JP2007289319A - Walk training support apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To aim a reduction in size and cost while performing high-degree analysis of the load condition of the person to be measured. <P>SOLUTION: The parameter calculation out section 141 of the analysis section 131 calculates out "total central displace length" showing a relative distance of the gravitational center position and the contact area center of the person to be measured, "total area center separation length" showing the length of the contact area center and the center of the measuring area of the person to be measured in each of the measuring areas, "unit gravitational center move trajectory length" showing the move trajectory length of the gravitational center position of the person to be measured in each of the measuring areas, and "perfect free foot standing posture outer peripheral area" being the outer peripheral area including the area where the move trajectory the gravitational center position of when the person to be measured in each of the measuring areas stands by one foot is depicted, when the person to be measured carries out "step walking" for moving on the measuring areas determined by a measuring area determining section 140 in series. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a walking training support device that supports walking training performed to recover a walking function when the walking function is deteriorated due to aging, illness, injury, or the like.

  As a walking training support device for improving the walking function, a pressure distribution sensor that enables the subject to walk is provided, and the load applied to the sole and the foot position when the subject walks on the pressure distribution sensor. A technique for measuring is known (see Patent Document 1). According to this technology, the walking state of the subject can be digitized, the difference from the ideal walking state can be objectively grasped, and walking training can be performed efficiently.

Japanese Unexamined Patent Publication No. 2000-308698 (FIGS. 1 and 2)

  According to the above-described technique, the pressure distribution sensor is increased in size because it is necessary to ensure a surface area on which the subject can perform normal walking. Moreover, since the pressure distribution sensor is expensive, the manufacturing cost of the walking training support device is also increased.

  A main object of the present invention is to provide a walking training support device that can achieve downsizing and cost reduction while performing advanced analysis of a load state.

Means for Solving the Problems and Effects of the Invention

  The walking training support device of the present invention has a plurality of pressure detection areas for detecting pressures applied from a person to be measured, and can be arranged with both feet of the person to be measured aligned on the surface in the left-right direction. A pressure distribution sensor in which a plurality of arrangement areas are formed, a measurement area storage means for storing any one of the two foot arrangement areas sequentially selected as a measurement area, and pressure distribution data from the pressure distribution sensor Analysis means for analyzing a load state of the measurement subject in the measurement area stored in the measurement area storage means based on an output value corresponding to the pressure detected in each of the plurality of pressure detection areas included. I have.

  According to the present invention, it is only necessary to form the pressure distribution sensor so that the person to be measured can move between the two foot placement regions, so the pressure distribution sensor formed so that the person to be measured can perform normal walking. The surface area of the pressure distribution sensor can be reduced as compared with the above. Thereby, size reduction and cost reduction of a pressure distribution sensor can be achieved.

  Further, in the present invention, the analyzing means includes a centroid position calculating means for calculating a centroid position of the measurement subject on the pressure distribution sensor, and the plurality of pressure detections included in the pressure distribution data from the pressure distribution sensor. Comparison means for comparing an output value corresponding to the pressure detected in each of the regions with a threshold value, and detection by each of the plurality of pressure detection regions included in the pressure distribution data from the pressure distribution sensor by the comparison means. A first conversion means for converting the output value to a first predetermined value when a comparison result indicating that the output value corresponding to the pressure is equal to or greater than a threshold value is obtained from the pressure distribution sensor by the comparison means. When a comparison result is obtained that the output value corresponding to the pressure detected in each of the plurality of pressure detection regions included in the pressure distribution data is smaller than the threshold value. And a second conversion means for converting the output values into a second predetermined value different from the first predetermined value, and an output from the measured person converted into the first predetermined value by the first conversion means. The position of the center of gravity of the person being measured when the pressure corresponding to the value and the output value converted to the second predetermined value by the second conversion means is applied to each of the plurality of pressure detection regions, as a reference position Reference position calculation means for calculating, and center displacement length calculation means for calculating a center displacement length that is a relative distance between the center of gravity position calculated by the center of gravity position calculation means and the reference position calculated by the reference position calculation means for each sampling time And a total center displacement length calculating means for calculating a total center displacement length obtained by integrating the center displacement lengths calculated by the center displacement length calculating means within a measurement time. According to this, since the total center displacement length calculation means calculates the total center displacement length based on the center displacement length that has a correlation with the degree of wobbling, it is possible to accurately measure the degree of wobbling of the measurement subject. it can.

