
　上記第１乃至第３の実施形態では、歩行動作解析プログラム２１０を情報処理装置１１０に配する構成としたが、本発明はこれに限定されず、歩行動作監視装置１３０に配し、歩行動作検出プログラム４１１と並行して動作するように構成してもよい。これにより、片足支持時間比率、片足接地時間比率、あるいは標準偏差や分散値をリアルタイムに表示部３０２にて確認することができるようになる。 [Fourth Embodiment]
In the first to third embodiments, the walking motion analysis program 210 is arranged in the information processing device 110. However, the present invention is not limited to this, and the walking motion analysis device 210 is arranged in the walking motion monitoring device 130 to detect the walking motion. It may be configured to operate in parallel with the program 411. As a result, the one-leg support time ratio, the one-leg contact time ratio, or the standard deviation and variance value can be confirmed on the display unit 302 in real time.
　［第５の実施形態］
　上記第１乃至第４の実施形態では、歩行動作検出処理によりメモリ部４０２に時刻情報と対応付けて格納された全ての加速度データを用いて、片足支持時間比率、片足接地時間比率、あるいは標準偏差や分散値を算出する構成としたが、本発明はこれに限定されない。 [Fifth Embodiment]
In the first to fourth embodiments, the single foot support time ratio, the single foot contact time ratio, or the standard deviation is obtained using all acceleration data stored in the memory unit 402 in association with the time information by the walking motion detection process. However, the present invention is not limited to this.
　例えば、日付ごとに加速度データを分類し、各日付に分類された加速度データについて、それぞれ、片足支持時間比率、片足接地時間比率、あるいは標準偏差や分散値を算出する構成としてもよい。更に、各日付ごとに算出された、片足支持時間比率、片足接地時間比率、あるいは標準偏差や分散値を、トレンドグラフとして表示するように構成してもよい。また、このとき、あわせて各日付ごとの平均歩行速度や、平均歩幅等を表示するように構成してもよい。 For example, the acceleration data may be classified for each date, and for the acceleration data classified for each date, a one-foot support time ratio, a one-foot contact time ratio, or a standard deviation or variance value may be calculated. Further, the one-leg support time ratio, the one-leg contact time ratio, or the standard deviation or variance value calculated for each date may be displayed as a trend graph. At this time, the average walking speed and the average stride for each date may be displayed.
　本発明は上記実施の形態に制限されるものではなく、本発明の精神及び範囲から離脱することなく、様々な変更及び変形が可能である。従って、本発明の範囲を公にするために、以下の請求項を添付する。 The present invention is not limited to the above embodiment, and various changes and modifications can be made without departing from the spirit and scope of the present invention. Therefore, in order to make the scope of the present invention public, the following claims are attached.
　本願は、２０１１年９月２７日提出の日本国特許出願特願２０１１－２１１５７２を基礎として優先権を主張するものであり、その記載内容の全てを、ここに援用する。 This application claims priority on the basis of Japanese Patent Application No. 2011-211572 filed on Sep. 27, 2011, the entire contents of which are incorporated herein by reference.

Claims (9)

  1. 　加速度センサを備え、被検者の歩行動作を検出可能な歩行動作監視装置であって、
    　前記加速度センサより出力された加速度データの波形からピーク値を抽出する抽出手段と、
    　前記抽出手段により抽出されたピーク値と、前記被検者の歩行動作とを対応付けることで、該被検者の右足の動作に関する時間と、該被検者の左足の動作に関する時間とを算出する第１の算出手段と、
    　前記第１の算出手段により算出された、前記被検者の右足の動作に関する時間と、該被検者の左足の動作に関する時間とに基づいて、該被検者の歩行動作における右足と左足のバランスを示す評価値を算出する第２の算出手段と
    　を備えることを特徴とする歩行動作監視装置。     A walking motion monitoring device comprising an acceleration sensor and capable of detecting a walking motion of a subject,
    Extraction means for extracting a peak value from a waveform of acceleration data output from the acceleration sensor;
    By associating the peak value extracted by the extraction means with the walking motion of the subject, the time related to the motion of the subject's right foot and the time related to the motion of the subject's left foot are calculated. First calculating means;
    Based on the time related to the motion of the subject's right foot and the time related to the motion of the subject's left foot, calculated by the first calculation means, the right foot and the left foot in the walking motion of the subject And a second calculating means for calculating an evaluation value indicating a balance.