  Further, in the present invention, the analysis means compares the output value corresponding to the pressure detected in each of the plurality of pressure detection areas included in the pressure distribution data from the pressure distribution sensor with a threshold value. And when the comparison result that the output value corresponding to the pressure detected in each of the plurality of pressure detection regions included in the pressure distribution data from the pressure distribution sensor is equal to or greater than a threshold is obtained by the comparison unit. The pressure detected by each of the plurality of pressure detection regions included in the pressure distribution data from the pressure distribution sensor by the first conversion means for converting the output values into a first predetermined value and the comparison means. A second conversion for converting the output value to a second predetermined value different from the first predetermined value when a comparison result that the corresponding output value is smaller than the threshold is obtained; And the pressure corresponding to the output value converted from the measured person to the first predetermined value by the first converter and the output value converted to the second predetermined value by the second converter A reference position calculation means for calculating the position of the center of gravity of the person to be measured when applied to a plurality of pressure detection areas as a reference position; the center of the measurement area and the reference position calculated by the reference position calculation means; And a center-center-separation-distance calculating means for calculating a center-center-separation distance for each sampling time, and a stationary time for calculating a rest time in which the measurement subject is stationary with both feet placed on the measurement region The total area center separation distance is calculated by integrating the area center separation distance calculated by the area center separation distance calculation means within the calculation time and the stationary time calculated by the stationary time calculation means. Preferably it contains a total area center distance calculating means that. According to this, it is possible to measure the degree of wobbling when the measurement subject is stationary in the both foot arrangement region.

  At this time, the total area center separation distance calculation means may further calculate an average value of the total area center separation distance calculated for each measurement area. According to this, since the total area center separation distance calculated in each of the both foot placement areas is averaged, it is possible to accurately grasp the degree of wobbling when the measurement subject is stationary in the both foot placement areas.

  Further, in the present invention, the analysis means is stationary with the center-of-gravity position calculating means for calculating the center-of-gravity position of the person to be measured on the pressure distribution sensor and the person to be measured placed with both feet on the measurement area. A stationary time calculation means for calculating a stationary time calculation means, and a gravity center movement locus calculation means for calculating a movement locus length of the gravity center position calculated by the gravity center position calculation means within the stationary time calculated by the stationary time calculation means. It is preferable that these are included. According to this, it is possible to measure the degree of wobbling when the measurement subject is stationary in the both foot arrangement region.

  In addition, a unit for calculating a unit time moving trajectory length by multiplying the moving trajectory length calculated by the center of gravity gauge moving trace length calculating means by a ratio of a predetermined unit time to the rest time calculated by the rest time calculating means. It is preferable to further include a gravity center movement trajectory length calculation means. According to this, even if there is a variation in the stationary time in each of the two foot placement areas, it is possible to grasp the degree of wandering of the measurement subject.

  At this time, the unit center-of-gravity movement trajectory length calculation means may further calculate an average value of the unit center-of-gravity movement trajectory length calculated for each measurement region. According to this, since the unit center-of-gravity movement trajectory length calculated in each of the both foot placement regions is averaged, it is possible to more accurately grasp the degree of wobbling when the measurement subject is stationary in the both foot placement regions.

  In the present invention, the stationary time calculation means may calculate the stationary time as a time during which the area in contact with the measurement subject's both feet is within a predetermined range. preferable. According to this, since it is possible to reliably determine a state in which the measurement subject is stationary in the both foot placement region, it is possible to more accurately grasp the degree of wobbling.

  Further, in the present invention, the analysis means includes a gravity center position calculation means for calculating the gravity center position of the measurement subject on the pressure distribution sensor, and only one of the left and right feet of the measurement subject is on the pressure distribution sensor. A complete free leg standing outer peripheral area for calculating a complete free leg standing outer peripheral area, which is an area of a region in which the movement locus of the barycentric position calculated by the barycentric position calculating means is calculated in the measurement region when arranged at It is preferable that the calculation means is included. According to this, it is possible to calculate the movement trajectory of the center of gravity when the person to be measured is standing on one leg, which is likely to be staggered, and thus it is possible to accurately measure the degree of fluctuation of the person to be measured.

  At this time, the complete free leg standing outer periphery area calculating means may further calculate an average value of the complete free leg standing outer periphery area calculated for each measurement region. According to this, since the complete free-standing standing outer peripheral area calculated in each of the both foot placement regions is averaged, it is possible to accurately grasp the degree of wobbling when the measurement subject stands on one foot.

  In addition, in the present invention, each time the both foot placement area is stored in the measurement area storage means, an instruction means for instructing the measurement subject to move to the both foot placement area is further provided. preferable. According to this, it is possible to instruct the measurement subject to an appropriate operation related to measurement.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. FIG. 1 is an external view showing a schematic configuration of a walking training support apparatus according to an embodiment of the present invention. FIG. 2 is a block diagram showing a schematic configuration of the walking training support apparatus of FIG.

  As shown in FIG. 1, the walking training support apparatus 1 includes a sheet-shaped pressure distribution sensor 11, a pressure detection unit 12 connected to the pressure distribution sensor 11, a personal computer (personal computer) 20, a pressure detection unit 12, and the like. A connection unit 40 for connecting the personal computer 20 is provided. The connection unit 40 includes an interface box 45 and an interface cable 46, and both ends thereof are connected to the pressure detection unit 12 and input / output interfaces (not shown) of the personal computer 20. The walking training support device 1 analyzes the load state of the measurement subject when the measurement subject performs a “step operation” described later on the pressure distribution sensor 11.