  2. 　前記第１の算出手段は、
    　前記被検者の左足蹴り上げ動作から左足着地動作までの時間の合計値を、前記被検者の右足の動作に関する時間として算出し、前記被検者の右足蹴り上げ動作から右足着地動作までの時間の合計値を、前記被検者の左足の動作に関する時間として算出し、
    　前記第２の算出手段は、
    　前記被検者の右足の動作に関する時間と、前記被検者の左足の動作に関する時間との比率を、前記被検者の歩行動作における右足と左足のバランスを示す評価値として算出することを特徴とする請求項１に記載の歩行動作監視装置。     The first calculation means includes
    The total value of the time from the subject's left foot kicking motion to the left foot landing motion is calculated as the time related to the subject's right foot motion, and from the subject's right foot kicking motion to the right foot landing motion. The total time is calculated as the time related to the movement of the subject's left foot,
    The second calculation means includes:
    A ratio between the time related to the motion of the subject's right foot and the time related to the motion of the subject's left foot is calculated as an evaluation value indicating a balance between the right foot and the left foot in the walking motion of the subject. The walking motion monitoring device according to claim 1.
  3. 　前記第１の算出手段は、
    　前記被検者の左足蹴り上げ動作から右足蹴り上げ動作までの時間の合計値を、前記被検者の右足の動作に関する時間として算出し、前記被検者の右足蹴り上げ動作から左足蹴り上げ動作までの時間の合計値を、前記被検者の左足の動作に関する時間として算出し、
    　前記第２の算出手段は、
    　前記被検者の右足の動作に関する時間と、前記被検者の左足の動作に関する時間との比率を、前記被検者の歩行動作における右足と左足のバランスを示す評価値として算出することを特徴とする請求項１に記載の歩行動作監視装置。     The first calculation means includes
    The total value of the time from the subject's left foot kicking motion to the right foot kicking motion is calculated as the time related to the subject's right foot motion, and the subject's right foot kicking motion to the left foot kicking motion The total value of the time until is calculated as the time related to the movement of the subject's left foot,
    The second calculation means includes:
    A ratio between the time related to the motion of the subject's right foot and the time related to the motion of the subject's left foot is calculated as an evaluation value indicating a balance between the right foot and the left foot in the walking motion of the subject. The walking motion monitoring device according to claim 1.
  4. 　前記第１の算出手段は、
    　前記被検者の左足蹴り上げ動作から右足蹴り上げ動作までの時間それぞれを、前記被検者の右足の動作に関する時間として算出し、前記被検者の右足蹴り上げ動作から左足蹴り上げ動作までの時間それぞれを、前記被検者の左足の動作に関する時間として算出し、
    　前記第２の算出手段は、
    　前記被検者の右足の動作に関する時間及び前記被検者の左足の動作に関する時間についての標準偏差または分散値を、前記被検者の歩行動作における右足と左足のバランスを示す評価値として算出することを特徴とする請求項１に記載の歩行動作監視装置。     The first calculation means includes
    Each time from the subject's left foot kick-up motion to the right foot kick-up motion is calculated as the time related to the subject's right foot motion, and from the subject's right foot kick-up motion to the left foot kick-up motion Each time is calculated as the time related to the movement of the subject's left foot,
    The second calculation means includes:
    The standard deviation or variance value for the time related to the motion of the subject's right foot and the time related to the motion of the subject's left foot is calculated as an evaluation value indicating the balance between the right foot and the left foot in the walking motion of the subject. The walking motion monitoring apparatus according to claim 1.
  5. 　前記加速度センサより出力された加速度データの波形から抽出されるピーク値が、所定間隔で出現するか否かを判断する判断手段を更に備え、
    　前記判断手段により所定間隔で出現すると判断された加速度データについて、前記評価値を算出するよう動作することを特徴とする請求項１乃至４のいずれか１項に記載の歩行動作監視装置。     A judgment means for judging whether or not a peak value extracted from a waveform of acceleration data output from the acceleration sensor appears at a predetermined interval;
    5. The walking motion monitoring apparatus according to claim 1, wherein the device is operated so as to calculate the evaluation value for acceleration data determined to appear at a predetermined interval by the determination unit.