  The pressure distribution sensor 11 includes a large number of pressure-sensitive sensors 11a which are pressure detection areas for detecting pressure applied from both feet of the measurement subject when the measurement subject stands on the grid. is there. The pressure detection unit 12 is connected to each of a number of pressure sensitive sensors 11a and detects the state of each pressure sensitive sensor 11a. In the present embodiment, the thickness of the pressure distribution sensor 11 is about 0.1 to 0.2 mm. Here, in the present embodiment, the state of each pressure sensor 11 a is represented by a digital output value of 0 to 255 corresponding to the pressure applied thereto, and the output value is output to the personal computer 20. In addition, on the pressure distribution sensor 11, six both foot arrangement regions 11b having a rectangular shape are formed. Each both foot arrangement | positioning area | region 11b has an area which can be arrange | positioned in the state in which the to-be-measured person's both feet aligned in the left-right direction. Numbers “1” to “6” are assigned to the both foot placement regions 11b. Note that the number of both foot placement regions 11b is not limited to six, and any number of both foot placement regions may be formed according to the area of the pressure distribution sensor.

  Thus, although the pressure distribution sensor 11 can be used as a single sheet, a rubber sheet may be laminated for buffering from the viewpoint of protecting the sheet. Further, for the purpose of facilitating the setting on the floor, the sensor may be laminated on a metal or resin plate such as aluminum that holds the sensor.

  The personal computer 20 includes a display 21, a keyboard 25, a mouse 26, and a control unit 30 (see FIG. 2). Here, the control unit 30 generates a signal for controlling the operation of each part of the walking training support device 1, a hard disk storing a walking training support program and data for controlling various operations related to the walking training support device 1, and the like. Therefore, a CPU for executing various calculations, a RAM for temporarily storing data such as calculation results in the CPU, and the like are included.

  As shown in FIG. 2, the control unit 30 includes a pressure distribution data storage unit 132, an analysis unit 131, a measurement region storage unit 133, a centroid position storage unit 134, a reference position storage unit 135, and a center displacement length storage. A unit 136, a region center separation distance storage unit 137, and a display control unit 142. In addition, a display 21, a keyboard 25, and a mouse 26 are connected to the control unit 30.

  The pressure distribution data storage unit 132 stores the pressure distribution data transmitted from the pressure detection unit 12 to the personal computer 20 via the connection unit 40. The pressure distribution data storage unit 132 stores pressure distribution data for each sampling time within the measurement time for each of a large number of pressure sensitive sensors 11 a arranged in a grid pattern on the pressure distribution sensor 11. That is, the pressure distribution data of a large number of pressure sensors 11a at each sampling time is stored for the number of sampling times at the measurement time. Therefore, it is possible to detect a temporal change in pressure detected by each pressure sensor 11a based on the pressure distribution data.

  Based on the pressure distribution data stored in the pressure distribution data storage unit 132, the analysis unit 131 indicates a load state when the measurement subject performs “step walking” which is a predetermined operation on the pressure distribution sensor 11. To analyze. The operation content of “step walking” will be described with reference to FIG. FIG. 3 is a diagram showing the operation content of “step walking”. In addition, the foot shape shown in FIG. 3 has shown the arrangement position of the to-be-measured person's leg arrange | positioned on the pressure distribution sensor 11. FIG. Moreover, the arrow in FIG. 3 has shown the moving direction of the to-be-measured person.

  As shown in FIG. 3, “step walking” refers to an operation in which a person to be measured moves between both foot placement regions 11 b while placing both feet in the left and right directions in each foot placement region 11 b. FIG. 3 shows a case where the measurement subject moves from the both foot placement area 11b “1” to the both foot placement area 11b “2”. As will be described later, the both foot arrangement region 11b to which the measurement subject should move is the measurement region 11c. The analysis unit 131 performs analysis on the assumption that the measurement subject moves on the measurement region 11c.

  Returning to FIG. 2, the analysis unit 131 includes a measurement region determination unit 140, a centroid calculation unit 143, a comparison unit 144, a conversion unit 145, a reference position calculation unit 146, a center displacement length calculation unit 147, It has a time calculation unit 148, an area center separation distance calculation unit 149, a gravity center movement locus length calculation unit 150, and a parameter calculation unit 141.

  The measurement region determination unit 140 determines any one of the two foot placement regions 11b “1” to “6” sequentially selected as the measurement region 11c and stores the determined measurement region 11c in the measurement region storage unit 133. (See FIG. 3). The measurement area 11c is a both foot arrangement area 11b to which the measurement subject should move next in “step walking”. For example, in FIG. 3, the both foot arrangement area 11b “2” is determined as the measurement area 11c. The measurement area determination unit 140 determines the next measurement area 11c based on a predetermined pattern every time a predetermined time elapses after the person to be measured stops on each of the both foot placement areas 11b. The measurement region 11c may be determined randomly from the both foot placement regions 11b “1” to “6”, or may be determined based on an instruction from the operator. Moreover, the timing which determines the measurement area | region 11c may be arbitrary.

  The center-of-gravity calculation unit 143 calculates and calculates the center-of-gravity position Cf (see FIG. 5) of the measurement subject on the pressure distribution sensor 11 for each sampling time based on the pressure distribution data stored in the pressure distribution data storage unit 132. The center-of-gravity position Cf is stored in the center-of-gravity position storage unit 134.

  A method of calculating the center of gravity position Cf in the center of gravity calculating unit 143 will be described with reference to FIG. FIG. 4 shows pressure distribution data detected by a number of pressure sensitive sensors 11a in a predetermined time. In the pressure distribution sensor 11 of the present embodiment, a large number of pressure-sensitive sensors 11a are arranged in m + 1 rows in the X-axis direction (left-right direction) and in n + 1 rows in the Y-axis direction (up-down direction). Yes. Therefore, a large number of pressure-sensitive sensors 11a are arranged in a (m + 1) × (n + 1) lattice shape.

  Moreover, in FIG. 4, the pressure data detected by each pressure sensor 11a is shown by the symbol. For example, the pressure data detected by the pressure-sensitive sensor 11a corresponding to the u-th row in the X-axis direction and the v-th row in the Y-axis direction is a (u, v) (where u is 0 or more) m or less, and v is an integer of 0 to n.

  In this case, the center-of-gravity position Cfx in the X-axis direction is calculated by the following equation.

  Further, the center-of-gravity position Cfy in the Y-axis direction is calculated by the following equation.

  The comparison unit 144 compares the output value detected by each pressure sensor 11a with the threshold value 1. As described above, the output value detected by each pressure-sensitive sensor 11a is represented by a digital output value from 0 to 255. When there is an output from each pressure sensor 11a, the output value is equal to or greater than the threshold value 1.

  The conversion unit 145 sets the output value to 1 (first predetermined value) when the comparison unit 144 obtains a comparison result that the output value detected by each pressure-sensitive sensor 11a is equal to or greater than the threshold value 1. When the comparison result that the output value detected by each pressure-sensitive sensor 11a is smaller than the threshold value 1 is obtained in the comparison unit 144, in other words, when the detected output value is 0, The output value is converted to 0 (second predetermined value). Therefore, in the pressure distribution sensor 11, the conversion unit 145 has a contact area, which is an area where the sole of the person to be measured contacts, 1 and a non-contact area, which is an area where the sole of the person to be measured does not contact, becomes 0. Binary conversion is performed as follows.

  FIG. 5 shows an example in which the output value when the measured person places both feet on the measurement region 11c (both feet placement region 11b) stored in the measurement region storage unit 133 is binarized and converted. In FIG. 5, the region where the output value is converted to 0 is shown in white, and the region where the output value is converted to 1 is shown in black. As shown in FIG. 5, the output value of each pressure sensor 11 a is binarized and converted so that the contact area between the measurement subject's both feet and the pressure distribution sensor 11 can be accurately detected.

  Returning to FIG. 2, the reference position calculation unit 146 calculates, as the reference position Cp, the center position (area center) of the contact area of the pressure distribution sensor 11 with the sole of the measurement subject for each sampling time. . At this time, the reference position Cpx in the X-axis direction is calculated by the following formula.

  The reference position Cpy in the Y-axis direction is calculated by the following formula.

  Here, in Formula 3 and Formula 4, the output value after being converted by the conversion unit 145 is used as the pressure data a (u, v). That is, when the output value detected by each pressure sensor 11a is equal to or greater than the threshold value 1, all of the output values are set to 1. On the other hand, when the output value is smaller than the threshold value 1, those output values are set. Are all 0, and the reference position Cp is calculated by Equation 3 and Equation 4. The calculated reference position Cp is sequentially stored in the reference position storage unit 135. That is, for each sampling time, the center-of-gravity position Cf of the measurement subject is stored in the center-of-gravity position storage unit 134 and the reference position Cp is stored in the reference position storage unit 135.

  The center displacement length calculation unit 147 calculates a “center displacement length” that is a relative distance between the center of gravity position Cf calculated by the center of gravity calculation unit 143 and the reference position Cp calculated by the reference position calculation unit 146 for each sampling time. The calculated “center displacement length” is stored in the center displacement length storage unit 136. That is, the “center displacement length” is calculated by the number corresponding to each sampling time within one measurement time.

  The stationary time calculation unit 148 is a time during which the measurement subject is stationary with both feet placed on the measurement region 11c (both feet placement region 11b) stored in the measurement region storage unit 133 (hereinafter, “still time”). Is calculated). In the stationary time calculation unit 148, the contact area in contact with both feet of the measurement subject in the measurement area 11 c stored in the measurement area storage unit 133 matches 70% or more with the previous sampling time. The time between them is calculated as “stationary time”.