  6. 　加速度センサを備え、被検者の歩行動作を検出可能な歩行動作監視装置と通信し、該加速度センサより出力された加速度データを受信する情報処理装置であって、
    　前記受信した加速度データの波形からピーク値を抽出する抽出手段と、
    　前記抽出手段により抽出されたピーク値と、前記被検者の歩行動作とを対応付けることで、該被検者の右足の動作に関する時間と、該被検者の左足の動作に関する時間とを算出する第１の算出手段と、
    　前記第１の算出手段により算出された、前記被検者の右足の動作に関する時間と、該被検者の左足の動作に関する時間とに基づいて、該被検者の歩行動作における右足と左足のバランスを示す評価値を算出する第２の算出手段と
    　を備えることを特徴とする情報処理装置。     An information processing apparatus that includes an acceleration sensor, communicates with a walking motion monitoring device capable of detecting a walking motion of a subject, and receives acceleration data output from the acceleration sensor,
    Extraction means for extracting a peak value from the waveform of the received acceleration data;
    By associating the peak value extracted by the extraction means with the walking motion of the subject, the time related to the motion of the subject's right foot and the time related to the motion of the subject's left foot are calculated. First calculating means;
    Based on the time related to the motion of the subject's right foot and the time related to the motion of the subject's left foot, calculated by the first calculation means, the right foot and the left foot in the walking motion of the subject An information processing apparatus comprising: a second calculation unit that calculates an evaluation value indicating balance.
  7. 　加速度センサを備え、被検者の歩行動作を検出可能な歩行動作監視装置と、
    　前記歩行動作監視装置と通信し、前記加速度センサより出力された加速度データを受信する情報処理装置と、を備える歩行動作解析システムであって、
    　前記情報処理装置は、
    　前記受信した加速度データの波形からピーク値を抽出する抽出手段と、
    　前記抽出手段により抽出されたピーク値と、前記被検者の歩行動作とを対応付けることで、該被検者の右足の動作に関する時間と、該被検者の左足の動作に関する時間とを算出する第１の算出手段と、
    　前記第１の算出手段により算出された、前記被検者の右足の動作に関する時間と、該被検者の左足の動作に関する時間とに基づいて、該被検者の歩行動作における右足と左足のバランスを示す評価値を算出する第２の算出手段と
    　を備えることを特徴とする歩行動作解析システム。     A walking motion monitoring device comprising an acceleration sensor and capable of detecting the walking motion of the subject;
    An information processing device that communicates with the walking motion monitoring device and receives acceleration data output from the acceleration sensor, and a walking motion analysis system comprising:
    The information processing apparatus includes:
    Extraction means for extracting a peak value from the waveform of the received acceleration data;
    By associating the peak value extracted by the extraction means with the walking motion of the subject, the time related to the motion of the subject's right foot and the time related to the motion of the subject's left foot are calculated. First calculating means;
    Based on the time related to the motion of the subject's right foot and the time related to the motion of the subject's left foot calculated by the first calculation means, the right foot and the left foot of the subject's walking motion A walking motion analysis system comprising: a second calculation unit that calculates an evaluation value indicating balance.
  8. 　加速度センサを備え、被検者の歩行動作を検出可能な歩行動作監視装置と通信し、該加速度センサより出力された加速度データを受信する情報処理装置における情報処理方法であって、
    　前記受信した加速度データの波形からピーク値を抽出する抽出工程と、
    　前記抽出工程において抽出されたピーク値と、前記被検者の歩行動作とを対応付けることで、該被検者の右足の動作に関する時間と、該被検者の左足の動作に関する時間とを算出する第１の算出工程と、
    　前記第１の算出工程において算出された、前記被検者の右足の動作に関する時間と、該被検者の左足の動作に関する時間とに基づいて、該被検者の歩行動作における右足と左足のバランスを示す評価値を算出する第２の算出工程と
    　を備えることを特徴とする情報処理装置における情報処理方法。     An information processing method in an information processing apparatus comprising an acceleration sensor, communicating with a walking motion monitoring device capable of detecting a walking motion of a subject, and receiving acceleration data output from the acceleration sensor,
    An extraction step of extracting a peak value from the waveform of the received acceleration data;
    By associating the peak value extracted in the extraction step with the walking motion of the subject, a time related to the motion of the subject's right foot and a time related to the motion of the subject's left foot are calculated. A first calculation step;
    Based on the time related to the motion of the subject's right foot and the time related to the motion of the subject's left foot calculated in the first calculation step, the right foot and the left foot in the walking motion of the subject A second calculation step of calculating an evaluation value indicating balance. An information processing method in the information processing apparatus.
  9. 　請求項８に記載の情報処理方法の各工程をコンピュータに実行させるためのプログラム。 A program for causing a computer to execute each step of the information processing method according to claim 8.
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