  The region center separation distance calculation unit 149 will be described with reference to FIG. FIG. 6 is a diagram showing a contact area with the measurement subject's foot in the measurement area 11 c stored in the measurement area storage unit 133. As shown in FIG. 6, the region center separation distance calculation unit 149 calculates the “region center separation distance” that is the relative distance between the reference position Cp calculated by the reference position calculation unit 146 and the center E of the measurement region 11 c for each sampling time. And the calculated “region center separation distance” is stored in the region center separation storage unit 137. That is, the “region center separation distance” is calculated by the number corresponding to each sampling time within one measurement time.

  The center-of-gravity movement locus length calculation unit 150 will be described with reference to FIG. FIG. 7 is a diagram showing a movement trajectory of the center-of-gravity position Cf of the measurement subject in the measurement area 11 c stored in the measurement area storage unit 133. As illustrated in FIG. 7, the center-of-gravity movement trajectory length calculation unit 150 calculates a “center-of-gravity movement trajectory length” that is the movement trajectory length of the center-of-gravity position Cf at the “still time” calculated by the stationary time calculation unit 148. . Specifically, the center-of-gravity movement trajectory length calculation unit 150 reads the center-of-gravity position Cf corresponding to each sampling time in the “stationary time” calculated by the still-time calculation unit 148 from the center-of-gravity position storage unit 134 in time order, and By calculating the relative distance between the centroid positions Cf of the sampling time to be calculated, the “centroid movement trajectory length” is calculated.

  The parameter calculation unit 141 includes various parameters that are measurement results (in this embodiment, “total center displacement length”, “total region center separation distance”, “unit centroid movement trajectory length”, and “complete leg stand outer periphery area”). ), And includes a total center displacement length calculation unit 141a, a total region center separation distance calculation unit 141b, a unit gravity center movement trajectory length calculation unit 141c, and a completely free leg standing outer periphery area calculation unit 141d. Yes.

  The total center displacement length calculation unit 141a calculates the “total center displacement length” by reading out and integrating the “center displacement length” corresponding to each sampling time within one measurement time from the center displacement length storage unit 136. It is.

  The total region center separation distance calculation unit 141b sequentially adds the “region center separation distance” corresponding to the sampling time in the “stationary time” calculated by the stationary time calculation unit 148 from the region center separation distance storage unit 137 for each measurement region 11c. A value obtained by reading and integrating is calculated as a “total area center separation distance”. Furthermore, the total area center separation distance calculation unit 141b calculates the final “total area center separation distance” by averaging the “total area center separation distance” calculated for each measurement area 11c.

  The unit center-of-gravity movement trajectory length calculation unit 141c adds the “center of gravity movement trajectory length” calculated by the center-of-gravity movement trajectory length calculation unit 150 for each measurement region 11c to the unit time corresponding to the “still time” calculated by the stationary time calculation unit 148. The product of the ratio is calculated as “unit centroid movement trajectory length”. Further, the unit centroid movement locus length calculation unit 141c calculates the final “unit centroid movement locus length” by averaging the “unit centroid movement locus length” calculated for each measurement region 11c. The unit time may be any time.

  The complete free-standing standing outer periphery area calculating unit 141d will be described with reference to FIG. FIG. 8 is a diagram illustrating a movement trajectory of the center-of-gravity position Cf of the measurement subject when the measurement subject stands on one leg in the measurement region 11 c stored in the measurement region storage unit 133. As shown in FIG. 8, the complete free-standing standing outer periphery area calculating unit 141d is a single-leg stand in which only one of the left and right feet of the measurement subject 11c is arranged in the measurement region 11c for each measurement region 11c. The area of the region in which the movement locus of the center-of-gravity position Cf of the measurement subject is drawn is calculated as the “perfect swing leg standing outer periphery area”. Further, the complete free leg standing outer periphery area calculating unit 141d averages the “complete free leg standing outer periphery area” calculated for each measurement region 11c, and calculates the final “complete free leg standing outer periphery area”.

  Returning to FIG. 2, as described above, the centroid position storage unit 134 stores the centroid position Cf calculated by the centroid calculation unit 143 for each sampling time. The measurement area storage unit 133 stores the measurement area 11c determined by the measurement area determination unit 140. The reference position storage unit 135 stores the reference position Cp calculated by the reference position calculation unit 146 for each sampling time. Further, the center displacement length storage unit 136 stores the “center displacement length” calculated by the center displacement length calculation unit 147 for each sampling time. In addition, the region center separation distance storage unit 137 stores the “region center separation distance” calculated by the region center separation distance calculation unit 149 for each sampling time.

  The display control unit 142 causes the measurement subject to display the operation content of “step walking” and the measurement result related to “step walking” on the display 21. In other words, the display control unit 142 instructs the measurement subject about the operation content of “step walking”.

  That is, in the operation of the walking training support device 1, first, the display control unit 142 applies both feet of the measurement subject to the measurement region 11 c stored in the measurement region storage unit 133 on the pressure distribution sensor 11 for the measurement subject. Is displayed on the display 21. The person to be measured moves on the measurement region 11c according to the instruction displayed on the display 21 and performs “step walking”. When the “step walking” of the measurement subject is completed, the analysis unit 131 analyzes the load state of the measurement subject and calculates each parameter. When the calculation of each parameter by the analysis unit 131 is completed, the display control unit 142 causes the display 21 to display the calculated parameter.

  An analysis result displayed on the display 21 by the display control unit 142 will be described with reference to FIG. FIG. 9 is a diagram illustrating display contents of the analysis result of “step walking”. As shown in FIG. 9, the display control unit 142 displays the pressure distribution window 51 and the result display window 52 on the display 21.

  In the pressure distribution window 51, a pressure distribution 61 applied on the pressure distribution sensor 11 from both feet of the measurement subject is displayed based on the pressure distribution data stored in the pressure distribution data storage unit 132. Here, the pressure distribution 61 is displayed in an isobaric line shape, and is displayed according to a color scale that changes stepwise as the pressure value changes. Further, in the pressure distribution window 51, a locus 62 when the center of gravity of the measurement subject moves is drawn based on the center of gravity position data stored in the center of gravity position storage unit 134. Therefore, the operator can grasp the pressure distribution 61 and the locus 62 of the gravity center position Cf of both feet of the measurement subject by looking at the pressure distribution window 51.

  In the result display window 52, numerical values of “total center displacement length”, “total region center separation distance”, “unit centroid movement trajectory length”, and “complete swing leg standing outer periphery area” calculated by the parameter calculation unit 141 are displayed. Is displayed. By referring to these parameters, it is possible to objectively grasp the load state when the measurement subject performs “step walking”.

  As described above, according to the walking training support device 1 of the present embodiment, the pressure distribution sensor 11 may be formed so that the measured person can move between the both foot placement regions 11b. The surface area of the pressure distribution sensor 11 can be reduced as compared with a pressure distribution sensor formed so as to be able to normally walk. Accordingly, the pressure distribution sensor 11 is miniaturized by reducing the size of the pressure distribution sensor 11 while performing an advanced analysis of the load state when the measurement subject performs “step walking” by the pressure distribution sensor 11. Cost reduction can be achieved.

  Further, the total center displacement length calculation unit 141a calculates the “total center displacement length” by reading out the “center displacement length” corresponding to each sampling time within one measurement time from the center displacement length storage unit 136 and integrating it. By doing so, it is possible to accurately measure the degree of wobbling of the measurement subject.

  Further, the total region center separation distance calculation unit 141b sets the “region center separation distance” corresponding to the sampling time in the “still time” calculated by the still time calculation unit 148 for each measurement region 11c. Is calculated as “total area center separation distance”, and the “total area center separation distance” calculated for each measurement area 11c is averaged to obtain the final “total area center discrete distance”. By calculating, it is possible to accurately grasp the degree of wobbling when the measurement subject is stationary in the both foot placement region 11b.

  In addition, the unit center-of-gravity movement trajectory length calculation unit 141c adds the “gravity center movement trajectory length” calculated by the center-of-gravity movement trajectory length calculation unit 150 to the “still time” calculated by the stationary time calculation unit 148 for each measurement region 11c. The product of the unit time ratio is calculated as the “unit centroid movement locus length”, and the “unit centroid movement locus length” calculated for each measurement region 11c is averaged to obtain the final “unit centroid movement locus length”. By calculating, it is possible to more accurately grasp the degree of wobbling when the measurement subject is stationary in the both foot placement region 11b.

  Further, the complete free-standing standing outer periphery area calculating unit 141d calculates the area of the region in which the movement locus of the center-of-gravity position Cp of the measurement subject when the measurement subject is standing on one foot for each measurement region 11c. “Perfect free leg standing outer periphery area” and further calculating the final “complete free leg standing outer periphery area” by averaging the “complete free leg standing outer periphery area” calculated for each measurement region 11c. It is possible to accurately grasp the degree of wobbling when standing on one leg.

  Further, the stationary time calculation unit 148 calculates the time during which the measurement subject is stationary with both feet placed on the measurement region 11c stored in the measurement region storage unit 133, so that the measurement subject can measure. Since the stationary state in the region 11c can be reliably determined, the degree of wobbling can be grasped more accurately.

  In addition, each time the both foot arrangement area 11b is stored in the measurement area storage unit 133, the measurement person is provided with an instruction means for instructing the person to move to the both foot arrangement area 11b. An appropriate operation related to measurement can be instructed.

  The preferred embodiments of the present invention have been described above. However, the present invention is not limited to the above-described embodiments, and various design changes can be made as long as they are described in the claims. For example, in the embodiment of the present invention, in the conversion unit 145, when the output value detected by each pressure-sensitive sensor 11a is equal to or greater than the threshold value 1, it is converted to 1, and when the output value is smaller than the threshold value 1, Although converted to 0, the threshold is not limited to 1. Therefore, when the output value is a digital output value, the threshold value may be an integer of 2 or more. When the output value is an analog output value, the threshold value may be a number greater than 0 and less than 1, or a positive number greater than 1. Further, the first predetermined value converted when the output value is equal to or greater than the threshold value is not limited to 1, and may be other positive numbers. Similarly, the second predetermined value converted when the output value is smaller than the threshold value is not limited to 0, and may be other numbers.

  Further, in the embodiment of the present invention, the parameter calculation unit 141 calculates “total center displacement length”, “total region center separation distance”, “unit centroid movement trajectory length”, and “complete leg standing outer periphery area”. However, the parameter calculation unit 141 may be configured to calculate at least one of these, or may be configured to calculate other parameters.

  Furthermore, in the embodiment of the present invention, the operation content instruction of “step walking” to the measurement subject is performed by causing the display control unit 142 to display on the display 21, but the operation content instruction is displayed on the display 21. The instruction is not limited to the instruction from the control unit 142. Therefore, the operation content instruction may be a voice instruction from the apparatus. Further, the apparatus may be an instruction from an operator without having an instruction means.

In addition, in the embodiment of the present invention, the measurement region determination unit 140 determines and determines one of the two foot placement regions 11b “1” to “6” sequentially selected as the measurement region 11c. 11c is stored in the measurement area storage unit 133.
The measurement area 11c stored in the measurement area storage unit 133 may not be determined by the measurement area determination unit 140. Therefore, in the pressure distribution sensor 11, the measurement region determination unit may determine, as the measurement region 11c, the both foot arrangement region 11b in contact with the sole of the measurement subject according to the operation of the measurement subject.

  The display control unit 142 also displays in the result display window 52 the “total center displacement length”, “total region center separation distance”, “unit centroid movement trajectory length” calculated by the parameter calculation unit 141, The numerical values for the "peripheral area" are displayed, but the values for the "unit centroid movement trajectory length" and "complete swing leg standing outer periphery area" are the "unit centroid movement trajectory length" and "complete swing leg standing" before averaging. A numerical value of “peripheral area” may be displayed.

It is an external view which shows schematic structure of the walking training assistance apparatus which concerns on embodiment of this invention. It is a block diagram which shows schematic structure of the walking training assistance apparatus of FIG. It is the figure which showed the operation | movement content of the "step walk" in the walking training assistance apparatus shown in FIG. It is a figure which shows the pressure distribution data detected by the pressure sensor shown in FIG. It is a figure which shows the state by which the output value when a test subject has arrange | positioned both legs on the pressure distribution sensor shown in FIG. It is the figure which showed the distance from the reference | standard position of a to-be-measured person on the pressure distribution sensor shown in FIG. 1 to the center of both leg arrangement | positioning area | regions. It is the figure which showed the locus | trajectory of the gravity center position of a to-be-measured person on the pressure distribution sensor shown in FIG. It is the figure which showed the area of the area | region where the locus | trajectory of the gravity center position of the to-be-measured person was drawn on the pressure distribution sensor shown in FIG. It is a figure which shows the display content of the measurement result by the display control part shown in FIG.

Explanation of symbols

1 Walking training support device 11 Pressure distribution sensor 11a Pressure sensor (pressure detection region)
11b Both feet arrangement region 11c Measurement region 20 Personal computer 21 Display 30 Control unit 131 Analysis unit (analysis means)
132 Pressure distribution data storage unit 133 Measurement region storage unit 134 Center of gravity position storage unit 135 Reference position storage unit 136 Center displacement length storage unit 137 Region center separation distance storage unit 140 Measurement region determination unit 141 Parameter calculation unit 141a Total center displacement length calculation unit (Center displacement length calculation means)
141b Total area center distance calculation unit (area center distance calculation means)
141c Unit center-of-gravity movement trajectory length calculation unit (gravity center movement trajectory length calculation means)
141d Completely Leg Standing Peripheral Area Calculation Unit 142 Display Control Unit (Instruction Unit)
143 Center of gravity calculation unit (center of gravity position calculation means)
144 Comparison part (comparison means)
145 conversion unit (first conversion means, second conversion means)
146 Reference position calculation unit (reference position calculation means)
148 Stationary time calculator

Claims (11)

Pressure that has a plurality of pressure detection areas that detect the pressure applied by the person being measured, and that has a plurality of two foot placement areas on the surface that can be placed with both feet of the person being measured aligned in the left-right direction A distribution sensor;
A measurement area storage means for storing any one selected sequentially from the plurality of both foot arrangement areas as a measurement area;
A person to be measured in the measurement area stored in the measurement area storage unit based on an output value corresponding to a pressure detected in each of the plurality of pressure detection areas included in the pressure distribution data from the pressure distribution sensor. An gait training support device comprising an analyzing means for analyzing the load state of the gait. The analysis means is
Centroid position calculating means for calculating the position of the centroid of the person to be measured on the pressure distribution sensor;
Comparison means for comparing an output value corresponding to a pressure detected in each of the plurality of pressure detection regions included in the pressure distribution data from the pressure distribution sensor with a threshold value;
When the comparison result that the output value corresponding to the pressure detected in each of the plurality of pressure detection regions included in the pressure distribution data from the pressure distribution sensor is equal to or greater than a threshold value is obtained by the comparison unit. First output means for converting the output value of the first output value to a first predetermined value;
When the comparison result that the output value corresponding to the pressure detected in each of the plurality of pressure detection regions included in the pressure distribution data from the pressure distribution sensor is smaller than the threshold is obtained by the comparison unit, Second conversion means for converting an output value into a second predetermined value different from the first predetermined value;
The pressure corresponding to the output value converted from the measured person to the first predetermined value by the first conversion means and the output value converted to the second predetermined value by the second conversion means is the plurality of pressures. A reference position calculation means for calculating the position of the center of gravity of the person being measured as a reference position when added to each of the detection areas;
A center displacement length calculating means for calculating a center displacement length that is a relative distance between the center of gravity position calculated by the center of gravity position calculating means and the reference position calculated by the reference position calculating means;
The total center displacement length calculating means for calculating a total center displacement length obtained by integrating the center displacement lengths calculated by the center displacement length calculating means within a measurement time. Walking training support device. The analysis means is
Comparison means for comparing an output value corresponding to a pressure detected in each of the plurality of pressure detection regions included in the pressure distribution data from the pressure distribution sensor with a threshold value;
When the comparison result that the output value corresponding to the pressure detected in each of the plurality of pressure detection regions included in the pressure distribution data from the pressure distribution sensor is equal to or greater than a threshold value is obtained by the comparison unit. First output means for converting the output value of the first output value to a first predetermined value;
When the comparison result that the output value corresponding to the pressure detected in each of the plurality of pressure detection regions included in the pressure distribution data from the pressure distribution sensor is smaller than the threshold is obtained by the comparison unit, Second conversion means for converting an output value into a second predetermined value different from the first predetermined value;
The pressure corresponding to the output value converted from the measured person to the first predetermined value by the first conversion means and the output value converted to the second predetermined value by the second conversion means is the plurality of pressures. A reference position calculation means for calculating the position of the center of gravity of the person being measured as a reference position when added to each of the detection areas;
A region center separation distance calculating unit that calculates a region center separation distance that is a relative distance between the center of the measurement region and the reference position calculated by the reference position calculation unit;
A stationary time calculation means for calculating a stationary time in which the measurement subject is stationary with both feet placed on the measurement area;
A total area separation distance calculating means for calculating a total area center separation distance obtained by integrating the area center separation distances calculated by the area center separation distance calculation means within the still time calculated by the stationary time calculation means. The walking training support apparatus according to claim 1.   The walking training support apparatus according to claim 3, wherein the total area center separation distance calculation unit further calculates an average value of the total area center separation distance calculated for each measurement area. The analysis means is
Centroid position calculating means for calculating the position of the centroid of the person to be measured on the pressure distribution sensor;
A stationary time calculation means for calculating a stationary time in which the measurement subject is stationary with both feet placed on the measurement area;
The center-of-gravity movement trajectory length calculating means for calculating the movement trajectory length of the center-of-gravity position calculated by the center-of-gravity position calculating means within the rest time calculated by the rest-time calculating means. The walking training support apparatus according to 1.   A unit center of gravity movement locus that calculates a unit center of gravity movement locus length by multiplying the movement locus length calculated by the center of gravity gauge movement locus length calculation unit by a ratio of a predetermined unit time to the stationary time calculated by the stationary time calculation unit. The walking training support apparatus according to claim 5, further comprising length calculation means.   The walking training support apparatus according to claim 6, wherein the unit center-of-gravity movement locus length calculation unit further calculates an average value of the unit center-of-gravity movement locus length calculated for each measurement region.   The said stationary time calculation means calculates the time during which the area | region which is in contact with both feet of the to-be-measured person in the said measurement area | region has corresponded within a predetermined range as a stationary time, It is characterized by the above-mentioned. The walking training support apparatus according to claim 7. The analysis means is
Centroid position calculating means for calculating the position of the centroid of the person to be measured on the pressure distribution sensor;
The area of the region in which the movement locus of the centroid position calculated by the centroid position calculation means is drawn in the measurement region when only the left or right foot of the measurement subject is arranged on the pressure distribution sensor The walking training support device according to claim 1, further comprising: a complete free-standing standing outer periphery area calculating unit that calculates a complete free-standing standing outer periphery area.   The walking training support device according to claim 9, wherein the complete swing leg standing outer periphery area calculating unit further calculates an average value of the complete swing leg standing outer periphery area calculated for each measurement region.   11. The apparatus according to claim 1, further comprising instruction means for instructing a person to be measured to move onto the both foot placement area each time the both foot placement area is stored in the measurement area storage means. The walking training support device according to any one of the above.

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